CN113472033B - Robot delay starting precharge circuit - Google Patents
Robot delay starting precharge circuit Download PDFInfo
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- CN113472033B CN113472033B CN202110688460.8A CN202110688460A CN113472033B CN 113472033 B CN113472033 B CN 113472033B CN 202110688460 A CN202110688460 A CN 202110688460A CN 113472033 B CN113472033 B CN 113472033B
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- circuit
- delay
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- mos tube
- switch mos
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/00304—Overcurrent protection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/28—Modifications for introducing a time delay before switching
- H03K17/284—Modifications for introducing a time delay before switching in field effect transistor switches
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Direct Current Feeding And Distribution (AREA)
Abstract
The application discloses a robot delay starting precharge circuit, which comprises a robot battery INPUT terminal J1, a power INPUT end BATTRY_INPUT, a precharge resistor power-on switch MOS tube Q1 and a rear-stage load connection terminal J2 which are connected in sequence, wherein a source electrode of a delay starting circuit power-on switch MOS tube Q2 is connected between the robot battery INPUT terminal J1 and a source electrode of the precharge resistor power-on switch MOS tube Q1, a whole machine switch terminal J3 is connected between the source electrode of the precharge resistor power-on switch MOS tube Q1 and the source electrode of the delay starting circuit power-on switch MOS tube Q2, and a drain electrode of the delay starting circuit power-on switch MOS tube Q2 is connected with a delay starting circuit power supply U1; the delay starting circuit power supply U1 is connected with the delay circuit; the output end of the delay circuit is sequentially connected with a current amplifying circuit, a direct current contactor driving connection terminal J4 and a driving coil of the direct current contactor. The robot delay starting precharge circuit provided by the application has the advantages of protecting the direct-current contactor, reducing starting current and protecting a post-stage circuit.
Description
Technical Field
The application relates to the technical field of a robot starting circuit, in particular to a robot delay starting pre-charging circuit.
Background
Robots typically contain various sensors and drivers and implement motors, and their general power switches typically employ dc contactors. The robot power bus is generally provided with a large-capacity electrolytic capacitor or a structure with a plurality of electrolytic capacitors connected in parallel, the capacity is large, if the relay directly connected in series with the capacitor is closed, the initial state of the capacitor is equivalent to short circuit, the current flowing through the relay contact in the moment is large, the relay contact is burnt, or the service life of the relay is reduced. Therefore, a precharge circuit is used to precharge the electrolytic capacitor.
The precharge circuit in the prior art is provided at the BMS output terminal of the battery, and the precharge circuit of the battery is used to precharge the rear-stage circuit. When the direct current contactor is used as a main power switch, the direct current contactor is required to be closed, so that the phenomenon that the pre-charging circuit inside the battery is used for driving the coils of the direct current contactor, so that the pre-charging of circuits such as a rear-stage driver and a motor cannot be performed, the problem that the pre-charging circuit of the battery fails occurs, the pre-charging effect cannot be achieved, and the direct current contactor cannot be protected is caused.
Disclosure of Invention
The application aims to provide a robot delay starting pre-charging circuit which achieves the effects of protecting a direct current contactor, reducing starting current and protecting a post-stage circuit.
In order to achieve the above purpose, the application provides a robot delay starting precharge circuit, which comprises a robot battery INPUT terminal J1, a power INPUT end BATTRY_INPUT, a precharge resistor power-on switch MOS tube Q1, a post-stage circuit charging resistor R1 and a post-stage load connection terminal J2 which are sequentially connected, wherein a source electrode of the delay starting circuit power-on switch MOS tube Q2 is connected between the robot battery INPUT terminal J1 and a source electrode of the precharge resistor power-on switch MOS tube Q1, a complete machine switch terminal J3 is connected between the source electrode of the precharge resistor power-on switch MOS tube Q1 and a source electrode of the delay starting circuit power-on switch MOS tube Q2, and a drain electrode of the delay starting circuit power-on switch MOS tube Q2 is connected with a delay starting circuit power supply U1, and when the complete machine switch terminal J3 is closed, the precharge resistor power-on switch MOS tube Q1 and the delay starting circuit power-on switch MOS tube Q2 are conducted; the delay starting circuit power supply U1 is connected with the delay circuit; the delay circuit comprises a delay control chip U2, a pre-charge resistor R10 and a capacitor C2, wherein the pre-charge resistor R10 and the capacitor C2 are connected between a low trigger end TRG and a high trigger end THR of the delay control chip U2, and the charging resistor R10 of the rear-stage circuit is connected with the capacitor C2 in parallel; the output end of the delay control chip U2 is connected with a current amplifying circuit, the output end of the current amplifying circuit is connected with a direct current contactor driving connecting terminal J4, and the direct current contactor driving connecting terminal J4 is connected with two ends of a driving coil of the direct current contactor; one end of the direct current contactor is connected with the positive electrode end of the robot battery input terminal J1, and the other end of the direct current contactor is connected with a load.
Preferably, the delay control chip U2 is a NE555 chip.
Preferably, the current amplifying circuit includes a PNP transistor Q3 and an NPN transistor Q4 connected to the delay control chip U2, an emitter of the PNP transistor Q3 is connected to a reset zero terminal RST of the delay control chip U2, a base set of the PNP transistor Q3 is connected to an output terminal OUT of the delay control chip U2 through a resistor R8, a collector of the PNP transistor Q3 is connected to a base set of the NPN transistor Q4 through a resistor R9, an emitter of the NPN transistor Q4 is grounded, a collector of the NPN transistor Q4 is connected to a driving connection terminal J4 of the dc contactor, and when the NPN transistor Q4 is turned on, a driving coil of the dc contactor is energized to close the dc contactor.
Preferably, the collector of the NPN triode Q4 is connected to the 2 pin of the dc contactor drive connection terminal J4, and the 1 pin of the dc contactor drive connection terminal J4 is connected to the power supply INPUT terminal battry_input; the RCD protection circuit is connected between the 1 pin and the 2 pin of the direct current contactor driving connection terminal J4 and comprises a capacitor C3 and a diode D47 which are sequentially connected, the two ends of the capacitor C3 are connected with a post-stage circuit charging resistor R12 in parallel, the capacitor C3 is connected with the 1 pin of the direct current contactor driving connection terminal J4, and the anode end of the diode D47 is connected with the 2 pin of the direct current contactor driving connection terminal J4.
Preferably, the delay starting circuit power supply U1 is a DC-DC circuit.
Preferably, a pulse spike voltage absorbing circuit is connected between the source of the precharge resistor power-on switch MOS transistor Q1 and the power INPUT terminal battry_input, the pulse spike voltage absorbing circuit includes a piezoresistor R20 and a transient suppression tube D48 connected in parallel, one end of the piezoresistor R20 is grounded, and the positive end of the transient suppression tube D48 is grounded.
The beneficial effects are that: according to the robot delay starting pre-charging circuit, the direct-current contactor is used as a main power switch, the pre-charging resistor R10, the capacitor C2 and the NE555 chip are used as pre-charging circuits of the delay circuit, and the pre-charging of the robot main power supply to the rear-stage circuit is realized, so that the direct-current contactor is protected, the starting current is reduced, and the effect of the rear-stage circuit is protected.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic circuit diagram of a robot delay-start precharge circuit in an embodiment.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Examples: referring to fig. 1, the robot delay starting precharge circuit comprises a robot battery INPUT terminal J1, a power INPUT end battry_input, a precharge resistor power-on switch MOS transistor Q1, a post-stage circuit charging resistor R1 and a post-stage load connection terminal J2 which are sequentially connected.
In this embodiment, pin 1 of the robot battery INPUT terminal J1 is connected to the power INPUT terminal battry_input, and pin 2 is grounded.
The pre-charge resistance power-on switch MOS tube Q1 is a P-channel MOS tube, the model of the pre-charge resistance power-on switch MOS tube Q1 is IRF5210 STRRLPBF, a resistor R2 with a resistance value of 10KΩ and a diode D1 with a model of MM1Z12V are connected between the grid electrode and the source electrode of the pre-charge resistance power-on switch MOS tube Q1, the resistor R2 is connected with the diode D1 in parallel, a resistor R5 with a resistance value of 30K is connected between the resistor R2 and the grid electrode of the pre-charge resistance power-on switch MOS tube Q1, and the other end of the resistor R5 is connected with a 1 pin of the whole machine switch terminal J3.
A post-stage circuit charging resistor R1 with a resistance value of 50 omega is arranged between the drain electrode of the pre-charge resistance energizing switch MOS tube Q1 and the 1 pin of the post-stage load connecting terminal J2, a post-stage circuit charging resistor R19 with a resistance value of 30KΩ and a light emitting diode D10 which are connected in series are connected between the post-stage circuit charging resistor R1 and the post-stage load connecting terminal J2, and the negative electrode of the light emitting diode D10 is grounded. The rear-stage circuit charging resistor R19 and the rear-stage load connecting terminal J2 are connected in a supporting manner with a transient suppression tube D49 and a piezoresistor R21 which are arranged in parallel, the positive electrode of the transient suppression tube D49 is grounded, the model of the transient suppression tube D49 is SMCU60CA, and the model of the piezoresistor R21 is B72207S0600K101. The 1 pin of the rear stage load connection terminal J2 is connected to the delay voltage INPUT terminal latch_input, and the 2 pin of the rear stage load connection terminal J2 is grounded.
A pulse spike voltage absorbing circuit is connected between the source electrode of the precharge resistor power-on switch MOS tube Q1 and the power INPUT end BATTRY_INPUT, and comprises a piezoresistor R20 and a transient suppression tube D48 which are connected in parallel, one end of the piezoresistor R20 is grounded, and the positive end of the transient suppression tube D48 is grounded. The varistor R20 has a model B72207S0600K101, and the transient suppression tube D48 has a model SMCU60CA.
The delay starting circuit power switch MOS tube Q2 is a P-channel MOS tube, and the model of the delay starting circuit power switch MOS tube Q2 is IRF5210 STRRLPBF. The source electrode of the delay starting circuit power switch MOS tube Q2 is connected between the robot battery input terminal J1 and the source electrode of the pre-charging resistor power switch MOS tube Q1, a diode D4 with the model of MM1Z12V and a resistor R3 with the resistance value of 10KΩ are connected between the source electrode of the delay starting circuit power switch MOS tube Q2 and the grid electrode of the delay starting circuit power switch MOS tube Q2, the diode D4 is connected with the resistor R3 in parallel, the positive end of the diode D4 is connected with the resistor R4 with the resistance value of 30KΩ, and the other end of the resistor R4 is connected with the 1 pin of the whole machine switch terminal J3. When the whole machine switch terminal J3 is closed, the precharge resistor power-on switch MOS tube Q1 is conducted with the delay starting circuit power switch MOS tube Q2.
A complete machine switch terminal J3 is connected between the source electrode of the precharge resistor power-on switch MOS tube Q1 and the source electrode of the delay starting circuit power switch MOS tube Q2, and when the complete machine switch is closed, the 1 pin and the 2 pin of the complete machine switch terminal J3 are conducted.
The drain electrode of the delay starting circuit power supply switch MOS tube Q2 is connected with a delay starting circuit power supply U1, the delay starting circuit power supply U1 is a DC-DC circuit, and the model of the delay starting circuit power supply U1 is URB4812YMD-15WR3. A capacitor C5 with a capacitance value of 10F is connected in parallel between the 3 pins (voltage input ends) and the 2 pins (grounding ends) of the delay starting circuit power supply U1, the positive electrode of the capacitor C5 is connected with the 3 pins of the delay starting circuit power supply U1, and the negative electrode is connected with the 2 pins of the delay starting circuit power supply U1.
The delay starting circuit power supply U1 is connected with a delay circuit, and the delay circuit comprises a delay control chip U2, a pre-charge resistor R10 and a capacitor C2. The delay control chip U2 is an NE555 chip, and the 4 pins (reset zero clearing end RST), the 6 pins (low trigger end TRG) and the 2 pins (high trigger end THR) of the delay control chip U2 are respectively connected with the 6 pins (reference ground end) of the delay starting circuit power supply U1. The precharge resistor R10 and the capacitor C2 are connected between the low trigger terminal TRG and the high trigger terminal THR of the delay control chip U2, and the post-stage circuit charge resistor R10 is connected in parallel with the capacitor C2.
The output end of the delay control chip U2 is connected with a current amplifying circuit, and the current amplifying circuit comprises a PNP transistor Q3 and an NPN transistor Q4 which are connected with the delay control chip U2. The emitter of the PNP transistor Q3 is respectively connected with the 4 pin (reset zero end RST) of the delay control chip U2 and the 4 pin (voltage output end) of the delay starting circuit power supply U1, and the base set of the PNP transistor Q3 is connected with the 3 pin (output end OUT) of the delay control chip U2 through a resistor R8 with the resistance value of 5.1KΩ. The collector of the PNP transistor Q3 is connected with the base set of the NPN triode Q4 through a resistor R9 with the resistance value of 1KΩ, and the base set of the NPN triode Q4 is connected with a post-stage circuit charging resistor R11 with the resistance value of 1KΩ and then grounded. The emitter of NPN triode Q4 is grounded. The collector of NPN triode Q4 links to each other with direct current contactor drive connection terminal J4, and NPN triode Q4's collector links to each other with direct current contactor drive connection terminal J4's 2 foot, and direct current contactor drive connection terminal J4's 1 foot links to each other with power INPUT BATTRY_INPUT. An RCD protection circuit is connected between the 1 pin and the 2 pin of the direct current contactor driving connection terminal J4, the RCD protection circuit comprises a capacitor C3 with a capacitance value of 18pF and a diode D47 with a model of 1N4007M7, which are sequentially connected, a post-stage circuit charging resistor R12 with a resistance value of 2Ω is connected in parallel with two ends of the capacitor C3, the capacitor C3 is connected with the 1 pin of the direct current contactor driving connection terminal J4, and an anode end of the diode D47 is connected with the 2 pin of the direct current contactor driving connection terminal J4. The driving connection terminal J4 of the direct current contactor is connected with two ends of a driving coil of the direct current contactor, and when the NPN triode Q4 is conducted, the driving coil of the direct current contactor is electrified to enable the direct current contactor to be closed. One end of the direct current contactor is connected with the positive electrode end of the robot battery input terminal J1, and the other end of the direct current contactor is connected with a load, namely, two ends of the direct current contactor are respectively connected with the 1 pin of the robot battery input terminal J1 and the 2 pin of the rear-stage load connection terminal J2.
Working principle: the whole machine switch is closed, and the 1 pin and the 2 pin of the whole machine switch terminal J3 are conducted, so that the precharge resistor power-on switch MOS tube Q1 and the delay starting circuit power switch MOS tube Q2 are conducted. After the pre-charge resistance power-on switch MOS tube Q1 is conducted, the post-stage circuit starts to charge through the post-stage circuit charging resistor R1. Meanwhile, after the delay starting circuit power supply switch MOS tube Q2 is conducted, the delay starting circuit power supply U1 starts to output 5V voltage, the delay control chip U2 with the model NE555 starts to work, after the working time is in place, 3 feet (output end OUT) of the delay control chip U2 output low level, and the PNP triode Q3 and the NPN triode Q4 are conducted. After the NPN triode Q4 is conducted, the direct current contactor drives the connecting terminal J4 to conduct, and the direct current contactor is closed. After the direct current contactor is closed, the charging resistor R1 of the later-stage circuit and the pre-charging resistor power-on switch MOS tube Q1 are short-circuited by the direct current contactor, and the pre-charging is stopped. And after the pre-charging is finished, the rear-stage load is powered by the direct-current contactor.
Finally, it should be noted that: the foregoing description of the preferred embodiments of the present application is not intended to be limiting, but rather, it will be apparent to those skilled in the art that the foregoing description of the preferred embodiments of the present application can be modified or equivalents can be substituted for some of the features thereof, and any modification, equivalent substitution, improvement or the like that is within the spirit and principles of the present application should be included in the scope of the present application.
Claims (6)
1. The robot delay starting pre-charging circuit is characterized by comprising a robot battery INPUT terminal J1, a power INPUT end BATTRY_INPUT, a pre-charging resistor and power-on switch MOS tube Q1, a post-stage circuit charging resistor R1 and a post-stage load connecting terminal J2 which are sequentially connected, wherein a source electrode of the delay starting circuit power-on switch MOS tube Q2 is connected between the robot battery INPUT terminal J1 and a source electrode of the pre-charging resistor and power-on switch MOS tube Q1, a whole machine switch terminal J3 is connected between the source electrode of the pre-charging resistor and power-on switch MOS tube Q1 and the source electrode of the delay starting circuit power-on switch MOS tube Q2, a drain electrode of the delay starting circuit power-on switch MOS tube Q2 is connected with a delay starting circuit power supply U1, and when the whole machine switch terminal J3 is closed, the pre-charging resistor and power-on switch MOS tube Q1 is conducted with the delay starting circuit power-on switch MOS tube Q2; the delay starting circuit power supply U1 is connected with the delay circuit; the delay circuit comprises a delay control chip U2, a pre-charge resistor R10 and a capacitor C2, wherein the pre-charge resistor R10 and the capacitor C2 are connected between a low trigger end TRG and a high trigger end THR of the delay control chip U2, and the charging resistor R10 of the rear-stage circuit is connected with the capacitor C2 in parallel; the output end of the delay control chip U2 is connected with a current amplifying circuit, the output end of the current amplifying circuit is connected with a direct current contactor driving connecting terminal J4, and the direct current contactor driving connecting terminal J4 is connected with two ends of a driving coil of the direct current contactor; one end of the direct current contactor is connected with the positive electrode end of the robot battery input terminal J1, and the other end of the direct current contactor is connected with a load.
2. The robot delay-start precharge circuit of claim 1, wherein the delay control chip U2 is a NE555 chip.
3. The robot delay starting pre-charging circuit according to claim 2, wherein the current amplifying circuit comprises a PNP transistor Q3 and an NPN transistor Q4 connected with the delay control chip U2, an emitter of the PNP transistor Q3 is connected with a reset zero end RST of the delay control chip U2, a base set of the PNP transistor Q3 is connected with an output end OUT of the delay control chip U2 through a resistor R8, a collector of the PNP transistor Q3 is connected with a base set of the NPN transistor Q4 through a resistor R9, an emitter of the NPN transistor Q4 is grounded, a collector of the NPN transistor Q4 is connected with a driving connection terminal J4 of the dc contactor, and when the NPN transistor Q4 is turned on, a driving coil of the dc contactor is energized to close the dc contactor.
4. The robot time-lapse starting precharge circuit according to claim 3, wherein the collector of NPN transistor Q4 is connected to pin 2 of dc contactor drive connection terminal J4, and pin 1 of dc contactor drive connection terminal J4 is connected to power INPUT terminal battry_input; the RCD protection circuit is connected between the 1 pin and the 2 pin of the direct current contactor driving connection terminal J4 and comprises a capacitor C3 and a diode D47 which are sequentially connected, the two ends of the capacitor C3 are connected with a post-stage circuit charging resistor R12 in parallel, the capacitor C3 is connected with the 1 pin of the direct current contactor driving connection terminal J4, and the anode end of the diode D47 is connected with the 2 pin of the direct current contactor driving connection terminal J4.
5. The robot delay-start precharge circuit of claim 1, wherein the delay-start circuit power supply U1 is a DC-DC circuit.
6. The robot time-delay starting precharge circuit according to claim 1, wherein a pulse spike voltage absorbing circuit is connected between a source of the precharge resistor power-on switch MOS transistor Q1 and the power INPUT terminal battry_input, the pulse spike voltage absorbing circuit comprises a piezoresistor R20 and a transient suppression transistor D48 which are connected in parallel, one end of the piezoresistor R20 is grounded, and an anode of the transient suppression transistor D48 is grounded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110688460.8A CN113472033B (en) | 2021-06-22 | 2021-06-22 | Robot delay starting precharge circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110688460.8A CN113472033B (en) | 2021-06-22 | 2021-06-22 | Robot delay starting precharge circuit |
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| Publication Number | Publication Date |
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| CN113472033A CN113472033A (en) | 2021-10-01 |
| CN113472033B true CN113472033B (en) | 2023-08-11 |
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| CN202110688460.8A Active CN113472033B (en) | 2021-06-22 | 2021-06-22 | Robot delay starting precharge circuit |
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