CN113890127A - Industrial robot battery charging device and control method - Google Patents

Industrial robot battery charging device and control method Download PDF

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Publication number
CN113890127A
CN113890127A CN202111003358.6A CN202111003358A CN113890127A CN 113890127 A CN113890127 A CN 113890127A CN 202111003358 A CN202111003358 A CN 202111003358A CN 113890127 A CN113890127 A CN 113890127A
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CN
China
Prior art keywords
charging
battery
led
voltage
module
Prior art date
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Pending
Application number
CN202111003358.6A
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Chinese (zh)
Inventor
乔建平
王富春
关来德
吴坤
类志杰
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Liuzhou Vocational and Technical College
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Liuzhou Vocational and Technical College
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Filing date
Publication date
Application filed by Liuzhou Vocational and Technical College filed Critical Liuzhou Vocational and Technical College
Priority to CN202111003358.6A priority Critical patent/CN113890127A/en
Publication of CN113890127A publication Critical patent/CN113890127A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
    • H02J7/00036—Charger exchanging data with battery
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/44—Methods for charging or discharging
    • 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
    • H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting 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
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
    • 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
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a battery charging device of an industrial robot and a control method, wherein the battery charging device comprises a main controller module and a charging module, the main controller module comprises a voltage detection module and an alarm module, and the alarm module comprises an LED lamp and a buzzer; the charging module comprises a rechargeable lithium battery, a charging circuit and a mobile power supply, and the rechargeable lithium battery is connected with the mobile power supply through the charging circuit to charge; the voltage detection module is coupled with the rechargeable lithium battery, the alarm module is coupled with the voltage detection module, and the voltage detection module is used for detecting the voltage state of the rechargeable lithium battery, generating a voltage signal and transmitting the voltage signal to the alarm module.

Description

Industrial robot battery charging device and control method
Technical Field
The invention relates to a robot charging technology, in particular to an industrial robot battery charging device and a control method.
Background
The robot is a multi-joint mechanical arm widely used in the industrial field or a multi-degree-of-freedom machine device, has certain automaticity, and can realize various industrial processing and manufacturing functions by depending on the power energy and control capability of the robot. Taking the industrial robot as an example, the industrial robot needs to replace two kinds of batteries periodically: a battery on the controller mainboard and a battery on the robot body. For the battery on the controller mainboard, programs and system variables are stored in the SRAM on the mainboard and are powered by the lithium battery on the mainboard to save data. When the voltage of the battery is insufficient, an alarm is displayed on the demonstrator. When the voltage becomes lower, the contents of the SRAM will not be able to be backed up, requiring replacement of the old battery and reloading of the data that was backed up. Therefore, it is usually noted that data is backed up regularly using a memory card or a flexible disk. For the battery on the robot body, the rechargeable lithium battery is used for supplying power to the encoder so as to store the data of each shaft encoder, therefore, the battery needs to be replaced every year, and when the voltage drop alarm of the battery occurs, a user is allowed to replace the battery. If the robot is not replaced in time, an alarm can be given, the robot cannot act at the moment, the battery is replaced when the robot meets the condition, the robot can normally operate, and the process is complicated. Two kinds of batteries of industrial robot characteristics jointly: for supplying power to the stored data module. The difference lies in that the battery replacement period on the mainboard is generally long, and the rechargeable lithium battery needs to be replaced almost once every year. Therefore, the invention mainly aims at the rechargeable lithium battery, when the electric quantity of the battery is insufficient, the battery needs to be manually replaced by a user, so that the workload of the user is increased, and under the working environment with shortage of hands, if the electric quantity of the battery is insufficient and cannot be timely found, the robot stops working and important data are lost, so that the working efficiency is influenced. Furthermore, the replacement of the battery is usually performed by the original battery, which is costly and requires professional skills for the operator.
Disclosure of Invention
In view of the above, the present invention provides a robot rechargeable battery device, which is used as a robot rechargeable lithium battery.
The invention adopts the specific technical scheme that:
a battery charging device for an industrial robot comprises a main controller module and a charging module, wherein the main controller module comprises a voltage detection module and an alarm module, and the alarm module comprises an LED lamp and a buzzer; the charging module comprises a rechargeable lithium battery, a charging circuit and a mobile power supply, and the rechargeable lithium battery is connected with the mobile power supply through the charging circuit to charge; the voltage detection module is coupled with the rechargeable lithium battery, the alarm module is coupled with the voltage detection module, and the voltage detection module is used for detecting the voltage state of the rechargeable lithium battery, generating a voltage signal and transmitting the voltage signal to the alarm module.
Further, the LED lamp module comprises 1 LED lamp, and the LED indicator lamp belongs to a three-color LED and can light red, green and blue.
Furthermore, the charging circuit is connected with the output end of the mobile power supply, and the output end of the mobile power supply is provided with one or more interfaces of different types.
Furthermore, the LED lamp and the buzzer are connected with an internal circuit of the robot body through the switch power supply module, and power is supplied by an internal power supply of the robot body.
Further, portable power source is the treasured that charges.
Furthermore, the charging circuit is a data line with three wires, one is a USB output end and is connected with the output end of the mobile power supply, and the three wires are three charging plugs respectively.
Further, the buzzer adopts an active buzzer.
Further, voltage detection module, LED pilot lamp, bee calling organ and charging circuit can be integrated on a circuit board, carries out reasonable PCB wiring, reduces the face area in order to practice thrift the space.
Correspondingly, the invention also provides a control method of the industrial robot battery charging device, which comprises the following steps:
1) detecting the voltage state of the rechargeable lithium battery in real time by using a voltage detection module, generating a voltage signal and sending the voltage signal to an alarm module;
2) the voltage detection module judges whether the voltage value of the lithium battery is lower than a set value or not according to the voltage signal, and when the voltage value is lower than the set value, a charging request signal is generated and sent to the alarm module, the LED red light flickers, and the buzzer sounds;
3) the mobile power supply is plugged into the charging port, the voltage detection module detects that the battery is charged, the LED green lamp is normally on, the rechargeable lithium battery starts to charge, and the buzzer stops sounding;
4) the voltage detection module detects that the voltage of the lithium battery reaches a set value, the LED blue lamp flickers, the buzzer sounds, charging is stopped, and the mobile power supply is reminded to be removed.
Further, the LED lamp module includes 1 LED indicator, which belongs to a three-color LED and can light red, green and blue colors, and analyzing the status of the LED indicator in step 3) includes:
when the LED indicator light is turned off, the lithium battery is not charged, and the voltage of the battery is not lower than a set value;
when the red light of the LED indicator light flickers and the lithium battery is lower than a set value, indicating a charging request;
when the LED indicator light is normally on, the mobile power supply is plugged into the charging port, and the lithium battery is still lower than a set value and is in a charging state;
when the lithium battery reaches a set value, the battery stops charging, the LED green lamp turns on to turn into the blue lamp to flicker, the mobile power supply is reminded to be moved away, and when the mobile power supply is moved away, the LED lamp is turned off.
Compared with the prior art, the invention has the beneficial effects that:
1. and the alarm real-time monitoring is adopted, so that the electric quantity of the battery is ensured, and the data loss is avoided.
2. The disassembly and the assembly are not needed, and the labor is saved.
Drawings
Fig. 1 is a block diagram of a battery charging apparatus for an industrial robot;
fig. 2 is a schematic view of an industrial robot.
FIG. 3 shows an industrial robot lithium battery connected to a charging port of a mobile power supply.
Fig. 4 is a schematic diagram of a mobile power supply and a three-wire plug.
Fig. 5 is a logic block diagram of automatic robot charging.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the embodiment provides an industrial robot battery charging device, which includes a main controller module 1 and a charging module 2, where the main controller module 1 includes a voltage detection module 11 and an alarm module 12, and the alarm module 12 includes an LED lamp 121 and a buzzer 122; the charging module 2 comprises a rechargeable lithium battery 21, a charging circuit 22 and a mobile power supply 23, wherein the rechargeable lithium battery 21 is connected with the mobile power supply 23 through the charging circuit 22 for charging; the voltage detection module 11 is coupled with the rechargeable lithium battery 21, the alarm module 12 is coupled with the voltage detection module 11, and the voltage detection module 11 is used for detecting the voltage state of the rechargeable lithium battery 21 and generating a voltage signal to be transmitted to the alarm module 12 (the LED lamp 121 and the buzzer 122).
Fig. 2 is an overall schematic diagram of the industrial robot of the present embodiment.
The voltage detection module is a control core of the system and is mainly used for processing analysis data and outputting control signals, the STC12C5604AD single chip microcomputer module is adopted in the voltage detection module, the analog quantity voltage range is 0-10V, electric energy is provided by a switching power supply in the robot body, the working voltage is 10-12V, and the stability is extremely high.
The voltage detection module is coupled with the alarm module and used for detecting the battery voltage state of the robot and generating a voltage signal to be sent to the alarm module. The detection module stores a low-voltage preset value and a voltage standard value, when the voltage signal is lower than the low-voltage preset value, the voltage detection module outputs a driving signal to the alarm module, the alarm module gives an alarm to prompt a charging request signal, and reminds personnel to plug a mobile power supply into the charging port to start charging; and when the voltage signal reaches the voltage standard value, removing the mobile power supply and stopping charging.
LED lamp and bee calling organ pass through switching power supply module and robot inner circuit connection, are supplied power by robot inner power supply, switching power supply and robot inner circuit connection, and switching power supply converts the 220V alternating current into stable 5V or 12V direct current, provides the electric energy for LED lamp and bee calling organ in the alarm module, and this embodiment, power supply module adopts INN3673C-H601 double-circuit switching power supply chip, can trun into 220V 5V and 12V.
This embodiment adopts three primary colors LED lamp, can bright red green blue trichrome, and common cathode, bee calling organ adopt active bee calling organ, and inside has the oscillation source, and alarm module gives a low level signal of pin, and bee calling organ will directly sound.
Rechargeable lithium battery connects portable power source output, as shown in fig. 3 (fig. 3 is the regional portable power source charging port of connecting in which the industrial robot rechargeable lithium battery of this embodiment is located) and fig. 4, portable power source output has three connector lug, is Mrcio android, TYPE-C and apple lighting interface respectively, also can practice thrift space and cost according to actual need, only selects one of them charging connector. The charging circuit is a data line with three lines, one is a USB output end and is connected with the output end of the mobile power supply, and the three lines are respectively lithium batteries in the three charging plug charging modules in a series connection integration mode, and the total voltage is 7.2V.
According to the robot charging device described above, the charging control method of the present embodiment includes the following steps.
The first step is as follows: the voltage detection module is used for detecting the voltage state of the battery of the robot in real time, generating a voltage signal and transmitting the voltage signal to the alarm module;
the second step is that: the alarm module judges whether the voltage value of the battery is lower than a set value or not according to the voltage signal, when the voltage value is lower than the set value, the LED indicates that a red light flickers and a buzzer sounds to remind a worker to plug in a mobile power supply, the battery enters a charging state, and the LED indicates that the battery is green and normally on;
the third step: when the voltage detection module detects that the voltage of the battery reaches a set value, the blue lamp of the LED lamp in the alarm module flickers to remind personnel of finishing charging, the mobile power supply can be removed, when the personnel remove the mobile power supply, the charging is stopped, and the LED lamp is turned off.
The robot auto-charging logic is shown in fig. 5.
In summary, the robot autonomous charging device and the charging method have the following advantages:
1. can be transplanted to different brands and models, and has wide application range.
2. The battery electric quantity is monitored in real time, charging is carried out in time, and data storage is guaranteed not to be lost.
3. The disassembly and the assembly are not needed, the risk is reduced, and the labor is saved.
4. The original battery does not need to be replaced frequently at regular intervals, and the cost is saved.
5. Through setting up the relay module, be the outage state when no charging at ordinary times, can guarantee the safety of system.
It should be noted that the above-mentioned preferred embodiments are merely illustrative of the technical concepts and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims (10)

1. The industrial robot battery charging device is characterized by comprising a main controller module and a charging module, wherein the main controller module comprises a voltage detection module and an alarm module, and the alarm module comprises an LED lamp and a buzzer; the charging module comprises a rechargeable lithium battery, a charging circuit and a mobile power supply, and the rechargeable lithium battery is connected with the mobile power supply through the charging circuit to charge; the voltage detection module is coupled with the rechargeable lithium battery, the alarm module is coupled with the voltage detection module, and the voltage detection module is used for detecting the voltage state of the rechargeable lithium battery, generating a voltage signal and transmitting the voltage signal to the alarm module.
2. An industrial robot battery charging device according to claim 1, characterized in that the LED light module comprises 1 LED light, and the LED indicator light is a three-color LED, which lights red, green and blue.
3. An industrial robot battery charging device according to claim 1, characterized in that the charging circuit is connected to the mobile power supply output, which is provided with one or more different types of interfaces.
4. An industrial robot battery charging device according to claim 1, characterized in that the LED lamp and the buzzer are connected with the internal circuit of the robot body through a switch power supply module, and are powered by the internal power supply of the robot body.
5. An industrial robot battery charging device according to claim 1, characterized in that the mobile power source is a charger baby.
6. An industrial robot battery charging device according to claim 3, characterized in that the charging circuit is a three-wire data cable, one is a USB output terminal, which is connected to the output terminal of the mobile power source, and the three wires are three charging plugs respectively.
7. An industrial robot battery charging device according to claim 1, characterized in that the buzzer is an active buzzer with an internal oscillation source, and the alarm module gives a low level signal to the pin, and the buzzer sounds directly.
8. The industrial robot battery charging device of claim 1, wherein the voltage detection module, the LED indicator, the buzzer and the charging circuit are integrated on a circuit board, so that PCB wiring is reasonable and the area of the board is reduced to save space.
9. A control method of an industrial robot battery charging apparatus according to claim 1, characterized by comprising the steps of:
1) detecting the voltage state of the rechargeable lithium battery in real time by using a voltage detection module, generating a voltage signal and sending the voltage signal to an alarm module;
2) the voltage detection module judges whether the voltage value of the lithium battery is lower than a set value or not according to the voltage signal, and when the voltage value is lower than the set value, a charging request signal is generated and sent to the alarm module, the LED red light flickers, and the buzzer sounds;
3) the mobile power supply is plugged into the charging port, the voltage detection module detects that the battery is charged, the LED green lamp is normally on, the rechargeable lithium battery starts to charge, and the buzzer stops sounding;
4) the voltage detection module detects that the voltage of the lithium battery reaches a set value, the LED blue lamp flickers, the buzzer sounds, charging is stopped, and the mobile power supply is reminded to be removed.
10. The control method of claim 9, wherein the LED lamp module comprises 1 LED indicator lamp, the LED indicator lamp is a three-color LED and can be turned on in red, green and blue, and the analyzing the status of the LED indicator lamp in step 3) comprises:
when the LED indicator light is turned off, the lithium battery is not charged, and the voltage of the battery is not lower than a set value;
when the red light of the LED indicator light flickers and the lithium battery is lower than a set value, indicating a charging request;
when the LED indicator light is normally on, the mobile power supply is plugged into the charging port, and the lithium battery is still lower than a set value and is in a charging state;
when the lithium battery reaches a set value, the battery stops charging, the LED green lamp turns on to turn into the blue lamp to flicker, the mobile power supply is reminded to be moved away, and when the mobile power supply is moved away, the LED lamp is turned off.
CN202111003358.6A 2021-08-30 2021-08-30 Industrial robot battery charging device and control method Pending CN113890127A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111003358.6A CN113890127A (en) 2021-08-30 2021-08-30 Industrial robot battery charging device and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111003358.6A CN113890127A (en) 2021-08-30 2021-08-30 Industrial robot battery charging device and control method

Publications (1)

Publication Number Publication Date
CN113890127A true CN113890127A (en) 2022-01-04

Family

ID=79011654

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111003358.6A Pending CN113890127A (en) 2021-08-30 2021-08-30 Industrial robot battery charging device and control method

Country Status (1)

Country Link
CN (1) CN113890127A (en)

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