A robot joint actuator motor power supply starting circuit

Abstract

The utility model provides a kind of robot joint executor motor power supply starting circuit, including small current loop and at least one big current loop, and it is opened by small current loop and big current loop subsection, small current loop is responsible for the slow front end capacitor of motor charging, reduce the current impact interference caused by excessive current when motor starts, big current loop is responsible for executor motor normal power supply;By accurately controlling power supply starting current and starting time, effectively prevent arc or electric spark when motor is powered on, reduce electromagnetic interference;By setting the number of big current loop and control power supply starting time and starting current adaptation different motor, compatibility is strong, improve the driving ability and reliability of starting circuit, ensure the stable work of robot joint executor.

Description

Technical Field

[0001] This utility model relates to the field of joint actuators, and in particular to a power supply start-up circuit for a robot joint actuator motor. Background Technology

[0002] In intelligent robot actuator products, when the robot's various degrees of freedom combine to complete a series of actions, the actuator motors and braking systems of each joint need to be activated. Due to factors such as motor torque and speed during actuator startup, the actuator's input power will experience significant power fluctuations. These power fluctuations can cause numerous problems, such as motor zero-position deviation, motor circuit noise, electric arcing, sparking, and even directly burning out circuit boards or motors. Currently, there is a lack of an effective starting circuit that can match the actuator motor to address the above problems. It is impossible to accurately control the power supply starting current and starting time, making it difficult to avoid electric arcs or sparks when the motor is powered on, and it is also impossible to effectively reduce electromagnetic interference, which affects the normal operation and service life of the robot joint actuator.

[0003] Therefore, it is necessary to provide a power start-up circuit for the motor of a robot joint actuator to effectively solve the above problems. Utility Model Content

[0004] This invention provides a power start-up circuit for a robot joint actuator motor.

[0005] This utility model provides a power supply start-up circuit for a robot joint actuator motor, including a low-current circuit and at least one high-current circuit. The high-current circuit is a first high-current circuit. The low-current circuit includes at least diode D1, resistor R2, resistor R3, diode D2, capacitor C2, resistor R5, and resistor R4. The first high-current circuit includes at least transistor U1, capacitor C4, and resistor R8. The positive and negative terminals of diode D1 are connected to the input power ground and the input power positive terminal, respectively. Resistors R2 and R3 are connected in parallel, with their positive terminals connected to the negative terminals of diode D2 and their negative terminals connected to the input power ground. The positive terminal of diode D2 is connected to the actuator power ground. Capacitor C2 and resistor R5 are connected in parallel. After being connected in parallel, the negative terminal of capacitor C4 is connected to the actuator power ground, and the positive terminal is connected in series with resistor R4 and then to the positive terminal of the input power supply. After being connected in parallel, the positive terminal is connected to the gate of transistor U1. One end of capacitor C4 and resistor R8 are connected in series to the drain of transistor U1 and simultaneously to the actuator power ground, and the other end is connected to the source of transistor U1 and simultaneously to the input power ground. The actuator is connected to the positive terminal of the input power supply and the actuator power ground. When the positive terminal of the input power supply and the input power ground are connected to an external power supply, capacitor C2 is charged. When the charging voltage of capacitor C2 reaches the turn-on voltage of transistor U1, the drain and source of transistor U1 are in a conducting state, so that the input power ground and the actuator power ground are connected, and the actuator power supply is started.

[0006] Preferably, the low-current loop further includes a resistor R1 and a capacitor C1, which are connected to form a filter circuit. The positive terminal of the resistor R1 is connected to the positive terminal of the input power supply, the negative terminal of the resistor R1 is connected to the positive terminal of the capacitor C1, and the negative terminal of the capacitor C1 is connected to the ground of the input power supply.

[0007] Preferably, the diode D1 is a TVS diode or an ESD diode.

[0008] Preferably, the low-current circuit further includes a diode D3, which is connected in parallel with the capacitor C2, and the diode D3 is a Zener diode.

[0009] Preferably, the low-current circuit further includes a resistor R6, and the positive terminal of the capacitor C2 and the resistor R5 is connected in parallel and then connected in series with the resistor R6 and then connected to the gate of the transistor U1.

[0010] Preferably, the first high-current loop further includes a capacitor C3 and a resistor R7, wherein the capacitor C3 and the resistor R7 are connected in parallel, and the negative terminal of the parallel connection is connected to the input power supply ground, and the positive terminal of the parallel connection is connected to the gate of the transistor U1.

[0011] Preferably, it further includes a second high-current loop, the second high-current loop including transistor U1. ， Capacitor C4 ， and resistor R8 ， The positive terminal of the capacitor C2 and the resistor R5 connected in parallel is connected to the transistor U1. ， The gate of the capacitor; the capacitor C4 ， and the resistor R8 ， One end of the series connection is connected to the transistor U1. ， The drain of one end is connected to the actuator power ground, and the other end is connected to the transistor U1. ， The source of the capacitor C2 is simultaneously connected to the input power ground; the charging voltage of the capacitor C2 reaches the voltage of the transistor U1. ， When the turn-on voltage is reached, the transistor U1 ， The drain and source of the actuator are in a conducting state, the input power ground is connected to the actuator power ground, and the actuator power is started.

[0012] Preferably, the second high-current circuit further includes capacitor C3. ， and resistor R7 ， The capacitor C3 ， and the resistor R7 ， They are connected in parallel, with the negative terminal connected to the input power ground and the positive terminal connected to the gate of the transistor U1.

[0013] Preferably, the actuator load circuit includes multiple front-end capacitors C, an equivalent resistance R of the motor coil, and an equivalent inductance L of the motor coil. The equivalent resistance R and equivalent inductance L of the motor coil are connected in series and then connected in parallel with the multiple front-end capacitors C. After being connected in parallel, the positive terminal is connected to the positive terminal of the input power supply, and the negative terminal is connected to the actuator power supply ground.

[0014] Preferably, before the charging voltage of capacitor C2 reaches the turn-on voltage of transistor U1, the small current loop charges multiple front-end capacitors C; when the charging voltage of capacitor C2 reaches the turn-on voltage of transistor U1, the drain and source of transistor U1 are in a conducting state, the input power ground is connected to the actuator power ground, and the first large current loop supplies power to the actuator.

[0015] Compared with the prior art, the technical solution of this utility model embodiment has the following beneficial effects: The robot joint actuator motor power supply start-up circuit of this utility model embodiment starts in stages with a small current circuit and a large current circuit. The small current circuit is responsible for slowly charging the capacitor at the front end of the motor, reducing the current surge interference caused by excessive current during motor start-up. The large current circuit is responsible for supplying normal power to the actuator motor. By precisely controlling the power supply start-up current and start-up time, it effectively prevents the generation of electric arcs or sparks when the motor is powered on, reducing electromagnetic interference. By setting the number of large current circuits and controlling the power supply start-up time and start-up current to adapt to different motors, it has strong compatibility, improves the driving capability and reliability of the start-up circuit, and ensures the stable operation of the robot joint actuator. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model, not all embodiments. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the power supply start-up circuit for a robot joint actuator motor in one embodiment of the present invention; Figure 2 This is a schematic diagram of another high-current circuit structure in an embodiment of the present invention; Figure 3 This is a power-on timing diagram of the power supply start-up circuit for a robot joint actuator motor in one embodiment of this utility model. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0019] The technical solution of this utility model will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0020] Based on the problems existing in the prior art, this utility model provides a power start-up circuit for a robot joint actuator motor.

[0021] Figure 1This is a schematic diagram of the power supply start-up circuit for a robot joint actuator motor in one embodiment of the present invention; Figure 2 This is a schematic diagram of another high-current circuit structure in an embodiment of the present invention; Figure 3 This is a power-on timing diagram of the power supply start-up circuit for a robot joint actuator motor in one embodiment of this utility model.

[0022] Reference Figures 1-2 This application provides a power start-up circuit for a robot joint actuator motor.

[0023] Specifically, the robot joint actuator motor power start-up circuit provided in this application includes a small current circuit and at least one large current circuit. The large current circuit is the first large current circuit. The small current circuit includes at least diode D1, resistor R2, resistor R3, diode D2, capacitor C2, resistor R5, and resistor R4. The first large current circuit includes at least transistor U1, capacitor C4, and resistor R8. The positive and negative terminals of diode D1 are connected to the input power ground and the input power positive terminal, respectively. Resistors R2 and R3 are connected in parallel, with their positive terminals connected to the negative terminals of diode D2 and their negative terminals connected to the input power ground. The positive terminal of diode D2 is connected to the actuator power ground. Capacitor C2 and resistor R4 are connected in parallel. Resistor R5 is connected in parallel. After parallel connection, the negative terminal is connected to the actuator power ground. After parallel connection, the positive terminal is connected in series with resistor R4 and then connected to the positive terminal of the input power supply. After parallel connection, the positive terminal is connected to the gate of transistor U1. Capacitor C4 and resistor R8 are connected in series. One end is connected to the drain of transistor U1 and simultaneously connected to the actuator power ground. The other end is connected to the source of transistor U1 and simultaneously connected to the input power ground. The actuator is connected to the positive terminal of the input power supply and the actuator power ground. When the positive terminal of the input power supply and the input power ground are connected to an external power supply, capacitor C2 is charged. When the charging voltage of capacitor C2 reaches the turn-on voltage of transistor U1, the drain and source of transistor U1 are in a conducting state, so that the input power ground and the actuator power ground are connected, and the actuator power supply is started.

[0024] Specifically, VBUS is the positive input power supply, PGNDIN is the ground input power supply, and GND is the actuator ground.

[0025] Specifically, before the charging voltage of capacitor C2 reaches the turn-on voltage of transistor U1, the output current of the small current loop is calculated using the resistance values ​​of resistors R2, R3, R5, and R4; the output current of the small current loop can be controlled by setting the resistance value of resistors R2 and R3 connected in parallel.

[0026] Specifically, the time it takes for the charging voltage of capacitor C2 to reach the turn-on voltage of transistor U1 is related to the capacitance value of capacitor C2. By setting the capacitance value of capacitor C2, the delay time for the high-current circuit to turn on can be controlled.

[0027] Specifically, when the charging voltage of capacitor C2 reaches the turn-on voltage of transistor U1, the input power ground is connected to the actuator power ground, and resistors R5 and R4 divide the voltage. The voltage when the high-current circuit is turned on can be controlled by setting the resistance values ​​of resistors R5 and R4.

[0028] In some embodiments, the low-current loop further includes a resistor R1 and a capacitor C1. The resistor R1 and the capacitor C1 are connected to form a filter circuit. The positive terminal of the resistor R1 is connected to the positive terminal of the input power supply, the negative terminal of the resistor R1 is connected to the positive terminal of the capacitor C1, and the negative terminal of the capacitor C1 is connected to the ground of the input power supply.

[0029] In some embodiments, diode D1 is a TVS diode or an ESD diode. The TVS diode protects against surges, while the ESD diode protects against static electricity.

[0030] In some embodiments, the low-current circuit further includes diode D3, which is connected in parallel with capacitor C2, and diode D3 is a Zener diode.

[0031] In some embodiments, the low-current circuit also includes a resistor R6, a capacitor C2 and a resistor R5 connected in parallel, the positive terminal of which is connected in series with the resistor R6 and then connected to the gate of the transistor U1.

[0032] In some embodiments, the first high-current loop further includes capacitor C3 and resistor R7, which are connected in parallel. The negative terminal of the parallel connection is connected to the input power ground, and the positive terminal is connected to the gate of transistor U1. Resistor R7, resistor R8, capacitor C3, capacitor C4, and field-effect transistor U1 constitute the circuit. Capacitor C3 and resistor R7 pull the gate of transistor U1 low, ensuring that transistor U1 is initially off. Capacitor C4 and resistor R8 form a debouncing circuit when transistor U1 switches between on and off states.

[0033] Depending on the power of different actuator motors, multiple high-current circuits can be connected in parallel to ensure compatibility with high-power motor systems and improve the driving capability of the starting circuit.

[0034] In some embodiments, a second high-current loop is also included, the second high-current loop including transistor U1. ， Capacitor C4 ， and resistor R8 ， The positive terminal of capacitor C2 and resistor R5, connected in parallel, is connected to transistor U1. ， Gate; Capacitor C4 ， and resistor R8 ， After being connected in series, one end is connected to transistor U1. ， The drain of one end is connected to the actuator power ground, and the other end is connected to transistor U1. ， The source of the capacitor is simultaneously connected to the input power ground; the charging voltage of capacitor C2 reaches the voltage of transistor U1. ，When the turn-on voltage is 0, transistor U1 ， With the drain and source in a conducting state, the input power ground is connected to the actuator power ground, and the actuator power is turned on.

[0035] In some embodiments, the second high-current loop also includes capacitor C3. ， and resistor R7 ， capacitor C3 ， and resistor R7 ， They are connected in parallel. After parallel connection, the negative terminal is connected to the input power ground, and the positive terminal is connected to the gate of transistor U1.

[0036] Similarly, a third high-current loop can also be included. The third high-current loop has similar components and the same connection method as the first and second high-current loops, and has the same function, which will not be elaborated here.

[0037] In some embodiments, the actuator load circuit includes multiple front-end capacitors C, an equivalent resistance R of the motor coil, and an equivalent inductance L of the motor coil. The equivalent resistance R and the equivalent inductance L of the motor coil are connected in series and then connected in parallel with the multiple front-end capacitors C. The positive terminal of the parallel connection is connected to the positive terminal of the input power supply, and the negative terminal is connected to the actuator power supply ground.

[0038] In some embodiments, before the charging voltage of capacitor C2 reaches the turn-on voltage of transistor U1, a small current loop charges multiple front-end capacitors C; when the charging voltage of capacitor C2 reaches the turn-on voltage of transistor U1, the drain and source of transistor U1 are in a conducting state, the input power ground is connected to the actuator power ground, and the first large current loop supplies power to the actuator.

[0039] Specifically, the connection method and operation mode of the high-current loops in the other paths are the same as those in the first high-current loop.

[0040] Figure 3 This is a power-on timing diagram of the power supply start-up circuit for a robot joint actuator motor in one embodiment of this utility model.

[0041] See Figure 3 When the actuator motor power start circuit is powered on, channel 2 ( Figure 3 The upper curve in the image shows the waveform after the external power supply is turned on. Channel 1 ( Figure 3 The lower curve in the figure represents the waveform of the actuator load when it is actually powered on. Channel 1 timing is divided into two parts. After being powered on from the external power supply, the voltage on the actuator load rises slowly, reaching the set high-current turn-on voltage (when...). Figure 3 At point A in the middle, a large current power supply is started, and at this time the actuator load voltage instantly rises to the rated voltage.

[0042] In summary, the robot joint actuator motor power supply startup circuit provided in this application starts in segments with a small current loop and a large current loop. The small current loop is responsible for slowly charging the capacitor at the front end of the motor, reducing current surge interference caused by excessive current during motor startup. The large current loop is responsible for supplying normal power to the actuator motor. By precisely controlling the power supply startup current and startup time, it effectively prevents the generation of electric arcs or sparks when the motor is powered on, reducing electromagnetic interference. By setting the number of large current loops and controlling the power supply startup time and startup current to adapt to different motors, it has strong compatibility, improves the driving capability and reliability of the startup circuit, and ensures the stable operation of the robot joint actuator.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A power supply start-up circuit for a robot joint actuator motor, characterized in that, The circuit includes a low-current loop and at least one high-current loop, with the high-current loop being the first high-current loop. The low-current loop includes at least diode D1, resistors R2 and R3, diode D2, capacitor C2, resistor R5, and resistor R4. The first high-current loop includes at least transistor U1, capacitor C4, and resistor R8. The anode and cathode of diode D1 are connected to the input power ground and the input power positive terminal, respectively. Resistors R2 and R3 are connected in parallel, with their anodes connected to the cathode of diode D2 and their cathodes connected to the input power ground. The anode of diode D2 is connected to the actuator power ground. Capacitor C2 and resistor R5 are connected in parallel, with their cathodes connected to the actuator power ground. After being connected in parallel, the positive terminal is connected in series with the resistor R4 and then connected to the positive terminal of the input power supply. After being connected in parallel, the positive terminal is connected to the gate of the transistor U1. The capacitor C4 and the resistor R8 are connected in series, with one end connected to the drain of the transistor U1 and simultaneously connected to the actuator power ground, and the other end connected to the source of the transistor U1 and simultaneously connected to the input power ground. The actuator is connected to the positive terminal of the input power supply and the actuator power ground. When the positive terminal of the input power supply and the input power ground are connected to an external power supply, the capacitor C2 is charged. When the charging voltage of the capacitor C2 reaches the turn-on voltage of the transistor U1, the drain and source of the transistor U1 are in a conducting state, so that the input power ground and the actuator power ground are connected, and the actuator power supply is started.

2. The robot joint actuator motor power start-up circuit according to claim 1, characterized in that, The low-current loop also includes a resistor R1 and a capacitor C1. The resistor R1 and capacitor C1 are connected to form a filter circuit. The positive terminal of the resistor R1 is connected to the positive terminal of the input power supply, the negative terminal of the resistor R1 is connected to the positive terminal of the capacitor C1, and the negative terminal of the capacitor C1 is connected to the ground of the input power supply.

3. The robot joint actuator motor power start-up circuit according to claim 1, characterized in that, The diode D1 is a TVS diode or an ESD diode.

4. The robot joint actuator motor power start-up circuit according to claim 1, characterized in that, The low-current circuit also includes diode D3, which is connected in parallel with capacitor C2. Diode D3 is a Zener diode.

5. The robot joint actuator motor power start-up circuit according to claim 1, characterized in that, The low-current circuit also includes a resistor R6. The capacitor C2 and the resistor R5 are connected in parallel, and their positive terminals are connected in series with the resistor R6 and then connected to the gate of the transistor U1.

6. The robot joint actuator motor power start-up circuit according to claim 1, characterized in that, The first high-current loop also includes a capacitor C3 and a resistor R7. The capacitor C3 and the resistor R7 are connected in parallel. After being connected in parallel, the negative terminal is connected to the input power ground, and the positive terminal is connected to the gate of the transistor U1.

7. The robot joint actuator motor power start-up circuit according to claim 1, characterized in that, It also includes a second high-current loop, which includes transistor U1. ， Capacitor C4 ， and resistor R8 ， The positive terminal of the capacitor C2 and the resistor R5 connected in parallel is connected to the transistor U1. ， The gate of the capacitor; the capacitor C4 ， and the resistor R8 ， One end of the series connection is connected to the transistor U1. ， The drain of one end is connected to the actuator power ground, and the other end is connected to the transistor U1. ， The source of the capacitor C2 is simultaneously connected to the input power ground; the charging voltage of the capacitor C2 reaches the voltage of the transistor U1. ， When the turn-on voltage is reached, the transistor U1 ， The drain and source of the actuator are in a conducting state, the input power ground is connected to the actuator power ground, and the actuator power is started.

8. The robot joint actuator motor power start-up circuit according to claim 7, characterized in that, The second high-current circuit also includes capacitor C3. ， and resistor R7 ， The capacitor C3 ， and the resistor R7 ， They are connected in parallel, with the negative terminal connected to the input power ground and the positive terminal connected to the gate of the transistor U1.

9. The robot joint actuator motor power start-up circuit according to claim 1, characterized in that, The actuator load circuit includes multiple front-end capacitors C, the equivalent resistance R of the motor coil, and the equivalent inductance L of the motor coil. The equivalent resistance R and the equivalent inductance L of the motor coil are connected in series and then connected in parallel with the multiple front-end capacitors C. After being connected in parallel, the positive terminal is connected to the positive terminal of the input power supply, and the negative terminal is connected to the actuator power supply ground.

10. The robot joint actuator motor power start-up circuit according to claim 9, characterized in that, Before the charging voltage of capacitor C2 reaches the turn-on voltage of transistor U1, the small current loop charges multiple front-end capacitors C; when the charging voltage of capacitor C2 reaches the turn-on voltage of transistor U1, the drain and source of transistor U1 are in a conducting state, the input power ground is connected to the actuator power ground, and the first large current loop supplies power to the actuator.

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