CN110224464A - Robot power supply control system and robot - Google Patents
Robot power supply control system and robot Download PDFInfo
- Publication number
- CN110224464A CN110224464A CN201910528069.4A CN201910528069A CN110224464A CN 110224464 A CN110224464 A CN 110224464A CN 201910528069 A CN201910528069 A CN 201910528069A CN 110224464 A CN110224464 A CN 110224464A
- Authority
- CN
- China
- Prior art keywords
- voltage conversion
- voltage
- capacitor
- robot
- protection module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000006243 chemical reaction Methods 0.000 claims abstract description 175
- 239000003990 capacitor Substances 0.000 claims description 108
- 238000005265 energy consumption Methods 0.000 claims description 10
- 230000001052 transient effect Effects 0.000 claims description 10
- 229910044991 metal oxide Inorganic materials 0.000 claims description 7
- 150000004706 metal oxides Chemical class 0.000 claims description 7
- 239000004065 semiconductor Substances 0.000 claims description 7
- 230000001629 suppression Effects 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims 1
- 230000001681 protective effect Effects 0.000 abstract 7
- 230000009466 transformation Effects 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Direct Current Feeding And Distribution (AREA)
Abstract
The embodiment of the present application provides a kind of robot power supply control system and robot; the robot power supply control system; it include: protective module and voltage transformation module; wherein; the anode connection of the battery pack of the first input end and robot of protective module; second input terminal of protective module and the cathode of battery pack connect, for protecting battery pack；The first input end of voltage transformation module and the first output end of protective module connect; second input terminal of voltage transformation module and the second output terminal of protective module connect; voltage for exporting to protective module carries out voltage conversion, and the voltage correspondence after conversion is conveyed to robot each section.Battery pack is protected by protective module, to reinforce the safety of robot power supply control.
Description
Technical Field
The embodiment of the application relates to a robot power control technology, in particular to a robot power control system and a robot.
Background
With the development of science and technology and social economy, the application of the robot is more and more common. In practical application, in order to ensure the normal operation of the robot, the power supply control system of the robot provides power for the robot through the battery pack.
The inventor finds that the existing robot power control system uniformly powers on or powers off the robot through a power switch, controls the on or off of each part of the robot at the same time, and lacks safety protection. When an anomaly occurs, the entire system is caused to crash. Therefore, an effective solution is urgently needed to solve the problem of low safety of robot power control in the scheme.
Disclosure of Invention
The embodiment of the application provides a robot power control system and a robot, so that the safety of robot power control is enhanced.
In a first aspect, an embodiment of the present application provides a robot power control system, including: protection module and voltage conversion module, wherein:
the first input end of the protection module is connected with the anode of a battery pack of the robot, and the second input end of the protection module is connected with the cathode of the battery pack and used for protecting the battery pack;
the first input end of the voltage conversion module is connected with the first output end of the protection module, the second input end of the voltage conversion module is connected with the second output end of the protection module, and the voltage conversion module is used for performing voltage conversion on the voltage output by the protection module and correspondingly transmitting the converted voltage to each part of the robot.
In one possible embodiment, the protection module includes: fuse, key switch, diode, first resistor, second resistor, first capacitor, second capacitor, transient suppression diode TVS, MOS tube and relay, wherein,
one end of the fuse is used as a first input end of the protection module, the other end of the fuse is connected with one end of a second resistor sequentially through a key switch, a diode, a first resistor, an MOS (metal oxide semiconductor) tube, and the other end of the second resistor is used as a first output end of the protection module;
the second resistor is connected with the relay in parallel;
one end of the first capacitor is connected with the input end of the diode, and the other end of the first capacitor is simultaneously connected with the second input end of the protection module and the second output end of the protection module;
the TVS is connected with the first capacitor in parallel;
one end of the second capacitor is connected with the source electrode of the MOS tube, and the other end of the second capacitor is connected with the second input end of the protection module and the second output end of the protection module.
In one possible embodiment, the voltage conversion module includes:
a first voltage conversion unit, a first input end of which is connected to a first output end of the protection module, and a second input end of which is connected to a second output end of the protection module, for performing voltage conversion on the voltage output by the protection module, and correspondingly transmitting the converted voltage to at least one of the following parts of the robot: the mechanical arm controller, the chassis motor and the brake system thereof, and the lifting sliding table and the brake system thereof;
a first input end of the second voltage conversion unit is connected with a first output end of the protection module, a second input end of the second voltage conversion unit is connected with a second output end of the protection module, and the second voltage conversion unit is used for performing voltage conversion on the voltage output by the protection module and correspondingly transmitting the converted voltage to at least one of the following parts of the robot: the sensor comprises a sensor module, a core board and a Micro Control Unit (MCU).
In one possible embodiment, the first voltage conversion unit includes: fuses, relays, diodes, resistors, capacitors, and transient suppression diodes TVS, wherein,
one end of a fuse is used as a first input end of the first voltage conversion unit, the other end of the fuse is connected with the anode of the mechanical arm controller or the chassis motor or the lifting sliding table sequentially through a relay, a diode and a resistor, and the cathode of the mechanical arm controller or the chassis motor or the lifting sliding table is used as a second input end of the first voltage conversion unit;
and the capacitor and the TVS are connected with the mechanical arm controller or the chassis motor or the lifting sliding table in parallel.
In one possible embodiment, the first voltage conversion unit includes: a first voltage conversion part, a fuse, a relay, a diode, a resistor, a capacitor, and a transient suppression diode TVS, wherein,
a first input end of the first voltage conversion part is used as a first input end of the first voltage conversion unit, a second input end of the first voltage conversion part is used as a second input end of the first voltage conversion unit, and the first voltage conversion part is used for converting the output voltage of the protection module into the voltage required by a brake system of the chassis motor or the brake system of the lifting sliding table; the input side and the output side of the first voltage conversion part are both provided with capacitors connected in parallel with the first voltage conversion part;
the first output end of the first voltage conversion part is connected with one end of a fuse, the other end of the fuse is connected with the anode of a brake system of the chassis motor or the brake system of the lifting sliding table sequentially through a relay, a diode and a resistor, and the cathode of the brake system of the chassis motor or the brake system of the lifting sliding table is connected with the second output end of the first voltage conversion part;
and the capacitor and the TVS are connected in parallel with the brake system of the chassis motor or the brake system of the lifting sliding table.
In one possible implementation, the first voltage conversion unit further includes: and the energy consumption loop is connected with the mechanical arm controller or the chassis motor or the brake system thereof or the lifting sliding table or the brake system thereof in parallel and is used for absorbing feedback energy of the mechanical arm controller or the chassis motor or the brake system thereof or the lifting sliding table or the brake system thereof in power failure.
In one possible embodiment, the energy consumption circuit comprises: the device comprises a resistor and an MOS (metal oxide semiconductor) tube, wherein one end of the resistor is connected with the anode of the band-type brake system, the other end of the resistor is connected with the drain electrode of the MOS tube, the source electrode of the MOS is connected with the cathode of the band-type brake system, and the grid electrode of the MOS is controlled by the MCU.
In one possible embodiment, the second voltage conversion unit includes: a second voltage converting part, a fuse, a relay, a diode, a resistor, a capacitor, and a TVS, wherein,
a first input end of the second voltage conversion part is used as a first input end of the second voltage conversion unit, a second input end of the second voltage conversion part is used as a second input end of the second voltage conversion unit, and the second voltage conversion part is used for converting the output voltage of the protection module into the voltage required by the sensor module or the core board or the MCU;
the input side of the second voltage conversion part is provided with a capacitor connected in parallel with the second voltage conversion part, and the output side of the second voltage conversion part is provided with a capacitor and a TVS connected in parallel with the second voltage conversion part;
the first output end of the second voltage conversion part is connected with one end of a fuse, the other end of the fuse is connected with the anode of the sensor module or the core board sequentially through a relay, a diode and a resistor, or the other end of the fuse is connected with the anode of the MCU sequentially through the diode and the resistor;
the negative electrode of the sensor module or the core board or the MCU is connected with the second output end of the second voltage conversion part;
the sensor module or the core board or the MCU are further connected in parallel with a capacitor.
In a possible implementation manner, the MCU is configured to monitor a current of a current monitoring point and a voltage of a voltage monitoring point in the robot power control system, control power of each part of the robot, and interact power control information with the core board.
In a possible embodiment, the MCU is further connected to a power on switch and an emergency stop switch, wherein:
the power supply starting switch is used for controlling the power-on or power-off of the robot power supply control system;
the emergency stop switch is an emergency brake switch of at least one of the mechanical arm controller, the chassis motor and the lifting sliding table.
In a second aspect, an embodiment of the present application provides a robot, including: a body, a battery pack, and a robot power control system according to any one of the first aspect. Wherein, the battery pack and the robot power control system are installed in the machine body.
The robot power control system and the robot that this application embodiment provided include: the robot comprises a protection module and a voltage conversion module, wherein a first input end of the protection module is connected with the anode of a battery pack of the robot, and a second input end of the protection module is connected with the cathode of the battery pack and used for protecting the battery pack; the first input end of the voltage conversion module is connected with the first output end of the protection module, the second input end of the voltage conversion module is connected with the second output end of the protection module, and the voltage conversion module is used for performing voltage conversion on the voltage output by the protection module and correspondingly transmitting the converted voltage to each part of the robot. The protection module can protect the battery pack, so that the safety of robot power control is enhanced.
Drawings
Fig. 1 is a schematic structural diagram of a robot power control system according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a protection module in a robot power control system according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a first voltage conversion unit in a robot power control system according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a first voltage conversion unit in a robot power control system according to another embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a first voltage conversion unit in a robot power control system according to yet another embodiment of the present application;
fig. 6 is a schematic structural diagram of a first voltage conversion unit in a robot power control system according to yet another embodiment of the present application;
fig. 7 is a schematic structural diagram of a first voltage conversion unit in a robot power control system according to yet another embodiment of the present application;
fig. 8 is a schematic structural diagram of a second voltage conversion unit in the robot power control system according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a second voltage converting unit in a robot power control system according to another embodiment of the present application;
fig. 10 is a schematic structural diagram of a second voltage conversion unit in a robot power control system according to yet another embodiment of the present application.
Detailed Description
It should be understood that the numbers "first" and "second" in the embodiments of the present application are used for distinguishing similar objects, and are not necessarily used for describing a specific order or sequence order, and should not be construed as limiting the embodiments of the present application in any way.
The "and/or" mentioned in the embodiments of the present application describes an association relationship of associated objects, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a schematic structural diagram of a robot power control system according to an embodiment of the present disclosure. The embodiment of the application provides a robot power control system, which can be embodied as a power control board.
As shown in fig. 1, a robot power control system 10 according to an embodiment of the present invention includes: a protection module 11 and a voltage conversion module 12. A first input end of the protection module 11 is connected with a positive electrode of a battery pack 20 of the robot, and a second input end of the protection module 11 is connected with a negative electrode of the battery pack 20 and used for protecting the battery pack 20; the first input end of the voltage conversion module 12 is connected with the first output end of the protection module 11, and the second input end of the voltage conversion module 12 is connected with the second output end of the protection module 11, so as to perform voltage conversion on the voltage output by the protection module 11, and correspondingly transmit the converted voltage to each part of the robot.
In this embodiment, the voltage output by the battery pack 20 is transmitted to each part of the robot after passing through the protection module 11 and the voltage conversion module 12. It should be noted that the voltages required by each part of the robot may be the same, or the voltages required by each part of the robot may also be different, or the voltages required by each part of the robot may be partially the same, and in practical applications, the voltage conversion module 12 may be set according to practical situations to meet the voltage requirements of each part of the robot.
In any embodiment of the present application, the robot parts may include, but are not limited to: the robot comprises a mechanical arm controller, a chassis motor and a brake system thereof, a lifting sliding table and a brake system thereof, a sensor module, a core board, a Micro Controller Unit (MCU) and the like. Wherein:
the mechanical arm controller is a core control unit of the mechanical arm and mainly has the function of controlling the mechanical arm to achieve a set posture.
The chassis motor is a motion executing component of the robot chassis.
The brake system of the chassis motor can brake the chassis motor at any time when an emergency occurs.
The lifting sliding table moves up and down in freedom degree, and the mechanical arm is installed on the lifting sliding table and can move up and down in a stroke mode.
The brake system of the lifting sliding table can brake the lifting sliding table at any time when an emergency happens.
Sensor modules including, but not limited to, optical sensor modules, acoustic sensor modules, touch sensor modules, smoke sensor modules, and ultrasonic sensor modules, among others. The voltages required for different sensor modules may be different, and the number of various types of sensor modules is not limited by the embodiments of the present application. And the sensor module is used for transmitting the information (including the external information) acquired by the sensor module to the MCU and/or the core board.
The core board is used for determining the part of the robot needing power on and/or power off according to various information, and then informing the MCU of the determined part of the robot needing power on and/or power off
And the MCU is used for directly controlling the power-on or power-off of each part of the robot according to the information of the part of the robot needing power-on and/or power-off sent by the core board, and feeding back the states of each part of the robot to the core board, namely the MCU can be used for interacting power control information with the core board and controlling the power of each part of the robot. Optionally, the MCU may also be used to monitor the current of the current monitoring point and the voltage of the voltage monitoring point in the robot power control system. In addition, the MCU can also acquire alarm information and the like of a battery pack in the robot through the bus.
Illustratively, the voltage required by the mechanical arm controller, the chassis motor and the lift slipway is 48 volts (V), the voltage required by the brake system of the chassis motor and the brake system of the lift slipway is 24V, the voltage required by the core board is 12V, the voltage required by the MCU is 5V, and the voltage required by the sensor module may be 24V, 12V or 5V.
Moreover, the currents required by the various parts of the robot may also be different, and are similar to the description of the related voltages, and are not described herein again.
The robot power control system of the embodiment of the application includes: the robot comprises a protection module and a voltage conversion module, wherein a first input end of the protection module is connected with the anode of a battery pack of the robot, and a second input end of the protection module is connected with the cathode of the battery pack and used for protecting the battery pack; the first input end of the voltage conversion module is connected with the first output end of the protection module, the second input end of the voltage conversion module is connected with the second output end of the protection module, and the voltage conversion module is used for performing voltage conversion on the voltage output by the protection module and correspondingly transmitting the converted voltage to each part of the robot. The protection module can protect the battery pack, so that the safety of robot power control is enhanced.
On the basis of the foregoing embodiment, in a specific implementation manner, the protection module may include: the circuit comprises a fuse, a key switch, a diode, a first resistor, a second resistor, a first capacitor, a second capacitor, a Transient Voltage Suppressor (TVS), an MOS (metal oxide semiconductor) tube and a relay. Specifically, one end of a fuse is used as a first input end of the protection module, the other end of the fuse is connected with one end of a second resistor sequentially through a key switch, a diode, a first resistor, an MOS (metal oxide semiconductor) transistor, and the other end of the second resistor is used as a first output end of the protection module; the second resistor is connected with the relay in parallel; one end of the first capacitor is connected with the input end of the diode, and the other end of the first capacitor is simultaneously connected with the second input end of the protection module and the second output end of the protection module; the TVS is connected with the first capacitor in parallel; one end of the second capacitor is connected with the source electrode of the MOS tube, and the other end of the second capacitor is connected with the second input end of the protection module and the second output end of the protection module.
Wherein the first resistor may be a shunt resistor. Fuses may be used for overcurrent protection. The key switch may be used to turn on power-up privileges. The TVS and the first capacitor may be used for over voltage transient protection and voltage stabilization. The diode and the MOS tube have reverse connection prevention functions, so that a power control system of the robot is prevented from being burnt out, and the MOS tube also has overvoltage protection and undervoltage protection functions. The current can be detected through the first resistor, while the voltage is detected. The relay and the second resistor can be used for soft start of the battery pack to protect the battery pack.
It should be noted that the number of the above components is not limited in the embodiments of the present application, and for example, the number of the first capacitor, the second capacitor, or the TVS may be any.
Illustratively, as shown in fig. 2, the protection module 11 includes: fuse F1, key switch S1, diode D1, first resistor R1, second resistor R2, first capacitor C1 and first capacitor C2, second capacitor C3 and second capacitor C4, TVS T1 and TVS T2, MOS transistor Q1 and relay K1. One end of a fuse F1 is used as a first input end of the protection module 11, the other end of the fuse F1 is connected with one end of a second resistor R2 sequentially through a key switch S1, a diode D1, a first resistor R1, a MOS transistor Q1, and the other end of the second resistor R2 is used as a first output end of the protection module 11; the second resistor R2 is connected with the relay K1 in parallel; one end of each of the first capacitor C1 and the first capacitor C2 is connected to the input end of the diode D1, and the other end of each of the first capacitor C1 and the first capacitor C2 is connected to the negative electrode of the battery pack 20, and is used as the second output end of the protection module 11; the TVS T1 and TVS T2 are both connected in parallel with the first capacitor C1 and the first capacitor C2; one end of each of the second capacitor C3 and the second capacitor C4 is connected to the source of the MOS transistor Q1, and the other end of each of the second capacitor C3 and the second capacitor C4 is connected to the negative electrode of the battery pack 20.
In fig. 2, the output voltage of the battery pack 20 is +48V, and the output voltage of the protection module 11 is also +48V, i.e., the voltage output by the battery pack 20 is not changed by the protection module 11.
In some embodiments, the voltage conversion module, as described above, may include: a first voltage conversion unit and a second voltage conversion unit. The first input end of the first voltage conversion unit is connected with the first output end of the protection module, the second input end of the first voltage conversion unit is connected with the second output end of the protection module, and the first voltage conversion unit is used for performing voltage conversion on the voltage output by the protection module and correspondingly transmitting the converted voltage to at least one of the following parts of the robot: the mechanical arm controller, the chassis motor and the brake system thereof, and the lifting sliding table and the brake system thereof; the first input end of the second voltage conversion unit is connected with the first output end of the protection module, the second input end of the second voltage conversion unit is connected with the second output end of the protection module, and the second voltage conversion unit is used for performing voltage conversion on the voltage output by the protection module and correspondingly transmitting the converted voltage to at least one of the following parts of the robot: sensor module, nuclear core plate and MCU.
Here, considering that the robot has different voltage requirements, the implementation manner of obtaining the voltage requirements is also different, so that the voltage conversion module is divided into two parts: and the first voltage conversion unit and the second voltage conversion unit provide power support for the corresponding robot part.
Optionally, the first voltage conversion unit may include: fuses, relays, diodes, resistors, capacitors, and TVS. One end of the fuse is used as a first input end of the first voltage conversion unit, the other end of the fuse is connected with the anode of the mechanical arm controller or the chassis motor or the lifting sliding table sequentially through the relay, the diode and the resistor, and the cathode of the mechanical arm controller or the chassis motor or the lifting sliding table is used as a second input end of the first voltage conversion unit; and the capacitor and the TVS are connected in parallel with the mechanical arm controller or the chassis motor or the lifting sliding table. Wherein the resistor may be a shunt resistor.
For example, referring to fig. 3, the first voltage converting unit 30 may include: fuse F2, relay K2, diode D2, resistor R3, capacitor C5, capacitor C6, TVS T3 and TVS T4. One end of the fuse F2 is used as a first input end of the first voltage conversion unit 30, the other end of the fuse F2 passes through the relay K2, the diode D2 and the resistor R3 in sequence and is connected with the arm controller, and a negative electrode of the arm controller is used as a second input end of the first voltage conversion unit 30; the capacitor C5, the capacitor C6, the TVST3 and the TVS T4 are connected in parallel with the manipulator controller. The resistor R3 may be a shunt resistor.
Referring to fig. 4, the first voltage conversion unit 40 may include: fuse F3, relay K3, diode D3, resistor R4, capacitor C7, capacitor C8, TVS T5 and TVS T6. One end of a fuse F3 is used as a first input end of the first voltage conversion unit 40, the other end of the fuse F3 sequentially passes through a relay K3, a diode D3 and a resistor R4 and is connected with the anode of the lifting sliding table, and the cathode of the lifting sliding table is used as a second input end of the first voltage conversion unit 40; and the capacitor C7, the capacitor C8, the TVS T5 and the TVST6 are connected with the lifting sliding table in parallel. The resistor R4 may be a shunt resistor.
Referring to fig. 5, the first voltage conversion unit 50 may include: fuse F4, relay K4, diode D4, resistor R5, capacitor C9, capacitor C10, TVS T7 and TVS T8. One end of a fuse F4 is used as a first input end of the first voltage conversion unit 50, the other end of the fuse F4 is connected with the anode of the chassis motor sequentially through a relay K4, a diode D4 and a resistor R5, and the cathode of the chassis motor is used as a second input end of the first voltage conversion unit 50; and the capacitor C9, the capacitor C10, the TVS T7 and the TVS T8 are connected with the chassis motor in parallel. The resistor R5 may be a shunt resistor.
Alternatively, the first voltage conversion unit may include: a first voltage conversion part, a fuse, a relay, a diode, a resistor, a capacitor, and a TVS. The first input end of the first voltage conversion part is used as the first input end of the first voltage conversion unit, the second input end of the first voltage conversion part is used as the second input end of the first voltage conversion unit, and the first voltage conversion part is used for converting the output voltage of the protection module into the voltage required by a brake system of the chassis motor or a brake system of the lifting sliding table. The input side and the output side of the first voltage conversion part are both provided with a capacitor connected in parallel. The first output end of the first voltage conversion part is connected with one end of a fuse, the other end of the fuse is connected with the anode of a brake system of the chassis motor or a brake system of the lifting sliding table sequentially through a relay, a diode and a resistor, and the cathode of the brake system of the chassis motor or the brake system of the lifting sliding table is connected with the second output end of the first voltage conversion part; and the capacitor and the TVS are connected in parallel with a brake system of the chassis motor or a brake system of the lifting sliding table.
For example, referring to fig. 6, the first voltage converting unit 60 may include: the power supply comprises a first voltage conversion part 61, a fuse F5, a relay K5, a diode D5, a resistor R6, a capacitor C11, capacitors C12 and TVS T9, TVS T10, a capacitor C33, a capacitor C34, a capacitor C35 and a capacitor C36. A first input end of the first voltage conversion part 61 serves as a first input end of the first voltage conversion unit 60, a second input end of the first voltage conversion part 61 serves as a second input end of the first voltage conversion unit 60, and the first voltage conversion part 61 is used for converting the output voltage of the protection module into the voltage required by the internal contracting brake system of the chassis motor. The input side of the first voltage converting section 61 has capacitances C35 and C36 connected in parallel thereto, and the output side of the first voltage converting section 61 has capacitances C33 and C34 connected in parallel thereto. The first output end of the first voltage conversion part 61 is connected with one end of a fuse F5, the other end of the fuse F5 is connected with the anode of a brake system of the chassis motor sequentially through a relay K5, a diode D5 and a resistor R6, and the cathode of the brake system of the chassis motor is connected with the second output end of the first voltage conversion part 61; and the capacitor C11, the capacitor C12, the TVS T9 and the TVS T10 are connected with the brake system of the chassis motor in parallel. The resistor R6 may be a shunt resistor.
Further, the first voltage conversion unit 60 may further include: fuse F6, relay K6, diode D6, resistor R7, capacitor C13, capacitor C14, TVS T11 and TVS T12. The first voltage conversion part 61 is also used for converting the output voltage of the protection module into the voltage required by the brake system of the elevating sliding table. The first output end of the first voltage conversion part 61 is connected with one end of a fuse F6, the other end of the fuse F6 is connected with the anode of the brake system of the lifting sliding table sequentially through a relay K6, a diode D6 and a resistor R7, and the cathode of the brake system of the lifting sliding table is connected with the second output end of the first voltage conversion part 61; and the capacitor C13, the capacitor C14, the TVS T11 and the TVS T12 are connected in parallel with the brake system of the lifting sliding table. The resistor R7 may be a shunt resistor.
In this example, the voltage required by the brake system of the lift slip and the brake system of the chassis motor is the same, for example, 24V, but the embodiment of the present application is not limited thereto. The first voltage conversion part 61 is used for converting the voltage of 48V output by the protection module into a voltage of 24V, and outputting the voltage to the brake system of the lifting sliding table and/or the brake system of the chassis motor.
In addition, the first voltage conversion unit may further include: and the energy consumption loop is connected with the mechanical arm controller or the chassis motor or the band-type brake system thereof or the lifting sliding table or the band-type brake system thereof in parallel and is used for absorbing feedback energy of the mechanical arm controller or the chassis motor or the band-type brake system thereof or the lifting sliding table or the band-type brake system thereof during power failure. Optionally, the energy consumption circuit comprises: the device comprises a resistor and an MOS (metal oxide semiconductor) tube, wherein one end of the resistor is connected with the anode of the band-type brake system, the other end of the resistor is connected with the drain electrode of the MOS tube, the source electrode of the MOS is connected with the cathode of the band-type brake system, and the grid electrode of the MOS is controlled by the MCU.
For example, as shown in fig. 7, on the basis of the structure shown in fig. 3, the first voltage conversion unit 30 may further include: and an energy consumption loop 31 connected with the mechanical arm controller in parallel, wherein the energy consumption loop 31 is used for absorbing feedback energy of the mechanical arm controller when the mechanical arm controller is powered off. Optionally, the energy consumption circuit 31 comprises: resistor R8 and MOS transistor Q2.
The capacitor C5, the capacitor C6, the TVS T3 and the TVS T4 play roles in stabilizing voltage and preventing transient voltage from being too high, when the capacitor voltage is greater than 60V and the time exceeds 500ms, the MOS transistor Q2 is turned on to consume energy, and meanwhile, the power supply voltage and current of the mechanical arm controller are detected.
The structure and connection relationship of the energy consumption circuit connected in parallel with the chassis motor or its brake system or the elevating sliding table or its brake system are similar to those in fig. 7, and the energy consumption circuit is added on the basis of the structure shown in fig. 4 or fig. 5 or fig. 6, and will not be described herein again.
The second voltage conversion unit may include: a second voltage converting part, a fuse, a relay, a diode, a resistor, a capacitor, and a TVS. The first input end of the second voltage conversion part is used as the first input end of the second voltage conversion unit, the second input end of the second voltage conversion part is used as the second input end of the second voltage conversion unit, and the second voltage conversion part is used for converting the output voltage of the protection module into the voltage required by the sensor module, the core board or the MCU. An input side of the second voltage conversion section has a capacitor connected in parallel therewith, and an output side of the second voltage conversion section has a capacitor and a TVS connected in parallel therewith. The first output end of the second voltage conversion part is connected with one end of a fuse, and the other end of the fuse is connected with the anode of the sensor module or the core board sequentially through a relay, a diode and a resistor; or the other end of the fuse is connected with the anode of the MCU through the diode and the resistor in sequence; the negative electrode of the sensor module or the core board or the MCU is connected with the second output end of the second voltage conversion part; the sensor module or the core board or the MCU is also connected with the capacitor in parallel.
For example, referring to fig. 8, in the second voltage converting unit 80, a first input terminal of the second voltage converting part 81 serves as a first input terminal of the second voltage converting unit 80, a second input terminal of the second voltage converting part 81 serves as a second input terminal of the second voltage converting unit 80, and the second voltage converting part 81 serves to convert an output voltage of the protection module into a voltage required by the sensor module 82. The input side of the second voltage converting part 81 has a capacitor C15 and a capacitor C16 connected in parallel thereto, and the output side of the second voltage converting part 81 has a capacitor 17, a capacitor C18, a TVS T13, and a TVS T14 connected in parallel thereto. A first output terminal of the second voltage conversion part 81 is connected with one end of a fuse F7, the other end of the fuse F7 is connected with the anode of the sensor module 82 sequentially through a relay K7, a diode D7 and a resistor R9, and the cathode of the sensor module 82 is connected with a second output terminal of the second voltage conversion part 81; the sensor module 82 is also connected in parallel with the capacitance C19 and the capacitance C20.
Referring to fig. 9, in the second voltage converting unit 90, a first input terminal of a second voltage converting part 91 serves as a first input terminal of the second voltage converting unit 90, a second input terminal of the second voltage converting part 91 serves as a second input terminal of the second voltage converting unit 90, and the second voltage converting part 91 serves to convert an output voltage of the protection module into a voltage required by the sensor module 92 and the core board 93. The input side of the second voltage converting section 91 has a capacitor C21 and a capacitor C22 connected in parallel thereto, and the output side of the second voltage converting section 91 has a capacitor 23, a capacitor C24, a TVS T15, and a TVS T16 connected in parallel thereto. A first output end of the second voltage conversion part 91 is connected with one end of a fuse F8, the other end of the fuse F8 is connected with anodes of the sensor module 92 and the core board 93 sequentially through a relay K8, a diode D8 and a resistor R10, and cathodes of the sensor module 92 and the core board 93 are connected with a second output end of the second voltage conversion part 91; the sensor module 92 and the core board 93 are also connected in parallel with a capacitor C25 and a capacitor C26.
Referring to fig. 10, in the second voltage conversion unit 100, a first input terminal of a second voltage conversion part 101 serves as a first input terminal of the second voltage conversion unit 100, a second input terminal of the second voltage conversion part 101 serves as a second input terminal of the second voltage conversion unit 100, and the second voltage conversion part 101 serves to convert an output voltage of the protection module into a voltage required by the sensor module 102 and the MCU 103. The input side of the second voltage converting part 101 has a capacitor C27 and a capacitor C28 connected in parallel thereto, and the output side of the second voltage converting part 101 has a capacitor 29, a capacitor C30, a TVS T17, and a TVS T18 connected in parallel thereto. A first output end of the second voltage conversion part 101 is connected with one end of a fuse F9, and the other end of the fuse F9 is connected with the anode of the MCU 103 through a diode D9 and a resistor R11 in sequence; the other end of the fuse F9 is connected with the positive electrode of the sensor module 102 sequentially through a diode D9, a resistor R11 and a relay K9; the cathodes of the sensor module 102 and the MCU 103 are connected to a second output terminal of the second voltage conversion part 101; the MCU 103 is also connected in parallel with a capacitor C31 and a capacitor C32; the sensor module 102 is also connected in parallel with a capacitance C41 and a capacitance C42.
In some embodiments, the MCU is further connected to a power on switch and an emergency stop switch. The power supply starting switch is used for controlling the power-on or power-off of the robot power supply control system; the emergency stop switch is an emergency brake switch of at least one of the mechanical arm controller, the chassis motor and the lifting sliding table.
Still referring to fig. 10, the MCU 103 is connected with a power on switch 104 and an emergency stop switch 105.
An embodiment of the present application further provides a robot, including: fuselage, battery pack and the robot power control system as in any one of the above embodiments. Wherein, the battery pack and the robot power control system are arranged in the machine body.
It should be noted that, in the embodiment of the present application, the division of the module/unit is schematic, and is only a logic function division, and there may be another division manner in actual implementation.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (11)
1. A robot power control system, comprising: the protection module and the voltage conversion module; wherein,
the first input end of the protection module is connected with the anode of a battery pack of the robot, and the second input end of the protection module is connected with the cathode of the battery pack and used for protecting the battery pack;
the first input end of the voltage conversion module is connected with the first output end of the protection module, the second input end of the voltage conversion module is connected with the second output end of the protection module, and the voltage conversion module is used for performing voltage conversion on the voltage output by the protection module and correspondingly transmitting the converted voltage to each part of the robot.
2. The system of claim 1, wherein the protection module comprises: fuse, key switch, diode, first resistor, second resistor, first capacitor, second capacitor, transient suppression diode TVS, MOS tube and relay, wherein,
one end of the fuse is used as a first input end of the protection module, the other end of the fuse is connected with one end of a second resistor sequentially through a key switch, a diode, a first resistor, an MOS (metal oxide semiconductor) tube, and the other end of the second resistor is used as a first output end of the protection module;
the second resistor is connected with the relay in parallel;
one end of the first capacitor is connected with the input end of the diode, and the other end of the first capacitor is simultaneously connected with the second input end of the protection module and the second output end of the protection module;
the TVS is connected with the first capacitor in parallel;
one end of the second capacitor is connected with the source electrode of the MOS tube, and the other end of the second capacitor is connected with the second input end of the protection module and the second output end of the protection module.
3. The system of claim 1, wherein the voltage conversion module comprises:
a first voltage conversion unit, a first input end of which is connected to a first output end of the protection module, and a second input end of which is connected to a second output end of the protection module, for performing voltage conversion on the voltage output by the protection module, and correspondingly transmitting the converted voltage to at least one of the following parts of the robot: the mechanical arm controller, the chassis motor and the brake system thereof, and the lifting sliding table and the brake system thereof;
a first input end of the second voltage conversion unit is connected with a first output end of the protection module, a second input end of the second voltage conversion unit is connected with a second output end of the protection module, and the second voltage conversion unit is used for performing voltage conversion on the voltage output by the protection module and correspondingly transmitting the converted voltage to at least one of the following parts of the robot: the sensor comprises a sensor module, a core board and a Micro Control Unit (MCU).
4. The system of claim 3, wherein the first voltage conversion unit comprises: fuses, relays, diodes, resistors, capacitors, and transient suppression diodes TVS, wherein,
one end of a fuse is used as a first input end of the first voltage conversion unit, the other end of the fuse is connected with the anode of the mechanical arm controller or the chassis motor or the lifting sliding table sequentially through a relay, a diode and a resistor, and the cathode of the mechanical arm controller or the chassis motor or the lifting sliding table is used as a second input end of the first voltage conversion unit;
and the capacitor and the TVS are connected with the mechanical arm controller or the chassis motor or the lifting sliding table in parallel.
5. The system of claim 3, wherein the first voltage conversion unit comprises: a first voltage conversion part, a fuse, a relay, a diode, a resistor, a capacitor, and a transient suppression diode TVS, wherein,
a first input end of the first voltage conversion part is used as a first input end of the first voltage conversion unit, a second input end of the first voltage conversion part is used as a second input end of the first voltage conversion unit, and the first voltage conversion part is used for converting the output voltage of the protection module into the voltage required by a brake system of the chassis motor or the brake system of the lifting sliding table; the input side and the output side of the first voltage conversion part are both provided with capacitors connected in parallel with the first voltage conversion part;
the first output end of the first voltage conversion part is connected with one end of a fuse, the other end of the fuse is connected with the anode of a brake system of the chassis motor or the brake system of the lifting sliding table sequentially through a relay, a diode and a resistor, and the cathode of the brake system of the chassis motor or the brake system of the lifting sliding table is connected with the second output end of the first voltage conversion part;
and the capacitor and the TVS are connected in parallel with the brake system of the chassis motor or the brake system of the lifting sliding table.
6. The system of claim 4 or 5, wherein the first voltage conversion unit further comprises: and the energy consumption loop is connected with the mechanical arm controller or the chassis motor or the brake system thereof or the lifting sliding table or the brake system thereof in parallel and is used for absorbing feedback energy of the mechanical arm controller or the chassis motor or the brake system thereof or the lifting sliding table or the brake system thereof in power failure.
7. The system of claim 6, wherein the energy-consuming circuit comprises:
the device comprises a resistor and an MOS (metal oxide semiconductor) tube, wherein one end of the resistor is connected with the anode of the band-type brake system, the other end of the resistor is connected with the drain electrode of the MOS tube, the source electrode of the MOS is connected with the cathode of the band-type brake system, and the grid electrode of the MOS is controlled by the MCU.
8. The system of claim 3, wherein the second voltage conversion unit comprises: a second voltage converting part, a fuse, a relay, a diode, a resistor, a capacitor, and a transient suppression diode TVS, wherein,
a first input end of the second voltage conversion part is used as a first input end of the second voltage conversion unit, a second input end of the second voltage conversion part is used as a second input end of the second voltage conversion unit, and the second voltage conversion part is used for converting the output voltage of the protection module into the voltage required by the sensor module or the core board or the MCU;
the input side of the second voltage conversion part is provided with a capacitor connected in parallel with the second voltage conversion part, and the output side of the second voltage conversion part is provided with a capacitor and a TVS connected in parallel with the second voltage conversion part;
the first output end of the second voltage conversion part is connected with one end of a fuse, the other end of the fuse is connected with the anode of the sensor module or the core board sequentially through a relay, a diode and a resistor, or the other end of the fuse is connected with the anode of the MCU sequentially through the diode and the resistor;
the negative electrode of the sensor module or the core board or the MCU is connected with the second output end of the second voltage conversion part;
the sensor module or the core board or the MCU are further connected in parallel with a capacitor.
9. The system of claim 3, wherein the MCU is configured to monitor current at current monitoring points and voltage at voltage monitoring points in the power control system of the robot, power control of portions of the robot, and interaction of power control information with the core board.
10. The system of claim 3, wherein the MCU is further connected to a power on switch and an emergency stop switch, wherein:
the power supply starting switch is used for controlling the power-on or power-off of the robot power supply control system;
the emergency stop switch is an emergency brake switch of at least one of the mechanical arm controller, the chassis motor and the lifting sliding table.
11. A robot, comprising: a fuselage, a battery pack, and a robot power control system as claimed in any one of claims 1 to 10;
wherein, the battery pack and the robot power control system are installed in the machine body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910528069.4A CN110224464A (en) | 2019-06-18 | 2019-06-18 | Robot power supply control system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910528069.4A CN110224464A (en) | 2019-06-18 | 2019-06-18 | Robot power supply control system and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110224464A true CN110224464A (en) | 2019-09-10 |
Family
ID=67817736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910528069.4A Pending CN110224464A (en) | 2019-06-18 | 2019-06-18 | Robot power supply control system and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110224464A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110687472A (en) * | 2019-11-08 | 2020-01-14 | 腾讯科技（深圳）有限公司 | Power supply monitoring device, electronic equipment, power supply monitoring method and storage medium |
| CN112099404A (en) * | 2020-09-10 | 2020-12-18 | 敬科(深圳)机器人科技有限公司 | Safety controller for robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101766535A (en) * | 2010-01-12 | 2010-07-07 | 王朝晖 | Ashi point examination and massage robot |
| CN201608640U (en) * | 2009-12-09 | 2010-10-13 | 苏州默纳克控制技术有限公司 | Energy-saving power supply board for elevator and elevator control system comprising same |
| KR20100115396A (en) * | 2009-04-19 | 2010-10-28 | 김기주 | Triangulation wireless finger mouse |
| CN203691301U (en) * | 2014-01-24 | 2014-07-02 | 南京埃斯顿自动控制技术有限公司 | Electrifying and braking circuit applicable to industrial robot driver |
| CN103972871A (en) * | 2014-03-04 | 2014-08-06 | 南京磐能电力科技股份有限公司 | Direct-current feeder non-arc switch with low power consumption and overcurrent and overvoltage protection function and method for implementing direct-current feeder non-arc switch |
| CN105743177A (en) * | 2016-04-14 | 2016-07-06 | 电子科技大学 | Power supply management system for exoskeleton robot |
| CN108767816A (en) * | 2018-08-10 | 2018-11-06 | 中国科学院合肥物质科学研究院 | A kind of mobile robot electric power processing system |
| EP3441849A1 (en) * | 2017-08-09 | 2019-02-13 | Nagravision S.A. | Pointing input device for personal computer based on fingers ' movements |
-
2019
- 2019-06-18 CN CN201910528069.4A patent/CN110224464A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100115396A (en) * | 2009-04-19 | 2010-10-28 | 김기주 | Triangulation wireless finger mouse |
| CN201608640U (en) * | 2009-12-09 | 2010-10-13 | 苏州默纳克控制技术有限公司 | Energy-saving power supply board for elevator and elevator control system comprising same |
| CN101766535A (en) * | 2010-01-12 | 2010-07-07 | 王朝晖 | Ashi point examination and massage robot |
| CN203691301U (en) * | 2014-01-24 | 2014-07-02 | 南京埃斯顿自动控制技术有限公司 | Electrifying and braking circuit applicable to industrial robot driver |
| CN103972871A (en) * | 2014-03-04 | 2014-08-06 | 南京磐能电力科技股份有限公司 | Direct-current feeder non-arc switch with low power consumption and overcurrent and overvoltage protection function and method for implementing direct-current feeder non-arc switch |
| CN105743177A (en) * | 2016-04-14 | 2016-07-06 | 电子科技大学 | Power supply management system for exoskeleton robot |
| EP3441849A1 (en) * | 2017-08-09 | 2019-02-13 | Nagravision S.A. | Pointing input device for personal computer based on fingers ' movements |
| CN108767816A (en) * | 2018-08-10 | 2018-11-06 | 中国科学院合肥物质科学研究院 | A kind of mobile robot electric power processing system |
Non-Patent Citations (1)
| Title |
|---|
| 钟炎平: "《电力电子电路设计[M]》", 30 April 2010, 华中科技大学出版社, pages: 110 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110687472A (en) * | 2019-11-08 | 2020-01-14 | 腾讯科技（深圳）有限公司 | Power supply monitoring device, electronic equipment, power supply monitoring method and storage medium |
| CN112099404A (en) * | 2020-09-10 | 2020-12-18 | 敬科(深圳)机器人科技有限公司 | Safety controller for robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110224464A (en) | Robot power supply control system and robot | |
| CN103869858A (en) | Vehicle-mounted electronic device power supply self-adaptation control method and system thereof | |
| EP4113783A1 (en) | Driverless power supply system, power supply control method, power domain controller and vehicle | |
| CN214450304U (en) | Motor controller power supply device of electric automobile and electric automobile | |
| CN105226808A (en) | Airborne electronic product intelligent emergent is powered secondary power supply | |
| CN216959294U (en) | Overvoltage protection circuit and electronic equipment | |
| CN112003464A (en) | Power-down holding circuit for switching power supply of airborne electronic equipment | |
| CN107226044B (en) | Control system of electric control component | |
| CN214281029U (en) | High-reliability intelligent power distribution control switch with breakpoint recovery function | |
| CN113126586B (en) | Wake-up diagnostic device and wake-up diagnostic method | |
| CN211630101U (en) | Safe torque turn-off control circuit and motor controller | |
| CN210867513U (en) | Power supply framework of electric control unit | |
| CN210591717U (en) | Control complete machine current circuit and on-vehicle accuse in control vehicle-mounted | |
| CN111600291A (en) | Safe and controllable power-on and power-off control circuit and control method | |
| CN103264643B (en) | A kind of mode control method of bi-directional DC-DC converter | |
| CN201860086U (en) | Medical power supply management circuit | |
| CN212462786U (en) | Safe and controllable up-down control circuit | |
| CN112776604A (en) | Active discharging device of automobile and automobile | |
| CN106364999B (en) | A kind of elevator battery refresh using energy source energy conserving system and method | |
| CN221636027U (en) | Novel electric control system of cooperative medical robot | |
| CN217406512U (en) | Solid-state relay circuit | |
| CN215378508U (en) | Control circuit of battery management system, battery management system and electronic equipment | |
| CN112099404B (en) | Safety controller for robot | |
| CN216530531U (en) | Power supply circuit with overvoltage voltage-stabilizing protection and automatic on-off | |
| CN214255854U (en) | Wireless charging receiving end with protection function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant after: Jingdong Technology Information Technology Co.,Ltd. Address before: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant before: Jingdong Shuke Haiyi Information Technology Co.,Ltd. Address after: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant after: Jingdong Shuke Haiyi Information Technology Co.,Ltd. Address before: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Beijing Economic and Technological Development Zone, 100176 Applicant before: BEIJING HAIYI TONGZHAN INFORMATION TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information |