Robot power supply control circuit and robot

Abstract

The utility model discloses a robot power supply control circuit and a robot, relates to the technical field of robots, and aims at filtering an input power supply through a filtering module to ensure the quality of electric energy. Power is supplied to the main control system of the robot through the first voltage reduction module, power is supplied to the routing module of the robot through the second voltage reduction module, and the main control system and the routing module are separately and independently supplied with power. Besides, the second voltage reduction module supplies power to the routing module through the connection module, and the key control module is used for controlling the connection or disconnection of the connection module to realize the connection and disconnection of the power supply of the second voltage reduction module and the routing module, so that the robot can be controlled according to a key instruction of manual operation or a key instruction sent by a main control system of the robot; the second step-down module is controlled to supply power to the routing module, so that power is not supplied to the routing module when the routing module does not need to work, and unnecessary consumption of a power supply is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot power supply control circuit and a robot. BACKGROUND

[0002] In today's rapid development of robot technology, the intelligence level of robots is getting higher and higher, and the application scenarios are becoming more and more complex. The power supply of the robot is an important link to ensure the normal work of the robot. For this purpose, the present application provides a robot power supply control circuit. CONTENT OF THE INVENTION

[0003] The purpose of the present application is to provide a robot power supply control circuit and a robot, which can realize stable power supply for the robot master control system and the routing module, and ensure the normal work of the robot.

[0004] To achieve the above purpose, the present application provides the following solutions:

[0005] In a first aspect, the present application provides a robot power supply control circuit, which comprises a power supply access module, a filter module, a first voltage reduction module, a second voltage reduction module, a switch-on module and a key control module.

[0006] The power supply access module is connected with an external power supply and is used for accessing the external power supply.

[0007] The filter module is connected with the power supply access module, the first voltage reduction module and the second voltage reduction module respectively, and is used for filtering the accessed external power supply and transmitting the filtered electric energy to the first voltage reduction module and the second voltage reduction module.

[0008] The first voltage reduction module is connected with the master control system of the robot, and is used for reducing the voltage of the filtered electric energy and transmitting the reduced electric energy to the master control system of the robot.

[0009] The second voltage reduction module is connected with the switch-on module, and is used for reducing the voltage of the filtered electric energy and transmitting the reduced electric energy to the routing module of the robot through the switch-on module.

[0010] The key control module is connected with the master control system of the robot, and is used for receiving the key instruction of manual operation or receiving the key instruction sent by the master control system of the robot, and controlling the conduction and shutdown of the switch on the path connected with the second voltage reduction module in the switch-on module according to the key instruction.

[0011] The on module is connected with the routing module of the robot and the key control module respectively, and is used for controlling the transmission of the reduced voltage energy output by the second voltage reduction module to the routing module of the robot according to the conduction and shutdown of the switch on the path communicated with the second voltage reduction module.

[0012] Optionally, the filter module specifically comprises a first capacitor unit, a second capacitor unit, a third capacitor unit, a first inductor, a first resistor, a second resistor, a third resistor and a magnetic bead unit;

[0013] The first inductor, the first resistor and the second resistor are connected in parallel;

[0014] The magnetic bead unit comprises two magnetic beads connected in parallel;

[0015] One end of the first capacitor unit is connected to one end of the first inductor, and the other end of the first capacitor unit is grounded;

[0016] One end of the second capacitor unit is connected to the other end of the first inductor, and the other end of the second capacitor unit is grounded;

[0017] One end of the magnetic bead unit is connected to the other end of the first inductor, and the other end of the magnetic bead unit is connected to one end of the third capacitor unit and one end of the third resistor respectively, and the other end of the third capacitor unit and the other end of the third resistor are both grounded.

[0018] Optionally, the first voltage reduction module specifically comprises a first TCS4284 chip, a fourth capacitor unit, a fifth capacitor unit, a sixth capacitor unit, a fourth resistor, a fifth resistor, a sixth resistor, a first capacitor, a second capacitor and a second inductor;

[0019] One end of the fourth capacitor unit is connected to one end of the third resistor not grounded, and the other end of the fourth capacitor unit is also connected to a pin IN of the first TCS4284 chip;

[0020] One end of the fourth resistor is connected to a pin EN of the first TCS4284 chip, and the other end of the fourth resistor is grounded;

[0021] One end of the first capacitor is connected to a pin SS of the first TCS4284 chip, and the other end of the first capacitor is grounded; a pin GND of the first TCS4284 chip is grounded;

[0022] The pin SW of the first TCS4284 chip is connected to one end of the second inductor and one end of the second capacitor respectively, the other end of the second inductor is connected to one end of the fifth resistor and one end of the sixth capacitor respectively; the other end of the second capacitor is connected to a pin BS of the first TCS4284 chip.

[0023] The pin FB of the first TCS4284 chip is connected to the other end of the fifth resistor, and the other end of the fifth resistor is also connected to one end of the sixth resistor, and the other end of the sixth resistor is grounded;

[0024] The pin COMP of the first TCS4284 chip is connected to one end of the fifth capacitor unit, and the other end of the fifth capacitor unit is grounded;

[0025] The other end of the sixth capacitor unit not grounded is connected to the main control system of the robot.

[0026] Optionally, the second voltage reduction module specifically comprises: a second TCS4284 chip, a seventh capacitor unit, an eighth capacitor unit, a ninth capacitor unit, a third capacitor, a fourth capacitor, a fifth capacitor, a third inductor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor and an eleventh resistor;

[0027] One end of the seventh capacitor unit is connected to the other end of the third resistor not grounded, and the other end of the seventh capacitor unit is also connected to the pin IN of the second TCS4284 chip; the other end of the seventh capacitor unit is grounded; one end of the seventh resistor is connected to the other end of the seventh capacitor unit not grounded; the other end of the seventh resistor is connected to the pin EN of the second TCS4284 chip and one end of the third capacitor respectively, and the other end of the third capacitor is grounded;

[0028] The pin SS of the second TCS4284 chip is connected to one end of the fourth capacitor, and the other end of the fourth capacitor is grounded; the pin GND of the second TCS4284 chip is grounded;

[0029] The pin SW of the second TCS4284 chip is connected to one end of the third inductor and one end of the fifth capacitor respectively, the other end of the fifth capacitor is connected to the pin BS of the second TCS4284 chip, the other end of the third inductor is connected to one end of the eighth resistor, one end of the ninth capacitor unit and one end of the tenth resistor respectively, the other end of the ninth capacitor unit is grounded, the other end of the eighth resistor is connected to the pin FB of the second TCS4284 chip and one end of the ninth resistor respectively, the other end of the ninth resistor is grounded, the other end of the tenth resistor is connected to one end of the eleventh resistor, and the other end of the eleventh resistor is connected to the pin IN of the first TCS4284 chip;

[0030] The pin COMP of the second TCS4284 chip is connected to one end of the eighth capacitor unit, and the other end of the eighth capacitor unit is grounded;

[0031] The non-grounded end of the ninth capacitor unit is connected to the on module.

[0032] Optionally, the on module specifically comprises a USB chip, a first TVS diode, a second TVS diode, a third TVS diode, a tenth capacitor unit, an eleventh capacitor unit, a MOS tube, a triode, a twelfth resistor, a thirteenth resistor, and a fourteenth resistor.

[0033] The pin S1 and the pin S2 of the USB chip are grounded; the pin VBUS of the USB chip is connected to one end of the first TVS diode, one end of the tenth capacitor unit, and the drain of the MOS tube, respectively; the other end of the first TVS diode is grounded, and the other end of the tenth capacitor unit is grounded; the source of the MOS tube is connected to one end of the twelfth resistor, one end of the eleventh capacitor unit, and the non-grounded end of the ninth capacitor unit, respectively, and the other end of the eleventh capacitor unit is grounded.

[0034] The other end of the twelfth resistor is connected to the gate of the MOS tube and the collector of the triode, respectively; the emitter of the triode is grounded; the base of the triode is connected to one end of the thirteenth resistor and one end of the fourteenth resistor, respectively; the other end of the thirteenth resistor is connected to the key control module; and the other end of the fourteenth resistor is grounded.

[0035] The pin D- of the USB chip is connected to a USB interface and one end of the second TVS diode, respectively; and the other end of the second TVS diode is grounded.

[0036] The pin D+ of the USB chip is connected to a USB interface and one end of the third TVS diode; and the other end of the third TVS diode is grounded; and the USB interface is used to connect a routing module of a robot.

[0037] The pin GND of the USB chip is grounded.

[0038] Optionally, the key control module specifically comprises a key interface, a physical key, a fourth TVB diode, a fifth TVB diode, and a sixth capacitor.

[0039] One end of the physical key, one end of the fourth TVB diode, one end of the fifth TVB diode, and one end of the sixth capacitor are all connected to the key interface; the other end of the fourth TVB diode, the other end of the fifth TVB diode, and the other end of the sixth capacitor are all grounded.

[0040] The key interface is further connected to one end of the thirteenth resistor that is not connected to the fourteenth resistor.

[0041] The key interface is also connected to a master control system of the robot, and is configured to receive a manual key instruction corresponding to the physical key or receive a key instruction sent by the master control system of the robot, and control the turn-on and turn-off of the MOS tube in the connection module according to the key instruction.

[0042] Optionally, the robot power supply control circuit comprises a protection module, which is arranged between the power access module and the filter module, and is configured to perform high-voltage protection and anti-backflow protection on the power of the external power supply.

[0043] Optionally, the protection module comprises a first diode and a second diode.

[0044] The input end of the first diode is grounded, the output end of the first diode is connected to the power access module and the input end of the second diode respectively, and the output of the second diode is connected to the ungrounded end of the first capacitor unit.

[0045] In a second aspect, the present application provides a robot, comprising the robot power supply control circuit according to any one of the above.

[0046] According to the embodiments of the present application, the following technical effects are disclosed:

[0047] The robot power supply control circuit and the robot provided by the present application filter the input power supply through the filter module to ensure the power quality. The first voltage reduction module supplies power to the master control system of the robot, and the second voltage reduction module supplies power to the routing module of the robot, so that the master control system and the routing module are independently powered. In addition, the second voltage reduction module supplies power to the routing module through the connection module, and the on-off of the connection module is controlled by the key control module, so as to realize the connection and interruption of the power supply of the second voltage reduction module and the routing module. Therefore, the power supply of the second voltage reduction module to the routing module can be controlled according to the manual key instruction or the key instruction sent by the master control system of the robot, and the routing module can be powered off during the period when the routing module does not need to work, thereby reducing unnecessary power consumption. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0049] Figure 1 FIG. 1 is a structural schematic diagram of a robot power supply control circuit according to Embodiment 1 of the present application;

[0050] Figure 2 A structure diagram of a filter module provided for Embodiment 1 of the present application is shown in the figure.

[0051] Figure 3 A structure diagram of a first voltage reduction module provided for Embodiment 1 of the present application is shown in the figure.

[0052] Figure 4 A structure diagram of a second voltage reduction module provided for Embodiment 1 of the present application is shown in the figure.

[0053] Figure 5 A structure diagram of a switch-on module provided for Embodiment 1 of the present application is shown in the figure.

[0054] Figure 6 A structure diagram of a USB interface provided for Embodiment 1 of the present application is shown in the figure.

[0055] Figure 7 A structure diagram of a key control module provided for Embodiment 1 of the present application is shown in the figure. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0057] The above purposes, features and advantages of the present application will be more apparent and easier to understand. The present application will be described in further detail below with reference to the drawings and specific embodiments.

[0058] Embodiment 1

[0059] The present embodiment provides a robot power supply control circuit, as shown in the figure, which comprises a power access module, a filter module, a first voltage reduction module, a second voltage reduction module, a switch-on module and a key control module. Figure 1 The power access module (corresponding to J1 in the figure), connected with an external power supply, is used for accessing the external power supply.

[0060] Figure 2 The filter module, connected with the power access module, the first voltage reduction module and the second voltage reduction module, is used for filtering the accessed external power supply and transmitting the filtered electric energy to the first voltage reduction module and the second voltage reduction module.

[0061] The first voltage reduction module, connected with the filter module, is used for reducing the voltage of the filtered electric energy.

[0062] ​The first voltage reduction module is connected with the main control system of the robot, and is configured to reduce the filtered electric energy and transmit the reduced electric energy to the main control system of the robot.

[0063] The second voltage reduction module is connected with the switch-on module, and is configured to reduce the filtered electric energy and transmit the reduced electric energy to the routing module of the robot through the switch-on module.

[0064] The key control module is connected with the main control system of the robot, and is configured to receive a manually operated key instruction or a key instruction sent by the main control system of the robot, and control the on and off of the switch on the path communicated with the second voltage reduction module in the switch-on module according to the key instruction.

[0065] The switch-on module is connected with the routing module of the robot and the key control module, and is configured to control the transmission of the reduced electric energy output by the second voltage reduction module to the routing module of the robot according to the on and off of the switch on the path communicated with the second voltage reduction module.

[0066] As an optional implementation, the filtering module specifically comprises: a first capacitor unit, a second capacitor unit, a third capacitor unit, a first inductor (corresponding to L1 in Figure 2 ), a first resistor (corresponding to R1 in Figure 2 ), a second resistor (corresponding to R2 in Figure 2 ), a third resistor (corresponding to R20 in Figure 2 ) and a magnetic bead unit.

[0067] The first capacitor unit comprises a capacitor C1, a capacitor C2, a capacitor C18 and a capacitor C2 in Figure 2 . The second capacitor unit comprises a capacitor C21 in Figure 2 . The third capacitor unit comprises a capacitor EC1 in Figure 2 .

[0068] The first inductor, the first resistor and the second resistor are connected in parallel.

[0069] The magnetic bead unit comprises two magnetic beads (corresponding to FB1 and FB2 in Figure 2 ) connected in parallel.

[0070] One end of the first capacitor unit is connected with one end of the first inductor, and the other end of the first capacitor unit is grounded.

[0071] One end of the second capacitor unit is connected with the other end of the first inductor, and the other end of the second capacitor unit is grounded.

[0072] One end of the magnetic bead unit is connected to the other end of the first inductor, and the other end of the magnetic bead unit is connected to one end of the third capacitor unit and one end of the third resistor, respectively, and the other end of the third capacitor unit and the other end of the third resistor are both grounded.

[0073] As an optional implementation, the first voltage reduction module specifically comprises: a first TCS4284 chip (corresponding to Figure 3 U11 in FIG. 4), a fourth capacitor unit, a fifth capacitor unit, a sixth capacitor unit, a fourth resistor (corresponding to Figure 3 R12 in FIG. 4), a fifth resistor (corresponding to Figure 3 R105 in FIG. 4), a sixth resistor (corresponding to Figure 3 R153 in FIG. 4), a first capacitor (corresponding to Figure 3 C110 in FIG. 4), a second capacitor (corresponding to Figure 3 C108 in FIG. 4), and a second inductor (corresponding to Figure 3 L5 in FIG. 4).

[0074] The fourth capacitor unit comprises Figure 3 capacitors C109, C140 and C141 in FIG. 4.

[0075] The fifth capacitor unit comprises Figure 3 capacitors C150, C148 and resistor R145 in FIG. 4.

[0076] The sixth capacitor unit comprises Figure 3 capacitors C131, C137, C142 and C143 in FIG. 4.

[0077] One end of the fourth capacitor unit is connected to the end of the third resistor not grounded, and the other end of the fourth capacitor unit is also connected to the pin IN of the first TCS4284 chip.

[0078] The pin EN of the first TCS4284 chip is connected to one end of the fourth resistor, and the other end of the fourth resistor is grounded.

[0079] The pin SS of the first TCS4284 chip is connected to one end of the first capacitor, and the other end of the first capacitor is grounded; and the pin GND of the first TCS4284 chip is grounded.

[0080] The pin SW of the first TCS4284 chip is connected to one end of the second inductor and one end of the second capacitor, respectively, and the other end of the second inductor is connected to one end of the fifth resistor and one end of the sixth capacitor, respectively; and the other end of the second capacitor is connected to the pin BS of the first TCS4284 chip.

[0081] The pin FB of the first TCS4284 chip is connected to the other end of the fifth resistor, and the other end of the fifth resistor is also connected to one end of the sixth resistor, and the other end of the sixth resistor is grounded.

[0082] The pin COMP of the first TCS4284 chip is connected to one end of the fifth capacitor unit, and the other end of the fifth capacitor unit is grounded.

[0083] The other end of the sixth capacitor unit not grounded is connected to the interface CON2 in the robot main control system, and the interface CON2 is connected to the robot main control system, so as to realize the communication between the first voltage reduction module and the robot main control system. Figure 4

[0084] As an optional implementation, the second voltage reduction module specifically comprises: a second TCS4284 chip (corresponding to U1 in Figure 4 , a seventh capacitor unit, an eighth capacitor unit, a ninth capacitor unit, a third capacitor (corresponding to C26 in Figure 4 ), a fourth capacitor (corresponding to C13 in Figure 4 ), a fifth capacitor (corresponding to C3 in Figure 4 ), a third inductor (corresponding to L3 in Figure 4 ), a seventh resistor (corresponding to R5 in Figure 4 ), an eighth resistor (corresponding to R6 in Figure 4 ), a ninth resistor (corresponding to R9 in Figure 4 ), a tenth resistor (corresponding to R18 in Figure 3 ) and an eleventh resistor (corresponding to R26 in Figure 4 ).

[0085] The seventh capacitor unit comprises capacitors C5, C6 and C7 in Figure 4 .

[0086] The eighth capacitor unit comprises capacitors C14, C12 and resistor R8 in Figure 4 .

[0087] The ninth capacitor unit comprises capacitors C8, C9, C10 and C11 in Figure 5 .

[0088] One end of the seventh capacitor unit is connected to the other end of the third resistor not grounded, and the other end of the seventh capacitor unit is also connected to the pin IN of the second TCS4284 chip; the other end of the seventh capacitor unit is grounded; one end of the seventh resistor is connected to the other end of the seventh capacitor unit not grounded; the other end of the seventh resistor is connected to the pin EN of the second TCS4284 chip and one end of the third capacitor respectively, and the other end of the third capacitor is grounded.​ The pin SS of the second TCS4284 chip is connected with one end of the fourth capacitor, and the other end of the fourth capacitor is grounded; the pin GND of the second TCS4284 chip is grounded.

[0089] The pin SW of the second TCS4284 chip is connected with one end of the third inductor and one end of the fifth capacitor respectively, one end of the fifth capacitor is connected with the pin BS of the second TCS4284 chip, the other end of the third inductor is connected with one end of the eighth resistor, one end of the ninth capacitor unit and one end of the tenth resistor respectively, the other end of the ninth capacitor unit is grounded, the other end of the eighth resistor is connected with the pin FB of the second TCS4284 chip and one end of the ninth resistor respectively, the other end of the ninth resistor is grounded, the other end of the tenth resistor is connected with one end of the eleventh resistor, and the other end of the eleventh resistor is connected with the pin IN of the first TCS4284 chip.

[0090] The pin COMP of the second TCS4284 chip is connected with one end of the eighth capacitor unit, and the other end of the eighth capacitor unit is grounded.

[0091] The end of the ninth capacitor unit not grounded is connected with the turn-on module.

[0092] As an optional implementation, the turn-on module specifically comprises: a USB chip (corresponding to USB-0036 in

[0093] ), a first TVS diode (corresponding to ESD1 in Figure 5 ), a second TVS diode (corresponding to ESD4 in Figure 5 ), a third TVS diode (corresponding to ESD5 in Figure 5 ), a tenth capacitor unit, an eleventh capacitor unit, a MOS tube (corresponding to Q3 in Figure 5 ), a triode (corresponding to Q4 in Figure 5 ), a twelfth resistor (corresponding to R10 in Figure 5 ), a thirteenth resistor (corresponding to R3 in Figure 5 ), and a fourteenth resistor (corresponding to R7 in Figure 5 ). Figure 5

[0094] The tenth capacitor unit comprises the capacitor C15 and the capacitor C2 in Figure 6 .The eleventh capacitor unit comprises the capacitor EC2 in Figure 6 .

[0095] The pin S1 and the pin S2 of the USB chip are grounded; the pin VBUS of the USB chip is connected with one end of the first TVS diode, one end of the tenth capacitor unit and the drain of the MOS tube respectively; the other end of the first TVS diode is grounded, and the other end of the tenth capacitor unit is grounded; the source of the MOS tube is connected with one end of the twelfth resistor, one end of the eleventh capacitor unit and one end of the ninth capacitor unit which is not grounded respectively, and the other end of the eleventh capacitor unit is grounded.

[0096] The other end of the twelfth resistor is connected with the gate of the MOS tube and the collector of the triode respectively, the emitter of the triode is grounded, the base of the triode is connected with one end of the thirteenth resistor and one end of the fourteenth resistor respectively, the other end of the thirteenth resistor is connected with the key control module, and the other end of the fourteenth resistor is grounded.

[0097] The pin D- of the USB chip is connected with the USB interface and one end of the second TVS diode respectively, and the other end of the second TVS diode is grounded.

[0098] The pin D+ of the USB chip is connected with the USB interface and one end of the third TVS diode, and the other end of the third TVS diode is grounded; the USB interface is used for connecting the routing module of the robot; and the pin GND of the USB chip is grounded. Figure 6 As shown in the structure diagram of the USB interface, the USB interface corresponds to CON3 in Figure 5 . The pins "USB-DP-P0" and "USB-DM-P0" in Figure 7 correspond to the pins "USB-DP-P0" and "USB-DM-P0" of the USB chip in Figure 7 , so that the connection between the connection module and the routing module through the USB interface is realized.

[0099] As an optional implementation, the key control module specifically comprises: a key interface (corresponding to CON1 in Figure 7 ), a physical key (corresponding to K1 in Figure 7 ), a fourth TVB diode (corresponding to ESD2 in Figure 7 ), a fifth TVB diode (corresponding to ESD3 in Figure 7 ) and a sixth capacitor (corresponding to C17 in Figure 7 ). Figure 5 "SW" in represents the meaning of the key.

[0100] One end of the entity key, one end of the fourth TVB diode, one end of the fifth TVB diode and one end of the sixth capacitor are connected to the key interface; the other end of the fourth TVB diode, the other end of the fifth TVB diode and the other end of the sixth capacitor are grounded.

[0101] The key interface also connects the other end of the thirteenth resistor which is not connected to the fourteenth resistor.

[0102] The key interface also connects the main control system of the robot, and is used for receiving the key instruction of the artificial operation corresponding to the entity key or receiving the key instruction sent by the main control system of the robot, and controlling the conduction and turn-off of the MOS tube in the turn-on module according to the key instruction.

[0103] Figure 5 The pin "KEY-B" in the Figure 5 The "KEY-B" in the "CON1" is connected to the "KEY-B" in the Figure 5 The MOS tube in the "CON1" is turned on or turned off according to the human operation of the entity key K1, so as to realize the connection and disconnection between the turn-on module and the second voltage reduction module, thereby controlling whether the second voltage reduction module supplies power to the routing module. The control instruction can be given by the entity key during the non-working time of the robot, so as to realize the turn-off of the MOS tube in the "CON1", the power supply of the second voltage reduction module to the routing module is turned off, and the power consumption is reduced. In addition, the main control system can be set to send the control instruction automatically during the working time period, so as to realize the conduction of the MOS tube in the "CON1", the power supply of the second voltage reduction module to the routing module is realized, and the main control system can be set to send the control instruction automatically during the non-working time period, so as to realize the turn-off of the MOS tube in the "CON1", the power supply of the second voltage reduction module to the routing module is turned off, thereby reducing the power consumption. Figure 5 Figure 2 Figure 2

[0104] As an optional implementation, the robot power supply control circuit comprises a protection module; the protection module is arranged between the power supply access module and the filter module, and is used for high-voltage protection and anti-backflow protection of the electric energy of the external power supply.

[0105] As an optional implementation, the protection module comprises a first diode (corresponding to D1 in the ​ ) and a second diode (corresponding to D2 in the ​ ).

[0106] The input end of the first diode is grounded, the output end of the first diode is connected to the power supply access module and the input end of the second diode respectively, and the output of the second diode is connected to the other end of the first capacitor unit which is not grounded. ​​​

[0107] In the present application, the first and second voltage reduction modules are respectively arranged to independently supply power to the robot master control system and the routing module. In addition, the second voltage reduction module is flexibly controlled by the connection module and the key control module to supply power to the routing module during the working time period and not to supply power during the non-working time period, thereby reducing power consumption.

[0108] Embodiment 2

[0109] The present embodiment provides a robot, which comprises the robot power supply control circuit of the embodiment 1.

[0110] The technical features of the above embodiments can be combined in any manner. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0111] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above embodiment is only used to help understand the method and its core idea of the present application; meanwhile, for the person skilled in the art, the specific implementation manners and application ranges will be changed according to the idea of the present application. In conclusion, the content of the present application should not be understood as the limitation of the present application.

Claims

1. A robot power supply control circuit, characterized in that, The robot power supply control circuit includes: a power input module, a filtering module, a first step-down module, a second step-down module, a connection module, and a button control module; The power access module is connected to an external power source and is used to access an external power source. The filtering module is connected to the power input module, the first step-down module and the second step-down module respectively, and is used to filter the external power supply and transmit the filtered power to the first step-down module and the second step-down module. The first step-down module is connected to the robot's main control system and is used to step down the filtered electrical energy and transmit the stepped-down electrical energy to the robot's main control system. The second step-down module is connected to the connection module and is used to step down the filtered power and transmit the stepped-down power to the robot's routing module through the connection module. The button control module is connected to the robot's main control system and is used to receive button commands from manual operation or to receive button commands sent by the robot's main control system. It also controls the switching on and off of the switches in the connection module that are connected to the second step-down module according to the button commands. The connection module is connected to the robot's routing module and the button control module, respectively, and is used to control the transmission of the stepped-down electrical energy output by the second step-down module to the robot's routing module according to the on and off states of the switches on the path connected to the second step-down module.

2. The robot power supply control circuit according to claim 1, characterized in that, The filtering module specifically includes: a first capacitor unit, a second capacitor unit, a third capacitor unit, a first inductor, a first resistor, a second resistor, a third resistor, and a ferrite bead unit; The first inductor, the first resistor, and the second resistor are connected in parallel; The magnetic bead unit includes two magnetic beads connected in parallel; One end of the first capacitor unit is connected to one end of the first inductor, and the other end of the first capacitor unit is grounded; One end of the second capacitor unit is connected to the other end of the first inductor, and the other end of the second capacitor unit is grounded; One end of the magnetic bead unit is connected to the other end of the first inductor, and the other end of the magnetic bead unit is connected to one end of the third capacitor unit and one end of the third resistor, respectively. The other ends of the third capacitor unit and the third resistor are both grounded.

3. The robot power supply control circuit according to claim 2, characterized in that, The first step-down module specifically includes: a first TCS4284 chip, a fourth capacitor unit, a fifth capacitor unit, a sixth capacitor unit, a fourth resistor, a fifth resistor, a sixth resistor, a first capacitor, a second capacitor, and a second inductor; One end of the fourth capacitor unit is connected to the ungrounded end of the third resistor, and the other end of the fourth capacitor unit is also connected to the IN pin of the first TCS4284 chip. The EN pin of the first TCS4284 chip is connected to one end of the fourth resistor, and the other end of the fourth resistor is grounded; The SS pin of the first TCS4284 chip is connected to one end of the first capacitor, and the other end of the first capacitor is grounded; the GND pin of the first TCS4284 chip is grounded. The SW pin of the first TCS4284 chip is connected to one end of the second inductor and one end of the second capacitor, respectively; the other end of the second inductor is connected to one end of the fifth resistor and one end of the sixth capacitor, respectively; the other end of the second capacitor is connected to the BS pin of the first TCS4284 chip. The first TCS4284 chip's pin FB is connected to the other end of the fifth resistor, the other end of the fifth resistor is also connected to one end of the sixth resistor, and the other end of the sixth resistor is grounded; The COMP pin of the first TCS4284 chip is connected to one end of the fifth capacitor unit, and the other end of the fifth capacitor unit is grounded. The ungrounded end of the sixth capacitor unit is connected to the robot's main control system.

4. The robot power supply control circuit according to claim 3, characterized in that, The second step-down module specifically includes: a second TCS4284 chip, a seventh capacitor unit, an eighth capacitor unit, a ninth capacitor unit, a third capacitor, a fourth capacitor, a fifth capacitor, a third inductor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, and an eleventh resistor; One end of the seventh capacitor unit is connected to the ungrounded end of the third resistor, and one end of the seventh capacitor unit is also connected to the IN pin of the second TCS4284 chip; the other end of the seventh capacitor unit is grounded; one end of the seventh resistor is connected to the ungrounded end of the seventh capacitor unit; the other end of the seventh resistor is connected to the EN pin of the second TCS4284 chip and one end of the third capacitor, and the other end of the third capacitor is grounded. The SS pin of the second TCS4284 chip is connected to one end of the fourth capacitor, and the other end of the fourth capacitor is grounded; the GND pin of the second TCS4284 chip is grounded. The second TCS4284 chip's pin SW is connected to one end of the third inductor and one end of the fifth capacitor, respectively. The other end of the fifth capacitor is connected to the second TCS4284 chip's pin BS. The other end of the third inductor is connected to one end of the eighth resistor, one end of the ninth capacitor unit, and one end of the tenth resistor, respectively. The other end of the ninth capacitor unit is grounded. The other end of the eighth resistor is connected to the second TCS4284 chip's pin FB and one end of the ninth resistor, respectively. The other end of the ninth resistor is grounded. The other end of the tenth resistor is connected to one end of the eleventh resistor. The other end of the eleventh resistor is connected to the first TCS4284 chip's pin IN. The COMP pin of the second TCS4284 chip is connected to one end of the eighth capacitor unit, and the other end of the eighth capacitor unit is grounded. The ungrounded end of the ninth capacitor unit is connected to the connection module.

5. The robot power supply control circuit according to claim 4, characterized in that, The connection module specifically includes: a USB chip, a first TVS diode, a second TVS diode, a third TVS diode, a tenth capacitor unit, an eleventh capacitor unit, a MOSFET, a transistor, a twelfth resistor, a thirteenth resistor, and a fourteenth resistor; Pins S1 and S2 of the USB chip are grounded; pin VBUS of the USB chip is connected to one end of the first TVS diode, one end of the tenth capacitor unit, and the drain of the MOS transistor, respectively; the other end of the first TVS diode is grounded, and the other end of the tenth capacitor unit is grounded; the source of the MOS transistor is connected to one end of the twelfth resistor, one end of the eleventh capacitor unit, and the ungrounded end of the ninth capacitor unit, and the other end of the eleventh capacitor unit is grounded. The other end of the twelfth resistor is connected to the gate of the MOS transistor and the collector of the transistor, the emitter of the transistor is grounded, the base of the transistor is connected to one end of the thirteenth resistor and one end of the fourteenth resistor, the other end of the thirteenth resistor is connected to the button control module, and the other end of the fourteenth resistor is grounded. Pin D- of the USB chip is connected to the USB interface and one end of the second TVS diode, respectively, and the other end of the second TVS diode is grounded. The USB chip's D+ pin is connected to the USB interface and one end of the third TVS diode, while the other end of the third TVS diode is grounded; the USB interface is used to connect to the robot's routing module. The GND pin of the USB chip is grounded.

6. The robot power supply control circuit according to claim 5, characterized in that, The button control module specifically includes: a button interface, physical buttons, a fourth TVB diode, a fifth TVB diode, and a sixth capacitor; One end of the physical button, one end of the fourth TVB diode, one end of the fifth TVB diode, and one end of the sixth capacitor are all connected to the button interface; the other ends of the fourth TVB diode, the fifth TVB diode, and the sixth capacitor are all grounded. The button interface is also connected to the end of the thirteenth resistor that is not connected to the fourteenth resistor; The button interface is also connected to the robot's main control system, used to receive manual button commands corresponding to the physical buttons or to receive button commands sent by the robot's main control system, and to control the conduction and shutdown of the MOS transistor in the connection module according to the button commands.

7. The robot power supply control circuit according to claim 6, characterized in that, The robot power supply control circuit includes a protection module; the protection module is located between the power input module and the filtering module, and is used to provide high-voltage protection and backflow protection for the power of the external power supply.

8. The robot power supply control circuit according to claim 7, characterized in that, The protection module includes: a first diode and a second diode; The input terminal of the first diode is grounded, the output terminal of the first diode is connected to the power supply module and the input terminal of the second diode, and the output of the second diode is connected to the ungrounded end of the first capacitor unit.

9. A robot, characterized in that, The robot includes: the robot power supply control circuit according to any one of claims 1 to 8.

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