CN114123097A

CN114123097A - Power-on self-locking protection circuit, power supply and exoskeleton robot

Info

Publication number: CN114123097A
Application number: CN202111311388.3A
Authority: CN
Inventors: 王天; 其他发明人请求不公开姓名
Original assignee: Hangzhou Chengtian Technology Development Co Ltd
Current assignee: Hangzhou Chengtian Technology Development Co Ltd
Priority date: 2021-11-08
Filing date: 2021-11-08
Publication date: 2022-03-01

Abstract

The invention relates to the technical field of power supplies, and discloses a power-on self-locking protection circuit, which comprises a power-on self-locking circuit, wherein the power-on self-locking circuit comprises: the circuit comprises a first loop formed by sequentially connecting an input voltage VDD, a switch key K, a first diode D1, a first resistor R1 and a triode Q2, a second loop formed by sequentially connecting the input voltage VDD, a second resistor R2, a third resistor R3 and a triode Q2, an MOS tube Q1 driven by the second resistor R2 and the third resistor R3, a second diode D2 connected to the common end of the first diode D1 and the first resistor R1, and an MCU connected with the second diode D2; also discloses a power supply and an exoskeleton robot both comprising the power-on self-locking protection circuit. The invention has convenient operation, and the plug does not need to be frequently plugged and unplugged when the power is on every time; electric sparks are not easy to appear at the moment of power-on or power-off, so that equipment can be protected; and the hardware circuit is simpler.

Description

Power-on self-locking protection circuit, power supply and exoskeleton robot

Technical Field

The invention relates to the technical field of power supplies, in particular to a power-on self-locking protection circuit, a power supply and an exoskeleton robot.

Background

The exoskeleton system is a wearable intelligent device, has a complex control system therein, and comprises: various data need to be processed on software control, and a plurality of components are needed to be matched on hardware, so that stable and reliable work in the power assisting process is realized. Therefore, it is a trend to reduce the workload of software control and simplify hardware circuits.

A power supply circuit of the exoskeleton system is generally provided with a power-on self-locking circuit, the power-on self-locking circuit is realized by combining software and hardware, more output signals and input signals need to be controlled in a software program, the control logic is complex, and the software control workload is large; in terms of hardware, the circuit design is generally complex and has more components.

In addition, the load of a high-power device (such as an exoskeleton robot) is large, the current of a circuit is also large, electric sparks are easily generated at the moment of power-on or power-off, the risk of damage of the device is increased, and the economic loss is serious. At present, a common method in the market is to arrange a switch or the switch is matched with a relay to be used as power-on protection between a power supply and equipment, and the good relay has high cost and increased circuit cost.

For example, the invention is named as a power-on self-locking protection circuit and a power supply, and the invention patent application with the application number of 201810619861.6 comprises a power-on pulse control module and an automatic locking control module provided with an MCU, wherein a capacitor C1 in the power-on pulse control module is positioned between a first resistor R1 and a first switch module and is used for charging to form a pulse to conduct the first switch module, so that an input power VIN supplies power to the MCU, namely the capacitor C1 is used for charging; when abnormality occurs in the electricity utilization process, the MCU powers off the self-locking control module, so that the function of a switching element in an electronic product is replaced; however, in the use process of the power supply, because the capacitor C1 is charged on the premise that pulses are generated, the pulses are generated only at the moment of power-on, if the circuit is automatically protected and powered off due to abnormality, the power supply can be realized only by pulling and plugging the plug again after the fault is relieved after the power is powered on, and the operation is inconvenient; when the device is applied to high-power equipment, the equipment is easy to damage due to the generated electric sparks at the moment of power-on or power-off.

Disclosure of Invention

The invention aims at the problems that the power-on self-locking circuit in the prior art is inconvenient to operate, and the power can be powered on only by plugging and unplugging a plug after the power is cut off due to factors such as faults and the like; in addition, aiming at the defect that high-power equipment does not have a protection function, the power-on self-locking protection circuit, the power supply and the exoskeleton robot are provided with the switch key K, the power can be powered on again by pressing the switch key after the plug is plugged for the first time, the plug does not need to be plugged again when the power is cut off due to faults, the operation is convenient, electric sparks can be avoided, the equipment is protected, and the cost is lower.

In order to solve the technical problem, the invention is solved by the following technical scheme:

the power-on self-locking protection circuit comprises a power-on self-locking circuit, wherein the power-on self-locking circuit comprises an input voltage VDD, a first diode D1, a second diode D2, a triode Q2, a first resistor R1, a third resistor R3, an MCU, a switch key K, a second resistor R2 and an MOS tube Q1, wherein the switch key K is connected with the input voltage VDD, one end of the first diode D1 is connected with the switch key K, the other end of the first diode D1 is connected with one end of the first resistor R1, and the other end of the first resistor R1 is connected with a base electrode of the triode Q2; one end of the third resistor R3 is connected with the second resistor R2, the other end of the third resistor R3 is connected with the collector of the triode Q2, and the emitter of the triode Q2 is grounded; the gate of the MOS transistor Q1 is connected to the common end of the second resistor R2 and the third resistor R3; one end of a second diode D2 is connected to the common end of the first diode D1 and the first resistor R1, and the other end of the second diode D2 is connected to the MCU. After the switch key K is pressed down, one path of current successively passes through the switch key K, the first diode D1, the first resistor R1 and the triode Q2, one path of current successively passes through the third resistor R3, the second resistor R2 and the triode Q2, a voltage difference is generated between the second resistor R2 and the third resistor R3, the voltage difference drives the MOS transistor Q1, the circuit voltage VCC is electrified after the MOS transistor Q1 works, the GPIO (signal output end) of the MCU controls the anode of the second diode D2 to keep high level, the second diode D2, the first resistor R1, the triode Q2, the third resistor R3, the second resistor R2, the MOS transistor Q1 and the circuit voltage VCC form loop conduction, the electrifying self-locking function is achieved, and the electrifying process of a main system (equipment) is controllable. The physical switch (switch key K) + the MOS tube is used, and the current in the circuit is in the level of electric signals (microampere level), so that electric sparks cannot be generated at the moment of power-on or power-off, and equipment can be protected. The switch key K is pressed when the power is needed to be powered on every time, a plug is not needed to be plugged, and the operation is convenient.

Furthermore, the anode of the first diode D1 is connected to the switch key K, and the cathode is connected to the first resistor R1.

Further, the cathode of the second diode D2 is connected to the common terminal of the cathode of the first diode D1 and the first resistor R1, and the anode is connected to the MCU.

Further, the input voltage VDD is also connected to the source of the MOS transistor Q1.

Further, the automatic power-off circuit comprises a branch formed by connecting the MCU with the anode of the second diode D2. The main system controls automatic power off.

Further, the automatic power-off circuit further includes a fourth resistor R4, one end of the fourth resistor R4 is connected to the common terminal of the anode of the second diode D2 and the GPIO (signal output terminal) of the MUC, and the other end is grounded.

Further, the switch key power-off circuit comprises a branch formed by sequentially connecting the switch key K, the third diode D3 and the MCU and a branch formed by sequentially connecting the first diode D1, the second diode D2 and the MCU. And the switch key K is pressed again to carry out external forced power-off, so that the situation that the main system fails to automatically power off under emergency is avoided.

Further, the anode of the third diode D3 is connected to the switch key K and the anode and cathode of the first diode D1 are connected to the GPIO (signal input terminal) of the MCU.

Furthermore, the switch key power-off circuit further comprises a fifth resistor R5, wherein one end of the fifth resistor R5 is connected to the common end of the third diode D3 and the GPIO (signal input end) of the MCU, and the other end is grounded.

The invention also provides a power-on self-locking protection circuit, which comprises a power-on self-locking circuit, wherein the power-on self-locking circuit comprises: the switch key K, the first diode D1, the first resistor R1 and the triode Q2 are sequentially connected to form a first loop; a second loop formed by sequentially connecting an input voltage VDD, a second resistor R2, a third resistor R3 and a triode Q2; and a MOS tube Q1 driven by a second resistor R2 and a third resistor R3, a second diode D2 connected with the common end of the first diode D1 and the first resistor R1, and an MCU connected with the second diode D2, wherein after the power is on, the second diode D2, the first resistor R1, the triode Q2, the third resistor R3, the second resistor R2 and the MOS tube Q1 form a loop and are conducted.

Further, the automatic power-off circuit comprises a branch formed by connecting the MCU with the anode of the second diode D2.

Furthermore, the automatic power-off circuit further comprises a fourth resistor R4, wherein one end of the fourth resistor R4 is connected to the anode of the second diode D2 and the common terminal of a GPIO of the MUC, and the other end is grounded.

Further, the switch key power-off circuit comprises a branch formed by sequentially connecting the switch key K, the third diode D3 and the MCU and a branch formed by sequentially connecting the first diode D1, the second diode D2 and the MCU.

Furthermore, the anode of the third diode D3 is connected to the switch key K and the anode and cathode of the first diode D1 are connected to a GPIO of the MCU.

Furthermore, the switch key power-off circuit further comprises a fifth resistor R5, wherein one end of the fifth resistor R5 is connected to the common end of the third diode D3 and a GPIO of the MCU, and the other end is grounded.

The invention also provides a power supply which comprises the power-on self-locking protection circuit.

The invention also provides an exoskeleton robot which comprises the power-on self-locking protection circuit.

Due to the adoption of the technical scheme, the invention has the remarkable technical effects that:

after the switch key K is pressed down, a voltage difference is generated between the second resistor R2 and the third resistor R3, the voltage difference drives the MOS tube Q1, the circuit voltage VCC is electrified after the MOS tube Q1 works, the MCU is electrified, the GPIO (signal output end) of the MCU controls the anode of the second diode D2 to keep a high level, the second diode D2, the first resistor R1, the triode Q2, the third resistor R3, the second resistor R2, the MOS tube Q1 and the circuit voltage VCC form loop conduction, the power-on self-locking function is achieved, and the controllable power-on process of a main system (equipment) is realized.

Be provided with switch button K, only need first plug circular telegram back, when the outage because of reasons such as trouble at every turn, only need press switch button K and can go up the electricity once more, need not plug again, convenient operation.

The device is suitable for equipment with more switching times, and is characterized in that a physical switch (a switch key K) + an MOS (metal oxide semiconductor) tube Q1 is used, and the device is suitable for equipment with more switching times, because a first loop formed by sequentially connecting an input voltage VDD, the switch key K, a first diode D1, a first resistor R1 (the resistor can be set to be smaller, such as 1K omega) and a triode Q2 is very small in load, the first loop is conducted after the switch key K is pressed down, the current in the loop is very small, and the current is in the level of an electric signal (microampere level), so that electric sparks cannot be generated at the moment of power-on or power-off, and the damage of a circuit board of the equipment is avoided; in addition, the triode Q2 is arranged and used for driving the MOS tube Q1 with large current, so that the condition that the equipment needs to be driven by large current is met, and the equipment is protected.

The control logic is simple, the main system can realize the internal automatic power-off function only by controlling the output states of 1 GPIO (signal output end), namely the MCU receives a shutdown instruction of the equipment operation end, and the MCU controls the level of the signal output end to be changed from high to low so as to realize automatic power-off; MCU of main system detects 1 GPIO (signal input end) level state to control the output state of 1 GPIO (signal output end) and can realize the external control outage, carry out switch button K promptly and force the shutdown mode, press switch button K, equipment MCU detects after signal input end level state changes, judges switch button K and presses down for a long time, reaches the default (like 8 seconds), MCU control signal output end level changes by high and low realization outage. The requirement that the power supply is controlled to be turned off through the main system at any time is met, forced shutdown can be performed through the external switch key K, and workload of program software and large-scale hardware peripherals can be greatly reduced.

The hardware circuit has strong adaptability, the physical switch (switch key K) can be replaced by any non-self-locking switch at will, the power can be supplied only by touching or short-circuiting two wires, and the MOS transistor Q1 can be modified at will according to different power use scenes.

Hardware circuits are few and are passive devices, so that the reliability is high and the damage is not easy to damage. The circuit components are few, and the circuit components only comprise a switch key K, a first diode D1, a second diode D2, a third diode D3, a first resistor R1, a second resistor R2, a third resistor R3, an MOS tube Q1 and a triode Q2, and the circuit structure is simple. The requirements of simplifying the exoskeleton hardware circuit and reducing the workload of software program control are met.

This application can insert between arbitrary power and the equipment, and need not to change the original power supply circuit structure of equipment, realizes going up the electricity auto-lock, and power off control, the practicality is strong, and application scope is wide.

Drawings

Fig. 1 is a circuit diagram of the present invention.

The names of the parts indicated by the numerical references in the drawings are as follows: the circuit comprises a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor Q1, a transistor Q2, a triode D1, a first diode D2, a second diode D3, a third diode D3, a switch K, a capacitor C, a voltage VDD, a voltage VCC, a circuit voltage 1-MCU GPIO (signal input end) and 2-MCU GPIO (signal output end).

Detailed Description

Embodiments of the present application will be described in detail with reference to the drawings and examples, so that how to implement technical means to solve technical problems and achieve technical effects of the present application can be fully understood and implemented.

Examples

As shown in fig. 1, the power-on self-locking protection circuit includes a power-on self-locking circuit, an automatic power-off circuit, and a switch key power-off circuit.

The power-on self-locking circuit comprises an input voltage VDD, a circuit voltage VCC, a switch key K, a first diode D1, a second diode D2, an MOS tube Q1, a triode Q2, a first resistor R1, a second resistor R2, a third resistor R3, a sixth resistor R6 and a capacitor C, MCU, wherein the input voltage VDD is connected with one end of the switch key K, the other end of the switch key K is connected with the anode of the first diode D1, the cathode of the first diode D1 is connected with one end of the first resistor R1, the other end of the first resistor R1 is connected with the base of the triode Q2, and the emitter of the triode Q2 is grounded; the input voltage VDD is also connected with one end of a second resistor R2 after being switched on, the other end of the second resistor R2 is connected with one end of a third resistor R3, and the other end of the third resistor R3 is connected with a collector of a triode Q2; the input voltage VDD is connected with the source electrode of the MOS transistor Q1 after being switched on, the grid electrode of the MOS transistor Q1 is connected with the common end of the second resistor R2 and the third resistor R3, and the drain electrode of the MOS transistor Q1 is connected with the circuit voltage VCC; the cathode of the second diode D2 is connected to the common terminal of the cathode of the first diode D1 and the first resistor R1, and the anode of the second diode D2 is connected to GPIO (signal output terminal) 2 of the MCU. One end of the sixth resistor R6 is connected to the common terminal of the cathode of the first diode D1 and the first resistor R1, and the other end of the sixth resistor R6 is grounded. The switch key K and the common end of the anode of the first diode D1 are connected with one end of a capacitor C, and the other end of the capacitor C is grounded. The capacitor C is arranged between the switch key K and the ground and is used for filtering redundant burrs in the input current waveform of the input voltage VDD.

A transistor Q2 is provided through which a large current MOS transistor Q1 is driven to meet the large current operation condition of the main system (device, with MCU). The MOS transistor Q1 can provide a larger passing current for the main system, which can improve the main system stability and current overload capability.

After the switch key K is pressed down, current flows into the first diode D1 through the switch key K, reaches the base electrode of the triode Q2 after passing through the first resistor R1, and flows through the emitter electrode of the triode Q2, and at the moment, the triode Q2 is conducted; meanwhile, another group of current flows through the collector of the second resistor R2, the third resistor R3 and the triode Q2 and the emitter of the triode Q2 in sequence, a voltage difference is generated between the second resistor R2 and the third resistor R3 (the voltage difference is generated between the second resistor R2 and the third resistor R3 by setting a specific resistance value to ensure that the current can pass through the second resistor R2, the third resistor R3 and the triode Q2, the loop is conducted, and a voltage difference is generated between the second resistor R2 and the third resistor R3 to drive the Q1 to be conducted), so that the MOS transistor Q1 is driven, the circuit voltage VCC is output after the MOS transistor Q1 works, the circuit voltage VCC is connected with a power supply input interface of the MCU of the main system, the main system is electrified to work, and the MCU of the main system is also electrified. The GPIO (signal output) 2 of the MCU controls the anode of the second diode D2 to be at a high level, and the base of the connected transistor Q2 is also at a high level. At this time, the switch key K is released, the anode of the first diode D1 becomes low level, but the cathode of the first diode D1 is connected with the cathode of the second diode D2, and is high level, the triode Q2 is still in working state, and a loop formed by the second diode D2, the first resistor R1, the triode Q2, the third resistor R3, the second resistor R2, the MOS transistor Q1 and the circuit voltage VCC is conducted, so that the power-on self-locking function is achieved, and the power-on process of the main system (equipment) is controllable.

The automatic power-off circuit comprises an MCU and a second diode D2, wherein the MCU receives a main system shutdown instruction in a wired or wireless mode. Before the main system is not powered on, the level state of a GPIO (signal output terminal) 2 connected to the anode of the second diode D2 on the MCU is not controllable, and it is unknown what level the main system is powered on directly at this time if external interference easily causes a high level, which causes unstable operation, so the fourth resistor R4 is provided. One end of the fourth resistor R4 is connected to the anode of the second diode D2 and the common terminal of GPIO (signal output terminal) 2 of the MUC, and the other end of the fourth resistor R4 is grounded. The anode of the second diode D2 is connected with GPIO (signal output end) 2 of the MCU for signal output control.

The main system is in a power-on self-locking state, when the power is not cut off through the switch key K, namely the switch key K is not pressed for power off, the main system sends a power-off instruction to the MCU, the MCU controls GPIO (signal output end) 2 connected with the anode of the second diode D2 to be changed into low level, the cathode of the second diode D2 is also changed into low level, at the moment, the triode Q2 is not conducted, no voltage difference is generated at the two ends of the second resistor R2 and the third resistor R3, the MOS transistor Q1 stops working, the main system also stops working, and the whole circuit is in a power-off state.

The switch key power-off circuit comprises a switch key K, a first diode D1, a third diode D3, a fifth resistor R5 and an MCU, wherein the anode of the third diode D3 is connected with the switch key K, the anode of the third diode D3 is also connected with the anode of a first diode D1, one end of a fifth resistor R5 is connected to the common end of the cathode of the third diode D3 and the MCU, the other end of the fifth resistor R5 is grounded, and the cathode of the third diode D3 is also connected with a GPIO (signal input end) 1 of the MCU. The MCU can detect whether the switch key K is pressed again or not, and the main system is powered off through program control. The cathode of the third diode D3 is connected with GPIO (signal input end) 1 of the MCU for detecting input signals.

When the main system is in a power-on self-locking state, before a switch key K is pressed, the cathode of the third diode D3 is in a low level state under the action of the fifth resistor R5, and the arrangement of the fifth resistor R5 can ensure that the cathode of the third diode D3 is in the low level state instead of an unknown level state; if the switch key K is pressed, at this time, the anode of the first diode D1 and the anode of the third diode D3 are both in a high level state, the cathode of the third diode D3 also becomes a high level state, and after the MCU detects the level change of the GPIO (signal input terminal) 1 connected to the cathode of the third diode D3, the main system can be powered off by controlling the level change of the GPIO (signal output terminal) 2 connected to the anode of the second diode D2, and the GPIO (signal output terminal) 2 connected to the second diode D2 can be controlled to be powered off by controlling the level change of the GPIO (signal output terminal) 2 connected to the anode of the second diode D2 in a manner that the MCU communicates with other peripheral main systems, so as to control the main system to be powered off. In this embodiment, the MCU powers off the main system by controlling the GPIO (signal output terminal) 2 connected to the anode of the second diode D2 to be low level after detecting the level change of the GPIO (signal input terminal) 1 connected to the cathode of the third diode D3.

On the basis of the shutdown function controlled by the equipment operation end, the switch key power-off circuit is additionally arranged, forced shutdown can be realized by pressing the switch key K for a long time, namely in the power-on process, the switch key K is pressed again, the MCU detects that the level of the signal input end changes, the MCU judges the pressing time of the switch key K, when the preset time (such as 8 seconds) is reached, the GPIO (signal output end) 2 of the MCU controls the anode of the second diode D2 to be changed from high level to low level, and therefore shutdown of the equipment is realized.

The way in which the MCU controls the CPIO (signal input/output) level state is prior art and will not be described herein. The model of the MCU is not limited, and can be applied to the existing models on the market at present, such as EPROM type 87C 51.

In this embodiment, the resistance of the second resistor R2 is 9K Ω, and the resistance of the third resistor R3 is 1K Ω; the capacitance of the capacitor C is in the micro-farad level. The first diode D1, the second diode D2, and the third diode D3 can prevent the current from flowing backward. The fourth resistor R4, the fifth resistor R5 and the sixth resistor R6 are used for ensuring that the level of one end of the diode connected with the fourth resistor R4 is low.

The input voltage VDD of the power-on self-locking protection circuit is connected with a bus of an external power supply, and all grounding ends are connected with a ground wire.

A circuit voltage VCC of the power-on self-locking protection circuit is connected with a power supply input interface of an MCU of the exoskeleton robot.

The foregoing description shows and describes several preferred embodiments of the invention, but as aforementioned, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. Power-on self-locking protection circuit, including power-on self-locking circuit, its characterized in that, power-on self-locking circuit includes: the circuit comprises a first loop formed by sequentially connecting an input voltage VDD, a switch key K, a first diode D1, a first resistor R1 and a triode Q2, a second loop formed by sequentially connecting the input voltage VDD, a second resistor R2, a third resistor R3 and a triode Q2, an MOS tube Q1 driven by the second resistor R2 and the third resistor R3, a second diode D2 connected to the common end of the first diode D1 and the first resistor R1, and an MCU connected with the second diode D2; after power is on, the second diode D2, the first resistor R1, the triode Q2, the third resistor R3, the second resistor R2 and the MOS transistor Q1 form a loop and are conducted.

2. The power-on self-locking protection circuit according to claim 1, further comprising an automatic power-off circuit, wherein the automatic power-off circuit comprises a branch formed by connecting the MCU with the anode of the second diode D2.

3. The power-on self-locking protection circuit of claim 2, wherein the auto-power-off circuit further comprises a fourth resistor R4, one end of the fourth resistor R4 is connected to the common terminal of the second diode D2 and the MUC, and the other end is grounded.

4. The power-on self-locking protection circuit according to claim 1, further comprising a switch key power-off circuit, wherein the switch key power-off circuit comprises a branch formed by sequentially connecting the switch key K, the third diode D3 and the MCU and a branch formed by sequentially connecting the first diode D1, the second diode D2 and the MCU.

5. The power-on self-locking protection circuit according to claim 4, wherein the switch key power-off circuit further comprises a fifth resistor R5, one end of the fifth resistor R5 is connected to the common terminal of the third diode D3 and the MCU, and the other end of the fifth resistor R5 is grounded.

6. A power-on self-locking protection circuit comprises a power-on self-locking circuit and is characterized in that the power-on self-locking circuit comprises an input voltage VDD, a first diode D1, a second diode D2, a triode Q2, a first resistor R1, a third resistor R3, an MCU, a switch key K, a second resistor R2 and an MOS tube Q1, wherein the switch key K, the MOS tube Q1 and the input voltage VDD are all connected with one end of the first diode D1, one end of the first diode D1 is connected with the switch key K, the other end of the first diode D1 is connected with one end of the first resistor R1, and the other end of the first resistor R1 is connected with a base electrode of the triode Q2; one end of the third resistor R3 is connected with the second resistor R2, the other end of the third resistor R3 is connected with the collector of the triode Q2, and the emitter of the triode Q2 is grounded; the gate of the MOS transistor Q1 is connected to the common end of the second resistor R2 and the third resistor R3; one end of a second diode D2 is connected to the common end of the first diode D1 and the first resistor R1, and the other end of the second diode D2 is connected to the MCU.

7. The power-on self-locking protection circuit of claim 6, further comprising an automatic power-off circuit, wherein the automatic power-off circuit comprises a branch formed by connecting the MCU with the anode of the second diode D2 and a fourth resistor R4, one end of the fourth resistor R4 is connected to the common terminal of the second diode D2 and the MUC, and the other end of the fourth resistor R3526 is grounded.

8. The power-on self-locking protection circuit of claim 6, further comprising a switch key power-off circuit, wherein the switch key power-off circuit comprises a branch formed by sequentially connecting the switch key K, the third diode D3 and the MCU, a branch formed by sequentially connecting the first diode D1, the second diode D2 and the MCU, and a fifth resistor R5, one end of the fifth resistor R5 is connected to the common terminal of the third diode D3 and the MCU, and the other end of the fifth resistor R5 is grounded.

9. A power supply comprising a power-on self-locking protection circuit as claimed in any one of claims 1-8.

10. An exoskeletal robot, characterized in that it comprises a power-on self-locking protection circuit according to any of claims 1 to 8.