Power supply protector, power supply and medical robot system

Abstract

The utility model provides a power supply protector, a power supply and a medical robot system, and the power supply protector comprises a power supply anti-reverse module, a signal collection module, an anti-misoperation module, a voltage judgment module, a drive control module and an energy discharge module, and the power supply anti-reverse module is electrically connected with the signal collection module. The signal acquisition module is electrically connected with the anti-misoperation module, the anti-misoperation module is electrically connected with the voltage judgment module, the voltage judgment module is electrically connected with the driving control module, the driving control module is electrically connected with the energy discharge module, and the energy discharge module is electrically connected with the signal acquisition module. And the energy discharge module is electrically connected with the power supply anti-reverse module and the driving control module, a discharge circuit is started in time when the bus voltage is abnormal, and redundant electric energy is consumed in the form of heat energy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical treatment, in particular to a power protector, a power supply and a medical robot system. BACKGROUND

[0002] During the process of motor from running to stopping, a large amount of energy is generated, most of which is fed back to the power bus in the form of voltage, resulting in a significant increase in bus voltage. Especially in the case of a power motor with high speed and rapid braking, the feedback voltage is higher. In severe cases, this may cause damage to other devices on the bus, or even cause the power bus to shut down the output.

[0003] In today's medical robot system applications, this problem also exists and is particularly critical. When the power bus voltage of the medical robot system is lifted due to motor feedback, it exceeds the specified overvoltage range, and the power supply will enter an overvoltage protection state, thereby shutting down the power supply output. This will cause the robot to suddenly lose power, forcing the surgery to be interrupted, and greatly affecting the use of the medical robot during the surgery. CONTENT OF THE INVENTION

[0004] The purpose of the present application is to provide a power protector, a power supply and a medical robot system to solve or alleviate the problems existing in the prior art.

[0005] In order to achieve the above purpose, the present application provides the following technical solutions:

[0006] A power protector, comprising: a power anti-feedback module, a signal acquisition module, a misoperation prevention module, a voltage judgment module, a drive control module and an energy discharge module, the power anti-feedback module is electrically connected with the signal acquisition module, the signal acquisition module is electrically connected with the misoperation prevention module, the misoperation prevention module is electrically connected with the voltage judgment module, the voltage judgment module is electrically connected with the drive control module, the drive control module is electrically connected with the energy discharge module, and the energy discharge module is electrically connected with the power anti-feedback module and the drive control module.

[0007] A power supply comprising the power protector according to the embodiments of the present application.

[0008] A medical robot system comprising the power supply according to the embodiments of the present application.

[0009] The power protector provided by the embodiment of the application forms a complete electric energy discharge system by integrating six modules of power anti-reverse, signal acquisition, anti-misoperation, voltage judgment, driving control and energy discharge. The system can effectively isolate reverse voltage, monitor the bus voltage state in real time, prevent misoperation, and start the discharge circuit in time when the bus voltage is abnormal, so as to consume the excess electric energy in the form of heat energy, thereby maintaining the stability of the bus voltage, protecting the circuit from high voltage damage, and ensuring the stable operation of medical robots and other equipment. BRIEF DESCRIPTION OF DRAWINGS

[0010] The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the application and are incorporated herein in conjunction with the description of the application. Among other functions, the drawings will:

[0011] Figure 1 A structural block diagram of a power protector according to an embodiment of the application.

[0012] Figure 2 A structural schematic diagram of a power anti-reverse module according to an embodiment of the application.

[0013] Figure 3 A working principle schematic diagram of a voltage judgment module according to an embodiment of the application.

[0014] Figure 4 A specific structural schematic diagram of a power protector according to an embodiment of the application. DETAILED DESCRIPTION

[0015] The application will be described in detail below with reference to the drawings and embodiments. Each example is provided by way of explanation of the application rather than limitation of the application. In fact, those skilled in the art will clearly understand that modifications and variations can be made in the application without departing from the scope or spirit of the application. For example, features shown or described as part of one embodiment can be used in another embodiment to produce yet another embodiment. Therefore, it is intended that the application include such modifications and variations as fall within the scope of the appended claims and their equivalents.

[0016] In the description of the present application, the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and do not require the present application to be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. The terms "connected", "connected", "provided" used in the present application should be understood broadly, for example, can be fixedly connected, can also be detachably connected; can be directly connected, can also be indirectly connected through intermediate components; the specific meaning of the above terms can be understood by the person skilled in the art according to the specific circumstances.

[0017] Figure 1 A structural block diagram of a power protector according to an embodiment of the present application. Figure 2 A structural schematic diagram of a power anti-reverse module according to an embodiment of the present application. Figure 3 A working principle schematic diagram of a voltage judgment module according to an embodiment of the present application. Figure 4 A specific structural schematic diagram of a power protector according to an embodiment of the present application.

[0018] As Figures 1-4 shown, in the present application, the power protector includes: a power anti-reverse module 1, a signal acquisition module 2, a false operation prevention module 3, a voltage judgment module 4, a driving control module 5, and an energy discharge module 6. The power anti-reverse module 1 is electrically connected with the signal acquisition module 2. The signal acquisition module 2 is electrically connected with the false operation prevention module 3. The false operation prevention module 3 is electrically connected with the voltage judgment module 4. The voltage judgment module 4 is electrically connected with the driving control module 5. The driving control module 5 is electrically connected with the energy discharge module 6. The energy discharge module 6 is electrically connected with the power anti-reverse module 1 and the driving control module 5.

[0019] The power protection device provided by the embodiment of the application includes a power anti-reverse module 1, a signal acquisition module 2, a misoperation prevention module 3, a voltage judgment module 4, a drive control module 5 and an energy discharge module 6. The power anti-reverse module 1 is the first line of defense of the entire circuit, ensuring the correct input of the bus voltage and the isolation of the reverse voltage, thereby protecting the subsequent circuit from the impact of the reverse voltage. This module is crucial to prevent circuit damage caused by incorrect voltage polarity. Then, the signal acquisition module 2 is responsible for collecting the bus voltage signal processed by the power anti-reverse module and transmitting it to the subsequent misoperation prevention module 3 and voltage judgment module 4. This step is the key to real-time monitoring of the bus voltage state and provides necessary data support for subsequent judgment and control. The misoperation prevention module 3 realizes further processing of the voltage signal through electrical connection with the voltage judgment module 4. The module effectively prevents misoperation caused by voltage fluctuations by setting mechanisms such as hysteresis loops, thereby ensuring the stability and reliability of the circuit. This helps to avoid frequent switching of the discharge circuit, reduces switching loss and temperature rise. The voltage judgment module 4 compares the received voltage signal with the preset voltage threshold to determine whether the bus voltage exceeds the specified range. When the bus voltage exceeds the specified range, the module outputs a corresponding control signal to the drive control module 5, ensuring that measures can be taken to intervene in a timely manner when the bus voltage is abnormal. The drive control module 5 controls the opening or closing of the energy discharge module 6 according to the control signal of the voltage judgment module 4. When the bus voltage is too high, the drive control module starts the energy discharge module to dissipate excess electrical energy in the form of heat, thereby maintaining the stability of the bus voltage. When the bus voltage returns to normal, the drive control module closes the energy discharge module to avoid unnecessary power loss. Finally, the energy discharge module 6 is the output end of the entire circuit, directly realizing the discharge of electrical energy. The module is electrically connected to the power anti-reverse module 1 and the drive control module 5 to form a complete electrical energy discharge loop, ensuring effective discharge of electrical energy and protecting other devices on the bus from high voltage damage.

[0020] Optionally, the power anti-reverse module 1 is configured to perform anti-reverse processing on the bus voltage to generate a power anti-reverse voltage; the signal acquisition module 2 is configured to collect the power anti-reverse voltage to generate a voltage division signal; the misoperation prevention module 3 is configured to perform hysteresis processing on the voltage division signal; the voltage judgment module 4 is configured to compare the voltage division signal with a set reference voltage to generate a first comparison result signal; the drive control module 5 is configured to generate a drive control signal according to the first comparison result signal; and the energy discharge module 6 is configured to form an electrical energy discharge loop according to the drive control signal to perform energy discharge processing on the power anti-reverse voltage.

[0021] Optionally, the power anti-reverse module 1 comprises a diode D1 and a filter circuit, wherein the input end of the diode D1 is connected with the bus voltage, the diode D1 generates an output voltage when it is in forward conduction, and the filter circuit is connected with the output end of the diode D1 to filter the output voltage and generate the power anti-reverse voltage accordingly.

[0022] To this end, the design of the power anti-reverse module 1 includes a diode D1 and a filter circuit, which has the following technical benefits:

[0023] Firstly, the input end of the diode D1 is directly connected with the bus voltage, and the diode D1 is used to ensure that the bus voltage can pass through smoothly and generate an output voltage when it is in forward conduction, and effectively isolate the reverse voltage when it is in reverse conduction, thereby preventing the reverse voltage from damaging the subsequent circuit. This feature is crucial for protecting the entire power protection circuit and even the entire medical robot system.

[0024] Secondly, the filter circuit is connected with the output end of the diode D1 to filter the output voltage generated by the diode. The filter circuit can remove high-frequency noise and fluctuations in the voltage, making the output power anti-reverse voltage more stable and reliable. This provides a strong guarantee for the stable operation of the subsequent circuit and the accurate judgment of the bus voltage state.

[0025] Optionally, the filter circuit comprises a first capacitor C1 and a second capacitor C2 connected in parallel, wherein the first parallel end of the first capacitor C1 and the second capacitor C2 is used to receive the output voltage, and the second parallel end of the first capacitor C1 and the second capacitor C2 is grounded to filter the output voltage.

[0026] In the power protection device, the filter circuit is designed with a first capacitor C1 and a second capacitor C2 connected in parallel, which brings the following technical benefits:

[0027] Firstly, the first capacitor C1 and the second capacitor C2 are connected in parallel to filter the output voltage generated by the diode D1. Since capacitors have the characteristic of storing electric charge, when the output voltage fluctuates or has high-frequency noise, the capacitors can absorb or release electric charge, thereby smoothing the voltage fluctuations and reducing noise interference. This parallel filtering method has better filtering effect and wider filtering frequency band than a single capacitor, and can more effectively remove high-frequency components in the output voltage, improving the stability and purity of the power anti-reverse voltage.

[0028] Secondly, the second parallel end of the first capacitor C1 and the second capacitor C2 is grounded, forming a low-impedance path that helps to stably provide the filtered voltage to the subsequent circuit. The ground design not only improves the anti-interference ability of the circuit, but also ensures the stability and reliability of the filter circuit.

[0029] In addition, the parallel capacitor filtering method has the advantages of low cost, simple structure and easy implementation. This design does not require complex circuit structure and expensive components, and can achieve good filtering effect, meeting the comprehensive requirements of cost, reliability and performance of the power protector.

[0030] Optionally, the signal acquisition module 2 includes a first voltage dividing unit and a second voltage dividing unit, the input end of the first voltage dividing unit is connected with the filtered output voltage, the output end of the first voltage dividing unit is connected with the input end of the second voltage dividing unit, and the input end of the second voltage dividing unit is grounded, so as to collect the anti-reverse voltage of the power supply and generate the voltage dividing signal accordingly.

[0031] In the power protector, the signal acquisition module 2 is designed in a combination of the first voltage dividing unit and the second voltage dividing unit, which brings the following technical benefits:

[0032] First, the input end of the first voltage dividing unit is directly connected with the filtered output voltage. By dividing the voltage, the amplitude of the voltage can be reduced to adapt to the processing range of the subsequent circuit. This step is the key to ensuring that the signal acquisition module can accurately and reliably obtain the anti-reverse voltage information of the power supply.

[0033] Second, the second voltage dividing unit is connected with the output end of the first voltage dividing unit and grounded, forming a voltage dividing circuit. By adjusting the resistance values of the first voltage dividing unit and the second voltage dividing unit, the amplitude of the voltage dividing signal can be flexibly controlled, thereby realizing accurate collection of the anti-reverse voltage of the power supply. This voltage dividing design not only improves the accuracy of signal acquisition, but also enhances the adaptability and flexibility of the circuit.

[0034] In addition, the combination of the two voltage dividing units can also improve the anti-interference ability of the signal acquisition module. Since the voltage dividing circuit has a filtering effect, it can suppress high-frequency noise and fluctuations in the input voltage, making the output voltage dividing signal more stable and reliable. This provides a strong guarantee for the judgment and control of the subsequent circuit.

[0035] Optionally, the first voltage dividing unit is a first resistor R1, and the second voltage dividing unit is a second resistor R2.

[0036] Optionally, the anti-misoperation module 3 includes a hysteresis unit, which is connected with the signal acquisition module 2 to perform hysteresis processing on the voltage dividing signal.

[0037] In the design of the power protector, the first resistor R1 is used as the first voltage dividing unit, the second resistor R2 is used as the second voltage dividing unit, and the hysteresis unit in the anti-misoperation module 3 is used to perform hysteresis processing on the voltage dividing signal. These designs have the following technical benefits:

[0038] Firstly, the voltage dividing circuit composed of the first resistor R1 and the second resistor R2 is simple, reliable, and low in cost. By accurately selecting the resistance values of the resistors, accurate voltage division of the reverse voltage of the power supply can be achieved, thereby providing a suitable input signal for the subsequent circuit. This voltage dividing method not only improves the signal acquisition accuracy, but also enhances the stability and reliability of the circuit.

[0039] Secondly, the hysteresis unit in the anti-misoperation module 3 performs hysteresis processing on the voltage dividing signal. This design can effectively prevent misoperation caused by voltage fluctuations or noise interference. The hysteresis unit has two voltage thresholds: a high voltage threshold VH and a low voltage threshold VL. When the voltage of the voltage dividing signal exceeds the high voltage threshold VH, the hysteresis unit outputs a high-level signal; when the voltage of the voltage dividing signal is lower than the low voltage threshold VL, the hysteresis unit outputs a low-level signal. This design enables the circuit to maintain a stable output state under small voltage fluctuations, thereby avoiding false triggering or false action caused by slight voltage changes.

[0040] In addition, the design of the hysteresis unit can also improve the anti-interference ability of the power protector. In a complex electromagnetic environment, the voltage of the power bus may be affected by various interference factors and fluctuate. The presence of the hysteresis unit can filter out these small voltage fluctuations, ensuring that the circuit operates within a stable voltage range, thereby improving the reliability and stability of the entire power protector.

[0041] Optionally, the hysteresis unit includes a third resistor R3 and a fourth resistor R4, the output end of the first voltage dividing unit and the input end of the second voltage dividing unit are both connected to the first end of the third resistor R3, the second end of the third resistor R3 is connected to the voltage judgment module 4, the first end of the fourth resistor R4 is connected to the input end of the voltage judgment module 4, and the output end of the voltage judgment module 4 is connected to the first end of the fourth resistor R4, so that the voltage judgment module 4 receives the voltage dividing signal and performs hysteresis processing on it.

[0042] In the technical scheme of the power protector, the hysteresis unit is implemented by combining the third resistor R3 and the fourth resistor R4, which has the following technical benefits:

[0043] Firstly, the connection mode of the third resistor R3 and the fourth resistor R4 with the voltage judgment module 4 constitutes a hysteresis loop. This loop enables the voltage judgment module 4 to have a certain "memory" effect when receiving the divided voltage signal, that is, when the input voltage fluctuates within a certain range, the output voltage can remain relatively stable and will not frequently switch states due to slight voltage changes. This hysteresis effect effectively reduces false operations caused by voltage fluctuations, improving the reliability and stability of the circuit.

[0044] Secondly, by adjusting the resistance values of the third resistor R3 and the fourth resistor R4, the two voltage thresholds of the hysteresis loop, the high voltage threshold VHand the low voltage threshold VL, can be flexibly set. These two thresholds determine the triggering and release conditions of the circuit, enabling the circuit to work stably within a specific voltage range. This design not only improves the adaptability of the circuit, but also enables the circuit to more accurately control the timing and degree of power discharge, thereby protecting the power bus and other circuit elements from damage caused by excessive voltage.

[0045] In addition, the use of resistors to form the hysteresis unit also has the advantages of low cost, simple structure, and easy implementation. This design does not require complex circuit structures and expensive components to achieve good hysteresis effect, meeting the comprehensive requirements of cost, reliability, and performance of the power protector.

[0046] Optionally, the voltage judgment module 4 includes a voltage comparison unit, a voltage pull-up unit, and a reference voltage configuration unit. The voltage comparison unit has a positive input end and a negative input end. The positive input end is connected to the anti-misoperation module 3, such as being connected to the second end of the third resistor R3 and the first end of the fourth resistor R4. The negative input end is connected to the first end of the reference voltage configuration unit. The second end of the reference voltage configuration unit is grounded to connect the negative input end to the set reference voltage. The first end of the voltage pull-up unit is connected to the operating voltage of the voltage comparison unit. The second end of the voltage pull-up unit is connected to the output end of the voltage comparison unit to apply a pull-up voltage to the output end of the voltage comparison unit when the divided voltage signal is compared with the set reference voltage, and generate the first comparison result signal accordingly.

[0047] In the power protector, the design of the voltage judgment module 4 integrates the voltage comparison unit, the voltage pull-up unit, and the reference voltage configuration unit, which brings multiple technical benefits:

[0048] Firstly, the voltage comparison unit as the core component, its positive input end is connected with the anti-misoperation module 3, can receive the voltage division signal after hysteresis processing. This design ensures that the signal input to the voltage comparison unit is stable processed, reduces the misjudgment caused by voltage fluctuation or noise interference. At the same time, the negative input end is connected with the reference voltage configuration unit, so that the voltage comparison unit can accurately compare the voltage division signal with the set reference voltage, so as to accurately judge whether the bus voltage is in the safe range.

[0049] Secondly, the reference voltage configuration unit provides a stable reference voltage for the voltage comparison unit. This reference voltage is the basis for voltage comparison of the voltage judgment module, and its stability and accuracy directly affect the performance of the whole power protector. By reasonably designing the reference voltage configuration unit, the stability and accuracy of the reference voltage can be ensured, thereby improving the reliability and accuracy of the voltage judgment module.

[0050] Thirdly, the design of the voltage pull-up unit is also very important. It can apply a pull-up voltage to the output end of the voltage comparison unit to ensure that the output signal is more clear and stable in logic. When the voltage division signal is higher than the reference voltage, the voltage comparison unit outputs a high level signal; when the voltage division signal is lower than the reference voltage, it outputs a low level signal. The existence of the voltage pull-up unit makes these output signals more reliable and less susceptible to external interference.

[0051] In addition, the design of the whole voltage judgment module also considers the integration and cost of the circuit. By using simple circuit structure and common components, accurate judgment and stable control of bus voltage are realized. This design not only reduces the cost, but also improves the reliability and stability of the circuit, so that the power protector can better adapt to various complex application environments.

[0052] Optionally, the voltage comparison unit is a voltage comparator U1, the voltage pull-up unit is a fifth resistor R5, and the reference voltage configuration unit is a sixth resistor R6.

[0053] In the power protector, the voltage comparator U1 is used as the voltage comparison unit, the fifth resistor R5 is used as the voltage pull-up unit, and the sixth resistor R6 is used as the reference voltage configuration unit. This specific technical scheme has the following technical advantages:

[0054] One, high reliability and accuracy

[0055] The voltage comparator U1, as a professional voltage comparison device, has high sensitivity and fast response characteristics, and can accurately compare the divided voltage signal with the reference voltage. Its internal circuit is optimized to reduce the influence of noise interference and temperature drift, ensuring the stability and reliability of the comparison result. This is crucial for the power protector, as accurate voltage judgment is the basis for protecting the power system from damage.

[0056] II. Simplified circuit structure

[0057] The resistors R5 and R6 are used as voltage pull-up units and reference voltage configuration units, simplifying the circuit structure and reducing costs. At the same time, the stability and reliability of the resistor elements are high, and they are not easily disturbed by external environments, thereby ensuring the stability of the entire voltage judgment module. This simplified design also improves the integration of the circuit, making the power protector more compact and easy to install.

[0058] III. Flexible adjustment and adaptability

[0059] By adjusting the resistance value of the sixth resistor R6, the reference voltage can be flexibly set to adapt to different power voltage ranges and application requirements. This design makes the power protector more widely applicable and can be used in various medical robots and other devices that require power protection. At the same time, since the resistance value of the resistor element is easy to adjust and stable and reliable, it can be accurately calibrated and adjusted according to the needs in actual application.

[0060] IV. Enhanced anti-interference ability

[0061] The combination design of the voltage comparator U1 and the resistor element also enhances the anti-interference ability of the circuit. The voltage comparator has a noise suppression circuit inside, which can effectively reduce the interference of external noise on the comparison result. The resistor element acts as a current limiting and voltage dividing element, which can further stabilize the input signal and reference voltage, improving the anti-interference performance of the entire circuit. This is particularly important for high-precision devices such as medical robots operating in complex environments.

[0062] Optionally, the drive control module 5 comprises a current limiting unit, a drive unit, a signal transmission unit, a pull-down unit, a transient voltage suppressor, a switch unit, the first end of the current limiting unit is connected with the output end of the voltage judgment module 4, the first end of the current limiting unit is connected with the positive input end of the drive unit, the negative input end of the drive unit is grounded, so as to compare the first comparison result signal with the ground signal to generate a second comparison result signal, the first end of the signal transmission unit is connected with the output end of the drive unit, so as to form a third comparison result signal after the second comparison result signal is subjected to current limiting processing and output to the pull-down unit; the first end of the pull-down unit is connected with the second end of the signal transmission unit, the second end of the pull-down unit is grounded, the first end of the pull-down unit is connected with the first end of the transient voltage suppressor, the second end of the transient voltage suppressor is grounded, the first end of the transient voltage suppressor is connected with the switch unit, so as to control the on-off of the transient voltage suppressor based on the third comparison result signal, and protect the transient voltage suppressor; the switch unit is connected with the energy discharge module 6, the source level S of the switch unit is grounded, and is used for generating a drive control signal according to the on-off of the transient voltage suppressor.

[0063] In the power protection circuit, the detailed design of the drive control module 5 brings many technical benefits. The module comprises a current limiting unit, a drive unit, a signal transmission unit, a pull-down unit, a transient voltage suppressor TVS diode and a switch unit, and each unit works cooperatively and has the following technical benefits:

[0064] (1) The first end of the current limiting unit is connected with the output end of the voltage judgment module 4, which can limit the current flowing through the drive unit and prevent the drive unit from being damaged due to excessive current. Through current limiting protection, the durability and safety of the circuit are enhanced, and the failure rate caused by current impact is reduced.

[0065] (2) The positive input end of the drive unit receives the signal from the current limiting unit and compares it with the ground signal of the negative input end to generate a second comparison result signal. This design ensures the accuracy of the drive control signal, so that the switch unit can accurately respond to the output of the voltage judgment module to effectively control the energy discharge module 6.

[0066] (3) The signal transmission unit forms a third comparison result signal after the second comparison result signal is subjected to current limiting processing and outputs it to the pull-down unit. The existence of the signal transmission unit ensures the stable transmission of the signal, reduces the attenuation and interference of the signal in the transmission process, and improves the reliability of the circuit.

[0067] (4) The pull-down unit pulls down the third comparison result signal to an appropriate level to work with the transient voltage suppressor (TVS diode). The TVS diode can quickly conduct when an overvoltage occurs in the circuit, clamping the overvoltage to a safe level, thereby protecting the subsequent circuit from damage. The combination of the pull-down unit and the TVS diode provides an additional protection layer for the circuit, enhancing the circuit's ability to withstand overvoltage.

[0068] (5) The source stage S of the switch unit is grounded, and a drive control signal is generated according to the on-off of the transient voltage suppressor to control the opening or closing of the energy discharge module 6. The efficient control of the switch unit ensures that the energy discharge module can quickly respond to voltage changes, effectively dissipating the excess electrical energy on the bus in the form of heat energy, thereby maintaining the stability of the bus voltage.

[0069] (6) By integrating the above units in the drive control module, the highly integrated circuit not only reduces the manufacturing cost, but also improves the reliability and stability of the circuit. At the same time, this design also facilitates subsequent maintenance and upgrading.

[0070] Optionally, the current limiting unit is a seventh resistor R7, the signal transmission unit is an eighth resistor R8, the pull-down unit is a ninth resistor R9, the transient voltage suppressor is a bidirectional transient voltage suppression diode D2, the switch unit is an N-channel MOS tube Q1, the first end of the ninth resistor R9 is connected with the first end of the bidirectional transient voltage suppression diode D2, the second end of the bidirectional transient voltage suppression diode D2 is grounded, the first end of the bidirectional transient voltage suppression diode D2 is connected with the gate level G of the N-channel MOS tube Q1, to protect the bidirectional transient voltage suppression diode D2 based on the on-off of the bidirectional transient voltage suppression diode D2 according to the third comparison result signal; the drain level D of the N-channel MOS tube Q1 is connected with the energy discharge module 6, and the source stage S of the N-channel MOS tube Q1 is grounded, for generating a drive control signal according to the on-off of the bidirectional transient voltage suppression diode D2.

[0071] Optionally, the energy discharge module 6 includes a discharge unit, the first end of the discharge unit is connected with the drive control module 5, and the second end of the discharge unit is connected with the power anti-reverse module 1, to cooperate with the drive control module 5 when the drive control signal is generated and form an electrical energy discharge loop accordingly, to perform energy discharge processing on the power anti-reverse voltage.

[0072] In the power protection circuit, the design of the energy discharge module 6 is crucial, as it is responsible for releasing excess electrical energy on the bus when needed, especially when the technical solution of the discharge unit cooperating with the drive control module 5 is adopted, which has the following technical benefits:

[0073] (1) The first end of the discharge unit is connected to the drive control module 5, which can accurately open or close the electric energy discharge circuit according to the drive control signal. This design ensures the timeliness and accuracy of electric energy discharge, avoids unnecessary energy loss, and improves the efficiency of electric energy utilization.

[0074] (2) When the bus voltage rises to a dangerous level, the drive control module 5 generates a corresponding drive control signal to turn on the discharge unit and form an electric energy discharge circuit. By discharging excess electric energy, the bus voltage is stabilized within a safe range, preventing equipment damage or power failure caused by excessive voltage.

[0075] (3) The energy discharge module 6 is connected to the power anti-reverse module 1, forming a complete protection system. During the electric energy discharge process, the power anti-reverse module 1 can prevent reverse voltage from damaging the circuit, further enhancing the safety and reliability of the circuit.

[0076] (4) The design of directly connecting the discharge unit and the drive control module 5 simplifies the circuit structure, reduces the number of components, reduces the cost of the circuit, and improves production efficiency and maintainability.

[0077] (5) This technical solution can match different bus voltage ranges and discharge requirements by adjusting the resistance value or type of the discharge unit according to different application scenarios and needs, improving the adaptability and flexibility of the circuit, making it widely applicable to various power protection occasions.

[0078] (6) The discharge unit can quickly open or close the electric energy discharge circuit after receiving the drive control signal, achieving fast response. When the bus voltage is abnormal, it can quickly take measures to restore the voltage to a safe level, ensuring the continuous and stable operation of the equipment.

[0079] Optionally, the discharge unit is a tenth resistor R10, the first end of the tenth resistor R10 is connected to the drive control module 5, and the second end of the tenth resistor R10 is connected to the power anti-reverse module 1, so as to cooperate with the drive control module 5 when the drive control signal is generated and form an electric energy discharge circuit accordingly to perform energy discharge processing on the power anti-reverse voltage.

[0080] In the power protection circuit, the tenth resistor R10 is used as a discharge unit and cooperates with the drive control module 5 and the power anti-reverse module 1 to form an electric energy discharge circuit, which has the following technical advantages:

[0081] (1) The tenth resistor R10 as a discharge unit, its resistance can be accurately calculated and selected to ensure that when receiving the drive control signal, a suitable electric energy discharge circuit can be formed. By accurately controlling the rate and amount of electric energy discharge, the bus voltage can be effectively stabilized within a safe range, preventing overvoltage damage, while avoiding unnecessary energy waste.

[0082] (2) The discharge unit cooperates closely with the drive control module 5, which can quickly respond to real-time changes in bus voltage and generate corresponding drive control signals. This design enhances the dynamic response capability of the circuit, allowing it to quickly adjust when facing voltage fluctuations, maintain a stable output voltage, and ensure normal operation of the equipment.

[0083] (3) The presence of the power anti-reverse module 1 prevents reverse voltage from damaging the circuit, while the discharge unit is responsible for dissipating excess electrical energy in the form of heat when necessary. This dual protection mechanism greatly improves the safety of the circuit, ensuring the integrity of the circuit and equipment even in abnormal situations.

[0084] (4) Using the tenth resistor R10 as a discharge unit simplifies the circuit structure, reduces the number of components, and lowers the cost of the circuit. This design not only improves production efficiency but also facilitates circuit maintenance and repair, reducing overall operating costs.

[0085] (5) By adjusting the resistance value of the tenth resistor R10, different bus voltage ranges and discharge requirements can be matched, allowing the power protection circuit to be widely used in various situations. This adaptable design allows the circuit to flexibly respond to different working environments and load conditions, improving the circuit's practicality and flexibility.

[0086] (6) The tenth resistor R10 as a discharge unit has a simple, stable, and reliable structure that is not easily affected by external environments. This design ensures the stability and durability of the circuit during long-term operation, reducing downtime due to component failures.

[0087] Based on the above Figure 2 and 4 structure diagram, the working principle is as follows:

[0088] The bus voltage, designated Vin1, is first input to the power reverse current protection module 1. Within the module, the anode of diode D1 is directly connected to Vin1, while its cathode outputs a processed voltage (the power reverse current protection voltage). A marked control voltage is applied to D1's cathode to generate Vin2, ensuring that diode D1 remains in the forward conduction state. Because diode D1 is unidirectional (conducting in the forward direction and blocking in the reverse direction), fluctuations in Vin2 do not affect Vin1. To further stabilize Vin2, the voltage is then filtered by a filter circuit consisting of capacitors C1 and C2.

[0089] The filtered Vin2 (including the filtered power supply reverse voltage) is input into signal acquisition module 2. Inside signal acquisition module 2, the filtered power supply reverse voltage is first divided by a resistor divider circuit consisting of first resistor R1 and second resistor R2 to generate a divided voltage signal. This divided voltage signal is then input into misoperation prevention module 3.

[0090] The anti-malfunction module 3 includes a hysteresis circuit consisting of a third resistor R3 and a fourth resistor R4. This hysteresis circuit prevents the MOS transistor from frequently switching on and off between energy discharge and motor regeneration, thereby preventing burnout due to increased switching losses and temperature. The hysteresis circuit sets two voltage safety thresholds: a high voltage threshold VH and a low voltage threshold VL. When the voltage of the divided voltage signal is greater than VH, the output of the voltage comparator U1 (located in the voltage determination module 4) generates a high-level signal. When the voltage of the divided voltage signal is less than VL, the output of the voltage comparator U1 generates a low-level signal.

[0091] In addition to the voltage comparator U1, the voltage determination module 4 also includes a voltage pull-up unit (composed of a fifth resistor R5) and a reference voltage configuration unit (connecting the reference voltage Vref to the inverting input of the voltage comparator U1 via a sixth resistor R6). The non-inverting input of the voltage comparator U1 is connected to the output of the anti-misoperation module 3 and is used to receive the hysteresis-processed voltage-divided signal. The voltage comparator U1 compares the received voltage-divided signal with the reference voltage Vref and outputs a corresponding level signal based on the comparison result.

[0092] The drive control module 5 receives the level signal output by the voltage determination module 4 and generates a drive control signal according to the signal, which is then input into the energy discharge module 6 .

[0093] In the energy discharge module 6, when the drive control signal is high, the gate-source voltage Vgs of the N-channel MOS tube Q1 will be greater than its opening voltage Vgs(th), causing the drain-source of the MOS tube Q1 to turn on. At this time, the electrical energy on the bus will be consumed in the form of heat energy through the electrical energy discharge circuit composed of the tenth resistor R10 and the MOS tube Q1. When the drive control signal is low, the MOS tube Q1 will be turned off, and the electrical energy discharge circuit will be disconnected.

[0094] In addition, the entire power protector also includes some optional components and functions, such as the specific implementation of the diode D1 and the filter circuit in the power anti-reverse module (1), the specific resistance value selection of the first resistor R1 and the second resistor R2 in the signal acquisition module (2), etc. These can be adjusted and optimized according to actual conditions.

[0095] For Vin2, when the discharge circuit is disconnected, the situation of Vin2: Vin2 is the bus voltage filtered by the diode D1 in the power anti-reverse module, and the voltage change will not directly affect the stability of the upper bus voltage Vin1. At this time, the electrical energy discharge circuit is not connected, and the electrical energy on the bus is not consumed.

[0096] For Vin2, when the discharge circuit is connected, the situation of Vin2: Vin2 is still the bus voltage filtered by the diode D1, but since the discharge circuit starts to work, the electrical energy on the bus will be consumed in the form of heat energy through the resistor R10 in the energy discharge module. At this time, although the voltage of Vin2 remains stable, the electrical energy on the bus decreases, achieving effective control of the overvoltage situation of the bus voltage.

[0097] The application embodiment further provides a power supply comprising the power protector of any one of the application embodiments.

[0098] The above-mentioned power supply can be but is not limited to the following types:

[0099] The power protector provided by the application embodiment can be applied to various types of power supplies to enhance the stability and safety of the power supply. The following are some power supply types that may use the power protector:

[0100] (1) DC power supply: DC power supply refers to the power supply with constant current direction, widely used in various electronic devices.

[0101] Application scenarios: such as communication equipment, computer equipment, medical equipment, etc., which have high requirements for the stability and safety of the power supply.

[0102] (2) AC power supply: AC power supply refers to the power supply with periodic change of current direction, which is the main form of household and industrial electricity.

[0103] Application scenarios: Such as household appliances, industrial production equipment, etc. These devices require stable voltage and current supply during operation to avoid equipment damage or failure.

[0104] (3) Switching power supply: A switching power supply is a power supply that achieves voltage conversion by controlling the on and off of switching elements. It has the advantages of high efficiency and small size.

[0105] Application scenarios: such as laptop adapters, mobile phone chargers, etc. These devices require efficient and stable voltage conversion to meet the charging needs of different devices.

[0106] (4) Uninterruptible Power Supply (UPS): An uninterruptible power supply is a power supply device that can provide continuous power supply when the mains power is cut off. It is often used in situations where high power supply continuity is required.

[0107] Application scenarios: Data centers, medical equipment, emergency lighting systems, etc. These devices require continuous power supply when the mains power is cut off to avoid data loss or equipment damage.

[0108] (5) Solar power supply: Solar power supply is a power supply system that converts solar energy into electrical energy. It has the advantages of being environmentally friendly and renewable.

[0109] Application scenarios: Such as solar street lights, solar power stations, etc. These devices require stable voltage and current output to ensure normal operation and extend service life of the equipment.

[0110] (6) Medical equipment power supply: Medical equipment power supply refers to the power supply specifically used to power medical equipment, which must meet the special requirements of medical equipment for voltage, current and stability.

[0111] Application scenarios: Such as surgical robots, monitors, dialysis machines, etc. These devices have extremely high requirements for power supply reliability and safety to ensure the smooth progress of surgery and treatment.

[0112] An embodiment of the present application also provides a medical robot system, which includes the power supply described in any one of the embodiments of the present application.

[0113] The power supply provided in the embodiments of the present application can be applied to various types of medical robot systems, including but not limited to the following examples:

[0114] (1) Surgical robot system: The surgical robot system assists doctors in performing surgical operations through high-precision robotic arms and advanced control technology.

[0115] Application scenarios: Such as minimally invasive surgery, neurosurgery, etc. These surgeries require high precision and stability. The use of the power supply of this application can ensure stable and reliable power supply during the operation.

[0116] (2) Rehabilitation robot system: The rehabilitation robot system is used to help patients with rehabilitation training and promote their recovery by simulating the trajectory and strength of human movement.

[0117] Application scenarios: Such as limb rehabilitation, spinal rehabilitation, etc. These rehabilitation processes require a stable power supply to ensure the normal operation of the robot and the safety of the patient.

[0118] (3) Nursing robot system: The nursing robot system is mainly used for daily care and monitoring of patients, such as turning over, cleaning, feeding, etc.

[0119] Application scenarios: Such as nursing homes, hospital wards, etc. These places require a reliable power supply to ensure the continuous operation of nursing robots and improve the efficiency and quality of nursing.

[0120] (4) Auxiliary diagnosis robot system: Type description: The auxiliary diagnosis robot system assists doctors in diagnosing diseases by integrating advanced sensors and image processing technology.

[0121] Application scenarios: Departments such as imaging and pathology require high-precision power supply to ensure the accuracy and stability of diagnostic equipment.

[0122] (5) Drug delivery robot system: The drug delivery robot system is used for automated delivery of drugs within the hospital to improve drug management efficiency.

[0123] Application scenarios: Such as pharmacies, wards, etc. These places require a stable power supply to ensure that robots can complete drug delivery tasks accurately and efficiently.

[0124] (6) Disinfection robot system: The disinfection robot system disinfects the interior of the hospital by automatically spraying disinfectants or ultraviolet rays.

[0125] Application scenarios: Such as operating rooms, wards, corridors, etc. These places require a reliable power supply to ensure the continuous operation of the disinfection robot and protect the health and safety of the hospital.

[0126] (7) Telemedicine robot system: The telemedicine robot system uses remote control technology to achieve remote diagnosis and treatment between doctors and patients.

[0127] Application scenarios: Such as remote areas and emergency rescue, these scenarios require a stable power supply to ensure that telemedicine robots can transmit medical data and perform medical operations in real time and accurately.

[0128] The above descriptions are only the preferred embodiment of the application, not intended to limit the application. The application can be variously changed and modified by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A power protector, characterized in that: include: A power supply anti-reverse module (1), a signal acquisition module (2), an anti-misoperation module (3), a voltage judgment module (4), a drive control module (5), and an energy discharge module (6), wherein the power supply anti-reverse module (1) is electrically connected to the signal acquisition module (2), the signal acquisition module (2) is electrically connected to the anti-misoperation module (3), the anti-misoperation module (3) is electrically connected to the voltage judgment module (4), the voltage judgment module (4) is electrically connected to the drive control module (5), the drive control module (5) is electrically connected to the energy discharge module (6), and the energy discharge module (6) is electrically connected to the power supply anti-reverse module (1) and the drive control module (5).

2. The power protector according to claim 1, characterized in that: The power supply anti-reverse module (1) is used for performing anti-reverse processing on the bus voltage to generate a power supply anti-reverse voltage; the signal acquisition module (2) is used for acquiring the power supply anti-reverse voltage to generate a voltage division signal; the anti-misoperation module (3) is used for performing hysteresis processing on the voltage division signal; the voltage judgment module (4) is used for comparing the voltage division signal with a set reference voltage to generate a first comparison result signal; the drive control module (5) is used for generating a drive control signal according to the first comparison result signal; and the energy discharge module (6) is used for forming an electric energy discharge circuit according to the drive control signal to perform energy discharge processing on the power supply anti-reverse voltage.

3. The power protector according to claim 2, characterized in that: The power supply anti-reverse module (1) comprises a diode (D1) and a filter circuit, wherein the input end of the diode (D1) is connected to the bus voltage, the diode (D1) generates an output voltage when in forward conduction, and the filter circuit is connected to the output end of the diode (D1) to filter the output voltage and generate the power supply anti-reverse voltage accordingly.

4. The power protector according to claim 3, characterized in that: The signal acquisition module (2) comprises a first voltage divider unit and a second voltage divider unit, wherein the input end of the first voltage divider unit is connected to the filtered output voltage, the output end of the first voltage divider unit is connected to the input end of the second voltage divider unit, and the input end of the second voltage divider unit is grounded, so as to collect the power supply anti-reverse voltage and generate the voltage divider signal accordingly.

5. The power protector according to claim 4, characterized in that: The anti-misoperation module (3) comprises a hysteresis unit, which is connected to the signal acquisition module (2) to perform hysteresis processing on the voltage division signal.

6. The power protector according to claim 5, characterized in that: The voltage judgment module (4) includes a voltage comparison unit, a voltage pull-up unit, and a reference voltage configuration unit. The voltage comparison unit has a positive input terminal and a negative input terminal. The positive input terminal is connected to the anti-misoperation module (3), the negative input terminal is connected to the first terminal of the reference voltage configuration unit, the second terminal of the reference voltage configuration unit is grounded so that the negative input terminal is connected to the set reference voltage, the first terminal of the voltage pull-up unit is connected to the working voltage of the voltage comparison unit, and the second terminal of the voltage pull-up unit is connected to the output terminal of the voltage comparison unit so as to apply a pull-up voltage to the output terminal of the voltage comparison unit when the voltage division signal is compared with the set reference voltage, and generate the first comparison result signal accordingly.

7. The power protector according to claim 6, characterized in that: The drive control module (5) includes a current limiting unit, a drive unit, a signal transmission unit, a pull-down unit, a transient voltage suppressor, and a switch unit. The first end of the current limiting unit is connected to the output end of the voltage judgment module (4). The first end of the current limiting unit is connected to the positive phase input end of the drive unit. The negative phase input end of the drive unit is grounded to compare the first comparison result signal with the ground signal to generate a second comparison result signal. The first end of the signal transmission unit is connected to the output end of the drive unit to form a third comparison result signal after the second comparison result signal is subjected to current limiting processing and output to the pull-down unit. unit; the first end of the pull-down unit is connected to the second end of the signal transmission unit, the second end of the pull-down unit is grounded, the first end of the pull-down unit is connected to the first end of the transient voltage suppressor, the second end of the transient voltage suppressor is grounded, and the first end of the transient voltage suppressor is connected to the switch unit to protect the transient voltage suppressor when controlling the on / off of the transient voltage suppressor based on the third comparison result signal; the switch unit is connected to the energy discharge module (6), the source (S) of the switch unit is grounded, and is used to generate a drive control signal according to the on / off of the transient voltage suppressor.

8. The power protector according to claim 7, characterized in that: The energy discharge module (6) comprises a discharge unit, a first end of the discharge unit being connected to the drive control module (5), and a second end of the discharge unit being connected to the power supply anti-reverse module (1), so as to cooperate with the drive control module (5) when generating the drive control signal and thereby form an electric energy discharge circuit, so as to perform energy discharge processing on the power supply anti-reverse voltage.

9. A power supply, characterized in that: The invention comprises the power protector according to any one of claims 1 to 8.

10. A medical robot system, characterized in that: A power supply comprising the power supply of claim 9.

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