Protection circuit for supplying power to robot body

Abstract

The utility model discloses a protection circuit for supplying power to a robot body, which can turn off a switching device in an extremely short time through the combination of an OR-ing controller and the switching device when high voltage or reverse negative current is detected, thereby effectively protecting circuit elements. The conduction internal resistance of the switching device is extremely low, and the problems of power loss and heating in a traditional diode scheme are reduced; through cooperation of the current limiting element, the protection element and the filtering element, voltage fluctuation and clutter interference are further limited, and the stability and reliability of the system are improved.

Description

Technical Field

[0001] This utility model relates to the field of circuit technology, and in particular to a protection circuit for powering a robot body. Background Technology

[0002] In robot power supply systems, when the robot motor decelerates, the supply voltage to the robot body may exceed the input voltage, potentially damaging the control cabinet and electronic components within the robot. Furthermore, a short circuit in the main power supply can cause reverse negative current in the circuit, further increasing the risk of damage to circuit components. Traditional solutions typically use diodes for protection, but diodes suffer from problems such as large forward voltage drop, high power loss, and significant heat generation, affecting system efficiency and stability.

[0003] While some circuit protection schemes exist in the current technology, most cannot quickly shut off high voltage or reverse negative current in a short time, and lack comprehensive consideration for energy recovery and system stability. Therefore, there is an urgent need for a power supply protection circuit that can respond quickly and efficiently protect circuit components. Utility Model Content

[0004] To address the aforementioned problems, this utility model provides a protection circuit for powering a robot body, comprising:

[0005] The power module is used to convert external AC voltage into a first DC voltage;

[0006] The control cabinet circuit receives the first DC voltage and divides it to output a control voltage.

[0007] The control and protection circuit includes an OR-ing controller U1 and an external switching device Q1. The OR-ing controller U1 detects the voltage difference V between the source S and drain D of the switching device Q1. SD To control the switching device Q1 to be turned on or off;

[0008] The control voltage is input to the OR-ing controller U1. Initially, the switching device Q1 supplies power to the robot body through its internal parasitic diode. When the voltage difference V between the source S and drain D of the switching device Q1... SD When the voltage exceeds the threshold voltage, the OR-ing controller U1 raises the gate voltage of switching device Q1, causing Q1 to conduct; when a reverse negative current is detected and the voltage difference V between the source (S) and drain (D) of switching device Q1 is V, SD When the absolute value is greater than the absolute value of the reverse threshold voltage, the OR-ing controller U1 turns off the switching device Q1 within a preset time.

[0009] The robot body circuit receives the second DC voltage output by the OR-ing controller U1 and uses it to drive the load device.

[0010] Compared with the prior art, the beneficial effects of this utility model are:

[0011] This invention provides a protection circuit for powering a robot body. By combining an OR-ing controller and a switching device, the switching device can be turned off within a preset time when a high voltage or reverse negative current is detected, effectively protecting the circuit components. The switching device has extremely low on-resistance, reducing power loss and heat generation problems in traditional diode solutions. Through the cooperation of current limiting components, protection components, and filtering components, voltage fluctuations and noise interference are further limited, improving the stability and reliability of the system. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of a protection circuit for powering a robot body, as described in this application.

[0014] Figure 2 This is a connection diagram for the control and protection circuit;

[0015] Figure 3 This is a schematic diagram showing the operation of the protective components in the control and protection circuit. Detailed Implementation

[0016] The following detailed description of preferred embodiments of the present invention, along with the included examples, will make the content of the present invention more readily understood. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. In case of any conflict, the definitions in this specification shall prevail.

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0019] In the description of this utility model, "and / or" means either the existence of each individually or the existence of both simultaneously.

[0020] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0022] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0023] This utility model protects a protection circuit used for powering a robot body, such as... Figure 1 and Figure 2 As shown, it includes:

[0024] The power module is used to convert external AC voltage into a first DC voltage;

[0025] The control cabinet circuit receives the first DC voltage and divides it to output a control voltage.

[0026] The control and protection circuit includes an OR-ing controller U1 and an external switching device Q1. The OR-ing controller U1 detects the voltage difference V between the source S and drain D of the switching device Q1. SD To control the switching device Q1 to be turned on or off;

[0027] The control voltage is input to the OR-ing controller U1. Initially, the switching device Q1 supplies power to the robot body through its internal parasitic diode. When the voltage difference V between the source S and drain D of the switching device Q1... SD When the voltage exceeds the threshold voltage, the OR-ing controller U1 raises the gate voltage of switching device Q1, causing Q1 to conduct; when a reverse negative current is detected and the voltage difference V between the source (S) and drain (D) of switching device Q1 is V, SD When the absolute value is greater than the absolute value of the reverse threshold voltage, the OR-ing controller U1 turns off the switching device Q1 within a preset time.

[0028] The robot body circuit receives the second DC voltage output by the OR-ing controller U1 and uses it to drive the load device.

[0029] In one specific embodiment, the switching device Q1 is an NMOS transistor Q1.

[0030] In one specific embodiment, the on-resistance of the switching device Q1 is 1mΩ to 50mΩ.

[0031] In one specific embodiment, the pin configuration of the OR-ing controller U1 includes:

[0032] The VS pin PIN1 is connected to the OUT pin PIN6 via a current-limiting element to provide the operating voltage;

[0033] GND pin PIN2 is grounded;

[0034] The OFF pin PIN3 is used to enable or disable the gate G control function.

[0035] The IN pin PIN4 is connected to the source S of the switching device Q1;

[0036] The GATE pin PIN5 outputs the gate control signal (G).

[0037] The OUT pin PIN6 is connected to the drain D of the switching device Q1.

[0038] In one specific embodiment, the OR-ing controller U1 includes:

[0039] The voltage detection module is used to detect the voltage difference V between the source S and drain D of the switching device Q1 in real time. SD ;

[0040] Logic control module, when the pressure difference V SD When the voltage exceeds the threshold voltage, the voltage at the GATE pin of the OR-ing controller U1 increases until the gate G voltage of the switching device Q1 reaches a preset value higher than the source S voltage, causing the switching device Q1 to conduct; when the voltage difference V SD When the voltage drops below the positive threshold voltage, the voltage at the GATE pin decreases until the voltage difference V... SD Adjust to the threshold voltage; when there is a reverse negative current flowing between the source S and drain D of switching device Q1 and the voltage difference V SD When the absolute value is greater than the absolute value of the reverse threshold voltage, the OR-ing controller U1 turns off the switching device Q1 within a preset time.

[0041] In one specific embodiment, the control protection circuit further includes a protection element connected to the switching device Q1; preferably, the protection element includes a first protection element and a second protection element; the first protection element is connected to the source S of the switching device Q1 and is used to clamp the negative pulse voltage of the source S of the switching device Q1 to a preset negative voltage value; the second protection element is connected to the drain D of the switching device Q1 and limits the positive pulse voltage of the drain D of the switching device Q1. Preferably, the first protection element is a clamping diode D1; the second protection element is a TVS diode D2.

[0042] In one specific embodiment, the control protection circuit further includes a filtering element for filtering out high-frequency and low-frequency noise. Preferably, the filtering element includes a first filtering capacitor C1, a second filtering capacitor C2, and a third filtering capacitor C3. One end of the first filtering capacitor C1 is connected to the control voltage, and the other end is grounded, for filtering out high-frequency noise. One end of the second filtering capacitor C2 is connected to the VS pin of the OR-ing controller U1, and the other end is grounded, for filtering out high-frequency noise interference at the VS pin. One end of the third filtering capacitor C3 is connected to the drain D of the switching device Q1, and the other end is grounded, for filtering out low-frequency noise.

[0043] In one specific embodiment, a current-limiting element is further provided between the drain D of the switching device Q1 and the VS pin of the OR-ing controller U1 to limit the current flowing into the VS pin of the OR-ing controller U1. Preferably, the current-limiting element is a resistor R1.

[0044] In actual operation, when the control voltage is output to the OR-ing controller U1, the switching device Q1 supplies power to the robot body through its internal parasitic diode. As the body current increases, the voltage difference V between the source (S) and drain (D) of the switching device Q1 increases. SD When the preset positive threshold voltage (e.g., 22mV) is exceeded, the voltage at the GATE pin of U1 rises rapidly until the gate voltage (G) of Q1 is higher than the source voltage (S) by a certain preset value (e.g., 12V; U1 has a 12V maximum clamping circuit between the GATE and IN pins), fully turning on Q1. After turning on, the internal resistance between the source (S) and drain (D) of Q1 is very small, typically a few milliohms or tens of milliohms. If the bulk current decreases, the current flowing through the source (S) and drain (D) of Q1 also decreases. SD When the voltage drops below the positive threshold voltage, the voltage at the GATE pin will decrease rapidly until V... SD Adjust until the threshold voltage is reached. If the voltage between the source (S) and drain (D) of Q1 is again greater than V... SD The threshold voltage is reached, and the voltage at the GATE pin increases rapidly until it is approximately 12V higher than the voltage at the IN pin. If the voltage at the main body is higher than the input voltage, or if a short circuit in the power supply causes the capacitor inside the main body to discharge, resulting in a voltage at the main body that is higher than the input voltage, a reverse negative current will flow, and V SD When the absolute value of the reverse threshold voltage (e.g., -28mV) exceeds the absolute value of the reverse threshold voltage, U1 will rapidly reduce the voltage at the GATE pin within a preset time (e.g., 25ns) until the channel between the source (S) and drain (D) of Q1 closes, preventing the flow of reverse negative current. This protection mechanism prevents damage to electronic components in the circuit caused by reverse current, improving the stability and reliability of the entire system.

[0045] It needs to be explained, such as Figure 3 As shown, when an overcurrent or other cause leads to a short circuit at the power supply terminal, the voltage at the power supply terminal is higher than the input voltage due to the discharge of the capacitor at the main body terminal. At this time, a reverse negative current flows through Q1. When U1 detects the V generated by this reverse negative current... SD When the absolute value of the voltage exceeds the absolute value of the reverse threshold voltage, U1 rapidly reduces the gate voltage G of Q1 until Q1 is turned off. Before Q1 is turned off, some energy is stored in the parasitic inductance of the circuit. This energy will flow to other places, generating a momentary pulse voltage. The clamping diode D1 clamps the negative pulse voltage at the source S of Q1 to about -0.3V.

[0046] This invention provides a protection circuit for powering a robot body. Through a combination of an OR-ing controller and external switching devices, it achieves rapid shutdown of high voltage and reverse negative current, protecting circuit components and improving system stability and reliability. The circuit has a simple structure, fast response speed, and is suitable for various robot power supply systems.

[0047] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A protection circuit for powering a robot body, characterized in that, The application relates to a control protection circuit for a robot, which comprises the following parts: a power module for converting external AC voltage into first DC voltage; a control cabinet circuit for receiving the first DC voltage and outputting control voltage; the control protection circuit comprises an OR-ing controller U1 and a switching device Q1, the OR-ing controller U1 controls the on or off of the switching device Q1 by detecting the voltage difference VSD between the source S and the drain D of the switching device Q1; the control voltage is input into the OR-ing controller U1, at the beginning, the switching device Q1 supplies power to the robot body through the internal parasitic diode, when the voltage difference VSD between the source S and the drain D of the switching device Q1 is greater than the threshold voltage, the OR-ing controller U1 raises the voltage of the G electrode of the switching device Q1 to make the switching device Q1 conduct; when the reverse negative current is detected and the absolute value of the voltage difference VSD between the source S and the drain D of the switching device Q1 is greater than the absolute value of the reverse threshold voltage, the OR-ing controller U1 turns off the switching device Q1 within a preset time; a robot body circuit for receiving the second DC voltage output by the OR-ing controller U1 and driving the load equipment.

2. The protection circuit for power supply of a robot body according to claim 1, characterized by, The on-resistance of the switching device Q1 is 1 m omega to 50 m omega.

3. The protection circuit for power supply of a robot body according to claim 1, characterized by, The pin configuration of the OR-ing controller U1 comprises the following parts: a VS pin PIN1 connected to an OUT pin PIN6 through a current-limiting element and providing working voltage; a GND pin PIN2 connected to the ground; an OFF pin PIN3 for enabling or disabling the gate G control function; an IN pin PIN4 connected to the source S of the switching device Q1; a GATE pin PIN5 for outputting the gate G control signal; and an OUT pin PIN6 connected to the drain D of the switching device Q1.

4. The protection circuit for power supply of a robot body according to claim 3, characterized by, The OR-ing controller U1 comprises the following parts: a voltage detection module for detecting the voltage difference VSD between the source S and the drain D of the switching device Q1 in real time; a logic control module, when the voltage difference VSD is greater than the threshold voltage, the voltage of the GATE pin of the OR-ing controller U1 is raised until the gate G voltage of the switching device Q1 is higher than a certain preset value of the source S voltage, so that the switching device Q1 is turned on; when the voltage difference VSD is lower than the forward threshold voltage, the voltage of the GATE pin is lowered until the voltage difference VSD is adjusted to the threshold voltage; when the reverse negative current flows between the source S and the drain D of the switching device Q1 and the absolute value of the voltage difference VSD is greater than the absolute value of the reverse threshold voltage, the OR-ing controller U1 turns off the switching device Q1 within a preset time.

5. The protection circuit for power supply of a robot body according to claim 1, wherein The control protection circuit further comprises a protection element connected to the switching device Q1.

6. The protection circuit for power supply of a robot body according to claim 5, wherein The protection element comprises a first protection element and a second protection element; the first protection element is connected to the source S of the switching device Q1 and is used for clamping the negative pulse voltage of the source S of the switching device Q1 to a preset negative voltage value; and the second protection element is connected to the drain D of the switching device Q1 and is used for limiting the positive pulse voltage of the drain D of the switching device Q1.

7. The protection circuit for power supply of a robot body according to claim 1, wherein The control protection circuit further comprises a filter element for filtering high-frequency and low-frequency noise.

8. The protection circuit for powering a robot body of claim 7, wherein, The filter element comprises a first filter capacitor C1, a second filter capacitor C2 and a third filter capacitor C3, one end of the first filter capacitor C1 is connected with the control voltage, and the other end is grounded, for filtering high-frequency noise; one end of the second filter capacitor C2 is connected with the VS pin of the OR-ing controller U1, and the other end is grounded, for filtering high-frequency noise interference of the VS pin; one end of the third filter capacitor C3 is connected with the drain D of the switching device Q1, and the other end is grounded, for filtering low-frequency noise.

9. The protection circuit for power supply of a robot body according to claim 1, wherein A current limiting element is further arranged between the drain D of the switching device Q1 and the VS pin of the OR-ing controller U1, for limiting the current flowing into the VS pin of the OR-ing controller U1.

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