A brake control circuit suitable for use in a medical robotic system

Abstract

The utility model relates to medical electrical equipment technical field discloses a kind of brake control circuit suitable for medical robot system, comprising: power input module, for receiving DC power voltage;The input end of starting drive module is connected power input module, the output end is connected the power end of brake, for when powering on system to brake provides first voltage to drive brake starting;Delay control module is connected with starting drive module, for after powering on system to starting drive module is carried out conduction time control, so that first voltage is only loaded to brake within preset time;The input end of constant voltage maintaining module is connected power input module, the output end is connected the power end of brake, for after starting drive module output is closed, continuously to brake provides stable second voltage to maintain the working state of brake.The utility model gives consideration to the dual needs of starting response speed and long-time stability, improves the response efficiency and service life of control circuit.

Description

Technical Field

[0001] This utility model relates to the field of medical electrical equipment technology, and in particular to a brake control circuit suitable for medical robot systems. Background Technology

[0002] Currently, in minimally invasive surgical robot systems, electromagnetic brakes, as crucial devices for controlling the release and locking of motion actuators, widely employ a high-voltage start-up and low-voltage holding drive strategy. For example, a common brake's start-up voltage is 24V, while the holding voltage is maintained at 7V or 9V depending on design requirements, in order to reduce coil operating temperature and extend device lifespan.

[0003] In existing technologies, low-voltage holding is typically controlled using pulse width modulation (PWM). Specifically, after the brake is activated, the control circuit performs PWM chopping on the 24V input voltage to obtain a square wave signal with an average voltage of approximately 7V, which is used to maintain the energization of the brake coil.

[0004] However, this PWM control method has the following shortcomings:

[0005] 1. Frequent switching of PWM signals causes drastic current fluctuations, resulting in significant current noise in the chopper control, which can easily lead to electromagnetic interference and affect system stability.

[0006] 2. Since the average voltage output of PWM control is directly limited by the input voltage, when the system input voltage drops (for example, below 20V), the average output voltage also decreases, which may fail to maintain the normal holding state of the brake, resulting in brake release failure or control failure. Utility Model Content

[0007] In order to overcome the shortcomings of the prior art, the purpose of this utility model is to provide a brake control circuit suitable for medical robot systems, so as to solve the problems existing in the prior art.

[0008] In a first aspect, this utility model provides a brake control circuit suitable for a medical robot system, comprising:

[0009] Power input module, used to receive DC power supply voltage;

[0010] A start-up drive module is provided, the input of which is connected to the power input module and the output of which is connected to the power supply of the brake. The start-up drive module is used to provide a first voltage to the brake when the system is powered on to drive the brake to start.

[0011] A delay control module, which is connected to the start-up drive module, is used to control the conduction time of the start-up drive module after the system is powered on, so that the first voltage is applied to the brake only within a preset time.

[0012] A constant voltage holding module, wherein the input terminal of the constant voltage holding module is connected to the power input module and the output terminal is connected to the power supply terminal of the brake, is used to continuously provide a stable second voltage to the brake to maintain the working state of the brake after the start-up drive module shuts off the output, wherein the first voltage is greater than the second voltage.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] This invention utilizes a cascaded structure of a start-up drive module and a constant voltage holding module in the brake control circuit of a medical robot system. Combined with a delay control module, the start-up duration is precisely controlled. After the system is powered on, the start-up drive module initially provides the driving voltage to quickly drive the brake into operation. Subsequently, under the control of the delay control module, the voltage is switched to a stable voltage provided by the constant voltage holding module to maintain the brake's continuous engagement. This effectively balances the dual requirements of fast start-up response and long-term stability. This solution not only avoids energy waste and brake overheating risks caused by prolonged high-voltage drive but also improves the response efficiency and lifespan of the control circuit, making it particularly suitable for medical robot systems with high requirements for control precision and thermal management. Attached Figure Description

[0015] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0016] Figure 1 A schematic diagram of the logic structure of a brake control circuit suitable for a medical robot system provided for an embodiment of this utility model;

[0017] Figure 2 A circuit diagram of the brake control circuit provided in an embodiment of this utility model.

[0018] Figure label:

[0019] 1. Power input module; 2. Startup driver module; 3. Delay control module; 4. Constant voltage holding module. Detailed Implementation

[0020] 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. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0021] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0022] In the following description, the sequential terms used to distinguish the components, such as "first", "second", "third" and "fourth", are used only for the purpose of facilitating the description of this utility model, and do not have any specific meaning or sequential relationship in themselves.

[0023] Reference Figure 1 , Figure 2 As shown, this utility model embodiment provides a brake control circuit suitable for a medical robot system, including:

[0024] Power input module 1 is used to receive DC power supply voltage.

[0025] The power input module 1 is used to receive DC power from the medical robot system, preferably +24V DC voltage. This module serves as the main power input for the brake control circuit, and its output provides operating voltage for the start-up drive module 2, delay control module 3, and constant voltage holding module 4.

[0026] Start-up drive module 2, the input terminal of start-up drive module 2 is connected to power input module 1, and the output terminal is connected to the positive power terminal BK+ of the brake, which is used to provide the first voltage to the brake to drive the brake to start when the system is powered on. The negative power terminal of the brake is grounded.

[0027] Preferably, the startup drive module 2 includes: a P-channel MOSFET T1 and a first resistor R4;

[0028] The source of the P-channel MOSFET T1 is connected to the power input module 1, the drain is connected to the power supply terminal BK+ of the brake, and the gate is connected to the control node N1 formed by the RC delay circuit in the delay control module 3.

[0029] One end of the first resistor R4 is connected to the source of the P-channel MOSFET T1, and the other end is connected to the gate of the P-channel MOSFET T1.

[0030] At the moment the system powers on, the RC delay circuit in delay control module 3 is in its initial state, and the control node N1 formed by it is at a low potential. Because the source voltage of the P-channel MOSFET T1 is high (connected to the +24V DC power supply) and the gate voltage is low (i.e., the N1 node voltage), its gate-source voltage is negative and less than the device's turn-on threshold voltage. Therefore, T1 turns on, and the +24V DC voltage is applied to the brake's power supply terminal BK+, providing the first voltage to the brake coil and driving the brake to start. This first voltage is typically the rated or slightly higher starting voltage, which can generate a sufficiently large electromagnetic force in a very short time, causing the brake's mechanical holding device to act quickly (such as releasing the brake or engaging the control spring), thus achieving a rapid response.

[0031] As the capacitor in the delay control module 3 gradually charges, the voltage across it increases, causing the voltage at control node N1 to gradually approach the source voltage (+24V). At this time, the gate-source voltage difference of the P-channel MOSFET T1 decreases, gradually approaching or even exceeding its conduction threshold, causing MOSFET T1 to turn off and the start-up voltage to be disconnected. The circuit then enters a stable power supply state maintained by the constant voltage holding module.

[0032] A first resistor R4 is set between the source and gate of the P-channel MOSFET T1 to limit the charging and discharging current of the gate of MOSFET T1 during the gradual decrease of the voltage at control node N1. This makes the gate voltage drop process more stable, effectively prevents the device from being mis-turned or the control from being unstable due to current transients, and improves the overall response reliability of the system during startup.

[0033] Therefore, by setting the P-channel MOSFET T1 as the switching device for loading the startup voltage, and combining its gate with the RC delay circuit in the delay control module 3, the startup voltage can be loaded onto the brake at the initial stage of system power-on, and the startup path can be automatically cut off after the delay ends. This simplifies the control logic and enables the power-on bootstrap and automatic de-control functions without the need for an external MCU or logic control signals, thereby improving the system's integration and reliability.

[0034] The delay control module 3 is connected to the start-up drive module 2 and is used to control the conduction time of the start-up drive module 2 after the system is powered on, so that the first voltage is applied to the brake only within a preset time.

[0035] The preset time refers to the duration for which the delay control module 3 keeps the P-channel MOSFET T1 on after the system is powered on. Its length is determined by the RC time constant formed by the second resistor R5 and the delay capacitor. This time is used to ensure that the first voltage is applied to the brake for a sufficient period of time during the startup phase to complete the release action. Afterward, the constant voltage holding module 4 maintains a lower and stable voltage to achieve energy consumption control and continuous holding.

[0036] The delay control module 3 includes: a second resistor R5 and at least one delay capacitor, wherein the second resistor R5 and the delay capacitor constitute an RC delay circuit;

[0037] One end of the second resistor R5 is connected to the gate of the P-channel MOSFET T1 through the control node N1 of the RC delay circuit, and the other end is connected to the delay capacitor.

[0038] The other end of the delay capacitor is grounded.

[0039] The second resistor R5 and the delay capacitor form an RC delay circuit, which is used to generate a dynamic control voltage through the control node N1 after the system is powered on, so as to regulate the conduction time of the P-channel MOSFET T1 in the startup drive module 2. Specifically, one end of the second resistor R5 is connected to the delay capacitor, and the other end is connected to the gate of the P-channel MOSFET T1 through the control node N1, and is also connected to the positive terminal of the delay capacitor; the other end of the delay capacitor is grounded.

[0040] During the initial power-up phase, the delay capacitor is uncharged, and the voltage at control node N1 is low. This allows the gate-source voltage of the P-channel MOSFET T1 to form a sufficiently negative voltage difference, causing it to conduct. This applies the first voltage output from power input module 1 to the power supply terminal BK+ of the brake, enabling rapid startup. Subsequently, the delay capacitor gradually charges, increasing its voltage. This raises the potential of control node N1, causing the gate-source voltage difference of the P-channel MOSFET T1 to gradually decrease until the device is turned off. This cuts off the first voltage supply, and the system transitions to the stable power supply phase of constant voltage holding module 4.

[0041] Preferably, at least one delay capacitor includes a first capacitor C5 and a second capacitor C6 connected in parallel. Both capacitors are 1μF ceramic capacitors, used to form the energy storage unit of the RC delay circuit. The parallel configuration enhances the equivalent capacitance of the capacitors.

[0042] Capacitors C5 and C6 serve as the startup capacitors in delay control module 3, forming an RC delay circuit together with current-limiting resistor R5. During the initial power-up phase, C5 and C6 begin charging from the power supply, gradually increasing the voltage at control node N1. When the voltage at control node N1 falls below the source voltage of MOSFET T1, MOSFET T1 turns on, applying the first voltage to the brake. As the capacitor voltage gradually increases, the voltage at control node N1 eventually exceeds the MOSFET's turn-on threshold, turning off MOSFET T1. By appropriately designing the resistance value of R5 and the capacitance of the delay capacitors, the time window for the first voltage to be applied to the brake can be precisely controlled. For example, the duration of the startup voltage application can be stably controlled within the range of 150ms to 200ms, ensuring reliable brake startup while preventing prolonged overvoltage operation.

[0043] Therefore, by adopting the above-mentioned delay control module structure design, a dynamically changing control voltage is generated after the system is powered on, ensuring that the MOSFET remains on only until the capacitor is charged to the gate-source voltage threshold, thus achieving timed loading control of the first voltage. Compared with traditional control methods using logic circuits or microcontrollers, this scheme has a simple structure, low power consumption, and can achieve high-precision control of the conduction duration (e.g., 150ms to 200ms).

[0044] The constant voltage holding module 4 has its input terminal connected to the power input module 1 and its output terminal connected to the power supply terminal of the brake. It is used to continuously provide a stable second voltage to the brake to maintain the working state of the brake after the start drive module 2 shuts off its output. The first voltage is greater than the second voltage.

[0045] The constant voltage holding module 4 includes: a DC-DC voltage regulator chip U1, an input-side filter capacitor, a feedback resistor network, and an output-side energy storage capacitor;

[0046] The input pin IN of DC-DC regulator chip U1 is connected to power input module 1 and input-side filter capacitor, and the other end of input-side filter capacitor is grounded.

[0047] The output pin OUT of the DC-DC regulator chip U1 is connected to the power supply terminal of the output-side energy storage capacitor and the brake, and the other end of the output-side energy storage capacitor is grounded.

[0048] The feedback resistor network includes a first feedback resistor R1 and a second feedback resistor R2 connected in series. The first feedback resistor R1 is connected to the output pin OUT of the DC-DC regulator chip U1, and the second feedback resistor R2 is connected to the analog ground pin AGND of the DC-DC regulator chip U1. The connection node N2 between the first feedback resistor R1 and the second feedback resistor R2 is connected to the feedback pin FB of the DC-DC regulator chip U1.

[0049] Specifically, the DC-DC regulator chip U1 is a step-down regulator chip. Its input pin IN is connected to the power input module 1, and an input-side filter capacitor is connected in parallel to suppress high-frequency interference at the input end and stabilize the power supply. The output pin OUT is connected to the output-side energy storage capacitor and the power supply terminal BK+ of the brake. The output-side energy storage capacitor preferably includes two parallel ceramic capacitors C3 and C4 (e.g., 22μF) to provide steady-state current buffering and stable voltage output. The other ends of both are grounded. The voltage at the output pin OUT is controlled by a closed-loop regulation system through a feedback resistor network.

[0050] Furthermore, the input-side filter capacitors include a first filter capacitor C1 (4.7μF) and a second filter capacitor C2 (0.1μF) connected in parallel, respectively connected between the input pin of the DC-DC chip U1 and ground. The first filter capacitor is used to suppress low-frequency interference in the input voltage and provide voltage buffering, while the second filter capacitor is used to bypass high-frequency spike noise. The two work together to achieve wideband filtering and decoupling of the +24V input voltage, thereby improving the stability and anti-interference capability of the input-side power supply.

[0051] Furthermore, the output-side energy storage capacitors include ceramic capacitors C3 and C4 connected in parallel. Capacitor C4, located adjacent to the output pin of the DC-DC regulator chip U1, serves as the primary high-frequency bypass capacitor, filtering out high-frequency voltage ripple generated during chip switching and improving the purity of the output voltage. Capacitor C3 provides additional capacitor buffering capacity, assisting in smooth output during load changes or transient current surges, preventing voltage drops or fluctuations, and jointly enhancing the continuity and stability of the system power supply.

[0052] The constant voltage holding module 4 achieves precise control of the output voltage through the feedback pin FB of the DC-DC regulator chip U1. Chip U1 has an internal reference voltage source with a value of 0.807V. When the system is operating stably, the voltage at the feedback pin FB is obtained by dividing the output voltage through an external feedback resistor network. This feedback resistor network consists of a first feedback resistor R1 and a second feedback resistor R2 connected in series, with its voltage divider node N2 connected to the chip's FB pin. The chip internally compares this feedback voltage with the reference voltage in real time. If the feedback voltage is lower than the reference voltage, it indicates that the output voltage is too low, and the chip will increase the duty cycle of its internal switching transistor to increase the output voltage; conversely, it will decrease the duty cycle to decrease the output voltage. Through this closed-loop regulation mechanism, dynamic and stable control of the output voltage is achieved.

[0053] For example, if the desired chip output voltage is 7.0V, R1 = 75kΩ and R2 = 8.87kΩ can be selected, with a voltage division ratio of 8.87 / (75+8.87)≈0.1058, corresponding to a FB pin voltage of 7.0V×0.1058≈0.741V. However, since the chip's internal reference voltage is 0.807V, to ensure the feedback voltage division value reaches this reference, the chip will actually adjust the output voltage to approximately 0.807 / 0.1058≈7.63V. It is evident that by precisely setting the feedback resistor value, accurate setting and stable control of the target output voltage can be achieved, ensuring a continuous and stable voltage supply to the brake during the constant voltage holding phase. The output terminal of the DC-DC regulator chip U1 is connected to the brake's power supply terminal BK+ via diode D1. Since diode D1 has a forward voltage drop of approximately 0.528V when it is conducting, the actual voltage applied to the brake power supply terminal is approximately 7.63V - 0.528V ≈ 7.1V, which corresponds to the operating voltage requirement of the brake.

[0054] Furthermore, the constant voltage holding module 4 also includes a compensation capacitor C7, which is connected in parallel with the first feedback resistor R1 and between the feedback pin FB and the output pin OUT of the DC-DC regulator chip U1. When the output voltage changes abruptly, the compensation capacitor C7 can immediately transmit the change to the feedback pin FB, enabling the chip to quickly sense voltage fluctuations and adjust the duty cycle of the internal switching transistor. Therefore, by connecting the compensation capacitor C7 in parallel across the feedback resistor R1, the instantaneous change in the output voltage can be fed back to the internal control unit of the chip at a higher frequency, thereby improving the phase margin and dynamic response capability of the voltage regulation control loop, effectively suppressing output oscillation or overshoot, and improving the voltage regulation accuracy and anti-interference performance of the DC-DC regulator chip during the brake power supply process.

[0055] Furthermore, it also includes a first diode D1. The anode of the first diode D1 is connected to the output terminal of the constant voltage holding module 4, and the cathode is connected to the power supply terminal BK+ of the brake. The diode D1 plays a dual role in the circuit: firstly, it has a reverse protection function. When the P-channel MOSFET T1 is turned on, the +24V voltage is directly applied to the BK+ terminal. To prevent this voltage from flowing back to the output terminal of the DC-DC regulator chip U1 through the BK+ path, causing abnormal operation or damage to the chip, D1 provides a unidirectional current path, effectively suppressing reverse current. Secondly, it has a voltage clamping function. After the start-up drive module 2 shuts down the output, the system enters the constant voltage power supply stage. The DC-DC regulator chip U1 continuously outputs a second voltage (e.g., 7.63V). After the conduction voltage drop of D1 (e.g., 0.528V), the actual stable voltage obtained by the power supply terminal BK+ of the brake is about 7.1V, thereby maintaining the brake coil in an appropriate holding voltage range, ensuring electromagnetic holding force, and avoiding excessive energy consumption and device overheating.

[0056] Furthermore, a second diode D2 is included. The positive terminal of the second diode D2 is grounded, and the negative terminal is connected to the power supply terminal BK+ of the brake. The second diode D2 is used to provide a reverse discharge path in case of abnormal power failure or power outage, ensuring the safe demagnetization of the brake. Specifically, after the brake is de-energized or the MOSFET T1 is turned off and the DC-DC regulator chip U1 stops outputting, an induced reverse electromotive force may be generated in the brake coil due to its inductive characteristics. If there is no discharge path, it may cause a spike high voltage at the BK+ terminal, damaging components or causing interference. The connection of the second diode D2 can conduct during this process, forming a fast discharge loop from the BK+ terminal to ground, discharging the induced current to ground, thereby effectively suppressing reverse overvoltage and enhancing the system's anti-interference capability and overvoltage protection capability.

[0057] Furthermore, it also includes a third diode D3, which is a transient voltage suppression diode. The positive terminal of the third diode is grounded, and the negative terminal is connected to the power input module 1. The third diode D3 is used to quickly conduct and discharge the peak energy when a high-amplitude voltage spike occurs at the power input terminal during system power-on or when external power grid fluctuations cause such a spike. This prevents the abnormal increase in input voltage from causing breakdown or damage to subsequent circuits, thereby improving the surge interference immunity and system reliability of the entire power input path.

[0058] Furthermore, it also includes a fourth diode D4, whose positive terminal is connected to the power input module 1, its negative terminal is connected to the delay control module 3, and its enable pin EN is connected to the constant voltage holding module 4 through a third resistor. The fourth diode D4 is used to provide an initial power supply path for the delay control module 3 after the system is powered on, and also has a reverse connection protection function to prevent damage to the chip when the power supply is connected in the wrong direction.

[0059] For example, the DC-DC regulator chip U1 can be an MPM3515 chip, used to achieve a stable step-down output from a +24V input voltage to approximately 7.6V. The P-channel MOSFET T1 can be an STL12P6F6-ST device, used for rapid loading of the startup voltage and conduction control. The fourth diode D4 can be an S5MB device, the second diode D2 can be an SS34 device, and the third diode D3 can be an SMBJ28CA-AT device, used to suppress input surge interference. The first diode D1 can be an S5MB device, serving as an output anti-reverse and clamping device. The filter capacitors, energy storage capacitors, and delay capacitors can be high-reliability ceramic capacitors made of X7R or C0G materials, with capacitances such as 0.1μF, 1μF, and 22μF.

[0060] In summary, this invention proposes a brake control circuit suitable for medical robot systems. By cascading a start-up drive module and a constant-voltage holding module within the brake control circuit, and combining this with a delay control module to precisely control the start-up duration, the start-up drive module initially provides the driving voltage after system power-on, quickly driving the brake in the medical robot system into the working state. Subsequently, under the control of the delay control module, it promptly switches to a stable voltage provided by the constant-voltage holding module to maintain the brake's continuous engagement. This effectively balances the dual requirements of fast start-up response and long-term stability. This solution not only avoids energy waste and brake overheating risks caused by prolonged high-voltage drive but also improves the response efficiency and lifespan of the control circuit, making it particularly suitable for medical robot systems with high requirements for control precision and thermal management.

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the scope of the present utility model. All equivalent changes and modifications made in accordance with the shape, structure, features and spirit of the claims of the present utility model should be included within the scope of the claims of the present utility model.

Claims

1. A brake control circuit suitable for a medical robot system, characterized in that, include: Power input module, used to receive DC power supply voltage; A start-up drive module is provided, the input of which is connected to the power input module and the output of which is connected to the power supply of the brake. The start-up drive module is used to provide a first voltage to the brake when the system is powered on to drive the brake to start. A delay control module, which is connected to the start-up drive module, is used to control the conduction time of the start-up drive module after the system is powered on, so that the first voltage is applied to the brake only within a preset time. A constant voltage holding module, wherein the input terminal of the constant voltage holding module is connected to the power input module and the output terminal is connected to the power supply terminal of the brake, is used to continuously provide a stable second voltage to the brake to maintain the working state of the brake after the start-up drive module shuts off the output, wherein the first voltage is greater than the second voltage.

2. The brake control circuit according to claim 1, characterized in that, The startup drive module includes: a P-channel MOSFET and a first resistor; The source of the P-channel MOSFET is connected to the power input module, the drain is connected to the power supply terminal of the brake, and the gate is connected to the control node formed by the RC delay circuit in the delay control module. One end of the first resistor is connected to the source of the P-channel MOS transistor, and the other end is connected to the gate of the P-channel MOS transistor.

3. The brake control circuit according to claim 2, characterized in that, The delay control module includes: a second resistor and at least one delay capacitor, wherein the second resistor and the delay capacitor constitute an RC delay circuit; One end of the second resistor is connected to the gate of the P-channel MOS transistor through the control node of the RC delay circuit, and the other end is connected to the delay capacitor; The other end of the delay capacitor is grounded.

4. The brake control circuit according to claim 3, characterized in that, At least one of the delay capacitors includes a first capacitor and a second capacitor connected in parallel.

5. The brake control circuit according to claim 1, characterized in that, The constant voltage holding module includes: a DC-DC voltage regulator chip, an input-side filter capacitor, a feedback resistor network, and an output-side energy storage capacitor; The input pin of the DC-DC voltage regulator chip is connected to the power input module and the input-side filter capacitor, and the other end of the input-side filter capacitor is grounded. The output pin of the DC-DC regulator chip is connected to the output-side energy storage capacitor and the power supply terminal of the brake, and the other end of the output-side energy storage capacitor is grounded. The feedback resistor network includes a first feedback resistor and a second feedback resistor connected in series. The first feedback resistor is connected to the output pin of the DC-DC regulator chip, and the second feedback resistor is connected to the analog ground pin of the DC-DC regulator chip. The connection node between the first feedback resistor and the second feedback resistor is connected to the feedback pin of the DC-DC regulator chip.

6. The brake control circuit according to claim 5, characterized in that, The constant voltage holding module also includes a compensation capacitor, which is connected in parallel with the first feedback resistor and between the feedback pin and the output pin of the DC-DC voltage regulator chip.

7. The brake control circuit according to claim 1, characterized in that, It also includes a first diode, the positive terminal of which is connected to the output terminal of the constant voltage holding module, and the negative terminal of which is connected to the power supply terminal of the brake.

8. The brake control circuit according to claim 1, characterized in that, It also includes a second diode, the positive terminal of which is grounded and the negative terminal is connected to the power supply terminal of the brake.

9. The brake control circuit according to claim 1, characterized in that, It also includes a third diode, which is a transient voltage suppression diode. The positive terminal of the third diode is grounded, and the negative terminal is connected to the power input module.

10. The brake control circuit according to claim 1, characterized in that, It also includes a fourth diode, the positive terminal of which is connected to the power input module, the negative terminal of which is connected to the delay control module, and the enable pin of the constant voltage holding module is connected through a third resistor.

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