CN110109503A - Intelligence manufacture robot power consumption control apparatus for automatic stored logistics - Google Patents
Intelligence manufacture robot power consumption control apparatus for automatic stored logistics Download PDFInfo
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- CN110109503A CN110109503A CN201910461792.5A CN201910461792A CN110109503A CN 110109503 A CN110109503 A CN 110109503A CN 201910461792 A CN201910461792 A CN 201910461792A CN 110109503 A CN110109503 A CN 110109503A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/66—Regulating electric power
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Abstract
In order to improve the reliability and long-term working stability of merchandising machine people power supply under bad working environments, the present invention provides a kind of intelligence manufacture robot power consumption control apparatus for automatic stored logistics, the power consumption control module including power supply module and the monitoring power supply module output power quality.Even if the present invention has also effectively ensured the stability and reliability under the long time continuous working state of the power circuit of robot while raising switch reliability and the long-time stability under bad working environments.
Description
Technical field
The present invention relates to logistics technology, more particularly, to a kind of intelligence manufacture machine for automatic stored logistics
Device people's power consumption control apparatus.
Background technique
Power supply is the power of various electronic and electrical equipment work, is the indispensable important component of automation, power supply
The superiority and inferiority of control quality is directly related to the performance of system, the service life of safety and stability and hardware.The power supply of mobile robot
Processing system is to provide the portion of the energy and management function for control subsystem all in robot, driving and executive subsystem
Point.In terms of having focused largely on behaviour control to the research of mobile robot both at home and abroad at present, the machine based on various sensor technologies
The information exchange and its control technology of device human and environment, as machine intelligence, more sensor-based systems, navigation and positioning, remote control and monitoring,
Path planning etc..And the research about robot power supply and power-driven system is relatively fewer, and this exactly carries out any row
For the energy foundation of control.As robot architecture complicates the particular/special requirement with working environment, power supply and power drive problem
An important bottleneck for having become limitation robotics development and application, becomes apparent particularly with mobile robot.It moves
The mode that mobile robot generally can not take cable to power, it is necessary to self-contained independent power-supply system, and need to have certain
The ability continued working can generally be powered, at present generally lithium battery using chargeable storage.In view of mobile robot module
The features such as numerous and function is complicated, electric power processing system is for the stability of robot, reliability, energy conservation and safety to Guan Chong
It wants, correspondingly to the structure and function of electric power processing system, more stringent requirements are proposed.It is suitable for moving machine therefore, it is necessary to study
The electric power processing system of device people, optimum management strategy carry out rational management and optimization to the energy of power supply and power-driven system
Distribution reaches under the premise of guaranteeing mobile robot stable, reliable, safe operation and improves power source performance, improves energy utilization
The purpose of efficiency and protection power source itself.
Robot can be divided into mobile robot and stationary machine people.Mobile robot currently on the market is
Using wheeled construction, the on-off of DC power supply is mainly positioned against one mechanical power switch of concatenation in current loop and comes in fact
It is existing.Mechanical power switch generally comprises ship type switch or self-locking type switch, such switch directly connect in electric power loop
In, it is switched on by that side power supply to conducting, just disconnects, entire electric power loop moment can be led by disconnection other side power supply
Logical or disconnection.This mechanical power switch is currently gradually automatically controlled circuit drives.
But with the extension of use time, the mechanical parameter of mechanical power switch can due to various reasons, such as ring
Border reason, itself long time continuous working lead to temperature anomaly reason, and switch motion inaccuracy is caused even to malfunction, wherein one
The typical situation of kind is exactly solar panel powered for the robot in Mobile Cargo logistics system etc. by various factors shadow
The case where ringing and generating itself undertension.In the insufficient situation of this supply voltage, the work of mechanical power switch can
It is even more troubling by property.
Summary of the invention
In order to improve the reliability and long-term working stability of merchandising machine people power supply under bad working environments, the present invention provides
A kind of intelligence manufacture robot power consumption control apparatus for automatic stored logistics, including power supply module and the monitoring power supply
The power consumption control module of module output power quality.
Further, the power consumption control module includes: the micro energy lose switching circuit for controlling the power supply module, and
The monitoring unit that the output signal exported between two output terminals of the switching circuit is monitored.
Further, the micro energy lose switching circuit includes: including transistor T1, T2 and T3, capacitor C1, C2 and C3, electricity
Hinder R1, R2, R3, R4, R5, R6, R7, field-effect tube Q1, Q2, switch S1, two-way rectifier L1, output terminal Output1 and
Output2；The base stage of the transistor T1 connects pulse signal Pulse, and emitter is separately connected the first end and electricity of resistance R1
The first end of R2, the first end of the second end connection capacitor C1 of resistance R1 are hindered, the second end of capacitor C2 is separately connected resistance R2's
The collector of second end and transistor T1, the collector of transistor T1 be also connected with the first end of capacitor C2, resistance R6 first
End, the emitter of transistor T3, the source electrode of field-effect tube Q2 and output terminal Output2；The second end of capacitor C2 connects respectively
The drain electrode of the first end of switch S1, the first end of resistance R4 and field-effect tube Q2 is connect, the second end of resistance R4 connects transistor
The collector of T3, the first end of the second end connection resistance R3 of switch S1, the second end of resistance R3 are separately connected field-effect tube Q1
Grid and resistance R5 first end, the base stage of the second end connection transistor T2 of resistance R5, the second end of resistance R6 connects respectively
Connect the emitter of transistor T2 and the source electrode of field-effect tube Q1, the collector of transistor T2 be separately connected transistor T3 base stage,
The drain electrode of the grid, field-effect tube Q1 of field-effect tube Q2 and the first end of resistance R7, the second end of resistance R7 are separately connected field
The drain electrode of effect pipe Q2, and the second end of resistance R7 and output terminal Output2 be separately connected two-way rectifier L1 two are defeated
Entering end, the output end of two-way rectifier L1 is connected to each other by capacitor C3 and one end of capacitor C3 connection output terminal Output1,
The positive output end that the output terminal Output2 is also connected with power supply module in addition to connecting an input terminal of the monitoring unit.
Further, the power supply module includes battery.
Further, the battery is solar panel.
Further, the resistance R3-R7 is the resistance that nominal resistance is greater than 100k Ω.
Further, the resistance R3-R7 is the resistance that nominal resistance is greater than 1M Ω.
Further, the monitoring unit is according to the electricity between the output terminal Output1 and output terminal Output2
Pressure difference determines whether to disconnect switch S1 and issues alarm sound, reduces while to guarantee robot stabilized work to robot
The power consumption of robot under unstable electric power thus supplied.
The beneficial effects of the present invention are: foregoing circuit is at work, field-effect tube Q1 and Q2 is playing the same of driving effect
When, " delay is opened, turned off rapidly " has been achieved the effect that the mechanical switch S1 of the switching circuit, improve switch reliability and
Even if while long-time stability under bad working environments, also effectively ensured transistor T2 and T3 normal operating conditions and
The long-term stable work of stability and two-way rectifier L1.Meanwhile these stability make resistance R3, R5, R6 and R7
Range of choice breach the limitations of several hundred Europe orders of magnitude, avoiding resistance R3-R7 fever seriously leads to switch electricity of the invention
Road cannot achieve the driving to switching signal or even cause the appearance of circuit burnout problem, so as to use tens K Ω quantity
The resistance of the grade even more big order of magnitude (such as M Ω, i.e. mega-ohms), hence for Output2, i.e. power supply module positive output end is defeated
The detection of the fluctuation of signal out is sensitiveer, that is to say, that under the long time continuous working state of the power circuit of robot
Stability and reliability be improved and ensure.
Detailed description of the invention
Fig. 1 shows the structural block diagram of power consumption control apparatus of the invention.
Fig. 2 shows the circuit diagrams of micro energy lose switching circuit of the invention.
Specific embodiment
As shown in Figure 1, the present invention provides a kind of intelligence manufacture robot power consumption control apparatus for automatic stored logistics,
Power consumption control module including power supply module and the monitoring power supply module output power quality.
Preferably, the power consumption control module includes: micro energy lose switching circuit for controlling the power supply module and right
The monitoring unit that the output signal exported between two output terminals of the switching circuit is monitored.
Preferably, as shown in Fig. 2, the micro energy lose switching circuit includes: including transistor T1, T2 and T3, capacitor C1, C2
With C3, resistance R1, R2, R3, R4, R5, R6, R7, field-effect tube Q1, Q2, switch S1, two-way rectifier L1, output terminal
Output1 and Output2；The base stage of the transistor T1 connects pulse signal Pulse, and emitter is separately connected the of resistance R1
The first end of one end and resistance R2, the first end of the second end connection capacitor C1 of resistance R1, the second end of capacitor C2 are separately connected
The second end of resistance R2 and the collector of transistor T1, the collector of transistor T1 are also connected with the first end of capacitor C2, resistance
The first end of R6, the emitter of transistor T3, field-effect tube Q2 source electrode and output terminal Output2；The second of capacitor C2
End is separately connected the drain electrode of the first end of switch S1, the first end of resistance R4 and field-effect tube Q2, and the second end of resistance R4 connects
The collector of transistor T3, the first end of the second end connection resistance R3 of switch S1 are connect, the second end of resistance R3 is separately connected field
The grid of effect pipe Q1 and the first end of resistance R5, the base stage of the second end connection transistor T2 of resistance R5, the second of resistance R6
End is separately connected the emitter of transistor T2 and the source electrode of field-effect tube Q1, and the collector of transistor T2 is separately connected transistor T3
Base stage, field-effect tube Q2 grid, field-effect tube Q1 drain electrode and resistance R7 first end, resistance R7 second end difference
The drain electrode of field-effect tube Q2 is connected, and the second end of resistance R7 and output terminal Output2 are separately connected two-way rectifier L1's
The output end of two input terminals, two-way rectifier L1 is connected to each other by capacitor C3 and one end of capacitor C3 connection output terminal
Output1, the output terminal Output2 are being also connected with power supply module just in addition to connecting an input terminal of the monitoring unit
Output end.
By being appropriately arranged with the resistance value of resistance R3-R7 and the model of field-effect tube Q1 and Q2, it is allowed to meet field-effect tube
The shutdown voltage of field-effect tube Q2 of the shutdown voltage equal to 0.7 times of Q1, and the resistance value of R3-R7 is at least 100k Ω, then it is above-mentioned
At work, Q1 and Q2 are while playing driving effect for field-effect tube for circuit, reach to the mechanical switch S1 of the switching circuit
The effect of " delay is opened, turned off rapidly ", even if improving switch reliability and long-time stability under bad working environments
Meanwhile also effectively ensured transistor T2 and T3 normal operating conditions and stability and two-way rectifier L1 it is long when
Between steady operation.Meanwhile these stability make the range of choice of resistance R3, R5, R6 and R7 breach several hundred Europe orders of magnitude
Limitation, avoiding resistance R3-R7 fever seriously causes switching circuit of the invention to cannot achieve driving to switching signal very
To the appearance for causing circuit burnout problem, so as to using the tens K Ω orders of magnitude even more big order of magnitude (such as M Ω, i.e., million
Europe grade) resistance, hence for Output2, i.e. the detection of the fluctuation of the signal of power supply module positive output end output is sensitiveer,
That is, the stability and reliability under the long time continuous working state of the power circuit of robot are improved and protect
Barrier.
Preferably, the power supply module includes battery.
Preferably, the battery is solar panel.
Preferably, the resistance R3-R7 is the resistance that nominal resistance is greater than 100k Ω.
Preferably, the resistance R3-R7 is the resistance that nominal resistance is greater than 1M Ω.
Preferably, the monitoring unit is according to the voltage between the output terminal Output1 and output terminal Output2
Difference determines whether to disconnect switch S1 and issues alarm sound, reduces while to guarantee robot stabilized work non-to robot
The power consumption of robot in the case of stable power-supplying.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (8)
1. a kind of intelligence manufacture robot power consumption control apparatus for automatic stored logistics, which is characterized in that including mould of powering
The power consumption control module of block and the monitoring power supply module output power quality.
2. the intelligence manufacture robot power consumption control apparatus according to claim 1 for automatic stored logistics, feature
It is, the power consumption control module includes: the micro energy lose switching circuit for controlling the power supply module, and to the switching circuit
Two output terminals between the monitoring unit that is monitored of the output signal that exports.
3. a kind of intelligence manufacture robot power consumption control apparatus for automatic stored logistics according to claim 2,
Be characterized in that, the micro energy lose switching circuit include: including transistor T1, T2 and T3, capacitor C1, C2 and C3, resistance R1, R2,
R3, R4, R5, R6, R7, field-effect tube Q1, Q2, switch S1, two-way rectifier L1, output terminal Output1 and Output2；Institute
State transistor T1 base stage connection pulse signal Pulse, emitter be separately connected resistance R1 first end and resistance R2 first
End, resistance R1 second end connection capacitor C1 first end, the second end of capacitor C2 be separately connected resistance R2 second end and
The collector of transistor T1, the collector of transistor T1 are also connected with the first end of capacitor C2, the first end of resistance R6, transistor T3
Emitter, field-effect tube Q2 source electrode and output terminal Output2；The second end of capacitor C2 is separately connected switch S1's
The drain electrode of first end, the first end of resistance R4 and field-effect tube Q2, the collector of the second end connection transistor T3 of resistance R4,
The first end of the second end connection resistance R3 of switch S1, the second end of resistance R3 are separately connected the grid and resistance of field-effect tube Q1
The first end of R5, the base stage of the second end connection transistor T2 of resistance R5, the second end of resistance R6 are separately connected transistor T2's
The source electrode of emitter and field-effect tube Q1, the collector of transistor T2 are separately connected the base stage of transistor T3, field-effect tube Q2
The first end of grid, the drain electrode of field-effect tube Q1 and resistance R7, the second end of resistance R7 are separately connected the leakage of field-effect tube Q2
Pole, and the second end of resistance R7 and output terminal Output2 are separately connected two input terminals of two-way rectifier L1, biphase rectification
The output end of device L1 is connected to each other by capacitor C3 and one end of capacitor C3 connection output terminal Output1, the output terminal
The positive output end that Output2 is also connected with power supply module in addition to connecting an input terminal of the monitoring unit.
4. a kind of intelligence manufacture robot power consumption control apparatus for automatic stored logistics according to claim 2,
It is characterized in that, the power supply module includes battery.
5. a kind of intelligence manufacture robot power consumption control apparatus for automatic stored logistics according to claim 4,
It is characterized in that, the battery is solar panel.
6. a kind of intelligence manufacture robot power consumption control apparatus for automatic stored logistics according to claim 3,
It is characterized in that, the resistance R3-R7 is the resistance that nominal resistance is greater than 100k Ω.
7. a kind of intelligence manufacture robot power consumption control apparatus for automatic stored logistics according to claim 3,
It is characterized in that, the resistance R3-R7 is the resistance that nominal resistance is greater than 1M Ω.
8. a kind of intelligence manufacture robot power consumption control apparatus for automatic stored logistics according to claim 3,
It is characterized in that, the monitoring unit is determined according to the voltage difference between the output terminal Output1 and output terminal Output2
Whether disconnection switch S1 and alarm sound is issued, reduced while to guarantee robot stabilized work to the unstable confession of robot
The power consumption of robot in electric situation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910461792.5A CN110109503B (en) | 2019-05-30 | 2019-05-30 | Intelligent manufacturing robot power consumption control device for automatic warehouse logistics |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910461792.5A CN110109503B (en) | 2019-05-30 | 2019-05-30 | Intelligent manufacturing robot power consumption control device for automatic warehouse logistics |
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| CN110109503A true CN110109503A (en) | 2019-08-09 |
| CN110109503B CN110109503B (en) | 2020-06-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110212903A (en) * | 2019-05-30 | 2019-09-06 | 中电九天智能科技有限公司 | Intelligent robot power circuit in Mobile Cargo logistics system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103117579A (en) * | 2013-02-18 | 2013-05-22 | 上海理工大学 | Auxiliary wireless sensing network node of swarm robotic wireless charging |
| CN103166296A (en) * | 2013-04-01 | 2013-06-19 | 江苏久祥汽车电器集团有限公司 | Power management system of robot |
| CN106927179A (en) * | 2017-01-16 | 2017-07-07 | 黄金刚 | A kind of intelligent storage robot, system and control method, charging method |
| KR20170134840A (en) * | 2016-05-26 | 2017-12-07 | 전자부품연구원 | Distribution transport robot and charging system for the same |
-
2019
- 2019-05-30 CN CN201910461792.5A patent/CN110109503B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103117579A (en) * | 2013-02-18 | 2013-05-22 | 上海理工大学 | Auxiliary wireless sensing network node of swarm robotic wireless charging |
| CN103166296A (en) * | 2013-04-01 | 2013-06-19 | 江苏久祥汽车电器集团有限公司 | Power management system of robot |
| KR20170134840A (en) * | 2016-05-26 | 2017-12-07 | 전자부품연구원 | Distribution transport robot and charging system for the same |
| CN106927179A (en) * | 2017-01-16 | 2017-07-07 | 黄金刚 | A kind of intelligent storage robot, system and control method, charging method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110212903A (en) * | 2019-05-30 | 2019-09-06 | 中电九天智能科技有限公司 | Intelligent robot power circuit in Mobile Cargo logistics system |
| CN110212903B (en) * | 2019-05-30 | 2023-05-02 | 中电九天智能科技有限公司 | Intelligent robot power supply circuit in mobile warehouse logistics system |
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| CN110109503B (en) | 2020-06-09 |
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