Robot peripheral control device with integrated power supply and control circuit

Abstract

The utility model discloses a robot peripheral control device with an integrated power supply and control circuit, which comprises a power supply circuit, a control circuit and a peripheral interface circuit, the control circuit and the peripheral interface circuit are connected with the power supply circuit and are powered by the power supply circuit, the peripheral interface circuit is used for peripheral connection, and the control circuit is used for realizing control; the power supply circuit comprises an isolation power supply conversion unit and an input power supply connection unit, the isolation power supply conversion unit comprises an isolation power supply converter, and the peripheral interface circuit is arranged to be connected with a signal connector of the main controller through a plurality of signal connectors. The control circuits are respectively connected with each external control circuit through another signal connector; the control circuit comprises a plurality of control circuits capable of being controlled independently, each control circuit is provided with a relay correspondingly connected with each signal connector of the peripheral interface circuit, and the robot peripheral control device is of an integrated structure and is suitable for peripheral control of various robots.

Description

Technical Field

[0001] This utility model relates to the field of circuit structure for robot control devices. Background Technology

[0002] The existing power management and control settings of robots are usually set on different circuit boards. This method has the following problems: (1) The existing robot control and power control settings are set on different circuit boards. This results in low power utilization efficiency due to the dispersed power management and the separate power control on multiple circuit boards. (2) The power circuit and control circuit of the existing robot control device are separated, and the power supply and control system are independent, which leads to circuit complexity and increased installation and maintenance difficulty. (3) The peripheral connection of the existing robot control device is difficult. Since the peripherals are scattered on different parts of the robot, when a fault occurs, it is necessary to repair from different parts, which makes fault diagnosis cumbersome.

[0003] In summary, existing robot control devices lack integrated power management. In view of this, the inventors of this case have made improvements to the robot control device, which led to this case. Summary of the Invention

[0004] The purpose of this utility model is to provide a robot peripheral control device with integrated power supply and control circuit. It has an integrated structure and is applicable to the control of various robot peripherals, which can effectively solve the problems existing in the background art.

[0005] To achieve the above objectives, the technical solution of this utility model is: a robot peripheral control device with integrated power supply and control circuit, comprising a power supply circuit, a control circuit, and a peripheral interface circuit. The control circuit and the peripheral interface circuit are connected to the power supply circuit and powered by it. The peripheral interface circuit is used for peripheral connection, and the control circuit is used for control. The power supply circuit includes an isolated power conversion unit and an input power connection unit. The isolated power conversion unit includes an isolated power converter. The peripheral interface circuit is configured to connect to the signal connector of the main controller through multiple signal connectors, and to each peripheral control circuit through other signal connectors. The control circuit includes multiple independently controllable control circuits, and each control circuit is provided with a relay corresponding to each signal connector of the peripheral interface circuit.

[0006] Each independently controllable control circuit in the control circuit is connected between the signal connector and the relay, which are connected to the signal connector of the main controller, by means of a transistor.

[0007] The control circuit structure of each independently controllable control circuit in the control circuit is as follows: the signal pin of the peripheral interface circuit is connected to the base of the transistor and there is a resistor between them; the base of the transistor is grounded and there is a resistor between them; the pin connection of the relay is configured as follows: pin 2 is connected to the power supply, pin 5 is connected to the control peripheral device, pin 4 is connected to the collector of the transistor, pin 3 is grounded, and pin 1 is connected to another power supply; pin 1 and pin 4 are connected through a diode.

[0008] The resistor connecting the signal pin of the peripheral interface circuit to the base of the transistor is a 1kΩ resistor, the resistor between the base of the transistor and ground is a 10kΩ resistor, and / or the diode is an SS34.

[0009] The power supply circuit includes an isolated power conversion unit and an input power connection unit. The peripheral interface circuit includes connection unit J102, connection unit J103, connection unit J105, and peripheral connection unit. The peripheral connection unit includes a crash bar connection unit, a charging board connection unit, a three-color light connection unit, a stepper motor connection unit, a lifting motor connection unit, an emergency stop switch connection unit, an industrial control computer communication connection unit, a water pump connection unit, a push rod connection unit, a camera connection unit, a switch connection unit, a rotary motor connection unit, a linear module connection unit, and / or a laser pointer connection unit. The control circuit includes an RLY1 control circuit unit, an RLY2 control circuit unit, an RLY3 control circuit unit, and an RLY4 control circuit unit.

[0010] The input power connection unit, water pump connection unit, push rod connection unit, camera connection unit, and switch connection unit all use XT30PW-M30.GY signal connectors. The isolated power conversion unit uses VRB2412LD-50WR3 isolated power converters. The RLY1, RLY2, RLY3, and RLY4 control circuit units use SRD-05VDC-SL-C relays. Connection unit J102 uses a PHB2X15 signal connector, and connection unit J103 uses a PHB2X9 signal connector. The connector and connection unit J105 use a PHB2X13 signal connector. The anti-collision strip connection unit, the three-color light connection unit, the stepper motor connection unit, the lifting motor connection unit, the emergency stop switch connection unit, the rotary motor connection unit, the linear module connection unit, and the laser pointer connection unit use a DB125-3.81-4P-GN-S signal connector. The charging board connection unit uses a DB125-3.81-5P-GN-S signal connector. The industrial control computer communication connection unit uses a DB125-3.81-3P-GN-S signal connector. The transistor is an S8050.

[0011] The signal connector pins of connection unit J102 are configured as follows: pin 1 is connected to power supply; pins 2, 10, and 30 are connected to ground (GND); pins 25, 26, 17, and 18 are used to connect to signals emitted by the corresponding control circuits; pin 29 is connected to another power supply; and the other pins are not connected. The signal connector pins of connection unit J103 are configured as follows: pins 1 and 3 are connected to power supply; pins 2, 4, and 18 are connected to ground (GND); pins 5, 6, 7, 8, 10, 14, 16, 15, and 16 are connected to ground (GND); and pins 25, 26, 17, and 18 are used to connect to the power supply. Pin 7 is the pin connected to the signal connector for the corresponding peripheral control circuit; other pins are not connected. The pins of the signal connector of the connection unit J105 are configured as follows: pins 1, 2, 7, 9, 11, 12, 13, 14, 15, 16, 19, 20, 21, 22, 23, and 24 are the pins connected to the signal connector for the corresponding peripheral control circuit; pins 5 and 6 are connected to ground; pin 25 is connected to power; pins 24 and 26 are connected to ground (GND); other pins are not connected.

[0012] By adopting the above technical solution, the beneficial effects of this utility model are:

[0013] (1) Integration: This device simplifies circuit design by integrating power supply circuit and control circuit, and all peripheral interfaces are integrated on one board, which is convenient for installation and maintenance.

[0014] (2) High energy efficiency: This device adopts integrated power management, which improves energy utilization efficiency.

[0015] (3) Replaceable: The peripheral interface of this device adopts a universal interface design, which can be adapted to a variety of different peripherals.

[0016] (4) Stability: This device integrates the power supply circuit, control circuit and peripherals, eliminating the need for complex and cumbersome circuit design and improving the stability of the entire device. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the power circuit of a robot peripheral control device with integrated power supply and control circuit, which relates to this utility model.

[0018] Figure 2 This is a schematic diagram of the peripheral interface circuit of a robot peripheral control device with integrated power supply and control circuit, which relates to this utility model.

[0019] Figure 3 This is a schematic diagram of the peripheral interface circuit of a robot peripheral control device with integrated power supply and control circuit, which relates to this utility model.

[0020] Figure 4 This is a schematic diagram of the control circuit of a robot peripheral control device with integrated power supply and control circuit, which relates to this utility model. Detailed Implementation

[0021] To further explain the technical solution of this utility model, the following detailed description is provided through specific embodiments.

[0022] This invention discloses an integrated power supply and control circuit for robot peripheral control. Robots typically include external devices such as collision avoidance navigation planning, warning, action modules, and vision equipment that require power supply and operational control. For example, a robot designed for emergency response to fires in high-voltage power distribution rooms may have peripherals including anti-collision strips, charging pads, tri-color lights, lifting drives, jacking drives, emergency stop switches, cameras, switches, water pumps, blasting and drilling drives, laser pointers, and many other devices requiring power supply and operational control. This invention provides an integrated peripheral control device suitable for robots with multiple peripherals. Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, it includes a power supply circuit, a control circuit, and a peripheral interface circuit. The control circuit and the peripheral interface circuit are connected to the power supply circuit and are powered by it. The peripheral interface circuit is used for peripheral connection, and the control circuit is used to implement control.

[0023] As shown in the figure, the power supply circuit includes an isolation power conversion unit U1 and an input power connection unit CN10. The isolation power conversion unit U1 includes an isolation power converter, which can convert the input voltage of the battery to +12V and can also isolate it from the battery to ensure that the power supply of the later stage is not affected by the power supply of the earlier stage.

[0024] In this embodiment, the peripheral interface circuit includes connection unit J102, connection unit J103, connection unit J105, and peripheral connection unit. The peripheral connection unit includes anti-collision strip connection unit U2, charging board connection unit U3, tri-color light connection unit U4, stepper motor connection unit U5, lifting motor connection unit U6, emergency stop switch connection unit U7, industrial control computer communication connection unit U10, water pump connection unit CN12, push rod connection unit CN14, camera connection unit, switch connection unit, rotary motor connection unit, linear module connection unit, and laser pointer connection unit, etc. In this embodiment, the main controller's signal connector is connected by three signal connectors configured through connection units J102, J103, and J105, and each peripheral control connection circuit is connected to other peripheral control connection circuits through other signal connectors. For example, it can connect and control peripherals such as anti-collision strip, charging board, tri-color light, stepper motor, lifting motor, laser pointer, emergency stop switch, and industrial control computer, and can also access signals from other peripherals. The control circuit described in this embodiment includes four independently controllable control circuits: RLY1 control circuit unit, RLY2 control circuit unit, RLY3 control circuit unit, and RLY4 control circuit unit. Each control circuit receives signals from the corresponding connected signal connector through relays to perform control, such as controlling the lifting power supply, push rod power supply, and water pump power supply, and can also be used to control other peripherals.

[0025] In this embodiment, the input power connection unit CN10, the water pump connection unit CN12, and the push rod connection unit CN14 use signal connectors of model XT30PW-M30.GY; the isolated power conversion unit U1 uses an isolated power converter of model VRB2412LD-50WR3; the RLY1 control circuit unit, RLY2 control circuit unit, RLY3 control circuit unit, and RLY4 control circuit unit use relays of model SRD-05VDC-SL-C; the connection unit J102 uses a signal connector of model PHB2X15; and the connection unit J103... The signal connectors used are PHB2X9 and PHB2X13 for connection unit J105. The anti-collision strip connection unit U2, the three-color light connection unit U4, the stepper motor connection unit U5, the lifting motor connection unit U6, and the emergency stop switch connection unit U7 use DB125-3.81-4P-GN-S signal connectors. The charging board connection unit U3 uses DB125-3.81-5P-GN-S signal connectors. The industrial computer communication connection unit U10 uses DB125-3.81-3P-GN-S signal connectors. Additionally, in the RLY1, RLY2, RLY3, and RLY4 control circuit units described below, transistors Q1, Q2, Q3, and Q4 are S8050, and diodes D1, D2, D3, and D4 are SS34 diodes.

[0026] Connection units J102, J103, and J105 are signal connectors. The signals come from the main controller and are distributed to each peripheral signal connector. The pin connections of the signal connector of connection unit J102 are as follows: pin 1 is connected to the +5V power supply; pins 2, 10, and 30 are connected to ground (GND); pins 25 (PE0_OUT_IO), 26 (PE1_OUT_IO), 17 (PE7_OUT_IO), and 18 (PE8_OUT_IO) are respectively connected to pin 4 of the relays of the RLY1, RLY2, RLY3, and RLY4 control circuit units for controlling the connection to ground (GND); pin 29 is connected to the +24V power supply (RBG); and the other pins are not connected.

[0027] The pin connections of the signal connector for connection unit J103 are as follows: pins 1 and 3 are connected to power supply RBG_+24V; pins 2, 4, and 18 are connected to ground GND; pin 5 is CHARGE_LINE; pin 6 is RGB_RED; pin 7 is PF2_CHARGE_EN; pin 8 is RGB_YELLOW; pin 10 is RGB_GREEN; pin 14 is FALL2; pin 16 is FALL1; pin 15 is PF3_CHARGE_EXAM; pin 17 is CHARGE_+12V; other pins are not connected.

[0028] The pin connections for the signal connector of connection unit J105 are as follows: Pin 1 CAN1_L, Pin 2 CAN1_H, Pins 5 and 6 connected to ground, Pin 7 EMG_STOP, Pin 9 CRASH, Pin 11 RS485_5_A, Pin 12 RS485_5_B, Pin 13 RS485_4_A, Pin 14 RS485_4_B, Pin 15 RS485_3_A, Pin 16 RS485_4_B, Pin 19 RS485_1_A, Pin 20 RS485_1_B, Pin 21 PC_232_TX, Pin 24 PC_232_RX, Pin 25 connected to +5V power supply, Pins 24 and 26 connected to ground (GND), other pins are not connected.

[0029] Battery power is input from the input power connection unit CN10. The pin connections of the signal connector of the input power connection unit CN10 are as follows: +24V power is output through pin 2, and pins 1, 3, and 4 are connected to ground (GND). The pin connections of the isolation power converter of the isolation power conversion unit U1 are as follows: pin 3 (Vin) is connected to the +24V power supply, +12V power is output through pin 4 (+VO), pins 2 (GND) and 5 (0V) are connected to ground (GND), and pins 1 (Ctrl) and 6 (Trim) are not connected.

[0030] The connection configuration of the peripheral connection units is shown in the figure. The connections of several peripherals are described in detail here. As shown in the figure, the pin connections of the signal connector of the anti-collision strip connection unit U2 are as follows: pin 1 connects to pin 2 of the signal connector of connection unit J105; pin 2 connects to pin 1 of the signal connector of connection unit J105; pin 3 connects to pin 9 of the signal connector of connection unit J105; and pin 4 connects to ground (GND). The pin connections of the signal connector of the charging board connection unit U3 are as follows: pin 1 connects to pin 17 of the signal connector of connection unit J103; pin 2 connects to pin 15 of the signal connector of connection unit J103; pin 3 connects to pin 7 of the signal connector of connection unit J103; pin 4 connects to pin 5 of the signal connector of connection unit J103; and pin 5 connects to ground (GND). The pin connections of the signal connector of the tri-color lamp connection unit U4 are as follows: pin 1 connects to pins 1 and 3 of the signal connector of connection unit J103; pin 2 connects to pin 10 of the signal connector of connection unit J103; pin 3 connects to pin 8 of the signal connector of connection unit J103; and pin 4 connects to pin 6 of the signal connector of connection unit J103. The pin connections for the signal connector of stepper motor connection unit U5 are as follows: pin 1 connects to +24V power supply, pin 2 connects to GND ground, pin 3 connects to pin 19 of signal connector J105, and pin 4 connects to pin 20 of signal connector J105. The pin connections for the signal connector of lifting motor connection unit U6 are as follows: pin 1 (BZ4_24V +), pin 2 connects to GND ground, pin 3 connects to pin 15 of signal connector J105, and pin 4 connects to pin 16 of signal connector J105. The pin connections for the signal connector of emergency stop switch connection unit U7 are as follows: pin 1 connects to pin 7 of signal connector J105, pins 2 and 3 are connected, and pin 4 connects to GND ground. The pin connections for the signal connector of industrial computer communication connection unit U10 are as follows: pin 1 connects to pin 21 of signal connector J105, pin 2 connects to pin 22 of signal connector J105, and pin 3 connects to GND ground. The pin connections for the signal connector of the water pump connection unit CN12 are as follows: pin 1 is TG _OUT-, pin 2 is TG _OUT+, and pins 3 and 4 are connected to ground (GND). The pin connections for the signal connector of the push rod connection unit CN14 are as follows: pin 1 is connected to ground (GND), pin 2 is SB_+12V, and pins 3 and 4 are connected to ground (GND). Refer to the diagram for further details.

[0031] As shown in the diagram, there are other peripheral connection circuit structures. For example, multiple XT30PW-M30.GY signal connectors are used to form a camera power connection unit, supplying power to the external camera. The external camera's circuitry is connected to the corresponding power supply (+12V and -12V connections) to ensure stable power supply and normal image transmission. Additionally, multiple XT30PW-M30.GY signal connectors are used to form a switch power connection unit, supplying power to the switch. The switch is connected to a +24V power supply, and its network interface is connected to the relevant network pins on the control board according to design requirements to ensure smooth network communication. Furthermore, corresponding power connection units are constructed using signal connectors of model DB125-3.81-5P-GN-S to supply power to the corresponding devices. For example, the RS485 channel pins such as RS485_1_A and RS485_1_B on the signal connector of connection unit J105 can be connected to the corresponding RS485 interface pins of peripherals such as modular motors, rotary motors, and linear module motors. During connection, it is crucial to ensure that the polarity of the RS485_1_A and RS485_1_B lines is correctly matched to prevent communication failures. Ensure correct power polarity and a secure connection to avoid loose connections and guarantee that the motor can receive control signals and receive power for drive. Additionally, CAN connection units are constructed using signal connectors of model DB125-3.81-5P-GN-S. For example, the CAN1_H and CAN1_L channels on the signal connector of connection unit J105 are connected to the controller's CAN interface through the CAN connection unit. Ensure that the CAN1_H and CAN1_L connection lines are well soldered and free from short circuits or open circuits to guarantee stable and efficient CAN communication. For example, by connecting to the end control board via another CAN connection unit, the positive and negative terminals of the emergency stop button signal can be connected to the corresponding pins of the other CAN connection unit and soldered securely to ensure stable and reliable transmission of the emergency stop signal, enabling it to be quickly triggered and executed in an emergency.

[0032] The circuit connection structure of the RLY1 control circuit unit is as follows: its PE0_OUT_IO signal pin is connected to the base of transistor Q1 through a wire connected to a 1KΩ resistor R1. At the same time, one end of the 10KΩ pull-down resistor R2 is connected to the base of transistor Q1, and the other end is grounded. The relay coil pin 2 of the RLY1 control circuit unit is connected to the +24V power supply. Pin 5 is connected to pin 1 (BZ4_24V +) of the signal connector of the lifting motor connection unit U6. Pin 4 is connected to the collector of transistor Q1. Pin 3 is grounded. Pin 1 is connected to the +5V power supply. Pins 1 and 4 are connected through diode D1. The circuit connection structure of the RLY2 control circuit unit is as follows: its PE1_OUT_IO signal pin is connected to the base of transistor Q2 through a wire connected to a 1KΩ resistor R4. At the same time, one end of the 10KΩ pull-down resistor R3 is connected to the base of transistor Q2, and the other end is grounded. The relay coil pin 2 of the RLY2 control circuit unit is connected to the +24V power supply. Pin 5 is connected to the signal connector pin 2 TG_OUT+ of the push rod connection unit CN14. Pin 4 is connected to the collector of transistor Q2. Pin 3 is grounded. Pin 1 is connected to the +5V power supply. Pins 1 and 4 are connected through diode D2. The circuit connection structure of the RLY3 control circuit unit is as follows: its PE7_OUT_IO signal pin is connected to the base of transistor Q3 through a wire connected to a 1KΩ resistor R6. At the same time, one end of the 10KΩ pull-down resistor R5 is connected to the base of transistor Q3, and the other end is grounded. The relay coil pin 2 of the RLY3 control circuit unit is connected to the +24V power supply. Pin 5 is connected to pin 1 (TG_OUT-) of the signal connector of the push rod connection unit CN14. Pin 4 is connected to the collector of transistor Q3. Pin 3 is grounded. Pin 1 is connected to the +5V power supply. Pins 1 and 4 are connected through diode D3. The circuit connection structure of the RLY4 control circuit unit is as follows: its PE8_OUT_IO signal pin is connected to a 1KΩ resistor R8 through a wire, and then connected to the base of transistor Q4. At the same time, one end of the 10KΩ pull-down resistor R7 is connected to the base of transistor Q4, and the other end is grounded. The relay coil pin 2 of the RLY4 control circuit unit is connected to the +12V power supply, pin 5 is connected to pin 2 of the signal connector of the water pump connection unit CN12 (SB_+12V), pin 4 is connected to the collector of transistor Q4, pin 3 (emitter) is not connected, pin 1 is connected to the +5V power supply, and pins 1 and 4 are connected through diode D4. Referring to the diagram, in the above control circuit structure, the relays of the RLY1, RLY2, RLY3, and RLY4 control circuit units are controlled by the voltage of their respective pins 1 and 4. When pin 4 is connected to ground (GND), pins 5 and 2 of each relay are connected, at which time the lifting power supply, push rod power supply, and water pump power supply can be controlled.

[0033] The robot peripheral control device with an integrated power supply and control circuit, as described above, uses a control transistor to control relays, achieving precise control over the power supply to high-power devices and improving the stability and integration of robot control. The power supply circuit includes an input power interface and an isolated power converter, integrating a 24V to 12V switching power supply. This provides stable power support for peripherals with different voltage requirements (such as water pumps and laser pointers). The isolated power converter converts the battery input voltage to +12V and isolates it from the battery, ensuring that the subsequent power supply is not affected by the preceding power supply. The control circuit contains multiple independently controlled relays. These relays receive signals from the main controller at the peripheral interface circuit and are used for precise control of the lifting power supply, push rod power supply, water pump power supply, water pump switch, and laser pointer brightness, etc. They can also be used to control other peripherals. It boasts advantages in integration, high energy efficiency, and stability.

[0034] The above embodiments and figures are not intended to limit the product form and style of this utility model. Any appropriate changes or modifications made by those skilled in the art should be considered as not departing from the patent scope of this utility model.

Claims

1. A robot peripheral control device with integrated power supply and control circuitry, characterized in that, The system includes a power supply circuit, a control circuit, and a peripheral interface circuit. The control circuit and the peripheral interface circuit are connected to the power supply circuit and powered by it. The peripheral interface circuit is used for peripheral connection, and the control circuit is used for control. The power supply circuit includes an isolated power conversion unit and an input power connection unit. The isolated power conversion unit includes an isolated power converter. The peripheral interface circuit is configured to connect to the signal connector of the main controller through multiple signal connectors, and to each peripheral control circuit through other signal connectors. The control circuit includes multiple independently controllable control circuits, and each control circuit is equipped with a relay corresponding to each signal connector of the peripheral interface circuit.

2. The robot peripheral control device with integrated power supply and control circuitry as described in claim 1, characterized in that, Each independently controllable control circuit in the control circuit is connected between the signal connector and the relay, which are connected to the signal connector of the main controller, by means of a transistor.

3. The robot peripheral control device with integrated power supply and control circuitry as described in claim 2, characterized in that, The control circuit structure of each independently controllable control circuit in the control circuit is as follows: the signal pin of the peripheral interface circuit is connected to the base of the transistor and there is a resistor between them; the base of the transistor is grounded and there is a resistor between them; the pin connection of the relay is configured as follows: pin 2 is connected to the power supply, pin 5 is connected to the control peripheral device, pin 4 is connected to the collector of the transistor, pin 3 is grounded, and pin 1 is connected to another power supply; pin 1 and pin 4 are connected through a diode.

4. The robot peripheral control device with integrated power supply and control circuitry as described in claim 3, characterized in that, The resistor connecting the signal pin of the peripheral interface circuit to the base of the transistor is a 1kΩ resistor, the resistor between the base of the transistor and ground is a 10kΩ resistor, and / or the diode is an SS34.

5. A robot peripheral control device with integrated power supply and control circuitry as described in claim 2 or 3, characterized in that, The power supply circuit includes an isolated power conversion unit and an input power connection unit. The peripheral interface circuit includes connection unit J102, connection unit J103, connection unit J105, and peripheral connection unit. The peripheral connection unit includes anti-collision strip connection unit U2, charging board connection unit U3, tri-color light connection unit U4, stepper motor connection unit U5, lifting motor connection unit U6, emergency stop switch connection unit U7, industrial computer communication connection unit U10, water pump connection unit CN12, push rod connection unit CN14, camera connection unit CN20, switch connection unit CN21, rotary motor connection unit CN9, linear module connection unit CN11, and / or laser pointer connection unit CN13. The control circuit includes RLY1 control circuit unit, RLY2 control circuit unit, RLY3 control circuit unit, and RLY4 control circuit unit.

6. The robot peripheral control device with integrated power supply and control circuitry as described in claim 5, characterized in that, The input power connection unit CN10, water pump connection unit CN12, push rod connection unit CN14, camera connection unit CN20, and switch connection unit CN21 use signal connectors of model XT30PW-M30.GY. The isolated power conversion unit U1 uses an isolated power converter of model VRB2412LD-50WR3. The RLY1 control circuit unit, RLY2 control circuit unit, RLY3 control circuit unit, and RLY4 control circuit unit use relays of model SRD-05VDC-SL-C. The connection unit J102 uses a signal connector of model PHB2X15, and the connection unit J103 uses a signal connector of model PHB2X9. The device and connection unit J105 use a signal connector of model PHB2X13. The anti-collision strip connection unit U2, the three-color light connection unit U4, the stepper motor connection unit U5, the lifting motor connection unit U6, the emergency stop switch connection unit U7, the rotary motor connection unit CN9, the linear module connection unit CN11, and the laser pointer connection unit CN13 use a signal connector of model DB125-3.81-4P-GN-S. The charging board connection unit U3 uses a signal connector of model DB125-3.81-5P-GN-S. The industrial control computer communication connection unit U10 uses a signal connector of model DB125-3.81-3P-GN-S. The transistor is model S8050.

7. The robot peripheral control device with integrated power supply and control circuitry as described in claim 6, characterized in that, The signal connector pins of the connection unit J102 are configured as follows: pin 1 is connected to the power supply, pins 2, 10 and 30 are connected to ground (GND), pins 25, 26, 17 and 18 are set as pins to connect to the signals emitted by the corresponding control circuit, pin 29 is connected to another power supply, and the other pins are not connected. The pins of the signal connector of the connection unit J103 are configured as follows: pins 1 and 3 are connected to the power supply, pins 2, 4 and 18 are connected to ground (GND), pins 5, 6, 7, 8, 10, 14, 16, 15 and 17 are pins for signal connectors connected to the corresponding peripheral control circuits, and the other pins are not connected. The pin configurations of the signal connector of the connection unit J105 are as follows: pins 1, 2, 7, 9, 11, 12, 13, 14, 15, 16, 19, 20, 21, 22, 23, and 24 are connected to the signal connectors of the corresponding peripheral control circuits; pins 5 and 6 are connected to ground; pin 25 is connected to power; pins 24 and 26 are connected to ground (GND); and the other pins are not connected.

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