Robot Power Management System

Abstract

The present application provides a robot power management system, which includes a control module and a pre-processing protection module, an acquisition module, a communication module and a post-processing protection module connected to the control module; the pre-processing protection module is used to filter and suppress interference as well as limit current and prevent reverse connection of the input power supply; the acquisition module is used to collect voltage, current and temperature, and send the collected results to the control module, and the control module performs overvoltage, undervoltage, overcurrent and overtemperature protection according to the collected results; the control module is connected to the external main controller through the communication module; the post-processing protection module is used to perform overvoltage or overcurrent protection on the output end of the robot power management system. Power supplies of different voltage levels are distributed to each power receiving unit through the robot power management system of the present application. The robot power management system of the present application can control the power-on and power-off logic of each power receiving unit in the robot product, and monitor and distribute the power supply.

Description

Technical Field

[0001] The present application belongs to the field of power management technology, and specifically relates to a robot power management system. Background Art

[0002] With the advancement of science and technology, the field of industrial automation is increasingly affected by market changes and technological upgrades, and robotic products are also developing rapidly towards intelligence, integration, and high safety.

[0003] At present, robot products usually include power equipment, power control units, main control units, auxiliary control units and peripheral units, etc. The power supply of these devices and units often comes from one or more power modules of different voltage levels. When it is necessary to monitor the power consumption of each unit, a power supply detection circuit must be set up inside each power module. If the system requires the mastery of these power consumption data, it is also necessary to equip a communication link for reporting the detection data. Once the system requires the individual control of the power supply of a certain unit, especially when it includes the robot's power-on and power-off logic, it is necessary to design a more complex circuit from the system level. Therefore, how to integrate multiple power supplies together to form a management system that can safely and efficiently manage all power-consuming units in robot products has become an urgent problem to be solved. Summary of the invention

[0004] In order to overcome the problems existing in the related art at least to a certain extent, the present application provides a robot power management system.

[0005] According to a first aspect of an embodiment of the present application, the present application provides a robot power management system, which includes a control module and a pre-processing protection module, a collection module, a communication module and a post-processing protection module connected to the control module;

[0006] The pre-stage processing protection module is used to filter and suppress interference as well as limit current and prevent reverse connection of the input power supply; the acquisition module is used to collect voltage, current and temperature, and send the collection results to the control module, and the control module performs overvoltage, undervoltage, overcurrent and overtemperature protection according to the collection results; the control module is connected to the external main controller through the communication module; the post-stage processing protection module is used to perform overvoltage or overcurrent protection on the output end of the robot power management system.

[0007] In the above-mentioned robot power management system, the control module includes an MCU logic controller, an external control and feedback circuit, an output slow-start circuit and a fan speed control interface; the MCU logic controller is connected to an external main controller, and the main controller controls the on and off of the external control and feedback circuit through an external control unit; the MCU logic controller is connected to the output slow-start circuit, and the MCU logic controller is connected to the fan through the fan speed control interface to control the speed of the fan.

[0008] Furthermore, the output slow start circuit includes a cement resistor and a power switch tube, wherein the cement resistor is connected in parallel with the power switch tube; the MCU logic controller calculates the time t taken for the current passing through the cement resistor to decrease to 0 based on the voltage and current collected by the acquisition module, and the MCU logic controller controls the power switch tube to start after time t.

[0009] In the above-mentioned robot power management system, the pre-stage processing protection module includes a filtering and interference suppression circuit and a current limiting and anti-reverse connection circuit; the filtering and interference suppression circuit includes a transient diode, a safety capacitor and a common-mode inductor; the current limiting and anti-reverse connection circuit includes a fuse, an OR-ing FET controller and a MOSFET; the fuse is connected to the MOSFET, the input end of the OR-ing FET controller is connected to the source of the MOSFET, the output end of the OR-ing FET controller is connected to the drain of the MOSFET, and the gate level of the OR-ing FET controller is connected to the gate of the MOSFET.

[0010] In the above robot power management system, the post-processing protection module includes an output voltage protection circuit, and the output voltage protection circuit includes a MOS tube, an ideal diode LM5050, an electrolytic capacitor and a light-emitting diode;

[0011] The source of the MOS tube inputs a 48V voltage, the source of the MOS tube is connected to the input end of the ideal diode LM5050, the drain is connected to the output end of the ideal diode LM5050, the gate is connected to the gate level of the ideal diode LM5050, and a first resistor is connected between the source and the gate of the MOS tube; the OFF end and the GND end of the ideal diode LM5050 are both grounded, the VS end is connected to the source of the MOS tube through the second resistor, and the VS end is grounded through a capacitor; the drain of the MOS tube is connected to the positive electrode of the electrolytic capacitor, and the negative electrode of the electrolytic capacitor is grounded; one end of the third resistor and one end of the fourth resistor are both connected to the drain of the MOS tube, the other end of the third resistor and the other end of the fourth resistor are both connected to the positive electrode of the light-emitting diode, and the negative electrode of the light-emitting diode is grounded; the drain of the MOS tube outputs a 48V voltage.

[0012] According to the first aspect of the embodiment of the present application, the present application also provides another robot power management system, which includes an MCU logic controller, a power electrical circuit, a control electrical circuit and a peripheral electrical circuit; the MCU logic controller controls the on and off of the power electrical circuit, the control electrical circuit and the peripheral electrical circuit; the MCU logic controller is connected to an external main controller, and the external main controller controls the on and off of the power electrical circuit through an external control unit; the power power supply is connected to the power equipment through the power electrical circuit to supply power to the power equipment; the control power supply is connected to the external main controller, the external control unit and the teach pendant through the control electrical circuit to supply power to the external main controller, the external control unit and the teach pendant; the peripheral power supply is connected to the peripheral unit through the peripheral electrical circuit to supply power to the peripheral unit.

[0013] In the above robot power management system, the power circuit includes a filtering and interference suppression circuit, a current limiting and anti-reverse connection circuit, a current sampling circuit, an external control and feedback circuit, a voltage sampling circuit, an output slow start circuit and an output voltage protection circuit;

[0014] The power supply is connected in parallel with the filtering and interference suppression circuit, and the filtering and interference suppression circuit is connected in sequence with the current limiting and anti-reverse connection circuit, the current sampling circuit, the external control and feedback circuit, the output slow start circuit and the output voltage protection circuit. One end of the voltage sampling circuit is connected to the input end of the output slow start circuit, and the other end thereof is connected to the ground end of the filtering and interference suppression circuit; one end of the external power equipment is connected to the output end of the output voltage protection circuit, and the other end thereof is connected to the ground end of the filtering and interference suppression circuit.

[0015] In the above robot power management system, the control circuit includes a filtering and interference suppression circuit, a current limiting and anti-reverse connection circuit, a voltage sampling circuit, a lithium battery, a current sampling circuit, a first switch, a second switch and a third switch;

[0016] The control power supply is connected in parallel with the filtering and interference suppression circuit, the filtering and interference suppression circuit is connected with the current limiting and anti-reverse connection circuit, and the current limiting and anti-reverse connection circuit is connected with the lithium battery;

[0017] The first output end of the lithium battery is connected to the input end of the first switch through the current sampling circuit, the output end of the first switch is connected to the main controller, and the control end of the first switch is connected to the MCU logic controller; the second output end of the lithium battery is connected to the input end of the second switch through the current sampling circuit, the output end of the second switch is connected to the external control unit, and the control end of the second switch is connected to the MCU logic controller; the third output end of the lithium battery is connected to the input end of the third switch through the current sampling circuit, the output end of the third switch is connected to the teaching pendant, and the control end of the third switch is connected to the MCU logic controller; the main controller, the peripheral unit and the teaching pendant are also connected to the negative electrode of the lithium battery;

[0018] The lithium battery is connected to the MCU logic controller via a DCDC power supply, and the DCDC power supply converts the output voltage of the lithium battery into the working voltage required by the MCU logic controller.

[0019] In the above robot power management system, the peripheral electrical circuit includes a filtering and interference suppression circuit, a current limiting and anti-reverse connection circuit, a voltage sampling circuit, a current sampling circuit, a fourth switch and a fifth switch;

[0020] The peripheral power supply is connected in parallel with the filtering and interference suppression circuit, the filtering and interference suppression circuit is connected with the current limiting and anti-reverse connection circuit, the current limiting and anti-reverse connection circuit is connected with the input terminal of the fourth switch through the current sampling circuit, the output terminal of the fourth switch is connected with the first peripheral unit, and the control terminal of the fourth switch is connected with the MCU logic controller;

[0021] The current limiting and anti-reverse connection circuit is also connected to the input terminal of the fifth switch through another current sampling circuit, the output terminal of the fifth switch is connected to the second peripheral unit, and the control terminal of the fifth switch is connected to the MCU logic controller; one end of the voltage sampling circuit is connected to the output end of the current limiting and anti-reverse connection circuit, and the other end is connected to the ground terminal of the filtering and interference suppression circuit; the first peripheral unit and the second peripheral unit are both connected to the ground terminal of the filtering and interference suppression circuit.

[0022] In the above robot power management system, the MCU logic controller collects voltage, current and temperature signals through ADC-DMA.

[0023] According to the above-mentioned specific implementation methods of the present application, it can be known that there are at least the following beneficial effects: power supplies of different voltage levels are distributed to each power receiving unit in the robot product through the robot power management system of the present application, and the robot power management system of the present application can control the up and down power logic of each power receiving unit in the robot product, and monitor and distribute the power supply.

[0024] It should be understood that the above general description and the following specific embodiments are only exemplary and illustrative and do not limit the scope of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The attached drawings below are part of the specification of the present application, which illustrate embodiments of the present application. The attached drawings together with the description of the specification are used to explain the principles of the present application.

[0026] Figure 1 A structural block diagram of a robot power management system provided in an embodiment of the present application.

[0027] Figure 2 A schematic diagram of a robot power management system provided in an embodiment of the present application.

[0028] Figure 3 A schematic diagram of an output slow-start circuit in a robot power management system provided in an embodiment of the present application.

[0029] Figure 4 A schematic diagram of a current limiting and anti-reverse connection circuit in a robot power management system provided in an embodiment of the present application.

[0030] Figure 5 A schematic diagram of an output voltage protection circuit in a robot power management system provided in an embodiment of the present application.

[0031] Description of reference numerals:

[0032] 1. Control module; 11. MCU logic controller; 12. External control and feedback circuit; 13. Output slow start circuit; 14. Fan speed control interface; 15. Power button; 16. LED indicator; 17. Lithium battery; 18. DCDC power supply;

[0033] 2. Pre-processing protection module; 21. Filtering and interference suppression circuit; 22. Current limiting and anti-reverse connection circuit;

[0034] 3. Acquisition module; 31. Voltage sampling circuit; 32. Current sampling circuit; 33. Temperature acquisition circuit;

[0035] 4. Communication module;

[0036] 5. Post-processing protection module; 51. Output voltage protection circuit;

[0037] 100. Power supply; 101. Power equipment;

[0038] 200, control power supply; 201, main controller; 202, external control unit; 203, teaching pendant;

[0039] 300, peripheral power supply; 301, peripheral unit; DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clearly understood, the spirit of the contents disclosed in the present application will be clearly explained with the accompanying drawings and detailed descriptions below. After understanding the embodiments of the contents of the present application, any technician in the relevant technical field can change and modify them according to the techniques taught by the contents of the present application without departing from the spirit and scope of the contents of the present application.

[0041] The exemplary embodiments and descriptions of the present application are used to explain the present application, but are not intended to limit the present application. In addition, elements / components with the same or similar reference numerals used in the drawings and embodiments are used to represent the same or similar parts.

[0042] The terms “first”, “second”, etc. used in this document do not particularly refer to an order or sequence, nor are they used to limit this application. They are only used to distinguish elements or operations described with the same technical terms.

[0043] The words “include,” “including,” “have,” “contain,” etc. used in this document are open-ended terms, meaning including but not limited to.

[0044] As used herein, "and / or" includes any or all combinations of the items described.

[0045] As used herein, “plurality” includes “two” and “more than two”; as used herein, “plurality groups” includes “two groups” and “more than two groups”.

[0046] Certain terms used to describe the present application are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art regarding the description of the present application.

[0047] Figure 1 A structural block diagram of a robot power management system provided in an embodiment of the present application.

[0048] like Figure 1As shown, the robot power management system provided by the present application includes a control module 1 and a pre-processing protection module 2, an acquisition module 3, a communication module 4 and a post-processing protection module 5 connected to the control module 1. Among them, the pre-processing protection module 2 is used to filter and suppress interference as well as limit current and prevent reverse connection of the input power supply to improve the electromagnetic compatibility performance of the robot power management system. The acquisition module 3 is used to collect the voltage, current and temperature in the robot power management system, and send the collection results to the control module 1, and the control module 1 performs overvoltage, undervoltage, overcurrent and overtemperature protection according to the collection results. The control module 1 is connected to the external main controller 201 through the communication module 4. The post-processing protection module 5 is used to perform overvoltage or overcurrent protection on the output end of the robot power management system, thereby maximizing the protection of electronic components.

[0049] It should be noted that the input power supply of the robot power management system includes a power supply 100, a control power supply 200 and an external power supply 300. The power supply 100, the control power supply 200 and the external power supply 300 are power supplies of different voltage levels. Corresponding to the three input power supplies, the robot power management system provided in the present application includes a power circuit, a control circuit and an external circuit. The power supply 100 supplies power to the power device 101 through the power circuit. The control power supply 200 supplies power to the external main controller 201, the external control unit 202 and the teaching pendant 203 through the control circuit. The external power supply 300 supplies power to the external unit 301 through the external circuit.

[0050] In the prior art, power supplies of different voltage levels are directly connected to power receiving units such as the power device 101, the external main controller 201, the external control unit 202, the teaching pendant 203, and the peripheral unit 301. In the present application, power supplies of different voltage levels are distributed to each power receiving unit through the robot power management system. The robot power management system of the present application can perform power-on and power-off logic control, power supply monitoring, and power supply distribution on each power receiving unit.

[0051] Figure 2 A schematic diagram of a robot power management system provided in an embodiment of the present application.

[0052] In a specific embodiment, Figure 2 As shown, the control module 1 includes an MCU logic controller 11, an external control and feedback circuit 12, an output slow start circuit 13 and a fan speed control interface 14, etc.

[0053] Among them, the MCU logic controller 11 is responsible for the normal operation of the entire robot power management system, which mainly realizes functions such as sampling data processing and calculation, logic control output, and protocol communication. The MCU logic controller 11 is based on ARMCortex TM-M4 main chip, with a clock frequency of up to 168MHz, equipped with rich peripheral resources, fully meets the robot power management system I 2 C, SPI, USART (Universal Synchronous / Asynchronous Receiver / Transmitter), ADC (Analog-to-Digital Converter), DMA (Direct Memory Access), EXTI (External interrupt / event controller) and other peripheral requirements.

[0054] The MCU logic controller 11 detects the voltage, current and temperature values ​​of the system in real time, can realize overvoltage, undervoltage, overcurrent and overtemperature protection of the robot power management system, and can report the detection data or fault status to the external main controller 201 at any time. The external main controller 201 is provided with a power failure detection circuit and a serial communication interface. The power failure detection circuit supports AC and DC power detection, and uses a bidirectional optocoupler combined with some peripheral devices to isolate the output detection signal. When the power supply is normal, the power failure detection circuit outputs a low-level signal; when the power supply is abnormally disconnected, the power failure detection circuit outputs a high-level signal.

[0055] The external control and feedback circuit 12 is arranged in the power circuit, and includes a high-power NMOS tube. The external control unit 202 controls the opening and closing of the NMOS tube. The main controller 201 communicates with the external control unit 202 through the TCP / IP protocol.

[0056] Figure 3 A schematic diagram of an output slow-start circuit in a robot power management system provided in an embodiment of the present application.

[0057] like Figure 3As shown, the output slow start circuit 13 is arranged in the power electric circuit, which includes a cement resistor R and a high-power fast switch tube K, wherein the cement resistor R is connected in parallel with the high-power fast switch tube K, and the high-power fast switch tube K adopts an NMOS tube. When the output slow start circuit 13 is working, when the voltage sampling circuit 31 detects that the front-stage voltage of the power electric circuit meets the working requirements, and the current value in the power electric circuit is at a lower level, usually about 2A, the MCU logic controller 11 determines that the front-stage power supply 100 has been started and is supplying power to the rear-stage equipment of the power electric circuit through the cement resistor R. The MCU logic controller 11 calculates the time t used for the current passing through the cement resistor R to decrease to 0 based on the voltage and current collected by the acquisition module 3, and the MCU logic controller 11 controls the switch tube K to start after the time t, and the power supply 100 supplies power to the power equipment 101 normally through the power electric circuit.

[0058] The output slow start circuit 13 has very high requirements on the sampling rate of voltage and current, but its protection to the subsequent circuit is very obvious.

[0059] The MCU logic controller 11 is connected to the fan through the fan speed control interface 14. The MCU logic controller 11 controls the fan speed according to the ambient temperature and the onboard temperature collected in real time by the collection module 3, thereby balancing noise and heat dissipation.

[0060] The robot power management system provided in the present application is also provided with a power button 15 and an LED indicator light 16, both of which are connected to the MCU logic controller 11. The LED indicator light 16 is used to indicate the power on / off or working status of the MCU logic controller 11.

[0061] Taking into account that robot products operate in complex environments for a long time, the robot power management system provided in this application provides multiple power on and off modes, supporting power on and off via the power on and off button 15, remote key power on and off, and software power on and off.

[0062] In a specific embodiment, the pre-processing protection module 2 includes a filtering and interference suppression circuit 21 and a current limiting and reverse connection protection circuit 22 .

[0063] The filtering and interference suppression circuit 21 includes devices such as TVS (Transient Voltage Suppressor), safety capacitors and common mode inductors, and has a surge protection capability of up to ±2kV common mode and ±1KV differential mode.

[0064] Figure 4 A schematic diagram of a current limiting and anti-reverse connection circuit in a robot power management system provided in an embodiment of the present application.

[0065] like Figure 4 As shown, the current limiting and anti-reverse connection circuit 22 includes a fuse F, an OR-ing FET controller and a MOSFET (metal-oxide semiconductor field effect transistor) Q. Among them, the fuse is connected to the MOSFET, the input end of the OR-ing FET controller is connected to the source of the MOSFET, the output end of the OR-ing FET controller is connected to the drain of the MOSFET, and the gate of the OR-ing FET controller is connected to the gate of the MOSFET. The current limiting and anti-reverse connection circuit 22 has the functions of forward conduction and reverse blocking. The current limiting and anti-reverse connection circuit 22 is similar to an ideal diode in a power distribution network. Since the on-resistance of the MOSFET is very small, its power loss and voltage drop are extremely low. It should be noted that the OR-ing FET controller can adopt a FET controller of model LM5050, and of course other models can be adopted as needed, which is not limited here.

[0066] In a specific embodiment, the acquisition module 3 includes a voltage sampling circuit 31, a current sampling circuit 32 and a temperature acquisition circuit 33. The voltage sampling circuit 31, the current sampling circuit 32 and the temperature acquisition circuit 33 are all connected to the MCU logic controller 11.

[0067] The MCU logic controller 11 collects voltage, current and temperature signals through ADC (Analog-to-digital converter)-DMA (Direct Memory Access). The voltage sampling circuit 31, the current sampling circuit 32 and the temperature acquisition circuit 33 transmit the collected voltage signal, current signal and temperature signal to the ADC peripheral of the MCU logic controller 11 accordingly. DMA can realize data exchange between memories, between ADC peripherals and memories, and between memories and ADC peripherals without the need for MCU operation. Specifically, the memory allocates a certain storage space to store the collected data. The process of collecting data does not require the participation of the MCU. The collected data is directly placed in the memory, and then the MCU can obtain the data from the memory at any time when it needs the data.

[0068] The current sampling circuit 32 uses a voltage output current shunt monitor INA240, which can achieve ultra-precision current sensing at a specified common-mode voltage (up to 80V) regardless of the power supply voltage.

[0069] In a specific embodiment, the communication module 4 uses an industrial-grade communication chip, which has complete electrical isolation and lightning protection measures, including two standard RS232 and RS485 interfaces, and a maximum transmission rate of 10Mb / S.

[0070] In a specific embodiment, the post-processing protection module 5 includes an output voltage protection circuit 51 .

[0071] In the power circuit, the load of the robot product is usually inductive, which makes it easy to be impacted by the reverse electromotive force at the output end of the power circuit, causing damage to the components in the system. The output voltage protection circuit 51 can protect the load of the robot product from the impact of the reverse electromotive force.

[0072] Specifically, the output voltage protection circuit 51 adopts the ideal diode LM5050. Unlike ordinary diodes that do back electromotive force shock, the current passing through this power circuit is relatively large, and the maximum can reach 60A. Ordinary diodes can hardly withstand such a large current. At the same time, since the tube voltage drop of ordinary diodes when passing such a large current will be relatively large, it will cause undervoltage in the subsequent equipment. The ideal diode LM5050 can withstand such a large current, and the conduction voltage drop is almost zero.

[0073] Figure 5 A schematic diagram of an output voltage protection circuit in a robot power management system provided in an embodiment of the present application.

[0074] like Figure 5 As shown, the output voltage protection circuit 51 includes a MOS tube, an ideal diode LM5050, a first resistor, a second resistor, a third resistor, a fourth resistor, a capacitor, an electrolytic capacitor and a light emitting diode.

[0075] Among them, the source of the MOS tube inputs a 48V voltage, the source of the MOS tube is connected to the input end of the ideal diode LM5050, its drain is connected to the output end of the ideal diode LM5050, its gate is connected to the gate level of the ideal diode LM5050, and a first resistor is connected between the source and the gate of the MOS tube. The OFF end and the GND end of the ideal diode LM5050 are both grounded, its VS end is connected to the source of the MOS tube through the second resistor, and its VS end is grounded through a capacitor. The drain of the MOS tube is connected to the positive electrode of the electrolytic capacitor, and the negative electrode of the electrolytic capacitor is grounded. One end of the third resistor and one end of the fourth resistor are both connected to the drain of the MOS tube, and the other end of the third resistor and the other end of the fourth resistor are both connected to the positive electrode of the light-emitting diode, and the negative electrode of the light-emitting diode is grounded. The drain of the MOS tube outputs a 48V voltage.

[0076] In a specific embodiment, the power circuit includes a filter and interference suppression circuit 21, a current limiting anti-reverse connection circuit, a current sampling circuit 32, an external control and feedback circuit 12, a voltage sampling circuit 31, an output slow start circuit 13 and an output voltage protection circuit 51. Among them, the power supply 100 is connected in parallel with the filter and interference suppression circuit 21, and the filter and interference suppression circuit 21 is connected to the current limiting anti-reverse connection circuit, the current sampling circuit 32, the external control and feedback circuit 12, the output slow start circuit 13 and the output voltage protection circuit 51 in sequence, and one end of the voltage sampling circuit 31 is connected to the input end of the output slow start circuit 13, and the other end thereof is connected to the ground end of the filter and interference suppression circuit 21. One end of the external power device 101 is connected to the output end of the output voltage protection circuit 51, and the other end thereof is connected to the ground end of the filter and interference suppression circuit 21.

[0077] Due to the charging effect of the large-capacity energy storage capacitor in the power circuit, a large impact current will appear during startup. The setting of the output slow start circuit 13 can achieve a smooth transition of the system startup current and protect the subsequent electrical equipment.

[0078] As the safety requirements of robot products become increasingly higher, the robot power management system provided in this application provides a dual redundant power external control strategy for the power circuit, which is very beneficial for the main controller 201 or MCU logic controller 11 to perform online monitoring and control of the power circuit.

[0079] In a specific embodiment, the control circuit includes a filter and interference suppression circuit 21, a current limiting and reverse connection protection circuit 22, a voltage sampling circuit 31, a lithium battery 17, a current sampling circuit 32, a first switch, a second switch and a third switch. The control power supply 200 is connected in parallel with the filter and interference suppression circuit 21, the filter and interference suppression circuit 21 is connected to the current limiting and reverse connection protection circuit, and the current limiting and reverse connection protection circuit is connected to the lithium battery 17.

[0080] The first output terminal of the lithium battery 17 is connected to the input terminal of the first switch through the current sampling circuit 32, the output terminal of the first switch is connected to the main controller 201, and the control terminal of the first switch is connected to the MCU logic controller 11; the second output terminal of the lithium battery 17 is connected to the input terminal of the second switch through the current sampling circuit 32, the output terminal of the second switch is connected to the external control unit 202, and the control terminal of the second switch is connected to the MCU logic controller 11; the third output terminal of the lithium battery 17 is connected to the input terminal of the third switch through the current sampling circuit 32, the output terminal of the third switch is connected to the teaching device 203, and the control terminal of the third switch is connected to the MCU logic controller 11. The main controller 201, the peripheral unit 301 and the teaching device 203 are also connected to the negative electrode of the lithium battery 17.

[0081] The lithium battery 17 is connected to the MCU logic controller 11 via a DCDC power supply 18 , and the DCDC power supply 18 converts the output voltage of the lithium battery 17 into the working voltage required by the MCU logic controller 11 .

[0082] In a specific embodiment, the peripheral electrical circuit includes a filter and interference suppression circuit 21, a current limiting anti-reverse connection circuit, a voltage sampling circuit 31, a current sampling circuit 32, a fourth switch and a fifth switch. Among them, the peripheral power supply 300 is connected in parallel with the filter and interference suppression circuit 21, the filter and interference suppression circuit 21 is connected to the current limiting anti-reverse connection circuit, the current limiting anti-reverse connection circuit is connected to the input end of the fourth switch through the current sampling circuit 32, the output end of the fourth switch is connected to the first peripheral unit 301, and the control end of the fourth switch is connected to the MCU logic controller 11. The current limiting anti-reverse connection circuit is also connected to the input end of the fifth switch through another current sampling circuit 32, the output end of the fifth switch is connected to the second peripheral unit 301, and the control end of the fifth switch is connected to the MCU logic controller 11. One end of the voltage sampling circuit 31 is connected to the output end of the current limiting anti-reverse connection circuit, and the other end is connected to the ground end of the filter and interference suppression circuit 21. The first peripheral unit 301 and the second peripheral unit 301 are also connected to the ground end of the filter and interference suppression circuit 21.

[0083] The robot power management system provided in the present application sets up separate power supply outputs for the power circuit, control circuit and external circuit, which can not only realize precise management of each circuit, but also facilitate the construction of a better power-on and power-off logic control strategy.

[0084] In a specific embodiment, the robot power management system provided in the present application can be packaged in a power supply chassis together with a DC power supply, a fan, etc. This can reduce line losses under high-power load conditions on the one hand, and fully utilize the functions of the power management system on the other hand: real-time collection of ambient temperature and onboard temperature, and control of the fan to achieve speed regulation based on the temperature value, which is beneficial for balancing the effects of noise and chassis heat dissipation.

[0085] The control method of the robot power management system provided in this application is free and flexible. The power supply unit supports multiple voltage modes, and the three power supplies can be used in any combination within the voltage limit. It also supports two communication protocols (Modbus and Profibus) to configure the current and power thresholds of each power unit. It also provides a variety of system power-on and power-off logic control strategies for users to use.

[0086] The robot power management system provided in this application can link all power supply, distribution, monitoring, and safety related to the power supply, and give the authority to the main controller 201 or MCU logic controller 11 of the robot product for unified management.

[0087] The robot power management system provided in this application serves as a bridge between the input power supply and the power receiving unit, and has the following characteristics:

[0088] The power-on and power-off logic of each power receiving unit can be controlled in timing.

[0089] It can operate the power on and off and remote power on and off of the robot main controller 201, and at the same time report the voltage and current data of the power circuit, control point circuit and peripheral circuit to the main controller 201 in real time through RS232. The main controller 201 analyzes the uploaded voltage and current data. When faced with abnormal data, the main controller 201 will issue control instructions to the robot power management system, and the robot power management system will cut off the power supply to the abnormal circuit to protect the back-end equipment of the abnormal circuit.

[0090] For capacitive loads, if the power supply is directly connected, especially the lithium battery 17, there will be a large impact current (determined by the characteristics of the capacitor) at the moment of power-on. The robot power management system provided by the present application is added between the power supply (or battery) and the capacitive load. Since the robot power management system is integrated with an output slow start circuit 13, the impact current that occurs when the capacitive load is powered on can be avoided.

[0091] The robot power management system provided in the present application integrates a temperature acquisition circuit 33, which can detect the temperature in real time. The MCU logic controller 11 performs frequency conversion and speed regulation on the cooling fan according to the detected temperature data. Compared with most of the current fans running at a constant speed, the present application can achieve the functions of energy saving and noise reduction.

[0092] The specific process of the power on and off logic control of the robot power management system in this application is as follows:

[0093] The process of power-on logic control is:

[0094] When the main power is turned on, the robot power management system starts working and performs a power-on test to determine whether the power is turned on by a control cabinet button or a remote button. If so, the power supply is started; otherwise, the power-on test is performed again.

[0095] The power supply is started, which specifically includes supplying power to the main controller 201, the teaching pendant 203, the EtherCAT slave station, and the safety controller.

[0096] The robot power management system establishes a communication connection with the main controller 201 and powers on and off the corresponding devices according to the communication instructions.

[0097] The process of power-off logic control is as follows:

[0098] The robot power management system performs a shutdown test to determine whether the shutdown is performed by pressing a button on the control cabinet. If so, it forces a power-off and shuts down all power outputs. Otherwise, it performs a shutdown test again. It determines whether the shutdown is performed by a remote button. If so, it sends a shutdown request to the main controller 201. Otherwise, it performs a shutdown test again.

[0099] The robot power management system determines whether a confirmation instruction from the main controller 201 is received. If so, the working data of the main controller 201 is saved. Otherwise, a shutdown request instruction is sent to the main controller 201 until a confirmation instruction from the main controller 201 is received.

[0100] Receive the shutdown command of the main controller 201, turn off RemoteON, cut off the power supply of the EtherCAT slave station, cut off the power supply of the safety controller, cut off the power supply of the EtherCAT slave station IO and cut off the power supply of the safety controller IO.

[0101] Wait for the feedback from the main controller 201 to disappear, and cut off the power supply of the main controller 201 and the teaching pendant 203.

[0102] The above-mentioned embodiments of the present application can be implemented in various hardware, software coding or a combination of the two. For example, the embodiments of the present application can also represent the program code for executing the above-mentioned method in a data signal processor. The present application can also relate to the various functions performed by a computer processor, a digital signal processor, a microprocessor or a field programmable gate array. The above-mentioned processor can be configured according to the present application to perform specific tasks, which are completed by executing machine-readable software code or firmware code that defines the specific method disclosed by the present application. The software code or firmware code development can represent different programming languages ​​and different formats or forms. Different target platform compiled software codes can also be represented. However, the different code styles, types and languages ​​of the software code for performing tasks according to the present application and other types of configuration codes do not depart from the spirit and scope of the present application.

[0103] The above description is only an illustrative specific implementation manner of the present application. Without departing from the concept and principle of the present application, any equivalent changes and modifications made by any technician in the field should fall within the scope of protection of the present application.

Claims

1. A robot power management system, characterized in that: It includes a control module and a pre-processing protection module, a collection module, a communication module and a post-processing protection module connected to the control module; The pre-processing protection module is used to filter and suppress interference as well as limit current and prevent reverse connection of the input power supply; the acquisition module is used to collect voltage, current and temperature, and send the acquisition results to the control module, and the control module performs overvoltage, undervoltage, overcurrent and overtemperature protection according to the acquisition results; the control module is connected to the external main controller through the communication module; the post-processing protection module is used to perform overvoltage or overcurrent protection on the output end of the robot power management system; The pre-stage processing protection module includes a filtering and interference suppression circuit and a current limiting and reverse connection protection circuit; the filtering and interference suppression circuit includes a transient diode, a safety capacitor and a common mode inductor; the current limiting and reverse connection protection circuit includes a fuse, an OR-ing FET controller and a MOSFET; the fuse is connected to the MOSFET, the input end of the OR-ing FET controller is connected to the source of the MOSFET, the output end of the OR-ing FET controller is connected to the drain of the MOSFET, and the gate level of the OR-ingFET controller is connected to the gate of the MOSFET.

2. The robot power management system according to claim 1, characterized in that: The control module includes an MCU logic controller, an external control and feedback circuit, an output slow-start circuit and a fan speed control interface; the MCU logic controller is connected to an external main controller, and the main controller controls the on and off of the external control and feedback circuit through an external control unit; the MCU logic controller is connected to the output slow-start circuit, and the MCU logic controller is connected to the fan through the fan speed control interface to control the speed of the fan.

3. The robot power management system according to claim 2, characterized in that: The output slow start circuit includes a cement resistor and a power switch tube, wherein the cement resistor is connected in parallel with the power switch tube; the MCU logic controller calculates the time t taken for the current passing through the cement resistor to decrease to 0 based on the voltage and current collected by the acquisition module, and the MCU logic controller controls the power switch tube to start after time t.

4. The robot power management system according to claim 1, characterized in that: The post-processing protection module includes an output voltage protection circuit, which includes a MOS tube, an ideal diode LM5050, an electrolytic capacitor and a light-emitting diode; The source of the MOS tube inputs a 48V voltage, the source of the MOS tube is connected to the input end of the ideal diode LM5050, the drain is connected to the output end of the ideal diode LM5050, the gate is connected to the gate level of the ideal diode LM5050, and a first resistor is connected between the source and the gate of the MOS tube; the OFF end and the GND end of the ideal diode LM5050 are both grounded, the VS end is connected to the source of the MOS tube through the second resistor, and the VS end is grounded through a capacitor; the drain of the MOS tube is connected to the positive electrode of the electrolytic capacitor, and the negative electrode of the electrolytic capacitor is grounded; one end of the third resistor and one end of the fourth resistor are both connected to the drain of the MOS tube, the other end of the third resistor and the other end of the fourth resistor are both connected to the positive electrode of the light-emitting diode, and the negative electrode of the light-emitting diode is grounded; the drain of the MOS tube outputs a 48V voltage.

5. A robot power management system, characterized in that: It includes an MCU logic controller, a power circuit, a control circuit and an external circuit; the MCU logic controller controls the on and off of the power circuit, the control circuit and the external circuit; the MCU logic controller is connected to an external main controller, and the external main controller controls the on and off of the power circuit through an external control unit; the power supply is connected to the power equipment through the power circuit to supply power to the power equipment; the control power supply is connected to the external main controller, the external control unit and the teaching pendant through the control circuit to supply power to the external main controller, the external control unit and the teaching pendant; The peripheral power supply is connected to the peripheral unit through the peripheral electrical circuit to supply power to the peripheral unit; The power circuit includes a filtering and interference suppression circuit, a current limiting and anti-reverse connection circuit, a current sampling circuit, an external control and feedback circuit, a voltage sampling circuit, an output slow start circuit and an output voltage protection circuit; The power supply is connected in parallel with the filtering and interference suppression circuit, and the filtering and interference suppression circuit is connected in sequence with the current limiting and anti-reverse connection circuit, the current sampling circuit, the external control and feedback circuit, the output slow start circuit and the output voltage protection circuit. One end of the voltage sampling circuit is connected to the input end of the output slow start circuit, and the other end thereof is connected to the ground end of the filtering and interference suppression circuit; one end of the external power equipment is connected to the output end of the output voltage protection circuit, and the other end thereof is connected to the ground end of the filtering and interference suppression circuit.

6. The robot power management system according to claim 5, characterized in that: The control circuit includes a filtering and interference suppression circuit, a current limiting and anti-reverse connection circuit, a voltage sampling circuit, a lithium battery, a current sampling circuit, a first switch, a second switch and a third switch; The control power supply is connected in parallel with the filtering and interference suppression circuit, the filtering and interference suppression circuit is connected with the current limiting and anti-reverse connection circuit, and the current limiting and anti-reverse connection circuit is connected with the lithium battery; The first output end of the lithium battery is connected to the input end of the first switch through the current sampling circuit, the output end of the first switch is connected to the main controller, and the control end of the first switch is connected to the MCU logic controller; the second output end of the lithium battery is connected to the input end of the second switch through the current sampling circuit, the output end of the second switch is connected to the external control unit, and the control end of the second switch is connected to the MCU logic controller; the third output end of the lithium battery is connected to the input end of the third switch through the current sampling circuit, the output end of the third switch is connected to the teaching pendant, and the control end of the third switch is connected to the MCU logic controller; The main controller, the peripheral unit and the teaching pendant are also connected to the negative electrode of the lithium battery; The lithium battery is connected to the MCU logic controller via a DCDC power supply, and the DCDC power supply converts the output voltage of the lithium battery into the working voltage required by the MCU logic controller.

7. The robot power management system according to claim 5, characterized in that: The peripheral electrical circuit includes a filtering and interference suppression circuit, a current limiting and anti-reverse connection circuit, a voltage sampling circuit, a current sampling circuit, a fourth switch and a fifth switch; The peripheral power supply is connected in parallel with the filtering and interference suppression circuit, the filtering and interference suppression circuit is connected with the current limiting and anti-reverse connection circuit, the current limiting and anti-reverse connection circuit is connected with the input terminal of the fourth switch through the current sampling circuit, the output terminal of the fourth switch is connected with the first peripheral unit, and the control terminal of the fourth switch is connected with the MCU logic controller; The current limiting and anti-reverse connection circuit is also connected to the input terminal of the fifth switch through another current sampling circuit, the output terminal of the fifth switch is connected to the second peripheral unit, and the control terminal of the fifth switch is connected to the MCU logic controller; one end of the voltage sampling circuit is connected to the output end of the current limiting and anti-reverse connection circuit, and the other end is connected to the ground terminal of the filtering and interference suppression circuit; the first peripheral unit and the second peripheral unit are both connected to the ground terminal of the filtering and interference suppression circuit.

8. The robot power management system according to claim 5, characterized in that: The MCU logic controller collects voltage, current and temperature signals through ADC-DMA mode.

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