Magnetic coupling type wireless charging system and robot charging system

Abstract

The invention provides a magnetic coupling type wireless charging system, which comprises a transmitting module and a receiving module coupled with the transmitting module, and is characterized in that the output end of the receiving module is connected with a battery to be charged; the receiving module comprises a receiving end resonance unit used for receiving the alternating current signal output by the transmitting module; the rectifying and filtering unit is used for receiving the AC signal and rectifying the AC signal into a DC signal; and the number of the step-down units corresponds to the number of the batteries to be charged, and the step-down units are used for obtaining the direct current signals from the rectification filtering unit and charging the batteries to be charged. The beneficial effects of the invention are that a wireless charging mode is adopted, and the problems of poor induction, contact elastic sheet loosening, spark generated by frequent contact and the like which may be caused by contact charging are avoided; through the design of a plurality of voltage reduction modules, a plurality of batteries on the quadruped robot can be charged at the same time only by constructing one LCC-S type magnetic coupling charging circuit, a plurality of charging circuits do not need to be designed, and the cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot charging, in particular to a magnetic coupling type wireless charging system and a robot charging system. BACKGROUND

[0002] With the rapid development of intelligent robot technology, quadruped robots have gradually been applied to multiple fields such as smart homes, service industries and performance industries. The quadruped robot is powered by an internal power supply during work, but the small integrated power module cannot supply power for a long time, therefore, the quadruped robot needs to be charged frequently, and charging is usually performed through a contact connection method.

[0003] For example, the patent document CN202410293267.8 discloses a robot charging detection method and system, the core of which is to set a distance measuring sensor on the robot charging base to detect the matching condition of the robot and the charging base, and the charging base is equipped with a charging switch board connected with the distance measuring sensor, the power supply switch of the charger is controlled through the relay on the board, and the voltage and current sampling circuit on the board is used to judge the charging state and the charging current size, and a forward diode is arranged at the battery charging port to assist in judging whether the charging is successful. When the robot and the charging base are not successfully matched, the pose can be adjusted for re-detection, and when the loop current is detected, an alarm is indicated, and when the voltage difference between the charger and the battery charging circuit is zero, the relay is closed to stop charging.

[0004] However, when charging the quadruped robot through the contact, the contact of the power supply end and the charging end may be in poor induction and difficult to align; at the same time, frequent contact of the contact may cause the contact spring to loosen and deform, and may also cause high frequency of sparking due to the increase of contact frequency, which is prone to produce sparks. In addition, the quadruped robot often has multiple batteries inside to supply the required power for normal work, and it is not possible to charge multiple batteries at the same time during charging, which is relatively troublesome to use. SUMMARY

[0005] In view of the problems existing in the prior art, the present application provides a magnetic coupling type wireless charging system and a robot charging system.

[0006] The magnetic coupling type wireless charging system comprises a transmitting module and a receiving module coupled with the transmitting module, and the output end of the receiving module is connected with a battery to be charged.

[0007] The receiving module comprises:

[0008] A receiving end resonance unit, the input end of the receiving end resonance unit serving as the coupling end of the receiving module, and the receiving end resonance unit being used for receiving an alternating current signal output by the transmitting module.

[0009] a rectification filter unit, an input end of the rectification filter unit being connected to an output end of the receiving end resonant unit, the rectification filter unit being configured to receive an alternating current signal and rectify the alternating current signal into a direct current signal;

[0010] a plurality of voltage reduction units, a number of the voltage reduction units corresponding to a number of the batteries to be charged, an input end of each of the voltage reduction units being connected to an output end of the rectification filter unit, an output end of each of the voltage reduction units corresponding to one of the batteries to be charged, the voltage reduction units being configured to obtain the direct current signal from the rectification filter unit and charge the batteries to be charged.

[0011] Preferably, the transmitting module comprises:

[0012] a power supply unit, the power supply unit being a direct current stabilized power supply;

[0013] an inverter unit, an input end of the inverter unit being connected to an output end of the power supply unit, the inverter unit being configured to convert a direct current signal output by the direct current stabilized power supply into an alternating current signal;

[0014] a transmitting end resonant unit, an input end of the transmitting end resonant unit being connected to an output end of the inverter unit, an output end of the transmitting end resonant unit being an output end of the transmitting module and being coupled to the receiving module, the transmitting end resonant unit being configured to receive the alternating current signal and be coupled to the receiving end resonant unit.

[0015] Preferably, the inverter unit comprises:

[0016] a first NMOS tube, a drain of the first NMOS tube being connected to the output end of the power supply unit, a gate of the first NMOS tube being a driving end;

[0017] a second NMOS tube, a source of the second NMOS tube being connected to an input end of the power supply unit, a gate of the second NMOS tube being a driving end;

[0018] a source of the first NMOS tube being connected to a drain of the second NMOS tube and being an output end of the inverter unit.

[0019] Preferably, the transmitting end resonant unit comprises:

[0020] a first inductor, one end of the first inductor being connected to the output end of the inverter unit;

[0021] a transmitting coil, a receiving end of the transmitting coil being connected to the other end of the first inductor, an output end of the transmitting coil being coupled to the input end of the receiving end resonant unit;

[0022] a first capacitor, connected between the first inductor and a receiving end of the receiving coil;

[0023] a first node is arranged between the first capacitor and the first inductor;

[0024] a second capacitor, one end of which is connected to the first node, and the other end of which is grounded.

[0025] Preferably, the receiving end resonant unit comprises:

[0026] a receiving coil, an input end of which is coupled to an output end of the transmitting module;

[0027] a third capacitor, one end of which is connected to an output end of the receiving coil, and the other end of which is connected to the rectifier filter unit.

[0028] Preferably, the rectifier filter unit comprises a bridge rectifier circuit and a filter circuit;

[0029] the bridge rectifier circuit comprises a first diode, a second diode, a third diode and a fourth diode;

[0030] the first diode and the fourth diode are connected in series as a rectifier bridge for positive half cycles of an alternating current signal;

[0031] the second diode and the third diode are connected in series as a rectifier bridge for negative half cycles of the alternating current signal.

[0032] Preferably, the filter circuit comprises:

[0033] a second inductor, one end of which is connected to a second node, and the other end of which is connected to the voltage reduction unit, the second node being located between the connection of output ends of the first diode and the second diode and the second inductor;

[0034] a fourth capacitor, one end of which is connected to the second node, and the other end of which is connected to input ends of the third diode and the fourth diode;

[0035] a fifth capacitor, one end of which is connected to the second inductor, and the other end of which is connected to a third node, the third node being located between the input ends of the third diode and the fourth diode and the other end of the fourth capacitor.

[0036] Preferably, each of the voltage reduction units comprises:

[0037] a third NMOS transistor, a drain of which is connected to the other end of the second inductor;

[0038] a third inductor, one end of the third inductor being connected to the source of the third NMOS tube, the other end of the third inductor being connected to the to-be-charged battery as an output terminal of the voltage reduction unit;

[0039] a sixth capacitor, one end of the sixth capacitor being connected to the other end of the third inductor;

[0040] a fourth NMOS tube, the drain of the fourth NMOS tube being connected to the source of the third NMOS tube, the source of the fourth NMOS tube being connected to the other end of the sixth capacitor;

[0041] the gates of the third NMOS tube and the fourth NMOS tube are respectively connected to an external driving circuit for receiving a driving signal.

[0042] Preferably, each of the voltage reduction units is connected in parallel, and the output terminals of all the voltage reduction units constitute the output terminal of the receiving module.

[0043] A robot charging system, comprising a charging end and a battery end, the battery end being arranged inside a quadruped robot and comprising at least one to-be-charged battery;

[0044] The charging end is provided with a transmitting module in a magnetic coupling type wireless charging system;

[0045] The battery end is provided with a receiving module in a magnetic coupling type wireless charging system.

[0046] The beneficial effects obtained by the above scheme are:

[0047] 1) The contact type charging method commonly used in quadruped robots is improved to a wireless charging method, avoiding problems such as poor induction, loose contact spring, and frequent contact sparks that may occur in contact charging.

[0048] 2) Through the design of multiple voltage reduction modules, only one LCC-S type magnetic coupling charging circuit needs to be constructed to simultaneously charge multiple batteries on the quadruped robot, without the need to design multiple charging circuits, thereby reducing costs. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 It is a circuit schematic diagram of a magnetic coupling type wireless charging system with two voltage reduction units connected in parallel;

[0050] Figure 2 It is a circuit schematic diagram of a magnetic coupling type wireless charging system with three voltage reduction units connected in parallel.

[0051] In the drawings:

[0052] 1, power supply unit, 2, inverter unit, 3, transmitting end resonant unit, 4, receiving end resonant unit, 5, rectifier filter unit, 61, first voltage reduction unit, 62, second voltage reduction unit, 63, third voltage reduction unit. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0054] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0055] The present application will be further described below with reference to the drawings and specific embodiments, but not as a limitation of the present application.

[0056] In the preferred embodiments of the present application, as shown in Figure 1 The receiving module is connected to the output end of the transmitting module, and the output end of the receiving module is connected to the battery BAT to be charged.

[0057] The receiving module includes:

[0058] The receiving end resonant unit 4 has an input end as a coupling end of the receiving module, and is used to receive the alternating current signal output by the transmitting module.

[0059] The rectifier filter unit 5 has an input end connected to the output end of the receiving end resonant unit, and is used to receive the alternating current signal and rectify it into a direct current signal.

[0060] The voltage reduction units correspond in number to the number of the battery BAT to be charged, and each voltage reduction unit has an input end connected to the output end of the rectifier filter unit and an output end corresponding to one of the battery BAT to be charged. The voltage reduction unit is used to obtain the direct current signal from the rectifier filter unit and charge the battery BAT to be charged.

[0061] Specifically, the charging circuit of the present application is based on the LCC-S resonant compensation network. The transmitting module inputs the electrical signal as the power supply end, and the quadruped robot receives the electrical signal through the receiving module and transmits it to the multiple battery BAT to be charged after processing.

[0062] Wherein, the battery to be charged BAT is built-in each battery of the quadruped robot, the real-time power of each battery to be charged BAT can be different, and the BMS built-in each battery corresponding power module is managed to cope with different battery conditions.

[0063] In one embodiment, the power of one battery to be charged BAT is in a full state, and the power of the remaining batteries to be charged BAT is in a low state, at this time, the battery to be charged BAT corresponding to the voltage reduction unit does not obtain the voltage from the rectification filter unit 5, and the remaining voltage reduction units normally obtain the voltage from the rectification filter unit 5 to charge the battery with low power.

[0064] Further, the wireless transmission is realized in a magnetic coupling mode between the transmitting module and the receiving module, corresponding to the wireless charging mode of the application, the alternating magnetic field is generated by the alternating current on the transmitting coil, the alternating magnetic field passes through the receiving coil to form the magnetic flux Φ, and the induced electromotive force E is generated when the magnetic flux Φ changes with time, and the high-frequency alternating current signal is obtained after rectification and filtering.

[0065] The transmission of alternating current energy through the LCC-S resonant compensation network offsets the inductive reactance of the coil, so that the system works in a resonant state, reduces the reactive power loss, and improves the transmission efficiency.

[0066] In a preferred embodiment of the application, the transmitting module comprises:

[0067] The power supply unit 1 is a direct current stabilized power supply DC;

[0068] The input end of the inverter unit 2 is connected to the output end of the power supply unit 1, and the inverter unit 2 is used to convert the direct current signal output by the direct current stabilized power supply DC into an alternating current signal;

[0069] The input end of the transmitting end resonant unit 3 is connected to the output end of the inverter unit 2, the output end of the transmitting end resonant unit 3 serves as the output end of the transmitting module, and is coupled to the receiving module, and the transmitting end resonant unit 3 is used to receive the alternating current signal and couple to the receiving end resonant unit 4.

[0070] In this scheme, a 380V direct current stabilized power supply DC is used.

[0071] Specifically, since the coil coupling can only transmit alternating current, the inverter unit 2 is set as an inverter to convert the direct current stabilized power signal into a high-frequency alternating current signal.

[0072] In a preferred embodiment of the application, the inverter unit 2 comprises:

[0073] The drain of the first NMOS tube Q1 is connected to the output end of the power supply unit, and the gate of the first NMOS tube Q1 serves as a driving end;

[0074] The source of the second NMOS transistor Q2 is connected to the input terminal of the power supply unit, and the gate of the second NMOS transistor Q2 is used as the driving terminal.

[0075] The source of the first NMOS transistor Q1 is connected to the drain of the second NMOS transistor Q2, and serves as the output terminal of the inverter unit.

[0076] Specifically, the first NMOS transistor Q1 and the second NMOS transistor Q2 are insulated-gate field-effect transistors. The gate is isolated from the source and drain by an insulating layer. They have high input impedance, which reduces energy loss caused by driving, and at the same time have strong anti-interference ability and improve stability.

[0077] Furthermore, the first NMOS transistor Q1 and the second NMOS transistor Q2 are made of silicon carbide.

[0078] When the inverter unit is working, the drive terminal periodically outputs high and low levels.

[0079] The driving terminal outputs a high level to the gate of the first NMOS transistor Q1 and a low level to the gate of the second NMOS transistor Q2. At this time, the first NMOS transistor Q1 is turned on and the second NMOS transistor Q2 is turned off. The DC regulated power supply DC outputs a high level to the resonant unit through the first NMOS transistor Q1.

[0080] The driving terminal outputs a low level to the gate of the first NMOS transistor Q1 and a high level to the gate of the second NMOS transistor Q2. At this time, the first NMOS transistor Q1 is turned off and the second NMOS transistor Q2 is turned on. The resonant unit is grounded through the second NMOS transistor Q2 and outputs a low level.

[0081] Repeat the above high-frequency switching to eventually generate a 100kHz high-frequency pulse at the output, which is then output as a high-frequency AC signal to the subsequent resonant circuit.

[0082] On the one hand, transmitting high-frequency signals requires fewer turns in both the transmitting and receiving coils, which reduces the coil volume and further shrinks the overall size of the charging system.

[0083] On the other hand, the alternating magnetic field generated when transmitting high-frequency signals can achieve high coupling and reduce energy loss during transmission.

[0084] In a preferred embodiment of the present invention, the transmitter resonant unit 3 includes:

[0085] The first inductor L1, one end of which is connected to the output terminal of the inverter unit 2;

[0086] The transmitting coil L2 is connected to the receiving end of the first inductor, and the output end of the transmitting coil L2 is coupled to the input end of the receiving resonant unit 4.

[0087] The first capacitor C1 is connected between the first inductor L1 and the receiving end of the transmitting coil L2;

[0088] A first node is set between the first capacitor C1 and the first inductor L1;

[0089] The second capacitor C2 has one end connected to the first node and the other end grounded.

[0090] Specifically, the transmitter resonant unit 3 serves as the LCC transmitter in the LCC-S network. Through parameter matching, the inherent resonant frequency of the resonant network is made consistent with the frequency of the input high-frequency pulse, thereby reducing energy loss during high-frequency pulse transmission.

[0091] The first inductor L1 converts high-frequency pulses into smooth, continuous high-frequency AC square waves.

[0092] The first capacitor C1 acts as a series resonant capacitor to reduce energy loss.

[0093] The second capacitor C2 acts as a parallel resonant capacitor, optimizing the resonant characteristics of the transmitter and broadening the circuit bandwidth.

[0094] Specifically, the high-frequency pulse first enters the parallel resonant branch of the first inductor L1 and the second capacitor C2. At the resonant frequency, the impedances of the first inductor L1 and the second capacitor C2 cancel each other out, making the branch present a high impedance and reducing energy loss.

[0095] The filtered signal passes through a series branch with a first capacitor C1 connected in series. The first capacitor C1 and the transmitting coil L2 form a series resonance, which cancels the inductive impedance of the transmitting coil L2, so that the impedance of the transmitting coil L2 circuit is matched to the optimal state, and the high-frequency pulse is coupled to the receiving end through the coil.

[0096] When the frequency / amplitude of the input pulse fluctuates, the LCC-S network automatically adjusts the voltage / current phase through its own resonant characteristics to maintain the stable transmission efficiency of the transmitting coil L2. The inherent resonant frequency of the entire LCC-S network is also designed to be consistent with the frequency of the high-frequency signal at the transmitting end, thereby achieving resonant frequency selection.

[0097] On the one hand, the LCC-S network in a resonant state allows the receiver resonant unit 4 to form a low-impedance path for the high-frequency signal of the target frequency, enabling the high-frequency AC power to pass through efficiently.

[0098] On the other hand, when the LCC-S network is in a resonant state, it can form a high impedance to other clutter frequency signals that may exist in the magnetic field, thus suppressing interference.

[0099] In a preferred embodiment of the present invention, the receiving end resonant unit 4 includes:

[0100] The input terminal of the receiving coil L3 is coupled to the output terminal of the transmitting module.

[0101] The third capacitor C3 has one end connected to the output terminal of the receiving coil L3, and the other end connected to the rectifier filter unit 5.

[0102] Specifically, the receiver resonant unit 4 serves as the S receiver in the LCC-S network, receiving high-frequency pulses and resonating and stabilizing them by the magnetic field formed by the coupling of the transmitting coil L2 and the receiving coil L3.

[0103] Among them, the third capacitor C3, as a series resonant capacitor, forms a series resonant circuit with the receiving coil L3, realizing impedance matching and stabilizing the output voltage. At the resonant frequency, it cancels the inductive impedance of the receiving coil L3, making the circuit equivalent to a purely resistive circuit, improving the efficiency of receiving high-frequency pulses, and suppressing interference signals at non-resonant frequencies.

[0104] Specifically, at the resonant frequency, the inductive reactance of the receiving coil L3 and the capacitive reactance of the third capacitor C3 cancel each other out, minimizing the circuit impedance and maximizing the current. At the same time, the resonant characteristics stabilize the voltage fluctuations caused by magnetic field fluctuations, enabling the receiving coil L3 to output high-frequency AC power more stably.

[0105] In a preferred embodiment of the present invention, the rectifier-filter unit 5 includes a bridge rectifier circuit and a filter circuit;

[0106] The bridge rectifier circuit includes a first diode D1, a second diode D2, a third diode D3, and a fourth diode D4;

[0107] The first diode D1 and the fourth diode D4 are connected in series to form a rectifier bridge for the positive half-cycle of the AC signal.

[0108] The second diode D2 and the third diode D3 are connected in series to form a rectifier bridge for the negative half-cycle of the AC signal.

[0109] Specifically, a diode has unidirectional conductivity, meaning that current can only flow from the anode to the cathode.

[0110] During the positive half-cycle of the AC signal, the anode of the first diode D1 is connected to the upper signal output terminal of the receiving resonant unit 4, and the cathode of the first diode D1 is connected to the first DC bus; the anode of the fourth diode D4 is connected to the first DC bus, and the cathode of the fourth diode D4 is connected to the lower signal output terminal of the receiving resonant unit 4.

[0111] During the negative half-cycle of the AC signal, the anode of the second diode D2 is connected to the lower signal output terminal of the receiving resonant unit 4, and the cathode of the second diode D2 is connected to the first DC bus; the anode of the third diode D3 is connected to the first DC bus, and the cathode of the third diode D3 is connected to the upper signal output terminal of the receiving resonant unit 4.

[0112] Furthermore, the rectifier bridge during the positive half-cycle and the rectifier bridge during the negative half-cycle form a full-bridge rectifier circuit, which converts the AC signal into a DC signal through rectification.

[0113] In a preferred embodiment of the present invention, the filtering circuit includes:

[0114] The second inductor L4 has one end connected to the second node and the other end connected to the step-down unit. The second node is located between the output terminal of the first diode D1 and the output terminal of the second diode D2 and the second inductor L4.

[0115] The fourth capacitor C4 has one end connected to the second node, and the other end connected to the input terminals of the third diode D3 and the fourth diode D4.

[0116] The fifth capacitor C5 is connected at one end to the second inductor L4, and at the other end to the third node. The third node is located between the input terminal of the third diode D3, the input terminal of the fourth diode D4, and the other end of the fourth capacitor C4.

[0117] Specifically, the fourth capacitor C4 is connected to the first DC bus as a high-frequency filter capacitor to filter out the high-frequency ripple remaining in the converted DC signal.

[0118] In a preferred embodiment of this solution, the fourth capacitor C4 has low capacitive reactance under high-frequency signals, can discharge quickly, and responds rapidly to high-frequency fluctuations.

[0119] The second inductor, L4, acts as a choke inductor, hindering the flow of high-frequency signals and allowing smooth DC signals to pass through.

[0120] In a preferred embodiment of this solution, the second inductor L4 has high impedance to high-frequency signals and low impedance to smooth signals.

[0121] The fifth capacitor C5 serves as an energy storage capacitor, storing the DC signal output through the second inductor L4. A smooth and stable DC signal is formed across the terminals of the fifth capacitor C5, which serves as the DC voltage regulator for the subsequent step-down circuit.

[0122] In a preferred embodiment of the present invention, each step-down unit includes:

[0123] The drain of the third NMOS transistor Q3 is connected to the other end of the second inductor L4;

[0124] The third inductor L5 has one end connected to the source of the third NMOS transistor Q3, and the other end of the third inductor L5 is connected to the output of the step-down unit and the battery to be charged.

[0125] The sixth capacitor C6 is connected at one end to the other end of the third inductor.

[0126] The drain of the fourth NMOS transistor Q4 is connected to the source of the third NMOS transistor Q3, and the source of the fourth NMOS transistor Q4 is connected to the other end of the sixth capacitor C4.

[0127] The gates of the third NMOS transistor Q3 and the fourth NMOS transistor Q4 are connected to external driving circuits to receive driving signals.

[0128] Specifically, each step-down unit acts as a BUCK step-down chopper circuit, obtaining a suitable voltage from the fifth capacitor C5 to charge the battery BAT. The DC regulated voltage across the fifth capacitor C5 is:

[0129]

[0130] in:

[0131] M is the mutual inductance between the transmitting coil L2 and the receiving coil L3;

[0132] Vin is a 380V DC regulated power supply;

[0133] D1 is the duty cycle of the first NMOS transistor Q1.

[0134] The third NMOS transistor Q3 and the fourth NMOS transistor Q4 form a switching group, which controls energy transfer through high-frequency switching. The third NMOS transistor Q3 and the fourth NMOS transistor Q4 alternately turn on / off, controlling the duty cycle of the input DC signal to adjust the output voltage. The voltage obtained by the battery BAT1 to be charged, connected to the first buck unit 61, through the BUCK circuit is:

[0135] V bat1 =D2·V rec

[0136] in:

[0137] D2 is the duty cycle of the third NMOS transistor Q3.

[0138] The third inductor L5 serves as an energy storage inductor, alternating between storing and releasing voltage. When the BUCK circuit is on, the third inductor L5 stores voltage, and when the BUCK circuit is off, the third inductor L5 releases voltage, ensuring continuous current to the battery BAT1 to be charged, while also protecting the BUCK circuit from transient high current breakdown during operation.

[0139] The sixth capacitor, C6, works in conjunction with the third inductor, L5, to further smooth the ripple of the output voltage, making the output more stable.

[0140] Furthermore, when the third NMOS transistor Q3 is turned on and the fourth NMOS transistor Q4 is turned off, the BUCK circuit is turned on, and the input voltage is applied to the three terminals of the third inductor L5 through the third NMOS transistor Q3. The third inductor L5 begins to charge and store energy, and at the same time supplies power to the sixth capacitor C6 and the battery BAT1 to be charged, and the sixth capacitor C6 is charged.

[0141] Furthermore, when the third NMOS transistor Q3 is turned off and the fourth NMOS transistor Q4 is turned on, the BUCK circuit is turned off, the third inductor L5 generates a reverse induced electromotive force, which forms a discharge circuit through the fourth NMOS transistor Q4. The third inductor L5 releases the stored voltage and continues to supply power to the sixth capacitor C6 and the battery BAT1 to be charged. The sixth capacitor C6 discharges to replenish the voltage.

[0142] In a preferred embodiment of the present invention, each step-down unit is connected in parallel, and the output terminals of all step-down units constitute the output terminal of the receiving module.

[0143] Specifically, the same number of step-down units are connected in parallel according to the number of batteries (BAT) to be charged, such as... Figure 2 As shown, three step-down units are connected in parallel, with BAT2 being the second battery to be charged and BAT3 being the third battery to be charged.

[0144] Among them, Q5 and Q7 correspond to the third NMOS transistor Q3, Q6 and Q8 correspond to the fourth NMOS transistor Q4, L6 and L7 correspond to the third inductor L5, and C7 and C8 correspond to the sixth capacitor C6.

[0145] Furthermore, each parallel step-down unit obtains the required voltage from the fifth capacitor C5 connected to the second DC bus, which is the common DC bus for all step-down units.

[0146] V bat2 With V bat3 These correspond to the voltages obtained from the fifth capacitor C5 by the second step-down unit 61 and the third step-down unit 63, respectively. The parameters in the formula can be replaced one by one according to the components that correspond to the effects.

[0147] Furthermore, it should be ensured that the sum of the voltages obtained by all step-down units from the fifth capacitor C5 does not exceed the maximum voltage of the fifth capacitor C5. If it exceeds this maximum voltage, each battery BAT cannot be charged normally.

[0148] At this point, some step-down units start working first. After charging the corresponding battery BAT, the BMS management system determines that no further charging is needed and does not obtain voltage through the corresponding step-down unit. The remaining step-down units then start working in sequence to charge the battery.

[0149] In a preferred embodiment of the present invention, a robot charging system includes a charging end and a battery end, wherein the battery end is disposed inside a quadruped robot and includes at least one battery BAT to be charged;

[0150] The charging terminal is equipped with a transmitter module, which is part of a magnetically coupled wireless charging system.

[0151] The battery contains a receiver module for a magnetically coupled wireless charging system.

[0152] Specifically, the transmitting coil L2 at the charging end is external, while the transmitting module is internal.

[0153] Correspondingly, the quadruped robot is equipped with a receiving coil L3, and the receiving module is located inside the quadruped robot. Each battery is connected to a step-down unit. Each step-down unit processes the received high-frequency AC power through the built-in receiving module and converts it into DC power to charge each battery BAT to be charged.

[0154] Furthermore, the transmitting module at the charging end and the receiving module at the battery end are coupled through a coil when the quadruped robot needs to be charged, forming the aforementioned LCC-S resonant compensation network, which is then applied to the aforementioned magnetic coupling wireless charging system.

[0155] The following describes a specific embodiment to facilitate understanding of the implementation of this technical solution by those skilled in the art:

[0156] The quadruped robot has four batteries, each located inside one of the four legs. The four batteries are connected to a step-down unit in parallel to a rectifier and filter unit 5, which is then connected to a receiver resonant unit 4, forming a receiver module inside the robot. The receiver coil L3 is located outside the robot's body, in the direction the robot is facing.

[0157] The charging terminal is a charging pile with a built-in transmitter module. The transmitter coil L2 is located on the external body of the charging pile.

[0158] When the quadruped robot needs charging, it automatically cruises to the vicinity of the charging station, facing the inside of the charging station, and brings the receiving coil L3 close to the transmitting coil L3. When the two coils are coupled to a certain distance, they form an alternating coupled magnetic field. The transmitting coil L2 converts the DC voltage provided by the DC regulated power source into AC power through the inverter unit 2, and transmits it to the quadruped robot's receiving module in a coupled manner. The AC power is converted back to DC power by the rectifier and filter unit 5, and the voltage required by each battery is obtained from the fifth capacitor C5 on the common DC bus through the step-down unit. Then, charging begins. After a battery is fully charged, the step-down unit corresponding to that battery no longer obtains voltage, which does not affect the other step-down units from continuing to charge other batteries until all batteries are fully charged.

[0159] The above description is merely a preferred embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A magnetically coupled wireless charging system, characterized in that, It includes a transmitting module and a receiving module coupled to the transmitting module, wherein the output of the receiving module is connected to a battery to be recharged; The receiving module includes: The receiving end resonant unit has its input end serving as the coupling end of the receiving module, and is used to receive the AC signal output by the transmitting module. A rectifier and filter unit, the input of which is connected to the output of the receiving resonant unit, is used to receive AC signals and rectify them into DC signals. A plurality of step-down units are provided, the number of which corresponds to the number of batteries to be recharged. The input terminal of each step-down unit is connected to the output terminal of the rectifier and filter unit, and the output terminal of each step-down unit corresponds to one battery to be recharged. The step-down unit is used to obtain a DC signal from the rectifier and filter unit and to charge the battery to be recharged.

2. The magnetic coupling wireless charging system according to claim 1, characterized in that, The transmitting module includes: Power supply unit, wherein the power supply unit is a DC regulated power supply; An inverter unit, the input terminal of which is connected to the output terminal of the power supply unit, is used to convert the DC signal output by the DC regulated power supply into an AC signal; The transmitter resonant unit has its input terminal connected to the output terminal of the inverter unit, and its output terminal serves as the output terminal of the transmitter module, coupled to the receiver module. The transmitter resonant unit is used to receive the AC signal and couple it to the receiver resonant unit.

3. The magnetic coupling wireless charging system according to claim 2, characterized in that, The inverter unit includes: The first NMOS transistor has its drain connected to the output terminal of the power supply unit, and its gate serves as the driving terminal. The second NMOS transistor has its source connected to the input terminal of the power supply unit, and its gate serves as the driving terminal. The source of the first NMOS transistor is connected to the drain of the second NMOS transistor and serves as the output terminal of the inverter unit.

4. The magnetic coupling wireless charging system according to claim 2, characterized in that, The transmitter resonant unit includes: A first inductor, one end of which is connected to the output terminal of the inverter unit; A transmitting coil, the receiving end of which is connected to the other end of the first inductor, and the output end of which is coupled to the input end of the receiving resonant unit; A first capacitor is connected between the first inductor and the receiving end of the transmitting coil; A first node is set between the first capacitor and the first inductor; The second capacitor has one end connected to the first node and the other end grounded.

5. The magnetically coupled wireless charging system according to claim 1, characterized in that, The receiving end resonant unit includes: A receiving coil, the input end of which is coupled to the output end of the transmitting module; The third capacitor has one end connected to the output terminal of the receiving coil and the other end connected to the rectifier and filter unit.

6. The magnetically coupled wireless charging system according to claim 1, characterized in that, The rectifier and filter unit includes a bridge rectifier circuit and a filter circuit. The bridge rectifier circuit includes a first diode, a second diode, a third diode, and a fourth diode; The first diode and the fourth diode are connected in series to serve as a rectifier bridge for the positive half-cycle of the AC signal; The second diode is connected in series with the third diode to serve as a rectifier bridge for the negative half-cycle of the AC signal.

7. A magnetically coupled wireless charging system according to claim 6, characterized in that, The filtering circuit includes: The second inductor has one end connected to the second node and the other end connected to the step-down unit. The second node is located between the output terminal of the first diode and the output terminal of the second diode and the second inductor. A fourth capacitor, one end of which is connected to the second node, and the other end of which is connected to the input terminal of the third diode and the input terminal of the fourth diode; The fifth capacitor has one end connected to the second inductor and the other end connected to the third node, which is located between the input terminal of the third diode, the input terminal of the fourth diode, and the other end of the fourth capacitor.

8. A magnetically coupled wireless charging system according to claim 7, characterized in that, Each of the aforementioned step-down units includes: The drain of the third NMOS transistor is connected to the other end of the second inductor; The third inductor has one end connected to the source of the third NMOS transistor, and the other end of the third inductor serves as the output terminal of the buck unit and is connected to the battery to be charged. A sixth capacitor, one end of which is connected to the other end of the third inductor; The fourth NMOS transistor has its drain connected to the source of the third NMOS transistor, and its source connected to the other end of the sixth capacitor. The gates of the third NMOS transistor and the fourth NMOS transistor are respectively connected to an external driving circuit to receive driving signals.

9. A magnetically coupled wireless charging system according to claim 1, characterized in that, Each of the step-down units is connected in parallel, and the output terminals of all the step-down units constitute the output terminal of the receiving module.

10. A robot charging system, characterized in that, It includes a charging end and a battery end, wherein the battery end is disposed inside the quadruped robot and includes at least one battery to be charged; The charging terminal is provided with a transmitting module as described in any one of claims 2-4 in the magnetic coupling wireless charging system. The battery terminal is provided with a receiving module as described in any one of claims 1, 5-9, of the magnetic coupling wireless charging system.

Images