Mechanical arm power failure protection circuit, and robotic vacuum cleaner

Abstract

The present application relates to the technical field of motor control, and provides a mechanical arm power failure protection circuit and a robotic vacuum cleaner. The mechanical arm power failure protection circuit comprises a power supply module, a micro-control module, a relay, and a mechanical arm control module. When the power supply module supplies power, a control end of the relay is powered on to control a common end to be connected to a second connection end, and the micro-control module controls the power supply module to be connected to an input end of a motor. When the power supply module is powered off, the control end of the relay is de-energized, the common end is connected to a first connection end, the input end of the motor is connected to a ground end, and a loop current is formed in a motor coil to generate resistance so as to slow down the descent of the mechanical arm. In the present application, the automatic switching function of the relay is used to quickly switch a connection state of the motor when a power source is disconnected, and resistance is generated by means of the physical characteristics of the motor so as to slow down the descent of the mechanical arm; and the circuit has a simple structure, involves low costs, does not require a large installation space, can be applied to mechanical arms of various sizes and models, and has a wide range of application.

Description

Mechanical arm power failure protection circuit and sweeping robot

[0001] The present application claims priority to the Chinese patent application No. 202411252076.3, filed on September 6, 2024, and entitled "Mechanical arm power failure protection circuit and sweeping robot", the content of which is incorporated herein by reference in its entirety.

[0002] The present application claims priority to the Chinese patent application No. 202422195143.4, filed on September 6, 2024, and entitled "Mechanical arm power failure protection circuit and sweeping robot", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of motor control technology, in particular to a mechanical arm power failure protection circuit and a sweeping robot. BACKGROUND

[0004] In the process of working of a sweeping robot configured with a mechanical arm, when an abnormal power failure occurs, the mechanical arm and the load grasped by the mechanical arm without protective measures may suddenly fall, causing a safety hazard.

[0005] Traditional industrial and collaborative mechanical arms usually install an electromagnetic brake system, which uses an electromagnetic brake or an electromagnet to make the motor brake when a power failure occurs, thereby avoiding safety hazards. However, such an electromagnetic brake system has a high manufacturing cost and needs to occupy a large installation space, which is not suitable for installation on a mechanical arm with a large load capacity and a long arm span, and the range of applicable mechanical arms is limited. SUMMARY

[0006] In view of the above-mentioned deficiencies of the prior art, the present application provides a mechanical arm power failure protection circuit and a sweeping robot, which solves the technical problem of high manufacturing cost and large installation space of the electromagnetic brake system for braking the mechanical arm when the mechanical arm is powered off in the prior art.

[0007] In one aspect, the present application provides a mechanical arm power failure protection circuit, comprising a power supply module, a micro-control module, a relay and a mechanical arm control module, wherein the mechanical arm control module comprises a motor and a mechanical arm, and the motor is drivingly connected with the mechanical arm.

[0008] The relay comprises a control end, a common end, a first connection end and a second connection end, the power supply module is connected with the control end, the common end is connected with a ground end, the first connection end is connected with an input end of the motor, and the second connection end is connected with the power supply module.

[0009] The power supply module and the micro control module are connected with the input end of the motor respectively, and the micro control module is used for controlling the connection state between the power supply module and the input end of the motor;

[0010] When the power supply module supplies power, the control end of the relay is electrified to control the common end of the relay and the second connection end of the relay to be conductive, and the micro control module controls the power supply module to be connected with the input end of the motor, so that the motor drives the mechanical arm to work;

[0011] When the power supply module is powered off, the control end of the relay is de-energized, the common end of the relay and the first connection end of the relay are conductive, so that the input end of the motor is connected with the ground end, and the coil of the motor forms a loop current and generates resistance to slow down the mechanical arm.

[0012] Optionally, the relay is provided with an energizing coil;

[0013] The control end includes a first pin and an eighth pin, the first pin is connected with the positive pole of the energizing coil in the relay, and the eighth pin is connected with the negative pole of the energizing coil in the relay;

[0014] The first connection end includes a second pin and a seventh pin, the second pin and the seventh pin are connected with the input end of the motor respectively, and the seventh pin is also connected with the negative pole of a first bidirectional trigger diode, and the positive pole of the first bidirectional trigger diode is connected with the ground end;

[0015] The common end includes a third pin and a sixth pin, and the third pin and the sixth pin are connected with the ground end respectively;

[0016] The second connection end includes a fourth pin and a fifth pin, the power supply module is connected with the fourth pin through a first resistor, the fourth pin is connected with the negative pole of a second bidirectional trigger diode through a first signal register, the positive pole of the second bidirectional trigger diode is connected with the ground end, and the fifth pin is connected with the negative pole of the second bidirectional trigger diode;

[0017] When the power supply module supplies power, the energizing coil is electrified to make the third pin and the fourth pin conductive, the sixth pin and the fifth pin conductive, and the micro control module controls the first signal register to output a high level signal;

[0018] When the power supply module is powered off, the energizing coil is de-energized, the third pin and the second pin are conductive, and the sixth pin and the seventh pin are conductive.

[0019] Optionally, the first pin and the eighth pin are connected with the power supply module through a connection circuit, wherein the connection circuit comprises a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first diode, a second diode, a third diode, a first capacitor and a first NMOS tube.

[0020] The power supply module is connected with a negative electrode of the first diode, a positive electrode of the first diode is connected with a first end of the second resistor through the first capacitor, and the positive electrode of the first diode is also connected with the first end of the second resistor through the third resistor.

[0021] The power supply module is also connected with a positive electrode of the second diode, and a negative electrode of the second diode is connected with the first end of the second resistor through the fourth resistor.

[0022] The power supply module is also connected with a negative electrode of the third diode, and a positive electrode of the third diode is connected with a drain electrode of the first NMOS tube.

[0023] The power supply module is also connected with the first pin, and the eighth pin is connected with the drain electrode of the first NMOS tube.

[0024] The first end of the second resistor is connected with a ground terminal through the fifth resistor, a second end of the second resistor is connected with a gate electrode of the first NMOS tube, and a source electrode of the first NMOS tube is connected with the ground terminal.

[0025] Optionally, the mechanical arm power failure protection circuit further comprises an enable control circuit.

[0026] An enable control end of the micro control module is connected with the eighth pin through the enable control circuit, and the first pin is connected with the power supply module.

[0027] The micro control module controls a conduction state of the conduction coil through the enable control circuit, so as to control a connection state of the common terminal in the relay.

[0028] Optionally, the power supply module is connected with the first pin through a sixth resistor.

[0029] The enable control circuit further comprises a seventh resistor, an eighth resistor and a second NMOS tube, an enable control end of the micro control module is connected with a gate electrode of the second NMOS tube through the seventh resistor, the gate electrode of the second NMOS tube is also connected with a ground terminal through the eighth resistor, a source electrode of the second NMOS tube is connected with the ground terminal, and a drain electrode of the second NMOS tube is connected with the eighth pin.

[0030] Optionally, the mechanical arm power failure protection circuit further comprises a PMOS tube.

[0031] The power supply module is connected with the source of the PMOS tube, the micro-control module is connected with the gate of the PMOS tube, and the drain of the PMOS tube is connected with the mechanical arm control module;

[0032] The micro-control module controls the on-off of the PMOS tube based on the power supply state of the power supply module, so as to control the connection state between the power supply module and the mechanical arm control module.

[0033] Optionally, the circuit further comprises a third NMOS tube, a fourth NMOS tube, a fifth NMOS tube, a PNP type transistor and a second signal register;

[0034] The micro-control module is connected with the gate of the third NMOS tube, the source of the third NMOS tube is connected with the ground terminal, and the drain of the third NMOS tube is connected with the base of the PNP type transistor;

[0035] The emitter of the PNP type transistor is connected with the power supply, and the collector of the PNP type transistor is connected with the gate of the fifth NMOS tube;

[0036] The second signal register is connected with the gate of the fourth NMOS tube, the source of the fourth NMOS tube is connected with the ground terminal, and the drain of the fourth NMOS tube is connected with the gate of the fifth NMOS tube;

[0037] The source of the fifth NMOS tube is connected with the ground terminal, and the drain of the fifth NMOS tube is connected with the gate of the PMOS tube;

[0038] When the power supply module supplies power, the third NMOS tube and the PNP type transistor are turned on, the micro-control module controls the second signal register to send a high-level signal, so that the fourth NMOS tube, the fifth NMOS tube and the PMOS tube are turned on, and the power supply module is connected with the input end of the motor.

[0039] Optionally, the mechanical arm control module further comprises a speed reducer;

[0040] The output end of the motor is connected with the mechanical arm through the speed reducer;

[0041] When the power supply module is powered off, the speed reducer is used to amplify the resistance generated by the coil of the motor based on the loop current to slow down the mechanical arm.

[0042] Optionally, a communication unit is arranged on the motor, and the communication unit is provided with a first port, a second port, a third port and a fourth port;

[0043] The first port is connected with the power supply module, the second port is connected with a ground terminal, and the third port and the fourth port are respectively used for connecting RS485 signal lines to be connected with external equipment.

[0044] Another aspect of the present application provides a sweeping robot comprising the mechanical arm power failure protection circuit.

[0045] The mechanical arm power failure protection circuit and the sweeping robot provided by the present application realize switching of the connection state of the motor under different power supply states through the relay, when the power supply module normally supplies power, the power supply module cooperates with the micro control module to supply power to the motor in the mechanical arm control module, so as to drive the mechanical arm to normally work, and when the power supply module is unexpectedly powered off, the control end of the relay loses voltage, so that the common end of the relay is connected with the first connection end, causing the input end of the motor to be directly connected with the ground terminal, the input end of the motor is short-circuited to form a loop, at this time, the motor can be regarded as a generator, the coil of the motor is subjected to a reversed ampere force due to the back electromotive force of the loop current, the ampere force is equivalent to a resistance, and the resistance continuously increases with the increasing of the rotating speed of the motor, thereby hindering the falling speed of the mechanical arm, so that the mechanical arm can only slowly fall, reducing the risk of the rapid falling of the mechanical arm caused by the unexpected power off, and improving the safety. The mechanical arm power failure protection circuit provided by the present application utilizes the automatic switching function of the relay, can rapidly switch the connection state of the motor when the power supply is disconnected, utilizes the physical characteristics of the motor itself to generate resistance, and slows down the mechanical arm, the circuit structure is simple, the cost is low, does not need to occupy a large installation space, can be applied to mechanical arms of various sizes and models, and has a relatively wide application range.

[0046] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and achieved by the structure particularly pointed out in the written description, claims, and drawings.

[0047] The technical solutions of the present application will be further described in detail below with the aid of the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0048] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, which together with the embodiments of the present application, serve to explain the present application, and do not constitute a limitation to the present application. In the drawings:

[0049] Fig. 1 is a schematic diagram of the overall structure of the mechanical arm power failure protection circuit in one embodiment provided by the present application;

[0050] Fig. 2 is a schematic diagram of the overall structure of the mechanical arm power failure protection circuit provided with an enable control circuit in one embodiment provided by the present application;

[0051] Fig. 3 is a circuit structure diagram of the connection circuit of the mechanical arm power failure protection circuit and the relay in one embodiment provided by the present application;

[0052] Fig. 4 is a circuit structure diagram of the mechanical arm power failure protection circuit provided with an enable control circuit in one embodiment provided by the present application;

[0053] Fig. 5 is a circuit structure diagram of the power supply module, the micro control module and the mechanical arm control module in the mechanical arm power failure protection circuit in one embodiment provided by the present application;

[0054] Fig. 6 is a circuit structure diagram of the communication unit of the motor in the mechanical arm power failure protection circuit in one embodiment provided by the present application.

[0055] In the figures:

[0056] Q1, first NMOS tube; Q2, second NMOS tube; Q3, third NMOS tube; Q4, fourth NMOS tube; Q5, fifth NMOS tube; Q6, PNP type triode; Q7, PMOS tube;

[0057] D1, first bidirectional trigger diode; D2, second bidirectional trigger diode; D3, first diode; D4, second diode; D5, third diode;

[0058] C1, first capacitor; C2, second capacitor; C3, third capacitor; C4, fourth capacitor; C5, fifth capacitor; C6, sixth capacitor;

[0059] R1, first resistor; R2, second resistor; R3, third resistor; R4, fourth resistor; R5, fifth resistor; R6, sixth resistor; R7, seventh resistor; R8, eighth resistor; R9, ninth resistor; R10, tenth resistor; R11, eleventh resistor; R12, twelfth resistor; R13, thirteenth resistor; R14, fourteenth resistor; R15, fifteenth resistor; R16, sixteenth resistor; R17, seventeenth resistor; R18, eighteenth resistor; R19, nineteenth resistor;

[0060] MCU, micro control module; MECH_EN, enable control end; GND, ground end;

[0061] VBAT, power supply voltage; VBAT_IN, power supply port; V_MECH_POWER, input end of the motor; VCC_3.3V, power supply;

[0062] KA1, relay; F1, fuse;

[0063] RE_LOCK1, first signal register; RE_LOCK2, second signal register;

[0064] H1, communication unit; A, signal line A; B, signal line B. DETAILED DESCRIPTION

[0065] In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0066] In addition, the terms "first", "second" are only for descriptive purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0067] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0068] The mechanical arm power failure protection circuit provided in the application can realize the switching of the connection state of the motor under different power supply states through the relay, when the power supply module normally supplies power, the power supply module cooperates with the micro control module to supply power to the motor in the mechanical arm control module, so as to drive the mechanical arm to normally work, and when the power supply module is accidentally powered off, the control end of the relay loses voltage, the common end of the relay is connected with the first connection end, the input end of the motor is directly connected with the ground end, the input end of the motor is short-circuited to form a loop, at this time, the motor can be regarded as a generator, the coil of the motor forms a loop current due to the counter electromotive force and is subjected to an inverse ampere force, this ampere force is equivalent to a resistance, and the resistance continuously increases with the increase of the rotating speed of the motor, thereby hindering the falling speed of the mechanical arm, so that the mechanical arm can only slowly fall, the risk of the rapid falling of the mechanical arm caused by the accidental power failure is reduced, and the safety is improved. The mechanical arm power failure protection circuit provided in the application utilizes the automatic switching function of the relay, can rapidly switch the connection state of the motor when the power supply is disconnected, utilizes the physical characteristics of the motor itself to generate resistance and slow down the falling of the mechanical arm, has a simple circuit structure and low cost, does not need to occupy a large installation space, can be applied to mechanical arms of various sizes and models, and has a relatively wide application range.

[0069] The mechanical arm power failure protection circuit provided in the application can realize the switching of the connection state of the motor under different power supply states through the relay, when the power supply module normally supplies power, the power supply module cooperates with the micro control module to supply power to the motor in the mechanical arm control module, so as to drive the mechanical arm to normally work, and when the power supply module is accidentally powered off, the control end of the relay loses voltage, the common end of the relay is connected with the first connection end, the input end of the motor is directly connected with the ground end, the input end of the motor is short-circuited to form a loop, at this time, the motor can be regarded as a generator, the coil of the motor forms a loop current due to the counter electromotive force and is subjected to an inverse ampere force, this ampere force is equivalent to a resistance, and the resistance continuously increases with the increase of the rotating speed of the motor, thereby hindering the falling speed of the mechanical arm, so that the mechanical arm can only slowly fall, the risk of the rapid falling of the mechanical arm caused by the accidental power failure is reduced, and the safety is improved. The mechanical arm power failure protection circuit provided in the application utilizes the automatic switching function of the relay, can rapidly switch the connection state of the motor when the power supply is disconnected, utilizes the physical characteristics of the motor itself to generate resistance and slow down the falling of the mechanical arm, has a simple circuit structure and low cost, does not need to occupy a large installation space, can be applied to mechanical arms of various sizes and models, and has a relatively wide application range.

[0070] The motor in the mechanical arm control module is a brushless motor, specifically, an electronic commutator is adopted to replace the traditional mechanical commutator, and compared with the brush motor, the brushless motor eliminates the friction loss between the carbon brush and the commutator, has higher efficiency, lower energy consumption and longer service life; and the brushless motor does not need to replace the carbon brush regularly, thereby reducing the maintenance workload; meanwhile, the commutation of the brushless motor is completed by the electronic controller, so that faster response time and higher precision can be realized.

[0071] Specifically, in the above embodiment, as shown in FIG. 3, the relay KA1 is provided with a power-on coil; the control end includes a first pin and an eighth pin, the first pin is connected with the positive pole of the power-on coil in the relay KA1, and the eighth pin is connected with the negative pole of the power-on coil in the relay KA1; the first connection end includes a second pin and a seventh pin, the second pin and the seventh pin are respectively connected with the input end V_MECH_POWER of the motor, and the seventh pin is further connected with the negative pole of the first bidirectional trigger diode D1, and the positive pole of the first bidirectional trigger diode D1 is connected with the ground end; the common end includes a third pin and a sixth pin, the third pin and the sixth pin are respectively connected with the ground end; the second connection end includes a fourth pin and a fifth pin, the fourth pin is connected with the second bidirectional trigger diode D2 through the first signal register RE_LOCK1, the second bidirectional trigger diode D2 is connected with the ground end, and the fifth pin is connected with the negative pole of the second bidirectional trigger diode D2; when the power supply module is powered, the power-on coil is powered on to make the third pin and the fourth pin conductive, the sixth pin and the fifth pin conductive, and the micro control module MCU controls the first signal register RE_LOCK1 to output a high level signal; when the power supply module is powered off, the power-on coil is powered off, the third pin and the second pin are conductive, and the sixth pin and the seventh pin are conductive.

[0072] In the embodiment, the specific structure of the relay KA1 is provided, in the relay KA1, the first pin and the eighth pin of the control end are connected with the power-on coil, the power-on coil is usually controlled by applying voltage, that is, when appropriate voltage is applied to both ends of the power-on coil, the current in the coil will generate a magnetic field, and the magnetic field will further attract or repel the contact to move; specifically, in the present application, the control end is connected with the power supply module, when the power supply module is normally powered, the power-on coil obtains voltage to generate a magnetic field, the third pin of the common end of the relay KA1 and the fourth pin of the second connection end are conductive, the sixth pin of the common end and the fifth pin of the second connection end are conductive, at this time, the micro control module MCU controls the first signal register RE_LOCK1 to output a high level signal, and the power supply module directly supplies power to the motor, so that the motor drives the mechanical arm to work normally; when the power supply module is accidentally powered off, the power-on coil loses voltage, at this time, the third pin of the common end of the relay KA1 and the second pin of the first connection end are conductive, the sixth pin of the common end and the seventh pin of the first connection end are conductive, at this time, the input end V_MECH_POWER of the motor is directly connected with the ground end, so that the coil of the motor forms a loop current and generates resistance to slow down the mechanical arm.

[0073] The first bidirectional trigger diode D1 and the second bidirectional trigger diode D2 are used for limiting voltage spikes and protecting the circuit from reverse voltage, play a clamping role during power transient fluctuations, and prevent other components from being damaged by excessive voltage.

[0074] Further, the first pin and the eighth pin are connected with the power supply module through the connection circuit, wherein the connection circuit comprises a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first diode D3, a second diode D4, a third diode D5, a first capacitor C1 and a first NMOS tube Q1; the power supply module is connected with the negative electrode of the first diode D3, the positive electrode of the first diode D3 is connected with the first end of the second resistor R2 through the first capacitor C1, and the positive electrode of the first diode D3 is also connected with the first end of the second resistor R2 through the third resistor R3; the power supply module is also connected with the positive electrode of the second diode D4, and the negative electrode of the second diode D4 is connected with the first end of the second resistor R2 through the fourth resistor R4; the power supply module is also connected with the negative electrode of the third diode D5, and the positive electrode of the third diode D5 is connected with the drain of the first NMOS tube Q1; the power supply module is also connected with the first pin, and the eighth pin is connected with the drain of the first NMOS tube Q1; the first end of the second resistor R2 is connected with the ground through the fifth resistor R5, the second end of the second resistor R2 is connected with the gate of the first NMOS tube Q1, and the source of the first NMOS tube Q1 is connected with the ground.

[0075] In the embodiment, the overall structure of the connection circuit is specifically given, wherein the first NMOS tube Q1 plays a role of a switch in the connection circuit, and by controlling the current of the energizing coil in the relay KA1, the connection state of the common terminal in the relay KA1 is affected, that is, when the power supply module normally supplies power, the gate of the first NMOS tube Q1 receives a high level and is turned on, allowing the current to flow through the source and the drain, thereby supplying power to the energizing coil; the first capacitor C1 is used to filter high-frequency noise in the power supply, provide a smooth power supply voltage, and also absorb instantaneous pulse current in the circuit, thereby improving the power supply quality; the first diode D3 is used as a rectifier diode to realize voltage conversion, and the second diode D4 and the third diode D5 are both voltage stabilizing diodes, and the other resistors in the circuit all play a role of current limiting; the connection circuit is provided in the application, which realizes the functions of power management and protection, and improves the safety and stability of the overall circuit.

[0076] Specifically, in the above embodiment, as shown in FIG. 2 and FIG. 4, the mechanical arm power failure protection circuit further comprises an enable control circuit; the enable control end MECH_EN of the micro control module MCU is connected with the eighth pin through the enable control circuit, and the first pin is connected with the power supply module; the micro control module MCU controls the energization state of the energization coil through the enable control circuit to control the connection state of the common end in the relay KA1.

[0077] In the present embodiment, the relay KA1 realizes the switching of the connection state of the common end based on the power supply state of the power supply module, that is, short-circuiting the connection end of the motor in the case of accidental power failure, and slowing down the falling speed of the mechanical arm by generating resistance, while in another embodiment, the active switching control of the relay KA1 is realized by introducing the enable control circuit, specifically, the enable control end MECH_EN of the micro control module MCU is directly connected with the eighth pin through the enable control, and through the enable control circuit, the micro control module MCU can decide when to start or stop the work of the relay KA1 according to the program logic, for example, in the case of emergency shutdown of the mechanical arm under certain conditions, the micro control module MCU is used to disconnect the energization coil, which can also realize the slow landing of the mechanical arm without waiting for the accidental power failure of the power supply module, realize active control, and the use of the micro control module MCU for control can accurately control the on-off time of the relay KA1, realize more fine operation control, and adjust the working state of the relay KA1 according to the actual situation, adapt to the needs of different application scenarios, on the basis of ensuring the safety of the mechanical arm falling, enhance the flexibility and controllability of the circuit.

[0078] Further, the power supply module is connected with the first pin through the sixth resistor; the enable control circuit further comprises a seventh resistor R7, an eighth resistor R8 and a second NMOS tube Q2, the enable control end of the micro control module MCU is connected with the gate of the second NMOS tube Q2 through the seventh resistor R7, the gate of the second NMOS tube Q2 is also connected with the ground end through the eighth resistor R8, the source of the second NMOS tube Q2 is connected with the ground end, and the drain of the second NMOS tube Q2 is connected with the eighth pin.

[0079] In the embodiment, the enable control circuit specifically comprises a seventh resistor R7, an eighth resistor R8 and a second NMOS tube Q2, wherein the seventh resistor R7 is located between the enable control end MECH_EN of the micro control module MCU and the gate of the second NMOS tube Q2, when the enable control end MECH_EN outputs high level, the current flows through the seventh resistor R7 to the gate of the second NMOS tube Q2, so that the second NMOS tube Q2 is turned on; the eighth resistor R8 is located between the gate of the second NMOS tube Q2 and the ground end, and functions as a current limiter to limit the current flowing through the second NMOS tube Q2 and protect the second NMOS tube Q2 from being impacted by excessive current. Specifically, the working principle of the enable control circuit is that, when the enable control end MECH_EN of the micro control module MCU outputs high level, the current flows through the seventh resistor R7, so that the gate of the second NMOS tube Q2 is high level, the second NMOS tube Q2 is turned on, the energizing coil of the relay KA1 is powered, the contact of the relay KA1 is in the normal working state, and the motor drives the mechanical arm to work normally; when the enable control end MECH_EN of the micro control module MCU outputs low level, the gate of the second NMOS tube Q2 is low level, and the second NMOS tube Q2 is cut off, at this time, the energizing coil of the relay KA1 cannot be powered, and the input end V_MECH_POWER of the motor is short-circuited, so that the resistance is generated to slow down the descent of the mechanical arm. It can be seen that, the present application controls the conduction and cut-off of the second NMOS tube Q2 by outputting high and low levels of the enable control end MECH_EN of the micro control module MCU, and indirectly controls the working state of the relay KA1.

[0080] Specifically, in the above embodiment, as shown in FIG. 5, the mechanical arm power-off protection circuit further comprises a PMOS tube Q7; the power supply module is connected with the source of the PMOS tube Q7, the micro control module MCU is connected with the gate of the PMOS tube Q7, and the drain of the PMOS tube Q7 is connected with the mechanical arm control module; the micro control module MCU controls the on-off of the PMOS tube Q7 based on the power supply state of the power supply module, so as to control the connection state between the power supply module and the mechanical arm control module.

[0081] In the embodiment, the micro control module MCU is connected between the power supply module and the mechanical arm control module, used for controlling the connection state between the power supply module and the mechanical arm control module, which can be realized by setting a PMOS tube Q7. Specifically, the micro control module MCU can directly control the on-off of the PMOS tube Q7, so as to accurately control the power supply of the mechanical arm control module, and then the operation of the mechanical arm can be started or stopped according to the needs, improving the flexibility and controllability of the operation. When the micro control module MCU outputs a high level, the PMOS tube Q7 is turned on, and in the power supply state of the power supply module, the power supply module can directly supply power to the motor. When the micro control module MCU outputs a low level, the PMOS tube Q7 is cut off, and even if the power supply module normally supplies power, the micro control module MCU also realizes the power-off function of the motor. The application selects the PMOS tube Q7, which can quickly respond to the instructions of the micro control module MCU, realize fast power switching, and the PMOS tube Q7 can provide certain isolation protection to prevent abnormal conditions in the power supply loop from affecting the micro control module MCU or other components. Selecting the PMOS tube Q7 can enhance the control ability of the circuit, improve efficiency and safety, and also simplify the circuit design, which is convenient for integration into complex systems.

[0082] Further, the mechanical arm power failure protection circuit further comprises a third NMOS tube Q3, a fourth NMOS tube Q4, a fifth NMOS tube Q5, a PNP type transistor Q6 and a second signal register RE_LOCK2; the micro control module MCU is connected with the gate of the third NMOS tube Q3, the source of the third NMOS tube Q3 is connected with the ground terminal, and the drain of the third NMOS tube Q3 is connected with the base of the PNP type transistor Q6; the emitter of the PNP type transistor Q6 is connected with the power supply, and the collector of the PNP type transistor Q6 is connected with the gate of the fifth NMOS tube Q5; the second signal register RE_LOCK2 is connected with the gate of the fourth NMOS tube Q4, the source of the fourth NMOS tube Q4 is connected with the ground terminal, and the drain of the fourth NMOS tube Q4 is connected with the gate of the fifth NMOS tube Q5; the source of the fifth NMOS tube Q5 is connected with the ground terminal, and the drain of the fifth NMOS tube Q5 is connected with the gate of the PMOS tube Q7; when the power supply module supplies power, the third NMOS tube Q3 and the PNP type transistor Q6 are turned on, the micro control module MCU controls the second signal register RE_LOCK2 to output a high level signal, so that the fourth NMOS tube Q4, the fifth NMOS tube Q5 and the PMOS tube Q7 are turned on, and the power supply module is connected with the input end V_MECH_POWER of the motor.

[0083] In the embodiment, a plurality of transistors are further arranged between the micro-control module MCU and the gate of the PMOS transistor Q7 to realize the control function of the micro-control module MCU. As shown in FIG. 5, the micro-control module MCU is connected with the gate of the third NMOS transistor Q3 through the ninth resistor R9, the source of the third NMOS transistor Q3 is connected with the ground terminal, the tenth resistor R10 is connected in parallel between the source of the third NMOS transistor Q3 and the gate of the third NMOS transistor Q3, the drain of the third NMOS transistor Q3 is connected with the base of the PNP transistor Q6 through the eleventh resistor R11, meanwhile, a 3.3V power supply VCC_3.3V is connected with the emitter of the PNP transistor Q6 through the thirteenth resistor R13, the 3.3V power supply VCC_3.3V is also connected with the base of the PNP transistor Q6 through the twelfth resistor R12, the 3.3V power supply VCC_3.3V is connected with the ground terminal through the sixth capacitor C6, the collector of the PNP transistor Q6 is connected with the gate of the fifth NMOS transistor Q5 through the fourteenth resistor R14, the second signal register RE_LOCK2 is connected with the gate of the fourth NMOS transistor Q4 through the fifteenth resistor R15, the source of the fourth NMOS transistor Q4 is connected with the ground terminal, meanwhile, the sixteenth resistor R16 is connected in parallel between the gate of the fourth NMOS transistor Q4 and the source of the fourth NMOS transistor Q4, the drain of the fourth NMOS transistor Q4 is also connected with the gate of the fifth NMOS transistor Q5, the source of the fifth NMOS transistor Q5 is connected with the ground terminal, the seventeenth resistor R17 is connected in parallel between the gate of the fifth NMOS transistor Q5 and the source of the fifth NMOS transistor Q5, meanwhile, the drain of the fifth NMOS transistor Q5 is connected with the gate of the PMOS transistor Q7 through the nineteenth resistor R19, the eighteenth resistor R18 is connected in parallel between the source of the PMOS transistor Q7 and the gate of the PMOS transistor Q7; the power supply module can also be split, which can be divided into a power supply voltage VBAT and a power supply port VBAT_IN, the power supply voltage VBAT is connected with the power supply port VBAT_IN through the fuse F1, the power supply port VBAT_IN is connected with the source of the PMOS transistor Q7, meanwhile, the power supply port VBAT_IN is also connected with the ground terminal through the fourth capacitor C4 and the fifth capacitor C5, the drain of the PMOS transistor Q7 is connected with the input end V_MECH_POWER of the motor in the mechanical arm control module, the input end V_MECH_POWER of the motor is also connected with the ground terminal through the second capacitor C2 and the third capacitor C3.

[0084] In combination with FIG. 5, the working principle of the micro-control module MCU controlling the connection state between the power supply module and the mechanical arm control module through the PMOS tube is as follows: the micro-control module MCU outputs a high level, so that the third MOS tube Q3 and the PNP type triode Q6 are both in the conducting state, and at this time the second signal register RE_LOCK2 also outputs a high level, so that the fourth NMOS tube Q4 is in the conducting state, and similarly, the fifth NMOS tube Q5 is also in the conducting state, outputting a high level to the gate of the PMOS tube Q7, so that the PMOS tube Q7 is also in the conducting state, thereby enabling the power supply module to directly supply power to the input end V_MECH_POWER of the motor in the mechanical arm control module. The twelfth resistor R12 and the thirteenth resistor R13 constitute a voltage dividing circuit; each capacitor in the figure is used for filtering processing to remove high-frequency noise in the power supply and improve the quality of the power supply; the fuse F1 is used to protect the circuit from overcurrent, and the tenth resistor R10 connected in parallel between the source and gate of the third NMOS tube Q3, the sixteenth resistor R16 connected in parallel between the source and gate of the fourth NMOS tube Q4, the seventeenth resistor R17 connected in parallel between the source and gate of the fourth NMOS tube Q4, and the eighteenth resistor R18 connected in parallel between the source and gate of the PMOS tube Q7 can reduce the static power consumption of the field effect tube and play a protection role.

[0085] Specifically, in the above embodiment, the mechanical arm control module further comprises a speed reducer; the output end of the motor is connected with the mechanical arm through the speed reducer; when the power supply module is powered off, the speed reducer is used to amplify the resistance of the coil of the motor based on the loop current to slow down the mechanical arm.

[0086] In this embodiment, a speed reducer is further connected between the motor and the mechanical arm, which is used to increase the torque and reduce the speed. In the case of power supply module power-off, the coil in the motor is subjected to a reverse resistance due to the loop current formed by the counter electromotive force, and the resistance becomes larger as the motor speed becomes faster. The speed reducer can amplify the resistance, thereby further hindering the falling speed of the mechanical arm and improving the safety of the mechanical arm falling.

[0087] Specifically, in the above embodiment, as shown in FIG. 6, a communication unit H1 is arranged on the motor, and the communication unit H1 is provided with a first port, a second port, a third port and a fourth port; the first port is connected with the power supply module, the second port is connected with the ground, and the third port and the fourth port are respectively used to connect the RS485 signal line to communicate with the external equipment.

[0088] In the embodiment, the motor is further configured with a communication unit H1, which is specifically an RS485 communication unit, wherein a first port of the communication unit H1 is an input end V_MECH_POWER of the motor, used for connecting with the power supply module to receive power supply of the power supply module, a second port is used for connecting with a ground end, and third and fourth ports are used for connecting signal lines A and B in the RS485 communication protocol to perform bidirectional communication and allow data exchange between the motor and external equipment, and the communication unit H1 is used to provide power supply of the power supply module to the motor and simultaneously realize RS485 communication.

[0089] Another aspect of the present application provides a sweeping robot comprising the mechanical arm power failure protection circuit.

[0090] The sweeping robot provided by the present application is equipped with the mechanical arm power failure protection circuit, so that the mechanical arm slowly descends instead of suddenly falling even if the power supply is interrupted, reducing the damage risk to the robot itself and the surrounding environment, and the slow descent of the mechanical arm can reduce the impact and reduce damage to the mechanical arm itself and other components; from the user's use experience, the user does not need to worry about the mechanical arm out of control due to power failure, improving the reliability and safety of the product; meanwhile, the micro-control module can be set to control the state of the relay according to the use needs, thereby realizing start-stop control of the mechanical arm and further improving the work efficiency.

[0091] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A robot arm power down protection circuit, wherein, The power supply module, the micro-control module, the relay and the mechanical arm control module are included, wherein the mechanical arm control module includes a motor and a mechanical arm, and the motor is in driving connection with the mechanical arm; The relay includes a control end, a common end, a first connection end and a second connection end, the power supply module is connected with the control end, the common end is connected with a ground end, the first connection end is connected with an input end of the motor, and the second connection end is connected with the power supply module; The power supply module and the micro-control module are respectively connected with the input end of the motor, and the micro-control module is used for controlling the connection state between the power supply module and the input end of the motor; When the power supply module supplies power, the control end of the relay is electrified to control the common end of the relay and the second connection end of the relay to be conductive, the micro-control module controls the power supply module to be connected with the input end of the motor, so that the motor drives the mechanical arm to work; When the power supply module is powered off, the control end of the relay is powered off, the common end of the relay and the first connection end of the relay are conductive, so that the input end of the motor is connected with the ground end, the coil of the motor forms a loop current and generates resistance to slow down the mechanical arm.

2. The robotic arm power down protection circuit of claim 1, wherein, The relay is provided with a power-on coil; The control end includes a first pin and an eighth pin, the first pin is connected with the positive pole of the power-on coil in the relay, and the eighth pin is connected with the negative pole of the power-on coil in the relay; The first connection end includes a second pin and a seventh pin, the second pin and the seventh pin are respectively connected with the input end of the motor, and the seventh pin is also connected with the negative pole of a first bidirectional trigger diode, the positive pole of the first bidirectional trigger diode is connected with the ground end; The common end includes a third pin and a sixth pin, the third pin and the sixth pin are respectively connected with the ground end; The second connection end includes a fourth pin and a fifth pin, the power supply module is connected with the fourth pin through a first resistor, the fourth pin is connected with the negative pole of a second bidirectional trigger diode through a first signal register, the positive pole of the second bidirectional trigger diode is connected with the ground end, and the fifth pin is connected with the negative pole of the second bidirectional trigger diode; When the power supply module supplies power, the power-on coil is electrified to make the third pin and the fourth pin conductive, the sixth pin and the fifth pin conductive, and the micro-control module controls the first signal register to output a high-level signal; When the power supply module is powered off, the power-on coil is powered off, the third pin and the second pin are conductive, and the sixth pin and the seventh pin are conductive.

3. The robotic arm power down protection circuit of claim 2, wherein, The first pin and the eighth pin are respectively connected with the power supply module through a connection circuit, wherein the connection circuit includes a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first diode, a second diode, a third diode, a first capacitor and a first NMOS tube. The power supply module is connected with the negative electrode of the first diode, the positive electrode of the first diode is connected with the first end of the second resistor through the first capacitor, and the positive electrode of the first diode is also connected with the first end of the second resistor through the third resistor; The power supply module is also connected with the positive electrode of the second diode, and the negative electrode of the second diode is connected with the first end of the second resistor through the fourth resistor; The power supply module is also connected with the negative electrode of the third diode, and the positive electrode of the third diode is connected with the drain electrode of the first NMOS tube; The power supply module is also connected with the first pin, and the eighth pin is connected with the drain electrode of the first NMOS tube; The first end of the second resistor is connected with the ground terminal through the fifth resistor, the second end of the second resistor is connected with the gate electrode of the first NMOS tube, and the source electrode of the first NMOS tube is connected with the ground terminal.

4. The robotic arm power down protection circuit of claim 2, wherein, The mechanical arm power failure protection circuit further comprises an enable control circuit; The enable control end of the micro control module is connected with the eighth pin through the enable control circuit, and the first pin is connected with the power supply module; The micro control module controls the energization state of the energized coil through the enable control circuit to control the connection state of the common terminal in the relay.

5. The robotic arm power down protection circuit of claim 4, wherein, The power supply module is connected with the first pin through the sixth resistor; The enable control circuit further comprises a seventh resistor, an eighth resistor and a second NMOS tube, the enable control end of the micro control module is connected with the gate electrode of the second NMOS tube through the seventh resistor, the gate electrode of the second NMOS tube is also connected with the ground terminal through the eighth resistor, the source electrode of the second NMOS tube is connected with the ground terminal, and the drain electrode of the second NMOS tube is connected with the eighth pin.

6. The robotic arm power down protection circuit of claim 1, wherein, The mechanical arm power failure protection circuit further comprises a PMOS tube; The power supply module is connected with the source electrode of the PMOS tube, the micro control module is connected with the gate electrode of the PMOS tube, and the drain electrode of the PMOS tube is connected with the mechanical arm control module; The micro control module controls the on-off of the PMOS tube based on the power supply state of the power supply module to control the connection state between the power supply module and the mechanical arm control module.

7. The robotic arm power down protection circuit of claim 6, wherein, The mechanical arm power failure protection circuit further comprises a third NMOS tube, a fourth NMOS tube, a fifth NMOS tube, a PNP type transistor and a second signal register; The micro control module is connected with the gate electrode of the third NMOS tube, the source electrode of the third NMOS tube is connected with the ground terminal, and the drain electrode of the third NMOS tube is connected with the base electrode of the PNP type transistor; The emitter electrode of the PNP type transistor is connected with the power supply, and the collector electrode of the PNP type transistor is connected with the gate electrode of the fifth NMOS tube; The second signal register is connected with the gate electrode of the fourth NMOS tube, the source electrode of the fourth NMOS tube is connected with the ground terminal, and the drain electrode of the fourth NMOS tube is connected with the gate electrode of the fifth NMOS tube; The source of the fifth NMOS tube is connected with the ground terminal, and the drain of the fifth NMOS tube is connected with the gate of the PMOS tube; When the power supply module supplies power, the third NMOS tube and the PNP type triode are turned on, the micro control module controls the second signal register to send a high level signal, so that the fourth NMOS tube, the fifth NMOS tube and the PMOS tube are turned on, and the power supply module is connected with the input terminal of the motor.

8. The robotic arm power down protection circuit of claim 1, wherein, The mechanical arm control module further comprises a reducer; The output terminal of the motor is connected with the mechanical arm through the reducer; When the power supply module is powered off, the reducer is used for amplifying the resistance generated by the coil of the motor based on the loop current to slow down the mechanical arm.

9. The robotic arm power down protection circuit of claim 1 or 8, wherein, A communication unit is arranged on the motor, and a first port, a second port, a third port and a fourth port are arranged on the communication unit; The first port is connected with the power supply module, the second port is connected with the ground terminal, and the third port and the fourth port are respectively used for connecting RS485 signal lines to communicate with external equipment.

10. A robot vacuum cleaner wherein, The mechanical arm power failure protection circuit comprises the mechanical arm power failure protection circuit according to any one of claims 1-9.

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