CN111668810A - Power supply control circuit and robot - Google Patents
Power supply control circuit and robot Download PDFInfo
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- CN111668810A CN111668810A CN202010380825.6A CN202010380825A CN111668810A CN 111668810 A CN111668810 A CN 111668810A CN 202010380825 A CN202010380825 A CN 202010380825A CN 111668810 A CN111668810 A CN 111668810A
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- 210000004247 hand Anatomy 0.000 description 4
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H5/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal non-electric working conditions with or without subsequent reconnection
- H02H5/10—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal non-electric working conditions with or without subsequent reconnection responsive to mechanical injury, e.g. rupture of line, breakage of earth connection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H1/00—Details of emergency protective circuit arrangements
- H02H1/0007—Details of emergency protective circuit arrangements concerning the detecting means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H11/00—Emergency protective circuit arrangements for preventing the switching-on in case an undesired electric working condition might result
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H5/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal non-electric working conditions with or without subsequent reconnection
- H02H5/12—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal non-electric working conditions with or without subsequent reconnection responsive to undesired approach to, or touching of, live parts by living beings
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Abstract
A power supply control circuit and a robot transmit a power supply voltage signal output by a front-stage circuit through a first interface component and a second interface component so as to supply power to a rear-stage circuit; the connection detection circuit detects the connection state of the preceding stage circuit and the subsequent stage circuit according to the first direct current to generate a connection detection signal; the power switch control circuit generates a power switch control signal according to the connection detection signal; the power supply switch circuit is switched off or switched on according to the power supply switch control signal so as to control the output of the power supply voltage signal; thereby when realizing back stage circuit and preceding stage circuit separation, can be automatic, timely effectual disconnection preceding stage circuit to the power supply of back stage circuit, avoid the mistake to touch naked electric interface and electrically conductive danger to after back stage circuit and preceding stage circuit reconnection the quick effectual second direct current that communicates supplies power to back stage circuit, improved robot's power consumption security and security level.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a power supply control circuit and a robot.
Background
A robot arm (arm) is a main moving part in a manipulator, and is used to support a wrist and a hand and to adjust the position of the hand in space. The robot has the advantages that the hand of the robot needs to be designed to be quickly detached, so that the hand of the robot and the arm of the robot need to be made into two independent systems, and the quick detachment can be realized.
Therefore, the traditional technical scheme has the problems that the power supply to the hand cannot be timely turned off after the hand and the arm of the robot are separated, so that the conductive danger exists, and the power cannot be timely and automatically supplied to the hand after the arm and the hand are connected.
Disclosure of Invention
The application aims to provide a power supply control circuit and a robot, and aims to solve the problems that in the traditional robot, when the arms and the hands are separated, the power supply to the hands cannot be timely turned off, so that the conductive danger exists, and when the arms and the hands are connected, the power supply to the hands cannot be timely and automatically supplied.
A first aspect of an embodiment of the present application provides a power supply control circuit, including:
the first interface assembly is configured to transmit a power supply voltage signal output by the front-stage circuit;
a second interface component connected with the first interface component and configured to transmit the power supply voltage signal to supply power to a subsequent stage circuit;
a connection detection circuit, connected to the first interface component and the second interface component, respectively, and configured to detect a connection state of the preceding stage circuit and the subsequent stage circuit according to a first direct current to generate a connection detection signal;
a power switch control circuit, connected to the connection detection circuit and the first interface component, respectively, and configured to generate a power switch control signal according to the connection detection signal;
and the power supply switch circuit is connected with the power switch control circuit and is configured to be switched off or switched on according to the power switch control signal so as to control the output of the power supply voltage signal.
In one embodiment, the power supply control circuit further includes:
a first control circuit, connected to the first interface component, configured to generate a power control signal according to the connection detection signal; the power switch control circuit is specifically configured to generate the power switch control signal in accordance with the power control signal.
In one embodiment, the power supply control circuit further includes:
a third interface component, connected to the first interface component and the first control circuit, respectively, and configured to transmit the first communication signal output by the first control circuit to the first interface component and transmit the connection detection signal to the first control circuit;
the first interface component is further configured to transmit the first communication signal to the second interface component;
a second control circuit coupled to the second interface assembly and configured to generate a second communication signal based on the first communication signal to communicate with the first control circuit;
the second interface component is further configured to transmit the second communication signal to the first interface component.
In one embodiment, the first interface assembly and the second interface assembly each include at least one of pin headers/headers, board-to-board connectors, magnetic connectors, and spring probes.
In one embodiment, the connection detection circuit includes: a first resistor and a second resistor;
in one embodiment, the connection detection circuit includes: a first resistor;
the first end of the first resistor is connected with a first direct current power supply end, and the second end of the first resistor is connected with the first interface component and the second interface component.
In one embodiment, the second interface assembly comprises: a first connector and a second resistor;
the first end of the second resistor is connected with the third pin end of the first connector and the connection detection circuit, the second end of the second resistor is connected with a power ground, and the first pin end of the first connector is connected with the first interface component.
In one embodiment, the power switch control circuit includes: the first resistor, the second resistor, the third resistor, the fourth resistor, the fifth resistor, the first capacitor and the first triode;
the first end of third resistance with connect detection circuit and connect, the second end of third resistance with the first end of first electric capacity, the first end of fourth resistance and the base of first triode is connected, the second end of first electric capacity, the second end of fourth resistance and the projecting pole of first triode is connected with power ground, the collecting electrode of first triode with the first end of fifth resistance is connected, the second end of fifth resistance with power switch circuit connects.
In one embodiment, the power switching circuit includes: the sixth resistor, the second capacitor and the first field effect transistor;
the second end of the second capacitor, the second end of the sixth resistor and the grid electrode of the first field effect transistor are connected to the power switch control circuit in a shared mode, the first end of the second capacitor, the first end of the sixth resistor and the source electrode of the first field effect transistor are connected to the second direct current power supply end in a shared mode, and the drain electrode of the first field effect transistor outputs the power supply voltage signal.
In one embodiment, the first control circuit comprises: a first microprocessor;
the power supply end of the first microprocessor is connected with a first working voltage end, and the grounding end of the first microprocessor is connected with a power ground;
the first data input/output end of the first microprocessor is connected with the connection detection circuit; the second data input/output end of the first microprocessor is connected with the power switch control circuit; and the third data input and output end of the first microprocessor and the fourth data input and output end of the first microprocessor are connected to the first interface component in a shared mode.
A second aspect of embodiments of the present application provides a robot comprising a power supply control circuit as claimed in any one of the above.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the power supply control circuit and the robot transmit a power supply voltage signal output by the preceding stage circuit through the first interface component; the second interface component transmits a power supply voltage signal to supply power to the post-stage circuit; the connection detection circuit detects the connection state of the preceding stage circuit and the subsequent stage circuit according to the first direct current to generate a connection detection signal; the power switch control circuit generates a power switch control signal according to the connection detection signal; the power supply switch circuit is switched off or switched on according to the power supply switch control signal so as to control the output of the power supply voltage signal; therefore, when the rear-stage circuit is separated from the front-stage circuit due to accidental collision, the power supply of the front-stage circuit to the rear-stage circuit can be automatically, timely and effectively disconnected, the danger that the exposed electrical interface is touched by human mistake to be conductive is avoided, a power supply voltage signal can be quickly and effectively communicated to supply power to the rear-stage circuit after the rear-stage circuit and the front-stage circuit are connected again, and the power utilization safety of the robot and the safety level of the robot are improved.
Drawings
Fig. 1 is a schematic structural diagram of a power supply control circuit according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a power supply control circuit according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a power supply control circuit according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of an exemplary circuit of a power supply control circuit according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of another exemplary circuit for a power supply control circuit according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an exemplary circuit of a first control circuit in a power supply control circuit according to an embodiment of the present disclosure.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Fig. 1 shows a schematic structural diagram of a power supply control circuit according to a preferred embodiment of the present application, and for convenience of description, only the relevant portions of the present application are shown, which is detailed as follows:
a power supply control circuit, the power supply control circuit comprising: the interface circuit comprises a first interface component 101, a second interface component 201, a connection detection circuit 001, a power switch control circuit 102 and a power supply switch circuit 103.
A first interface component 101 configured to transmit a power supply voltage signal output by a preceding stage circuit; a second interface component 201 connected with the first interface component 101 and configured to transmit a power voltage signal to supply power to a subsequent stage circuit; a connection detection circuit 001 connected to the first interface module 101 and the second interface module 201, respectively, and configured to detect a connection state of the preceding stage circuit and the subsequent stage circuit according to a first direct current to generate a connection detection signal; a power switch control circuit 102, connected to the connection detection circuit 001 and the first interface component 101, respectively, and configured to generate a power switch control signal according to the connection detection signal; and the power supply switch circuit 103 is connected with the power supply switch control circuit and is configured to be turned off or turned on according to the power supply switch control signal so as to control the output of the power supply voltage signal.
In this embodiment, the front-stage circuit may be a circuit of an arm system of the robot, and the rear-stage circuit may be a circuit of a hand system of the robot, and since the hand of the robot (i.e., a mechanical arm of the robot, including the arm and the hand, etc.) needs to be designed to be quickly detached, the arm and the hand of the robot are made into two independent systems, i.e., the arm system and the hand system, so as to realize quick detachment. The front stage circuit and the back stage circuit are connected through the first interface module 101 and the second interface module 201. Optionally, the front-stage circuit includes a first interface component 101, a connection detection circuit 001, a power switch control circuit 102 and a power supply switch circuit 103, and the rear-stage circuit includes a second interface component 201, because the hand of the robot is designed and manufactured to be small and exquisite and convenient to move, it is inconvenient to set a power supply in a hand system, therefore, a power supply voltage signal output by the front-stage circuit is transmitted to the second interface component 201 through the first interface component 101, the second interface component 201 receives and transmits the power supply to the rear-stage circuit, so as to meet the power consumption requirement of the rear-stage circuit, and maintain the normal operation of the rear-stage circuit.
Under the condition that the robot is improperly used, when the hand and the arm of the robot are separated due to external force collision, so that an electrical interface corresponding to the first interface component 101 is exposed, the separation state of the hand and the arm of the robot is detected through the connection detection circuit 001, and a connection detection signal of a first level is correspondingly generated; when the hand and the arm of the robot are reconnected, the connection detection circuit 001 detects that the connection state of the front-stage circuit and the rear-stage circuit at the moment generates a connection detection signal of a second level correspondingly, the power switch control circuit 102 generates a power switch control signal of the second level according to the connection detection signal of the second level, the power supply switch circuit 103 is switched on according to the power switch control signal of the second level, so that a second direct current is communicated to generate and output a power supply voltage signal, the power supply voltage signal is transmitted to the rear-stage circuit through the first interface component 101 and the second interface component 201 to supply power to the rear-stage circuit, and the power supply is quickly, stably and reliably used as a power supply of the rear-stage circuit after the front-stage circuit and the rear-stage circuit are reconnected. Optionally, the first level is a high level, and the second level is a low level.
The embodiment of the application can realize that when the accident is collided and the rear-stage circuit is separated from the front-stage circuit, the power supply of the front-stage circuit to the rear-stage circuit can be automatically, timely and effectively disconnected, the danger of electric shock caused by the fact that the naked electric interface is touched by mistake is avoided, and the power supply can be quickly and effectively conducted to supply power to the rear-stage circuit after the rear-stage circuit and the front-stage circuit are connected again, so that the safety reliability of power utilization and the safety level of a robot are improved.
Referring to fig. 2, in one embodiment, the power supply control circuit further includes: a first control circuit 104.
A first control circuit 104 connected to the first interface component 101 and configured to generate a power control signal according to the connection detection signal; the power switch control circuit 102 is specifically configured to generate a power switch control signal from the power control signal.
In specific implementation, optionally, the first control circuit 104, the first interface component 101, the power switch control circuit 102, and the power switch circuit 103 are all pre-stage circuits, and are disposed in the arm system; the second interface component 201 is disposed in the hand system. Specifically, the first control circuit 104 processes the connection detection signal generated by the connection detection circuit 001 to generate a power supply control signal, where the power supply control signal is used to control the power supply switch control circuit 102 to generate power supply switch control signals with different levels, for example, the first control circuit 104 may perform an inverse phase process on the connection detection signal, and when the connection detection circuit 001 detects that the previous stage circuit is disconnected from the subsequent stage circuit to generate a high-level connection detection signal, the first control circuit 104 generates a low-level power supply control signal according to the high-level connection detection signal to control the power supply switch control circuit 102 to generate a high-level power supply switch control signal, so that the power supply switch circuit 103 turns off the second direct current according to the high-level power supply switch control signal to stop generating the power supply voltage signal; when the connection detection circuit 001 detects that the former-stage circuit and the latter-stage circuit are connected again to generate a low-level connection detection signal, the first control circuit 104 generates a high-level power supply control signal according to the low-level connection detection signal to control the power supply switch control circuit 102 to generate a low-level power supply switch control signal, so that the power supply switch circuit 103 communicates a second direct current to generate a power supply voltage signal according to the low-level power supply switch control signal, and the first interface component 101 and the second interface component 201 transmit the power supply voltage signal to the latter-stage circuit to supply power to the latter-stage circuit.
Optionally, the first control circuit 104 may further generate a power control signal according to a user input, so as to control to disconnect power supply from the preceding circuit to the subsequent circuit or start power supply from the preceding circuit to the subsequent circuit, so as to control power supply of the power supply in a process of using or port testing or later maintenance, thereby improving reliability and practicability of the power supply control circuit.
According to the embodiment of the application, the first control circuit receives the connection detection signal, the connection state between the front-stage circuit and the rear-stage circuit is judged according to the detection signal, the power supply control signals with different levels are correspondingly generated to control the second direct current to be turned off so as to stop generating the power supply voltage signal or to be communicated with the second direct current so as to generate the power supply voltage signal to supply power to the rear-stage circuit, when the rear-stage circuit is separated from the front-stage circuit due to accidental collision, the power supply of the front-stage circuit to the rear-stage circuit can be automatically and timely effectively turned off, the danger that the exposed electrical interface is touched by mistake to conduct electricity is avoided, the second direct current can be quickly and reliably turned on to supply power to the rear-stage circuit after the rear-stage circuit and the front-stage circuit are connected again, and the electricity.
Referring to fig. 3, in one embodiment, the power supply control circuit further includes: a third interface component 105 and a second control circuit 202.
A third interface module 105, respectively connected to the first interface module 101 and the first control circuit 104, configured to transmit the first communication signal output by the first control circuit 104 to the first interface module 101, and transmit the connection detection signal to the first control circuit 104; the first interface component 101 is further configured to transmit the first communication signal to the second interface component 201; a second control circuit 202, connected to the second interface component 201, configured to generate a second communication signal according to the first communication signal to communicate with the first control circuit 104; the second interface component 201 is also configured to transmit a second communication signal to the first interface component 101.
In this embodiment, the first communication signal output by the first control circuit 104 is transmitted to the first interface module 101 through the third interface module 105, and then transmitted to the second control circuit 202 through the first interface module 101 and the second interface module 201, the second control circuit 202 generates the second communication signal after receiving the first communication signal, and the second communication signal is transmitted to the first control circuit 104 through the second interface module 201, the first interface module 101 and the third interface module 105 to implement communication between the front-stage circuit and the rear-stage circuit, thereby satisfying communication and control application of the arm system to the hand system.
In one embodiment, the first interface assembly 101 and the second interface assembly 201 each include at least one of pin headers/headers, board-to-board connectors, magnetic connectors, and spring probes (e.g., pogo pins). Optionally, the first interface assembly 101 and the second interface assembly 201 both adopt Pogo pins, and are spring probes formed by three basic components of a needle shaft, a spring and a needle tube after being riveted and pre-pressed by a precision instrument, and a precise spring structure is arranged in the spring probes to play a connecting role, so that the spring probes are precise connectors, the quick-release design between a preceding-stage circuit and a subsequent-stage circuit can be realized, and the application requirements are met.
Referring to fig. 4, in one embodiment, the connection detection circuit 001 includes: a first resistor R1; the first end of the first resistor R1 is connected to the first dc power supply end, and the second end of the first resistor R1 is connected to the first interface component 101 and the second interface component 201.
In this embodiment, the first dc power supply end is configured to output a first dc power, and a voltage value of the first dc power is VCC3V 3. The first direct current can be obtained by performing voltage reduction and voltage stabilization treatment on the power supply voltage through a voltage conversion circuit.
Referring to fig. 4, in one embodiment, the second interface component 201 includes: a second resistor R2 and a first connector J20; the first end of the second resistor R2 is connected to the third pin terminal 3 of the first connector J20 and the connection detection circuit 001, the second end of the second resistor R2 is connected to the power ground, and the first pin terminal 1 of the first connector J20 is connected to the first interface module 101.
In this embodiment, the first pin terminal 1 of the first connector J20 is connected to the second pin terminal 2 of the first connector J20, the first pin terminal 1 of the first connector J20 is configured to access a power voltage signal transmitted by the first interface component 101, and the second pin terminal 2 of the first connector J20 is configured to transmit the power voltage signal to a subsequent circuit to supply power to the subsequent circuit; the seventh pin end 7 of the first connector J20 and the eighth pin end 8 of the first connector J20 are connected to power ground; the fifth pin terminal 5 of the first connector J20 and the sixth pin terminal 6 of the first connector J20 are connected to the first interface module 101, and are configured to receive the first communication signal transmitted by the first interface module 101 to the second control circuit 202, and transmit the second communication signal output by the second control circuit 202 to the first interface module 101. When the front-stage circuit is connected with the rear-stage circuit, the second resistor R2 and the first resistor R1 form a first direct current voltage division circuit, and a low-level connection detection signal is generated at the second end of the first resistor R1; when the front-stage circuit and the rear-stage circuit are disconnected, the second resistor R2 and the first resistor R1 are disconnected, and a high-level connection detection signal is generated at the second end of the first resistor R1.
Referring to fig. 4, in one embodiment, the power switch control circuit 102 includes: a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first capacitor C1 and a first triode Q2; a first end of the third resistor R3 is connected to the connection detection circuit 001; a second end of the third resistor R3 is connected to the first end of the first capacitor C1, the first end of the fourth resistor R4, and the base of the first transistor Q2, a second end of the first capacitor C1, a second end of the fourth resistor R4, and an emitter of the first transistor Q2 are connected to the power ground, a collector of the first transistor Q2 is connected to the first end of the fifth resistor R5, and a second end of the fifth resistor R5 is connected to the power switch circuit 103.
In the present embodiment, the first transistor Q2 is a PNP transistor. Optionally, the first transistor Q2 may also be an NPN transistor, for example, as shown in fig. 5, the NPN transistor may be configured to generate power switch control signals of different levels according to the connection detection signals of different levels, so as to control the power supply switch circuit 103 to turn off the second direct current to stop generating the power voltage signal or turn on the second direct current to generate the power voltage signal to supply power to the subsequent circuit.
Referring to fig. 5, in one embodiment, the power switch circuit 103 includes: a sixth resistor R6, a second capacitor C2 and a first field effect transistor Q1; the second end of the second capacitor C2, the second end of the sixth resistor R6 and the gate of the first fet Q1 are commonly connected to the power switch control circuit 102; the first end of the second capacitor C2, the first end of the sixth resistor R6, and the source of the first fet Q1 are connected to the second dc power supply terminal, and the drain of the first fet Q1 outputs a power supply voltage signal.
In this embodiment, the first field effect transistor Q1 is a PMOS transistor. In specific implementation, the first field-effect transistor Q1 may further adopt a switching tube such as an NMOS tube or a relay, and a suitable type of MOS tube and a switching tube such as a triode may be selected according to specific control requirements to jointly form the power supply switching circuit 103 so as to control on/off of the second direct current. The second dc power supply outputs a second dc power, optionally having a voltage level of VCC 48V.
Referring to fig. 6, in one embodiment, the first control circuit 104 includes: a first microprocessor U1; the power supply end VDD of the first microprocessor U1 is connected with the first working voltage end, and the ground end VSS of the first microprocessor U2 is connected with the power ground; the first data input/output terminal PA1 of the first microprocessor U1 is connected to the connection detection circuit 001; the second data input/output terminal PA2 of the first microprocessor U1 is connected with the power switch control circuit 102; the third data input/output terminal PC0 of the first microprocessor U1 and the fourth data input/output terminal PC1 of the first microprocessor U1 are commonly connected to the first interface module 101.
In this embodiment, the first operating voltage terminal is configured to output a first operating voltage, and the voltage value of the selectable first operating voltage is VCC, so as to supply power to the first microprocessor U1. The first microprocessor U1 may be an STM32 series microprocessor, for example, a model STM32F091CBU6 microprocessor, and may determine a connection state between a preceding stage circuit and a subsequent stage circuit according to connection detection signals of different levels, and generate power control signals of different levels correspondingly to control the power switch control circuit 102 to generate power switch control signals of different levels correspondingly, so that the power switch circuit 103 turns off the second direct current according to the power switch control signals of different levels to stop generating the power voltage signal to supply power to the subsequent stage circuit or turns on the second direct current to generate the power voltage signal to supply power to the subsequent stage circuit.
In a specific implementation, the first interface module 101 includes a second connector J2, the third interface module 105 includes a third connector J3, interface terminals of the second connector J2 and the third connector J3 are connected in a one-to-one correspondence manner, and the first communication signal (CANH, CANL) output by the first microprocessor U1 is transmitted to the second control circuit 202 of the subsequent circuit, and the second communication signal output by the second control circuit 202 is transmitted to the first microprocessor U1, so that communication between the previous circuit and the subsequent circuit is realized.
The working principle of the power supply control circuit will be briefly described with reference to fig. 4 as follows:
when the front-stage circuit and the rear-stage circuit are disconnected (namely, the arm system and the hand system are separated), the connection between the first resistor R1 and the second resistor R2 is disconnected, a high-level connection detection signal is generated at the second end of the first resistor R1, the high level is 3.3V, the first triode Q2 is cut off according to the high-level connection detection signal, a high-level power switch control signal is generated at the second end of the fifth resistor R5, the first field-effect tube Q1 is cut off according to the high-level power switch control signal, the second direct current VCC48V is cut off, so that the generation of a power supply voltage signal VCC48V _ OUT is stopped, the power supply to the rear-stage circuit (namely, the hand system) is stopped, and the danger that the exposed electrical interface (the second connector J2) is easy to cause false touch and electric shock is avoided; when the front-stage circuit and the rear-stage circuit are connected again (i.e. the arm system and the hand system are connected again), the first resistor R1 and the second resistor R2 are connected to form a first direct-current voltage dividing circuit, a low-level connection detection signal is generated at the second end of the first resistor R1, in combination with the magnitude of the divided resistance of the first resistor R1 and the second resistor R2, the low level is optionally 0.3V, the first triode Q2 is turned on according to the low-level connection detection signal, a low-level power switch control signal is generated at the second end of the fifth resistor R5, the first field-effect transistor Q1 is turned on according to the low-level power switch control signal, and is communicated with the second direct current VCC48V, so that a power voltage signal VCC48V _ OUT is generated and is transmitted to the first connector J20 through the second connector J2 to supply power to the rear-stage circuit (i.e. the hand system).
A second aspect of embodiments of the present application provides a robot comprising a power supply control circuit as described in any one of the above.
The embodiment of the application can realize that when an accident happens and the arm system is separated from the hand system, the power supply of the front-stage circuit to the rear-stage circuit can be automatically, timely and effectively disconnected, the danger that the naked electric interface is touched by a person by mistake to be conductive is avoided, and the power supply can be quickly and effectively communicated to supply power to the rear-stage circuit after the rear-stage circuit and the front-stage circuit are connected again, so that the power safety and reliability of the robot and the safety level of the robot are improved.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A power supply control circuit, comprising:
the first interface assembly is configured to transmit a power supply voltage signal output by the front-stage circuit;
a second interface component connected with the first interface component and configured to transmit the power supply voltage signal to supply power to a subsequent stage circuit;
a connection detection circuit, connected to the first interface component and the second interface component, respectively, and configured to detect a connection state of the preceding stage circuit and the subsequent stage circuit according to a first direct current to generate a connection detection signal;
a power switch control circuit, connected to the connection detection circuit and the first interface component, respectively, and configured to generate a power switch control signal according to the connection detection signal;
and the power supply switch circuit is connected with the power switch control circuit and is configured to be switched off or switched on according to the power switch control signal so as to control the output of the power supply voltage signal.
2. The power supply control circuit of claim 1, further comprising:
a first control circuit, connected to the first interface component, configured to generate a power control signal according to the connection detection signal; the power switch control circuit is specifically configured to generate the power switch control signal in accordance with the power control signal.
3. The power supply control circuit of claim 2, further comprising:
a third interface component, connected to the first interface component and the first control circuit, respectively, and configured to transmit the first communication signal output by the first control circuit to the first interface component and transmit the connection detection signal to the first control circuit;
the first interface component is further configured to transmit the first communication signal to the second interface component;
a second control circuit coupled to the second interface assembly and configured to generate a second communication signal based on the first communication signal to communicate with the first control circuit;
the second interface component is further configured to transmit the second communication signal to the first interface component.
4. The power supply control circuit of claim 1, wherein the first interface component and the second interface component each comprise at least one of pin header/socket header, board-to-board connector, magnetic connector, and spring probe.
5. The power supply control circuit of claim 1, wherein the connection detection circuit comprises: a first resistor;
the first end of the first resistor is connected with a first direct current power supply end, and the second end of the first resistor is connected with the first interface component and the second interface component.
6. The power supply control circuit of claim 1, wherein the second interface component comprises: a first connector and a second resistor;
the first end of the second resistor is connected with the third pin end of the first connector and the connection detection circuit, the second end of the second resistor is connected with a power ground, and the first pin end of the first connector is connected with the first interface component.
7. The power supply control circuit of claim 1, wherein the power switch control circuit comprises: the first resistor, the second resistor, the third resistor, the fourth resistor, the fifth resistor, the first capacitor and the first triode;
the first end of third resistance with connect detection circuit and connect, the second end of third resistance with the first end of first electric capacity, the first end of fourth resistance and the base of first triode is connected, the second end of first electric capacity, the second end of fourth resistance and the projecting pole of first triode is connected with power ground, the collecting electrode of first triode with the first end of fifth resistance is connected, the second end of fifth resistance with power switch circuit connects.
8. The power supply control circuit of claim 1 wherein the power switch circuit comprises: the sixth resistor, the second capacitor and the first field effect transistor;
the second end of the second capacitor, the second end of the sixth resistor and the grid electrode of the first field effect transistor are connected to the power switch control circuit in a shared mode, the first end of the second capacitor, the first end of the sixth resistor and the source electrode of the first field effect transistor are connected to the second direct current power supply end in a shared mode, and the drain electrode of the first field effect transistor outputs the power supply voltage signal.
9. The power supply control circuit of claim 2, wherein the first control circuit comprises: a first microprocessor;
the power supply end of the first microprocessor is connected with a first working voltage end, and the grounding end of the first microprocessor is connected with a power ground;
the first data input/output end of the first microprocessor is connected with the connection detection circuit; the second data input/output end of the first microprocessor is connected with the power switch control circuit; and the third data input and output end of the first microprocessor and the fourth data input and output end of the first microprocessor are connected to the first interface component in a shared mode.
10. A robot characterized in that it comprises a power supply control circuit according to any one of claims 1 to 9.
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| CN202010380825.6A CN111668810B (en) | 2020-05-08 | 2020-05-08 | Power supply control circuit and robot |
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| CN202010380825.6A CN111668810B (en) | 2020-05-08 | 2020-05-08 | Power supply control circuit and robot |
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| CN114697144A (en) * | 2020-12-30 | 2022-07-01 | 美的集团股份有限公司 | Communication device, control device and communication equipment |
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| Publication number | Publication date |
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| CN111668810B (en) | 2023-08-04 |
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Effective date of registration: 20231210 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |