Mechanical arm power-down protection circuit and sweeping robot

Abstract

The utility model provides a mechanical arm power-down protection circuit and a sweeping robot, and relates to the technical field of motor control, the mechanical arm power-down protection circuit comprises a power supply module, a micro-control module, a relay and a mechanical arm control module, when the power supply module supplies power, a control end of the relay is electrified to control a common end to be conducted with a second connecting end, and the mechanical arm control module controls the micro-control module. The micro-control module controls the power supply module to be connected with the input end of the motor. When the power supply module is powered off, the control end of the relay is powered off, the common end is connected with the first connecting end, the input end of the motor is connected with the grounding end, and a coil of the motor forms loop current and generates resistance to slow down descending of the mechanical arm. By means of the automatic switching function of the relay, the connection state of the motor is rapidly switched when a power source is cut off, resistance is generated through the physical characteristics of the motor so as to slow down descending of the mechanical arm, the circuit structure is simple, cost is low, large installation space does not need to be occupied, and the circuit can be applied to mechanical arms of various sizes and models; and the method has a relatively wide application range.

Description

Technical Field

[0001] The utility model relates to the technical field of motor control, and particularly relates to a power-off protection circuit for a robotic arm and a floor cleaning robot. Background Art

[0002] During the operation of a floor cleaning robot equipped with a robotic arm, when an abnormal power failure occurs, the robotic arm without protective measures and the load it grasps may suddenly fall, posing a safety hazard.

[0003] Traditional industrial and collaborative robotic arms usually install an electromagnetic braking system. In the event of a power failure, the electromagnetic brake or electromagnet is used to make the motor hold the brake to avoid safety hazards. However, the manufacturing cost of such an electromagnetic braking system is high, and it requires a large installation space. It is not suitable for installation on robotic arms with a large load capacity and a long arm span, and the range of applicable robotic arms is limited. Summary of the Utility Model

[0004] In view of the deficiencies of the above-mentioned prior art, the utility model provides a power-off protection circuit for a robotic arm and a floor cleaning robot, which solves the technical problem in the prior art that when the robotic arm is powered off, using an electromagnetic braking system to hold the brake of the robotic arm has a high manufacturing cost and occupies a large installation space.

[0005] On the one hand, the utility model provides a power-off protection circuit for a robotic arm, including a power supply module, a micro-control module, a relay, a robotic arm control module, and a PMOS transistor. Among them, the robotic arm control module includes a motor and a robotic arm, and the motor is drivingly connected to the robotic arm;

[0006] The relay includes a control terminal, a common terminal, a first connection terminal, and a second connection terminal. The power supply module is connected to the control terminal, the common terminal is connected to the ground terminal, the first connection terminal is connected to the input terminal of the motor, and the second connection terminal is connected to the power supply module;

[0007] The power supply module is connected to the source electrode of the PMOS transistor, the micro-control module is connected to the gate electrode of the PMOS transistor, the drain electrode of the PMOS transistor is connected to the robotic arm control module, and the micro-control module controls the on-off of the PMOS transistor based on the power supply state of the power supply module to control the connection state between the power supply module and the robotic arm control module;

[0008] When the power supply module supplies power, the control terminal of the relay is energized to control the conduction between the common terminal of the relay and the second connection terminal of the relay, and the micro-control module controls the connection between the power supply module and the input terminal of the motor, so that the motor drives the robotic arm to work;

[0009] When the power supply module is powered off, the control terminal of the relay is powered off, and the common terminal of the relay is conducted with the first connection terminal of the relay, so that the input terminal of the motor is connected to the ground terminal, and a loop current is formed in the coil of the motor to generate resistance to slow down the descent of the robotic arm.

[0010] Optionally, an energized coil is provided inside the relay;

[0011] The control terminal includes a first pin and an eighth pin. The first pin is connected to the positive pole of the energized coil inside the relay, and the eighth pin is connected to the negative pole of the energized coil inside the relay;

[0012] The first connection terminal includes a second pin and a seventh pin. The second pin and the seventh pin are respectively connected to the input terminal of the motor, and the seventh pin is also connected to the negative pole of a first bidirectional trigger diode. The positive pole of the first bidirectional trigger diode is connected to the ground terminal;

[0013] The common terminal includes a third pin and a sixth pin. The third pin and the sixth pin are respectively connected to the ground terminal;

[0014] The second connection terminal includes a fourth pin and a fifth pin. The power supply module is connected to the fourth pin through a first resistor. The fourth pin is connected to the negative pole of a second bidirectional trigger diode through a first signal register. The positive pole of the second bidirectional trigger diode is connected to the ground terminal, and the fifth pin is connected to the negative pole of the second bidirectional trigger diode;

[0015] When the power supply module supplies power, the energized coil is energized to conduct the third pin and the fourth pin, and the sixth pin and the fifth pin. The micro control module controls the first signal register to output a high-level signal;

[0016] When the power supply module is powered off, the energized coil is powered off, and the third pin is conducted with the second pin, and the sixth pin is conducted with the seventh pin.

[0017] Optionally, the first pin and the eighth pin are respectively connected to the power supply module through a connection circuit. The connection circuit includes a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first diode, a second diode, a third diode, a first capacitor, and a first NMOS transistor;

[0018] The power supply module is connected to the negative pole of the first diode. The positive pole of the first diode is connected to the first end of the second resistor through the first capacitor, and the positive pole of the first diode is also connected to the first end of the second resistor through the third resistor;

[0019] The power supply module is also connected to the positive electrode of the second diode, and the negative electrode of the second diode is connected to the first end of the second resistor through the fourth resistor;

[0020] The power supply module is also connected to the negative electrode of the third diode, and the positive electrode of the third diode is connected to the drain of the first NMOS transistor;

[0021] The power supply module is also connected to the first pin, and the eighth pin is connected to the drain of the first NMOS transistor;

[0022] The first end of the second resistor is connected to the ground terminal through the fifth resistor, the second end of the second resistor is connected to the gate of the first NMOS transistor, and the source of the first NMOS transistor is connected to the ground terminal.

[0023] Optionally, the power-off protection circuit of the robotic arm further includes an enable control circuit;

[0024] The enable control terminal of the micro-control module is connected to the eighth pin through the enable control circuit, and the first pin is connected to the power supply module;

[0025] The micro-control module controls the energization state of the energized coil through the enable control circuit to control the connection state of the common terminal in the relay.

[0026] Optionally, the power supply module is connected to the first pin through a sixth resistor;

[0027] The enable control circuit further includes a seventh resistor, an eighth resistor, and a second NMOS transistor. The enable control terminal of the micro-control module is connected to the gate of the second NMOS transistor through the seventh resistor. The gate of the second NMOS transistor is also connected to the ground terminal through the eighth resistor. The source of the second NMOS transistor is connected to the ground terminal, and the drain of the second NMOS transistor is connected to the eighth pin.

[0028] Optionally, the circuit further includes a third NMOS transistor, a fourth NMOS transistor, a fifth NMOS transistor, a PNP type triode, and a second signal register;

[0029] The micro-control module is connected to the gate of the third NMOS transistor. The source of the third NMOS transistor is connected to the ground terminal. The drain of the third NMOS transistor is connected to the base of the PNP type triode;

[0030] The emitter of the PNP type triode is connected to the power supply, and the collector of the PNP type triode is connected to the gate of the fifth NMOS transistor;

[0031] The second signal register is connected to the gate of the fourth NMOS transistor. The source of the fourth NMOS transistor is connected to the ground terminal, and the drain of the fourth NMOS transistor is connected to the gate of the fifth NMOS transistor;

[0032] The source of the fifth NMOS transistor is connected to the ground terminal, and the drain of the fifth NMOS transistor is connected to the gate of the PMOS transistor;

[0033] When the power supply module supplies power, the third NMOS transistor and the PNP type triode are turned on. The micro control module controls the second signal register to emit a high-level signal, so that the fourth NMOS transistor, the fifth NMOS transistor and the PMOS transistor are turned on, and the power supply module is connected to the input end of the motor.

[0034] Optionally, the robotic arm control module further includes a reducer;

[0035] The output end of the motor is drivingly connected to the robotic arm through the reducer;

[0036] When the power supply module is powered off, the reducer is used to amplify the resistance generated by the coil of the motor based on the loop current to slow down the descent of the robotic arm.

[0037] Optionally, a communication unit is provided on the motor, and a first port, a second port, a third port and a fourth port are provided on the communication unit;

[0038] The first port is connected to the power supply module, the second port is connected to the ground terminal, and the third port and the fourth port are respectively used to connect RS485 signal lines for communication connection with external devices.

[0039] Optionally, the motor is a brushless motor.

[0040] On the other hand, the present invention provides a floor sweeping robot, including the robotic arm power-off protection circuit described in any one of the above.

[0041] The robotic arm power-off protection circuit and the sweeping robot provided by the present utility model realize the switching of the connection state of the motor under different power supply states through a relay. When the power supply module supplies power normally, the power supply module cooperates with the micro-control module to supply power to the motor in the robotic arm control module, thereby driving the robotic arm to work normally. When the power supply module is accidentally powered off, the control end of the relay loses voltage, causing the common end of the relay to be connected to the first connection end, resulting in the input end of the motor being directly connected to the ground end, and the input end of the motor being short-circuited to form a loop. At this time, the motor can be regarded as a generator, and the coil of the motor forms a loop current due to the back electromotive force and is subjected to a reverse Ampere force. This Ampere force is equivalent to a resistance, and the resistance increases continuously as the speed of the motor increases, thereby hindering the falling speed of the robotic arm, making the robotic arm can only fall slowly, reducing the risk of the rapid fall of the robotic arm caused by accidental power-off, and improving safety. The robotic arm power-off protection circuit provided by this application utilizes the automatic switching function of the relay, can quickly switch the connection state of the motor when the power supply is disconnected, and uses the physical characteristics of the motor itself to generate resistance to slow down the descent of the robotic arm. The circuit structure is simple, the cost is low, it does not need to occupy a large installation space, and it can be applied to robotic arms of various sizes and models, having a relatively wide application range.

[0042] Other features and advantages of the present utility model will be described in the following description, and part of them will become obvious from the description, or be understood by implementing the present utility model. The purpose and other advantages of the present utility model can be realized and obtained through the structures specifically pointed out in the written description, claims, and drawings.

[0043] The technical solutions of the present utility model will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0044] The drawings are used to provide a further understanding of the present utility model, and constitute a part of the description. They are used together with the embodiments of the present utility model to explain the present utility model, and do not constitute a limitation to the present utility model. In the drawings:

[0045] Figure 1 is a schematic diagram of the overall structure of the robotic arm power-off protection circuit in an embodiment provided by this application;

[0046] Figure 2 is a schematic diagram of the overall structure of the robotic arm power-off protection circuit configured with an enable control circuit in an embodiment provided by this application;

[0047] Figure 3 is a circuit structure diagram of the connection circuit of the robotic arm power-off protection circuit and the relay in an embodiment provided by this application;

[0048] Figure 4The circuit structure diagram of the power-off protection circuit for the robotic arm in an embodiment provided by this application is configured with an enable control circuit;

[0049] Figure 5 The circuit structure diagram among the power supply module, the micro-control module, and the robotic arm control module in the power-off protection circuit for the robotic arm in an embodiment provided by this application;

[0050] Figure 6 The circuit structure diagram of the communication unit of the motor in the power-off protection circuit for the robotic arm in an embodiment provided by this application.

[0051] In the figure:

[0052] Q1, the first NMOS transistor; Q2, the second NMOS transistor; Q3, the third NMOS transistor; Q4, the fourth NMOS transistor; Q5, the fifth NMOS transistor; Q6, the PNP type triode; Q7, the PMOS transistor;

[0053] D1, the first bidirectional trigger diode; D2, the second bidirectional trigger diode; D3, the first diode; D4, the second diode; D5, the third diode;

[0054] C1, the first capacitor; C2, the second capacitor; C3, the third capacitor; C4, the fourth capacitor; C5, the fifth capacitor; C6, the sixth capacitor;

[0055] R1, the first resistor; R2, the second resistor; R3, the third resistor; R4, the fourth resistor; R5, the fifth resistor; R6, the sixth resistor; R7, the seventh resistor; R8, the eighth resistor; R9, the ninth resistor; R10, the tenth resistor; R11, the eleventh resistor; R12, the twelfth resistor; R13, the thirteenth resistor; R14, the fourteenth resistor; R15, the fifteenth resistor; R16, the sixteenth resistor; R17, the seventeenth resistor; R18, the eighteenth resistor; R19, the nineteenth resistor;

[0056] MCU, the micro-control module; MECH_EN, the enable control terminal; GND, the ground terminal;

[0057] VBAT, the power supply voltage; VBAT_IN, the power supply port; V_MECH_POWER, the input terminal of the motor; VCC_3.3V, the power supply;

[0058] KA1, the relay; F1, the fuse;

[0059] RE_LOCK1, the first signal register; RE_LOCK2, the second signal register;

[0060] H1, the communication unit; A, signal line A; B, signal line B. Detailed implementation manners

[0061] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0062] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, "a plurality of" means two or more, unless otherwise specifically defined.

[0063] In the present utility model, unless otherwise clearly specified and defined, terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0064] On the one hand, the present utility model provides a power-off protection circuit for a robotic arm, as Figure 1As shown in the figure, it includes a power supply module, a micro - control module, a relay, a robotic arm control module, and a PMOS transistor. Among them, the robotic arm control module includes a motor and a robotic arm, and the motor is drivingly connected to the robotic arm; the relay includes a control terminal, a common terminal, a first connection terminal, and a second connection terminal. The power supply module is connected to the control terminal, the common terminal is connected to the ground terminal, the first connection terminal is connected to the input terminal of the motor, and the second connection terminal is connected to the power supply module; the power supply module is connected to the source electrode of the PMOS transistor, the micro - control module is connected to the gate electrode of the PMOS transistor, and the drain electrode of the PMOS transistor is connected to the robotic arm control module. The micro - control module controls the on - off of the PMOS transistor based on the power supply state of the power supply module to control the connection state between the power supply module and the robotic arm control module; when the power supply module supplies power, the control terminal of the relay is energized to control the conduction between the common terminal of the relay and the second connection terminal of the relay. The micro - control module controls the connection between the power supply module and the input terminal of the motor, so that the motor drives the robotic arm to work; when the power supply module is powered off, the control terminal of the relay is de - energized, and the common terminal of the relay is conducted with the first connection terminal, so that the input terminal of the motor is connected to the ground terminal, and a loop current is formed in the coil of the motor and a resistance is generated to slow down the descent of the robotic arm.

[0065] The robotic arm power - off protection circuit provided by the present utility model realizes the switching of the connection state of the motor under different power supply states through a relay. When the power supply module supplies power normally, the power supply module cooperates with the micro - control module to supply power to the motor in the robotic arm control module, so as to drive the robotic arm to work normally; when the power supply module is accidentally powered off, the control terminal of the relay loses voltage, so that the common terminal of the relay is connected to the first connection terminal, resulting in the direct connection between the input terminal of the motor and the ground terminal, and the input terminal of the motor is short - circuited to form a loop. At this time, the motor can be regarded as a generator, and the coil of the motor forms a loop current due to the back - electromotive force and receives a reverse Ampere force. This Ampere force is equivalent to a resistance, and the resistance increases continuously as the speed of the motor increases, thereby hindering the falling speed of the robotic arm, making the robotic arm can only fall slowly, reducing the risk of the rapid fall of the robotic arm caused by accidental power - off, and improving safety. The robotic arm power - off protection circuit provided by this application utilizes the automatic switching function of the relay, can quickly switch the connection state of the motor when the power supply is disconnected, and uses the physical characteristics of the motor itself to generate resistance to slow down the descent of the robotic arm. The circuit structure is simple, the cost is low, it does not need to occupy a large installation space, and it can be applied to robotic arms of various sizes and models, with a relatively wide application range.

[0066] Among them, the microcontroller module MCU is connected between the power supply module and the robotic arm control module, and is used to control the connection state between the power supply module and the robotic arm control module. This can be achieved by setting a PMOS transistor. Specifically, the microcontroller module MCU can directly control the on / off state of the PMOS transistor, thereby precisely controlling the power supply to the robotic arm control module. Furthermore, it can turn on or off the operation of the robotic arm as needed, improving the flexibility and controllability of the operation. When the microcontroller module MCU outputs a high level, it controls the PMOS transistor to conduct. Under the power supply state of the power supply module, the power supply module can directly supply power to the motor. When the microcontroller module MCU outputs a low level, the PMOS transistor is cut off. Even if the power supply module is normally powered, the microcontroller module MCU can also implement the power-off function for the motor. In this application, the PMOS transistor is selected because it can quickly respond to the instructions of the microcontroller module MCU to achieve rapid power switching. The PMOS transistor can provide a certain degree of isolation protection to prevent abnormal conditions in the power supply circuit from affecting the microcontroller module MCU or other components. Selecting the PMOS transistor can enhance the control ability of the circuit, improve efficiency and safety, and at the same time simplify the circuit design, making it easy to integrate into complex systems.

[0067] Specifically, in the above embodiment, as Figure 3 shown, there is an energized coil inside the relay KA1; the control terminal includes a first pin and an eighth pin. The first pin is connected to the positive pole of the energized coil inside the relay KA1, and the eighth pin is connected to the negative pole of the energized coil inside the relay KA1; the first connection terminal includes a second pin and a seventh pin. The second pin and the seventh pin are respectively connected to the input terminal V_MECH_POWER of the motor, and the seventh pin is also connected to the negative pole of the first diac D1. The positive pole of the first diac D1 is connected to the ground terminal; the common terminal includes a third pin and a sixth pin. The third pin and the sixth pin are respectively connected to the ground terminal; the second connection terminal includes a fourth pin and a fifth pin. The power supply module is connected to the fourth pin through a first resistor R1. The fourth pin is connected to the negative pole of the second diac D2 through a first signal register RE_LOCK1. The positive pole of the second diac D2 is connected to the ground terminal, and the fifth pin is connected to the negative pole of the second diac D2; when the power supply module supplies power, the energized coil is energized to make the third pin conduct with the fourth pin, and the sixth pin conduct with the fifth pin. The microcontroller module MCU controls the first signal register RE_LOCK1 to output a high-level signal; when the power supply module is powered off, the energized coil is de-energized, the third pin conducts with the second pin, and the sixth pin conducts with the seventh pin.

[0068] In this embodiment, a specific structural drawing of the relay KA1 is provided. Inside the relay KA1, an energizing coil is connected between the first pin and the eighth pin of the control terminal. The energizing coil is usually controlled by applying a voltage. That is, when an appropriate voltage is applied across the two ends of the energizing coil, a current in the coil generates a magnetic field, and the magnetic field further attracts or repels the contacts, causing the contacts to move. Specifically, in this application, the control terminal is connected to the power supply module. When the power supply module supplies power normally, the energizing coil obtains a voltage to generate a magnetic field, and the third pin of the common terminal of the relay KA1 conducts with the fourth pin of the second connection terminal, and the sixth pin of the common terminal conducts with the fifth pin of the second connection terminal. At this time, the microcontroller module MCU controls the first signal register RE_LOCK1 to output a high-level signal, and the power supply module directly supplies power to the motor, enabling the motor to drive the robotic arm to work properly. When the power supply module loses power accidentally, the energizing coil loses voltage. At this time, the third pin of the common terminal of the relay KA1 conducts with the second pin of the first connection terminal, and the sixth pin of the common terminal conducts with the seventh pin of the first connection terminal. At this time, the input terminal V_MECH_POWER of the motor is directly connected to the ground terminal, causing a loop current to be generated in the coil of the motor and generating a resistance to slow down the descent of the robotic arm.

[0069] Among them, the first bidirectional trigger diode D1 and the second bidirectional trigger diode D2 are used to limit voltage spikes and protect the circuit from reverse voltage, playing a clamping role during power supply transient fluctuations to prevent excessive voltage from damaging other components. And the relay KA1 realizes the switching of the circuit by controlling the conduction state of the energizing coil and changing the connection state of the common terminal pins, with a simple and effective overall structure.

[0070] Furthermore, the first pin and the eighth pin are respectively connected to the power supply module through a connection circuit. Among them, the connection circuit includes a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first diode D3, a second diode D4, a third diode D5, a first capacitor C1, and a first NMOS transistor Q1. The power supply module is connected to the negative electrode of the first diode D3. The positive electrode of the first diode D3 is connected to the first end of the second resistor R2 through the first capacitor C1, and the positive electrode of the first diode D3 is also connected to the first end of the second resistor R2 through the third resistor R3. The power supply module is also connected to the positive electrode of the second diode D4. The negative electrode of the second diode D4 is connected to the first end of the second resistor R2 through the fourth resistor R4. The power supply module is also connected to the negative electrode of the third diode D5. The positive electrode of the third diode D5 is connected to the drain of the first NMOS transistor Q1. The power supply module is also connected to the first pin, and the eighth pin is connected to the drain of the first NMOS transistor Q1. The first end of the second resistor R2 is connected to the ground terminal through the fifth resistor R5. The second end of the second resistor R2 is connected to the gate of the first NMOS transistor Q1, and the source of the first NMOS transistor Q1 is connected to the ground terminal.

[0071] In this embodiment, the overall structure of the connection circuit is specifically given. Among them, the first NMOS transistor Q1 functions as a switch in the connection circuit, and affects the connection state of the common terminal in the relay KA1 by controlling the current in the energized coil of the relay KA1. That is, when the power supply module supplies power normally, the gate of the first NMOS transistor Q1 receives a high level and conducts, allowing current to flow through the source and drain, thereby supplying power to the energized coil; the first capacitor C1 is used to filter out high-frequency noise in the power supply, provide a stable power supply voltage, and can also absorb the instantaneous pulse current in the circuit to improve the power quality; the first diode D3 is used as a rectifier diode to achieve voltage conversion, while the second diode D4 and the third diode D5 are both voltage-regulator diodes, and the other resistors in the circuit all play a role in current limiting; in this application, the connection circuit is set up to achieve the functions of power management and protection, improving the safety and stability of the overall circuit.

[0072] Specifically, in the above embodiment, as Figure 2 and Figure 4 shown, the power-off protection circuit of the robotic arm further includes an enable control circuit; the enable control terminal MECH_EN of the microcontroller module MCU is connected to the eighth pin through the enable control circuit, and the first pin is connected to the power supply module; the microcontroller module MCU controls the energized state of the energized coil through the enable control circuit to control the connection state of the common terminal in the relay KA1.

[0073] In this embodiment, the relay KA1 realizes the switching of the connection state of the common terminal based on the power supply state of the power supply module, that is, short-circuits the connection terminal of the motor in the event of an accidental power-off, and slows down the falling speed of the robotic arm by generating resistance. In another embodiment, the active switching control of the relay KA1 is realized by introducing an enable control circuit. Specifically, the enable control terminal MECH_EN of the microcontroller module MCU is directly connected to the eighth pin through the enable control. Through the enable control circuit, the microcontroller module MCU can decide when to start or stop the operation of the relay KA1 according to the program logic. For example, if it is necessary to urgently shut down the robotic arm under specific conditions, the energized coil is powered off by the microcontroller module MCU, and the slow descent of the robotic arm can also be achieved without waiting for the accidental power-off of the power supply module, realizing active control. Moreover, the use of the microcontroller module MCU for control can precisely control the on-off time of the relay KA1, achieve more precise operation control, and adjust the working state of the relay KA1 according to the actual situation to meet the requirements of different application scenarios. On the basis of ensuring the safety of the robotic arm falling, the flexibility and controllability of the circuit are enhanced.

[0074] Further, the power supply module is connected to the first pin through the sixth resistor; the enable control circuit further includes a seventh resistor R7, an eighth resistor R8, and a second NMOS transistor Q2. The enable control terminal of the microcontroller module MCU is connected to the gate of the second NMOS transistor Q2 through the seventh resistor R7. The gate of the second NMOS transistor Q2 is also connected to the ground terminal through the eighth resistor R8. The source of the second NMOS transistor Q2 is connected to the ground terminal, and the drain of the second NMOS transistor Q2 is connected to the eighth pin.

[0075] In this embodiment, the enable control circuit specifically includes a seventh resistor R7, an eighth resistor R8, and a second NMOS transistor Q2. Among them, the seventh resistor R7 is located between the enable control terminal MECH_EN of the microcontroller module MCU and the gate of the second NMOS transistor Q2. When the output of the enable control terminal MECH_EN is high, current flows through the seventh resistor R7 to reach the gate of the second NMOS transistor Q2, turning on the second NMOS transistor Q2; the eighth resistor R8 is located between the gate of the second NMOS transistor Q2 and the ground terminal, playing a role in current limiting, restricting the current flowing through the second NMOS transistor Q2, and protecting the second NMOS transistor Q2 from being impacted by excessive current. Specifically, the working principle of the enable control circuit is that when the output of the enable control terminal MECH_EN of the microcontroller module MCU is high, current flows through the seventh resistor R7, making the gate of the second NMOS transistor Q2 at a high level, and the second NMOS transistor Q2 is turned on. The energized coil of the relay KA1 is powered on, and the contacts of the relay KA1 are in the normal working state, and the motor drives the robotic arm to work normally; when the output of the enable control terminal MECH_EN of the microcontroller module MCU is low, the gate of the second NMOS transistor Q2 is at a low level, and the second NMOS transistor Q2 is turned off. At this time, the energized coil of the relay KA1 cannot be powered, and the input terminal V_MECH_POWER of the motor is short-circuited, thereby generating resistance to slow down the descent of the robotic arm. It can be seen that in this application, the microcontroller module MCU controls the on and off of the second NMOS transistor Q2 by outputting high and low levels at the enable control terminal MECH_EN, indirectly controlling the working state of the relay KA1.

[0076] Specifically, in the above embodiment, as Figure 5 shown, the power-off protection circuit of the robotic arm further includes a PMOS transistor Q7; the power supply module is connected to the source of the PMOS transistor Q7, the microcontroller module MCU is connected to the gate of the PMOS transistor Q7, and the drain of the PMOS transistor Q7 is connected to the robotic arm control module; the microcontroller module MCU controls the on and off of the PMOS transistor Q7 based on the power supply state of the power supply module to control the connection state between the power supply module and the robotic arm control module.

[0077] Further, the power-off protection circuit of the robotic arm further includes a third NMOS transistor Q3, a fourth NMOS transistor Q4, a fifth NMOS transistor Q5, a PNP type triode Q6, and a second signal register RE_LOCK2; the micro control module MCU is connected to the gate of the third NMOS transistor Q3, the source of the third NMOS transistor Q3 is connected to the ground terminal, and the drain of the third NMOS transistor Q3 is connected to the base of the PNP type triode Q6; the emitter of the PNP type triode Q6 is connected to the power supply, and the collector of the PNP type triode Q6 is connected to the gate of the fifth NMOS transistor Q5; the second signal register RE_LOCK2 is connected to the gate of the fourth NMOS transistor Q4, the source of the fourth NMOS transistor Q4 is connected to the ground terminal, and the drain of the fourth NMOS transistor Q4 is connected to the gate of the fifth NMOS transistor Q5; the source of the fifth NMOS transistor Q5 is connected to the ground terminal, and the drain of the fifth NMOS transistor Q5 is connected to the gate of the PMOS transistor Q7; when the power supply module supplies power, the third NMOS transistor Q3 and the PNP type triode Q6 are turned on, and the micro control module MCU controls the second signal register RE_LOCK2 to send out a high-level signal, so that the fourth NMOS transistor Q4, the fifth NMOS transistor Q5, and the PMOS transistor Q7 are turned on, and the power supply module is connected to the input terminal V_MECH_POWER of the motor.

[0078] In this embodiment, multiple transistors are further arranged between the micro control module MCU and the gate of the PMOS transistor Q7 to implement the control function of the micro control module MCU, such as Figure 5As shown, the microcontroller module MCU is connected to the gate of the third NMOS transistor Q3 through the ninth resistor R9. The source of the third NMOS transistor Q3 is connected to the ground terminal, and a tenth resistor R10 is connected in parallel between the source and the gate of the third NMOS transistor Q3. The drain of the third NMOS transistor Q3 is connected to the base of the PNP transistor Q6 through the eleventh resistor R11. At the same time, a 3.3V power supply VCC_3.3V is connected to the emitter of the PNP transistor Q6 through the thirteenth resistor R13. The 3.3V power supply VCC_3.3V is also connected to the base of the PNP transistor Q6 through the twelfth resistor R12. The 3.3V power supply VCC_3.3V is connected to the ground terminal through the sixth capacitor C6. The collector of the PNP transistor Q6 is connected to the gate of the fifth NMOS transistor Q5 through the fourteenth resistor R14. The second signal register RE_LOCK2 is connected to the gate of the fourth NMOS transistor Q4 through the fifteenth resistor R15. The source of the fourth NMOS transistor Q4 is connected to the ground terminal, and a sixteenth resistor R16 is connected in parallel between the gate and the source of the fourth NMOS transistor Q4. The drain of the fourth NMOS transistor Q4 is also connected to the gate of the fifth NMOS transistor Q5. The source of the fifth NMOS transistor Q5 is connected to the ground terminal, and a seventeenth resistor R17 is connected in parallel between the gate and the source of the fifth NMOS transistor Q5. At the same time, the drain of the fifth NMOS transistor Q5 is connected to the gate of the PMOS transistor Q7 through the nineteenth resistor R19, and an eighteenth resistor R18 is connected in parallel between the source and the gate of the PMOS transistor Q7; the power supply module can also be specifically split into a power supply voltage VBAT and a power supply port VBAT_IN. The power supply voltage VBAT is connected to the power supply port VBAT_IN through the fuse F1. The power supply port VBAT_IN is connected to the source of the PMOS transistor Q7. At the same time, the power supply port VBAT_IN is also connected to the ground terminal through the fourth capacitor C4 and the fifth capacitor C5 respectively. The drain of the PMOS transistor Q7 is connected to the input terminal V_MECH_POWER of the motor in the robotic arm control module. The input terminal V_MECH_POWER of the motor is also connected to the ground terminal through the second capacitor C2 and the third capacitor C3 respectively.

[0079] Combined with Figure 5, the working principle of the micro - control module MCU controlling the connection state between the power supply module and the robotic arm control module through the PMOS transistor is as follows. The micro - control module MCU outputs a high level, making the third MOS transistor Q3 and the PNP - type transistor Q6 both in the conducting state. At this time, the second signal register RE_LOCK2 also outputs a high level, making the fourth NMOS transistor Q4 in the conducting state. Similarly, the fifth NMOS transistor Q5 is also in the conducting state, outputting a high level to the gate of the PMOS transistor Q7, making the PMOS transistor Q7 also in the conducting state, so that the power supply module can directly supply power to the input terminal V_MECH_POWER of the motor in the robotic arm control module. Among them, the twelfth resistor R12 and the thirteenth resistor R13 form a voltage - dividing circuit; each capacitor in the figure is used for filtering to remove high - frequency noise in the power supply and improve the power supply quality; the fuse F1 is used to protect the circuit from over - current. The tenth resistor R10 connected in parallel between the source and the gate of the third NMOS transistor Q3, the sixteenth resistor R16 connected in parallel between the source and the gate of the fourth NMOS transistor Q4, the seventeenth resistor R17 connected in parallel between the source and the gate of the fourth NMOS transistor Q4, and the eighteenth resistor R18 connected in parallel between the source and the gate of the PMOS transistor Q7 can reduce the static power consumption of the field - effect transistor and play a protective role.

[0080] Specifically, in the above - mentioned embodiment, the robotic arm control module further includes a reducer; the output end of the motor is drivingly connected to the robotic arm through the reducer; when the power supply module is powered off, the reducer is used to amplify the resistance generated by the coil of the motor based on the loop current to slow down the descent of the robotic arm.

[0081] In this embodiment, a reducer is also connected between the motor and the robotic arm, which is used to increase the torque and reduce the speed. When the power supply module is powered off, the coil in the motor forms a loop current due to the back - electromotive force and is subject to a reverse resistance, and the resistance increases as the motor speed increases. The reducer can amplify the resistance, thus further hindering the falling speed of the robotic arm and improving the safety of the robotic arm's descent.

[0082] Specifically, in the above - mentioned embodiment, as Figure 6 shown, a communication unit H1 is provided on the motor. The communication unit H1 is provided with a first port, a second port, a third port, and a fourth port; the first port is connected to the power supply module, the second port is connected to the ground terminal, and the third port and the fourth port are respectively used to connect RS485 signal lines for communication connection with external devices.

[0083] In this embodiment, a communication unit H1 is further configured on the motor. The communication unit H1 is specifically an RS485 communication unit. The first port of the communication unit H1 is the input terminal V_MECH_POWER of the motor, which is used to connect to the power supply module to receive power supply from the power supply module. The second port is used to connect to the ground terminal, and the third port and the fourth port are used to connect to the signal line A and the signal line B in the RS485 communication protocol for two-way communication, allowing data exchange between the motor and external devices. The function of the communication unit H1 is to supply power from the power supply module to the motor and at the same time implement RS485 communication.

[0084] Specifically, in the above embodiment, the motor is a brushless motor.

[0085] In this embodiment, the motor in the robotic arm control module is a brushless motor. Specifically, an electronic commutator is used to replace the traditional mechanical commutator. Compared with a brushed motor, the brushless motor eliminates the friction loss between the carbon brush and the commutator, has higher efficiency, lower energy consumption, and longer service life. And the brushless motor does not need to replace the carbon brush regularly, reducing the maintenance workload. At the same time, the commutation of the brushless motor is completed by an electronic controller, which can achieve faster response time and higher precision.

[0086] On the other hand, the present utility model provides a floor cleaning robot, including the above-mentioned power failure protection circuit for the robotic arm.

[0087] The floor cleaning robot provided by the present utility model is equipped with a power failure protection circuit for the robotic arm. Even if the power supply is interrupted, the robotic arm will slowly descend instead of falling suddenly, reducing the risk of damage to the machine itself and the surrounding environment. The slow descent of the robotic arm can reduce the impact and reduce damage to the robotic arm itself and other components. From the perspective of the user experience, the user does not have to worry about the out-of-control of the robotic arm caused by a power failure, improving the reliability and safety of the product. At the same time, the setting of the micro-control module enables the user to control the state of the relay according to the usage needs, thereby realizing the start and stop control of the robotic arm and further improving the work efficiency.

[0088] Obviously, those skilled in the art can make various changes and modifications to the present utility model without departing from the spirit and scope of the present utility model. Thus, if these modifications and variations of the present utility model fall within the scope of the claims of the present utility model and their equivalent technologies, the present utility model is also intended to include these changes and modifications.

Claims

1. A power-off protection circuit for a robotic arm, characterized in that, It includes a power supply module, a micro-control module, a relay, a robotic arm control module, and a PMOS transistor. Among them, the robotic arm control module includes a motor and a robotic arm, and the motor is drivingly connected to the robotic arm; The relay includes a control terminal, a common terminal, a first connection terminal, and a second connection terminal. The power supply module is connected to the control terminal, the common terminal is connected to the ground terminal, the first connection terminal is connected to the input terminal of the motor, and the second connection terminal is connected to the power supply module; The power supply module is connected to the source electrode of the PMOS transistor, the micro-control module is connected to the gate electrode of the PMOS transistor, the drain electrode of the PMOS transistor is connected to the robotic arm control module, and the micro-control module controls the on / off of the PMOS transistor based on the power supply state of the power supply module to control the connection state between the power supply module and the robotic arm control module; When the power supply module supplies power, the control terminal of the relay is energized to control the conduction between the common terminal of the relay and the second connection terminal of the relay. The micro-control module controls the connection between the power supply module and the input terminal of the motor, so that the motor drives the robotic arm to work; When the power supply module is powered off, the control terminal of the relay is de-energized, and the common terminal of the relay is conducted with the first connection terminal of the relay, so that the input terminal of the motor is connected to the ground terminal, and the coil of the motor forms a loop current and generates resistance to slow down the descent of the robotic arm.

2. The power-down protection circuit of the robotic arm according to claim 1, characterized in that, An energized coil is provided inside the relay; The control terminal includes a first pin and an eighth pin. The first pin is connected to the positive electrode of the energized coil inside the relay, and the eighth pin is connected to the negative electrode of the energized coil inside the relay; The first connection terminal includes a second pin and a seventh pin. The second pin and the seventh pin are respectively connected to the input terminal of the motor, and the seventh pin is also connected to the negative electrode of a first diac. The positive electrode of the first diac is connected to the ground terminal; The common terminal includes a third pin and a sixth pin. The third pin and the sixth pin are respectively connected to the ground terminal; The second connection terminal includes a fourth pin and a fifth pin. The power supply module is connected to the fourth pin through a first resistor. The fourth pin is connected to the negative electrode of a second diac through a first signal register. The positive electrode of the second diac is connected to the ground terminal, and the fifth pin is connected to the negative electrode of the second diac; When the power supply module supplies power, the energized coil is energized to make the third pin conduct with the fourth pin, and the sixth pin conduct with the fifth pin. The micro-control module controls the first signal register to output a high-level signal; When the power supply module is powered off, the energized coil is de-energized, the third pin is conducted with the second pin, and the sixth pin is conducted with the seventh pin.

3. The power-off protection circuit for the robotic arm according to claim 2, wherein, The first pin and the eighth pin are respectively connected to the power supply module through a connection circuit, where the connection circuit includes a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first diode, a second diode, a third diode, a first capacitor, and a first NMOS transistor; The power supply module is connected to the negative electrode of the first diode, the positive electrode of the first diode is connected to the first end of the second resistor through the first capacitor, and the positive electrode of the first diode is also connected to the first end of the second resistor through the third resistor; The power supply module is also connected to the positive electrode of the second diode, and the negative electrode of the second diode is connected to the first end of the second resistor through the fourth resistor; The power supply module is also connected to the negative electrode of the third diode, and the positive electrode of the third diode is connected to the drain of the first NMOS transistor; The power supply module is also connected to the first pin, and the eighth pin is connected to the drain of the first NMOS transistor; The first end of the second resistor is connected to the ground terminal through the fifth resistor, the second end of the second resistor is connected to the gate of the first NMOS transistor, and the source of the first NMOS transistor is connected to the ground terminal.

4. The power-off protection circuit for the robotic arm according to claim 2, wherein The power-off protection circuit of the robotic arm further includes an enable control circuit; The enable control terminal of the micro-control module is connected to the eighth pin through the enable control circuit, and the first pin is connected to the power supply module; The micro-control module controls the energization state of the energization coil through the enable control circuit to control the connection state of the common terminal in the relay.

5. The power-off protection circuit for the robotic arm according to claim 4, wherein The power supply module is connected to the first pin through a sixth resistor; The enable control circuit further includes a seventh resistor, an eighth resistor, and a second NMOS transistor. The enable control terminal of the micro-control module is connected to the gate of the second NMOS transistor through the seventh resistor. The gate of the second NMOS transistor is also connected to the ground terminal through the eighth resistor. The source of the second NMOS transistor is connected to the ground terminal, and the drain of the second NMOS transistor is connected to the eighth pin.

6. The power-off protection circuit for the robotic arm according to claim 1, wherein, The power-off protection circuit of the robotic arm further includes a third NMOS transistor, a fourth NMOS transistor, a fifth NMOS transistor, a PNP type triode, and a second signal register; The micro-control module is connected to the gate of the third NMOS transistor. The source of the third NMOS transistor is connected to the ground terminal, and the drain of the third NMOS transistor is connected to the base of the PNP type triode; The emitter of the PNP type triode is connected to the power supply, and the collector of the PNP type triode is connected to the gate of the fifth NMOS transistor; The second signal register is connected to the gate of the fourth NMOS transistor. The source of the fourth NMOS transistor is connected to the ground terminal, and the drain of the fourth NMOS transistor is connected to the gate of the fifth NMOS transistor; The source of the fifth NMOS transistor is connected to the ground terminal, and the drain of the fifth NMOS transistor is connected to the gate of the PMOS transistor; When the power supply module supplies power, the third NMOS transistor and the PNP type triode are turned on, and the micro-control module controls the second signal register to emit a high-level signal, so that the fourth NMOS transistor, the fifth NMOS transistor and the PMOS transistor are turned on, and the power supply module is connected to the input end of the motor.

7. The power-off protection circuit for the robotic arm according to claim 1, wherein The robotic arm control module further includes a reducer; The output end of the motor is drivingly connected to the robotic arm through the reducer; When the power supply module is powered off, the reducer is used to amplify the resistance generated by the coil of the motor based on the loop current to slow down the descent of the robotic arm.

8. The power-off protection circuit for a robotic arm according to claim 1 or 7, characterized in that A communication unit is provided on the motor, and a first port, a second port, a third port and a fourth port are provided on the communication unit; The first port is connected to the power supply module, the second port is connected to the ground terminal, and the third port and the fourth port are respectively used to connect RS485 signal lines for communication connection with external devices.

9. The power-off protection circuit for the robotic arm according to claim 1, wherein The motor is a brushless motor.

10. A floor cleaning robot, characterized in that, It includes the robotic arm power-off protection circuit according to any one of claims 1-9.

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