A master control circuit of a parent-child robot

Abstract

The utility model relates to circuit electronic technical field, especially a kind of main control circuit of parent robot, including controller, signal anti-shake circuit, switching circuit, communication transceiver circuit, power supply anti-interference circuit and communication anti-interference circuit;Controller is electrically connected with switching circuit and communication transceiver circuit respectively, signal anti-shake circuit is coupled between controller and switching circuit, signal anti-shake circuit is used to delay generation conducting edge;The power supply end of communication transceiver circuit is coupled with power supply anti-interference circuit, and the output end of communication transceiver circuit is coupled with communication anti-interference circuit;Solved the false switch problem of control loop and the disturbance problem of communication loop.

Description

Technical Field

[0001] This utility model relates to the field of circuit electronics technology, and in particular to a main control circuit for a mother-daughter robot. Background Technology

[0002] The mother-daughter robot consists of a mother body and multiple daughter bodies. The daughter bodies are usually stored inside the mother body. When a daughter body is released and returns to the mother body, a mother-daughter return algorithm is needed to locate and follow the path of the daughter body and design the return path. At the same time, the mother body needs to actively adjust its position or adjust its limb movements to successfully retrieve the daughter body. Therefore, the mother body will be equipped with many control motors to realize a variety of limb movements.

[0003] However, the numerous control motors, sub-boards, and other components of the main unit are distributed in various parts of the main unit. The communication and control circuits of the controller need to be electrically connected to each component over long distances. Therefore, terminals are usually provided between the communication and control circuits and each component, and electrical connections are achieved by connecting two terminals with long wires. Due to the insertion and removal of the terminals and the numerous external interferences received over long distances, electrostatic discharge, sudden changes in contact resistance, and surge impacts are prone to occur. First, it can cause the switching circuit in the power supply circuit to be prone to jitter, resulting in false switching and failure to execute the control logic correctly. Second, it can cause the high-speed transmission and reception signals of the communication transceiver circuit in the communication circuit to be disturbed, making real-time communication impossible. Utility Model Content

[0004] To address the aforementioned shortcomings, the purpose of this invention is to propose a main control circuit for a mother-daughter robot, which solves the problems of erroneous switching of the control loop and disturbance of the communication loop.

[0005] To achieve this objective, the present invention adopts the following technical solution: A main control circuit for a mother-daughter robot includes a controller, a signal anti-jitter circuit, a switching circuit, a communication transceiver circuit, a power supply anti-interference circuit, and a communication anti-interference circuit. The controller is electrically connected to the switching circuit and the communication transceiver circuit respectively. The signal anti-jitter circuit is coupled between the controller and the switching circuit. The signal anti-jitter circuit is used to delay the generation of the conduction edge. The power supply anti-interference circuit is coupled to the power supply terminal of the communication transceiver circuit, and the communication anti-interference circuit is coupled to the output terminal of the communication transceiver circuit.

[0006] Furthermore, the switching circuit includes a MOSFET chip Q3, a capacitor C37, a resistor R26, a resistor R31, a transistor Q5, a current-limiting resistor R33, and a resistor R35. The chip power supply is connected to the source of the MOSFET chip Q3. The capacitor C37 and the resistor R26 are connected in parallel between the source and gate of the MOSFET chip Q3. The gate of the MOSFET chip Q3 is electrically connected to the collector of the transistor Q5 through the resistor R31. The emitter of the transistor Q5 is grounded. The resistor R35 is connected in parallel between the base and emitter of the transistor Q5. The base of the transistor Q5 is electrically connected to the controller through the current-limiting resistor R33.

[0007] Furthermore, the signal anti-shake circuit includes a capacitor C42; the capacitor C42 is connected in parallel between the common contact of the resistor R33 and the controller and the emitter of the transistor Q5.

[0008] Furthermore, the switching circuit also includes a Zener diode D6; the cathode of the Zener diode D6 is electrically connected to the source of the MOS transistor chip Q3, and the anode of the Zener diode D6 is electrically connected to the gate of the MOS transistor chip Q3.

[0009] Furthermore, the communication transceiver circuit includes an RS485 transceiver chip U16, a filter capacitor C69, and a matching resistor R73; the power supply terminal of the RS485 transceiver chip U16 is used as the power supply terminal of the communication transceiver circuit, and both the A terminal and the B terminal of the RS485 transceiver chip U16 are used as the output terminals of the communication transceiver circuit. The filter capacitor C69 is connected in parallel between the power supply terminal and ground of the RS485 transceiver chip U16, and the matching resistor R73 is connected in parallel between the A terminal and the B terminal of the RS485 transceiver chip U16.

[0010] Furthermore, the communication anti-interference circuit includes a differential mode protection resistor R70, a differential mode protection resistor R77, and a bidirectional TVS array D15; the A terminal of the RS485 transceiver chip U16 is connected in series with the differential mode protection resistor R70, and then electrically connected to one end of the matching resistor R73; the B terminal of the RS485 transceiver chip U16 is connected in series with the differential mode protection resistor R77, and then electrically connected to the other end of the matching resistor R73. One end of the matching resistor R73 is connected in parallel with ground to the first bidirectional TVS transistor of the bidirectional TVS array D15, and the other end of the matching resistor R73 is connected in parallel with ground to the second bidirectional TVS transistor of the bidirectional TVS array D15.

[0011] Furthermore, the power supply anti-interference circuit includes capacitor C63, capacitor C67, inductor L5, and bidirectional TVS diode D14; the communication power supply is connected to one end of the inductor L5, and the other end of the inductor L5 is electrically connected to the power supply terminal of the communication transceiver circuit. The capacitor C63 is connected in parallel between one end of the inductor L5 and ground, and the capacitor C67 and the bidirectional TVS diode D14 are connected in parallel between the other end of the inductor L5 and ground.

[0012] The technical solution provided by this utility model can include the following beneficial effects: a signal anti-jitter circuit is coupled between the control loop composed of the controller and the switching circuit, and its delay generation function is used to make the jittered conduction signal unable to conduct the switching circuit in a short time, so that the switching circuit will not be turned on due to jitter and avoids accidental switching.

[0013] In addition, considering that the disturbances to the communication loop composed of the controller and the communication transceiver circuit often come from the communication power supply (because the power supply board is separate from the main control board) and the bridging at the output end, a power supply anti-interference circuit and a communication anti-interference circuit are coupled at the power supply end and the output end of the communication transceiver circuit, respectively, to eliminate disturbances, thereby protecting the high-speed transmission and reception signals of the communication loop from disturbances and ensuring normal communication. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the main control circuit of a mother-daughter robot, which is one embodiment of this utility model.

[0015] Figure 2 Is it like this? Figure 1 The circuit diagram shown is for the signal debouncing circuit and the switching circuit.

[0016] Figure 3 Is it like this? Figure 1 The circuit diagram shown is for the communication transceiver circuit and the communication anti-interference circuit.

[0017] Figure 4 Is it like this? Figure 1 The circuit diagram shown is for the power supply anti-interference circuit.

[0018] The circuit consists of: controller 1, signal anti-jitter circuit 2, switching circuit 3, communication transceiver circuit 4, power supply anti-interference circuit 5, communication anti-interference circuit 6, MOSFET chip Q3, capacitor C37, resistor R26, resistor R31, transistor Q5, current limiting resistor R33, resistor R35, capacitor C42, Zener diode D6, RS485 transceiver chip U16, filter capacitor C69, matching resistor R73, differential mode protection resistor R70, differential mode protection resistor R77, bidirectional TVS array D15, capacitor C63, capacitor C67, inductor L5, and bidirectional TVS transistor D14. Detailed Implementation

[0019] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0020] In the description of embodiments of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In the description of the embodiments 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 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 the embodiments of this utility model according to the specific circumstances.

[0022] The following is combined Figures 1 to 4 This describes the main control circuit of a mother-daughter robot according to an embodiment of the present invention.

[0023] A main control circuit for a mother-daughter robot includes a controller 1, a signal anti-jitter circuit 2, a switching circuit 3, a communication transceiver circuit 4, a power supply anti-interference circuit 5, and a communication anti-interference circuit 6. The controller 1 is electrically connected to the switching circuit 3 and the communication transceiver circuit 4 respectively. The signal anti-jitter circuit 2 is coupled between the controller 1 and the switching circuit 3. The signal anti-jitter circuit 2 is used to delay the generation of the conduction edge. The power supply terminal of the communication transceiver circuit 4 is coupled with the power supply anti-interference circuit 5, and the output terminal of the communication transceiver circuit 4 is coupled with the communication anti-interference circuit 6.

[0024] This utility model proposes a preferred embodiment of the main control circuit for a mother-daughter robot, such as... Figure 1 As shown, a signal debouncing circuit 2 is coupled between the control loop composed of controller 1 (e.g., MCU) and switching circuit 3. By using its delay to generate conduction edge function, the jittering conduction signal cannot conduct the switching circuit 3 in a short time, so that the switching circuit 3 will not be turned on due to jitter and avoids accidental switching.

[0025] In addition, considering that the disturbances to the communication loop composed of controller 1 and communication transceiver circuit 4 often come from the communication power supply (because the power supply board is separate from the main control board) and the bridging of the output terminal, power supply anti-interference circuit 5 and communication anti-interference circuit 6 are coupled to the power supply terminal and the output terminal of communication transceiver circuit 4 respectively to eliminate disturbances, so that the high-speed transmission and reception signals of the communication loop are free from disturbances and normal communication is guaranteed.

[0026] Furthermore, the switching circuit 3 includes a MOSFET chip Q3, a capacitor C37, a resistor R26, a resistor R31, a transistor Q5, a current-limiting resistor R33, and a resistor R35. The chip power supply is connected to the source of the MOSFET chip Q3. A capacitor C37 and a resistor R26 are connected in parallel between the source and gate of the MOSFET chip Q3. The gate of the MOSFET chip Q3 is electrically connected to the collector of the transistor Q5 through a resistor R31. The emitter of the transistor Q5 is grounded. A resistor R35 is connected in parallel between the base and emitter of the transistor Q5. The base of the transistor Q5 is electrically connected to the controller 1 through a current-limiting resistor R33.

[0027] In this embodiment, as Figure 2 As shown, the switching function of the switching circuit 3 is mainly achieved by the transistor Q5 driving the MOSFET chip Q3 (or a single MOSFET). The basic peripheral circuit is built by capacitor C37, resistor R26, resistor R31, current limiting resistor R33 and resistor R35.

[0028] Furthermore, the signal anti-shake circuit 2 includes a capacitor C42; a capacitor C42 is connected in parallel between the common contact of the resistor R33 and the controller 1 and the emitter of the transistor Q5.

[0029] In this embodiment, based on the circuit structure of the switching circuit 3, the signal anti-jitter circuit 2 uses capacitor C42. Then, capacitor C42 and current limiting resistor R33 can form an RC delay network to realize signal filtering and delay functions.

[0030] Furthermore, the switching circuit 3 also includes a Zener diode D6; the cathode of the Zener diode D6 is electrically connected to the source of the MOSFET chip Q3, and the anode of the Zener diode D6 is electrically connected to the gate of the MOSFET chip Q3.

[0031] In this embodiment, considering that the switching circuit 3 will be subjected to surge impact, a Zener diode D6 is added for overvoltage protection to clamp the gate voltage of the MOSFET and prevent the jitter or transient voltage controlled by the controller 1 from damaging the MOSFET (i.e., the MOSFET chip Q3).

[0032] Furthermore, the communication transceiver circuit 4 includes an RS485 transceiver chip U16, a filter capacitor C69, and a matching resistor R73; the power supply terminal of the RS485 transceiver chip U16 is used as the power supply terminal of the communication transceiver circuit 4, and both the A and B terminals of the RS485 transceiver chip U16 are used as the output terminals of the communication transceiver circuit 4. A filter capacitor C69 is connected in parallel between the power supply terminal and ground of the RS485 transceiver chip U16, and a matching resistor R73 is connected in parallel between the A terminal and the B terminal of the RS485 transceiver chip U16.

[0033] In this embodiment, as Figure 3 As shown, the communication transceiver circuit 4 consists of an RS485 transceiver chip U16 and its peripheral circuits. RS485 communication is preferred due to its stronger anti-interference capability and higher stability. Additionally, resistors R69 and R75 can be added at the connection point between the communication transceiver circuit 4 and the controller 1 in the peripheral circuit for signal shaping.

[0034] It should be noted that pins A and B of the RS485 transceiver chip U16 are the two core pins for differential signal transmission, used for data communication.

[0035] Furthermore, the communication anti-interference circuit 6 includes a differential mode protection resistor R70, a differential mode protection resistor R77, and a bidirectional TVS array D15; the A terminal of the RS485 transceiver chip U16 is connected in series with the differential mode protection resistor R70, and then electrically connected to one end of the matching resistor R73; the B terminal of the RS485 transceiver chip U16 is connected in series with the differential mode protection resistor R77, and then electrically connected to the other end of the matching resistor R73. A first bidirectional TVS diode of a bidirectional TVS array D15 is connected in parallel between one end of the matching resistor R73 and ground, and a second bidirectional TVS diode of a bidirectional TVS array D15 is connected in parallel between the other end of the matching resistor R73 and ground.

[0036] In this embodiment, the communication anti-interference circuit 6 is preferably composed of differential mode protection resistor R70, differential mode protection resistor R77 and bidirectional TVS array D15 (i.e. a chip integrating multiple bidirectional TVS tubes), which can realize lightning protection and ESD protection (i.e. electrostatic protection) of signal lines to cope with electrostatic discharge, sudden change in contact resistance and surge impact caused by the plugging of communication terminal connectors.

[0037] Furthermore, the power supply anti-interference circuit 5 includes capacitor C63, capacitor C67, inductor L5 and bidirectional TVS transistor D14; the communication power supply is connected to one end of inductor L5, and the other end of inductor L5 is electrically connected to the power supply terminal of the communication transceiver circuit 4. A capacitor C63 is connected in parallel between one end of inductor L5 and ground, and a capacitor C67 and a bidirectional TVS diode D14 are connected in parallel between the other end of inductor L5 and ground.

[0038] In this embodiment, as Figure 4 As shown, although the power board is equipped with circuits for lightning protection and surge absorption, since the main control board and the power board are connected, when the communication power output from the power board is transmitted to the main control board, new surge impacts and interference may be generated. Therefore, it is preferable to add a power supply anti-interference circuit 5 composed of capacitor C63, capacitor C67, inductor L5 and bidirectional TVS diode D14 to the power supply terminal of the communication transceiver circuit 4 on the main control board. Its multi-stage filtering and surge absorption network can ensure the stability of the communication power after it is transmitted.

[0039] Other components and operations of the main control circuit of the mother-daughter robot according to the embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0040] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] Although embodiments of the present invention have been shown and described, those skilled in the art will understand 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 claims and their equivalents.

Claims

1. A main control circuit for a mother-daughter robot, characterized in that: It includes a controller, a signal anti-jitter circuit, a switching circuit, a communication transceiver circuit, a power supply anti-interference circuit, and a communication anti-interference circuit; the controller is electrically connected to the switching circuit and the communication transceiver circuit respectively, and the signal anti-jitter circuit is coupled between the controller and the switching circuit, and the signal anti-jitter circuit is used to delay the generation of the conduction edge; The power supply anti-interference circuit is coupled to the power supply terminal of the communication transceiver circuit, and the communication anti-interference circuit is coupled to the output terminal of the communication transceiver circuit.

2. The main control circuit of a mother-daughter robot according to claim 1, characterized in that: The switching circuit includes a MOSFET chip Q3, a capacitor C37, a resistor R26, a resistor R31, a transistor Q5, a current-limiting resistor R33, and a resistor R35. The chip power supply is connected to the source of the MOSFET chip Q3. The capacitor C37 and the resistor R26 are connected in parallel between the source and gate of the MOSFET chip Q3. The gate of the MOSFET chip Q3 is electrically connected to the collector of the transistor Q5 through the resistor R31. The emitter of the transistor Q5 is grounded. The resistor R35 is connected in parallel between the base and emitter of the transistor Q5. The base of the transistor Q5 is electrically connected to the controller through the current-limiting resistor R33.

3. The main control circuit of a mother-daughter robot according to claim 2, characterized in that: The signal anti-jitter circuit includes a capacitor C42; the capacitor C42 is connected in parallel between the common contact of the resistor R33 and the controller and the emitter of the transistor Q5.

4. The main control circuit of a mother-daughter robot according to claim 2, characterized in that: The switching circuit also includes a Zener diode D6; the cathode of the Zener diode D6 is electrically connected to the source of the MOS transistor chip Q3, and the anode of the Zener diode D6 is electrically connected to the gate of the MOS transistor chip Q3.

5. The main control circuit of a mother-daughter robot according to claim 1, characterized in that: The communication transceiver circuit includes an RS485 transceiver chip U16, a filter capacitor C69, and a matching resistor R73; the power supply terminal of the RS485 transceiver chip U16 is used as the power supply terminal of the communication transceiver circuit, and both the A terminal and the B terminal of the RS485 transceiver chip U16 are used as the output terminals of the communication transceiver circuit. The filter capacitor C69 is connected in parallel between the power supply terminal and ground of the RS485 transceiver chip U16, and the matching resistor R73 is connected in parallel between the A terminal and the B terminal of the RS485 transceiver chip U16.

6. The main control circuit of a mother-daughter robot according to claim 5, characterized in that: The communication anti-interference circuit includes a differential mode protection resistor R70, a differential mode protection resistor R77, and a bidirectional TVS array D15; the A terminal of the RS485 transceiver chip U16 is connected in series with the differential mode protection resistor R70, and then electrically connected to one end of the matching resistor R73; the B terminal of the RS485 transceiver chip U16 is connected in series with the differential mode protection resistor R77, and then electrically connected to the other end of the matching resistor R73. One end of the matching resistor R73 is connected in parallel with ground to the first bidirectional TVS transistor of the bidirectional TVS array D15, and the other end of the matching resistor R73 is connected in parallel with ground to the second bidirectional TVS transistor of the bidirectional TVS array D15.

7. The main control circuit of a mother-daughter robot according to claim 1, characterized in that: The power supply anti-interference circuit includes capacitor C63, capacitor C67, inductor L5 and bidirectional TVS diode D14; the communication power supply is connected to one end of the inductor L5, and the other end of the inductor L5 is electrically connected to the power supply terminal of the communication transceiver circuit. The capacitor C63 is connected in parallel between one end of the inductor L5 and ground, and the capacitor C67 and the bidirectional TVS diode D14 are connected in parallel between the other end of the inductor L5 and ground.

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