CN211018329U - Robot charging system based on collecting ring - Google Patents
Robot charging system based on collecting ring Download PDFInfo
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- CN211018329U CN211018329U CN201922162390.3U CN201922162390U CN211018329U CN 211018329 U CN211018329 U CN 211018329U CN 201922162390 U CN201922162390 U CN 201922162390U CN 211018329 U CN211018329 U CN 211018329U
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- power supply
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Abstract
The utility model relates to the field of robot power supply, in particular to a robot charging system based on collecting rings, which comprises a power supply, a plurality of power supply modules and a plurality of collecting rings, wherein each power supply module comprises an electricity storage device; the power supply is connected with a target electricity storage device, the target electricity storage device is any one of all the electricity storage devices, and the power supply is used for supplying power to the power supply module; all the power supply modules are connected in series, the collecting ring is connected between two adjacent power supply modules in series, a first end of the collecting ring is connected with the power storage device of one of the power supply modules, a second end of the collecting ring is connected with the power storage device of the other power supply module, and the collecting ring is used for electric energy transmission between two adjacent power supply modules.
Description
Technical Field
The utility model relates to a robot power supply field, especially a charging system of robot based on collecting ring.
Background
The traditional power supply between the joints of the robot is directly connected by wires, the wires are hidden on the joint arms of the robot, the wires are easily worn, the wires cannot rotate for 360 degrees, the wires are easily broken after a long time, the inverter circuit can stop running immediately after the power failure, and the power failure suddenly occurs when the robot moves to half, so that unexpected danger is generated.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a: to the problems in the prior art, a robot charging system based on a collecting ring is provided.
In order to realize the purpose, the utility model discloses a technical scheme be:
a robot charging system based on collecting rings comprises a power supply, a plurality of power supply modules and a plurality of collecting rings, wherein each power supply module comprises an electricity storage device;
the power supply is connected with a target electricity storage device, the target electricity storage device is any one of all the electricity storage devices, and the power supply is used for supplying power to the power supply module;
all the power supply modules are connected in series, the collecting ring is connected between two adjacent power supply modules in series, a first end of the collecting ring is connected with the power storage device of one of the power supply modules, a second end of the collecting ring is connected with the power storage device of the other power supply module, and the collecting ring is used for electric energy transmission between two adjacent power supply modules.
Preferably, the power supply sub-module further comprises a joint driving module, the joint driving module comprises a motor driving sub-module, a voltage reduction module, a single chip microcomputer and a sensor unit, the input end of the voltage reduction module is connected with the first output end of the electricity storage device, the motor driving sub-module is connected with the second output end of the electricity storage device, the first output end of the voltage reduction module is connected with the single chip microcomputer, and the second output end of the voltage reduction module is connected with the sensor unit.
Preferably, the motor driving sub-module comprises a three-phase full-bridge driving circuit and a motor, and the three-phase full-bridge driving circuit is connected with the motor and used for driving the motor to rotate.
Preferably, the motor is a brushless motor.
Preferably, the power storage device is a capacitor.
Preferably, the power storage device is a rechargeable battery.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
1. according to the invention, the collecting ring is arranged between two adjacent power supply modules, the collecting ring is directly arranged in the robot joint, and two ends of the collecting ring are connected with the power lines of the two power supply modules of the upper joint and the lower joint, so that the robot joint can rotate for 360 degrees, the abrasion of the lines is prevented when the robot runs, the rotation performance and agility of the robot joint are enhanced, and the robot joint is more beautiful and simpler.
2. According to the invention, the power storage device is arranged, so that electric energy can be continuously supplied when the robot is suddenly powered off, and the damage to the robot caused by sudden power off is avoided.
Drawings
Fig. 1 is a schematic structural view of the present invention for supplying power to two joints;
FIG. 2 is a block diagram of the power supply of the present invention when it is powered off;
fig. 3 is a schematic view of the installation of the collecting ring on the joint according to the present invention;
fig. 4 is a schematic structural view of the present invention for supplying power to a plurality of joints.
Reference numerals: 11-a slip ring; 12-a robot joint; 13-a joint drive module; and 14, driving the submodule of the motor.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Example 1
As shown in fig. 1, the robot charging system based on the slip ring provided in this embodiment includes a power supply, two power supply modules and a slip ring, where the first power supply module and the second power supply module are connected in series, the slip ring is connected in series between the first power supply module and the second power supply module, and the slip ring is used for electric energy transmission between the two power supply modules. Each power supply module comprises an electricity storage device, the power supply adopts a direct-current power supply, the power supply is connected with the power supply module, and the power supply is used for supplying power for the power supply module. Specifically, the power supply is connected to a target power storage device, the target power storage device is any one of all the power storage devices corresponding to all the power supply modules, that is, the power supply may be connected to the power storage device of the first power supply module, and the power supply may also be connected to the power storage device of the second power supply module.
The first power supply module comprises a first power storage device and a first joint driving module, the first power storage device is a rechargeable battery, the first joint driving module comprises a first motor driving submodule, a first voltage reduction module, a first single chip microcomputer and a first sensor unit, the first single chip microcomputer is a stm32 single chip microcomputer, the input end of the first motor driving submodule is connected with the output end of the first power storage device, the input end of the first voltage reduction module is connected with the first power storage device, the power supply voltage of the first single chip microcomputer and the power supply voltage of the first sensor unit are 5v, the first voltage reduction module can be used after being reduced by the first voltage reduction module, the first voltage reduction module adopts a 7805 integrated circuit, the first output end of the first voltage reduction module is connected with the first single chip microcomputer, the second output end of the first voltage reduction module is connected with the first sensor unit, and the first motor driving sub-module comprises a first three-phase full-bridge driving circuit and a first motor which are connected with each other; the first single chip microcomputer is used for providing driving signals for the first three-phase full-bridge driving circuit, and the first three-phase full-bridge driving circuit is used for receiving the driving signals and driving the first motor. The second power supply module comprises a second power storage device and a second joint driving module, the second power storage device is a rechargeable battery, the second joint driving module comprises a second motor driving submodule, a second voltage reduction module, a second single chip microcomputer and a second sensor unit, the second single chip microcomputer is stm32 single chip microcomputer, the input end of the second motor driving submodule is connected with the output end of the second power storage device, the input end of the second voltage reduction module is connected with the second power storage device, the power supply voltage of the second single chip microcomputer and the second sensor unit is 5v, the second voltage reduction module can be used after being reduced by the second voltage reduction module, the second voltage reduction module adopts a 7805 integrated circuit, the first output end of the second voltage reduction module is connected with the second single chip microcomputer, the second output end of the second voltage reduction module is connected with the second sensor unit, and the second motor driving submodule comprises a second three-phase full bridge driving circuit and a second motor which are connected with each other, the second single chip microcomputer is used for providing driving signals for the second three-phase full-bridge driving circuit, and the second three-phase full-bridge driving circuit is used for receiving the driving signals and driving the second motor.
The power supply is connected with the first power storage device, the power supply is used for supplying power to the first power storage device, and the first power storage device supplies power to the first joint driving module. The slip ring 11 and the power supply module are both mounted inside the robot joint 12, as shown in fig. 3. The first end of the collecting ring 11 is connected with a first electricity storage device of the first power supply module, the second end of the collecting ring 11 is connected with a second electricity storage device of the second power supply module, electric energy of the first electricity storage device is transmitted to the second electricity storage device of the second power supply module through the collecting ring, and the rest of the electric energy is used for supplying electricity to the second electricity storage device.
As shown in fig. 2, when the power supply is suddenly cut off, the power storage device may serve as a temporary power supply to supply power to the joint driving module 13, and the joint driving module 13 includes a motor driving sub-module 14 and a voltage reduction module.
Example 2
The present embodiment is different from embodiment 1 in that, in the present embodiment, the electric storage device is a capacitor.
Example 3
As shown in fig. 4, the difference between this embodiment and embodiment 1 is that the robot charging system based on the slip ring provided in this embodiment includes a plurality of power supply modules and a plurality of slip rings, where all the power supply modules are connected in series, the slip ring is connected in series between two adjacent power supply modules, and the slip ring is used for power transmission between two adjacent power supply modules.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A robot charging system based on collecting rings is characterized by comprising a power supply, a plurality of power supply modules and a plurality of collecting rings, wherein each power supply module comprises an electricity storage device;
the power supply is connected with a target electricity storage device, the target electricity storage device is any one of all the electricity storage devices, and the power supply is used for supplying power to the power supply module;
all the power supply modules are connected in series, the collecting ring is connected between two adjacent power supply modules in series, a first end of the collecting ring is connected with the power storage device of one of the power supply modules, a second end of the collecting ring is connected with the power storage device of the other power supply module, and the collecting ring is used for electric energy transmission between two adjacent power supply modules.
2. The collector ring-based robot charging system according to claim 1, wherein the power supply module further comprises a joint driving module, the joint driving module comprises a motor driving sub-module, a voltage reduction module, a single chip microcomputer and a sensor unit, an input end of the voltage reduction module is connected with a first output end of the power storage device, the motor driving sub-module is connected with a second output end of the power storage device, the first output end of the voltage reduction module is connected with the single chip microcomputer, and the second output end of the voltage reduction module is connected with the sensor unit.
3. The collector ring-based robot charging system according to claim 2, wherein the motor driving sub-module comprises a three-phase full-bridge driving circuit and a motor, and the three-phase full-bridge driving circuit is connected with the motor for driving the motor to rotate.
4. A slip ring based robot charging system according to claim 3, wherein the motor is a brushless motor.
5. A slip ring based robot charging system according to any of claims 1-4, wherein the electrical storage device is a capacitor.
6. The slip ring-based robot charging system according to any one of claims 1 to 4, wherein the power storage device is a rechargeable battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922162390.3U CN211018329U (en) | 2019-12-05 | 2019-12-05 | Robot charging system based on collecting ring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922162390.3U CN211018329U (en) | 2019-12-05 | 2019-12-05 | Robot charging system based on collecting ring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211018329U true CN211018329U (en) | 2020-07-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922162390.3U Active CN211018329U (en) | 2019-12-05 | 2019-12-05 | Robot charging system based on collecting ring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211018329U (en) |
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2019
- 2019-12-05 CN CN201922162390.3U patent/CN211018329U/en active Active
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