Distributed type airborne direct current power supply system based on snake-like robot

Abstract

The invention provides a distributed type airborne direct current power supply system based on a snake-like robot. The direct current power supply system comprises power supply nodes, the number of the power supply nodes is equal to the number of snake body joints, every power supply node comprises a high-voltage lithium battery module, a power supply managing module and an easy-plug electrical equipment interface, voltages of different demands are output outwards through management of the power supply modules to two high-voltage lithium battery modules connected in parallel, the system is suitable for respectively supplying power for specific parts, and functions of over charge, over discharge and overcurrent protection and a function of dynamically regulating load currents are achieved. The power supply nodes have the advantages of being small in size, light in weight, easy to mount, high in capacity, high in flexibility and the like, and can reliably and lastingly drive a large-torque steering engine, every power supply node can be conveniently and flexibly arranged on every joint of the snake-like robot, the power supply nodes are mutually connected in parallel through male power interfaces and female power interfaces led out by the nodes, and therefore the goals of evenly distributing current losses and supplying power lastingly are achieved, and the snake-like robot can freely move.

Description

technical field [0001] The invention relates to the field of power supply systems for snake-shaped robots. It is a distributed airborne high-power and reliable DC power supply system. It has the advantages of small size, light weight, easy installation, easy disassembly, high capacity and high flexibility. Driving the high-torque steering gear lays a good foundation for the free movement of the snake robot. Background technique [0002] The robot snake is a new type of bionic robot. Its snake-like "limbless movement" form is a breakthrough in the way of robot movement, and it has many advantages that traditional wheeled and legged robots cannot match. Most of the snake-like robots developed now are mostly composed of modular joints, which can realize complex three-dimensional motions. However, this snake-like robot has a large number of joints, a large degree of freedom, and the total driving power of all joints is astonishing. How to design an efficient snake-like robot po...

AI Technical Summary

Problems solved by technology

The disadvantages of this integrated cable power supply method are very obvious:

[0004] First, the length of the cable in this integrated cable power supply method is very limited. When this cable power supply method is used to supply power to the snake-like robot, the robot's range of motion will be greatly limited, and it is difficult to reach some complex environments that humans cannot reach. Task;

[0005] Second, if it is necessary to increase the operating range of the snake-like robot, the length of the cable must be increased. When the cable increases, it will be accompanied by the copper consumption of electric energy on the cable, and will cause a voltage difference between the two ends of the cable, which will lead to Each joint of the snake-like robot drives low-voltage operation, so that the drive is damaged and brings unimaginable consequences;

When a snake-shaped robot performs complex movements in three-dimensional space, such as climbing, it will have a tendency to roll around the body. When this cable power supply method is used to supply power to the robot, its cables will wrap around the body, which greatly limits the snake. Ability and mobility of shaped robots;

[0007] Fourth, the snake-like robot has the characteristics of multiple joints. The cables of this integrated cable power supply method must run through all joints of the snake-like robot, and the installation must be synchronized with the joint assembly and debugging of the snake-like robot, which makes wiring particularly difficult, and Significantly slowed down the development progress of the robot;

[0008] Fifth, because the cables of this integrated cable power supply method must run through all joints of the snake robot, when a certain section of the cable or a certain joint drive of the snake robot fails, all joints and cables must be separated. This will bring inconvenience to failure testing and maintenance

[0009] If you want to use a DC battery for power supply, but the output voltage of the standard lithium-ion battery is very low, and the capacity is very limited, it is easy to cause voltage fluctuations due to current loss, it is difficult to drive a super-torque servo, and it is impossible to supply power to the snake robot for a long time, so that the snake The robot is completely paralyzed

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