CN112671069B - Super capacitor module and cooperative robot system - Google Patents
Super capacitor module and cooperative robot system Download PDFInfo
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- CN112671069B CN112671069B CN202011614851.7A CN202011614851A CN112671069B CN 112671069 B CN112671069 B CN 112671069B CN 202011614851 A CN202011614851 A CN 202011614851A CN 112671069 B CN112671069 B CN 112671069B
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Abstract
The embodiment of the invention discloses a super capacitor module and a cooperative robot system. The super capacitor module includes: the super capacitor module is electrically connected with the power input end; the super capacitor module is used for storing and outputting power supply voltage; the power supply switch module is connected between the super capacitor module and the power supply output end; the power supply switch module comprises a soft start circuit and a power main circuit which are connected in parallel; the soft start circuit is used for outputting power supply voltage at the initial stage of power-on, and the power main loop is used for delaying the output of the power supply voltage; the emergency stop voltage detection module is electrically connected with the power supply input end at the first detection input end and the power supply switch module at the output end; the emergency stop voltage detection module is used for sending an emergency stop signal when detecting that the power supply input end is powered off. Compared with the prior art, the embodiment of the invention is beneficial to reducing the loss of the heavy load line so as to be convenient for prolonging the heavy load line.
Description
Technical Field
The embodiment of the invention relates to the technical field of circuits, in particular to a super capacitor module and a cooperative robot system.
Background
With the continuous development of technology, industrial robots are developed from traditional industrial robots in the direction of cooperative robots. Different from the traditional industrial robot, the drive and the motor of the cooperative robot are integrated in each joint, and the drive is the most direct power consumption component, so that the actual average power is low, and the instantaneous power is very high. Taking the robot in a typical working state as an example, the instantaneous power is usually 5-6 times of the average power.
The cooperative robot system is generally provided with two large assemblies, namely a control cabinet and a robot body, wherein the control cabinet is electrically connected with the robot body through a heavy-load wire to supply power to the robot body. When the bus current is large, large loss can be generated on the heavy-load line, and the longer the cable is, the larger the internal resistance is, and the larger the voltage drop of the body is. So normally to avoid the voltage falling to the undervoltage threshold, the heavy load line size and length are severely limited and are not allowed to extend at will.
Disclosure of Invention
The embodiment of the invention provides a super capacitor module and a cooperative robot system, which are used for reducing the loss of a heavy load line and facilitating the extension of the heavy load line.
In a first aspect, an embodiment of the present invention provides a super capacitor module, including:
the power supply comprises a power supply input end and a power supply output end, wherein the power supply input end is used for inputting power supply voltage, and the power supply output end is used for outputting the power supply voltage;
the super capacitor module is electrically connected with the power input end; the super capacitor module is used for storing and outputting power supply voltage;
the power supply switch module is connected between the super capacitor module and the power supply output end; the power supply switch module comprises a soft start circuit and a power main loop which are connected in parallel; the soft start circuit is used for outputting power supply voltage at the initial stage of power-on, and the power main loop is used for outputting the power supply voltage in a delayed manner;
the first detection input end of the emergency stop voltage detection module is electrically connected with the power supply input end, and the output end of the emergency stop voltage detection module is electrically connected with the power supply switch module; the emergency stop voltage detection module is used for sending an emergency stop signal when detecting that the power supply input end is powered off.
Optionally, the super capacitor module comprises:
the power diode and the plurality of single super capacitors are connected in series; the anode of the power diode is electrically connected with the power input end, and the cathode of the power diode is electrically connected with the first-stage single-section super capacitor; and the single super capacitors are sequentially connected in series, and the single super capacitor at the last stage is grounded.
Optionally, the super capacitor module further includes:
and the charging protection circuit is used for carrying out overvoltage protection on each single super capacitor.
Optionally, the soft start circuit includes: a first switch and a negative temperature coefficient resistor connected in series; the first end of the first switch is electrically connected with the super capacitor module, the second end of the first switch is electrically connected with the first end of the negative temperature coefficient resistor, and the second end of the negative temperature coefficient resistor is electrically connected with the power output end;
the power main loop comprises: a reverse freewheeling diode and a second switch connected in parallel; the first end of the second switch is electrically connected with the super capacitor module, the second end of the second switch is electrically connected with the power output end, the anode of the reverse freewheeling diode is electrically connected with the power output end, and the cathode of the reverse freewheeling diode is electrically connected with the super capacitor module.
Optionally, the first switch is a relay, a contactor or a MOSFET;
the second switch is a relay, a contactor or a MOSFET.
Optionally, the super capacitor module further includes:
the output overcurrent protection module is connected between the power supply switch module and the power supply output end, and the detection output end of the output overcurrent protection module is electrically connected with the emergency stop voltage detection module; the output overcurrent protection module is used for outputting a current detection signal to the emergency stop voltage detection module when outputting overcurrent.
Optionally, the sudden stop voltage detection module includes:
a first resistor, a first end of the first resistor being electrically connected to the power input terminal;
a first end of the second resistor is electrically connected with a second end of the first resistor, and a second end of the second resistor is grounded;
a first input end of the first comparator is connected with a first comparison voltage, and a second input end of the first comparator is electrically connected with a second end of the first resistor;
a first input end of the second comparator is connected with a second comparison voltage, and a second input end of the second comparator is connected with a current detection signal;
the data end of the D trigger is connected with direct-current voltage, and the clock end of the D trigger is electrically connected with the output end of the second comparator;
and the first input end of the logic AND gate is electrically connected with the output end of the first comparator, the second input end of the logic AND gate is electrically connected with the first output end of the D trigger, and the output end of the logic AND gate is electrically connected with the power supply switch module.
Optionally, the super capacitor module further includes:
the power supply module comprises a Buck circuit, the input end of the power supply module is electrically connected with the power supply input end, and the power supply module is used for converting power supply voltage into the direct-current voltage;
and the LED indicator lamp is electrically connected with the second output end of the D trigger and is used for indicating the overcurrent state.
Optionally, the output overcurrent protection module includes:
the power supply switch module is electrically connected with the power supply output end, and comprises a high-side current detection resistor and a fuse which are connected in series, wherein the first end of the high-side current detection resistor is electrically connected with the power supply switch module, the second end of the high-side current detection resistor is electrically connected with the first end of the fuse, and the second end of the fuse is electrically connected with the power supply output end;
the first input end of the amplifier is electrically connected with the first end of the high-side current detection resistor, the second input end of the amplifier is electrically connected with the second end of the high-side current detection resistor, and the output end of the amplifier is used for outputting a current detection signal.
In a second aspect, an embodiment of the present invention further provides a cooperative robot system, including: the robot comprises a robot controller, a robot body and the super capacitor module according to any embodiment of the invention; the power input end of the super capacitor module is electrically connected with the robot controller, the power output end of the super capacitor module is electrically connected with the robot body, and the super capacitor module is arranged close to the robot body.
The super capacitor module provided by the embodiment of the invention can at least realize the following beneficial effects:
on the one hand, the super capacitor has the characteristics of fast charging and discharging, small internal resistance, large capacity and the like, so that the voltage drop problem caused by the line loss of the front part of the system cable can be effectively solved, the instantaneous power compensation of the load is provided by the super capacitor module, the current on the front part of the system cable cannot be instantaneously increased, and the static loss of the heavy load line is reduced. Therefore, the system can provide a smaller power supply, which is beneficial to reducing the size of the power supply and effectively reducing the cost of the system.
Furthermore, the embodiment of the invention is particularly suitable for the application occasions that the robot controller and the robot body are arranged at a far distance, and the line loss of the heavy load line is effectively reduced, so that the support of the heavy load line is greatly prolonged, for example, the length of the front heavy load line can reach 30 m.
In a second aspect, the super capacitor module provided in the embodiments of the present invention can also achieve absorption of feedback energy, and specifically, when a load motor decelerates, a back electromotive force is generated to increase a bus voltage, and due to the existence of the super capacitor, the feedback energy can be directly absorbed without braking, so that electric energy waste is avoided, and power can be saved by about 10% under typical conditions.
In a third aspect, the super capacitor module provided by the embodiment of the invention supports an emergency stop function response, and after the control cabinet end beats an emergency stop signal, the super capacitor module can detect the voltage change of the power supply input end in time, so as to cut off the power output of the super capacitor module, and improve the safety performance during use. The super capacitor module with the emergency stop response and protection mechanism provided by the embodiment of the invention can be applied to a cooperative robot electrical system.
Drawings
Fig. 1 is a schematic structural diagram of a cooperative robot system according to an embodiment of the present invention;
fig. 2 is a schematic circuit diagram of a super capacitor module according to an embodiment of the present invention;
fig. 3 is a schematic circuit diagram of a super capacitor module according to an embodiment of the present invention;
fig. 4 is a schematic circuit diagram of a power supply switch module according to an embodiment of the present invention;
fig. 5 is a schematic circuit diagram of an emergency stop voltage detection module according to an embodiment of the present invention;
fig. 6 is a schematic circuit diagram of an output overcurrent protection module according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the invention provides a super capacitor module, which can be suitable for motor systems and occasions with higher multiples of instantaneous power greater than average power in a typical working state, and is particularly suitable for the condition that a control cabinet and a motor have longer load distance. For example, in a cooperative robot system, the instantaneous power of the robot is usually 5 to 6 times of the average power under a typical working state. The following describes an embodiment of the present invention by taking a cooperative robot system as an example, but the present invention is not limited thereto.
Fig. 1 is a schematic structural diagram of a cooperative robot system according to an embodiment of the present invention. Referring to fig. 1, the cooperative robot system includes: the robot comprises a robot controller 10, a robot body 30 and a super capacitor module 20; the power input end 21 of the super capacitor module 20 is electrically connected to the robot controller 10, the power output end 22 of the super capacitor module 20 is electrically connected to the robot body 30, and the super capacitor module 20 is disposed at an end close to the robot body 30.
The super capacitor module 20 has the characteristics of fast charge and discharge, small internal resistance, large capacity and the like. The robot controller 10 and the super capacitor module 20 are connected through a cable A, the super capacitor module 20 and the robot body 30 are connected through a cable B, and the cable A and the cable B are heavy load lines. The embodiment of the present invention can effectively solve the problem of voltage drop caused by the line loss of the front portion (cable a) of the cable by adding the super capacitor module 20 at the end (i.e., the end of the heavy load line) close to the robot body 30.
The specific analysis is as follows: the working characteristics of the robot body 30 are that the average power Prms is small and the instantaneous power Pmax is large, for example, the two have a quantitative relation that Pmax is more than or equal to 6 × Prms. In the prior art, the high power supply in the robot controller 10 directly supplies power to the robot body 30, and a large loss occurs in the heavy load line. After the super capacitor module 20 is added, the instantaneous power compensation of the robot body 30 is provided by the super capacitor module 20, so that the current on the cable A cannot be increased instantaneously, the current of the cable A is limited, and the static loss of a heavy load line is reduced; meanwhile, the robot controller 10 only needs a smaller power supply, which is beneficial to reducing the size of the power supply and effectively reducing the system cost. Further, the embodiment of the present invention is particularly suitable for an application where the robot controller 10 and the robot body 30 are arranged at a far distance, and the cable support of the cable a is greatly extended due to effectively reducing the line loss of the heavy load line, for example, the length of the cable a may reach 30m, and the length of the cable B may not exceed 2 m.
In addition, the super capacitor module 20 provided in the embodiment of the present invention can also achieve absorption of feedback energy, and specifically, when the robot body 30 decelerates, a back electromotive force is generated, which causes a bus voltage to increase. In the prior art, the power resistor is drained by controlling the MOSFET and dissipated as heat energy. The super capacitor module 20 is added in the embodiment of the invention, because of the existence of the large capacitor, the feedback energy can be directly absorbed, the electric energy waste caused by braking is not needed, and about 10 percent of electricity can be saved under typical working conditions.
The circuit arrangement of the super capacitor module 20 will be described below.
Fig. 2 is a schematic circuit diagram of a super capacitor module according to an embodiment of the present invention. Referring to fig. 2, the super capacitor module 20 includes a power input terminal 21, a power output terminal 22, a super capacitor module 23, a power supply switch module 24, and an emergency stop voltage detection module 25. The power input end 21 is used for inputting power voltage, and the power output end 22 is used for outputting power voltage; the super capacitor module 23 is electrically connected with the power input end 21; the super capacitor module 23 is used for storing and outputting the power supply voltage; the power supply switch module 24 is connected between the super capacitor module 23 and the power output end 22; the power supply switch module 24 includes a soft start circuit 241 and a power main circuit 242 connected in parallel; the soft start circuit 241 is used for outputting the power supply voltage at the initial stage of power-on, and the power main loop 242 is used for outputting the power supply voltage in a delayed manner; a first detection input end of the emergency stop voltage detection module 25 is electrically connected with the power supply input end 21, and an output end of the emergency stop voltage detection module 25 is electrically connected with the power supply switch module 24; the emergency stop voltage detection module 25 is configured to send an emergency stop signal when detecting that the power input terminal 21 is powered off.
Exemplarily, the working process of the super capacitor module is as follows: when the robot body is powered on, the robot controller performs constant current charging on the super capacitor module 23. Under the normal working condition, after the super capacitor module 23 is fully charged, the full charge is respectively output to the soft start circuit 241 and the power main circuit 242, and the soft start circuit 241 and the power main circuit 242 are responsible for controlling the on-off of the robot body voltage. Specifically, under the condition that the emergency stop signal is not abnormal, at the moment of electrifying the robot body, the soft start circuit 241 is conducted and outputs the power to the robot body; after the preset time is delayed, the power main loop 242 is switched on and outputs power to the robot body. When the sudden stop voltage detection module 25 detects that the power supply input end 21 is powered off, the sudden stop signal is abnormal, and the power supply switch module 24 (including the soft start circuit 241 and the power main circuit 242) is controlled to disconnect the robot body voltage, so that the influence of delayed power failure of the residual voltage stored in the super capacitor module 23 is avoided.
According to the embodiment of the invention, the super capacitor module is arranged, and on the first hand, the characteristics of fast charge and discharge, small internal resistance, large capacity and the like of the super capacitor are utilized, so that the voltage drop problem caused by the line loss at the front part of the system cable can be effectively solved, the instantaneous power compensation of the load is provided by the super capacitor module, the current on the cable at the front part of the system cannot be increased instantaneously, and the static loss of the heavy-load line is reduced. Therefore, the system can provide a smaller power supply, which is beneficial to reducing the size of the power supply and effectively reducing the cost of the system. Furthermore, the embodiment of the invention is especially suitable for the application occasions that the robot controller and the robot body are arranged at a long distance, and the line loss of the heavy-load line is effectively reduced, so that the support of the heavy-load line is greatly prolonged, for example, the length of the front heavy-load line can reach 30 m. In a second aspect, the super capacitor module provided in the embodiments of the present invention can also achieve absorption of feedback energy, and specifically, when a load motor decelerates, a back electromotive force is generated to increase a bus voltage, and due to the existence of the super capacitor, the feedback energy can be directly absorbed without braking, so that electric energy waste is avoided, and power can be saved by about 10% under typical conditions. In a third aspect, the super capacitor module provided in the embodiment of the present invention supports an emergency stop function response, and after the control cabinet end beats an emergency stop signal, the super capacitor module can detect a voltage change at the power input end 21 in time, and power off the output of the super capacitor module 23, so as to improve safety performance during use. The super capacitor module with the emergency stop response and protection mechanism provided by the embodiment of the invention can be applied to a cooperative robot electrical system.
With continued reference to fig. 2, on the basis of the foregoing embodiments, optionally, the super capacitor module further includes an output overcurrent protection module 26. The output overcurrent protection module 26 is connected between the power supply switch module 24 and the power supply output end 22, and the detection output end of the output overcurrent protection module 26 is electrically connected with the emergency stop voltage detection module 25; the output overcurrent protection module 26 is configured to output a current detection signal to the emergency stop voltage detection module 25 when an overcurrent is output. Optionally, the super capacitor module further includes an LED indicator light 28, and the LED indicator light 28 is used for indicating an overcurrent state.
Illustratively, the sudden stop voltage detection module 25 can not only detect voltage abnormality of the power input end 21, but also receive a current detection signal, and specifically, under the condition that neither the sudden stop signal nor the overcurrent protection signal is abnormal, at the moment of powering on the robot body, the soft start circuit 241 is turned on and outputs the voltage to power the robot body; after the preset time is delayed, the power main loop 242 is switched on and outputs power to the robot body. In case of abnormality of the emergency stop signal or the overcurrent protection signal, the emergency stop voltage detection module 25 controls the power supply switch module 24 (including the soft start circuit 241 and the power main circuit 242) to cut off the robot body voltage.
With continued reference to fig. 2, on the basis of the foregoing embodiments, optionally, the super capacitor module further includes: a power supply module 27. The power supply module 27 typically includes a Buck circuit, with an input of the power supply module 27 being electrically connected to the power supply input 21, and the power supply module 27 being configured to convert the power supply voltage to a dc voltage. Illustratively, when the robot body is powered on, the robot controller supplies an input voltage to the power module 27 while performing constant-current charging on the super capacitor module, and the power module 27 is powered on and then converted into a direct-current voltage to supply power to other modules (e.g., the emergency stop voltage detection module 25, the output overcurrent protection module 26, etc.) in the super capacitor module.
In addition to the above embodiments, there are various ways of arranging the circuit modules, which will be described below by way of example, but not by way of limitation,
fig. 3 is a schematic circuit diagram of a super capacitor module according to an embodiment of the present invention. Referring to fig. 3, in one embodiment of the present invention, optionally, the super capacitor module 23 includes: a power diode D1 and a plurality of individual super capacitors connected in series. The plurality of single-section super capacitors comprise a first-stage single-section super capacitor C1, a second-stage single-section super capacitor C2, a third-stage single-section super capacitor C3, fourth-stage single-section super capacitors C4 and … …, and a last-stage single-section super capacitor Cx. The anode of the power diode is electrically connected with the power input end, and the cathode of the power diode is electrically connected with the first-stage single-section super capacitor C1; a plurality of single-section super capacitors are sequentially connected in series, and the last-stage single-section super capacitor Cx is grounded GND. The power diode D1 is used to conduct the input voltage VIN and the capacitor voltage V _ cap in a single direction, and is not affected by the capacitor voltage V _ cap when the input voltage VIN is powered down.
Illustratively, the withstand voltage of the single-section super capacitor is set to be V1, the capacitance value is set to be C1, and the internal resistance is set to be RESRWhen the number of cascades is x, the total withstand voltage Va is V1 · x, and the total internal resistance is RESRX, cascade capacitance Ca — C1/x.
Setting the allowable voltage drop value of the robot body to be delta U when the robot body worksmaxThe peak current of the robot body during working is IPeakDuration dtThe super capacitor module is connected to the robot bodyHas an internal resistance of Rline. Then the following equation can be derived:
discharge drop voltage of the super capacitor: Δ U1 ═ IPeak·dt/Ca；
Total loss voltage of the super capacitor: Δ U2 ═ IPeak·(RESR·x+Rline)；
When designing the super capacitor module, only Va is required to be more than or equal to VRobot，ΔUmax<The Δ U1+ Δ U2 can meet the application requirements.
With continued reference to fig. 3, optionally, the super capacitor module further includes a charge protection circuit 231, and the charge protection circuit 231 is configured to perform overvoltage protection on each single super capacitor. Wherein, the internal resistance R of the single-section super capacitorESRInconsistent, when the super capacitor module is charged and discharged, overvoltage protection needs to be carried out on each single super capacitor.
Fig. 4 is a schematic circuit diagram of a power supply switch module according to an embodiment of the present invention. Referring to fig. 4, in an embodiment of the present invention, the soft start circuit 241 optionally includes: a first switch K1 and a negative temperature coefficient resistance NTC connected in series; the first end of the first switch K1 is electrically connected with the super capacitor module and is connected with the capacitor voltage V _ cap, the second end of the first switch K1 is electrically connected with the first end of the negative temperature coefficient resistor NTC, and the second end of the negative temperature coefficient resistor NTC is electrically connected with the power output end and is used for outputting the output voltage V _ Out.
The power main circuit 242 includes a reverse freewheeling diode D2 and a second switch K2 connected in parallel; the first end of the second switch K2 is electrically connected with the super capacitor module and is connected to the capacitor voltage V _ cap, and the second end of the second switch K2 is electrically connected with the power output end and is used for outputting the output voltage V _ Out. The anode of the reverse freewheeling diode D2 is electrically connected with the power output end, and the cathode of the reverse freewheeling diode D2 is electrically connected with the super capacitor module. The reverse freewheeling diode D2 is used to absorb energy feedback when braking a load such as a robot body or other motor.
Optionally, the first switch K1 is a switching device such as a relay, a contactor, or a MOSFET; the second switch K2 is a switching device such as a relay, a contactor, or a MOSFET.
Exemplarily, under a normal working condition, after the super capacitor module is fully charged, the capacitor voltage V _ cap is respectively output to the soft start circuit and the power main circuit, and at the moment of powering on the robot body, the soft start circuit is turned on (specifically, the first switch K1 is turned on), and the output voltage V _ Out is output to the robot body for power supply; after the preset time is delayed, the main power loop is switched on (specifically, the second switch K2 is switched on), and the output voltage V _ Out is output to the robot body for supplying power. When the sudden stop voltage detection module detects that the power input end is powered off, the sudden stop signal is abnormal, and the first switch K1 and the second switch K2 are controlled to disconnect the robot body voltage, so that the influence of the residual voltage stored in the super capacitor module on delayed power off is avoided.
Fig. 5 is a schematic circuit diagram of an emergency stop voltage detection module according to an embodiment of the present invention. Referring to fig. 5, in one embodiment of the present invention, the sudden stop voltage detection module 25 optionally includes: the circuit comprises a first resistor R1, a second resistor R2, a first comparator A1, a second comparator A2, a D flip-flop U1 and a logic AND gate U2. A first end of the first resistor R1 is electrically connected to the power input terminal and is connected to the input voltage VIN; a first end of the second resistor R2 is electrically connected with a second end of the first resistor R1, and a second end of the second resistor R2 is grounded; the first resistor R1 and the second resistor R2 form a voltage division circuit; a first input end of the first comparator A1 is connected to a first comparison voltage VREF1, and a second input end of the first comparator A1 is electrically connected with a second end of the first resistor R1; a first input end of the second comparator A2 is connected to a second comparison voltage VREF2, and a second input end of the second comparator A2 is connected to a current detection signal Ia _ detect; a DATA end DATA of the D trigger U1 is connected with a direct-current voltage VCC, and a CLOCK end CLOCK of the D trigger U1 is electrically connected with an output end of the second comparator A2; the LED indicator light is electrically connected with a second output end/Q of the D trigger U1 and is used for indicating an overcurrent state; a first input end of the logic AND gate U2 is electrically connected with an output end of the first comparator A1 and is connected with an emergency STOP signal E _ STOP; a second input end of the logic AND gate U2 is electrically connected with a first output end Q of the D trigger U1 and is connected with an over-current protection signal OC _ detect; the output end of the logic AND gate U2 is electrically connected with the power supply switch module and outputs a control signal/Shutdown.
Illustratively, the operation principle of the emergency STOP voltage detection module is that when the cooperative robot works and the emergency STOP is effective, the output voltage of the robot controller is turned off, the input voltage VIN drops, the first comparator a1 detects the input voltage VIN, the input voltage VIN is divided by the first resistor R1 and the second resistor R2 and then is lower than the first comparison voltage VREF1, and the emergency STOP signal E _ STOP outputs a low level. The output control signal/Shutdown is at low level at this time through the logic and gate U2, and is used to close the soft start circuit and the power main loop.
The second comparator a2 detects the output overcurrent protection module, when the output current exceeds the set threshold, the voltage of the current detection signal Ia _ detect is greater than the second comparison voltage VREF2, at this time, the second comparator a2 outputs a low level, the voltage of the overcurrent protection signal OC _ detect after passing through the D flip-flop is low, the low level is sent to the logic and gate U2, the logic and gate U2 outputs a control signal/Shutdown at this time as a low level, so that the soft start circuit and the power main circuit are closed, and the output is closed.
Fig. 6 is a schematic circuit diagram of an output overcurrent protection module according to an embodiment of the present invention. Referring to fig. 6, the output overcurrent protection module 26 includes: a high side current sense resistor R _ sense, a FUSE, an amplifier a3, and a third resistor R3. The high-side current detection resistor R _ sense is connected with the FUSE in series, and the first end of the high-side current detection resistor R _ sense is electrically connected with the power supply switch module and is connected with the output voltage V _ Out; the second end of the high-side current detection resistor R _ sense is electrically connected with the first end of the FUSE FUSE, and the second end of the FUSE FUSE is electrically connected with the power supply output end so as to output the Robot power supply voltage V _ Robot; a first input terminal of the amplifier A3 is electrically connected to a first terminal of the high-side current detection resistor R _ sense, a second input terminal of the amplifier A3 is electrically connected to a second terminal of the high-side current detection resistor R _ sense, and an output terminal of the amplifier A3 is configured to output a current detection signal Ia _ detect. The high-side current detection resistor R _ sense and the high-side amplifier A3 form current detection, the current detection is sent to the second comparator A2 (the third resistor R3 is used as a current limiting resistor), and when the output current exceeds a set threshold value, the robot voltage output is turned off. Meanwhile, a FUSE is added, so that physical fusing during overcurrent can be realized, and the safety performance of the circuit is improved.
In the above embodiments, optionally, the first comparator a1, the second comparator a2, the amplifier A3 and other devices need to be connected to a dc voltage to supply power, and the dc voltage is supplied by the power supply module.
In summary, the super capacitor module provided in the embodiment of the present invention can achieve the following beneficial effects:
on the one hand, the super capacitor has the characteristics of fast charging and discharging, small internal resistance, large capacity and the like, so that the voltage drop problem caused by the line loss of the front part of the system cable can be effectively solved, the instantaneous power compensation of the load is provided by the super capacitor module, the current on the front part of the system cable cannot be instantaneously increased, and the static loss of the heavy load line is reduced. Therefore, the system can provide a smaller power supply, which is beneficial to reducing the size of the power supply and effectively reducing the cost of the system.
Furthermore, the embodiment of the invention is particularly suitable for the application occasions that the robot controller and the robot body are arranged at a far distance, and the line loss of the heavy load line is effectively reduced, so that the support of the heavy load line is greatly prolonged, for example, the length of the front heavy load line can reach 30 m.
In a second aspect, the super capacitor module provided in the embodiments of the present invention can also achieve absorption of feedback energy, and specifically, when a load motor decelerates, a back electromotive force is generated to increase a bus voltage, and due to the existence of the super capacitor, the feedback energy can be directly absorbed without braking, so that electric energy waste is avoided, and power can be saved by about 10% under typical conditions.
In a third aspect, the super capacitor module provided by the embodiment of the invention supports an emergency stop function response, and after the control cabinet end beats an emergency stop signal, the super capacitor module can detect the voltage change of the power supply input end in time, so as to cut off the power output of the super capacitor module, and improve the safety performance during use. The super capacitor module with the emergency stop response and protection mechanism provided by the embodiment of the invention can be applied to a cooperative robot electrical system.
In a fourth aspect, the super capacitor module provided by the embodiment of the invention is designed as a pure hardware circuit, which is beneficial to reducing cost, does not need to write software, and is simple and convenient to maintain.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A super capacitor module, comprising:
the power supply comprises a power supply input end and a power supply output end, wherein the power supply input end is used for inputting power supply voltage, and the power supply output end is used for outputting the power supply voltage;
the super capacitor module is electrically connected with the power input end; the super capacitor module is used for storing and outputting power supply voltage;
the power supply switch module is connected between the super capacitor module and the power supply output end; the power supply switch module comprises a soft start circuit and a power main circuit which are connected in parallel; the soft start circuit is used for outputting power supply voltage at the initial stage of power-on, and the power main loop is used for outputting the power supply voltage in a delayed manner;
the first detection input end of the emergency stop voltage detection module is electrically connected with the power supply input end, and the output end of the emergency stop voltage detection module is electrically connected with the power supply switch module; the emergency stop voltage detection module is used for sending an emergency stop signal when detecting that the power supply input end is powered off;
the sudden stop voltage detection module comprises:
a first resistor, a first end of the first resistor being electrically connected to the power input terminal;
a first end of the second resistor is electrically connected with a second end of the first resistor, and a second end of the second resistor is grounded;
a first input end of the first comparator is connected with a first comparison voltage, and a second input end of the first comparator is electrically connected with a second end of the first resistor;
a first input end of the second comparator is connected with a second comparison voltage, and a second input end of the second comparator is connected with a current detection signal;
the data end of the D trigger is connected with direct-current voltage, and the clock end of the D trigger is electrically connected with the output end of the second comparator;
and the first input end of the logic AND gate is electrically connected with the output end of the first comparator, the second input end of the logic AND gate is electrically connected with the first output end of the D trigger, and the output end of the logic AND gate is electrically connected with the power supply switch module.
2. The supercapacitor module according to claim 1, wherein the supercapacitor module comprises:
the power diode and the plurality of single super capacitors are connected in series; the anode of the power diode is electrically connected with the power input end, and the cathode of the power diode is electrically connected with the first-stage single-section super capacitor; and the single super capacitors are sequentially connected in series, and the single super capacitor at the last stage is grounded.
3. The supercapacitor module according to claim 2, further comprising:
and the charging protection circuit is used for carrying out overvoltage protection on each single super capacitor.
4. The supercapacitor module according to claim 1, wherein the soft start circuit comprises: a first switch and a negative temperature coefficient resistor connected in series; the first end of the first switch is electrically connected with the super capacitor module, the second end of the first switch is electrically connected with the first end of the negative temperature coefficient resistor, and the second end of the negative temperature coefficient resistor is electrically connected with the power output end;
the power main loop comprises: a reverse freewheeling diode and a second switch connected in parallel; the first end of the second switch is electrically connected with the super capacitor module, the second end of the second switch is electrically connected with the power output end, the anode of the reverse freewheeling diode is electrically connected with the power output end, and the cathode of the reverse freewheeling diode is electrically connected with the super capacitor module.
5. The supercapacitor module according to claim 4, wherein the first switch is a relay, a contactor or a MOSFET;
the second switch is a relay, a contactor or a MOSFET.
6. The supercapacitor module according to claim 1, further comprising:
the output overcurrent protection module is connected between the power supply switch module and the power supply output end, and the detection output end of the output overcurrent protection module is electrically connected with the emergency stop voltage detection module; the output overcurrent protection module is used for outputting a current detection signal to the emergency stop voltage detection module when outputting overcurrent.
7. The supercapacitor module according to claim 1, further comprising:
the power module comprises a Buck circuit, the input end of the power module is electrically connected with the power input end, and the power module is used for converting power voltage into the direct-current voltage;
and the LED indicator lamp is electrically connected with the second output end of the D trigger and is used for indicating the overcurrent state.
8. The supercapacitor module according to claim 6, wherein the output overcurrent protection module comprises:
the power supply switch module is electrically connected with the power supply output end, and comprises a high-side current detection resistor and a fuse which are connected in series, wherein the first end of the high-side current detection resistor is electrically connected with the power supply switch module, the second end of the high-side current detection resistor is electrically connected with the first end of the fuse, and the second end of the fuse is electrically connected with the power supply output end;
the first input end of the amplifier is electrically connected with the first end of the high-side current detection resistor, the second input end of the amplifier is electrically connected with the second end of the high-side current detection resistor, and the output end of the amplifier is used for outputting a current detection signal.
9. A collaborative robotic system, comprising: a robot controller, a robot body and the supercapacitor module according to any one of claims 1 to 8; the power input end of the super capacitor module is electrically connected with the robot controller, the power output end of the super capacitor module is electrically connected with the robot body, and the super capacitor module is arranged close to the robot body.
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| CN113161982B (en) * | 2021-04-23 | 2024-02-13 | 北京动力源科技股份有限公司 | Relay device |
| CN113328614B (en) * | 2021-05-31 | 2022-08-19 | 无锡先导智能装备股份有限公司 | Soft start-stop control method and device, electronic equipment and storage medium |
| CN114825271A (en) * | 2022-05-27 | 2022-07-29 | 中科新松有限公司 | Robot controller power detects and protection system, robot |
| CN116073500A (en) * | 2023-04-04 | 2023-05-05 | 齐鲁工业大学(山东省科学院) | Super capacitor charge and discharge control system and control method for robot |
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| CN106059048B (en) * | 2016-07-30 | 2018-12-21 | 华帝股份有限公司 | Electric connection accessory with direct current portable power source protection and instantaneous high-power output |
| CN108173266A (en) * | 2018-01-25 | 2018-06-15 | 北京航天发射技术研究所 | A kind of DC uninterrupted electric power system and method for supplying power to |
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Address after: 200126 building 6, 646 Jianchuan Road, Minhang District, Shanghai Patentee after: Jieka Robot Co.,Ltd. Address before: 200126 building 6, 646 Jianchuan Road, Minhang District, Shanghai Patentee before: SHANGHAI JAKA ROBOTICS Ltd. |
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