CN108347079A - Power-supply controller of electric and robot with the power-supply controller of electric - Google Patents
Power-supply controller of electric and robot with the power-supply controller of electric Download PDFInfo
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- CN108347079A CN108347079A CN201810224685.6A CN201810224685A CN108347079A CN 108347079 A CN108347079 A CN 108347079A CN 201810224685 A CN201810224685 A CN 201810224685A CN 108347079 A CN108347079 A CN 108347079A
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- power supply
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- electric
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Classifications
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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
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
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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
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads
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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
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/10—Control circuit supply, e.g. means for supplying power to the control circuit
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
This application discloses a kind of power-supply controller of electric and with the robot of the power-supply controller of electric.The power-supply controller of electric includes：Central processing unit, first voltage power supply module, second voltage power supply module, the central processing unit is connect by optical coupling isolation circuit with the first voltage power supply module, the central processing unit is connect with the second voltage power supply module, the first voltage power supply module, for powering to motor driver as driving voltage；The second voltage power supply module, for powering to the central processing unit as control voltage.Present application addresses the relatively low technical problems of the safety of power-supply controller of electric.The high-low pressure of power-supply controller of electric provided by the present application is completely isolated, and has the safeguard measures such as power down process to make power-supply controller of electric more security reliability there is emergency.
Description
Technical field
This application involves power-supply management system fields, in particular to a kind of power-supply controller of electric and carry the power supply
The electric supply system of controller.
Background technology
Robot power supply power supply system can be effectively powered for robot by battery.
Inventor has found that it is easy to appear power failures for current robot power supply power supply system, especially powerful
In electric supply system, lack error protection and Power Supply Monitoring function.When there is abnormal problem, whole system is caused to collapse
It bursts.
The relatively low problem of safety for power-supply controller of electric in the related technology, not yet proposes effective solution side at present
Case.
Invention content
The main purpose of the application is to provide a kind of power-supply controller of electric, lower with the safety for solving power-supply controller of electric
Problem.
Therefore, the design is directed to current currently existing scheme, increases on this basis：Battery power management system, and
There is emergency and carry out at power-off in power supply over-current over-voltage protection, the completely isolated and system of height low pressure progress of controller
The safeguard measures such as reason, to solve some shortcomings of current power-supply controller of electric so that entire controller power source management function peace
It is complete reliable.
To achieve the goals above, according to the one side of the application, a kind of power-supply controller of electric is provided,.
Include according to the power-supply controller of electric of the application：Including：Central processing unit, first voltage power supply module, second voltage
Power supply module, the central processing unit are connect by optical coupling isolation circuit with the first voltage power supply module, the centre
Reason device is connect with the second voltage power supply module, the first voltage power supply module, for being driven to motor as driving voltage
Dynamic device power supply；The second voltage power supply module, for powering to the central processing unit as control voltage.
Further, the central processing unit is connect by I/O interfaces with the optical coupling isolation circuit.
Further, the second voltage power supply module is additionally operable to as following any or multiple interfaces work
Make voltage：Host computer power supply interface, power supply for exchange interface, power switch machine interface, LED lamp panel display interface, RJ45 nets
Line interface, radiator fan interface.
Further, the first voltage power supply module is additionally operable to as following any or multiple interfaces work
Make voltage：External direct current power supply interface, battery interface, battery management system communication interface, scram button interface, battery charging
Mouth, motor driver power supply interface.
Further, power-supply controller of electric further includes：Power redundancy backup circuit, the power redundancy backup circuit include：
First power supply circuit and the second power supply circuit, first power supply circuit are used to power as DC power supply, second power supply
Circuit is used to be used as battery powered.
Further, power-supply controller of electric further includes：Battery management system, the battery management system are connect by 485 communications
Mouth and the central processing unit communication, the charging and discharging state for monitoring battery.
Further, power-supply controller of electric further includes：Network communication interface, for access to LAN after being connected by cable.
To achieve the goals above, according to the another aspect of the application, a kind of robot is provided.
Include according to the robot of the application：The power-supply controller of electric, the power-supply controller of electric, for being driven by motor
Dynamic device power supply interface powers for the left leg of the robot, right leg, left arm, right arm, waist, head.
Further, robot further includes：Switch button, for controlling powering on, stop or shutting down for robot.
Further, robot further includes：Stop button, the power drive power supply for cutting off robot
In the embodiment of the present application, it is controlled using central processing unit, first voltage power supply module, second voltage power supply module
The mode powered respectively is connect by optical coupling isolation circuit with the first voltage power supply module, the central processing unit and institute
The connection of second voltage power supply module is stated, has achieved the purpose that controller power source management function is safe and reliable, to pass through power supply control
Device processed realize to the powering on of entire robot, power off, the emergency stop that happens suddenly power-off, low voltage control, high voltage control, battery BMS, communication etc.
Realize the technique effect of control, and then the technical problem that the safety for solving power-supply controller of electric is relatively low.
Description of the drawings
The attached drawing constituted part of this application is used for providing further understanding of the present application so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings：
Fig. 1 is the power-supply controller of electric schematic diagram according to the application first embodiment；
Fig. 2 is the second voltage power supply module institute connecting interface schematic diagram according to the embodiment of the present application；
Fig. 3 is the first voltage power supply module institute connecting interface schematic diagram according to the embodiment of the present application；
Fig. 4 is the power-supply controller of electric schematic diagram according to the application second embodiment；
Fig. 5 is the power-supply controller of electric schematic diagram according to the application 3rd embodiment；
Fig. 6 is the power-supply controller of electric schematic diagram according to the application fourth embodiment；
Fig. 7 is to control isolation circuit principle schematic according to the MOS of the embodiment of the present application；
Fig. 8 is the electrical isolation principle schematic in the power-supply controller of electric according to the embodiment of the present application；And
Fig. 9 is the power-supply controller of electric principle schematic according to the embodiment of the present application.
Specific implementation mode
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment those of are not necessarily limited to clearly to list step or unit, but may include without clear
It is listing to Chu or for these processes, method, product or equipment intrinsic other steps or unit.
In this application, term "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on ... shown in the drawings or
Position relationship.These terms are not intended to limit indicated dress primarily to preferably describe the application and embodiment
It sets, element or component must have particular orientation, or be constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term "upper" also are likely used for indicating certain relations of dependence or connection relation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；Can be mechanical connection, or electrical connection；It can be direct phase
Even, or indirectly connected through an intermediary, or it is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, the power-supply controller of electric in the embodiment of the present application, including：Central processing unit 10, first voltage power supply mould
Block 20, second voltage power supply module 30, the central processing unit 10 pass through optical coupling isolation circuit and first voltage power supply mould
20 pieces of connections, the central processing unit 10 are connect with the second voltage 30 pieces of mould of power supply, the first voltage power supply module 20,
For powering to motor driver as driving voltage；The second voltage power supply module 30, for being used as control voltage to institute
State central processing unit power supply.
Preferably, the central processing unit is connect by I/O interfaces with the optical coupling isolation circuit.It is carried out by optocoupler
Electrically completely isolated avoids on high-tension side electric parameter from generating interference and noise to cpu controller and peripheral circuit.
Specifically, power-supply controller of electric uses nominal input voltage for direct current 48V, is divided into two large divisions after 48V control sources：
The first voltage power supply module 20, for powering to motor driver as driving voltage；The second voltage power supply module
30, for powering to the central processing unit as control voltage.
The first voltage power supply module 20 is the driving voltage 48V power supplies of motor, and a metal-oxide-semiconductor, metal-oxide-semiconductor are passed through in centre
Break-make controlled by an I/O pin of CPU processor, thus may be implemented driving power supply break-make control, principle
As shown in Figure 7.
The second voltage power supply module 30 is that 48V changes into the low-tension supply needed for control system by power supply chip, is had
Two host computer 19V voltages, one 9V of exchanger power, 3, radiator fan interface and wait for electromechanics at peripheral circuit operating voltage
Press 5V and 3.3V.
Controller power supply is powered using the separated form of driving voltage, that is, high pressure and control voltage, that is, low pressure, and high pressure is
For the 48V power supply systems of motor driver and the operating voltage of other interfaces, low pressure is the operating voltage of central processing unit 10
And peripheral circuit operating voltage, electrical isolation is carried out between both voltages completely and is opened, principle is as shown in Figure 8.But
Meanwhile all supplying power for outside voltage can all be gone individually to be controlled by 10 pin of central processing unit, centre passes through light
Coupling has carried out electrically completely isolated, avoids on high-tension side electric parameter from generating central processing unit 10 and peripheral circuit dry
It disturbs and noise.
By the central processing unit 10 in power-supply controller of electric, entire power-supply system is controlled and is managed, and with it is whole
A robot system carries out the communication of data by network.To entire robot power on and power down process has perfect control
Process.
It can be seen from the above description that the present invention realizes following technique effect：
In the embodiment of the present application, it is controlled using central processing unit, first voltage power supply module, second voltage power supply module
The mode powered respectively is connect by optical coupling isolation circuit with the first voltage power supply module, the central processing unit and institute
The connection of second voltage power supply module is stated, has achieved the purpose that controller power source management function is safe and reliable, to pass through power supply control
Device processed realize to the powering on of entire robot, power off, the emergency stop that happens suddenly power-off, low voltage control, high voltage control, battery BMS, communication etc.
Realize the technique effect of control, and then the technical problem that the safety for solving power-supply controller of electric is relatively low.
According to embodiments of the present invention, it is preferable that as shown in Fig. 2 and Fig. 8, the second voltage power supply module 30 is also used
In as following any or multiple interfaces operating voltage：Host computer power supply interface, power supply for exchange interface, power supply
Switching on and shutting down interface, LED lamp panel display interface, RJ45 cable interfaces, radiator fan interface.
Specifically, host computer power supply interface, power supply for exchange interface, power switch machine interface, LED lamp panel show and connect
Mouth, RJ45 cable interfaces, radiator fan interface include：
19V host computer power supply interfaces, totally 2 interfaces, respectively the two of robot controller computer (mca controller
With small brain controller) it is powered；
9V power supply for exchange interfaces are the power supply for exchange of robot system network establishment；
Power switch machine interface, outside connected switch machine are pressed, and realize the switching on and shutting down of entire robot system；
LED lamp panel display interface, for showing current battery charge residue；
RJ45 cable interfaces, the network communication interface carried out for power-supply controller of electric and robot system；
12V radiator fan interfaces, totally 3 interfaces, two are the entire inside thoracic cavity heat dissipation of robot, and one is onboard wind
Fan radiates for the power-supply controller of electric.
According to embodiments of the present invention, it is preferable that as shown in figure 3, the first voltage power supply module 20, is additionally operable to as such as
Under any or multiple interfaces operating voltage：External direct current power supply interface, battery interface, battery management system communication connect
Mouth, scram button interface, battery charging interface, motor driver power supply interface.
Specifically, external direct current power supply interface, battery interface, battery management system communication interface, scram button interface, electricity
Pond charging interface, motor driver power supply interface include：
48V external direct current power supply interfaces, for connecing external dc power power supply；
48V battery interfaces, for connecing 48V battery powereds；
Battery BMS (battery management system) communication interface is carried out for battery BMS battery management systems and controller CPU
Communication；
Scram button interface stops such as emergency case for the urgent power down of robot system；
48V battery charging interfaces, for charging to robot battery；
48V motor driver power supply interfaces, this interface have 6, correspond to 6 groups respectively, respectively left leg, right leg, left arm
Arm, right arm, waist, six part of head are supplied.
According to embodiments of the present invention, it is preferable that as shown in figure 4, power-supply controller of electric further includes：Power redundancy backup circuit
40, the power redundancy backup circuit 40 includes：First power supply circuit and the second power supply circuit, first power supply circuit are used for
It powers as DC power supply, second power supply circuit is used to be used as battery powered.
Specifically, there are two kinds of external direct current power supply and battery powered, the embodiment of the present application in power redundancy backup circuit 40
In power-supply controller of electric can support two kinds of power supply power supplies simultaneously, it is excellent that power-supply controller of electric can automatically select one group of high carry out of voltage
It first powers, another group is used as backup battery, when supply voltage insufficient supply or unexpected power down, can automatically switch to backup electricity
Source, this switching part belong to electronic circuit seamless switching, and during this period, whole system is not in the power down of any equipment, right
System data will not cause any loss.
According to embodiments of the present invention, it is preferable that as shown in figure 5, power-supply controller of electric further includes：Battery management system 50, institute
Battery management system 50 is stated by 485 communication interfaces and the central processing unit communication, the charging and discharging state for monitoring battery.
Specifically, battery BMS battery management systems come with the central processing unit on 485 communication interfaces and controller into
Row communication, the central processing unit of controller can read the relevant parameter of battery by 485 signals, including when current electric discharge
Voltage, battery and temperature value judge that battery is presently at discharge condition or charged state etc., to battery BSM cell tubes
All a real-time Communication Monitoring function of reason system.
According to embodiments of the present invention, it is preferable that as shown in fig. 6, power-supply controller of electric further includes：Network communication interface 60 is used
The access to LAN after being connected by cable.
Specifically, controller carries network communication interface, it is preferable that rate is that 10M/100M is adaptive, with a cable
Communication or data transmission can be carried out with other equipment or system, the design is to be connected in interchanger and other controllers
Form local area network, the data on power-supply controller of electric can be accessed by other processors in real time, can also and other equipment
The direct-connected of cable is carried out to connect.
According to embodiments of the present invention, a kind of robot for implementing above-mentioned power-supply controller of electric is additionally provided, such as Fig. 9 institutes
Show, which includes：The power-supply controller of electric, the power-supply controller of electric, for by motor driver power supply interface for
The left leg of the robot, right leg, left arm, right arm, waist, head power supply.
Power-supply controller of electric external interface includes but not limited in embodiments herein, 48V external direct current power supply interfaces,
For connecing external dc power power supply.48V battery interfaces, for connecing 48V battery powereds.Battery BMS battery management systems communicate
Interface is communicated for battery BMS battery management systems and controller CPU.Scram button interface is used such as emergency case
Stop in the urgent power down of robot system.48V battery charging interfaces, for charging to robot battery.48V motors drive
Device power supply interface, this interface have 6, correspond to 6 groups respectively, respectively left leg, right leg, left arm, right arm, waist, head
Six parts are powered.19V host computer power supply interfaces, totally 2 interfaces, respectively the two of robot controller computer, than
Such as, it can be mca controller and small brain controller, be powered.9V power supply for exchange interfaces are taken for robot system network
The power supply for exchange built.Power switch machine interface, outside connected switch machine are pressed, and realize the switching on and shutting down of entire robot system.LED lamp panel
Display interface, for showing current battery charge residue.RJ45 cable interfaces are carried out for power-supply controller of electric and robot system
Network communication interface.12V radiator fan interfaces, totally 3 interfaces, two are the entire inside thoracic cavity heat dissipation of robot, one
For onboard fan, radiate for the power-supply controller of electric.
Power-supply controller of electric in the embodiment of the present application carries central processing unit, and entire power-supply system can be controlled and be managed
Reason, and pass through the communication of network progress data with entire robot system.To entire robot power on and power down process all
There is perfect control process.
Controller uses nominal input voltage for direct current 48V, is divided into two large divisions after 48V control sources：A part is electricity
A metal-oxide-semiconductor is passed through in the driving voltage 48V power supply of machine, centre, the break-make of metal-oxide-semiconductor by an I/O pin of CPU processor into
The break-make control of driving power supply thus may be implemented in row control, as shown in fig. 7, remaining 5 tunnels are the same, (48V motor drivers supply
Electrical interface, this interface have 6, correspond to 6 groups respectively, respectively left leg, right leg, left arm, right arm, waist, six, head
Divide and be powered).Another part is that 48V changes into the low-tension supply needed for control system by power supply chip, and there are two computer masters
Machine 19V voltages, one 9V of exchanger power, 3, radiator fan interface, peripheral circuit operating voltage and standby voltage 5V and
3.3V。
Controller power supply is powered using the separated form of driving voltage, that is, high pressure and control voltage, that is, low pressure, and high pressure is
For the 48V power supply systems of motor driver and the operating voltage of other interfaces, low pressure be the operating voltage of central processing unit with
And peripheral circuit operating voltage, electrical isolation is carried out between both voltages completely and is opened, as shown in figure 8, but simultaneously, owning
Supplying power for outside voltage can all be gone individually to be controlled by central processing unit pin, centre carried out electrically by optocoupler
On it is completely isolated, avoid on high-tension side electric parameter from generating interference and noise to central processing and peripheral circuit.
In some embodiments, when the robot in the embodiment of the present application is in shutdown, power-supply controller of electric has one
Fraction circuit has electricity, is exactly stand-by circuit, when robot system will start or be switched on, clicks button at this time, electricity
The central processing unit of source controller first powers on, and each power interface for then controlling periphery powers on, finally in the motor of control 48V
Driving interface powers on, meanwhile, it is onboard to there is buzzing prompt tone, each power-up state to be different prompt tone, it indicates each and powers on
Logic state is normal,
In some embodiments, when robot system needs to stop or shut down, button of first short-press is entire to drive
Then the power down of dynamic system 48V voltages elder generation pins button long, buzzer will appear buzzing prompt, and then release button, whole
A system all powers down or off.
In some embodiments, with robot other than a power on button, there are one eye-catching red to press greatly
Button is mounted in the back part of robot, for doing the emergency stop button of robot, before also making scram button, wiring interface be exactly
Mention the 4th of face needs to cut off power drive power supply at once, be clapped at this time with hand when robot breaks down or is out of control
This lower button, will switching driver power supply immediately, avoid the occurrence of dangerous play.
Preferably, robot is configured with power redundancy backup scheme, and electric supply system has external direct current power supply and battery
Two kinds of power supply, controller support two kinds of power supply power supplies, controller that can automatically select voltage high one group and power into row major simultaneously,
Another group is used as backup battery, when supply voltage insufficient supply or unexpected power down, can automatically switch to backup battery, this cuts
It changes and partly belongs to electronic circuit seamless switching, during this period, whole system is not in the power down of any equipment, to system data
It will not cause any loss.
Preferably, robot is configured with battery BMS battery management systems, comes on 485 communication interfaces and controller
CPU communicated, the central processing unit in power-supply controller of electric can read the relevant parameter of battery by 485 signals, including
Voltage, battery and temperature value when current electric discharge, judge that battery is presently at discharge condition or charged state etc., right
All a real-time Communication Monitoring function of battery BSM battery management systems.
Preferably, robot is configured with network communication interface, and rate is that 10M/100M is adaptive, just with a cable
Communication or data transmission can be carried out with other equipment or system, the design is to be connected in interchanger and other controller groups
At local area network, the data on power-supply controller of electric can be accessed by other processors in real time, can also with other equipment into
The direct-connected of row cable connects.
Specifically, by be once switched on, shut down and abnormal power-down for, the power supply control in the robot of the embodiment of the present application
Device switching on and shutting down process processed and ring device instruction state：
1. start process：By lower button, buzzer 500MS is short, and sound is primary, and power-supply controller of electric is prompted normally to power on, 2 seconds
And then the short sound of 500MS is primary, other electrical equipments (two computers controller, router, fan) is prompted normally to power on.Again
Secondary to press lower button, buzzer prompts all 48V drivers driving voltages to power on the short sound of 500MS 2 times.At this point, power up
Terminate.
2. shutdown process：By lower button, button is pinned in the power down of 48V driver driving voltages elder generation again, in about 3S after,
Buzzer president rings a sound, duration 2S, release button at this time, entire to control voltage power down, power-supply controller of electric also power down,
At this point, shutdown process terminates.
3. abnormal power-down process：If in robot system operational process, due to being in an emergency, emergency stop switch by by
When lower, buzzer length rings 3S, indicates that abnormal shutdown occur in 48V drive power supplies；Before next time powers on, if do not had in emergency stop switch
In the case of closure, after 48V drivers first power on instruction execution, buzzer prompt system powers on logic and mistake occurs, at this time bee
Ring device three times, prompts user or commissioning staff to power on logic error with the short sound of 300MS.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, either they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of power-supply controller of electric, which is characterized in that including：Central processing unit, first voltage power supply module, second voltage power supply
Module, the central processing unit are connect by optical coupling isolation circuit with the first voltage power supply module, the central processing unit
It is connect with the second voltage power supply module,
The first voltage power supply module, for powering to motor driver as driving voltage；
The second voltage power supply module, for powering to the central processing unit as control voltage.
2. power-supply controller of electric according to claim 1, which is characterized in that the central processing unit passes through I/O interfaces and institute
State optical coupling isolation circuit connection.
3. power-supply controller of electric according to claim 1, which is characterized in that the second voltage power supply module is additionally operable to make
For following any or multiple interfaces operating voltage：Host computer power supply interface, power supply for exchange interface, power switch
Machine interface, LED lamp panel display interface, RJ45 cable interfaces, radiator fan interface.
4. power-supply controller of electric according to claim 1, which is characterized in that the first voltage power supply module is additionally operable to make
For following any or multiple interfaces operating voltage：External direct current power supply interface, battery interface, battery management system are logical
Believe interface, scram button interface, battery charging interface, motor driver power supply interface.
5. power-supply controller of electric according to claim 1, which is characterized in that further include：Power redundancy backup circuit, the electricity
Source redundant backup circuit includes：First power supply circuit and the second power supply circuit,
First power supply circuit is used to power as DC power supply,
Second power supply circuit is used to be used as battery powered.
6. power-supply controller of electric according to claim 1, which is characterized in that further include：Battery management system, the cell tube
Reason system is by 485 communication interfaces and the central processing unit communication, the charging and discharging state for monitoring battery.
7. power-supply controller of electric according to claim 1, which is characterized in that further include：Network communication interface, for passing through net
Access to LAN after line connection.
8. a kind of robot, which is characterized in that including power-supply controller of electric as described in any one of claim 1 to 7, the power supply
Controller, for by motor driver power supply interface for the left leg of the robot, right leg, left arm, right arm, waist,
Head powers.
9. robot according to claim 8, which is characterized in that further include：Switch button, for controlling robot
Electricity stops or shuts down.
10. robot according to claim 8, which is characterized in that further include：Stop button, for cutting off robot
Power drive power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810224685.6A CN108347079A (en) | 2018-03-19 | 2018-03-19 | Power-supply controller of electric and robot with the power-supply controller of electric |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810224685.6A CN108347079A (en) | 2018-03-19 | 2018-03-19 | Power-supply controller of electric and robot with the power-supply controller of electric |
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| CN108347079A true CN108347079A (en) | 2018-07-31 |
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| CN201810224685.6A Pending CN108347079A (en) | 2018-03-19 | 2018-03-19 | Power-supply controller of electric and robot with the power-supply controller of electric |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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