Motor overcurrent protection self-locking circuit, motor overcurrent protection self-locking device and robot

Abstract

The utility model belongs to the technical field of robots, and provides a motor over-current protection self-locking circuit, a motor over-current protection self-locking device and a robot, a switch driving module generates a motor driving signal according to a pulse width modulation signal to drive a motor to work, an operational amplification module samples current flowing through the motor, and outputs the sampled current to the motor. The self-locking module generates a corresponding voltage feedback signal when the voltage of the operational amplification signal exceeds a preset voltage range, and carries out self-locking according to the voltage feedback signal. And the motor reset module controls the self-locking of the self-locking module to be released according to the reset control signal so as to reset the motor, so that the motor stops working under the condition of overlarge current, the purpose of protecting the motor is achieved, the risk of the motor under the working condition of large current is reduced, and the stability and reliability of the robot are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a motor overcurrent protection self-locking circuit, a motor overcurrent protection self-locking device and a robot. BACKGROUND

[0002] During operation, a motor is prone to large current. The motor is prone to heat when working in a large current state, which affects the service life of the motor. In order to protect the motor from the risk of large current, the existing scheme needs to be improved. CONTENT OF THE UTILITY MODEL

[0003] To solve the above technical problems, the motor overcurrent protection self-locking circuit, the motor overcurrent protection self-locking device and the robot are provided, which aims to reduce the risk of the motor in a large current working condition.

[0004] The first aspect of the application provides a motor overcurrent protection self-locking circuit, which comprises:

[0005] a main control module, configured to provide a pulse width modulation signal

[0006] a signal feedback module, connected with the main control module, configured to receive a voltage feedback signal and adjust the pulse width modulation signal according to the voltage feedback signal;

[0007] a switch driving module, connected with the main control module, the signal feedback module and a motor, configured to receive the pulse width modulation signal and generate a motor driving signal according to the pulse width modulation signal to drive the motor to work;

[0008] an operational amplifier module, connected with the switch driving module, configured to sample the current flowing through the motor and amplify the current sampling signal to obtain a corresponding operational amplifier signal;

[0009] a self-locking module, connected with the operational amplifier module and the signal feedback module, configured to receive the operational amplifier signal and generate a corresponding voltage feedback signal when the voltage of the operational amplifier signal exceeds a preset voltage range, and to self-lock according to the voltage feedback signal;

[0010] a motor reset module, connected with the self-locking module and the main control module, configured to receive a reset control signal provided by the main control module and control the self-locking module to release the self-locking to reset the motor according to the reset control signal.

[0011] In some embodiments, the motor overcurrent protection self-locking circuit comprises:

[0012] A voltage dividing diode module is connected between the operational amplifier module and the self-locking module, for voltage dividing processing of the operational amplifier signal and preventing the voltage feedback signal from flowing back to the operational amplifier module.

[0013] In some embodiments, the motor over-current protection self-locking circuit comprises:

[0014] A filter module is connected between the operational amplifier module and the self-locking module, for filter processing of the operational amplifier signal.

[0015] In some embodiments, the switch driving module comprises:

[0016] A push-pull driving unit is connected with the master control module, for generating a push-pull driving signal according to the pulse width modulation signal;

[0017] A motor switch unit is connected with the motor and the push-pull driving unit, for turning on or off according to the push-pull driving signal, to control the current flowing through the motor.

[0018] In some embodiments, the operational amplifier module comprises:

[0019] A current sampling unit is connected in series with the motor, for sampling the current flowing through the motor to obtain a current sampling signal;

[0020] An operational amplifier unit is connected with the current sampling unit, for amplifying the current sampling signal to obtain a corresponding operational amplifier signal.

[0021] In some embodiments, the motor over-current protection self-locking circuit further comprises:

[0022] A freewheeling diode is connected in parallel with the motor, a cathode of the freewheeling diode is connected to the first power supply terminal with a positive electrode of the motor, and an anode of the freewheeling diode is connected to the switch driving module with a negative electrode of the motor.

[0023] In some embodiments, the self-locking module comprises:

[0024] A first switch unit is connected with the operational amplifier module, for turning on when a voltage of the operational amplifier signal is within a preset voltage range;

[0025] A second switch unit is connected with the first switch unit and the second power supply terminal, a switching state of the second switch unit is controlled by a switching state of the first switch unit, and the second switch unit generates a corresponding voltage feedback signal according to a voltage of the second power supply terminal and the on-off state of the first switch unit;

[0026] A self-locking loop unit is connected between the second switch unit and the first switch unit, and is configured to control the first switch unit to keep conducting according to the voltage feedback signal.

[0027] In some embodiments, the control end of the second switch unit is further connected with the master control module, and the master control module is further configured to monitor the voltage of the control end of the second switch unit.

[0028] The second aspect of the embodiments of the present application further provides a motor over-current protection self-locking device, which comprises the motor over-current protection self-locking circuit according to any one of the above embodiments.

[0029] The third aspect of the embodiments of the present application further provides a robot, which comprises a motor and the motor over-current protection self-locking circuit according to any one of the above embodiments.

[0030] The beneficial effects of the embodiments of the present application are as follows: the switch driving module generates a motor driving signal according to a pulse width modulation signal to drive the motor to work, the operational amplifier module samples the current flowing through the motor and amplifies the current sampling signal to obtain a corresponding operational amplifier signal, the self-locking module generates a corresponding voltage feedback signal when the voltage of the operational amplifier signal exceeds a preset voltage range, and performs self-locking according to the voltage feedback signal, and the motor reset module controls the self-locking module to be unlocked according to a reset control signal to reset the motor, so as to stop the motor from working in the case of excessive current, achieve the purpose of protecting the motor, reduce the risk of the motor in the case of large current, and improve the stability and reliability of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a circuit structure schematic of a motor over-current protection self-locking circuit provided by an embodiment of the present application Figure 1 ;

[0032] Figure 2 is a circuit structure schematic of a motor over-current protection self-locking circuit provided by an embodiment of the present application Figure 2 ;

[0033] Figure 3 is a circuit structure schematic of a motor over-current protection self-locking circuit provided by an embodiment of the present application Figure 3 ;

[0034] Figure 4 is a circuit structure schematic of a motor over-current protection self-locking circuit provided by an embodiment of the present application Figure 4 ;

[0035] Figure 5 is a circuit structure schematic of a motor over-current protection self-locking circuit provided by an embodiment of the present application Figure 5 ;

[0036] Figure 6 is a circuit structure schematic of a motor overcurrent protection self-locking circuit provided by an embodiment of the present application Figure 6 . DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0039] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0040] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is one or more than one, unless otherwise specifically limited.

[0041] The motor works in a large current state, which is easy to heat and affect the service life of the motor. In order to protect the motor from the risk of large current, the existing scheme needs to be improved.

[0042] In order to solve the above technical problems, the present application provides a motor overcurrent protection self-locking circuit, which is described with reference to Figure 1As shown, the motor overcurrent protection self-locking circuit in the embodiment includes a main control module 100, a signal feedback module 200, a switch driving module 300, an operational amplifier module 400, a self-locking module 500, and a motor reset module 600. Specifically, the main control module 100 is configured to provide a pulse width modulation signal. The signal feedback module 200 is connected to the main control module 100 and configured to receive a voltage feedback signal and adjust the pulse width modulation signal according to the voltage feedback signal. The switch driving module 300 is connected to the main control module 100, the signal feedback module 200, and a motor 700 and configured to receive the pulse width modulation signal and generate a motor driving signal according to the pulse width modulation signal to drive the motor 700 to work. The operational amplifier module 400 is connected to the switch driving module 300 and configured to sample a current flowing through the motor 700 and amplify the current sampling signal to obtain a corresponding operational amplifier signal. The self-locking module 500 is connected to the operational amplifier module 400 and the signal feedback module 200 and configured to receive the operational amplifier signal and generate a corresponding voltage feedback signal when the voltage of the operational amplifier signal exceeds a preset voltage range and self-lock according to the voltage feedback signal. The motor reset module 600 is connected to the self-locking module 500 and the main control module 100 and configured to receive a reset control signal provided by the main control module 100 and control the self-locking module 500 to release the self-locking according to the reset control signal to reset the motor 700.

[0043] In the embodiment, the switch driving module 300 generates the motor driving signal according to the pulse width modulation signal to drive the motor 700 to work, and the operational amplifier module 400 samples the current flowing through the motor 700 and amplifies the current sampling signal to obtain the corresponding operational amplifier signal. In the case of overcurrent of the motor 700, the voltage of the operational amplifier signal exceeds the preset voltage range. The self-locking module 500 generates the corresponding voltage feedback signal when the voltage of the operational amplifier signal exceeds the preset voltage range and self-locks according to the voltage feedback signal. At this time, the self-locking module 500 continuously sends the corresponding voltage feedback signal to the signal feedback module 200, thereby pulling down the level of the input end of the switch driving module 300 and ensuring that the motor 700 stops working. When the motor 700 needs to be reset, the motor reset module 600 can control the self-locking module 500 to release the self-locking according to the reset control signal to reset the motor 700, thereby realizing the stop of the motor 700 in the case of excessive current, achieving the purpose of protecting the motor 700, reducing the risk of the motor 700 in the case of large current, and improving the stability and reliability of the robot.

[0044] In some embodiments, referring to Figure 2As shown, the motor overcurrent protection self-locking circuit in this embodiment includes a voltage dividing diode module 810 connected between the operational amplifier module 400 and the self-locking module 500, which is configured to divide the operational amplification signal and prevent the voltage feedback signal from flowing back to the operational amplifier module 400.

[0045] In this embodiment, by arranging the voltage dividing diode module 810 between the operational amplifier module 400 and the self-locking module 500, the current of the overvoltage loop part in the self-locking module 500 can be prevented from flowing back to the operational amplifier module 400, and the operational amplification signal output by the operational amplifier module 400 can be divided to avoid the problem of excessive voltage of the signal input to the self-locking module 500, which causes the self-locking circuit to malfunction.

[0046] In some embodiments, referring to Figure 3 As shown, the motor overcurrent protection self-locking circuit in this embodiment includes a filter module 820 connected between the operational amplifier module 400 and the self-locking module 500, which is configured to filter the operational amplification signal.

[0047] In this embodiment, by arranging the filter module 820 between the operational amplifier module 400 and the self-locking module 500, the operational amplification signal can be filtered to improve the stability of the signal input to the self-locking module 500.

[0048] In some embodiments, referring to Figure 4 As shown, the switch driving module 300 in this embodiment includes a push-pull driving unit 310 and a motor switch unit 320. The push-pull driving unit 310 is connected to the main control module 100 and is configured to generate a push-pull driving signal according to the pulse width modulation signal. The motor switch unit 320 is connected to the motor 700 and the push-pull driving unit 310 and is configured to be turned on or turned off according to the push-pull driving signal to control the current flowing through the motor 700.

[0049] In this embodiment, by converting the received pulse width modulation signal through the push-pull driving unit 310, the driving capability can be improved, so that the push-pull driving unit 310 generates a corresponding push-pull driving signal to drive the high-power motor switch unit 320, thereby improving the stability of the motor 700 operation.

[0050] In some embodiments, referring to Figure 5As shown, the operational amplification module 400 comprises: a current sampling unit 410 and an operational amplifier unit 420, the current sampling unit 410 is connected in series with the motor 700, and the current sampling unit 410 is configured to sample the current flowing through the motor 700 to obtain a current sampling signal; the operational amplifier unit 420 is connected with the current sampling unit 410, and the operational amplifier unit 420 is configured to amplify the current sampling signal to obtain a corresponding operational amplification signal.

[0051] In the embodiment, by connecting the current sampling unit 410 in series with the motor 700, the current flowing through the motor 700 can be sampled to obtain a current sampling signal, and the current sampling signal is amplified by the operational amplifier unit 420 to obtain an operational amplification signal with a larger voltage, which is output to the self-locking circuit, so that the voltage feedback signal is continuously output from the self-locking circuit to the signal feedback module 200, the level of the input end of the switch driving module 300 is pulled low, and the motor 700 is locked in the off state, ensuring that the motor 700 is always in a stopped working state after triggering the overcurrent action, and avoiding the problem of abnormal working of the motor 700 in the overcurrent working condition.

[0052] In some embodiments, referring to Figure 6 As shown, the motor overcurrent protection self-locking circuit in the embodiment further comprises a freewheeling diode D0 connected in parallel with the motor 700, the cathode of the freewheeling diode D0 is connected to the first power supply end VP together with the positive electrode of the motor 700, and the anode of the freewheeling diode D0 is connected to the negative electrode of the motor 700 and the switch driving module 300.

[0053] In the embodiment, by connecting the freewheeling diode D0 and the coil of the motor 700 to form a freewheeling circuit, the problem of damage to circuit components caused by excessive induced current in the motor 700 can be prevented.

[0054] In some embodiments, referring to Figure 6 As shown, the self-locking module 500 in the embodiment comprises: a first switch unit 510, a second switch unit 520, and a self-locking loop unit 530, the first switch unit 510 is connected with the operational amplification module 400, and the first switch unit 510 is configured to be turned on when the voltage of the operational amplification signal exceeds a preset voltage range; the second switch unit 520 is connected with the first switch unit 510 and the second power supply end, and the switch state of the second switch unit 520 is controlled by the switch state of the first switch unit 510, and the second switch unit 520 generates a corresponding voltage feedback signal according to the voltage of the second power supply end and the on state of the first switch unit 510. The self-locking loop unit 530 is connected between the second switch unit 520 and the first switch unit 510, and the self-locking loop unit 530 is configured to control the first switch unit 510 to remain turned on according to the voltage feedback signal.

[0055] In the embodiment, the control end of the first switch unit 510 receives the operational amplification signal, and turns on when the level of the operational amplification signal exceeds the preset voltage range, and pulls the level of the control end of the second switch unit 520 low, so that the second switch unit 520 turns on. Thus, the second switch unit 520 can provide a high-level signal to the control end of the first switch unit 510 through the self-locking loop unit 530, so that the first switch unit 510 remains turned on, thereby continuously providing a corresponding voltage feedback signal for the signal feedback module 200, so that the switch driving module 300 stops working, and the purpose of motor overcurrent protection is achieved.

[0056] In some embodiments, the control end of the second switch unit 520 is also connected with the master control module 100, and the master control module 100 is also used for monitoring the voltage of the control end of the second switch unit 520.

[0057] In combination Figure 6 As shown in the figure, when the level of the operational amplification signal exceeds the preset voltage range, it can be judged that the motor 700 is in an overcurrent state, at this time, the first switch unit 510 turns on, and due to the action of the self-locking loop unit 530, the control end of the second switch unit 520 is continuously pulled low. In the embodiment, the control end of the second switch unit 520 can also provide an overcurrent protection detection signal OCP_DETECT for the master control module 100, and the master control module 100 can determine the switching state of the second switch unit 520 according to the overcurrent protection detection signal OCP_DETECT, so as to determine the working state of the motor 700.

[0058] In some embodiments, in combination Figure 6 As shown in the figure, the signal feedback module 200 includes a first resistor R1, a second resistor R2, and a first switch tube Q1. The first end of the first resistor R1 is connected with the signal feedback end OCP of the self-locking module 500, the second end of the first resistor R1, the first end of the second resistor R2, and the control end of the first switch tube Q1 are commonly connected, the first end of the first switch tube Q1 is connected with the input end of the switch driving module 300, and the second end of the second resistor R2 and the second end of the first switch tube Q1 are commonly connected to the ground.

[0059] In the embodiment, the first resistor R1 and the second resistor R2 constitute a voltage dividing circuit to perform voltage dividing processing on the input voltage feedback signal. In the case of motor 700 overcurrent, the signal after voltage dividing processing can control the first switch tube Q1 to turn on, thereby pulling the level of the input end of the switch driving module 300 low, so that the switch driving module 300 drives the motor 700 to stop working, and the purpose of timely shutting down in the case of motor 700 overcurrent is achieved. Thus, the design can effectively protect the motor 700 and prolong the service life of the motor 700.

[0060] In some embodiments, the first switch tube Q1 can be an NPN triode.

[0061] In some embodiments, in combination Figure 6 As shown, the push-pull driving unit 310 includes a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, a second switch tube Q2, a third switch tube Q3, a fourth switch tube Q4, and a fifth switch tube Q5. The control end of the second switch tube Q2 and the first end of the third resistor R3 are connected to the main control module 100. The first end of the second switch tube Q2 is connected to the first end of the fourth resistor R4. The second end of the second switch tube Q2 and the second end of the third resistor R3 are grounded. The second end of the fourth resistor R4 and the first end of the fifth resistor R5 are connected to the control end of the third switch tube Q3. The first end of the third switch tube Q3, the first end of the fourth switch tube Q4, and the second end of the fifth resistor R5 are connected to the first power supply end V12V. The second end of the third switch tube Q3, the first end of the sixth resistor R6, and the first end of the seventh resistor R7 are connected together. The second end of the sixth resistor R6 is grounded. The second end of the seventh resistor R7, the control end of the fourth switch tube Q4, and the control end of the fifth switch tube Q5 are connected together. The second end of the fourth switch tube Q4 and the first end of the fifth switch tube Q5 are connected to the motor switching unit 320. The second end of the fifth switch tube Q5 is grounded.

[0062] In this embodiment, the second switch tube Q2 and the third switch tube Q3 form a multi-stage level conversion circuit, and the fourth switch tube Q4 and the fifth switch tube Q5 form a push-pull circuit, thereby improving the driving capability. When the pulse width modulation signal input by the main control module 100 via the current limiting resistor R0 is at a high level, and the input end of the signal feedback module 200 is a low-level voltage feedback signal, the second switch tube Q2, the third switch tube Q3, and the fourth switch tube Q4 are sequentially turned on, thereby driving the motor switching unit 320 to be turned on, and achieving the driving of the motor 700. When the input end of the signal feedback module 200 is a low-level voltage feedback signal, the main control module 100 outputs a pulse width modulation signal to the push-pull driving unit 310, and controls the switching frequency of the motor switching unit 320 by controlling the duty cycle of the pulse width modulation signal, thereby achieving the purpose of adjusting the working state of the motor 700.

[0063] In some embodiments, the second switch tube Q2 is an NPN triode.

[0064] In some embodiments, the third switch tube Q3 is a PNP triode.

[0065] In some embodiments, the fourth switch tube Q4 is an NPN triode.

[0066] In some embodiments, the fifth switch tube Q5 is a PNP triode.

[0067] In some embodiments, in combination Figure 6As shown, the motor switch unit 320 includes an eighth resistor R8, a ninth resistor R9, and a sixth switch tube Q6. The first end of the eighth resistor R8 is connected to the push-pull driving unit 310. The second end of the eighth resistor R8, the first end of the ninth resistor R9, and the control end of the sixth switch tube Q6 are connected together. The first end of the sixth switch tube Q6 is connected to the negative electrode of the motor 700. The second end of the sixth switch tube Q6 and the second end of the ninth resistor R9 are connected together and grounded via the current sampling unit 410.

[0068] In this embodiment, the eighth resistor R8, the ninth resistor R9, and the sixth switch tube Q6 form a switching circuit controlled by the push-pull driving unit 310, which adjusts the working state of the motor 700 by continuously and alternately turning on and off.

[0069] In some embodiments, the sixth switch tube Q6 can be a field effect transistor.

[0070] In some embodiments, in combination with Figure 6 As shown, the current sampling unit 410 includes a tenth resistor R10, and the two ends of the tenth resistor R10 are connected to the operational amplifier unit 420.

[0071] In some embodiments, in combination with Figure 6 As shown, the operational amplifier unit 420 includes an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, and an operational amplifier chip U1. The first end of the eleventh resistor R11 is connected to the first end of the current sampling unit 410. The first end of the twelfth resistor R12 is connected to the second end of the current sampling unit 410. The second end of the eleventh resistor R11 and the first end of the thirteenth resistor R13 are connected to the positive pin + of the operational amplifier chip U1. The second end of the thirteenth resistor R13 is connected to the second power supply end V2. The second end of the twelfth resistor R12 and the first end of the fourteenth resistor R14 are connected to the negative pin - of the operational amplifier chip U1. The second end of the fourteenth resistor R14 is connected to the output pin of the operational amplifier chip U1 and the filter module 820.

[0072] In this embodiment, the eleventh resistor R11, the twelfth resistor R12, the thirteenth resistor R13, the fourteenth resistor R14, and the operational amplifier chip U1 form a negative feedback operational amplifier circuit, which can amplify the input voltage signal.

[0073] In some embodiments, the voltage of the second power supply end V2 can be 1.25V, and the ratio of the fourteenth resistor R14 to the twelfth resistor R12 can be 10. Then the output voltage Vout of the operational amplifier chip U1 is Vin+10*Vin, where Vin is the voltage of the common node of the tenth resistor R10 and the sixth switch tube Q6.

[0074] In some embodiments, in combination with Figure 6 As shown in FIG. 8, the filter module 820 includes a fifteenth resistor R15 and a first capacitor C1, a first end of the fifteenth resistor R15 is connected to the operational amplifier unit 420, a second end of the fifteenth resistor R15 and a first end of the first capacitor C1 are connected to the voltage dividing diode module 810, and a second end of the first capacitor C1 is grounded.

[0075] In this embodiment, the fifteenth resistor R15 and the first capacitor C1 form an RC circuit, and the voltage signal output by the operational amplifier unit 420 is filtered by the RC circuit.

[0076] In some embodiments, the voltage dividing diode module 810 can include a plurality of diodes connected in series or in parallel, and the plurality of diodes form a unidirectional conduction resistance, so that the current output by the filter module 820 flows to the self-locking module 500, and the current of the self-locking module 500 cannot flow to the filter module 820.

[0077] In some embodiments, the voltage dividing diode module 810 can include a first diode D1 and a second diode D2, an anode of the first diode D1 is connected to the filter module 820, a cathode of the first diode D1 is connected to an anode of the second diode D2, and a cathode of the second diode D2 is connected to the self-locking module 500.

[0078] In some embodiments, in combination with Figure 6 As shown in FIG. 8, the first switch unit 510 includes a sixteenth resistor R16, a seventeenth resistor R17, a second capacitor C2, and a seventh switch Q7, a first end of the sixteenth resistor R16 is connected to the voltage dividing diode module 810, a second end of the sixteenth resistor R16, a first end of the second capacitor C2, and a first end of the seventeenth resistor R17 are connected to a control end of the seventh switch Q7, a first end of the seventh switch Q7 is connected to a control end of the second switch unit 520, and a second end of the second capacitor C2, a second end of the seventeenth resistor R17, and a second end of the seventh switch Q7 are connected to ground.

[0079] In some embodiments, in combination with Figure 6 As shown in FIG. 8, the second switch unit 520 includes an eighteenth resistor R18, a third capacitor C3, a nineteenth resistor R19, and an eighth switch Q8, a first end of the eighteenth resistor R18 is connected to the first switch unit 510, a second end of the eighteenth resistor R18, a first end of the third capacitor C3, a first end of the nineteenth resistor R19, and a control end of the eighth switch Q8 are connected, a first end of the eighth switch Q8, a first end of the nineteenth resistor R19, and a first end of the third capacitor C3 are connected to the motor reset module 600, and a second end of the eighth switch Q8 is connected to the self-locking loop unit 530.

[0080] In some embodiments, in combination with Figure 6As shown, the self-locking loop unit 530 includes a third diode D3, an anode of the third diode D3 being connected to the second switch unit 520, and a cathode of the third diode D3 being connected to a control end of the first switch unit 510.

[0081] In the embodiment, the first switch unit 510, the second switch unit 520, and the self-locking loop unit 530 form a self-locking circuit, and the self-locking circuit is powered by the second power supply end SW_V3.3V. A preset voltage range can be 0V-2.1V, when a voltage of the operational amplification signal output by the operational amplifier unit 420 is greater than 2.1V, the first switch unit 510 and the second switch unit 520 are sequentially turned on, and a current of the second power supply end SW_V3.3V sequentially passes through the motor reset module 600, the eighth switch Q8, the third diode D3, the sixteenth resistor R16, the seventh switch Q7, and returns to the eighth switch Q8, thereby forming a self-locking loop, and a voltage feedback signal is sent to the signal feedback module 200 through the signal feedback end OCP of the self-locking module 500.

[0082] In some embodiments, in combination with Figure 6 Figure 6 As shown, the motor reset module 600 includes a ninth switch Q9, a twenty-first resistor R21, and a twentieth resistor R20, a first end of the ninth switch Q9 being connected to the second switch unit 520, a second end of the ninth switch Q9 and a first end of the twenty-first resistor R21 being connected to the second power supply end SW_V3.3V, a control end of the ninth switch Q9 and a second end of the twenty-first resistor R21 being commonly connected to a first end of the twentieth resistor R20, and a second end of the twentieth resistor R20 being connected to the master control module 100.

[0083] In the embodiment, when the reset end OCP_RST of the master control module 100 inputs a high level, the ninth switch Q9 is turned off, the second power supply end SW_V3.3V cannot supply power to the second switch unit 520, the self-locking of the self-locking module 500 is released, and the motor 700 can be reset.

[0084] The embodiment of the present application further provides a motor overcurrent protection self-locking device, and the motor overcurrent protection self-locking device includes the motor overcurrent protection self-locking circuit according to any one of the above embodiments.

[0085] The embodiment of the present application further provides a robot, and the robot includes the motor 700 and the motor overcurrent protection self-locking circuit according to any one of the above embodiments.

[0086] In the embodiment, the overcurrent protection design scheme in the embodiment has the characteristics of few devices, low cost, high reliability, fast response speed and certain design flexibility. When the motor 700 has excessive current, the OCP part in the self-locking module 500 outputs a high level feedback to the feedback circuit module, so that the motor 700 stops working, and the OCP part can form self-locking when a large current is generated, thereby continuously outputting a high level to the circuit feedback module, so that the motor 700 stops working to protect the motor 700, thereby avoiding the motor 700 working under high load and generating heat, which affects the service life of the motor 700. The present scheme effectively protects the motor 700 and prolongs the service life of the motor 700.

[0087] The beneficial effects of the embodiment of the present application are as follows: the switch driving module generates a motor driving signal according to a pulse width modulation signal to drive the motor to work, the operational amplifier module samples the current flowing through the motor and amplifies the current sampling signal to obtain a corresponding operational amplifier signal, the self-locking module generates a corresponding voltage feedback signal when the voltage of the operational amplifier signal exceeds a preset voltage range, and performs self-locking according to the voltage feedback signal, and the motor reset module controls the self-locking module to release self-locking according to a reset control signal to reset the motor, so as to stop the motor from working under the condition of excessive current, achieve the purpose of protecting the motor, reduce the risk of the motor under the condition of large current, and improve the stability and reliability of the robot.

[0088] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in a certain embodiment can be referred to the related description of other embodiments.

[0089] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An overcurrent protection self-locking circuit for an electric machine, characterized in that, The motor over-current protection self-locking circuit comprises: A main control module for providing a pulse width modulation signal A signal feedback module connected with the main control module, for receiving a voltage feedback signal and adjusting the pulse width modulation signal according to the voltage feedback signal; A switch driving module connected with the main control module, the signal feedback module and the motor, for receiving the pulse width modulation signal and generating a motor driving signal according to the pulse width modulation signal to drive the motor to work; An operational amplifier module connected with the switch driving module, for sampling the current flowing through the motor and amplifying the current sampling signal to obtain a corresponding operational amplifier signal; A self-locking module connected with the operational amplifier module and the signal feedback module, for receiving the operational amplifier signal and generating a corresponding voltage feedback signal when the voltage of the operational amplifier signal exceeds a preset voltage range, and self-locking according to the voltage feedback signal; A motor reset module connected with the self-locking module and the main control module, for receiving a reset control signal provided by the main control module and controlling the self-locking module to be unlocked according to the reset control signal to reset the motor.

2. The motor overcurrent protection latch-up circuit of claim 1, wherein, The motor over-current protection self-locking circuit comprises: A voltage dividing diode module connected between the operational amplifier module and the self-locking module, for dividing the operational amplifier signal and preventing the voltage feedback signal from flowing back to the operational amplifier module.

3. The motor overcurrent protection latch-up circuit of claim 1, wherein, The motor over-current protection self-locking circuit comprises: A filter module connected between the operational amplifier module and the self-locking module, for filtering the operational amplifier signal.

4. The motor overcurrent protection latch-up circuit of claim 1, wherein, The switch driving module comprises: A push-pull driving unit connected with the main control module, for generating a push-pull driving signal according to the pulse width modulation signal; A motor switch unit connected with the motor and the push-pull driving unit, for turning on or off according to the push-pull driving signal to control the current flowing through the motor.

5. The motor overcurrent protection latch-up circuit of claim 1, wherein, The operational amplifier module comprises: A current sampling unit connected in series with the motor, for sampling the current flowing through the motor to obtain a current sampling signal; An operational amplifier unit connected with the current sampling unit, for amplifying the current sampling signal to obtain a corresponding operational amplifier signal.

6. The motor overcurrent protection latch-up circuit of any one of claims 1-5, wherein, The motor over-current protection self-locking circuit further comprises: A freewheeling diode connected in parallel with the motor, with the cathode of the freewheeling diode being connected to a first power supply terminal together with the positive electrode of the motor, and the anode of the freewheeling diode being connected to the switch driving module together with the negative electrode of the motor.

7. The motor overcurrent protection latch-up circuit according to any one of claims 1 to 5, wherein The self-locking module comprises: A first switch unit connected with the operational amplifier module, for turning on when the voltage of the operational amplifier signal is within a preset voltage range; A second switch unit connected with the first switch unit and a second power supply terminal, the switch state of the second switch unit being controlled by the switch state of the first switch unit and generating a corresponding voltage feedback signal according to the voltage of the second power supply terminal and the on state of the first switch unit; A self-locking loop unit is connected between the second switch unit and the first switch unit, and is used to control the first switch unit to keep conducting according to the voltage feedback signal.

8. The motor overcurrent protection latch-up circuit of claim 7, wherein, The control end of the second switch unit is also connected with the master control module, and the master control module is further used to monitor the voltage of the control end of the second switch unit.

9. An electric motor overcurrent protection self-locking device, characterized in that, The motor over-current protection self-locking device comprises the motor over-current protection self-locking circuit according to any one of claims 1 to 8.

10. A robot, characterized in that The robot comprises a motor and the motor over-current protection self-locking circuit according to any one of claims 1 to 8.

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