CN116526866A - Topological structure of robot power supply and robot - Google Patents
Topological structure of robot power supply and robot Download PDFInfo
- Publication number
- CN116526866A CN116526866A CN202310715512.5A CN202310715512A CN116526866A CN 116526866 A CN116526866 A CN 116526866A CN 202310715512 A CN202310715512 A CN 202310715512A CN 116526866 A CN116526866 A CN 116526866A
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- CN
- China
- Prior art keywords
- power supply
- robot
- supply circuit
- electrically connected
- input end
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- 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.)
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Links
- 238000004146 energy storage Methods 0.000 claims description 22
- 239000003990 capacitor Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000017525 heat dissipation Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
Classifications
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- 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
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
- H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
- H02M7/06—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes without control electrode or semiconductor devices without control electrode
-
- 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
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
-
- 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
- H02M1/00—Details of apparatus for conversion
- H02M1/44—Circuits or arrangements for compensating for electromagnetic interference in converters or inverters
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/50—Charging of capacitors, supercapacitors, ultra-capacitors or double layer capacitors
Abstract
The disclosure discloses a topological structure of robot power and robot, topological structure includes: the power supply circuit comprises a rectifying circuit, a power supply circuit and a control power supply circuit; the input end of the power supply circuit and the input end of the control power supply are electrically connected with the output end of the rectifying circuit; the power supply circuit is used for supplying power to a power system of the robot; the control power supply circuit is used for supplying power to the control system of the robot, so that electric energy generated by the power supply circuit in the movement process of the robot can be transmitted to the control power supply circuit, the power efficiency of the robot during operation is improved, and the heat dissipation design of the robot is facilitated; meanwhile, electric energy is provided for system data backup in the power failure process, and system power supply design and cost control are simplified.
Description
Technical Field
The disclosure relates to the technical field of robots, and in particular relates to a topological structure of a robot power supply and a robot.
Background
Typically, an electric system involves a power supply section. The power supply system of the robot system can be divided into a control power supply part and a power supply part of a movement mechanism, a common robot power supply topological structure is shown in figure 1, two rectifiers are connected in parallel and are connected with an input power grid, and the voltage output by the input power grid under the action of the two rectifiers is respectively used as the power supply voltage of the power supply and the power supply voltage of the control power supply. The following problems exist in the robot power supply topology: in the moving process of the robot, an acceleration/deceleration process exists, the moving mechanism converts electric energy into mechanical energy (kinetic energy or potential energy) during acceleration, the mechanical energy is fed back into electric energy during deceleration, the power supply network is charged with the energy at the moment, and the voltage of the power grid can be increased due to unidirectional transmission of the power supply. The energy feedback causes the voltage of the power grid to rise, and the overvoltage risk of electronic elements on the related topological network is caused, so that an energy feedback discharging device needs to be added, and the redundant electric energy is discharged when the voltage is too high.
Taking a single-phase power supply network as an example, fig. 2 is a circuit diagram of a common electric energy discharge, where a brake resistor between a P port and a B port is a channel for discharging electric energy when voltages of the P port and the N port are too high. The power supply of the robot is low in energy efficiency due to the circuit design.
Disclosure of Invention
The technical problem to be solved by the disclosure is to overcome the defect of low energy efficiency of a robot power supply, and provide a topological structure of the robot power supply and a robot.
The technical problems are solved by the following technical scheme:
the present disclosure provides a topology of a robot power supply, the topology comprising: the power supply circuit comprises a rectifying circuit, a power supply circuit and a control power supply circuit;
the input end of the power supply circuit and the input end of the control power supply are electrically connected with the output end of the rectifying circuit;
the power supply circuit is used for supplying power to a power system of the robot;
the control power supply circuit is used for supplying power to a control system of the robot.
Preferably, the control power supply circuit includes: a DC-DC converter and a control unit;
the input end of the direct current-direct current converter is electrically connected with the output end of the rectifying circuit, and the output end of the direct current-direct current converter is electrically connected with the input end of the control unit.
Preferably, the control power supply circuit further includes: a filter;
the input end of the filter is electrically connected with the output end of the rectifying circuit, and the output end of the filter is electrically connected with the input end of the direct current-direct current converter.
Preferably, the control unit includes: the device comprises a processor unit, a logic device, a first diode and a first energy storage element;
the cathode of the first diode is electrically connected with the input end of the processing unit, and the anode of the first diode is electrically connected with the output end of the direct current-direct current converter;
the first energy storage element is connected with the processor unit in parallel;
the input end of the logic device is electrically connected with the output end of the DC-DC converter.
Preferably, the first energy storage element comprises a first capacitor or a battery.
Preferably, the control unit further comprises: a switch;
one end of the switch is electrically connected with the output end of the direct current-direct current converter, and the other end of the switch is electrically connected with the input end of the logic device.
Preferably, the power supply circuit further comprises a second energy storage element and a driving unit;
the second energy storage element is connected in parallel with the drive unit.
Preferably, the second energy storage element comprises a second capacitor.
Preferably, the rectifying circuit comprises a voltage converter and a rectifying tube;
the output end of the voltage converter is electrically connected with the input end of the rectifying tube;
the output of the rectifying tube is electrically connected with the input end of the power supply circuit and the input end of the control power supply circuit.
The present disclosure also provides a robot comprising a topology of a robot power supply as described above.
The positive progress effect of the present disclosure is:
according to the power supply control circuit, the rectification circuit, the power supply circuit and the control power supply circuit are arranged in the topological structure of the robot power supply, and the output of the rectification circuit is used as the common end of the input end of the power supply circuit and the input end of the control power supply circuit, so that electric energy generated in the motion deceleration stage of the robot can be transmitted to the control power supply circuit instead of being burnt by the bleeder circuit, the energy efficiency of the robot power supply is improved, and the heat dissipation design of the robot power supply is facilitated; and when the power is off, the power supply can be used as the electric energy for controlling the data backup of the system, so that the design of the system power supply is simplified, and the cost control is facilitated.
Drawings
FIG. 1 is a diagram of a power topology of a robot in accordance with the teachings of the present disclosure;
FIG. 2 is a circuit diagram of a common power bleed for the present disclosure;
fig. 3 is a topology diagram of a robot power supply in embodiment 1 of the present disclosure.
Detailed Description
The present disclosure is further illustrated by way of examples below, but is not thereby limited to the scope of the examples described.
Example 1
As shown in fig. 3, this embodiment discloses a topology structure of a robot power supply, where the topology structure includes: the power supply circuit comprises a rectifying circuit, a power supply circuit and a control power supply circuit;
the input end of the power supply circuit and the input end of the control power supply are electrically connected with the output end of the rectifying circuit;
the power supply circuit is used for supplying power to a power system of the robot;
the control power supply circuit is used for supplying power to a control system of the robot.
In this scheme, the input of rectifier circuit can be the input of electric wire netting.
According to the scheme, the rectifying circuit, the power supply circuit and the control power supply circuit are arranged in the topological structure of the robot power supply, the output of the rectifying circuit is used as the common end of the input end of the power supply circuit and the input end of the control power supply circuit, so that electric energy generated by the power supply circuit in the movement process of the robot can be transmitted to the control power supply circuit, for example, in the movement process of the robot, the control power supply circuit acquires the electric energy from the power supply circuit, equipment in the control power supply circuit is used as a load of the power supply circuit, part of electric energy fed back by the robot can be consumed when the robot decelerates, and for the application with smaller energy feeding power, the energy feeding can be released even without a brake resistor. In addition, when the power is off, the control system needs to store backup data, at the moment, power is needed to be provided for the processor unit, after the power failure of the power supply of the robot is detected, the robot is inevitably decelerated and stopped, at the moment, the motor in the robot is in a generator mode, and electric energy is transmitted from the power supply circuit to the control power supply circuit, so that power supply to the control system of the robot is realized. According to the scheme, the electric energy generated by the power supply circuit in the movement process of the robot can be transmitted to the control power supply circuit, so that the energy efficiency of the power supply of the robot during operation is improved, and the heat dissipation design of the robot is facilitated; meanwhile, electric energy is provided for system data backup in the power failure process, and system power supply design and cost control are simplified.
In one embodiment, the control power supply circuit includes: a DC-DC converter and a control unit;
the input end of the direct current-direct current converter is electrically connected with the output end of the rectifying circuit, and the output end of the direct current-direct current converter is electrically connected with the input end of the control unit.
In the scheme, the input power supply of the DC-DC converter is converted into the target voltage so as to meet the power supply requirement of the control system of the robot.
In one embodiment, the control power supply circuit further includes: a filter;
the input end of the filter is electrically connected with the output end of the rectifying circuit, and the output end of the filter is electrically connected with the input end of the direct current-direct current converter.
In the scheme, the filter is additionally arranged, so that the interference of noise generated in the power supply circuit to the control power supply circuit is avoided.
In one embodiment, as shown in fig. 3, the control unit includes: a processor unit, logic device 1 to logic device n, a first diode D1 and a first energy storage element; specifically, the first energy storage element may be a first capacitor C1, or may be a battery or other element; the cathode of the first diode D1 is electrically connected with the input end of the processing unit, and the anode of the first diode D1 is electrically connected with the output end of the direct current-direct current converter;
the first energy storage element is connected with the processor unit in parallel;
the input end of the logic device is electrically connected with the output end of the DC-DC converter. As shown in fig. 2, the input terminals of the logic devices 1 to n are electrically connected to the output terminal of the dc-dc converter.
In this scheme, through setting up first energy storage component C1 in the control unit, connect in parallel the energy storage component on the processor unit to make after the robot power outage, can last for the power supply of processor unit, thereby make the processor unit can write into nonvolatile memory with data, for example flash (a nonvolatile memory), and then make the data obtain the backup.
In one embodiment, the control unit further comprises: a switch;
one end of the switch is electrically connected with the output end of the direct current-direct current converter, and the other end of the switch is electrically connected with the input end of the logic device.
Specifically, corresponding switches may be configured in the logic devices, for example, in fig. 2, the logic device 1 configures the switch K1, the logic device 2 configures the switch K2, and the logic device n configures the switch Kn, so that when a power failure is detected, the logic devices that do not need to backup data are disconnected, so that the devices are prevented from consuming energy from the energy storage element C2, and the energy utilization efficiency of the energy storage system is improved when the power failure is detected.
In an embodiment, as shown in fig. 2, the power supply circuit further includes a second energy storage element and a driving unit; specifically, the second energy storage element may be a second capacitor C2;
the second energy storage element is connected in parallel with the drive unit.
In an embodiment, the rectifying circuit includes a voltage converter a and a rectifying tube;
the output end of the voltage converter is electrically connected with the input end of the rectifying tube;
the output of the rectifying tube is electrically connected with the input end of the power supply circuit and the input end of the control power supply circuit.
Specifically, as shown in fig. 3, the rectifying tube may include a full-wave bridge rectifying circuit, which is a bridge circuit composed of 4 diodes D2, D3, D4, and D5, respectively.
In this scheme, the rectifying tube can also include half-wave rectifier circuit, full-wave rectifier circuit, voltage doubling rectifier circuit etc. specifically adopts which kind of rectifier circuit not to do the restriction, can select according to actual demand.
In the scheme, the alternative voltage converter A is adopted to adjust the power grid voltage to the target power voltage, and the alternating current is converted into direct current through the rectifier. The alternating current input into the power grid is converted into direct current, so that the power supply requirements of a power system of the robot and a control system of the robot are met.
Example 2
The embodiment discloses a robot, which comprises a topological structure of a robot power supply.
In this embodiment, the topology of the robot power supply may be the topology of the robot power supply in embodiment 1.
The robot disclosed by the embodiment comprises the topological structure of the robot power supply, and the robot is provided with the topological structure of the robot power supply, so that the energy efficiency of the robot power supply is improved, the heating of the robot power supply is reduced, and the heat dissipation design and the cost control of the robot power supply are facilitated.
While specific embodiments of the present disclosure have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the disclosure is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the disclosure, but such changes and modifications fall within the scope of the disclosure.
Claims (10)
1. A topology for a robot power supply, the topology comprising: the power supply circuit comprises a rectifying circuit, a power supply circuit and a control power supply circuit;
the input end of the power supply circuit and the input end of the control power supply are electrically connected with the output end of the rectifying circuit;
the power supply circuit is used for supplying power to a power system of the robot;
the control power supply circuit is used for supplying power to a control system of the robot.
2. The topology of a robotic power supply of claim 1, wherein said control power supply circuit comprises: a DC-DC converter and a control unit;
the input end of the direct current-direct current converter is electrically connected with the output end of the rectifying circuit, and the output end of the direct current-direct current converter is electrically connected with the input end of the control unit.
3. The topology of a robotic power supply of claim 2, wherein said control power supply circuit further comprises: a filter;
the input end of the filter is electrically connected with the output end of the rectifying circuit, and the output end of the filter is electrically connected with the input end of the direct current-direct current converter.
4. The topology of a robot power supply of claim 2, wherein said control unit comprises: the device comprises a processor unit, a logic device, a first diode and a first energy storage element;
the cathode of the first diode is electrically connected with the input end of the processing unit, and the anode of the first diode is electrically connected with the output end of the direct current-direct current converter;
the first energy storage element is connected with the processor unit in parallel;
the input end of the logic device is electrically connected with the output end of the DC-DC converter.
5. The topology of claim 4, wherein said first energy storage element comprises a first capacitor or battery.
6. The topology of a robotic power supply of claim 4, wherein said control unit further comprises: a switch;
one end of the switch is electrically connected with the output end of the direct current-direct current converter, and the other end of the switch is electrically connected with the input end of the logic device.
7. The topology of a robotic power supply of claim 1, wherein said power supply circuit further comprises a second energy storage element and a drive unit;
the second energy storage element is connected in parallel with the drive unit.
8. The topology of claim 7, wherein said second energy storage element comprises a second capacitor.
9. The topology of a robotic power supply of claim 1, wherein said rectifying circuit comprises a voltage converter and a rectifying tube;
the output end of the voltage converter is electrically connected with the input end of the rectifying tube;
the output of the rectifying tube is electrically connected with the input end of the power supply circuit and the input end of the control power supply circuit.
10. A robot comprising a topology of a robot power supply according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310715512.5A CN116526866A (en) | 2023-06-15 | 2023-06-15 | Topological structure of robot power supply and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310715512.5A CN116526866A (en) | 2023-06-15 | 2023-06-15 | Topological structure of robot power supply and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116526866A true CN116526866A (en) | 2023-08-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310715512.5A Pending CN116526866A (en) | 2023-06-15 | 2023-06-15 | Topological structure of robot power supply and robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102810986A (en) * | 2012-07-13 | 2012-12-05 | 韩腊生 | Series topological light-emitting diode (LED) switching power circuit |
| CN103199711A (en) * | 2012-01-10 | 2013-07-10 | 江苏北洋电子科技有限公司 | Novel high-power direct current communication power supply |
| WO2022161184A1 (en) * | 2021-01-29 | 2022-08-04 | 西安领充创享新能源科技有限公司 | Power source module and power source system |
| CN217545902U (en) * | 2022-06-22 | 2022-10-04 | 上海巨人能源科技有限公司 | High-power phase-shifting chopper power supply for hydrogen production by water electrolysis |
| CN218005908U (en) * | 2022-06-24 | 2022-12-09 | 云鲸智能科技（东莞）有限公司 | Charging topological circuit, cleaning robot base station, cleaning system and cleaning robot |
| CN115579969A (en) * | 2022-08-16 | 2023-01-06 | 国网江苏省电力有限公司经济技术研究院 | Energy router topological structure based on flexible interconnection and control method thereof |
-
2023
- 2023-06-15 CN CN202310715512.5A patent/CN116526866A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103199711A (en) * | 2012-01-10 | 2013-07-10 | 江苏北洋电子科技有限公司 | Novel high-power direct current communication power supply |
| CN102810986A (en) * | 2012-07-13 | 2012-12-05 | 韩腊生 | Series topological light-emitting diode (LED) switching power circuit |
| WO2022161184A1 (en) * | 2021-01-29 | 2022-08-04 | 西安领充创享新能源科技有限公司 | Power source module and power source system |
| CN217545902U (en) * | 2022-06-22 | 2022-10-04 | 上海巨人能源科技有限公司 | High-power phase-shifting chopper power supply for hydrogen production by water electrolysis |
| CN218005908U (en) * | 2022-06-24 | 2022-12-09 | 云鲸智能科技（东莞）有限公司 | Charging topological circuit, cleaning robot base station, cleaning system and cleaning robot |
| CN115579969A (en) * | 2022-08-16 | 2023-01-06 | 国网江苏省电力有限公司经济技术研究院 | Energy router topological structure based on flexible interconnection and control method thereof |
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