Power supply circuit for a robot and robot

Abstract

The application provides a power supply circuit of a robot and the robot. The robot comprises a first type load and a second type load. A power supply voltage of the first type load is less than a power supply voltage of the second type load. The power supply circuit comprises an isolation circuit, a main switch circuit and a pre-charge circuit. The isolation circuit, the main switch circuit and the pre-charge circuit are respectively connected with a power supply. The isolation circuit is further connected with the first type load, and is used for transmitting power of the power supply to the first type load. The main switch circuit and the pre-charge circuit are further connected with the second type load. The pre-charge circuit is used for transmitting the power of the power supply to the second type load when the power supply starts to provide power. The main switch circuit is used for transmitting the power of the power supply to the second type load after the pre-charge circuit transmits the power to the second type load, so as to improve power supply stability of the power supply circuit to the robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a power supply circuit for a robot and the robot itself. Background Technology

[0002] Robots are increasingly used in a wide range of fields, including semiconductors and power. Correspondingly, the requirements for the stability of robot power supply are also increasing. However, in related technologies, robot power supply circuits, such as traditional pre-charge control circuits, are prone to poor power supply stability in complex application scenarios. Therefore, there is an urgent need to improve the power supply stability of power supply circuits. Utility Model Content

[0003] This application provides a power supply circuit for a robot and a robot, aiming to improve the power supply stability of the power supply circuit for the robot.

[0004] In a first aspect, this application provides a power supply circuit for a robot, the robot including a first type of load and a second type of load, wherein the power supply voltage of the first type of load is less than the power supply voltage of the second type of load; The power supply circuit includes an isolation circuit, a main switch circuit, and a pre-charging circuit; the isolation circuit, the main switch circuit, and the pre-charging circuit are respectively used to connect to the power supply. The isolation circuit is also used to connect the first type of load, and the isolation circuit is used to transmit the electrical energy of the power supply to the first type of load. The main switch circuit and the pre-charging circuit are also used to connect the second type of load. The pre-charging circuit is used to transfer the power of the power supply to the second type of load when the power supply starts to provide power. The main switch circuit is used to transfer the power of the power supply to the second type of load after the pre-charging circuit transfers power to the second type of load.

[0005] Secondly, this application also provides a robot, which includes a first type of load and a second type of load; the power supply voltage of the first type of load is less than the power supply voltage of the second type of load; the robot is used to connect to the power supply circuit of the aforementioned robot; The first type of load is used to connect to the isolation circuit of the power supply circuit; The second type of load is used to connect the main switching circuit and the pre-charging circuit of the power supply circuit.

[0006] This application provides a power supply circuit for a robot and a robot. The robot includes a first type of load and a second type of load, wherein the supply voltage of the first type of load is lower than the supply voltage of the second type of load. The power supply circuit includes an isolation circuit, a main switching circuit, and a pre-charging circuit. The isolation circuit, the main switching circuit, and the pre-charging circuit are respectively used to connect to a power supply. The isolation circuit is also used to connect to the first type of load and to transfer electrical energy from the power supply to the first type of load. The main switching circuit and the pre-charging circuit are also used to connect to the second type of load. The pre-charging circuit is used to transfer electrical energy from the power supply to the second type of load when the power supply starts to provide electrical energy, and the main switching circuit is used to transfer electrical energy from the power supply to the second type of load after the pre-charging circuit has transferred electrical energy to the second type of load.

[0007] When supplying power to the robot through its power supply circuit, this application can transfer the power provided by the power supply to the first type of load through an isolation circuit, and first transfer the power provided by the power supply to the second type of load through a pre-charging circuit, and then transfer the power provided by the power supply to the second type of load through a main switching circuit. This allows the power supply circuit to supply power to the first type of load and the second type of load with different supply voltages using the same power supply. The isolation circuit, the main switching circuit, and the pre-charging circuit provide charging protection for the first type of load and the second type of load, which helps to improve the power supply safety and stability for the first type of load and the second type of load, and thus helps to improve the power supply safety and stability for the robot. Attached Figure Description

[0008] Figure 1 A schematic diagram of a power supply circuit for a robot provided in an embodiment of this application; Figure 2 This is a schematic diagram of the power supply circuit of a robot according to an embodiment of this application; Figure 3 This is a schematic diagram of the power supply process of the power supply circuit of the robot according to an embodiment of this application; Figure 4 This is a circuit diagram of a pre-charging circuit according to an embodiment of this application; Figure 5 This is a circuit diagram of the main switch circuit according to an embodiment of this application; Figure 6 This is a circuit diagram of a relay detection circuit according to an embodiment of this application; Figure 7 This is a circuit diagram of a temperature detection circuit according to an embodiment of this application; Figure 8 This is a schematic block diagram of the isolation circuit according to an embodiment of this application; Figure 9 This is a schematic block diagram of a robot provided in an embodiment of this application.

[0009] Explanation of reference numerals in the attached drawings: 100, robot; 110, first type of load; 120, second type of load; 200, power supply circuit; 210, isolation circuit; 220, main switch circuit; 230, pre-charging circuit; 240, control circuit; 300, power supply. Detailed Implementation

[0010] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0011] In the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0012] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0013] Please see Figure 1 , Figure 1 This is a schematic diagram of the power supply circuit 200 of the robot 100 provided in an embodiment of this application. For example, the power supply circuit 200 of the robot 100 can be used to supply power to the robot 100. The power supply circuit 200 can be integrally installed with the robot 100, or it can be detachably installed with the robot 100; no limitation is made here.

[0014] The robot 100 contains numerous distributed controller modules, motor drivers, and sensors, which are susceptible to interference. In high-current applications such as wireless charging, the interference experienced by the first type of load 110 is even more significant, potentially leading to communication abnormalities and affecting the normal operation of the robot 100.

[0015] For example, robot 100 includes a first type of load 110 and a second type of load 120, wherein the supply voltage of the first type of load 110 is less than the supply voltage of the second type of load 120.

[0016] For example, the first type of load 110 can also be called a low-interference-sensitive load, which is not limited here. The first type of load 110 includes, for example, the industrial control computer of robot 100, some sensors of robot 100, etc., which is not limited here.

[0017] For example, the second type of load 120 can also be called a high-interference-source load, which is not limited here. The second type of load 120 includes, for example, the motor driver of the robot 100, which is not limited here.

[0018] In some implementations, the supply voltage of the first type of load 110 is less than or equal to 24V. The supply voltage of the second type of load 120 is greater than or equal to 48V. Therefore, the supply voltage of the first type of load 110 is less than the supply voltage of the second type of load 120.

[0019] like Figure 1 As shown, the power supply circuit 200 includes an isolation circuit 210, a main switch circuit 220, and a pre-charging circuit 230; the isolation circuit 210, the main switch circuit 220, and the pre-charging circuit 230 are respectively used to connect to the power supply 300.

[0020] The isolation circuit 210 is also used to connect the first type of load 110, and the isolation circuit 210 is used to transfer electrical energy from the power supply 300 to the first type of load 110.

[0021] The main switch circuit 220 and the pre-charge circuit 230 are also used to connect the second type of load 120. The pre-charge circuit 230 is used to transfer the power supply 300 to the second type of load 120 when the power supply 300 starts to provide power. The main switch circuit 220 is used to transfer the power supply 300 to the second type of load 120 after the pre-charge circuit 230 has transferred the power to the second type of load 120.

[0022] For example, when the isolation circuit 210 is used to connect the power supply 300 and the first type of load 110, the power supply 300 can provide power to the isolation circuit 210. For instance, the input voltage of the isolation circuit 210 comes from the power supply 300. Upon receiving power from the power supply 300, the isolation circuit 210 can transfer that power to the first type of load 110, thereby enabling the power supply 300 to supply power to the first type of load 110. The isolation circuit 210 prevents the first type of load 110 and the second type of load 120 from sharing a common ground, which improves the anti-interference capability of the first type of load 110 and thus enhances the power supply stability of the power supply circuit 200 to the robot 100.

[0023] The main switch circuit 220 and the pre-charging circuit 230 are respectively used to connect the power supply 300, and the main switch circuit 220 and the pre-charging circuit 230 are respectively used to connect the second type of load 120. Then the power supply 300 can supply power to the second type of load 120 through the main switch circuit 220 or the pre-charging circuit 230.

[0024] For example, the power supply circuit 200 can preferentially transfer the power from the power supply 300 to the second type of load 120 via the pre-charging circuit 230, and then transfer the power from the power supply 300 to the second type of load 120 via the main switching circuit 220. For instance, the input voltages of both the main switching circuit 220 and the pre-charging circuit 230 come from the power supply 300. When the power supply 300 begins to provide power, the pre-charging circuit 230 can transfer the power from the power supply 300 to the second type of load 120. Accordingly, after the pre-charging circuit 230 has transferred power to the second type of load 120, the power supply circuit 200 can switch to transferring the power from the power supply 300 to the second type of load 120 via the main switching circuit 220.

[0025] Based on this, when the power supply circuit 200 uses the same power supply 300 to supply power to the first type of load 110 with different supply voltages, the first type of load 110 can be supplied through the isolation circuit 210, and the second type of load 120 can be supplied through the pre-charging circuit 230 or the main switch circuit 220. Furthermore, the isolation circuit 210, the main switch circuit 220 and the pre-charging circuit 230 can provide charging protection for the first type of load 110 and the second type of load 120, which helps to improve the safety and stability of the power supply to the first type of load 110 and the second type of load 120, and thus helps to improve the power supply stability of the power supply circuit 200 to the robot 100.

[0026] In some embodiments, the power supply circuit 200 further includes a control circuit 240; the control circuit 240 is connected to the isolation circuit 210, the pre-charging circuit 230, and the main switching circuit 220.

[0027] The isolation circuit 210 is used to transmit electrical energy from the power supply 300 to the control circuit 240.

[0028] The control circuit 240 is used to control the pre-charging circuit 230 to be in a conducting state when the power supply 300 starts to provide power, so that the pre-charging circuit 230 transfers the power supply 300 to the second type of load 120, and after the pre-charging circuit 230 transfers the power to the second type of load 120, to control the main switch circuit 220 to be in a conducting state, so that the main switch circuit 220 transfers the power supply 300 to the second type of load 120.

[0029] like Figure 2 As shown, the power supply circuit 200 also includes a control circuit 240, which is connected to the isolation circuit 210, the pre-charging circuit 230, and the main switching circuit 220. The control circuit 240 can control the pre-charging circuit 230 and the main switching circuit 220. The control circuit 240 may include, for example, a microcontroller unit (MCU).

[0030] When the control circuit 240 is connected to the isolation circuit 210, if the isolation circuit 210 receives electrical energy from the power supply 300, it can transfer the electrical energy from the power supply 300 to the control circuit 240 based on its connection with the control circuit 240. Upon receiving electrical energy from the power supply 300, the control circuit 240 can then operate to control the pre-charging circuit 230 and the main switching circuit 220.

[0031] The control circuit 240 can be used to control the pre-charging circuit 230 to be in a conducting or disconnected state, and to control the main switching circuit 220 to be in a conducting or disconnected state. When the power supply 300 begins to provide power, the control circuit 240 can control the pre-charging circuit 230 to be in a conducting state, so that the pre-charging circuit 230 can transfer power from the power supply 300 to the second type of load 120. Correspondingly, after the pre-charging circuit 230 has transferred power to the second type of load 120, the control circuit 240 can control the main switching circuit 220 to be in a conducting state, so that the main switching circuit 220 can transfer power from the power supply 300 to the second type of load 120.

[0032] For example, the second type of load 120 can be equipped with a large-capacity capacitor. Before powering the robot 100 through the power supply circuit 200, if the capacitor equipped with the second type of load 120 is in a zero-energy state, that is, there is no charge accumulation inside the capacitor, then when the power supply circuit 200 supplies power to the robot 100, if the power supply circuit 200 closes at the instant, the power supply circuit 200 will be equivalent to a direct short circuit. At this time, the peak current of the power supply circuit 200 is extremely high, which can easily damage the power supply 300, the power supply circuit 200, and the second type of load 120. When a pre-charging circuit 230 is introduced into the power supply circuit 200, a pre-charging resistor can be provided in the pre-charging circuit 230. When the power supply 300 starts to provide power, the control circuit 240 can control the pre-charging circuit 230 to be in a conducting state, so that the power supply 300 charges the capacitor equipped on the second type of load 120 through the pre-charging resistor set in the pre-charging circuit 230, thereby playing a charging protection role for the robot 100, which helps to improve the power supply safety and stability of the second type of load 120, and thus helps to improve the power supply safety and stability of the power supply circuit 200 for the robot 100.

[0033] Accordingly, after the pre-charging circuit 230 transmits electrical energy to the second type of load 120, if the capacitor in the second type of load 120 is close to full charge, the control circuit 240 controls the main switch circuit 220 to be in a conducting state, so that the main switch circuit 220 transmits electrical energy from the power supply 300 to the second type of load 120. At this time, since the capacitor in the second type of load 120 is close to full charge, a short circuit will not occur when the main switch circuit 220 is turned on, thus preventing damage to the power supply 300, the power supply circuit 200, and the second type of load 120, achieving effective protection for the power supply circuit 200, thereby improving the power supply safety and stability of the second type of load 120, and thus improving the power supply safety and stability of the robot 100 provided by the power supply circuit 200.

[0034] Of course, this is not the only limitation. The pre-charging circuit 230 also includes a metal-oxide-semiconductor field-effect transistor (MOS transistor) for backflow prevention. When there is no control output, such as when the power supply 300 does not provide power to the power supply circuit 200, the power supply circuit 200 can use the backflow prevention MOS transistor in the pre-charging circuit 230 to prevent other power sources from flowing to the power supply 300 through the second type of load 120, thereby avoiding damage to the power supply 300 by the back electromotive force. This effectively protects the power supply 300, thereby improving the power supply safety and stability of the second type of load 120, and thus improving the power supply safety and stability of the robot 100 provided by the power supply circuit 200.

[0035] In some embodiments, the control circuit 240 is also used to control the pre-charge circuit 230 to be in a closed state after the main switch circuit 220 is in a conducting state.

[0036] For example, if the pre-charging circuit 230 remains continuously connected after the control circuit 240 controls the main switch circuit 220 to be in the conducting state, then in the event of an abnormality in the main switch circuit 220, the pre-charging circuit 230 may continuously supply power to the second type of load 120. If the pre-charging circuit 230 continuously transfers power from the power supply 300 to the second type of load 120, it may easily damage the pre-charging resistor installed in the pre-charging circuit 230. To protect the pre-charging circuit 230, the control circuit 240 can control the pre-charging circuit 230 to be in the closed state after the main switch circuit 220 is in the conducting state, to prevent the pre-charging circuit 230 from remaining continuously connected, thereby preventing damage to the pre-charging resistor installed in the pre-charging circuit 230. If the pre-charging circuit 230 remains undamaged, the power supply circuit 200 can continue to utilize the pre-charging circuit 230, improving the power supply safety and stability to the robot 100.

[0037] In some implementations, such as Figure 3 As shown, the power supply process of the power supply circuit 200 of robot 100 includes: S101, when the power supply 300 starts to provide power, the pre-charging circuit 230 is controlled to be in the conducting state so that the pre-charging circuit 230 transmits the power supply 300 to the second type of load 120.

[0038] S102. When the duration of the pre-charging circuit 230 being in the conducting state is greater than or equal to the first duration threshold, the main switch circuit 220 is controlled to be in the conducting state so that the main switch circuit 220 transmits the electrical energy of the power supply 300 to the second type of load 120.

[0039] For example, when the power supply 300 begins to provide power, the power supply circuit 200 can control the pre-charging circuit 230 to turn on via the control circuit 240, so that the pre-charging circuit 230 is in a conducting state, and thus the power of the power supply 300 can be transferred to the second type of load 120 through the pre-charging circuit 230. When the on-time of the pre-charging circuit 230, that is, the time during which the pre-charging circuit 230 is in a conducting state, is greater than or equal to a first time threshold, the power supply circuit 200 can control the main switch circuit 220 to turn on via the control circuit 240, so that the main switch circuit 220 is in a conducting state, and thus the power of the power supply 300 can be transferred to the second type of load 120 through the main switch circuit 220. For example, when the time during which the pre-charging circuit 230 is in a conducting state is greater than or equal to the first time threshold, the control circuit 240 can determine that the pre-charging circuit 230 has completed the charging process of the capacitor configured in the second type of load 120, and then the control circuit 240 can control the main switch circuit 220 to turn on.

[0040] The first duration threshold can be determined based on the resistance value of the pre-charging resistor set in the pre-charging circuit 230 and the capacitance of the capacitor configured in the second type of load 120. In an exemplary embodiment, the first duration threshold is greater than or equal to five times the product of the resistance value of the pre-charging resistor and the capacitance of the capacitor. However, this is not a limitation; given the varying characteristics of the second type of load 120, the first duration threshold can be preset, set by the user, or adjusted by the user; no limitation is imposed here.

[0041] like Figure 3 As shown, after the main switch circuit 220 is in the conducting state, the power supply process of the power supply circuit 200 of the robot 100 further includes: S103, when the duration of the main switch circuit 220 being in the conducting state is greater than or equal to the second duration threshold, the pre-charging circuit 230 is controlled to be in the closed state.

[0042] For example, when power is transferred from the power supply 300 to the second type of load 120 via the main switch circuit 220, it is necessary to confirm whether the main switch circuit 220 has been successfully turned on. A second duration threshold can be used by the power supply circuit 200 to confirm whether the main switch circuit 220 has been successfully turned on. The power supply circuit 200 can confirm whether the main switch circuit 220 has been successfully turned on via the control circuit 240, and close the pre-charging circuit 230 when the main switch circuit 220 has been successfully turned on. For example, when the control circuit 240 determines that the duration of the main switch circuit 220 being in the conducting state is greater than or equal to the second duration threshold, the control circuit 240 can confirm that the main switch circuit 220 has been successfully turned on, and then, based on the consideration of protecting the pre-charging circuit 230, the control circuit 240 can control the pre-charging circuit 230 to be in the closed state. Correspondingly, when the main switch circuit 220 is in the conducting state, by controlling the pre-charging circuit 230 to be in the closed state, it can be prevented that when the main switch circuit 220 is abnormal, the pre-charging circuit 230 will continue to transmit power to the second type of load 120, thereby causing damage to the pre-charging circuit 230, such as damage to the pre-charging resistor set in the pre-charging circuit 230.

[0043] The second duration threshold may include 100 milliseconds, 105 milliseconds, 120 milliseconds, etc. The second duration threshold can be preset, set by the user, or adjusted by the user. There are no restrictions on this.

[0044] like Figure 3 As shown, after the main switch circuit 220 is in the conducting state, the power supply process of the power supply circuit 200 of the robot 100 further includes: S104, when at least one of relay failure or relay temperature abnormality is detected in the main switch circuit 220, the main switch circuit 220 is controlled to be in the closed state.

[0045] For example, during the process of transmitting electrical energy from the power supply 300 to the second type of load 120 through the main switch circuit 220, the power supply circuit 200 can detect whether there are any abnormalities such as relay failure or abnormal relay temperature in the main switch circuit 220. In order to control the main switch circuit 220 to be in the closed state in time when an abnormality occurs, the main switch circuit 220 can be prevented from being damaged.

[0046] For example, a relay detection circuit is provided on the main switch circuit 220. The relay detection circuit can be used to detect whether the relays installed in the main switch circuit 220 are faulty, that is, to determine whether there is a relay failure in the main switch circuit 220. When the relay detection circuit detects a relay failure, the power supply circuit 200 can control the main switch circuit 220 to be in the closed state.

[0047] For example, a temperature detection circuit is provided on the main switch circuit 220. The temperature detection circuit can be used to detect whether there is a temperature abnormality in the relay installed in the main switch circuit 220, that is, to determine whether there is a relay temperature abnormality in the main switch circuit 220. When the temperature detection circuit detects a relay temperature abnormality, the power supply circuit 200 can control the main switch circuit 220 to be in the closed state.

[0048] The power supply circuit 200 can switch the operating state of the main switch circuit 220 to be either on or off via the control circuit 240. For example, if the relay detection circuit detects a relay failure, the control circuit 240 controls the main switch circuit 220 to be off. As another example, if the temperature detection circuit detects an abnormal relay temperature, the control circuit 240 controls the main switch circuit 220 to be off.

[0049] When the main switch circuit 220 is in a state of relay failure or abnormal relay temperature, the power supply circuit 200 can control the main switch circuit 220 to be in a closed state, thereby protecting the main switch circuit 220, and thus protecting the power supply 300, the power supply circuit 200, and the second type of load 120.

[0050] For example, the pre-charge circuit 230 includes a first transistor, a second transistor, a third transistor, an optocoupler, a Zener diode, and a pre-charge resistor.

[0051] The first terminal of the first transistor is used to receive the first control signal from the power supply circuit 200, the second terminal of the first transistor is connected to the first terminal of the optocoupler, and the third terminal of the first transistor is used to connect to the signal isolation ground.

[0052] The second end of the optocoupler is used to connect to the power supply 300. The third end of the optocoupler is connected to the first end of the second transistor, the first end of the third transistor, and the first end of the Zener diode. The fourth end of the optocoupler is grounded.

[0053] The second terminal of the second transistor is connected to the second terminal of the third transistor and the second terminal of the Zener diode. The third terminal of the second transistor is connected to the main switch circuit 220 and is used to connect to the power supply 300.

[0054] The third terminal of the third transistor is connected to the first terminal of the pre-charge resistor.

[0055] The second end of the pre-charge resistor is used to connect to the second type of load 120, the second end of the pre-charge resistor is connected to the main switch circuit 220, and the second end of the pre-charge resistor is used to connect to the power supply 300.

[0056] The third terminal of the second transistor and the second terminal of the pre-charge resistor are connected at different locations in the main switch circuit 220.

[0057] like Figure 4 As shown, the pre-charge circuit 230 includes a first transistor Q1, a second transistor Q2, a third transistor Q3, an optocoupler Q4, a Zener diode D1, and a pre-charge resistor R0.

[0058] The first terminal of the first transistor Q1 is used to receive a first control signal from the power supply circuit 200. The first control signal includes the signal KM1_1. The second terminal of the first transistor Q1 is connected to the first terminal of the optocoupler Q4. The third terminal of the first transistor Q1 is used to connect to the signal isolation ground.

[0059] The second terminal of optocoupler Q4 is connected to the power supply 300. The power supply 300 can, for example, provide 3.3V to optocoupler Q4, and can be represented as VCC_3.3. The third terminal of optocoupler Q4 is connected to the first terminal of the second transistor Q2, the first terminal of the third transistor Q3, and the first terminal of the Zener diode D1. The fourth terminal of optocoupler Q4 is grounded. It can be understood that grounding the fourth terminal of optocoupler Q4 is equivalent to connecting the fourth terminal of optocoupler Q4 to the load ground. Since the first terminal and the fourth terminal of optocoupler Q4 are on different sides, optocoupler Q4 can provide isolation to prevent the signal isolation ground from sharing a common ground with the load ground.

[0060] The second terminal of the second transistor Q2 is connected to the second terminal of the third transistor Q3 and the second terminal of the Zener diode D1. The third terminal of the second transistor Q2 is connected to the main switching circuit 220, and is also used to connect to the power supply 300. The power supply 300 can provide 48V to the second transistor Q3, so the power supply 300 can be represented as BATT48V.

[0061] The third terminal of the third transistor Q3 is connected to the first terminal of the pre-charge resistor R0. The second terminal of the pre-charge resistor R0 is used to connect to the second type of load 120, and the second terminal of the pre-charge resistor R0 is connected to the main switching circuit 220. The third terminal of the second transistor Q2 and the second terminal of the pre-charge resistor R0 are connected at different locations in the main switching circuit 220. For example, if the second type of load 120 includes a load capacitor C0, then the second terminal of the pre-charge resistor R0 can be connected to the first terminal of the load capacitor C0, and the second terminal of the load capacitor C0 is grounded.

[0062] In some exemplary embodiments, the pre-charging circuit 230 further includes a first resistor R1 and a second resistor R2. A first terminal of the first transistor Q1 is connected to the first resistor R1 to receive the signal KM1_1 through the first resistor R1. The first terminal of the first transistor Q1 is also connected to the first terminal of the second resistor R2, and the second terminal of the second resistor R2 is used to connect to the signal isolation ground.

[0063] The pre-charging circuit 230 also includes a third resistor R3. The second terminal of the optocoupler Q4 is connected to the third resistor R3, so as to the power supply 300. The power supply 300 can provide a 3.3V voltage to the optocoupler Q4 through the third resistor R3, and the power supply 300 can be represented as VCC_3.3.

[0064] The pre-charging circuit 230 also includes a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, and a first capacitor C1. The third terminal of the optocoupler Q4 is connected to the first terminal of the fourth resistor R4. The second terminal of the fourth resistor R4 is connected to the first terminals of the fifth resistor R5, the sixth resistor R6, the seventh resistor R7, the first capacitor C1, and the Zener diode D1. The second terminal of the fifth resistor R5 is connected to the first terminal of the second transistor Q2. The second terminal of the seventh resistor R7 is connected to the first terminal of the third transistor Q3. The second terminal of the second transistor Q2 is connected to the second terminal of the third transistor Q3, the second terminal of the sixth resistor R6, the second terminal of the first capacitor C1, and the second terminal of the Zener diode D1.

[0065] For example, the second transistor Q2 and the third transistor Q3 are P-channel metal-oxide-semiconductor field-effect transistors (PMOS transistors). Using two PMOS transistors, Q2 and Q3, in the pre-charge circuit 230 enables it to implement reverse current protection. For instance, in the absence of control output, such as when the power supply 300 is not providing power to the power supply circuit 200, the pre-charge circuit 230 can use Q2 and Q3 to prevent other power sources from flowing to the power supply 300 through the second type of load 120. The Zener diode D1 prevents the gate-source voltages of Q2 and Q3 from becoming too high under abnormal conditions, thus avoiding damage to them.

[0066] The first transistor Q1 is an N-channel metal-oxide-semiconductor field-effect transistor (NMOS transistor).

[0067] The power supply circuit 200 can utilize the control circuit 240 to enable the pre-charging circuit 230 to transfer the power from the power supply 300 to the second type load 120. For example, the power supply 300 can provide 48V to the second type load 120 through the pre-charging circuit 230, which can be represented as BATT48V. When it is necessary to transfer the power from the power supply 300 to the second type load 120, the control circuit 240 can pull the signal KM1_1 high to turn on the third and fourth terminals of the optocoupler Q4. The power from the power supply 300 can then make the gate-source voltage of the second transistor Q2 and the third transistor Q3 greater than a preset voltage threshold, thereby turning on the drain and source. The power supply 300 can then charge the load capacitor C0 in the second type load 120 through the pre-charging resistor R0 in the pre-charging circuit 230. For example, the power supply 300 can use the fourth resistor R4 and the sixth resistor R6 to ensure that the gate-source voltages of the second transistor Q2 and the third transistor Q3 are greater than a preset voltage threshold. Due to the presence of the pre-charge resistor R0, the current in the power supply circuit 200 is ensured not to be excessive, thus protecting the components in the power supply circuit 200, the power supply 300, and the second type of load 120. This improves the safety and stability of the power supply to the second type of load 120, and also improves the safety and stability of the power supply to the robot 100 from the power supply circuit 200.

[0068] For example, the main switch circuit 220 includes a first relay, a second relay, a fourth transistor, a fifth transistor, a first transient voltage suppressor diode, and a second transient voltage suppressor diode.

[0069] The first terminal of the fourth transistor and the first terminal of the fifth transistor are used to receive the second control signal from the power supply circuit 200.

[0070] The second terminal of the fourth transistor is connected to the first terminal of the first relay and the first terminal of the first transient voltage suppression diode.

[0071] The second terminal of the fifth transistor is connected to the first terminal of the second relay and the first terminal of the second transient voltage suppression diode.

[0072] The second terminal of the first relay, the second terminal of the first transient voltage suppressor diode, the second terminal of the second relay, and the second terminal of the second transient voltage suppressor diode are used to connect to the power supply 300.

[0073] The third terminal of the first relay is connected to the fourth terminal of the second relay. The fourth terminal of the first relay is used to connect to the power supply 300 and is also connected to the pre-charging circuit 230. The third terminal of the second relay is used to connect to the second type of load 120, and the third terminal of the second relay is connected to the pre-charging circuit 230; the fourth terminal of the first relay and the third terminal of the second relay are connected to different positions in the pre-charging circuit 230. The fifth terminal of the first relay is connected to the sixth terminal of the second relay, and the fifth terminal of the second relay is used to connect to the signal isolation ground.

[0074] like Figure 5 As shown, the main switch circuit 220 includes a first relay K1, a second relay K2, a fourth transistor Q5, a fifth transistor Q6, a first transient voltage suppression diode TVS1, and a second transient voltage suppression diode TVS2.

[0075] The first terminal of the fourth transistor Q5 and the first terminal of the fifth transistor Q6 are used to receive the second control signal from the power supply circuit 200. The second control signal includes the signal KM1_2.

[0076] The second terminal of the fourth transistor Q5 is connected to the first terminal of the first relay K1 and the first terminal of the first transient voltage suppressor diode TVS1. The second terminal of the fifth transistor Q6 is connected to the first terminal of the second relay K2 and the first terminal of the second transient voltage suppressor diode TVS2.

[0077] The second terminal of the first relay K1, the second terminal of the first transient voltage suppressor diode TVS1, the second terminal of the second relay K2, and the second terminal of the second transient voltage suppressor diode TVS2 are used to connect to the power supply 300. The power supply 300 can, for example, provide a 24V voltage to the first relay K1, the second relay K2, the first transient voltage suppressor diode TVS1, and the second transient voltage suppressor diode TVS2; the power supply 300 can be represented as VCC24.

[0078] The third terminal of the first relay K1 is connected to the fourth terminal of the second relay K2. The fourth terminal of the first relay K1 is used to connect to the power supply 300 and is also connected to the pre-charging circuit 230. The power supply 300 can, for example, provide 48V to the first relay K1, and the power supply 300 can be represented as BATT48V.

[0079] The third terminal of the second relay K2 is used to connect to the second type of load 120, and the third terminal of the second relay K2 is also connected to the pre-charging circuit 230; the fourth terminal of the first relay K1 and the third terminal of the second relay K2 are connected to different positions in the pre-charging circuit 230. It can be understood that the first relay K1 and the second relay K2 are essentially two relays connected in series, so the power supply 300 can provide 48V to the first relay K1 and the second relay K2, thereby supplying power to the second type of load 120 through the first relay K1 and the second relay K2.

[0080] The fifth terminal of the first relay K1 is connected to the sixth terminal of the second relay K2, and the fifth terminal of the second relay K2 is used to connect to the signal isolation ground.

[0081] In some exemplary embodiments, the main switch circuit 220 further includes an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, and an eleventh resistor R11. The first terminal of the fourth transistor Q5 is connected to the eighth resistor R8 to receive the signal KM1_2 through the eighth resistor R8. The first terminal of the fourth transistor Q5 is also connected to the first terminal of the ninth resistor R9, and the second terminal of the ninth resistor R9 is used to connect to signal isolation ground. The first terminal of the fifth transistor Q6 is connected to the tenth resistor R10 to receive the signal KM1_2 through the tenth resistor R10. The first terminal of the fifth transistor Q6 is also connected to the first terminal of the eleventh resistor R11, and the second terminal of the eleventh resistor R11 is used to connect to signal isolation ground.

[0082] For example, both the first relay K1 and the second relay K2 are relays equipped with auxiliary contacts. The fourth transistor Q5 and the fifth transistor Q6 are N-channel metal-oxide-semiconductor field-effect transistors (NMOS transistors). When the signal KM1_2 received by the main switching circuit 220 is pulled high, the main contacts of the first relay K1 and the second relay K2 will close simultaneously. The power supply 300 first supplies power to the second type of load 120 through the main contacts of the first relay K1 and the second relay K2 connected in series. Similarly, the auxiliary contacts of the first relay K1 and the second relay K2 are also connected in series. Accordingly, the signal KM1_2 uses the same set of signals, which helps to save the input / output (I / O) port resources of the power supply circuit 200.

[0083] In some embodiments, the main switch circuit 220 is provided with a relay detection circuit, which is used to connect to the power supply 300 and is connected to the sixth terminal of the first relay; when the relay detection circuit detects that the first relay and the second relay have failed, the power supply circuit 200 controls the main switch circuit 220 to be in the closed state.

[0084] like Figure 6 As shown, the relay detection circuit is connected to the power supply 300. The power supply 300 can provide a 3.3V voltage to the relay detection circuit, which can be represented as VCC_3.3. The relay detection circuit is connected to the sixth terminal of the first relay K1. Since the first relay K1 and the second relay K2 are connected in series, the relay detection circuit can be used to detect whether the first relay K1 and the second relay K2 are faulty.

[0085] For example, since both the first relay K1 and the second relay K2 are equipped with auxiliary contacts, when the main contacts of each of the first relay K1 and the second relay K2 are open, their respective auxiliary contacts remain closed; when the main contacts of each of the first relay K1 and the second relay K2 are closed, their respective auxiliary contacts are open. Therefore, the relay detection circuit can detect whether the first relay K1 and the second relay K2 have failed by observing the changes in the closed and open states of their respective main and auxiliary contacts. In the event of a failure of the first relay K1 and the second relay K2, their respective auxiliary contacts can immediately provide an abnormal signal. When the relay detection circuit detects a failure of the first relay K1 and the second relay K2, the power supply circuit 200 can control the main switch circuit 220 to be in the off state. For example, the power supply circuit 200 can control the main switch circuit 220 to be in the off state through the control circuit 240.

[0086] When both the first relay K1 and the second relay K2 are equipped with auxiliary contacts, the relay detection circuit only needs to use the auxiliary contacts of the first relay K1 and the second relay K2 as status feedback signals to realize the reuse of hardware resources to detect the failure of the first relay K1 and the second relay K2. This is beneficial to improve the convenience of relay failure detection in the power supply circuit 200, so as to realize the protection of the power supply 300, the power supply circuit 200 and the second type of load 120, thereby improving the power supply safety and stability of the second type of load 120, and improving the power supply safety and stability of the power supply circuit 200 to the robot 100.

[0087] Accordingly, when the first relay K1 and the second relay K2 are connected in series, redundant safety protection can be provided for the main switch circuit 220 to ensure that if either the first relay K1 or the second relay K2 fails, the power supply circuit 200 can continuously control the main switch circuit 220 to be in the off state, so as to further protect the power supply 300, the power supply circuit 200 and the second type of load 120, thereby improving the power supply safety and stability of the second type of load 120, and improving the power supply safety and stability of the power supply circuit 200 to the robot 100.

[0088] Furthermore, considering the need to suppress the reverse electromotive force generated by the first relay K1 and the second relay K2 when the power is off, a first transient voltage suppression diode TVS1 is connected in parallel with the first relay K1, and a second transient voltage suppression diode TVS2 is connected in parallel with the second relay K2. This effectively suppresses the reverse electromotive force without adversely affecting the service life of the first relay K1 and the second relay K2.

[0089] For example, the relay detection circuit includes a clamping diode. The first terminal of the clamping diode is grounded, the second terminal of the clamping diode is connected to the power supply 300, and the third terminal of the clamping diode is connected to the signal isolation ground.

[0090] like Figure 6 As shown, the relay detection circuit includes a clamping diode Q7. The first terminal of the clamping diode Q7 is grounded. The second terminal of the clamping diode Q7 is connected to the power supply 300. The power supply 300 can, for example, provide a 3.3V voltage to the clamping diode Q7, which can be represented as VCC_3.3. The third terminal of the clamping diode Q7 is connected to the signal isolation ground. The clamping diode Q7 can clamp the voltage to a level that the power supply circuit 200 can withstand when a higher voltage occurs. For example, when the power supply circuit 200 controls the main switch circuit 220 to be in the conducting state via the control circuit 240, the clamping diode Q7 can clamp the voltage to a level that the control circuit 240 can withstand. With the action of the clamping diode Q7, protection of the relay detection circuit can be achieved, thereby improving the power supply safety and stability of the second type of load 120, and also improving the power supply safety and stability of the power supply circuit 200 to the robot 100.

[0091] like Figure 6As shown, the relay detection circuit also includes a twelfth resistor R12, a thirteenth resistor R13, and a second capacitor C2. The first terminal of the twelfth resistor R12 is connected to the power supply 300. The second terminal of the twelfth resistor R12 is connected to the first terminal of the thirteenth resistor R13. The second terminal of the thirteenth resistor R13 is connected between the third terminal of the clamping diode Q7 and the first terminal of the second capacitor C2. The second terminal of the second capacitor C2 is connected to the signal isolation ground, so the clamping diode Q7 can be connected to the signal isolation ground through the second capacitor C2. The relay detection circuit can utilize the thirteenth resistor R13 and the second capacitor C2 to form an RC filter circuit.

[0092] Since the auxiliary contacts of the first relay K1 and the second relay K2 act as a set of switches, the sampling voltage may fluctuate when they are in the on or off state. Therefore, the relay detection circuit can use an RC filter circuit and a clamping diode Q7 to enhance the stability of the relay detection circuit. This allows the relay detection circuit to continuously detect whether the first relay K1 and the second relay K2 in the main switch circuit 220 have failed. This is beneficial to improving the power supply safety and stability of the second type of load 120, as well as the power supply safety and stability of the power supply circuit 200 to the robot 100.

[0093] In some embodiments, a temperature detection circuit is provided on the main switch circuit 220, and the temperature detection circuit is located between the first relay and the second relay; when the temperature detection circuit detects that the first relay and the second relay have abnormal temperatures, the power supply circuit 200 controls the main switch circuit 220 to be in the off state.

[0094] like Figure 7As shown, a temperature detection circuit is located between the first relay K1 and the second relay K2. The temperature detection circuit includes a thermistor RT1. Thermistor RT1 can be a negative temperature coefficient (NTC) thermistor. For example, thermistor RT1 can be connected between the first relay K1 and the second relay K2, allowing it to detect the temperature conducted from the first relay K1 and the second relay K2 to the printed circuit board (PCB) where the power supply circuit 200 is located. When the temperature detected by thermistor RT1 differs, the temperature detection signal, such as signal ADC2, acquired by the thermistor RT1 will also differ. The power supply circuit 200 can read the value of signal ADC2 acquired by the thermistor circuit RT1 through the control circuit 240, and thus determine whether the temperature of the first relay K1 and the second relay K2 is too high, and further determine whether there is a temperature abnormality in the first relay K1 and the second relay K2. If it is determined that the first relay K1 and the second relay K2 have a temperature abnormality, the power supply circuit 200 can control the main switch circuit 220 to be in the off state. For example, the power supply circuit 200 can control the main switch circuit 220 to be turned off through the control circuit 240.

[0095] like Figure 7 As shown, the temperature detection circuit also includes a fourteenth resistor R14, a fifteenth resistor R15, and a third capacitor C3. The first terminal of the thermistor RT1 is connected to the power supply 300. The power supply 300 can, for example, provide a 3.3V voltage to the thermistor RT1, and can be represented as VCC_3.3. The second terminal of the thermistor RT1 is connected to the first terminals of the fourteenth resistor R14 and the fifteenth resistor R15. The second terminal of the fourteenth resistor R14 is connected to the signal isolation ground. The second terminal of the fifteenth resistor R15 is connected to the first terminal of the third capacitor. The second terminal of the third capacitor is connected to the signal isolation ground. The fourteenth resistor R14 and the fifteenth resistor R15 can serve as voltage divider resistors in the temperature detection circuit. The third capacitor C3 can serve as a filter capacitor in the temperature detection circuit. Based on this, the temperature detection circuit can detect the temperature of the first relay K1 and the second relay K2 using only an NTC thermistor, voltage divider resistors, and a filter capacitor, which improves the convenience of temperature detection for the first relay K1 and the second relay K2.

[0096] The power supply circuit 200 can use a temperature detection circuit to detect whether there is a temperature abnormality in the first relay K1 and the second relay K2. If there is a temperature abnormality in the first relay K1 and the second relay K2, the main switch circuit 220 can be controlled to be in the closed state. This can protect the power supply 300, the power supply circuit 200 and the second type of load 120, thereby improving the power supply safety and stability of the second type of load 120, and thus improving the power supply safety and stability of the power supply circuit 200 to the robot 100.

[0097] In some embodiments, the isolation circuit 210 includes an isolated step-down power supply circuit and a DC-DC step-down circuit; the first terminal of the isolated step-down power supply circuit is used to connect to the power supply 300, the second terminal of the isolated step-down power supply circuit is used to connect to the first type of load 110, and the second terminal of the isolated step-down power supply circuit is connected to the first terminal of the DC-DC step-down circuit, and the second terminal of the DC-DC step-down circuit is connected to the control circuit 240 of the power supply circuit 200.

[0098] like Figure 8 As shown, the isolation circuit 210 can transfer the power from the power supply 300 to the first type of load 110 via the isolated step-down power supply circuit to power the first type of load 110. Correspondingly, the isolation circuit 210 can transfer the power from the power supply 300 to the control circuit 240 of the power supply circuit 200 via the isolated step-down power supply circuit and the DC-DC step-down circuit. If other chips are also provided in the power supply circuit 200, the second terminal of the DC-DC step-down circuit can also be connected to other chips, thus allowing the isolation circuit 210 to transfer the power from the power supply 300 to other chips in the power supply circuit 200 via the isolated step-down power supply circuit and the DC-DC step-down circuit. Based on this, the isolation circuit 210 can isolate the first type of load 110 and the second type of load 120. As a result, when the second type of load 120 is running, the first type of load 110 is not easily disturbed by the second type of load 120 due to the isolation effect. This helps to improve the power supply safety and stability of the first type of load 110, thereby improving the power supply safety and stability of the power supply circuit 200 to the robot 100.

[0099] The power supply circuit 200 of the robot 100 provided in this application embodiment includes an isolation circuit 210, a main switch circuit 220, and a pre-charging circuit 230. The isolation circuit 210, the main switch circuit 220, and the pre-charging circuit 230 are respectively used to connect to the power supply 300. The isolation circuit 210 is also used to connect to a first type of load 110 and to transfer the power of the power supply 300 to the first type of load 110. The main switch circuit 220 and the pre-charging circuit 230 are also used to connect to a second type of load 120. The pre-charging circuit 230 is used to transfer the power of the power supply 300 to the second type of load 120 when the power supply 300 starts to provide power. The main switch circuit 220 is used to transfer the power of the power supply 300 to the second type of load 120 after the pre-charging circuit 230 has transferred the power to the second type of load 120.

[0100] When power is supplied to robot 100 through power supply circuit 200, this application can transfer the power provided by power supply 300 to first type load 110 through isolation circuit 210, and first transfer the power provided by power supply 300 to second type load 120 through pre-charging circuit 230, and then transfer the power provided by power supply 300 to second type load 120 through main switch circuit 220. This allows power supply circuit 200 to supply power to first type load 110 and second type load 120 with different supply voltages using the same power supply 300. The isolation circuit 210, main switch circuit 220 and pre-charging circuit 230 provide charging protection for first type load 110 and second type load 120, which helps to improve the power supply safety and stability of first type load 110 and second type load 120, and thus improves the power supply stability of power supply circuit 200 to robot 100.

[0101] Please refer to the foregoing embodiments. Figure 9 , Figure 9 This is a schematic block diagram of a robot 100 provided in an embodiment of this application.

[0102] like Figure 9 As shown, the robot 100 includes a first type of load 110 and a second type of load 120; the supply voltage of the first type of load 110 is less than the supply voltage of the second type of load 120; the robot 100 is used to connect to the aforementioned power supply circuit 200 of the robot 100; the first type of load 110 is used to connect to the isolation circuit 210 of the power supply circuit 200; the second type of load 120 is used to connect to the main switching circuit 220 and the pre-charging circuit 230 of the power supply circuit 200.

[0103] The robot 100 and its power supply circuit 200 can be integrated or separate; no restriction is imposed here.

[0104] The specific principles and implementation methods of the robot 100 provided in this application embodiment are similar to the power supply circuit 200 of the robot 100 in the aforementioned embodiment, and will not be repeated here.

[0105] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0106] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

Claims

1. A power supply circuit for a robot, characterized in that, The robot includes a first type of load and a second type of load, wherein the power supply voltage of the first type of load is less than the power supply voltage of the second type of load; The power supply circuit includes an isolation circuit, a main switch circuit, and a pre-charging circuit; the isolation circuit, the main switch circuit, and the pre-charging circuit are respectively used to connect to the power supply. The isolation circuit is also used to connect the first type of load, and the isolation circuit is used to transmit the electrical energy of the power supply to the first type of load. The main switch circuit and the pre-charging circuit are also used to connect the second type of load. The pre-charging circuit is used to transfer the power of the power supply to the second type of load when the power supply starts to provide power. The main switch circuit is used to transfer the power of the power supply to the second type of load after the pre-charging circuit transfers power to the second type of load.

2. The power supply circuit according to claim 1, characterized in that, The power supply circuit also includes a control circuit; the control circuit is connected to the isolation circuit, the pre-charging circuit, and the main switch circuit. The isolation circuit is used to transmit electrical energy from the power supply to the control circuit; The control circuit is used to control the pre-charging circuit to be in a conducting state when the power supply starts to provide power, so that the pre-charging circuit transmits the power of the power supply to the second type of load, and to control the main switching circuit to be in a conducting state after the pre-charging circuit transmits the power of the power supply to the second type of load, so that the main switching circuit transmits the power of the power supply to the second type of load.

3. The power supply circuit according to claim 2, characterized in that, The control circuit is also used to control the pre-charging circuit to be in a closed state after the main switch circuit is in a conducting state.

4. The power supply circuit according to any one of claims 1 to 3, characterized in that, The pre-charging circuit includes a first transistor, a second transistor, a third transistor, an optocoupler, a Zener diode, and a pre-charging resistor. The first terminal of the first transistor is used to receive the first control signal of the power supply circuit, the second terminal of the first transistor is connected to the first terminal of the optocoupler, and the third terminal of the first transistor is used to connect to the signal isolation ground. The second end of the optocoupler is used to connect to the power supply, the third end of the optocoupler is connected to the first end of the second transistor, the first end of the third transistor and the first end of the Zener diode, and the fourth end of the optocoupler is grounded. The second terminal of the second transistor is connected to the second terminal of the third transistor and the second terminal of the Zener diode. The third terminal of the second transistor is connected to the main switching circuit and is also used to connect to the power supply. The third terminal of the third transistor is connected to the first terminal of the pre-charge resistor; The second end of the pre-charge resistor is used to connect to the second type of load, and the second end of the pre-charge resistor is connected to the main switch circuit; The third terminal of the second transistor and the second terminal of the pre-charge resistor are connected at different locations in the main switching circuit.

5. The power supply circuit according to any one of claims 1 to 3, characterized in that, The main switching circuit includes a first relay, a second relay, a fourth transistor, a fifth transistor, a first transient voltage suppression diode, and a second transient voltage suppression diode; The first terminal of the fourth transistor and the first terminal of the fifth transistor are used to receive the second control signal of the power supply circuit. The second terminal of the fourth transistor is connected to the first terminal of the first relay and the first terminal of the first transient voltage suppression diode. The second terminal of the fifth transistor is connected to the first terminal of the second relay and the first terminal of the second transient voltage suppression diode. The second terminal of the first relay, the second terminal of the first transient voltage suppression diode, the second terminal of the second relay, and the second terminal of the second transient voltage suppression diode are used to connect to the power supply. The third terminal of the first relay is connected to the fourth terminal of the second relay. The fourth terminal of the first relay is used to connect to the power supply and is also connected to the pre-charging circuit. The third terminal of the second relay is used to connect to the second type of load, and the third terminal of the second relay is connected to the pre-charging circuit; the fourth terminal of the first relay and the third terminal of the second relay are connected to different positions in the pre-charging circuit. The fifth terminal of the first relay is connected to the sixth terminal of the second relay, and the fifth terminal of the second relay is used to connect to the signal isolation ground.

6. The power supply circuit according to claim 5, characterized in that, The main switch circuit is provided with a relay detection circuit, which is used to connect to the power supply and is connected to the sixth terminal of the first relay. When the relay detection circuit detects that the first relay and the second relay have failed, the power supply circuit controls the main switch circuit to be in the off state.

7. The power supply circuit according to claim 6, characterized in that, The relay detection circuit includes a clamping diode; The first terminal of the clamping diode is grounded, the second terminal of the clamping diode is used to connect to the power supply, and the third terminal of the clamping diode is used to connect to the signal isolation ground.

8. The power supply circuit according to claim 5, characterized in that, The main switch circuit is equipped with a temperature detection circuit, which is located between the first relay and the second relay. When the temperature detection circuit detects an abnormal temperature in the first relay and the second relay, the power supply circuit controls the main switch circuit to be in the off state.

9. The power supply circuit according to any one of claims 1 to 3, characterized in that, The isolation circuit includes an isolated step-down power supply circuit and a DC-DC step-down circuit; The first terminal of the isolated step-down power supply circuit is used to connect to the power supply, the second terminal of the isolated step-down power supply circuit is used to connect to the first type of load, and the second terminal of the isolated step-down power supply circuit is connected to the first terminal of the DC-DC step-down circuit, and the second terminal of the DC-DC step-down circuit is connected to the control circuit of the power supply circuit.

10. A robot, characterized in that, The robot includes a first type of load and a second type of load; the supply voltage of the first type of load is less than the supply voltage of the second type of load; the robot is used to connect to the power supply circuit of the robot as described in any one of claims 1 to 9; The first type of load is used to connect to the isolation circuit of the power supply circuit; The second type of load is used to connect the main switching circuit and the pre-charging circuit of the power supply circuit.

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