Robot and power supply control system thereof

Abstract

The invention discloses a robot and a power supply control system thereof. The power supply control system of the robot comprises an isolation module, a UPS module and a first relay. The input end of the isolation module is electrically connected with the mains supply end; the first relay comprises a control coil, a normally open contact and a normally closed contact; the control coil is electrically connected to the input end of the isolation module; the normally open contact is electrically connected between the output end of the isolation module and the load power supply end of the robot, and the normally closed contact is electrically connected between the UPS module and the load power supply end of the robot; the UPS module is further electrically connected with the output end of the isolation module and the direct-current power supply end. And the UPS module is used for controlling corresponding electric signal output according to the isolation electric signal output by the isolation module and the direct current electric signal of the direct current power supply end. According to the technical scheme provided by the invention, the power supply timeliness of the robot load can be improved, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot and a power supply control system thereof. Background Art

[0002] With the development of industrial automation and the ever-changing market environment, robots are widely used in 3C electronics, warehousing and logistics, medical care, daily chemicals, machining and other industries. In the medical field, if the power supply to the surgical robot is disconnected, it will cause serious consequences. Therefore, most medical surgical robots will add an uninterruptible power supply (UPS) in the main power control circuit to continuously power the robot.

[0003] Medical surgical robots will choose DC or AC UPS battery packs according to their load conditions. Regardless of whether it is a DC or AC UPS, it will perform an internal self-test at the moment of power-on. The load will not be powered until the self-test is completed. Some UPS self-tests take up to 25 seconds, so it takes 25 seconds or more from the mains power-on to the device power button being powered. During this self-test period, the operator can only wait, and the robot's power supply timeliness is low, which directly affects the user experience. Summary of the invention

[0004] The present invention provides a robot and a power supply control system thereof, so as to improve the power supply timeliness and work efficiency of the robot load, reduce waiting time, and improve user experience.

[0005] In a first aspect, the present invention provides a power supply control system for a robot, comprising: an isolation module, a UPS module and a first relay;

[0006] The input end of the isolation module is electrically connected to the mains power supply end;

[0007] The first relay includes a control coil, a normally open contact and a normally closed contact; the control coil is electrically connected to the input end of the isolation module; the normally open contact is electrically connected between the output end of the isolation module and the load power supply end of the robot, and the normally closed contact is electrically connected between the UPS module and the load power supply end of the robot;

[0008] The UPS module is also electrically connected to the output terminal and the DC power supply terminal of the isolation module respectively;

[0009] The UPS module is used to control the output of the corresponding electrical signal according to the isolated electrical signal output by the isolation module and the DC electrical signal at the DC power supply end.

[0010] Optionally, the power supply control system further includes: an AC switch;

[0011] The AC switch is electrically connected between the mains power supply terminal and the input terminal of the isolation module.

[0012] Optionally, the power supply control system further includes: a fuse;

[0013] The fuse is electrically connected between the AC switch and an input end of the isolation module.

[0014] Optionally, the power supply control system further includes: a switch module;

[0015] The switch module is connected in series with the control coil; the switch module is used to control the power supply state of the control coil.

[0016] Optionally, the switch module includes a time relay;

[0017] The UPS module is also used to perform a self-test within a preset self-test time when receiving the isolation electrical signal output by the isolation module;

[0018] The delay time of the time relay is greater than the preset self-test time length.

[0019] Optionally, the power supply control system further includes: a battery pack;

[0020] The battery pack is electrically connected to the DC power supply terminal.

[0021] Optionally, the UPS module is also used to obtain power information of the battery pack, so that when receiving the isolated electrical signal output by the isolation module, the UPS module controls the battery pack to charge or discharge according to the isolated electrical signal and the power information of the battery pack.

[0022] Optionally, the isolation module includes an isolation transformer;

[0023] The primary side of the isolation transformer is the input end of the isolation module, and the secondary side of the isolation transformer is the output end of the isolation module.

[0024] Optionally, the power supply control system further includes: a filtering module;

[0025] The filter module is electrically connected between the mains power supply terminal and the input terminal of the isolation module.

[0026] In a second aspect, the present invention provides a robot, comprising: a robot body and the power supply control system of the robot described in the first aspect.

[0027] The technical solution provided by the present invention is to set a power supply control system of the robot including an isolation module, a UPS module and a first relay, the first relay including a control coil, a normally open contact and a normally closed contact, the input end of the isolation module is electrically connected to the mains power supply end, the control coil is electrically connected to the input end of the isolation module, the normally open contact is electrically connected between the output end of the isolation module and the load power supply end of the robot, the UPS module is used to control the output of the corresponding electrical signal according to the isolated electrical signal output by the isolation module and the DC electrical signal at the DC power supply end, and the UPS module is also electrically connected to the output end and the DC power supply end of the isolation module, so that The isolation module can transmit the isolated electrical signal output after isolating the AC power supply end to the normally open contact and the UPS module. When the AC power supply end is supplying power normally, the electrical signal of the robot's load power supply end can be obtained through the normally open contact and the isolation module; when the AC power supply end stops supplying power, since the normally closed contact is electrically connected between the UPS module and the robot's load power supply end, the electrical signal of the robot's load power supply end can be obtained through the normally closed contact and the UPS module, so that the robot's load power supply end can continuously receive the power supply signal, thereby improving the timeliness of the power supply and work efficiency of the robot's load, reducing waiting time, and improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the structure of a power supply control system of a robot provided by an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the structure of another power supply control system of a robot provided by an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of the structure of another power supply control system of a robot provided by an embodiment of the present invention;

[0031] Figure 4 A schematic diagram of the structure of a power supply control system of another robot provided in an embodiment of the present invention;

[0032] Figure 5 A schematic diagram of the structure of a power supply control system of a robot provided by an embodiment of the present invention;

[0033] Figure 6 A schematic diagram of the structure of another power supply control system of a robot provided by an embodiment of the present invention;

[0034] Figure 7 A schematic structural diagram of a power supply control system for another robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0036] Figure 1 A schematic diagram of a power supply control system for a robot provided in an embodiment of the present invention is shown in FIG. Figure 1 As shown, the power supply control system of the robot includes: an isolation module 10, a UPS module 20 and a first relay KA; the input end of the isolation module 10 is electrically connected to the AC power supply terminal LN; the first relay KA includes a control coil KA-1, a normally open contact KA-2 and a normally closed contact KA-3; the control coil KA-1 is electrically connected to the input end of the isolation module 10; the normally open contact KA-2 is electrically connected between the output end of the isolation module 10 and the load power supply terminal IN of the robot, and the normally closed contact KA-3 is electrically connected between the UPS module 20 and the load power supply terminal IN of the robot; the UPS module 20 is also electrically connected to the output end of the isolation module 10 and the DC power supply terminal d1 respectively; the UPS module 20 is used to control the corresponding electrical signal output according to the isolated electrical signal output by the isolation module 10 and the DC signal of the DC power supply terminal d1.

[0037] Among them, the isolation module 10 can isolate the input end and the output end to prevent interference signals such as noise at the input end from affecting loads such as robots connected to the output end, thereby improving the stability and safety of the power supply control system. The isolation module 10 may include isolation devices such as an isolation transformer, which can be set according to actual needs and is not specifically limited here. The UPS module 20 is electrically connected to the output end and the DC power supply end d1 of the isolation module 10, respectively, so that when the mains power supply end LN connected to the isolation module 10 cannot provide an electrical signal, the DC signal of the DC power supply end d1 can be transmitted to the load power supply end IN of the robot, so that the load power supply end IN of the robot maintains the electrical signal input, preventing the load of the robot from not being able to work normally due to the lack of electrical signal input at the load power supply end IN of the robot, thereby improving the timeliness of the power supply of the robot. The load of the robot includes a central controller or a display, etc.

[0038] Specifically, when the AC power supply terminal LN is powered on, the control coil KA-1 of the first relay KA is energized to generate electromagnetic force, and the iron core inside the first relay KA is attracted under the action of the electromagnetic force, and the iron core drives the normally open contact KA-2 to close and the normally closed contact KA-3 to open; the normally open contact KA-2 is closed so that the isolated electrical signal output by the output end of the isolation module 10 can be transmitted to the load power supply terminal IN of the robot through the normally open contact KA-2, and the normally closed contact KA-3 is opened so that the UPS module 20 cannot provide the received isolated electrical signal of the isolation module 10 or the DC signal of the DC power supply terminal d1 to the load power supply terminal IN of the robot. At this time, the power supply signal of the robot load is directly provided by the isolation module 10; in the process where the power supply signal of the robot load is directly provided by the isolation module 10, if the AC power supply terminal LN suddenly loses power, the first relay The control coil KA-1 of KA loses power, the electromagnetic force disappears, the iron core inside the first relay KA separates, and the iron core drives the normally open contact KA-2 to change from a closed state to an open state, and the iron core drives the normally closed contact KA-3 to change from an open state to a closed state; the normally open contact KA-2 is disconnected, so that the isolated electrical signal output by the output end of the isolation module 10 cannot be transmitted to the load power supply terminal IN of the robot through the normally open contact KA-2, and the normally closed contact KA-3 is closed, so that the UPS module 20 can provide the received DC power signal of the DC power supply terminal d1 to the load power supply terminal IN of the robot. At this time, the power supply signal of the robot load is directly provided by the UPS module 20, so that the load power supply terminal of the robot can continuously receive the power supply signal, thereby ensuring the normal operation of the robot load, improving the timeliness of power supply and work efficiency of the robot load, and reducing waiting time.

[0039] It should be noted that the robot includes an AC-DC conversion module for converting the AC power signal of the load power supply terminal IN of the robot into a DC power signal and then providing it to the load of the robot so that the load can work normally.

[0040] The technical solution of the embodiment of the present invention is to set a power supply control system of the robot including an isolation module, a UPS module and a first relay, the first relay including a control coil, a normally open contact and a normally closed contact, the input end of the isolation module is electrically connected to the mains power supply end, the control coil is electrically connected to the input end of the isolation module, the normally open contact is electrically connected between the output end of the isolation module and the load power supply end of the robot, the UPS module is used to control the corresponding electrical signal output according to the isolated electrical signal output by the isolation module and the DC signal at the DC power supply end, and the UPS module is also electrically connected to the output end and the DC power supply end of the isolation module, respectively, so as to The isolation module can transmit the isolated electrical signal output after isolating the AC power supply end to the normally open contact and the UPS module. When the AC power supply end is supplying power normally, the electrical signal of the robot load power supply end can be obtained through the normally open contact and the isolation module; when the AC power supply end stops supplying power, since the normally closed contact is electrically connected between the UPS module and the load power supply end of the robot, the electrical signal of the robot load power supply end can be obtained through the normally closed contact and the UPS module, so that the load power supply end of the robot can continuously receive the power supply signal, thereby improving the timeliness of the power supply and work efficiency of the robot load, reducing waiting time, and improving user experience.

[0041] Optional, Figure 2 A schematic diagram of the structure of another power supply control system of a robot provided in an embodiment of the present invention, such as Figure 2 As shown, the power supply control system further includes an AC switch 11 , which is electrically connected between the mains power supply terminal LN and the input terminal of the isolation module 10 .

[0042] The AC switch 11 includes a knife switch or an isolating switch, etc., which can control the conduction or disconnection of the AC path and can be set according to actual needs. Figure 2 The AC switch 11 only includes a knife switch, and can also be other types, which are not specifically limited here.

[0043] Specifically, when the electrical signal on the mains power supply terminal LN side is normal, the AC switch 11 can be controlled to close, so that the electrical signal on the mains power supply terminal LN side can be transmitted to the output end of the isolation module 10 through the AC switch 11, and then transmitted to the load power supply terminal IN of the robot or the UPS module 20; when the electrical signal on the mains power supply terminal LN side is abnormal or the mains power supply terminal LN cannot provide an electrical signal or the load of the robot does not need power supply, the AC switch 11 can be controlled to disconnect to disconnect the mains power supply terminal LN from the input end of the isolation module 10, so as to prevent the abnormal electrical signal from being transmitted to the isolation module 10, causing unnecessary influence on the isolation module 10, thereby improving the reliability of the power supply control system of the robot.

[0044] Optional, reference Figure 2The power supply control system also includes a fuse FU, which is electrically connected between the AC switch 11 and the input end of the isolation module 10.

[0045] Among them, the fuse FU includes an inserted fuse, a spiral fuse, a closed fuse, a fast fuse or a self-resetting fuse, etc., which can be selected according to actual needs and are not specifically limited here.

[0046] Specifically, when the current flowing through the fuse FU exceeds the specified value, the fuse FU itself can generate heat to cause the fuse FU to melt, thereby disconnecting the connection circuit between the AC switch 11 and the input end of the isolation module 10, preventing short-circuit current or overcurrent high current signals from being transmitted in the power supply control system of the robot, thereby improving the safety of the power supply control system of the robot.

[0047] Optional, Figure 3 A schematic diagram of a power supply control system for a robot according to an embodiment of the present invention is shown in FIG. Figure 3 As shown, the power supply control system further includes a switch module 30; the switch module 30 is connected in series with the control coil KA-1, and the switch module 30 is used to control the power supply state of the control coil KA-1.

[0048] The switch module 30 includes switch devices such as knife switches, which can be configured according to actual needs and are not specifically limited here.

[0049] Specifically, since the UPS module 20 is also electrically connected to the output end of the isolation module 10 and the DC power supply end d1 respectively, the UPS module 20 can transmit the isolated electrical signal output from the output end of the isolation module 10 to the load power supply end IN of the robot through the normally closed contact KA-3, or transmit the DC signal of the DC power supply end d1 to the load power supply end IN of the robot through the normally closed contact KA-3; if the UPS module 20 is not set, when there is no electrical signal input from the AC power supply end IN to the input end of the isolation module 10, there is no electrical signal input to the load power supply end IN of the robot, and the normal operation of the robot's load cannot be guaranteed. When the robot is applied to the medical field as a surgical robot, it will seriously affect the clinical use effect and reduce the user experience; however, when the UPS module 20 receives the isolated electrical signal, the UPS module 20 will detect the internal connection lines, etc., so as to improve the reliability of the power supply signal when the UPS module 20 is used to provide the power supply signal to the load power supply end IN of the robot in the future. The UPS module 20 will not provide a power supply signal to the load power supply terminal IN of the robot when performing internal detection. By setting a switch module 30, the switch module 30 is controlled to be turned on when the UPS module 20 performs internal detection, the control coil KA-1 is energized, the normally open contact KA-2 is closed, and the normally closed contact KA-3 is disconnected. The power supply signal of the load power supply terminal IN of the robot is provided by the isolation module 10. When the internal detection of the UPS module 20 is completed, the control switch module 30 is disconnected, the control coil KA-1 is de-energized, the normally open contact KA-2 is disconnected, and the normally closed contact KA-3 is closed. The power supply signal of the load power supply terminal IN of the robot is provided by the UPS module 10. The UPS module 20 can provide the isolated electrical signal or the DC signal as a power supply signal to the load power supply terminal IN of the robot according to the isolated electrical signal output by the isolation module 10 and the DC signal of the DC power supply terminal d1, thereby improving the timeliness of power supply to the load power supply terminal IN of the robot and improving the work efficiency of the robot.

[0050] Optional, Figure 4 A schematic diagram of a power supply control system for another robot provided in an embodiment of the present invention is shown in FIG. Figure 4 As shown, the switch module 30 includes a time relay KT, and the UPS module 20 is also used to perform self-test within a preset self-test time t1 when receiving the isolation electrical signal output by the isolation module 10; the delay time t2 of the time relay KT is greater than the preset self-test time t1.

[0051] Among them, the preset self-test time t1 is related to the internal structure of the UPS module 20. The more complex the internal structure of the UPS module 20 is, the larger the value of the preset self-test time t1 is. The preset self-test time t1 can be set according to actual needs. The delay time t2 can be set according to actual needs on the basis of being greater than the preset self-test time t1. For example, the preset self-test time t1 is 25s, and the delay time t2 is 30s. The time relay KT is an automatic control electrical appliance that uses electromagnetic principles or mechanical action principles to delay contact closure or disconnection. The time relay KT includes air-damped time relays, electric time relays, electromagnetic time relays or electronic time relays, etc., which can be selected according to actual needs and are not specifically limited here.

[0052] Specifically, since the UPS module 20 will not provide a power supply signal to the load power supply terminal IN of the robot when performing internal detection, if the first relay KA is not set, the isolated electrical signal output by the isolation module 10 to the UPS module 20 will not be transmitted to the load power supply terminal IN of the robot. At this time, the user of the robot can only use the robot after the UPS module 20 completes the self-test and provides a power supply signal to the load power supply terminal IN of the robot. It takes a certain amount of time to wait, which affects the user experience. By setting the time relay KT and the first relay KA, when the AC power supply terminal LN provides an electrical signal, the time relay KT and the control coil KA-1 are energized, and the UPS module 20 receives the isolation signal output by the isolation module 10. After the power-on signal is received, internal detection is performed. Within the delay time t2, the power supply signal of the load power supply terminal IN of the robot is provided by the isolation module 10. When the power-on time of the time relay KT is the delay time t2, the time relay KT is disconnected, the control coil KA-1 loses power, the normally open contact KA-2 is disconnected, and the normally closed contact KA-3 is closed. The power supply signal of the load power supply terminal IN of the robot is provided by the UPS module 10. The UPS module 20 can provide the isolated electrical signal or the DC signal as the power supply signal to the load power supply terminal IN of the robot according to the isolated electrical signal output by the isolation module 10 and the DC signal of the DC power supply terminal d1, thereby improving the timeliness of the power supply to the load power supply terminal IN of the robot and improving the work efficiency of the robot.

[0053] Optional, Figure 5 A schematic diagram of a power supply control system for a robot provided in an embodiment of the present invention is shown in FIG. Figure 5 As shown, the power supply control system further includes: a battery pack 40, which is electrically connected to the DC power supply terminal d1. When the mains power supply terminal LN stops supplying power, the power of the battery pack 40 can be transmitted to the load power supply terminal IN of the robot through the UPS module 20, so that the robot load can work normally and improve the timeliness of the power supply of the robot load.

[0054] Optional, reference Figure 5 The UPS module 20 is also used to obtain the power information of the battery pack 40, so that when receiving the isolated electrical signal output by the isolation module 10, the UPS module 20 controls the battery pack 40 to charge or discharge according to the isolated electrical signal and the power information of the battery pack 40.

[0055] Specifically, the UPS module 20 can obtain power information such as the remaining power of the battery pack 40 through the DC power supply terminal d1. When the remaining power of the battery pack 40 is less than a preset value and the UPS module 20 can receive the isolated electrical signal output by the isolation module 10, the UPS module 20 can transmit the received isolated electrical signal to the battery pack 40 to charge the battery pack 40, so that when the battery pack 40 is subsequently used to power the robot load, the duration of the battery pack 40 providing electrical signals to the load power supply terminal IN of the robot can be extended, thereby improving the timeliness of the power supply of the robot; when the UPS module 20 detects that the isolated electrical signal is not received, the battery pack 40 is used to provide electrical energy to the load power supply terminal IN of the robot. At this time, the UPS module 20 controls the battery pack 40 to discharge, thereby improving the timeliness of the power supply of the robot load.

[0056] It should be noted that the UPS module 20 may also include a DC-AC conversion module, which is used to convert the DC power signal provided by the battery pack 40 into an AC signal and transmit it to the load power supply terminal IN of the robot, so as to prevent the load power supply terminal IN of the robot from only receiving AC signals and causing dangers such as abnormal operation of the robot's load.

[0057] Optional, Figure 6 A schematic diagram of the structure of another power supply control system of a robot provided in an embodiment of the present invention, such as Figure 6 As shown, the isolation module 10 includes an isolation transformer T; the primary side of the isolation transformer T is the input end of the isolation module 10 , and the secondary side of the isolation transformer T is the output end of the isolation module 10 .

[0058] Specifically, the isolation transformer T can isolate the interference signals on the primary and secondary sides, and also has a voltage regulation function. According to actual needs, a suitable isolation transformer T can be selected to convert the electrical signal input on the primary side into the required secondary side electrical signal, thereby improving the stability of the electrical signal.

[0059] Optional, Figure 7 A schematic diagram of a power supply control system for a robot according to an embodiment of the present invention is shown in FIG. Figure 7 As shown, the power supply control system further includes: a filter module 12 ; the filter module 12 is electrically connected between the mains power supply terminal LN and the input terminal of the isolation module 10 .

[0060] The filter module 12 may include filter components such as inductors or capacitors, and may be designed according to actual needs, which are not specifically limited here.

[0061] Specifically, the filter module 12 can filter the electrical signal input from the AC power supply terminal LN and input it to the input terminal of the isolation module 10, eliminating disturbances caused by noise and other interferences, so as to reduce the ripple of the electrical signal output to the isolation module 10 and improve the accuracy and stability of the electrical signal.

[0062] Based on the same inventive concept, the present invention also provides a robot, including a robot body and a power supply control system for the robot provided by any embodiment of the present invention. Therefore, the robot has the technical features of the power supply control system for the robot provided by the embodiment of the present invention, and can achieve the beneficial effects of the power supply control system for the robot provided by the embodiment of the present invention. The similarities can be referred to the above description of the power supply control system for the robot provided by the embodiment of the present invention, and will not be repeated here.

[0063] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A power supply control system for a robot, characterized in that: include: Isolation module, UPS module and first relay; The input end of the isolation module is electrically connected to the mains power supply end; The first relay includes a control coil, a normally open contact and a normally closed contact; the control coil is electrically connected to the input end of the isolation module; the normally open contact is electrically connected between the output end of the isolation module and the load power supply end of the robot, and the normally closed contact is electrically connected between the UPS module and the load power supply end of the robot; The UPS module is also electrically connected to the output terminal and the DC power supply terminal of the isolation module respectively; The UPS module is used to control the output of the corresponding electrical signal according to the isolated electrical signal output by the isolation module and the DC electrical signal at the DC power supply end.

2. The power supply control system of the robot according to claim 1, characterized in that: Also includes: AC switch; The AC switch is electrically connected between the mains power supply terminal and the input terminal of the isolation module.

3. The power supply control system of the robot according to claim 2, characterized in that: Also includes: Fuse; The fuse is electrically connected between the AC switch and an input end of the isolation module.

4. The power supply control system of the robot according to claim 1, characterized in that: Also includes: Switch module; The switch module is connected in series with the control coil; the switch module is used to control the power supply state of the control coil.

5. The power supply control system of the robot according to claim 4, characterized in that: The switch module includes a time relay; The UPS module is also used to perform a self-test within a preset self-test time when receiving the isolation electrical signal output by the isolation module; The delay time of the time relay is greater than the preset self-test time length.

6. The power supply control system of the robot according to claim 1, characterized in that: Also includes: Battery pack; The battery pack is electrically connected to the DC power supply terminal.

7. The power supply control system of the robot according to claim 6, characterized in that: The UPS module is also used to obtain the power information of the battery pack, so as to control the battery pack to charge or discharge according to the isolated electrical signal and the power information of the battery pack when receiving the isolated electrical signal output by the isolation module.

8. The power supply control system of the robot according to claim 1, characterized in that: The isolation module includes an isolation transformer; The primary side of the isolation transformer is the input end of the isolation module, and the secondary side of the isolation transformer is the output end of the isolation module.

9. The power supply control system of the robot according to claim 1, characterized in that: Also includes: Filter module; The filter module is electrically connected between the mains power supply terminal and the input terminal of the isolation module.

10. A robot, characterized in that: include: A robot body and a power supply control system for the robot as described in any one of claims 1-9.

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