CN206422569U - A kind of mobile robot automatic charging protects system - Google Patents
A kind of mobile robot automatic charging protects system Download PDFInfo
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- CN206422569U CN206422569U CN201720071550.1U CN201720071550U CN206422569U CN 206422569 U CN206422569 U CN 206422569U CN 201720071550 U CN201720071550 U CN 201720071550U CN 206422569 U CN206422569 U CN 206422569U
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- gate type
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- effect tube
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- 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
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
System is protected the utility model discloses a kind of mobile robot automatic charging, include the positive pole and negative pole of robot charging pole piece, also include insulating gate type field effect tube, insulating power supply module, drive circuit, MCU control module and isolation module, the insulating gate type field effect tube is two, charged respectively with the robot positive pole and the positive pole of robot body battery of pole piece of the drain electrode of the insulating gate type field effect tube is connected, the source electrode of the insulating gate type field effect tube is connected after being connected with the power supply negative terminal of drive circuit as floating ground equipotential points, the grid of the insulating gate type field effect tube is connected after being connected with the output end of drive circuit；The input of the insulating power supply module connects the positive and negative terminal of robot body battery, the output end connection drive circuit of the insulating power supply module；The MCU control module connects the input of drive circuit by isolation module.The utility model both ensure that the security of system, and charge efficiency is improved again.
Description
Technical field
The utility model is related to a kind of robot automatic charging protection system, belongs to robotic technology field.
Background technology
Currently, increasing robot product enters civilian consumer field and field of industrial production, robot
In system, power pack is important part.It is largely battery powered using carrying in current mobile robot
Mode, when battery electric quantity it is low to a certain extent when, it is necessary to carry out charging operations, pass through the sensor such as ultrasonic wave, infrared, laser
Detection guiding, robot is automatically moved into the charging pole piece on robot cradle, robot body and the pole piece on cradle
Contact is connected, and is charged.
But, if robot battery live part is not added with occurring any accident in any protection, robot running
Charging pole piece between short circuit, will all cause the damage of robot battery or even whole control system, cause security incident；Together
When in the pole piece contact process that robot body charges on pole piece and cradle, if robot body charging pole piece and body
Battery is joined directly together, then the high-current leading of moment plays spark when can be because of contact, so as to cause security incident.It is therefore desirable to pin
Efficient automatic charging protection system a kind of to the increase of robot battery live part.
Utility model content
Technical problem to be solved in the utility model is that the defect for overcoming prior art is filled automatically there is provided a kind of robot
Electric protection system, both ensure that the security of system, charge efficiency is improved again.
In order to solve the above technical problems, the utility model provides a kind of mobile robot automatic charging protection system, including
The positive pole and negative pole of robot charging pole piece, it is characterized in that, in addition to insulating gate type field effect tube, insulating power supply module, driving
Circuit, MCU control module and isolation module, the insulating gate type field effect tube are two, the insulating gate type field effect tube
Charged respectively with the robot positive pole and the positive pole of robot body battery of pole piece of drain electrode is connected, the insulated-gate type field effect
The source electrode of pipe is connected after being connected with the power supply negative terminal of drive circuit as floating ground equipotential points, the insulating gate type field effect tube
Grid is connected after being connected with the output end of drive circuit；The input connection robot body battery of the insulating power supply module
Positive and negative terminal, the output end connection drive circuit of the insulating power supply module, the negative pole of the robot body battery also with machine
The negative pole of people's charging pole piece is connected；The first divider resistance and the are sealed between the positive pole and negative pole of robot charging pole piece
Two divider resistances；The MCU control module connects the input of drive circuit by isolation module, controls the defeated of drive circuit
Go out.
Further, the MCU control module gathers the first divider resistance and the second divider resistance tie point by AD
Magnitude of voltage.
Further, the isolation module is light-coupled isolation, the isolation of magnetic coupling or Capacitance Coupled isolation.
Further, the insulating gate type field effect tube is N-channel reinforced insulation grid-type FET.
Further, the insulating gate type field effect tube is N-channel depletion type insulating gate type field effect tube.
Further, the insulating gate type field effect tube is P-channel enhancement type insulating gate type field effect tube.
Further, the insulating gate type field effect tube is P-channel depletion type insulating gate type field effect tube.
The beneficial effect that the utility model is reached：By increasing the special insulated gate by MCU controllers control break-make
Type FET (MOSFET), on the one hand, after robot has been contacted with cradle, when starting to charge up, MOSFET is opened, outside
Portion's charger is charged by the positive pole and negative pole formation loop of robot charging pole piece to robot battery, when robot is complete
Into charging, after being separated with cradle, MOSFET is turned off, even if the positive pole and negative pole of robot charging pole piece have short circuit,
Robot interior battery can not form short-circuit loop, so as to ensure that security；On the other hand, robot was contacted with cradle
Cheng Zhong, MOSFET are closed, and robot body pole piece is connected disconnection with body battery, therefore is not had in contact process
Electric current flows through pole piece, therefore avoids the generation of spark；The third aspect, MOSFET internal resistance very littles are milliohm ranks, therefore,
The for example 20A when large current charge, oneself power consumption loss very little, charge efficiency is high.
Brief description of the drawings
Fig. 1 is logical circuitry of the present utility model.
The implication of each Main Reference Numerals is in figure：
A --- robot charging pole piece positive pole；B --- robot charging pole piece negative pole；R1 --- the first divider resistance；
R2 --- the second divider resistance；U1 --- insulating power supply；U2 --- MCU control module；U3 --- isolation module；U4 --- driving
Circuit；Q1, Q2 --- N-channel reinforced insulation grid-type FET；BT1 --- robot body battery；G1 --- floating ground etc.
Potential point.
Embodiment
The utility model is further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating this
The technical scheme of utility model, and protection domain of the present utility model can not be limited with this.
Because inside MOSFET there is an equivalent diode in D and S poles, when the in running order operation of robot,
MOSFET is off under state, and robot interior battery, which can still form short-circuit loop, to be caused to burn；Therefore Q1, Q2 bis- is used
Individual MOSFET, when A, B pole have short circuit, robot interior battery can not form short-circuit loop, so as to ensure that security.
As shown in figure 1, Q1, Q2 used in accompanying drawing citing are N-channel reinforced insulation grid-type FET, Q1, Q2's
Drain electrode（D poles）The positive pole and the positive pole of robot body battery of pole piece of being charged respectively with robot is connected, by Q1, Q2 source electrode
(S poles) be connected after being connected with drive circuit U4 power supply negative terminal as floating ground equipotential points G1, by Q1, Q2 grid be connected it is rear and
The output end connection of drive circuit, insulating power supply module U1 input connection robot body battery BT1 positive and negative terminal, output
End connection drive circuit U4, as drive circuit U4 power supply, the negative pole of the robot body battery also charges with robot
The negative pole of pole piece is connected;MCU control module U2 by isolation module U3, (isolate, Capacitance Coupled is isolated by light-coupled isolation, magnetic coupling
Deng) connection drive circuit U4 input, control operational amplifier U4 output, and then control Q1, Q2 break-make.In order to judge
After robot automatic charging function operation, whether robot charging pole piece is connected with cradle pole piece, is gone here and there between pole piece A, B
Enter divider resistance R1 and divider resistance R2, MCU control module U2 gathers divider resistance R1 and divider resistance R2 tie points by AD
Magnitude of voltage, come judge robot whether in charging SBR, judge what is put between divider resistance R1 and divider resistance R2
After magnitude of voltage is height, open Q1, Q2 and charged.
After charging complete, robot body departs from the contact with cradle, and charging pole piece A, B and cradle charging pole piece break
Open.After being disconnected due to A, B, Q1, Q2 are in conducting state, and the magnitude of voltage put between R1, R2 is height, MCU control module U2
By that whether can not judge robot after AD collection voltages still in normal charging condition, therefore robot enters charging shape
, it is necessary to judge robot whether still in normal charging condition after state and Q1, Q2 unlatching.Therefore, in charging process, MCU controls
Molding block U2 periodically actively turns off Q1 and Q2, and then MCU control module U2 gathers the magnitude of voltage put between R1, R2 by AD is
No is height, judges whether robot is in normal charging condition, if high then opening Q1 and Q2 continuation is charged, if it is not,
Then show charging complete or something unexpected happened, robot charging pole piece A, B leave cradle charging pole piece, therefore shut-off
Q1, Q2 so that robot battery system is in guard mode.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model technical principle is not departed from, some improvement and deformation can also be made, these change
Enter and deform and also should be regarded as protection domain of the present utility model.
Claims (7)
1. a kind of mobile robot automatic charging protects system, include the positive pole and negative pole of robot charging pole piece, it is characterized in that,
Also include insulating gate type field effect tube, insulating power supply module, drive circuit, MCU control module and isolation module, the insulated gate
Type FET be two, the insulating gate type field effect tube drain electrode respectively with robot charge pole piece positive pole and robot
The positive pole of body battery is connected, and the source electrode of the insulating gate type field effect tube is connected after being connected with the power supply negative terminal of drive circuit
As floating ground equipotential points, the grid of the insulating gate type field effect tube is connected after being connected with the output end of drive circuit；It is described
The input of insulating power supply module connects the positive and negative terminal of robot body battery, and the output end connection of the insulating power supply module is driven
Dynamic circuit；The negative pole of the robot body battery also with robot charge pole piece negative pole be connected；The robot charging
The first divider resistance and the second divider resistance are sealed between the positive pole and negative pole of pole piece；The MCU control module passes through isolation mode
Block connects the input of drive circuit, controls the output of drive circuit.
2. a kind of mobile robot automatic charging protection system according to claim 1, it is characterized in that, the MCU controls
Module gathers the magnitude of voltage of the first divider resistance and the second divider resistance tie point by AD.
3. a kind of mobile robot automatic charging protection system according to claim 1, it is characterized in that, the isolation module
For light-coupled isolation, the isolation of magnetic coupling or Capacitance Coupled isolation.
4. a kind of mobile robot automatic charging protection system according to claim 1, it is characterized in that, the insulated-gate type
FET is N-channel reinforced insulation grid-type FET.
5. a kind of mobile robot automatic charging protection system according to claim 1, it is characterized in that, the insulated-gate type
FET is N-channel depletion type insulating gate type field effect tube.
6. a kind of mobile robot automatic charging protection system according to claim 1, it is characterized in that, the insulated-gate type
FET is P-channel enhancement type insulating gate type field effect tube.
7. a kind of mobile robot automatic charging protection system according to claim 1, it is characterized in that, the insulated-gate type
FET is P-channel depletion type insulating gate type field effect tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720071550.1U CN206422569U (en) | 2017-01-20 | 2017-01-20 | A kind of mobile robot automatic charging protects system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720071550.1U CN206422569U (en) | 2017-01-20 | 2017-01-20 | A kind of mobile robot automatic charging protects system |
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| Publication Number | Publication Date |
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| CN206422569U true CN206422569U (en) | 2017-08-18 |
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| CN201720071550.1U Active CN206422569U (en) | 2017-01-20 | 2017-01-20 | A kind of mobile robot automatic charging protects system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106602667A (en) * | 2017-01-20 | 2017-04-26 | 浙江大学昆山创新中心 | Mobile robot automatic charging protection system and protection method |
-
2017
- 2017-01-20 CN CN201720071550.1U patent/CN206422569U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106602667A (en) * | 2017-01-20 | 2017-04-26 | 浙江大学昆山创新中心 | Mobile robot automatic charging protection system and protection method |
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