Exoskeleton robot control circuit

Abstract

The embodiment of the disclosure discloses an exoskeleton robot control circuit, which comprises a master control chip, a motor communication module, a voltage stabilizing circuit, and a first power supply expansion circuit. The motor communication module is integrated on a communication bus. The communication bus is connected with the master control chip and communicates with the master control chip. The master control chip is connected with the first power supply expansion circuit. The first power supply expansion circuit is connected with the voltage stabilizing circuit and supplies power for the master control chip, so that the control stability of the master control chip can be improved.

Description

Technical Field

[0001] This utility model relates to the field of control circuit technology, and in particular to a control circuit for an exoskeleton robot. Background Technology

[0002] The control circuit of the exoskeleton robot is crucial in the lower limb exoskeleton system. In the existing technology, the control circuit of the exoskeleton robot usually integrates a variety of external devices such as motors and sensors to improve control accuracy. However, the power management of such control circuits is complicated and it is difficult to meet different voltage requirements. Moreover, the complex control circuit has weak anti-interference ability, which can easily cause control signal errors and unstable operation of the equipment, thus affecting the stability of the exoskeleton robot control circuit. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail in this disclosure. This overview is not intended to limit the scope of the claims.

[0004] This disclosure provides an exoskeleton robot control circuit that can improve the control stability of the main control chip.

[0005] An embodiment of the first aspect of this disclosure provides an exoskeleton robot control circuit, comprising: It includes a main control chip, a motor communication module, a voltage regulator circuit, and a first power supply expansion circuit. The motor communication module is integrated on a communication bus. The communication bus is connected to the main control chip and communicates with the main control chip. The main control chip is connected to the first power supply expansion circuit. The first power supply expansion circuit is connected to the voltage regulator circuit and supplies power to the main control chip.

[0006] According to certain embodiments of the first aspect of this disclosure, the motor communication module includes a motor communication terminal block, a communication transceiver, and a communication connector. The communication transceiver is connected to one pin of the motor communication terminal block, and the other pin of the motor communication terminal block is connected to a communication bus. The communication transceiver is also connected to the other pin of the motor communication terminal block to enable the communication transceiver to access the communication bus.

[0007] According to certain embodiments of the first aspect of this disclosure, the motor communication module further includes a communication terminating resistor connected across both ends of the communication bus.

[0008] According to certain embodiments of the first aspect of this disclosure, the motor communication terminal is a CAN terminal, the communication transceiver is a CAN transceiver, and the communication bus is a CAN bus.

[0009] According to certain embodiments of the first aspect of this disclosure, the communication connector is a GH 1.25 vertical surface mount connector.

[0010] According to certain embodiments of the first aspect of this disclosure, the main control chip is an STM32F407ZGT6.

[0011] According to certain embodiments of the first aspect of this disclosure, a motor power supply circuit and a motor power supply terminal are also included, wherein the motor power supply circuit is connected to the motor power supply terminal, and the motor power supply terminal supplies power to the motor after being connected to the motor.

[0012] According to certain embodiments of the first aspect of this disclosure, the output of the first power extension circuit is 5V.

[0013] According to certain embodiments of the first aspect of this disclosure, the exoskeleton robot control circuit further includes a second power extension circuit, which is connected to the main control chip and supplies power to the main control chip. The output of the second power extension circuit is 3.3V.

[0014] The embodiments disclosed herein include at least the following beneficial effects: The exoskeleton robot control circuit includes a main control chip, a motor communication module, a chip power supply circuit, a voltage regulator circuit, and a first power expansion circuit. The motor communication module is integrated on a communication bus. After the communication bus is connected to the main control chip, it communicates with the main control chip, enabling real-time and efficient communication between the motor communication module and the main control chip. The main control chip is connected to the first power expansion circuit, which is connected to the voltage regulator circuit. After the voltage regulator circuit is connected to the chip power supply circuit, it supplies power to the main control chip, providing a continuous and stable voltage to the main control chip, thereby improving the control stability of the main control chip.

[0015] Other features and advantages of this disclosure will be set forth in the following description and will be apparent in part from the description or may be learned by practicing this disclosure. Attached Figure Description

[0016] The accompanying drawings are provided to further understand the technical solutions of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain the technical solutions of this disclosure and do not constitute a limitation on the technical solutions of this disclosure.

[0017] Figure 1 This is a schematic diagram of the overall structure of the exoskeleton robot control circuit provided in an embodiment of the present disclosure; Figure 2 This is a schematic diagram of an optional structure of the motor communication terminal block provided in an embodiment of the present disclosure; Figure 3 A schematic diagram of an optional structure of a communication transceiver provided in an embodiment of this disclosure; Figure 4This is a schematic diagram of an optional structure of the communication connector provided in an embodiment of the present disclosure; Figure 5 A schematic diagram of an optional structure of the power extension circuit provided in an embodiment of this disclosure; Figure 6 A schematic diagram of an optional structure of the motor power supply circuit and motor power supply terminals provided in an embodiment of this disclosure; Figure 7 Another optional schematic diagram of the power extension circuit provided in the embodiments of this disclosure. Detailed Implementation

[0018] This section will describe in detail specific embodiments of the present disclosure. Preferred embodiments of the present disclosure are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present disclosure, but they should not be construed as limiting the scope of protection of the present disclosure.

[0019] In the description of this disclosure, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0020] In the description of this disclosure, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. If the terms "first" and "second" are used, they are only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or implicitly indicating the order of the technical features indicated.

[0021] In the description of this disclosure, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this disclosure in conjunction with the specific content of the technical solution.

[0022] The embodiments of this disclosure will be further described below with reference to the accompanying drawings.

[0023] Reference Figure 1 , Figure 1This is a schematic diagram of the overall structure of the exoskeleton robot control circuit provided in an embodiment of this disclosure. The exoskeleton robot control circuit includes a main control chip, a motor communication module, a voltage regulator circuit, and a first power supply expansion circuit. The motor communication module is integrated on a communication bus, which, after being connected to the main control chip, enables the main control chip to communicate with the motor communication module. The main control chip is connected to the first power supply expansion circuit, which, after being connected to the voltage regulator circuit, supplies power to the main control chip.

[0024] It is understandable that the voltage regulator circuit itself cannot provide power; it is connected to an external power supply to power the main control chip.

[0025] In some embodiments, the main control chip is an STM32F407ZGT6, which supports multiple communication interfaces, enabling the main control chip to interact with external devices.

[0026] In some embodiments, the motor communication module includes a motor communication terminal block, a communication transceiver, and a communication connector. The communication transceiver is connected to the motor communication terminal block, the motor communication terminal block is connected to the communication bus, and the communication transceiver is connected to the motor communication terminal block to enable the communication transceiver to access the communication bus.

[0027] In some embodiments, the motor communication terminal block is a CAN terminal block, the communication transceiver is a CAN transceiver, and the communication bus is a CAN bus. (See reference...) Figure 2-3 , Figure 2 This is a schematic diagram of an optional structure of the motor communication terminal block provided in an embodiment of this disclosure. Figure 3 This is a schematic diagram of an optional structure of a communication transceiver provided in an embodiment of this disclosure.

[0028] In some embodiments, the communication connector is a GH 1.25 vertical surface mount connector, see reference. Figure 4 , Figure 4 This is a schematic diagram of an optional structure of a communication connector provided in an embodiment of this disclosure.

[0029] Based on this, combined Figure 2-4The integration of the electrode communication module is explained below. The communication connector includes CAN_H and CAN_L pins, the motor communication terminal block includes CAN_H and CAN_L pins, and the communication transceiver includes CAN_H and CAN_L pins. Similarly, the communication bus also includes CAN_H and CAN_L lines. The CAN_H pins of the communication connector, motor communication terminal block, and communication transceiver are connected to the CAN_H pins of the communication bus, and the CAN_L pins of the communication connector, motor communication terminal block, and communication transceiver are connected to the CAN_L pins of the communication bus, so that the communication connector, motor communication terminal block, and communication transceiver are all connected to the communication bus. Figure 3 As shown, the communication transceiver also includes a receive pin CAN_TXD and a transmit pin CAN_RXD. The receive pin is used to receive data sent by external devices, and the transmit pin is used to send data to the main control circuit. PAN12 and PAN11 are two pins of the main control chip. The receive pin CAN_TXD is connected to PAN12, and the transmit pin CAN_RXD is connected to PAN11, so that the communication transceiver can exchange data with the main control chip.

[0030] In some embodiments, the motor communication module further includes a communication terminating resistor, which is connected across the two ends of the communication bus. The communication terminating resistor is a metal oxide thin-film resistor with a resistance of 550Ω. The communication terminating resistor includes a CAN_H terminal and a CAN_L terminal. Connecting the CAN_H terminal to the CAN_H line of the communication bus and the CAN_L terminal to the CAN_L line of the communication bus, the communication terminating resistor is connected across the two ends of the communication bus, which can match the characteristic impedance of the communication bus and improve the anti-interference capability of the communication bus.

[0031] In some embodiments, refer to Figure 5 , Figure 5 This is a schematic diagram of an optional structure of the power expansion circuit provided in an embodiment of the present disclosure. The output of the first power expansion circuit is 5V, which can provide a stable 5V voltage to the main control chip.

[0032] In some embodiments, the exoskeleton robot control circuit further includes a motor power supply circuit and motor power supply terminals, such as... Figure 6 As shown, Figure 6 This is an optional structural diagram of the motor power supply circuit and motor power supply terminal provided in an embodiment of the present disclosure. Pin 1 of the motor power supply circuit is connected to pin 1 of the motor power supply terminal. It can be understood that pin 1 of the motor power supply terminal is also connected to the input terminal of the motor so that the motor power supply terminal supplies power to the motor after being connected to the motor.

[0033] It should be noted that the power supply circuit, consisting of the motor power supply circuit and the motor power supply terminals, is dedicated to supplying power to the motor. The motor power supply terminals are connected to the main control chip so that the main control chip can control the motor power supply circuit to supply power to the motor.

[0034] In some embodiments, the exoskeleton robot control circuit further includes a second power supply extension circuit, as shown in the figure. Figure 7 , Figure 7 This is another optional schematic diagram of the power expansion circuit provided in this embodiment of the present disclosure. The output of the second power expansion circuit is 3.3V. After being connected to the main control chip, the second power expansion circuit supplies power to the main control chip.

[0035] Understandably, the main control chip is connected to both the first power expansion circuit and the second power expansion circuit. The first power expansion circuit and the second power expansion circuit provide different voltage inputs, which can meet the power supply requirements of different modules or circuits, reduce the design of additional power conversion circuits, simplify the overall structure of the exoskeleton robot control circuit, and thus ensure the control stability of the exoskeleton robot control circuit.

[0036] It should be understood that the various implementation methods provided in this disclosure can be combined arbitrarily to achieve different technical effects. The above is a detailed description of the preferred embodiments of this disclosure. However, this disclosure is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this disclosure. All such equivalent modifications or substitutions are included within the scope defined by the claims of this disclosure.

Claims

1. A control circuit for an exoskeleton robot, characterized in that: It includes a main control chip, a motor communication module, a voltage regulator circuit, and a first power supply expansion circuit. The motor communication module is integrated on a communication bus. The communication bus is connected to the main control chip and communicates with the main control chip. The main control chip is connected to the first power supply expansion circuit. The first power supply expansion circuit is connected to the voltage regulator circuit and supplies power to the main control chip.

2. The exoskeleton robot control circuit according to claim 1, characterized in that, The motor communication module includes a motor communication terminal block, a communication transceiver, and a communication connector. The communication transceiver is connected to one pin of the motor communication terminal block, and the other pin of the motor communication terminal block is connected to the communication bus. The communication transceiver is also connected to the other pin of the motor communication terminal block so that the communication transceiver can access the communication bus.

3. The exoskeleton robot control circuit according to claim 2, characterized in that, The motor communication module also includes a communication terminal resistor, which is connected across the two ends of the communication bus.

4. The exoskeleton robot control circuit according to claim 2, characterized in that, The motor communication terminal is a CAN terminal, the communication transceiver is a CAN transceiver, and the communication bus is a CAN bus.

5. The exoskeleton robot control circuit according to claim 2, characterized in that, The communication connector is a GH1.25 vertical surface mount connector.

6. The exoskeleton robot control circuit according to claim 1, characterized in that, The main control chip is STM32F407ZGT6.

7. The exoskeleton robot control circuit according to claim 1, characterized in that, It also includes a motor power supply circuit and a motor power supply terminal block. The motor power supply circuit is connected to the motor power supply terminal block, and the motor power supply terminal block supplies power to the motor after being connected to the motor.

8. The exoskeleton robot control circuit according to claim 1, characterized in that, The output of the first power supply expansion circuit is 5V.

9. The exoskeleton robot control circuit according to claim 1, characterized in that, It also includes a second power expansion circuit, which is connected to the main control chip and supplies power to the main control chip. The output of the second power expansion circuit is 3.3V.

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