Control circuit of mechanical arm and tea making robot

Abstract

The utility model relates to the technical field of tea making robot control, and discloses a control circuit of a mechanical arm with higher reliability, which comprises a first driving circuit (101), a first bridge arm circuit (102), a second driving circuit (103) and a second bridge arm circuit (104) which are used for receiving and outputting a pulse signal, and when one pulse signal is at a high level and the other pulse signal is at a low level, the second bridge arm circuit (104) is connected with the first driving circuit (101) and the second driving circuit (103). When one pulse signal is at a high level, the first bridge arm circuit (102) is controlled to be switched on, the second bridge arm circuit (104) is controlled to be switched off, and when the other pulse signal is at a high level and one pulse signal is at a low level, the first bridge arm circuit (102) is controlled to be switched off, and the second bridge arm circuit (104) is controlled to be switched on.

Description

Technical Field

[0001] The utility model relates to the technical field of tea-making robot control, and more specifically to a control circuit of a mechanical arm and a tea-making robot. Background Art

[0002] With the continuous development of artificial intelligence, tea-making robots are becoming more and more common in daily life. The tea-making robot includes at least one robotic arm, which is controlled by a control system to rotate and complete the action of picking up tea leaves and placing them in a teapot. At present, the action of picking up tea leaves and placing them in a teapot requires high dynamic performance of the robotic arm, and the robotic arm needs to be able to reach the specified position required by the control at any time. However, controlling the rotation of the robotic arm (i.e. forward or reverse) requires at least two bridge arms (such as switch tubes). When the upper or lower bridge arm of the robotic arm has a delay in closing a switch tube, and the other switch tube is turned on, it will cause the bridge arm (at least two connected switch tubes) to be short-circuited and break down the switch tube.

[0003] Therefore, how to avoid short circuit caused by direct connection between the upper and lower bridge arms to improve the reliability of the operation of the robotic arm has become a technical problem that technical personnel in this field urgently need to solve. Utility Model Content

[0004] The technical problem to be solved by the present invention is that, in view of the defect in the prior art that when a switch tube of the upper or lower bridge arm of the robot arm is closed with a delay while the other switch tube is turned on, it will cause a direct short circuit in the bridge arm and damage the switch tube, a control circuit and a tea-making robot for a robot arm with higher reliability are provided.

[0005] The technical solution adopted by the utility model to solve the technical problem is: construct a control circuit of a mechanical arm, which has:

[0006] A first driving circuit is configured in the control circuit, an input end of which is connected to the PWM signal output end of the main controller, and is used to receive and output a pulse signal;

[0007] A first bridge arm circuit, whose signal input end is connected to the signal output end of the first driving circuit, and is used to receive the pulse signal;

[0008] A second driving circuit, one input end of which is connected to the PWM signal output end of the main controller, for receiving and outputting another pulse signal;

[0009] A second bridge arm circuit, whose signal input end is connected to the signal output end of the second driving circuit, and is used to receive the other pulse signal;

[0010] When the one pulse signal is at a high level and the other pulse signal is at a low level, the first bridge arm circuit is controlled to be turned on and the second bridge arm circuit is controlled to be turned off.

[0011] When the other pulse signal is at a high level and the first pulse signal is at a low level, the first bridge arm circuit is controlled to be turned off, and the second bridge arm circuit is controlled to be turned on.

[0012] In some embodiments, another input terminal of the first driving circuit is connected to the first enable signal terminal of the main controller for receiving a first enable signal.

[0013] Another input terminal of the second driving circuit is connected to the second enable signal terminal of the main controller for receiving a second enable signal.

[0014] In some embodiments, the first driving circuit includes at least a first controller,

[0015] An input terminal of the first controller is connected to the PWM signal output terminal of the main controller, and is used to receive and output the pulse signal.

[0016] Another input terminal of the first controller is connected to the first enable signal terminal of the main controller, and is used to receive the first enable signal.

[0017] The output end of the first controller is connected to the signal input end of the first bridge arm circuit,

[0018] When the first enable signal is at a high level, the pulse signal output by the first controller is at a high level.

[0019] When the first enable signal is at a low level, the pulse signal output by the first controller is at a low level.

[0020] In some embodiments, the second driving circuit includes at least a second controller.

[0021] An input terminal of the second controller is connected to the PWM signal output terminal of the main controller, and is used to receive and output the pulse signal.

[0022] Another input terminal of the second controller is connected to the second enable signal terminal of the main controller for receiving the second enable signal.

[0023] The output end of the second controller is connected to the signal input end of the second bridge arm circuit.

[0024] When the second enable signal is at a high level, the other pulse signal output by the second controller is at a high level.

[0025] When the second enable signal is at a low level, the another pulse signal output by the second controller is at a low level.

[0026] In some embodiments, the first bridge arm circuit includes a first MOS transistor and a second MOS transistor connected in series.

[0027] The drain of the first MOS tube is connected to the power supply terminal.

[0028] The gate of the first MOS tube is connected to the first output terminal of the first controller.

[0029] The gate of the second MOS tube is connected to the second output terminal of the first controller.

[0030] The source of the first MOS tube and the drain of the second MOS tube are connected to an input end of a load,

[0031] The source of the second MOS tube is connected to the common terminal through an eleventh resistor.

[0032] In some embodiments, the second bridge arm circuit includes a third MOS transistor and a fourth MOS transistor connected in series.

[0033] The drain of the third MOS tube is connected to the power supply terminal.

[0034] The gate of the third MOS tube is connected to the first output terminal of the second controller.

[0035] The gate of the fourth MOS tube is connected to the second output terminal of the second controller.

[0036] The source of the third MOS tube and the drain of the fourth MOS tube are connected to the input end of another load,

[0037] The source of the fourth MOS tube is connected to the common end through the eleventh resistor.

[0038] In some embodiments, an overcurrent protection circuit is also included.

[0039] One end of the overcurrent protection circuit is connected to the output ends of the first bridge arm circuit and the second bridge arm circuit,

[0040] The other end of the overcurrent protection circuit is connected to the current feedback end of the main controller.

[0041] In some embodiments, the overcurrent protection circuit includes a first amplifier and a first comparator.

[0042] The in-phase terminal of the first amplifier is connected to the output terminals of the first bridge arm circuit and the second bridge arm circuit.

[0043] The inverting terminal of the first comparator is connected to the output terminal of the first amplifier,

[0044] The output terminal of the first comparator is coupled to the current feedback terminal of the main controller.

[0045] In a second aspect, a tea-making robot comprises the control circuit of the robotic arm described above.

[0046] In the control circuit of the mechanical arm described in the utility model, a first driving circuit, a first bridge arm circuit, a second driving circuit and a second bridge arm circuit are included for receiving and outputting a pulse signal. When one pulse signal is at a high level and the other pulse signal is at a low level, the first bridge arm circuit is controlled to be turned on and the second bridge arm circuit is controlled to be turned off. When the other pulse signal is at a high level and the other pulse signal is at a low level, the first bridge arm circuit is controlled to be turned off and the second bridge arm circuit is controlled to be turned on. Compared with the prior art, the first driving circuit and the second driving circuit output pulse signals respectively to control the first bridge arm circuit and the second bridge arm circuit to be turned on alternately, thereby improving the reliability of the mechanical arm operation, and effectively solving the problem that when a switch tube of the upper or lower bridge arm of the mechanical arm is turned off with a delay and the other switch tube is turned on, the bridge arm is directly short-circuited and the switch tube is broken down. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0048] Figure 1 This is a circuit schematic diagram of an embodiment of a driving circuit and a bridge arm circuit provided by the utility model;

[0049] Figure 2 This is a circuit schematic diagram of an embodiment of an overcurrent protection circuit provided by the utility model;

[0050] Figure 3 It is a stereogram of an embodiment of a tea-making robot provided by the utility model. DETAILED DESCRIPTION

[0051] In order to have a clearer understanding of the technical features, purposes and effects of the present utility model, the specific implementation methods of the present utility model are now described in detail with reference to the accompanying drawings.

[0052] like Figure 1-Figure 2 As shown, in the first embodiment of the control circuit of the robot arm of the present utility model, the control circuit of the robot arm includes a driving circuit 100 and an overcurrent protection circuit 200 .

[0053] The driving circuit 100 includes a first driving circuit 101, a first bridge arm circuit 102, a second driving circuit 103 and a second bridge arm circuit 104;

[0054] The first driving circuit 101 is used to receive a first PWM pulse signal input by the main controller MCU, perform voltage boost processing on the first PWM pulse signal, and then output a pulse signal;

[0055] The first bridge arm circuit 102 is used to receive a pulse signal input by the first driving circuit 101, and control the forward or reverse rotation of a load (which can be understood as a robot) according to the level state of the pulse signal;

[0056] The second driving circuit 103 is used to receive a second PWM pulse signal input by the main controller MCU, perform voltage boost processing on the second PWM pulse signal, and then output another pulse signal;

[0057] The second bridge arm circuit 104 is used to receive another pulse signal input by the second driving circuit 103, and control the forward or reverse rotation of another load (which can be understood as a robot) according to the level state of the other pulse signal.

[0058] Specifically, the first driving circuit 101 is configured in the control circuit, and one input end thereof is connected to the PWM signal output end of the main controller MCU, and is used to receive a first PWM pulse signal, and perform voltage boost processing on the first PWM pulse signal to output a pulse signal;

[0059] The signal input end of the first bridge arm circuit 102 is connected to the signal output end of the first driving circuit 101 for receiving a pulse signal;

[0060] Furthermore, an input terminal of the second driving circuit 103 is connected to the PWM signal output terminal of the main controller MCU, and is used to receive the second PWM pulse signal, perform voltage boost processing on the second PWM pulse signal, and output another pulse signal;

[0061] The signal input end of the second bridge arm circuit 104 is connected to the signal output end of the second driving circuit 103 for receiving another pulse signal;

[0062] When one of the input pulse signals is at a high level and the other pulse signal is at a low level, the first bridge arm circuit 102 is controlled to be turned on, the second bridge arm circuit 104 is controlled to be turned off, the other load does not work, and one load rotates forward or reversely;

[0063] When the other input pulse signal is at a high level and the other input pulse signal is at a low level, the first bridge arm circuit 102 is controlled to be turned off, the second bridge arm circuit 104 is controlled to be turned on, one load does not work, and the other load rotates forward or reversely.

[0064] By using the technical solution, pulse signals are outputted respectively through the first driving circuit 101 and the second driving circuit 103 to control the first bridge arm circuit 102 and the second bridge arm circuit 104 to be turned on alternately, thereby improving the reliability of the operation of the robot arm. This can effectively solve the problem of the bridge arm being short-circuited and breaking down the switch tube when a switch tube of the upper or lower bridge arm of the robot arm is turned off with a delay while the other switch tube is turned on.

[0065] In some embodiments, Figure 1 As shown, in order to improve the reliability of the PPWM pulse signal output by the driving circuit, another input terminal of the first driving circuit 101 can be connected to the first enable signal terminal of the main controller MCU to receive the first enable signal (corresponding to EN1).

[0066] When the first enable signal (corresponding to EN1) is at a high level, the first drive circuit 101 can output a pulse signal, and when the first enable signal (corresponding to EN1) is at a low level, the first drive circuit 101 stops outputting a pulse signal;

[0067] Another input terminal of the second driving circuit 103 is connected to the second enable signal terminal of the main controller MCU, and is used to receive the second enable signal (corresponding to EN2).

[0068] When the second enable signal (corresponding to EN2 ) is at a high level, the second driving circuit 103 can output a pulse signal. When the second enable signal (corresponding to EN2 ) is at a low level, the second driving circuit 103 stops outputting a pulse signal.

[0069] In some embodiments, Figure 1 As shown, the first driving circuit 101 at least includes a first controller U1A, which has the functions of signal boost processing, outputting multiple pulse signals and interlocking;

[0070] Specifically, an input terminal (corresponding to pin 2) of the first controller U1A is connected to a PWM signal output terminal (not shown) of the main controller MCU, for receiving a first PWM pulse signal, and performing a voltage boost process on the first PWM pulse signal to output a pulse signal;

[0071] Another input terminal (corresponding to pin 3) of the first controller U1A is connected to a first enable signal terminal (not shown) of the main controller MCU for receiving a first enable signal (corresponding to EN1).

[0072] The output end (corresponding to pins 5 and 7) of the first controller U1A is connected to the signal input end of the first bridge arm circuit 102.

[0073] When the first enable signal (corresponding to EN1) is at a high level, a pulse signal output by the first controller U1A is at a high level, and the first bridge arm circuit 102 is controlled to be turned on;

[0074] When the first enable signal (corresponding to EN1 ) is at a low level, a pulse signal output by the first controller U1A is at a low level, and the first bridge arm circuit 102 is controlled to be turned off.

[0075] In some embodiments, Figure 1As shown, the second driving circuit 103 at least includes a second controller U1B, which has the functions of signal boost processing, outputting multiple pulse signals and interlocking;

[0076] Specifically, an input terminal (corresponding to pin 2) of the second controller U1B is connected to the PWM signal output terminal (not shown) of the main controller MCU, and is used to receive the second PWM pulse signal and perform voltage boost processing on the second PWM pulse signal to output another pulse signal;

[0077] Another input terminal (corresponding to pin 3) of the second controller U1B is connected to the second enable signal terminal (not shown) of the main controller MCU for receiving the second enable signal (corresponding to EN2).

[0078] The output end (corresponding to pins 5 and 7) of the second controller U1B is connected to the signal input end of the second bridge arm circuit 104.

[0079] When the second enable signal (corresponding to EN2) is at a high level, another pulse signal output by the second controller U1B is at a high level, and the second bridge arm circuit 104 is controlled to be turned on;

[0080] When the second enable signal (corresponding to EN2 ) is at a low level, another pulse signal output by the second controller U1B is at a low level, and the second bridge arm circuit 104 is controlled to be turned off.

[0081] In some embodiments, Figure 1 As shown, in order to ensure the reliability of a load operation, a first MOS transistor VT101 and a second MOS transistor VT102 may be provided in the first bridge arm circuit 102 , which are N-channel MOS transistors and have a switch function.

[0082] The first MOS tube VT101 and the second MOS tube VT102 are connected in series.

[0083] The drain of the first MOS tube VT101 is connected to the power supply terminal (corresponding to 12V).

[0084] The gate of the first MOS tube VT101 is connected to the first output terminal (corresponding to pin 7) of the first controller U1A through the third resistor R103, and is used to receive the first pulse signal.

[0085] The gate of the second MOS tube VT102 is connected to the second output terminal (corresponding to pin 5) of the first controller U1A through the fourth resistor R104 to receive the second pulse signal.

[0086] The source of the first MOS tube VT101 and the drain of the second MOS tube VT102 are connected to the input end of a load.

[0087] The source of the second MOS transistor VT102 is connected to the common terminal through the eleventh resistor R111.

[0088] When the first pulse signal outputted from the first output terminal (corresponding to pin 7) of the first controller U1A is at a high level, and the second pulse signal outputted from the second output terminal (corresponding to pin 5) is at a low level, the first MOS tube VT101 is controlled to be turned on, the second MOS tube VT102 is controlled to be turned off, and a load is controlled to rotate forward;

[0089] When the first pulse signal outputted from the first output terminal (corresponding to pin 7) of the first controller U1A is at a low level, and the second pulse signal outputted from the second output terminal (corresponding to pin 5) is at a high level, the second MOS tube VT102 is controlled to be turned on, the first MOS tube VT101 is controlled to be turned off, and a load is controlled to be reversed.

[0090] In some embodiments, Figure 1 As shown, in order to ensure the reliability of another load operation, a third MOS transistor VT103 and a fourth MOS transistor VT104 may be provided in the second bridge arm circuit 104, which are N-channel MOS transistors and have a switch function.

[0091] The third MOS tube VT103 and the fourth MOS tube VT104 are connected in series.

[0092] The drain of the third MOS tube VT103 is connected to the power supply terminal (corresponding to 12V).

[0093] The gate of the third MOS tube VT103 is connected to the first output terminal (corresponding to pin 7) of the second controller U1B through the eighth resistor R108, and is used to receive the third pulse signal.

[0094] The gate of the fourth MOS tube VT104 is connected to the second output terminal (corresponding to pin 5) of the second controller U1B through the ninth resistor R109, and is used to receive the fourth pulse signal.

[0095] The source of the third MOS tube VT103 and the drain of the fourth MOS tube VT104 are connected to the input end of another load.

[0096] The source of the fourth MOS transistor VT104 is connected to the common terminal through the eleventh resistor R111.

[0097] When the third pulse signal outputted by the first output terminal (corresponding to pin 7) of the second controller U1B is at a high level, and the fourth pulse signal outputted by the second output terminal (corresponding to pin 5) is at a low level, the third MOS tube VT103 is controlled to be turned on, the fourth MOS tube VT104 is controlled to be turned off, and the other load is controlled to rotate forward;

[0098] When the first pulse signal outputted by the first output terminal (corresponding to pin 7) of the second controller U1B is at a low level, and the second pulse signal outputted by the second output terminal (corresponding to pin 5) is at a high level, the fourth MOS tube VT104 is controlled to be turned on, the third MOS tube VT103 is controlled to be turned off, and the other load is controlled to be reversed.

[0099] Specifically, the PWM pulse signals (corresponding to PWM1 and PWM2) output by the main controller MCU are respectively input into the HIN pins of the first controller U1A and the second controller U1B, and the first enable signal (corresponding to EN1) and the second enable signal (corresponding to EN2) output by the main controller MCU I / O port are used as enable signals.

[0100] The first output end (corresponding to pin 7) of the first controller U1A and the second controller U1B can obtain a voltage higher than VCC, and the higher voltage value is exactly the voltage charged at both ends of the capacitor. The diode increases the conduction speed, making the on-resistance of the MOS tube smaller, reducing the loss of the switch tube. At the same time, the two output ports HO and LO of the first controller U1A and the second controller U1B have an interlocking function, which can prevent the upper bridge arm and the lower bridge arm from being directly short-circuited due to software or hardware errors, thereby breaking down the MOS tube;

[0101] It can be understood that when the first MOS tube VT101 is turned on, the second MOS tube VT102 is in the cut-off state, or when the second MOS tube VT102 is turned on, the first MOS tube VT101 is in the cut-off state;

[0102] The same is true for the third MOS tube VT103 and the fourth MOS tube VT104.

[0103] In some embodiments, Figure 2 As shown, the control circuit also includes an overcurrent protection circuit 200, which is used to detect the current signal when the load is working and feed the current signal back to the main controller MCU;

[0104] Specifically, one end of the overcurrent protection circuit 200 is connected to the output ends of the first bridge arm circuit 102 and the second bridge arm circuit 104 to obtain the current signal when the load is working;

[0105] The other end of the overcurrent protection circuit 200 is connected to the current feedback end of the main controller MCU, and the detected current signal is output to the main controller MCU for comparison, and the level state of the enable signal of the input drive circuit 100 is controlled according to the comparison result.

[0106] In some embodiments, Figure 2 As shown, the overcurrent protection circuit 200 includes a first amplifier A201 and a first comparator A202, which have the function of signal amplification.

[0107] Specifically, the in-phase terminal (corresponding to pin 3) of the first amplifier A201 is connected to the output terminals (corresponding to Vtext) of the first bridge arm circuit 102 and the second bridge arm circuit 104 through the twelfth resistor R201 to obtain the current signal when the load is working;

[0108] The inverting terminal (corresponding to pin 2) of the first amplifier A201 is connected to the output terminal (corresponding to pin 1) of the first amplifier A201 through the fifteenth resistor R204.

[0109] The inverting terminal of the first comparator A202 (corresponding to pin 6) is connected to the output terminal of the first amplifier A201 (corresponding to pin 1).

[0110] The output terminal (corresponding to pin 8) of the first comparator A202 is coupled to the current feedback terminal (not shown) of the main controller MCU, and the acquired current signal is input into the main controller MCU.

[0111] The current signal will be sent to the A / D conversion module of the main controller MCU after the analog quantity AD1 amplified by the first comparator A202, and the digital quantity (EVA) compared by the first comparator A202 will be sent to the external interrupt port of the main controller MCU. After comparison by the main controller MCU, the level state of the enable signal of the input drive circuit 100 is controlled according to the comparison result to control the working state of the first drive circuit 101 and the second drive circuit 103.

[0112] like Figure 3 As shown, in a second aspect, a tea-making robot 10 includes the control circuit (100, 200) of the above-mentioned robot arm, wherein the tea-making robot 10 includes a first robot arm 110 and a second robot arm 120, wherein the first driving circuit 101 is used to control the working state of the first robot arm 110,

[0113] The second driving circuit 103 is used to control the working state of the second robot 120 .

[0114] The embodiments of the utility model are described above in conjunction with the accompanying drawings, but the utility model is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the utility model, ordinary technicians in this field can also make many forms without departing from the scope of protection of the utility model and the claims, which all fall within the protection of the utility model.

Claims

1. A control circuit for a robotic arm, characterized in that: have: A first driving circuit is configured in the control circuit, an input end of which is connected to the PWM signal output end of the main controller, and is used to receive and output a pulse signal; A first bridge arm circuit, whose signal input end is connected to the signal output end of the first driving circuit, and is used to receive the pulse signal; A second driving circuit, one input end of which is connected to the PWM signal output end of the main controller, for receiving and outputting another pulse signal; A second bridge arm circuit, whose signal input end is connected to the signal output end of the second driving circuit, and is used to receive the other pulse signal; When the one pulse signal is at a high level and the other pulse signal is at a low level, the first bridge arm circuit is controlled to be turned on and the second bridge arm circuit is controlled to be turned off. When the other pulse signal is at a high level and the first pulse signal is at a low level, the first bridge arm circuit is controlled to be turned off, and the second bridge arm circuit is controlled to be turned on.

2. The control circuit of the robot arm according to claim 1, characterized in that: Another input terminal of the first driving circuit is connected to the first enable signal terminal of the main controller for receiving a first enable signal. Another input terminal of the second driving circuit is connected to the second enable signal terminal of the main controller for receiving a second enable signal.

3. The control circuit of the robot arm according to claim 1 or 2, characterized in that: The first driving circuit at least includes a first controller, An input terminal of the first controller is connected to the PWM signal output terminal of the main controller, and is used to receive and output the pulse signal. Another input terminal of the first controller is connected to the first enable signal terminal of the main controller, and is used to receive the first enable signal. The output end of the first controller is connected to the signal input end of the first bridge arm circuit, When the first enable signal is at a high level, the pulse signal output by the first controller is at a high level. When the first enable signal is at a low level, the pulse signal output by the first controller is at a low level.

4. The control circuit of the robot arm according to claim 3, characterized in that: The second driving circuit at least includes a second controller, An input terminal of the second controller is connected to the PWM signal output terminal of the main controller, and is used to receive and output the pulse signal. Another input terminal of the second controller is connected to the second enable signal terminal of the main controller for receiving the second enable signal. The output end of the second controller is connected to the signal input end of the second bridge arm circuit. When the second enable signal is at a high level, the other pulse signal output by the second controller is at a high level. When the second enable signal is at a low level, the another pulse signal output by the second controller is at a low level.

5. The control circuit of the robot arm according to claim 4, characterized in that: The first bridge arm circuit includes a first MOS transistor and a second MOS transistor connected in series. The drain of the first MOS tube is connected to the power supply terminal. The gate of the first MOS tube is connected to the first output terminal of the first controller. The gate of the second MOS tube is connected to the second output terminal of the first controller. The source of the first MOS tube and the drain of the second MOS tube are connected to an input end of a load, The source of the second MOS tube is connected to the common terminal through an eleventh resistor.

6. The control circuit of the robot arm according to claim 5, characterized in that: The second bridge arm circuit includes a third MOS transistor and a fourth MOS transistor connected in series, The drain of the third MOS tube is connected to the power supply terminal. The gate of the third MOS tube is connected to the first output terminal of the second controller. The gate of the fourth MOS tube is connected to the second output terminal of the second controller. The source of the third MOS tube and the drain of the fourth MOS tube are connected to the input end of another load, The source of the fourth MOS tube is connected to the common end through the eleventh resistor.

7. The control circuit of the robot arm according to claim 6, characterized in that: Also includes overcurrent protection circuit, One end of the overcurrent protection circuit is connected to the output ends of the first bridge arm circuit and the second bridge arm circuit, The other end of the overcurrent protection circuit is connected to the current feedback end of the main controller.

8. The control circuit of the robot arm according to claim 7, characterized in that: The overcurrent protection circuit includes a first amplifier and a first comparator. The in-phase terminal of the first amplifier is connected to the output terminals of the first bridge arm circuit and the second bridge arm circuit. The inverting terminal of the first comparator is connected to the output terminal of the first amplifier, The output terminal of the first comparator is coupled to the current feedback terminal of the main controller.

9. A tea-making robot, characterized in that: A control circuit comprising the robotic arm as described in any one of claims 1-8.

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