Control circuit for power supply of robot body

Abstract

The utility model discloses a control circuit for power supply of a robot body, which comprises a microcontroller U4, a voltage detection chip U5, a first-stage control circuit, a second-stage control circuit and a third-stage control circuit, and is characterized in that the microcontroller U4 is connected with the first-stage control circuit, the second-stage control circuit and the third-stage control circuit; the voltage detection chip U5 is connected between the microcontroller U4 and the second-stage control circuit and is used for detecting an instant pre-charging voltage output by the second-stage control circuit, and when the pre-charging voltage reaches a preset threshold value, the microcontroller U4 is triggered to control the opening of the third-stage control circuit and output a body 48V voltage; the functions of precise control, over-current protection, anti-pull current protection and the like of 48V voltage of the robot body are realized, so that a power supply system is more flexible and safer.

Description

Technical Field

[0001] The utility model relates to the technical field of circuits, in particular to a control circuit for powering a robot body. Background Art

[0002] In the existing robot power supply system, common control methods include directly controlling the power on and off of the AC 220V power supply and directly powering on the 48V power supply of the main body after startup. Although these methods can meet basic power supply needs, they have disadvantages such as high safety risks, imprecise control, and lack of protection mechanisms. In particular, when directly operating high-voltage AC power and lacking an independent control mechanism, once a fault or emergency occurs, it may cause serious damage to personnel and equipment. Utility Model Content

[0003] In order to solve the above problems, the utility model provides a control circuit for powering a robot body, comprising:

[0004] The first-stage control circuit, whose input is a 48V DC voltage provided externally, comprises a first main control chip U1 and a first switch MOS tube Q1 and a first precision resistor R1 connected in series; the first main control chip U1 is used to control the opening and closing of the first switch MOS tube Q1 to output a 48V DC voltage 48V IN entering the board; the first precision resistor R1 is used for overcurrent detection protection;

[0005] The second-stage control circuit has a 48V DC voltage 48V IN output by the first-stage control circuit as input, and includes a second main control chip U2 and a cement resistor R2, a second precision resistor R3, a second switch MOS tube Q2 and a protection MOS tube Q3 connected in series. The second main control chip U2 controls the opening and closing of the second switch MOS tube Q2 and the protection MOS tube Q3, and outputs an instantaneous pre-charge voltage; the cement resistor R2 provides an instantaneous large current for pre-charging, the precision resistor R3 performs overcurrent detection protection, and the protection MOS tube Q3 is used to prevent the main control chip U2 from being damaged due to current pulling after the pre-charging is completed;

[0006] The third-stage control circuit has a 48V DC voltage 48V IN output by the first-stage control circuit as input, and includes a third main control chip U3 and a third precision resistor R4 and a third switch MOS tube Q4 connected in series. The third main control chip U3 controls the opening and closing of the third switch MOS tube Q4, and outputs a main body 48V voltage. The third precision resistor R4 performs overcurrent protection;

[0007] A microcontroller U4 is connected to the first-level control circuit, the second-level control circuit and the third-level control circuit, and is used to control the first main control chip U1, the second main control chip U2 and the third main control chip U3 to turn on or off output;

[0008] The voltage detection chip U5 is connected between the microcontroller U4 and the second-stage control circuit, and is used to detect the instantaneous pre-charge voltage output by the second-stage control circuit, and trigger the microcontroller U4 to control the opening of the third-stage control circuit when the pre-charge voltage reaches a preset threshold.

[0009] Compared with the prior art, the beneficial effects brought by the utility model are:

[0010] The utility model provides a control circuit for powering a robot body. By introducing a microcontroller U4, a voltage detection chip U5 and a multi-level control circuit (including a first-level, a second-level and a third-level control circuit), the utility model realizes functions such as precise control of the 48V voltage of the robot body, overcurrent protection, and anti-pull current protection, thereby making the power supply system more flexible and safe. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 This is a schematic diagram of the structure of a control circuit for powering a robot body in the present application. DETAILED DESCRIPTION

[0013] The content of the present invention can be more easily understood by referring to the following detailed description of the preferred implementation method of the present invention and the included embodiments. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by ordinary technicians in the field to which the present invention belongs. When there is a conflict, the definition in this specification shall prevail.

[0014] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0015] Those skilled in the art will appreciate that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of ordinary technicians in the field to which the utility model belongs. It should also be understood that those terms such as those defined in general dictionaries should be understood to have the same meaning as the meaning in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0016] In the description of the present utility model, the meaning of "and / or" means that the situations where each exists alone or both exist at the same time are included.

[0017] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0018] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0019] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] The utility model protects a control circuit for powering a robot body, such as Figure 1 As shown, including:

[0021] The first-stage control circuit, whose input is a 48V DC voltage provided externally, comprises a first main control chip U1 and a first switch MOS tube Q1 and a first precision resistor R1 connected in series; the first main control chip U1 is used to control the opening and closing of the first switch MOS tube Q1 to output a 48V DC voltage 48V IN entering the board; the first precision resistor R1 is used for overcurrent detection protection;

[0022] The second-stage control circuit has a 48V DC voltage 48V IN output by the first-stage control circuit as input, and includes a second main control chip U2 and a cement resistor R2, a second precision resistor R3, a second switch MOS tube Q2 and a protection MOS tube Q3 connected in series. The second main control chip U2 controls the opening and closing of the second switch MOS tube Q2 and the protection MOS tube Q3, and outputs an instantaneous pre-charge voltage; the cement resistor R2 provides an instantaneous large current for pre-charging, the precision resistor R3 performs overcurrent detection protection, and the protection MOS tube Q3 is used to prevent the main control chip U2 from being damaged due to current pulling after the pre-charging is completed;

[0023] The third-stage control circuit has a 48V DC voltage 48V IN output by the first-stage control circuit as input, and includes a third main control chip U3 and a third precision resistor R4 and a third switch MOS tube Q4 connected in series. The third main control chip U3 controls the opening and closing of the third switch MOS tube Q4, and outputs a main body 48V voltage. The third precision resistor R4 performs overcurrent protection;

[0024] A microcontroller U4 is connected to the first-level control circuit, the second-level control circuit and the third-level control circuit, and is used to control the first main control chip U1, the second main control chip U2 and the third main control chip U3 to turn on or off output;

[0025] The voltage detection chip U5 is connected between the microcontroller U4 and the second-stage control circuit, and is used to detect the instantaneous pre-charge voltage output by the second-stage control circuit, and trigger the microcontroller U4 to control the opening of the third-stage control circuit when the pre-charge voltage reaches a preset threshold.

[0026] In a specific embodiment, in the first-level control circuit, at least one input interface is included for connecting an external 48V DC voltage input; the first main control chip U1 serves as the core control unit of the first-level control circuit, and is responsible for controlling the opening and closing of the first switch MOS tube Q1. Usually, the first main control chip U1 receives instructions or signals from the system or other controllers, and according to these instructions or signals, the first main control chip U1 outputs a corresponding control voltage to the gate (G pole) of the first switch MOS tube Q1. The first switch MOS tube Q1 serves as a switch element, and its gate (G pole) is connected to the GATE1 control pin of the first main control chip U1 to control the opening or closing of the first switch MOS tube Q1. Specifically, when the first main control chip U1 GATE1 outputs a high-level signal, the gate voltage of the first switch MOS tube Q1 increases, causing the first switch MOS tube to enter the on state, allowing the externally provided 48V DC voltage to pass through the first switch MOS tube and output to the board to form 48V IN; when the first main control chip U1 outputs a low-level signal, the gate voltage of the first switch MOS tube Q1 decreases, causing the first switch MOS tube to enter the off state, disconnecting the external 48V DC voltage from the board. In addition, the first precision resistor R1 cuts off the output when there is a short circuit or overcurrent at the output of the first-level control circuit to protect the input voltage and the first main control chip U1. That is, the first main control chip U1 can accurately control the input of the external 48V DC voltage, and perform overcurrent detection protection through the first precision resistor R1 to ensure the safe and stable operation of the circuit.

[0027] In a specific embodiment, in the second-level control circuit, the input is the 48V DC voltage 48V IN output by the first-level control circuit, including at least one output interface for outputting the main body 48V voltage; the second main control chip U2 is the core control unit of the second-level control circuit, responsible for controlling the opening and disconnection of the second switch MOS tube Q2 and the protection MOS tube Q3. Usually, the second main control chip U2 will receive instructions or signals from the system or other controllers, and according to these instructions or signals, the second main control chip U2 will output the corresponding control voltage to the gate (G pole) of the second switch MOS tube Q2 and the protection MOS tube Q3. The gate (G pole) of the second switch MOS tube Q2 and the protection MOS tube Q3 are connected to the GATE2 control pin of the second main control chip U2 to control the opening or disconnection of the second switch MOS tube Q2 and the protection MOS tube Q3. Specifically, when the second main control chip U2 GATE2 outputs a high-level signal, the gate voltage of the second switch MOS tube Q2 and the protection MOS tube Q3 increases, so that the second switch MOS tube and the protection MOS tube Q3 enter the on state, and the output is an instantaneous pre-charge voltage; when the second main control chip U2 outputs a low-level signal, the gate voltage of the second switch MOS tube Q2 and the protection MOS tube Q3 decreases, so that the second switch MOS tube and the protection MOS tube Q3 enter the off state, preventing the current from passing. In addition, the second precision resistor R3 cuts off the output when the output of the second-level control circuit is short-circuited or over-current, so as to protect the input voltage and the second main control chip U2. After the pre-charging process of the second-level control circuit is completed, the second main control chip U2 GATE2 will output a low level, so that the output of the second switch MOS tube and the protection MOS tube Q3 is disconnected. At this time, the output of the second main control chip U2 OUT2 pin is 0V, which is separated by the protection MOS tube Q3 and connected to the body 48V, preventing the second main control chip U2 from being damaged by pulling current when the body 48V is abnormally short-circuited when it is not working.

[0028] In a specific embodiment, in the third-level control circuit, the third precision resistor R4 cuts off the output when the output of the third-level control circuit is short-circuited or over-current occurs, so as to protect the input voltage and the third main control chip U3.

[0029] In a specific embodiment, when the microcontroller U4 detects that the instantaneous pre-charge voltage output by the second-level control circuit reaches a preset threshold through the voltage detection chip U5, it will control the third main control chip U3 to turn on the third switch MOS tube Q4 and output the body 48V voltage. The microcontroller U4, the voltage detection chip U5, the third main control chip U3 and the third switch MOS tube Q4 work together to ensure that the robot body can safely and stably receive the required 48V power supply voltage after the pre-charging stage is completed.

[0030] The utility model provides a control circuit for powering a robot body, a microcontroller U4, a voltage detection chip U5, a first-level control circuit, a second-level control circuit and a third-level control circuit, wherein the microcontroller U4 is connected to the first-level control circuit, the second-level control circuit and the third-level control circuit, and the voltage detection chip U5 is connected between the microcontroller U4 and the second-level control circuit, and is used to detect the instantaneous pre-charge voltage output by the second-level control circuit, and when the pre-charge voltage reaches a preset threshold, the microcontroller U4 is triggered to control the opening of the third-level control circuit, and the output body 48V voltage is output, wherein the microcontroller U4 is the "brain" of the entire power supply system, and is responsible for coordinating and controlling the working state of each level of the circuit, and the microcontroller U4 is respectively connected to the first-level control circuit, the second-level control circuit and the third-level control circuit, and is directed to open or close these circuits by sending control signals. Secondly, the voltage detection chip U5 is located between the microcontroller U4 and the second-level control circuit, and is responsible for monitoring the instantaneous pre-charge voltage output by the second-level control circuit. The pre-charge voltage is a voltage set before the formal power supply in order to provide an instantaneous large current. When the pre-charge voltage reaches the preset threshold, the voltage detection chip U5 will send a trigger signal to the microcontroller U4; after receiving the trigger signal, the microcontroller U4 will execute the corresponding control logic and start the third-level control circuit by sending a control signal. The third-level control circuit directly controls the 48V power output of the robot body, and the robot body will receive a stable 48V voltage and start normal operation. If there is no pre-charge circuit, the third-level circuit will be damaged due to the instantaneous large current of the load when it starts. In addition to the basic voltage control function, overcurrent protection is achieved by setting precision resistors in the control circuit. When the current exceeds the preset value, the corresponding main control chip will disconnect the MOS tube output to prevent overcurrent from damaging the equipment and circuit. Anti-pull current protection is achieved by setting a protection MOS tube in the second-level control circuit. When the pre-charge is completed, the protection MOS tube will prevent the main control chip from being damaged by the pull current.

[0031] In summary, the control circuit of the robot body power supply realizes the precise control of the robot body 48V voltage, overcurrent protection, and anti-pull current protection by introducing the design of microcontroller and multi-level control circuit, making the power supply system more flexible and safe. This design not only improves the reliability and stability of the robot system, but also reduces the risk of failure and damage caused by power supply problems.

[0032] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control circuit for powering a robot body, characterized in that: include: The first-stage control circuit, whose input is a 48V DC voltage provided externally, comprises a first main control chip U1 and a first switch MOS tube Q1 and a first precision resistor R1 connected in series; the first main control chip U1 is used to control the opening and closing of the first switch MOS tube Q1 to output a 48V DC voltage 48V IN entering the board; the first precision resistor R1 is used for overcurrent detection protection; The second-stage control circuit has a 48V DC voltage 48V IN output by the first-stage control circuit as input, and includes a second main control chip U2 and a cement resistor R2, a second precision resistor R3, a second switch MOS tube Q2 and a protection MOS tube Q3 connected in series. The second main control chip U2 controls the opening and closing of the second switch MOS tube Q2 and the protection MOS tube Q3, and outputs an instantaneous pre-charge voltage; the cement resistor R2 provides an instantaneous large current for pre-charging, the precision resistor R3 performs overcurrent detection protection, and the protection MOS tube Q3 is used to prevent the main control chip U2 from being damaged due to current pulling after the pre-charging is completed; The third-stage control circuit has a 48V DC voltage 48V IN output by the first-stage control circuit as input, and includes a third main control chip U3 and a third precision resistor R4 and a third switch MOS tube Q4 connected in series. The third main control chip U3 controls the opening and closing of the third switch MOS tube Q4, and outputs a main body 48V voltage. The third precision resistor R4 performs overcurrent protection; A microcontroller U4 is connected to the first-level control circuit, the second-level control circuit and the third-level control circuit, and is used to control the first main control chip U1, the second main control chip U2 and the third main control chip U3 to turn on or off output; The voltage detection chip U5 is connected between the microcontroller U4 and the second-stage control circuit, and is used to detect the instantaneous pre-charge voltage output by the second-stage control circuit, and trigger the microcontroller U4 to control the opening of the third-stage control circuit when the pre-charge voltage reaches a preset threshold.

2. A robot body power supply control circuit according to claim 1, characterized in that: The first-stage control circuit includes at least one input interface for connecting to an external 48V DC voltage input.

3. A robot body power supply control circuit according to claim 1, characterized in that: The second-stage control circuit includes at least one output interface for outputting a main body 48V voltage.

4. A robot body power supply control circuit according to claim 1, characterized in that: The first precision resistor R1 cuts off the output when the output of the first-stage control circuit is short-circuited or over-current occurs, so as to protect the input voltage and the first main control chip U1.

5. A robot body power supply control circuit according to claim 1, characterized in that: The second precision resistor R3 cuts off the output when the output of the second-stage control circuit is short-circuited or over-current occurs, so as to protect the input voltage and the second main control chip U2.

6. A robot body power supply control circuit according to claim 1, characterized in that: After the pre-charging process of the second-stage control circuit is completed, the second main control chip U2 disconnects the output of the second switch MOS tube Q2 and the protection MOS tube Q3, and at the same time, the voltage of the OUT2 pin of the second main control chip U2 drops to 0V to prevent the second main control chip U2 from being damaged by pulling current.

7. A robot body power supply control circuit according to claim 1, characterized in that: The third precision resistor R4 cuts off the output when the output of the third-level control circuit is short-circuited or over-current occurs, so as to protect the input voltage and the third main control chip U3.

8. A robot body power supply control circuit according to claim 1, characterized in that: When the microcontroller U4 detects that the instantaneous pre-charge voltage output by the second-stage control circuit reaches a preset threshold through the voltage detection chip U5, it controls the third main control chip U3 to turn on the third switch MOS tube Q4 to output the main body 48V voltage.

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