Remote control system for power on / off of robot joint power supply

Abstract

The utility model discloses an embodiment of the utility model discloses a kind of robot joint power supply power on and off remote control control system, including MCU, enable control circuit, power switch circuit, remote controller, wireless receiving module, MCU is electrically connected with wireless receiving module, enable control circuit, enable control circuit is electrically connected with power switch circuit, robot joint is connected power supply by power switch circuit, remote controller is connected communication by wireless signal with wireless receiving module.The utility model can solve the uncontrollable safety hidden danger that robot produces under out of control, can be realized forced power-off by remote controller.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a remote control system for powering on and off a robot joint. Background Technology

[0002] For the next generation of robots, which are becoming increasingly larger and more powerful, and interacting with humans more frequently, safety is an indispensable cornerstone, as robots can pose uncontrollable safety hazards in the event of a loss of control. Most existing robot emergency stop mechanisms are implemented through software, which may be subject to delays or malfunctions. Utility Model Content

[0003] The technical problem to be solved by this utility model embodiment is to provide a remote control system for powering on and off a robot joint to prevent uncontrollable safety hazards from arising in the event of robot loss of control.

[0004] To address the aforementioned technical problems, this utility model provides a robot joint power supply remote control system, comprising an MCU, an enable control circuit, a power switch circuit, a remote controller, and a wireless receiving module. The MCU is electrically connected to the wireless receiving module and the enable control circuit. The enable control circuit is electrically connected to the power switch circuit. The robot joint is connected to the power supply through the power switch circuit. The remote controller and the wireless receiving module communicate via a wireless signal connection.

[0005] Furthermore, the enable control circuit comprises a transistor, a first resistor, a first capacitor, and a second resistor. The first resistor and the first capacitor are connected in parallel and their two ends are respectively connected to the base (b) and emitter (e) of the transistor. The collector (c) of the transistor is connected to the power switch circuit. The base (b) of the transistor is connected to the MCU and the wireless receiver module through the second resistor. The emitter (e) of the transistor is grounded.

[0006] Furthermore, the transistor is an NPN transistor.

[0007] Furthermore, the MCU is electrically connected to the wireless receiver module and the enable control circuit through a resistor, and the enable control circuit is electrically connected to the power switch circuit through another resistor.

[0008] Furthermore, the power switch circuit includes a MOSFET, a second capacitor, a third resistor, and a fourth resistor. One end of the second capacitor, the third resistor, and the fourth resistor is connected to the enable control circuit, the other end of the second capacitor and the third resistor is connected to the source (S) of the MOSFET and the power supply, the other end of the fourth resistor is connected to the gate (G) of the MOSFET, and the drain (D) of the MOSFET is connected to the robot joint.

[0009] Furthermore, the MOSFET is a P-channel MOSFET.

[0010] The beneficial effects of this invention are as follows: When the robot exhibits any unpredictable abnormal behavior that may endanger personal safety or damage itself or surrounding equipment (such as program malfunction, sensor failure, collision with humans, etc.), the operator can immediately and remotely cut off the joint power using this invention, causing the robot to instantly "freeze" or become powerless, thereby minimizing risks and damage. When the robot falls or physically interacts with a human and becomes out of control, the continuously powered joints may struggle violently due to erroneous program instructions, leading to more serious secondary injuries to personnel or itself. This invention's immediate power-off mechanism can eliminate this struggling force and prevent secondary injuries. This remote-controlled power-off mechanism is typically used as the "last line" hardware safety measure above software control. Even if the robot's main control computer crashes, the software malfunctions, or is hacked, safe shutdown can be achieved via remote control, providing valuable redundancy. Attached Figure Description

[0011] Figure 1 This is a structural block diagram of the robot joint power supply remote control system according to an embodiment of the present invention.

[0012] Figure 2 This is a circuit diagram of the robot joint power supply remote control system according to Embodiment 1 of this utility model.

[0013] Figure 3 This is a circuit diagram of the robot joint power supply remote control system according to Embodiment 2 of this utility model. Detailed Implementation

[0014] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other. The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0015] In this embodiment of the invention, directional indicators (such as up, down, left, right, front, back, etc.) are only used to explain the relative positional relationship and movement of the components in a specific posture (as shown in the attached figure). If the specific posture changes, the directional indicators will also change accordingly.

[0016] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0017] Please refer to Figure 1The robot joint power supply remote control system of this embodiment includes an MCU, an enable control circuit, a power switch circuit, a remote controller, and a wireless receiving module. The robot joints include hand joints, leg joints, etc. The power supply provides power to the robot joints.

[0018] The MCU is electrically connected to the wireless receiver module and the enable control circuit. The enable control circuit is also electrically connected to the power switch circuit. The robot joints are connected to the power supply via the power switch circuit. The remote controller communicates with the wireless receiver module via a wireless signal connection. The remote controller transmits wireless signals to power on / off the corresponding robot joints according to user control. The wireless receiver module receives these power-on / off signals from the remote controller. Existing solutions can be used for the remote controller and wireless receiver module, such as LoRa (long-range radio), wireless I / O modules (switch signal transmission), Wi-Fi remote control, Bluetooth remote control, cellular network remote control, and data radio.

[0019] This invention can solve the uncontrollable safety hazards that arise when a robot is out of control, and can force power off via remote control.

[0020] As one implementation, the enable control circuit includes a transistor (such as...) Figure 2 Q8 and Figure 3 The transistor consists of Q10, a first resistor, a first capacitor, and a second resistor. The first resistor and the first capacitor are connected in parallel, with their two ends connected to the base (b) and emitter (e) of the transistor, respectively. The collector (c) of the transistor is connected to the power switch circuit. The base (b) of the transistor is connected to the MCU and the wireless receiver module through the second resistor, and the emitter (e) of the transistor is grounded. The transistor is an NPN type.

[0021] The MCU is electrically connected to the wireless receiver module and the enable control circuit through a resistor, and the enable control circuit is electrically connected to the power switch circuit through another resistor.

[0022] In one implementation, the power switch circuit includes a MOSFET, a second capacitor, a third resistor, and a fourth resistor. One end of the second capacitor, the third resistor, and the fourth resistor is connected to an enable control circuit. The other end of the second capacitor and the third resistor is connected to the source (S) terminal of the MOSFET and the power supply. The other end of the fourth resistor is connected to the gate (G) terminal of the MOSFET. The drain (D) terminal of the MOSFET is connected to the robot joint. The MOSFET is a P-channel MOSFET.

[0023] Example 1, as Figure 2 As shown, the enable control circuit includes transistor Q8, resistor R44, and capacitor C28; the power switch circuit includes MOSFET Q7, resistor R39, resistor R41, and capacitor C25; the base of transistor Q8 is connected to the wireless receiver module through resistor R43; the MCU is connected to the wireless receiver module through resistor R45; and the collector of transistor Q8 is connected to the power switch circuit through resistor R42.

[0024] Example 2, as Figure 3 As shown, the enable control circuit includes transistor Q10, resistor R51, and capacitor C30; the power switch circuit includes MOSFET Q9, resistor R46, resistor R47, and capacitor C29; the base of transistor Q10 is connected to the wireless receiver module through resistor R50; the MCU is connected to the wireless receiver module through resistor R49; and the collector of transistor Q10 is connected to the power switch circuit through resistor R48.

[0025] In practical robot applications, when the microcontroller (MCU) sends a high-level signal, the transistors (Q8, Q10) turn on. After the transistors turn on, the collector C of the transistor changes from a high level to a low level, and the MOSFET turns on, turning on the power supply to the robot joints (arms and legs), thus powering all the robot joints. When the remote control button is pressed, the receiver module receives the command, and terminals A and B of the receiver module turn on. The base b of the transistor changes from a high level to a low level, and the transistor is in the off state. At this time, the MOSFET is not working, and the power supply to the robot joints (arms and legs) is disconnected.

[0026] When inspecting mechanical structures, replacing parts, or repairing wiring, the remote-controlled power-off mechanism of this invention ensures that all joints are completely de-energized, guaranteeing the safety of maintenance personnel. During commissioning, the start and stop of individual joints can be remotely controlled, facilitating modular testing and fault diagnosis. Operators can flexibly choose to de-energize all joints or only select hazardous joints (such as hands holding objects or high-powered leg joints) according to task requirements, achieving more precise safety control.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A remote control system for powering on / off a robot joint, characterized in that, It includes an MCU, an enable control circuit, a power switch circuit, a remote controller, and a wireless receiver module. The MCU is electrically connected to the wireless receiver module and the enable control circuit. The enable control circuit is electrically connected to the power switch circuit. The robot joints are connected to the power supply through the power switch circuit. The remote controller and the wireless receiver module communicate through a wireless signal connection. The enable control circuit consists of a transistor, a first resistor, a first capacitor, and a second resistor. The first resistor and the first capacitor are connected in parallel and their two ends are respectively connected to the base (b) and emitter (e) of the transistor. The collector (c) of the transistor is connected to the power switch circuit. The base (b) of the transistor is connected to the MCU and the wireless receiver module through the second resistor. The emitter (e) of the transistor is grounded.

2. The robot joint power supply remote control system as described in claim 1, characterized in that, The transistor is an NPN type transistor.

3. The robot joint power supply remote control system as described in claim 1, characterized in that, The MCU is electrically connected to the wireless receiver module and the enable control circuit through a resistor, and the enable control circuit is electrically connected to the power switch circuit through another resistor.

4. The robot joint power supply remote control system as described in claim 1, characterized in that, The power switch circuit includes a MOSFET, a second capacitor, a third resistor, and a fourth resistor. One end of the second capacitor, the third resistor, and the fourth resistor is connected to the enable control circuit. The other end of the second capacitor and the third resistor is connected to the source (S) of the MOSFET and the power supply. The other end of the fourth resistor is connected to the gate (G) of the MOSFET. The drain (D) of the MOSFET is connected to the robot joint.

5. The robot joint power supply remote control system as described in claim 4, characterized in that, The MOSFET is a P-channel MOSFET.

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