Motor power-on protection circuit and robot

Abstract

The utility model provides a motor power-on protection circuit and a robot. Relates to the technical field of power-on protection. The motor power-on protection circuit comprises a power-on slow start module which comprises a first switch unit and a positive temperature coefficient thermistor; the first switch unit and the positive temperature coefficient thermistor are connected in series between the output end of a power supply and the power supply end of a motor; the switch module is connected between the output end of the power supply and the power supply end of the motor; the control module is respectively connected with the control end of the first switch unit and the control end of the switch module; the control module is used for controlling the first switch unit and the switch module to be conducted successively when the motor is powered on. According to the motor power-on protection circuit, the power-on slow start module based on the positive temperature coefficient thermistor is added, large current at the moment of power-on of the motor can be restrained, and the safety and reliability of motor work are improved.

Description

Technical Field

[0001] This application relates to the field of power-on protection technology, and in particular to a motor power-on protection circuit and a robot. Background Technology

[0002] Robots use many motors for their joints. The current drawn when a motor is powered on is very large, especially when multiple motors are powered on at the same time. This large current at the moment of power-on can have a serious impact on the lifespan and reliability of the components.

[0003] For example, when using a MOSFET switching solution, the large instantaneous current upon power-up may exceed the limits of the MOSFET's electrical parameters, thereby damaging the MOSFET. Alternatively, using a relay solution does not solve the problem of large instantaneous current upon power-up, which will also affect the lifespan of the relay and related circuit components. Furthermore, relays are generally larger and more expensive than MOSFETs, and they will produce a clicking sound during use.

[0004] Therefore, in related technologies, the instantaneous large current when the motor is powered on can affect the motor's operational safety and reliability. Utility Model Content

[0005] This application provides a motor power-on protection circuit and a robot to suppress the large current at the moment of motor power-on, thereby improving the safety and reliability of motor operation.

[0006] On the one hand, this application provides a motor power-on protection circuit, including:

[0007] The power-on soft start module includes a first switching unit and a positive temperature coefficient thermistor; the first switching unit and the positive temperature coefficient thermistor are connected in series between the output terminal of the power supply and the power supply terminal of the motor.

[0008] A switching module is connected between the output terminal of the power supply and the power supply terminal of the motor;

[0009] The control module is connected to the control terminal of the first switch unit and the control terminal of the switch module respectively; the control module is used to control the first switch unit and the switch module to be turned on sequentially when the motor is powered on.

[0010] In this motor power-on protection circuit, based on the positive temperature coefficient thermistor's resistance being positively correlated with temperature, and the characteristic of resistive elements heating up when current flows, when the motor is powered on, the control module first controls the first switching unit to conduct and then controls the switching module to conduct, so that the power supply first supplies power to the motor through the current limiting of the positive temperature coefficient thermistor, thereby suppressing the large current at the moment of motor power-on and improving the safety and reliability of motor operation.

[0011] Optionally, the first switching unit includes:

[0012] A first switching subunit, the first end of which is connected to the output terminal of the power supply, the second end of which is connected to the first terminal of the positive temperature coefficient thermistor, and the second terminal of the positive temperature coefficient thermistor is connected to the power supply terminal of the motor.

[0013] A first control subunit, the control terminal of the first control subunit is connected to the control terminal of the first switch unit, the first input terminal of the first control subunit is connected to the output terminal of the power supply, the second input terminal of the first control subunit is grounded, and the output terminal of the first control subunit is connected to the control terminal of the first switch subunit.

[0014] This configuration allows for the on / off drive control of the first switching subunit through the first control subunit, improving the control flexibility of the first switching unit and broadening the selection range of switching devices in the first switching subunit.

[0015] Optionally, the first switching subunit includes: a first transistor, the first terminal of the first transistor being connected to the output terminal of the power supply, the second terminal of the first transistor being connected to the first terminal of the positive temperature coefficient thermistor, and the control terminal of the first transistor being connected to the output terminal of the first control subunit.

[0016] The first control subunit includes: a second transistor, a first resistor, a second resistor, and a first capacitor; the control electrode of the second transistor is connected to the control terminal of the first switching unit, the first electrode of the second transistor is grounded, the second electrode of the second transistor is connected to the first terminal of the first resistor, the second terminal of the first resistor is connected to the control electrode of the first transistor, and the second resistor and the first capacitor are connected in parallel between the first electrode and the control electrode of the first transistor.

[0017] Alternatively, the first control subunit includes: a first gate driver chip; the enable terminal of the first gate driver chip is connected to the control terminal of the first switching unit, the input terminal of the first gate driver chip is connected to the output terminal of the power supply, the driving terminal of the first gate driver chip is connected to the control electrode of the first transistor, the ground terminal of the first gate driver chip is grounded, and the output terminal of the first gate driver chip is connected to the second electrode of the first transistor.

[0018] This embodiment provides the specific structure of the first switching unit and two implementation methods for the first control subunit, which can be selected as needed in practical applications.

[0019] Optionally, the first transistor is a MOS transistor;

[0020] The first switching unit further includes: a third resistor, a second capacitor, and a third capacitor; the third resistor is connected between the control terminal of the first control subunit and the control terminal of the first switching unit; the second capacitor and the third capacitor are connected in parallel between the output terminal of the power supply and ground.

[0021] This configuration is equivalent to adding a current-limiting and filtering protection circuit to the first switching unit, which helps improve the reliability of the first switching unit.

[0022] Optionally, the switching module includes a second switching unit and a fuse connected in series between the output terminal of the power supply and the power supply terminal of the motor.

[0023] In this way, by setting a fuse, overcurrent and short-circuit protection can be achieved during the normal power supply to the motor through the switching module.

[0024] Optionally, the second switching unit includes:

[0025] The second switch subunit has a first end connected to the output terminal of the power supply, a second end connected to the first end of the fuse, and a second end connected to the power supply terminal of the motor.

[0026] The second control subunit has its control terminal connected to the control terminal of the second switch unit, its first input terminal connected to the output terminal of the power supply, its second input terminal grounded, and its output terminal connected to the control terminal of the second switch unit.

[0027] This configuration allows for the on / off drive control of the second switching subunit through the second control subunit, improving the control flexibility of the second switching unit and broadening the selection range of switching devices in the second switching subunit.

[0028] Optionally, the second switching subunit includes: a third transistor, the first terminal of which is connected to the output terminal of the power supply, the second terminal of which is connected to the first terminal of the fuse, and the control terminal of which is connected to the output terminal of the second control subunit;

[0029] The second control subunit includes: a fourth transistor, a fourth resistor, a fifth resistor, and a fourth capacitor; the control electrode of the fourth transistor is connected to the control terminal of the second switching unit, the first electrode of the fourth transistor is grounded, the second electrode of the fourth transistor is connected to the first terminal of the fourth resistor, the second terminal of the fourth resistor is connected to the control electrode of the third transistor, and the fifth resistor and the fourth capacitor are connected in parallel between the first electrode and the control electrode of the third transistor.

[0030] Alternatively, the second control subunit includes: a second gate driver chip; the enable terminal of the second gate driver chip is connected to the control terminal of the second switching unit, the input terminal of the second gate driver chip is connected to the output terminal of the power supply, the drive terminal of the second gate driver chip is connected to the control electrode of the third transistor, the ground terminal of the second gate driver chip is grounded, and the output terminal of the second gate driver chip is connected to the second electrode of the third transistor.

[0031] This embodiment provides the specific structure of the second switching unit and two implementation methods for the second control subunit, which can be selected as needed in practical applications.

[0032] Optionally, the third transistor is a MOS transistor;

[0033] The second switching unit further includes: a sixth resistor, a fifth capacitor, and a sixth capacitor; the sixth resistor is connected between the control terminal of the second control subunit and the control terminal of the second switching unit; the fifth capacitor and the sixth capacitor are connected in parallel between the output terminal of the power supply and ground.

[0034] This configuration is equivalent to adding a current-limiting and filtering protection circuit to the second switching unit, which helps improve the reliability of the second switching unit.

[0035] Optionally, the control module includes a microprocessor. Based on the advantages of microprocessors—small size, light weight, high integration, and modularity—circuit size and weight can be significantly reduced, system complexity and cost lowered, and upgrades and maintenance are easier.

[0036] On the other hand, this application provides a robot, including a motor and a motor power-on protection circuit provided in any embodiment of this application. The motor power-on protection circuit can suppress the large current at the moment of motor power-on, improving the reliability of motor power supply and thus improving the operational reliability of the robot.

[0037] The motor power-on protection circuit provided in this application includes a power-on soft-start module, a switching module, and a control module. The power-on soft-start module consists of a first switching unit and a positive temperature coefficient (PTC) thermistor connected in series. Based on the positive temperature coefficient thermistor's resistance being positively correlated with temperature, and the characteristic of resistive elements heating up when current flows, when the motor is powered on, the control module first controls the first switching unit to conduct, and then controls the switching module to conduct. This allows the power supply to first power the motor through the current-limiting effect of the PTC thermistor, and then to power the motor normally through the switching module. Therefore, the motor power-on protection circuit provided in this application can suppress the large current at the moment of motor power-on, preventing damage to the first switching unit and the motor from a sudden increase in supply current, thus improving the safety and reliability of motor operation. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0039] Figure 1 This is a schematic diagram of the structure of a motor power-on protection circuit provided in an embodiment of this application;

[0040] Figure 2 This is a schematic diagram of another motor power-on protection circuit provided in an embodiment of this application;

[0041] Figure 3 A schematic diagram of a power-on soft-start module provided in an embodiment of this application;

[0042] Figure 4 A schematic diagram of another power-on soft-start module provided in this application embodiment;

[0043] Figure 5 This is a schematic diagram of the structure of a switch module provided in an embodiment of this application;

[0044] Figure 6 This is a schematic diagram of another switching module provided in an embodiment of this application.

[0045] Explanation of reference numerals in the attached figures:

[0046] 100-Motor power-on protection circuit; 200-Power supply; VCC-Power supply output terminal; 300-Motor; M1-Motor power supply terminal; 10-Power-on soft start module; 20-Switch module; 30-Control module; 110-First switch unit; RT1-Positive temperature coefficient thermistor; 111-First switch subunit; 112-First control subunit; 210-Second switch unit; F1-Fuse; 211-Second switch subunit; 212-Second control subunit; 31-Microcontroller; Ctrl1-First control signal; R1-First resistor; R2-Second resistor; R3-Third resistor; C1-First capacitor; C2-Second capacitor; C3-Third capacitor; Q1-First transistor; Q2-Second transistor; U1-First gate driver chip; IN1-Input terminal of the first gate driver chip; EN1- Enable terminal of the first gate driver chip; OUT1 - Output terminal of the first gate driver chip; GATE1 - Drive terminal of the first gate driver chip; GND1 - Ground terminal of the first gate driver chip; Ctrl2 - Second control signal; R4 - Fourth resistor; R5 - Fifth resistor; R6 - Sixth resistor; C4 - Fourth capacitor; C5 - Fifth capacitor; C6 - Sixth capacitor; Q3 - Third transistor; Q4 - Fourth transistor; U2 - Second gate driver chip; IN2 - Input terminal of the second gate driver chip; EN2 - Enable terminal of the second gate driver chip; OUT2 - Output terminal of the second gate driver chip; GATE2 - Drive terminal of the second gate driver chip; GND2 - Ground terminal of the second gate driver chip.

[0047] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0048] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0049] As described in the background section, the large current at the moment of power-on of the motor in the robot in the related technology can impact the switching devices and related circuits between the system power supply and the motor, which may damage the related devices in the circuit, affect the stability of the system power supply and the safety of motor operation, and thus affect the reliability of robot operation.

[0050] To address the aforementioned technical problems, this application provides a motor power-on protection circuit. In addition to a switching module and a control module, it also includes a power-on soft-start module composed of a first switching unit and a positive temperature coefficient (PTC) thermistor. Based on this motor power-on protection circuit, when the motor is powered on, the control module first controls the first switching unit to conduct, and the power supply passes through the PTC thermistor to power the motor. Since the PTC thermistor is a temperature-sensitive resistor, when the current flowing through it is too large, causing the PTC thermistor to heat up above a certain temperature, its resistance will increase with the temperature rise, thus preventing a sudden increase in the power supply current from damaging the first switching unit. When the motor voltage reaches or approaches the system operating voltage, the control module then controls the switching module to conduct, allowing the power supply to power the motor through the switching module, thereby suppressing the large current at the moment of motor power-on, ensuring the stability of the motor power supply, and improving the safety and reliability of motor operation.

[0051] The technical solution of this application and how it solves the above-mentioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0052] Figure 1 This is a schematic diagram of a motor power-on protection circuit provided in an embodiment of this application. See also... Figure 1 The motor power-on protection circuit 100 includes: a power-on soft start module 10, a switch module 20, and a control module 30.

[0053] The power-on soft-start module 10 includes a first switching unit 110 and a positive temperature coefficient (PTC) thermistor. The first switching unit 110 and the PTC thermistor RT1 are connected in series between the power supply output terminal VCC and the motor power supply terminal M1. The power supply 200 can be the system power supply for the robot, and the motor 300 can be a drive component used to drive the movement of any joint in the robot. The switching module 20 is connected between the power supply output terminal VCC and the motor power supply terminal M1. The control module 30 is connected to the control terminals of the first switching unit 110 and the switching module 20 respectively; the control module 30 is used to control the first switching unit 110 and the switching module 20 to turn on sequentially when the motor 300 is powered on.

[0054] For example, both the first switching unit 110 and the switching module 20 can include controllable switching devices, such as transistors or relays. The control terminal of the controllable switching device is connected to the control module. When the controllable switching device is turned on, the path between the power supply 200 and the motor 300 containing the controllable switching device can be connected. The control module 30 can be implemented using any controller with data analysis and processing functions, such as a microcontroller or a single-chip microcomputer. The positive temperature coefficient thermistor RT1 can be selected based on the supply voltage provided by the power supply output terminal VCC and the operating characteristics of the controllable switching device in the first switching unit 110. For example, a PTC with a certain resistance value at room temperature can be selected to avoid the instantaneous current exceeding the allowable flow range of the first switching unit 110 when powered on at room temperature.

[0055] The specific working process of the motor power-on protection circuit 100 when the motor is powered on can be as follows:

[0056] When the motor 300 is powered on, the control module 30 first provides a conduction signal to the control terminal of the first switching unit 110, controlling the first switching unit 110 to conduct, and then supplies power to the motor 300 through the positive temperature coefficient thermistor RT1. Based on the characteristic that the resistance of the positive temperature coefficient thermistor RT1 increases with temperature, when the current flowing through the positive temperature coefficient thermistor RT1 is large, its resistance increases due to heat generation, thereby suppressing the current and preventing damage to the switching devices in the first switching unit 110 from a sudden increase in current.

[0057] After the power-on soft start module 10 has been activated for a period of time, the voltage at the power supply terminal M1 of the motor reaches or approaches the system operating voltage, and the power supply tends to stabilize. At this time, the control module 30 can provide a conduction signal to the control terminal of the switch module 20 to control the switch module 20 to conduct, so that the power supply 200 supplies power to the motor 300 through the switch module 20.

[0058] For example, when the switch module 20 is turned on, the equivalent impedance of its path is less than the equivalent impedance of the path of the power-on soft-start module 10 when the first switch unit 110 is turned on. For example, after the control module 20 is turned on, the control module 30 can control the first switch unit 110 to turn off, so that all motor current will flow through the switch module 20 to supply the motor 300.

[0059] The motor power-on protection circuit 100 provided in this application includes a power-on soft-start module 10, a switching module 20, and a control module 30. The power-on soft-start module 10 is composed of a first switching unit 110 and a positive temperature coefficient thermistor RT1 connected in series. Based on the characteristic that the resistance of the positive temperature coefficient thermistor RT1 is positively correlated with temperature, and the characteristic that resistive elements heat up when current flows, when the motor 300 is powered on, the control module 30 first controls the first switching unit 110 to conduct and then controls the switching module 20 to conduct. This allows the power supply 200 to first supply power to the motor 300 through the current-limiting effect of the positive temperature coefficient thermistor RT1, and then supply power to the motor 300 normally through the switching module 20. Therefore, the motor power-on protection circuit 100 provided in this application embodiment can suppress the large current at the moment of power-on of the motor 300, avoid damage to the first switching unit 110 and the motor 300 due to a sudden increase in supply current, and improve the safety and reliability of motor operation.

[0060] The following is an exemplary description of the specific structures that each functional module in the motor power-on protection circuit 100 may have, but it is not intended to limit this application.

[0061] Figure 2 A schematic diagram of another motor power-on protection circuit provided in an embodiment of this application. See also... Figure 2 In one embodiment, optionally, the first switching unit 110 includes a first switching subunit 111 and a first control subunit 112. The first terminal of the first switching subunit 111 is connected to the output terminal VCC of the power supply, and the second terminal of the first switching subunit 111 is connected to the first terminal of a positive temperature coefficient thermistor RT1, which is connected to the power supply terminal M1 of the motor. The control terminal of the first control subunit 112 is connected to the control terminal of the first switching unit 110, and further connected to the control module 30. The first input terminal of the first control subunit 112 is connected to the output terminal VCC of the power supply, the second input terminal of the first control subunit 112 is grounded, and the output terminal of the first control subunit 112 is connected to the control terminal of the first switching subunit 111.

[0062] Specifically, the control module 30 can provide a first control signal Ctrl1 to the control terminal of the first control subunit 112. The first control subunit 112 controls the conduction between its first input terminal or second input terminal and its output terminal according to the voltage of its control terminal, thereby providing a high-level power signal or a low-level ground signal to the control terminal of the first switch subunit 111, realizing the on / off control of the first switch subunit 111. This structure can realize the on / off drive control of the first switch subunit 111 through the first control subunit 112, which is especially suitable for situations where the output voltage of the control module 30 does not meet the operating voltage requirements of the first switch subunit 111. It can improve the control flexibility of the first switch unit 110 and broaden the selection range of switching devices in the first switch subunit 111.

[0063] See also Figure 2 Based on the above embodiments, optionally, the switch module 20 may include a second switch unit 210 and a fuse F1 connected in series between the power supply output terminal VCC and the motor power supply terminal M1. The control terminal of the second switch unit 210 is connected to the control module 30, and the second switch unit 210 is used to turn on or off according to the second control signal Ctrl2 provided by the control module 30.

[0064] In this embodiment, by setting a fuse F1, protection can be achieved during the normal power supply process to the motor 300 through the switch module 20. For example, during normal power supply, if the motor 300 experiences problems such as overcurrent or short circuit, the fuse F1 will trip, thereby protecting the power supply 200 from damage.

[0065] Furthermore, the second switching unit 210 may include a second switching subunit 211 and a second control subunit 212. The first terminal of the second switching subunit 211 is connected to the output terminal VCC of the power supply, and the second terminal of the second switching subunit 211 is connected to the first terminal of the fuse F1, which in turn is connected to the power supply terminal M1 of the motor. The control terminal of the second control subunit 212 is connected to the control terminal of the second switching unit 210, and further connected to the control module 30. The first input terminal of the second control subunit 212 is connected to the output terminal VCC of the power supply, the second input terminal of the second control subunit 212 is grounded, and the output terminal of the second control subunit 212 is connected to the control terminal of the second switching subunit 211.

[0066] Specifically, the control module 30 can provide a second control signal Ctrl2 to the control terminal of the second control subunit 212. The second control subunit 212 controls the conduction between its first input terminal or second input terminal and its output terminal according to the voltage of its control terminal, thereby providing a high-level power signal or a low-level ground signal to the control terminal of the second switch subunit 211, realizing the on / off control of the second switch subunit 211. This structure can realize the on / off drive control of the second switch subunit 211 through the second control subunit 212, which is especially suitable for situations where the output voltage of the control module 30 does not meet the operating voltage requirements of the second switch subunit 211. It can improve the control flexibility of the second switch unit 210 and broaden the selection range of switching devices in the second switch subunit 211.

[0067] See also Figure 2 Optionally, based on the above embodiments, the control module 30 includes a microprocessor 31. Due to the advantages of the microprocessor 31's small size, light weight, high integration, and modularity, the circuit size and weight can be significantly reduced, system complexity and cost can be lowered, and upgrades and maintenance can be facilitated.

[0068] The specific structures of the first switch unit 110 and the second switch unit 210 will be described below, but this is not intended to limit the scope of this application.

[0069] Figure 3 This is a schematic diagram of a power-on soft-start module provided in an embodiment of this application. Figure 4 A schematic diagram of another power-on soft-start module provided in an embodiment of this application. See also... Figure 3 and Figure 4 In one embodiment, optionally, the first switching subunit 111 includes a first transistor Q1. The first terminal of the first transistor Q1 is connected to the output terminal VCC of the power supply, the second terminal of the first transistor Q1 is connected to the first terminal of the positive temperature coefficient thermistor RT1, and the control terminal of the first transistor Q1 is connected to the output terminal of the first control subunit 112. In this embodiment, the first switching subunit 111 is composed of a single transistor, making its structure simple and easy to implement.

[0070] For example, the first transistor Q1 is a MOSFET, which can be configured as a PMOS or NMOS as needed.

[0071] See Figure 3In one embodiment, optionally, the first control subunit 112 includes: a second transistor Q2, a first resistor R1, a second resistor R2, and a first capacitor C1; the control electrode of the second transistor Q2 is connected to the control terminal of the first switching unit 110 and is connected to the first control signal Ctrl1; the first electrode of the second transistor Q2 is grounded, the second electrode of the second transistor Q2 is connected to the first terminal of the first resistor R1, the second terminal of the first resistor R1 is connected to the control electrode of the first transistor Q1, and the second resistor R2 and the first capacitor C1 are connected in parallel between the first electrode and the control electrode of the first transistor Q1.

[0072] For example, the first transistor Q1 can be a PMOS, and the second transistor Q2 can be an NPN transistor or an NMOS. The control process of the first switching unit 110 can be as follows: When the first control signal Ctrl1 is high, the second transistor Q2 is turned on, providing the ground signal to the control electrode (gate) of the first transistor Q1 through the second transistor Q2 and the first resistor R1. At this time, the gate-source voltage difference of the first transistor Q1 exceeds its conduction standard, the first transistor Q1 is turned on, and the current flows from the output terminal VCC of the power supply through the first transistor Q1, and then through the positive temperature coefficient thermistor RT1 to the power supply terminal M1 of the motor. When the first control signal Ctrl1 is low, the second transistor Q2 is turned off, and the power signal provided by the output terminal VCC of the power supply is provided to the control electrode (gate) of the first transistor Q1 through the second resistor R2. At this time, the gate-source voltage difference of the first transistor Q1 is less than the conduction standard, the first transistor Q1 is turned off, and the output is turned off.

[0073] The first resistor R1 and the second resistor R2 can form a voltage divider circuit to ensure that the voltage provided to the control electrode of the first transistor Q1 at different times is its on-level and off-level, respectively, so as to achieve correct control of the first transistor Q1. The first capacitor C1 can play a buffering role.

[0074] See Figure 4 In another embodiment, optionally, the first control subunit 112 includes: a first gate driver chip U1; the enable terminal EN1 of the first gate driver chip is connected to the control terminal of the first switching unit 110, the input terminal IN1 of the first gate driver chip is connected to the output terminal VCC of the power supply, the drive terminal GATE1 of the first gate driver chip is connected to the control electrode of the first transistor Q1, the ground terminal GND1 of the first gate driver chip is grounded, and the output terminal OUT1 of the first gate driver chip is connected to the second electrode of the first transistor Q1.

[0075] For example, the first transistor Q1 is an NMOS. When the first control signal Ctrl1 is input to the first gate driver chip U1, the driver terminal GATE1 of the first gate driver chip will output a level signal that drives the first transistor Q1 to turn on or off. The first gate driver chip U1 processes the power supply signal and the ground signal so that the voltage provided to the control electrode of the first transistor Q1 by the first control signal Ctrl1 is not simultaneously its on-level and off-level, thus achieving correct control of the first transistor Q1. For example, the first gate driver chip U1 can specifically be an LM5060 chip.

[0076] See also Figure 3 and Figure 4 Based on the above embodiments, optionally, the first switching unit 110 further includes: a third resistor R3, a second capacitor C2 and a third capacitor C3; the third resistor R3 is connected between the control terminal of the first control subunit 112 and the control terminal of the first switching unit 110; the second capacitor C2 and the third capacitor C3 are connected in parallel between the output terminal VCC of the power supply and ground.

[0077] Among them, the third resistor R3 can be used for current limiting, and the second capacitor C2 and the third capacitor C3 can be used for filtering the power supply signal.

[0078] Figure 5 This is a schematic diagram of the structure of a switch module provided in an embodiment of this application. Figure 6 A schematic diagram of another switching module provided in an embodiment of this application. See also... Figure 5 and Figure 6 In one embodiment, optionally, the second switching subunit 211 includes: a third transistor Q3, the first terminal of the third transistor Q3 being connected to the output terminal VCC of the power supply, the second terminal of the third transistor Q3 being connected to the first terminal of the fuse F1, and the control terminal of the third transistor Q3 being connected to the output terminal of the second control subunit 212. This embodiment sets the second switching subunit 211 to consist of a single transistor, making its structure simple and easy to implement.

[0079] For example, the third transistor Q3 is a MOSFET, which can be configured as a PMOS or NMOS as needed.

[0080] See Figure 5In one embodiment, optionally, the second control subunit 212 includes: a fourth transistor Q4, a fourth resistor R4, a fifth resistor R5, and a fourth capacitor C4; the control electrode of the fourth transistor Q4 is connected to the control terminal of the second switching unit 210, the first electrode of the fourth transistor Q4 is grounded, the second electrode of the fourth transistor Q4 is connected to the first terminal of the fourth resistor R4, the second terminal of the fourth resistor R4 is connected to the control electrode of the third transistor Q3, and the fifth resistor R5 and the fourth capacitor C4 are connected in parallel between the first electrode and the control electrode of the third transistor Q3.

[0081] For example, the third transistor Q3 can be a PMOS, and the fourth transistor Q4 can be an NPN transistor or an NMOS. The control process of the second switching unit 210 can be as follows: When the second control signal Ctrl2 is high, the fourth transistor Q4 is turned on, providing the ground signal to the control electrode (gate) of the third transistor Q3 through the fourth transistor Q4 and the fourth resistor R4. At this time, the gate-source voltage difference of the third transistor Q3 exceeds its conduction standard, and the third transistor Q3 is turned on. Current flows from the power supply output terminal VCC through the third transistor Q3, and then through the fuse F1 to the power supply terminal M1 of the motor. When the second control signal Ctrl2 is low, the fourth transistor Q4 is turned off, and the power signal provided by the power supply output terminal VCC is provided to the control electrode (gate) of the third transistor Q3 through the fifth resistor R5. At this time, the gate-source voltage difference of the third transistor Q3 is less than the conduction standard, and the third transistor Q3 is turned off, turning off the output.

[0082] Among them, the fourth resistor R4 and the fifth resistor R5 can form a voltage divider circuit to ensure that the voltage provided to the control electrode of the third transistor Q3 at different times is its on level and its off level, respectively, so as to achieve correct control of the third transistor Q3. The fourth capacitor C4 can play a buffer role.

[0083] See Figure 6 In another embodiment, optionally, the second control subunit 212 includes: a second gate driver chip U2; the enable terminal EN2 of the second gate driver chip is connected to the control terminal of the second switching unit 210, the input terminal IN2 of the second gate driver chip is connected to the output terminal VCC of the power supply, the drive terminal GATE2 of the second gate driver chip is connected to the control electrode of the third transistor Q3, the ground terminal GND2 of the second gate driver chip is grounded, and the output terminal OUT2 of the second gate driver chip is connected to the second electrode of the third transistor Q3.

[0084] For example, the third transistor Q3 is an NMOS. When the second control signal Ctrl2 is input to the second gate driver chip U2, the driver terminal GATE2 of the second gate driver chip will output a level signal that drives the third transistor Q3 to turn on or off. The second gate driver chip U2 processes the power supply signal and the ground signal so that the voltage provided to the control electrode of the third transistor Q3 by the second control signal Ctrl2 is not simultaneously its on-level and off-level, thus achieving correct control of the third transistor Q3. For example, the second gate driver chip U2 can specifically be an LM5060 chip.

[0085] See also Figure 5 and Figure 6 Based on the above embodiments, the second switching unit 210 may optionally include: a sixth resistor R6, a fifth capacitor C5, and a sixth capacitor C6; the sixth resistor R6 is connected between the control terminal of the second control subunit 212 and the control terminal of the second switching unit 210; the fifth capacitor C5 and the sixth capacitor C6 are connected in parallel between the output terminal VCC of the power supply and ground.

[0086] Among them, the sixth resistor R6 can be used for current limiting, and the fifth capacitor C5 and the sixth capacitor C6 can be used for filtering the power supply signal.

[0087] In summary, in the motor power-on protection circuit 100 provided in this application embodiment, when the motor 300 is powered on, the microprocessor 31 first controls the power-on soft-start module 10 to conduct and supply power to the motor 300 through the first control signal Ctrl1. After the power-on soft-start module 10 has been conducting for a period of time, the microprocessor 31 controls the switch module 20 to conduct and supply power to the motor 300 through the second control signal Ctrl2. After the switch module 20 is working, the microprocessor 31 can also turn off the power-on soft-start module 10 through the first control signal Ctrl1. In this way, the current at the moment of power-on of the motor 300 is controllable, effectively solving the problem of damage to the MOSFET components in the switch module 20 caused by the large current at the moment of power-on of the motor, and extending the service life of the MOSFET; and by setting the fuse F1, the safety of the system power supply can be protected when the motor 300 experiences overcurrent or short circuit during normal power supply, avoiding accidental damage due to excessive supply current.

[0088] This application also provides a robot, including the motor power-on protection circuit provided in any embodiment of this application, which has corresponding beneficial effects. The robot may include a motor and a motor power-on protection circuit, with the motor power-on protection circuit connected to the motor's power supply terminal.

[0089] For example, a robot may include multiple motors and multiple motor power-on protection circuits, with each motor connected to a corresponding motor power-on protection circuit; alternatively, when there are at least two motors with the same supply voltage and power-on / off sequence, these at least two motors may also be connected to the same motor power-on protection circuit. Furthermore, when multiple motor power-on protection circuits are provided in the robot, each motor power-on protection circuit may share the same control module. It is understood that the above is merely illustrative and does not constitute a limitation of this application. In practical applications, the number and connection relationship of motors and motor power-on protection circuits in a robot can be set according to actual needs.

[0090] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the utility models disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0091] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A motor power-on protection circuit, characterized in that, include: The power-on soft-start module includes a first switching unit and a positive temperature coefficient thermistor; The first switching unit and the positive temperature coefficient thermistor are connected in series between the output terminal of the power supply and the power supply terminal of the motor. A switching module is connected between the output terminal of the power supply and the power supply terminal of the motor; The control module is connected to the control terminal of the first switch unit and the control terminal of the switch module respectively; the control module is used to control the first switch unit and the switch module to be turned on sequentially when the motor is powered on.

2. The motor power-on protection circuit according to claim 1, characterized in that, The first switching unit includes: A first switching subunit, the first end of which is connected to the output terminal of the power supply, the second end of which is connected to the first terminal of the positive temperature coefficient thermistor, and the second terminal of the positive temperature coefficient thermistor is connected to the power supply terminal of the motor. A first control subunit, the control terminal of the first control subunit is connected to the control terminal of the first switch unit, the first input terminal of the first control subunit is connected to the output terminal of the power supply, the second input terminal of the first control subunit is grounded, and the output terminal of the first control subunit is connected to the control terminal of the first switch subunit.

3. The motor power-on protection circuit according to claim 2, characterized in that, The first switching subunit includes: a first transistor, the first terminal of the first transistor being connected to the output terminal of the power supply, the second terminal of the first transistor being connected to the first terminal of the positive temperature coefficient thermistor, and the control terminal of the first transistor being connected to the output terminal of the first control subunit; The first control subunit includes: a second transistor, a first resistor, a second resistor, and a first capacitor; the control electrode of the second transistor is connected to the control terminal of the first switching unit, the first electrode of the second transistor is grounded, the second electrode of the second transistor is connected to the first terminal of the first resistor, the second terminal of the first resistor is connected to the control electrode of the first transistor, and the second resistor and the first capacitor are connected in parallel between the first electrode and the control electrode of the first transistor. Alternatively, the first control subunit includes: a first gate driver chip; the enable terminal of the first gate driver chip is connected to the control terminal of the first switching unit, the input terminal of the first gate driver chip is connected to the output terminal of the power supply, the driving terminal of the first gate driver chip is connected to the control electrode of the first transistor, the ground terminal of the first gate driver chip is grounded, and the output terminal of the first gate driver chip is connected to the second electrode of the first transistor.

4. The motor power-on protection circuit according to claim 3, characterized in that, The first transistor is a MOS transistor; The first switching unit further includes: a third resistor, a second capacitor, and a third capacitor; the third resistor is connected between the control terminal of the first control subunit and the control terminal of the first switching unit; the second capacitor and the third capacitor are connected in parallel between the output terminal of the power supply and ground.

5. The motor power-on protection circuit according to claim 1, characterized in that, The switching module includes a second switching unit and a fuse connected in series between the output terminal of the power supply and the power supply terminal of the motor.

6. The motor power-on protection circuit according to claim 5, characterized in that, The second switching unit includes: The second switch subunit has a first end connected to the output terminal of the power supply, a second end connected to the first end of the fuse, and a second end connected to the power supply terminal of the motor. The second control subunit has its control terminal connected to the control terminal of the second switch unit, its first input terminal connected to the output terminal of the power supply, its second input terminal grounded, and its output terminal connected to the control terminal of the second switch unit.

7. The motor power-on protection circuit according to claim 6, characterized in that, The second switching subunit includes: a third transistor, the first terminal of which is connected to the output terminal of the power supply, the second terminal of which is connected to the first terminal of the fuse, and the control terminal of which is connected to the output terminal of the second control subunit; The second control subunit includes: a fourth transistor, a fourth resistor, a fifth resistor, and a fourth capacitor; the control electrode of the fourth transistor is connected to the control terminal of the second switching unit, the first electrode of the fourth transistor is grounded, the second electrode of the fourth transistor is connected to the first terminal of the fourth resistor, the second terminal of the fourth resistor is connected to the control electrode of the third transistor, and the fifth resistor and the fourth capacitor are connected in parallel between the first electrode and the control electrode of the third transistor. Alternatively, the second control subunit includes: a second gate driver chip; the enable terminal of the second gate driver chip is connected to the control terminal of the second switching unit, the input terminal of the second gate driver chip is connected to the output terminal of the power supply, the drive terminal of the second gate driver chip is connected to the control electrode of the third transistor, the ground terminal of the second gate driver chip is grounded, and the output terminal of the second gate driver chip is connected to the second electrode of the third transistor.

8. The motor power-on protection circuit according to claim 7, characterized in that, The third transistor is a MOS transistor; The first switching unit further includes: a sixth resistor, a fifth capacitor, and a sixth capacitor; the sixth resistor is connected between the control terminal of the second control subunit and the control terminal of the second switching unit; the fifth capacitor and the sixth capacitor are connected in parallel between the output terminal of the power supply and ground.

9. The motor power-on protection circuit according to claim 1, characterized in that, The control module includes a microprocessor.

10. A robot, characterized in that, include: The motor and the motor power-on protection circuit according to any one of claims 1-9.

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