CN218633357U - Power distribution system of robot - Google Patents
Power distribution system of robot Download PDFInfo
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- CN218633357U CN218633357U CN202121765970.2U CN202121765970U CN218633357U CN 218633357 U CN218633357 U CN 218633357U CN 202121765970 U CN202121765970 U CN 202121765970U CN 218633357 U CN218633357 U CN 218633357U
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Abstract
The utility model is suitable for a robot field provides a power distribution system of robot, include: the power distribution unit is internally provided with an MCU and more than two controllable power supply circuits, wherein one end of each power supply circuit is connected with the battery unit, and the other end of each power supply circuit is externally connected with an execution unit; the MCU is connected with the control end of each power supply circuit and used for controlling the corresponding power supply circuit to be connected under the instruction of the mainboard, so that the battery unit supplies power to the corresponding execution unit through the connected power supply circuit. The utility model discloses only need set up sufficient supply circuit on the circuit system of this robot and can provide sufficient controllable power output and give the execution unit, can not improve the expansibility of hardware platform to a certain extent because execution unit increase in quantity again because the redesign circuit of execution unit, make things convenient for all kinds of execution unit equipment to insert fast, support the quick development of more robot products.
Description
Technical Field
The utility model belongs to the robot field especially relates to a power distribution system of robot.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings, so that the market of various service robots, cleaning robots, mechanical arms and the like is increasingly exploded.
The ever-changing market demands force people to develop and design various robots to meet the demands, for example, different kinds of robots have different requirements on endurance mileage, the types of sensors configured for the robots are more and more, the voltage levels and power levels of batteries to be compatible are also different, and particularly, the interaction units of the service robots are also more and more personalized.
When a robot product is developed, the fact that the voltage levels are different along with more and more devices such as sensors and execution units is found, a platform of an original product cannot be compatible with a newly developed product, repeated development is caused, and manpower and material resources are wasted. For example, from two-wheeled robots to four-wheeled robots, power control and distribution problems are encountered, and no accessible interface is found when interactive elements such as light strips, displays, etc. are added.
Therefore, when the robot is designed, if the expansibility of a hardware platform can be improved, various devices can be conveniently and quickly accessed, and more robot products can be quickly developed.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is for how to promote robot circuit system's expansibility.
To solve the above technical problem, the present invention provides a power distribution system for a robot, including:
a main board;
a battery cell;
the power distribution unit is internally provided with an MCU and more than two controllable power supply circuits, wherein one end of each power supply circuit is connected with the battery unit, and the other end of each power supply circuit is externally connected with an execution unit; the MCU is connected with the control end of each power supply circuit and used for controlling the corresponding power supply circuit to be connected under the instruction of the mainboard, so that the battery unit supplies power to the corresponding execution unit through the connected power supply circuit.
Optionally, the power distribution unit includes a discharge control module, the battery unit is connected to each power supply circuit through the discharge control module, and the battery unit and the discharge control module are electrically connected in a pluggable manner.
Optionally, the motherboard and/or the power distribution unit has a communication bus interface, and the motherboard and/or the power distribution unit communicate with an external execution unit through the communication bus interface, so as to control the execution unit.
Optionally, the communication bus interface includes at least one of a CAN communication bus interface, an EtherCAT communication bus interface, and a 485 communication bus interface.
Optionally, each power supply circuit is provided with a current sampling module connected to the MCU, and the MCU controls the corresponding power supply circuit to be turned off when detecting that a sampling value of the current sampling module on the power supply circuit that is turned on meets a preset fault condition.
Optionally, the power distribution unit further includes: the charging interface is used for being externally connected with an electricity storage device; and the charging circuit is connected between the charging interface and the battery unit and is used for charging the battery unit by utilizing an external power storage device.
Optionally, the charging circuit comprises: the first charging circuit is used for charging the battery unit by utilizing an external charger; and/or the second charging circuit is used for charging the battery unit by utilizing an external charging pile.
Optionally, the motherboard has a power input interface; the power distribution unit further includes: a controllable switch; the input end of the DC-DC power supply module is connected with the battery unit or the charging circuit, and the output end of the DC-DC power supply module is connected with the power supply input interface through the controllable switch; the MCU is connected with the control end of the controllable switch, and the controllable switch is controlled to be switched on after self-checking is completed, so that the DC-DC power module supplies power to the mainboard.
Optionally, when the charging interface charges the battery unit, the DC-DC power module is powered by the charging interface.
Optionally, the power distribution unit further includes: a manual switch; and the internal power supply is connected with the battery unit through the manual switch, and is powered on and started from the battery unit when the manual switch is closed to supply power for the MCU.
Optionally, the motherboard comprises at least one sensor interface.
The utility model provides a contain the supply circuit who is used for external execution unit more than two among the power distribution system, and each supply circuit can the independent control break-make, when having a supply circuit to connect the execution unit outward, control this supply circuit switch-on can, therefore, only need set up sufficient supply circuit on the power distribution system of this robot and can provide sufficient controllable power output and give the execution unit, can not be because of execution unit increase in quantity redesign circuit again, the expansibility of hardware platform has been promoted to a certain extent, make things convenient for all kinds of execution unit equipment to insert fast, support the quick development of more robot products.
Drawings
Fig. 1 is a schematic diagram of a power distribution system of a robot according to a first embodiment of the present invention;
fig. 2 is a schematic diagram of an improved system of a power distribution system of a robot according to a first embodiment of the present invention;
fig. 3 is a schematic diagram of a power distribution system of a robot according to a second embodiment of the present invention.
Detailed Description
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 merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the utility model discloses the power distribution system of robot that the first embodiment provided includes mainboard 11, battery cell 12 and power distribution unit 13, and wherein, power distribution unit 13 can external execution unit 2, and execution unit 2 can be circuits such as audio and video output, WIFI, motor drive board.
The power distribution unit 13 is internally provided with an MCU131 and two or more controllable power supply circuits 132, one end of each controllable power supply circuit 132 is connected with the battery unit 12, the other end of each controllable power supply circuit 132 is used for connecting with the external execution unit 2, the MCU131 is connected with the control end of each controllable power supply circuit 132 and is used for controlling the corresponding power supply circuit 132 to be switched on under the instruction of the mainboard 11, so that the battery unit 12 supplies power to the corresponding execution unit 2 through the switched controllable power supply circuit 132.
The motherboard 11 may employ an ARM or X86 or other architecture computing platform, and is configured to control the power distribution unit 13, so that the power distribution unit 13 distributes the electric energy to the designated execution unit 2, and may also be configured to correspondingly control the execution unit 2, for example, to control the execution unit 2 to start to operate, stop to operate, or coordinate to control operations of several execution units 2, and may also perform data communication with the execution unit 2 to monitor an operating state of each execution unit 2.
The battery unit 12 and the power distribution unit 13 may be electrically connected in a pluggable manner, which may further improve the compatibility of the circuit system, so that the robot may be compatible with battery units of various voltages. For example, when the work scene needs to be externally connected with the high-voltage enabled execution unit 2, a high-voltage battery unit may be selected to supply power to each power supply circuit 132, and when the work scene needs to be externally connected with the low-voltage enabled execution unit 2, a low-voltage battery unit may be selected, and for example, when the work scene needs to be operated for a long time by the execution unit 2, a battery unit with high cruising ability may be selected.
As a modified implementation manner, as shown in fig. 2, the power distribution unit 13 further includes a discharge control module 133, the battery unit 12 is connected to each controllable power supply circuit 132 through the discharge control module 133, and the battery unit 12 is electrically connected to the discharge control module 133 in a pluggable manner. The discharge control module 133 has a discharge buffer function, and prevents the execution unit 2 from being damaged by sudden discharge current change.
In the power distribution unit 13, the specific circuit structure of each controllable power supply circuit 132 is not limited, and may be implemented by only a relay and a semiconductor switching element having a controllable end connected to the MCU131, or may further include some power amplification modules, filtering modules, and the like on the basis of the switching element, so as to meet the power supply requirement of the external execution unit 2. Moreover, for the convenience of subsequent use, the identifier can be used at the wiring port of each controllable power supply circuit 132 for connecting the external execution unit 2, the power supply specification which can be provided by the controllable power supply circuit 132 is identified, when the external execution unit 2 is required, the identifier can be checked to find the power supply circuit 132 with the proper power supply specification, and then the execution unit 2 is accessed.
In the first embodiment, the power distribution system of the robot comprises more than two power supply circuits for externally connecting the execution units 2, and each power supply circuit can be independently controlled to be switched on and off, and when one power supply circuit is externally connected with the execution unit 2, the power supply circuit is controlled to be switched on, so that enough controllable power supplies can be provided to output to the execution units 2 only by arranging enough power supply circuits on the circuit system of the robot, and the circuit is not redesigned due to the increase of the number of the execution units 2, the expansibility of a hardware platform is improved to a certain extent, the quick access of various types of execution unit 2 equipment is facilitated, and the quick development of more robot products is supported. Moreover, the battery unit 12 can be electrically connected in a pluggable manner, so that the battery unit 12 can be replaced conveniently, and the compatibility is further improved.
On the basis of the first embodiment, fig. 3 further illustrates a power distribution system of a robot provided by a second embodiment of the present invention. Referring to fig. 3, the motherboard 11 and/or the power distribution unit 13 has a communication bus interface, which may be at least one of a CAN communication bus interface, an EtherCAT communication bus interface, and a 485 communication bus interface, through which the motherboard 11 and/or the power distribution unit 13 communicate with the external execution unit 2 to control the execution unit 2, for example, to control the execution unit 2 to start to operate, stop to operate, or coordinate to control operations of several execution units 2, and also to perform data communication with the execution unit 2 to monitor an operating state of each execution unit 2, and the execution unit 2 reports its operating state to the motherboard 11 and/or the power distribution unit 13 through the communication bus.
In an embodiment, in the power distribution unit 13, each power supply circuit 132 is provided with a current sampling module 134 connected to the MCU131, and a switch K connected to the MCU131, where the MCU131 controls the whole power supply circuit 132 to operate by controlling the on and off of the switch K, and in addition, two ends of the switch K may be connected in parallel to a protection resistor R. Specifically, when detecting that the sampling value of the current sampling module 134 on the power supply circuit 132 that is turned on meets the preset fault condition, the MCU131 controls the switch K in the corresponding power supply circuit 132 to turn off, and the current sampling module 134 is used to monitor whether the power supply circuit 132 has a fault or a short circuit, so as to protect the safety of the execution unit 2. The occurrence of a fault or a short circuit may be directly reflected on the current magnitude, and specifically, a certain reference range and a maximum current limit value may be set in the MCU131, and when the current value acquired by the current sampling module 134 is not in the reference range, it is considered that a fault occurs, and when the current value exceeds the maximum current limit value, it is considered that the power supply circuit is short-circuited.
In another embodiment, in order to discharge the battery unit 12 at a proper rate without damage, and therefore, control the total discharge current, a total current sampling module 135 may be further disposed on a line between the battery unit 12 and the discharge control module 133, the total current sampling module 135 sends the sampled total discharge current of the battery unit 12 to the MCU131 in real time, the MCU131 sends the total discharge current to the discharge control module 133, and the discharge control module 133 adjusts the total discharge current to maintain the proper discharge rate. As another alternative, the total current sampling module 135 may also directly send the total discharge current collected in real time to the discharge control module 133.
The power distribution unit 13 further includes a charging interface for connecting an external power storage device, and a charging circuit connected to the charging circuit between the charging interface and the battery unit 12, for charging the battery unit 12 by using the external power storage device. Specifically, for improving charging compatibility, as shown in fig. 2, the charging interface may include a charger interface and a charging pile interface, the charger is further connected to another power supply, the charging pile may be a charging device that is fixedly installed on the ground or wall of a public place such as a public building, a mall, a public parking lot, or a charging station, and may charge robots of various types according to different voltage levels, the input end of the charging pile is directly connected to an ac power grid, and the output end of the charging pile is provided with a charging plug and may be connected to the charging pile interface of the robot.
Correspondingly, the charging circuit includes a first charging circuit 136 and a second charging circuit 137, wherein the first charging circuit 136 is configured to charge the battery unit 12 by using an external charger, and the second charging circuit 137 is configured to charge the battery unit 12 by using an external charging pile.
In the power distribution unit 13, a DC-DC power module 138 and a controllable switch 139 are further included, wherein an input terminal of the DC-DC power module 138 is connected to the battery unit 12, and an output terminal thereof is connected to the power input interface 112 of the main board 11 through the controllable switch 139. The control terminal of the controllable switch 139 is connected to the MCU131, and the MCU131 controls the controllable switch 139 to turn on after the self-test is completed, so that the DC-DC power module 138 supplies power to the motherboard 11. The controllable switch 139 may be a relay or a semiconductor switching device.
When the charging interface charges the battery unit 12, the battery unit 12 does not discharge the outside. At this time, the charging interface supplies electric power to the respective modules in the power distribution unit 13. In one embodiment, a charging circuit is connected between the charging interface and the battery unit, and the charger or the charging pile supplies power to the DC-DC power module 138, the MCU131, and the like through the charging interface and the charging circuit.
In the power distribution unit 13, a manual switch and an internal power supply 130 are further included, the internal power supply 130 is connected to the battery unit 12 through the manual switch, and the internal power supply 130 is powered on from the battery unit 12 when the manual switch is closed to supply power to the MCU 131. Two diodes are connected between the internal power source 130 and the battery unit 12, wherein the anodes of the two diodes are connected to the battery unit 12, and the cathodes of the two diodes are connected to the internal power source 130, so as to prevent the internal power source 130 from reversely charging the battery unit 12 through the action of unidirectional conduction.
The motherboard 11 further includes a plurality of sensor interfaces, such as the USB interface and the UART interface shown in fig. 3, which can provide a high-speed communication interface for the high-speed sensor, thereby facilitating the access of various sensors.
The operating logic of the power distribution system of the robot shown in fig. 3 is as follows: when the manual switch is powered on, the internal power supply 130 in the power distribution unit 13 is started, the MCU131 starts self-checking to determine whether the charger/charging pile supplies power to the battery unit 12 or the battery unit 12 supplies power to the internal power supply 130, and after the internal self-checking is completed, the controllable switch 139 is controlled to be closed, so that the battery unit 12 supplies power to the motherboard 11 through the DC-DC power supply module 138, and sends data to the communication interface 111 of the motherboard 11 through the communication interface and receives an instruction of the motherboard 11. The power distribution unit 13 receives the related instruction of the motherboard 11, and turns on the power output of the corresponding execution unit 2, at this time, the motherboard 11 or the power distribution unit 13 can start to communicate with the corresponding execution unit 2. The output of each power supply circuit 132 is provided with a current sample, and fault isolation can be achieved by turning off the power supply output when a fault occurs. When charging is needed, when the charging interface is plugged into a charger or contacts with an electrode of a charging pile, the MCU131 detects that the charger is plugged into the charger or the electrode of the charging pile is connected, determines that the charging parameters, the model and the like are correct, and then starts to charge the battery unit 12, and determines whether the controllable switch 139 needs to be turned on, so that the battery unit 12 supplies power to the power input interface 112 of the motherboard 11, so that the motherboard 11 starts to operate.
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 (11)
1. A power distribution system for a robot, comprising:
a main board;
a battery cell;
the power distribution unit is internally provided with an MCU and more than two controllable power supply circuits, wherein one end of each power supply circuit is connected with the battery unit, and the other end of each power supply circuit is externally connected with an execution unit; the MCU is connected with the control end of each power supply circuit and used for controlling the corresponding power supply circuit to be connected under the instruction of the mainboard, so that the battery unit supplies power to the corresponding execution unit through the connected power supply circuit.
2. The power distribution system of claim 1, wherein the power distribution unit includes a discharge control module, the battery unit is connected to each power supply circuit via the discharge control module, and the battery unit is electrically connected to the discharge control module in a pluggable manner.
3. The power distribution system of claim 1, wherein the motherboard and/or the power distribution unit has a communication bus interface, and the motherboard and/or the power distribution unit communicates with an external execution unit through the communication bus interface for controlling the execution unit.
4. The power distribution system of claim 3, wherein the communication bus interface comprises at least one of a CAN communication bus interface, an EtherCAT communication bus interface, and a 485 communication bus interface.
5. The power distribution system of claim 1, wherein each of the power supply circuits is provided with a current sampling module connected to the MCU, and the MCU controls the corresponding power supply circuit to be turned off when it detects that a sampling value of the current sampling module on the power supply circuit that is turned on meets a preset fault condition.
6. The power distribution system of claim 1, wherein the power distribution unit further comprises:
the charging interface is used for being externally connected with an electricity storage device;
and the charging circuit is connected between the charging interface and the battery unit and is used for charging the battery unit by utilizing an external power storage device.
7. The power distribution system of claim 6, wherein the charging circuit comprises:
the first charging circuit is used for charging the battery unit by utilizing an external charger; and/or
And the second charging circuit is used for charging the battery unit by utilizing an external charging pile.
8. The power distribution system of claim 6 or 7, wherein the motherboard has a power input interface; the power distribution unit further includes:
a controllable switch;
the input end of the DC-DC power supply module is connected with the battery unit or the charging circuit, and the output end of the DC-DC power supply module is connected with the power supply input interface through the controllable switch;
the MCU is connected with the control end of the controllable switch, and the controllable switch is controlled to be switched on after self-checking is completed, so that the DC-DC power module supplies power to the mainboard.
9. The power distribution system of claim 8, wherein the DC-DC power module is powered by the charging interface when the charging interface charges the battery cell.
10. The power distribution system of claim 1, wherein the power distribution unit further comprises:
a manual switch;
and the internal power supply is connected with the battery unit through the manual switch, and is powered on and started from the battery unit when the manual switch is closed to supply power for the MCU.
11. The power distribution system of claim 1, wherein the motherboard includes at least one sensor interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121765970.2U CN218633357U (en) | 2021-07-30 | 2021-07-30 | Power distribution system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121765970.2U CN218633357U (en) | 2021-07-30 | 2021-07-30 | Power distribution system of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218633357U true CN218633357U (en) | 2023-03-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121765970.2U Active CN218633357U (en) | 2021-07-30 | 2021-07-30 | Power distribution system of robot |
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|---|---|
| CN (1) | CN218633357U (en) |
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2021
- 2021-07-30 CN CN202121765970.2U patent/CN218633357U/en active Active
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