Power supply system and robot

Abstract

The application is suitable for the field of robot technology, and provides a power supply system and a robot. The power supply system comprises a first battery, a first conversion module, a control module and a first adjusting module. The first conversion module is connected in series between the first battery and a power supply end of a robot body. The control module is electrically connected with the power supply end and the first conversion module respectively. The first adjusting module is connected in series between the first battery and the power supply end and is electrically connected with the control module. When the first conversion module receives a first conversion start signal, the first conversion module converts an electric signal output by the first battery and outputs a preset power supply voltage to the power supply end. The control module outputs the first conversion start signal when the first battery is in place, and outputs a first adjusting signal when the power supply voltage exceeds a preset voltage range. When the first adjusting module receives the first adjusting signal, the first adjusting module adjusts the power supply voltage to be within the preset voltage range. The power supply system solves the problems of selection difficulty and cost increase of components required to support a wide voltage of the robot.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a power supply system and a robot. Background Technology

[0002] The robot is equipped with a power supply system that outputs power to the main body of the robot. The rapid start-up or stopping of the robot's joints significantly affects the power supply voltage. For example, a rapid start-up momentarily lowers the voltage, while a rapid stop generates a large back electromotive force that momentarily raises it. Therefore, components directly powered by the power supply system must support a wide voltage range. Otherwise, rapid joint starts might lower the voltage, causing some components to shut down due to undervoltage; conversely, rapid stops might raise the voltage, causing some components to trigger overvoltage protection mechanisms or be damaged. However, selecting components that support a wide voltage range presents challenges in selection and increases costs. Summary of the Invention

[0003] This application provides a power supply system and a robot that can solve the problems of difficulty in selecting components and increased costs for robots that need to support wide voltage ranges.

[0004] In a first aspect, embodiments of this application provide a power supply system, including: First battery; The first conversion module is connected in series between the first battery and the power supply terminal of the robot body. It is configured to convert the electrical signal output by the first battery and output a preset power supply voltage to the power supply terminal in response to receiving the first conversion start signal. The control module, electrically connected to both the power supply terminal and the first conversion module, is configured to output the first conversion start signal in response to the presence of the first battery, and to output a first adjustment signal in response to the power supply voltage exceeding a preset voltage range; and A first adjustment module is connected in series between the first battery and the power supply terminal, and is electrically connected to the control module. It is configured to adjust the power supply voltage to the preset voltage range in response to receiving the first adjustment signal.

[0005] In one possible implementation of the first aspect, the first conversion module includes: A first drive unit, electrically connected to the control module, is configured to output a first drive signal in response to receiving the first conversion start signal; and A first voltage conversion unit is connected in series between the first battery and the power supply terminal, and is electrically connected to the first drive unit. It is configured to convert the electrical signal output by the first battery in response to receiving the first drive signal, and output a preset power supply voltage to the power supply terminal.

[0006] In one possible implementation of the first aspect, the first adjustment module includes: The second drive unit, electrically connected to the control module, is configured to output a second drive signal in response to receiving the first adjustment signal; and The first switching unit, connected in series between the first battery and the power supply terminal and electrically connected to the second driving unit, is configured to switch to the on state in response to receiving the second driving signal.

[0007] In one possible implementation of the first aspect, the control module includes: A first comparison unit, electrically connected to the power supply terminal, is configured to output a first comparison signal in response to the power supply voltage being greater than a first preset voltage; wherein the first preset voltage is the maximum voltage within the preset voltage range; A second comparison unit, electrically connected to the power supply terminal, is configured to output a second comparison signal in response to the power supply voltage being less than a second preset voltage; wherein the second preset voltage is the minimum voltage within the preset voltage range; and The control unit is electrically connected to the first comparison unit and the second comparison unit respectively, and is configured to output the first adjustment signal in response to receiving the first comparison signal or the second comparison signal.

[0008] In one possible implementation of the first aspect, the power supply system further includes: Second battery; The second conversion module, connected in series between the second battery and the power supply terminal, is configured to convert the electrical signal output by the second battery and output the power supply voltage to the power supply terminal in response to receiving the second conversion start signal. The control module is electrically connected to the second conversion module, and the control module is further configured to output a second conversion start signal in response to the presence of the second battery, and to output a second adjustment signal in response to the presence of only the second battery and the supply voltage exceeding a preset voltage range; and The second adjustment module is connected in series between the second battery and the power supply terminal, and is electrically connected to the control module. It is configured to adjust the power supply voltage to the preset voltage range in response to receiving the second adjustment signal.

[0009] In one possible implementation of the first aspect, the control module is configured as follows: In response to both the first battery and the second battery being in place and the power supply voltage exceeding a preset voltage range, the first adjustment signal or the second adjustment signal is output according to the parameters of the first battery and the second battery.

[0010] In one possible implementation of the first aspect, the parameters of the first battery include the voltage of the first battery, and the parameters of the second battery include the voltage of the second battery. The control module is also configured to: In response to the following conditions: both the first battery and the second battery are in place, the supply voltage is greater than a first preset voltage, and the voltage of the first battery is less than or equal to the voltage of the second battery, a first adjustment signal is output; wherein, the first preset voltage is the maximum voltage within the preset voltage range; In response to the fact that both the first battery and the second battery are in place, the supply voltage is greater than the first preset voltage, and the voltage of the first battery is greater than the voltage of the second battery, a second adjustment signal is output; In response to the fact that both the first battery and the second battery are in place, the supply voltage is less than the second preset voltage, and the voltage of the first battery is greater than or equal to the voltage of the second battery, a first adjustment signal is output; wherein, the second preset voltage is the minimum voltage in the preset voltage range; In response to the fact that both the first battery and the second battery are in place, the supply voltage is less than the second preset voltage, and the voltage of the first battery is less than the voltage of the second battery, a second adjustment signal is output.

[0011] In one possible implementation of the first aspect, the second conversion module includes: A third drive unit, electrically connected to the control module, is configured to output a third drive signal in response to receiving the second conversion start signal; and The second voltage conversion unit is connected in series between the first battery and the power supply terminal, and is electrically connected to the third drive unit. It is configured to convert the electrical signal output by the second battery in response to receiving the third drive signal, and output a preset power supply voltage to the power supply terminal.

[0012] In one possible implementation of the first aspect, the second adjustment module includes: A fourth drive unit, electrically connected to the control module, is configured to output a fourth drive signal in response to receiving the second adjustment signal; and The second switching unit, connected in series between the first battery and the power supply terminal and electrically connected to the fourth driving unit, is configured to switch to the on state in response to receiving the fourth driving signal.

[0013] Secondly, embodiments of this application provide a robot including the power supply system described in any one of the first aspects.

[0014] The beneficial effects of the embodiments in this application compared with the prior art are: This application provides a power supply system including a first battery, a first conversion module, a control module, and a first adjustment module. The first conversion module is connected in series between the first battery and the power supply terminal of the robot body. The control module is electrically connected to both the power supply terminal and the first conversion module. The first adjustment module is connected in series between the first battery and the power supply terminal and is electrically connected to the control module.

[0015] When the first battery is in place, the control module outputs a first conversion start signal. Upon receiving the first conversion start signal, the first conversion module converts the electrical signal output by the first battery and outputs a preset supply voltage to the power supply terminal to power the robot body. During the power supply process, the control module receives the supply voltage, and when the supply voltage exceeds the preset voltage range, it outputs a first adjustment signal. Upon receiving the first adjustment signal, the first adjustment module adjusts the supply voltage to the preset voltage range. The power supply system provided in this embodiment can stably output a supply voltage within the preset voltage range to the power supply terminal, without experiencing excessively high or low supply voltages. Therefore, it eliminates the need to select components that support a wide voltage range, helping to reduce the difficulty of component selection and lower the overall cost of the robot.

[0016] It is understandable that the beneficial effects of the second aspect mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic block diagram of a power supply system provided in an embodiment of this application; Figure 2 This is a schematic block diagram of a power supply system provided in another embodiment of this application; Figure 3 This is a connection diagram of a power supply system provided in an embodiment of this application; Figure 4 This is a schematic block diagram of a power supply system provided in another embodiment of this application; Figure 5 This is a schematic block diagram of a power supply system provided in another embodiment of this application; Figure 6 This is a connection diagram of a power supply system provided in another embodiment of this application.

[0019] In the diagram: 100, First battery; 200, First conversion module; 201, First drive unit; 202, First voltage conversion unit; 300, Control module; 301, Control unit; 302, First comparison unit; 303, Second comparison unit; 400, First adjustment module; 401, Second drive unit; 402, First switch unit; 500, Robot body; 600, Second battery; 700, Second conversion module; 701, Third drive unit; 702, Second voltage conversion unit; 800, Second adjustment module; 801, Fourth drive unit; 802, Second switch unit. Detailed Implementation

[0020] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0021] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0022] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [the described condition or event] is detected," or "in response to detection of [the described condition or event]."

[0024] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0026] The robot is equipped with a power supply system that outputs power to the robot body. Rapid starts and stops of the robot's joints significantly impact the power supply voltage. For example, a rapid start momentarily drops the voltage (e.g., by 5V), while a rapid stop generates a large back electromotive force that momentarily raises the voltage (e.g., by 25V). Therefore, components directly powered by the power supply system must support a wide voltage range (e.g., 35V~80V). Otherwise, rapid joint starts might cause the voltage to drop, leading to power loss in some components due to undervoltage; conversely, rapid stops might cause the voltage to rise, resulting in overvoltage protection mechanisms or damage to some components. However, selecting components that support a wide voltage range presents challenges in selection and increases costs.

[0027] Based on the above problems, embodiments of this application provide a power supply system, such as... Figure 1 As shown, the power supply system includes a first battery 100, a first conversion module 200, a control module 300, and a first adjustment module 400. The first conversion module 200 is connected in series between the first battery 100 and the power supply terminal A of the robot body 500. The control module 300 is electrically connected to both the power supply terminal A and the first conversion module 200. The first adjustment module 400 is connected in series between the first battery 100 and the power supply terminal A, and is also electrically connected to the control module 300. The control module 300 is configured to output a first conversion start signal in response to the first battery 100 being in place. The first conversion module 200 is configured to, in response to receiving the first conversion start signal, convert the electrical signal output by the first battery 100 and output a preset power supply voltage to the power supply terminal A. The control module 300 is configured to output a first adjustment signal in response to the power supply voltage exceeding the preset voltage range. The first adjustment module 400 is configured to, in response to receiving the first adjustment signal, adjust the power supply voltage to the preset voltage range.

[0028] Specifically, the control module 300 is communicatively connected to the first battery 100 (not shown in the figure). The control module 300 obtains parameters of the first battery 100, including the battery's presence status, charge level, charging / discharging status, charging / discharging current, battery voltage, voltage of each cell, cell temperature, various alarms and abnormalities, etc.

[0029] When the first battery 100 is in place, the control module 300 outputs a first conversion start signal. Upon receiving the first conversion start signal, the first conversion module 200 converts the electrical signal output by the first battery 100 and outputs a preset supply voltage to the power supply terminal A to power the robot body 500. During the power supply process, the control module 300 receives the supply voltage and outputs a first adjustment signal when the supply voltage exceeds the preset voltage range. Upon receiving the first adjustment signal, the first adjustment module 400 adjusts the supply voltage to the preset voltage range. The power supply system provided in this embodiment can stably output a supply voltage within the preset voltage range to the power supply terminal A, without experiencing excessively high or low supply voltages. Therefore, it eliminates the need to select components that support a wide voltage range, helping to reduce the difficulty of component selection and lower the overall cost of the robot.

[0030] It should be noted that the robot body 500 includes the power supply components required by the power supply system. The robot body 500 includes dual arms and end effectors, dual legs, a power management module, a cerebellum / cerebrum module, a perception module, and a human-machine interaction module. The dual arms and end effectors primarily realize various operations and interactions with the environment; for example, the dual arms have seven degrees of freedom, and the end effectors can be either dexterous hands or grippers depending on the application requirements. The dual legs are the main carriers for autonomous movement and environmental adaptation; for example, the dual legs have six degrees of freedom. The power management module can allocate and manage the power to the dual arms and end effectors, dual legs, cerebellum / cerebrum module, perception module, and human-machine interaction module. The cerebellum module is mainly responsible for gait planning, balance control, and motion coordination; the cerebrum module realizes task understanding, semantic interaction, and autonomous decision-making. The perception module realizes real-time perception of the external environment and its own state, mainly including visual sensors, inertial sensors, posture sensors, tactile sensors, and torque sensors. The human-computer interaction module mainly enables natural and intelligent communication between humanoid robots and humans, including command reception and feedback, and also covers multimodal perception and emotional expression.

[0031] In some embodiments, such as Figure 2As shown, the first conversion module 200 includes a first drive unit 201 and a first voltage conversion unit 202. The first drive unit 201 is electrically connected to the control module 300 and is configured to output a first drive signal in response to receiving a first conversion start signal. The first voltage conversion unit 202 is connected in series between the first battery 100 and the power supply terminal A, and is electrically connected to the first drive unit 201. It is configured to convert the electrical signal output by the first battery 100 in response to receiving the first drive signal and output a preset power supply voltage to the power supply terminal A.

[0032] Specifically, when the first battery 100 is in place, the control module 300 will output a first conversion start signal. When the first conversion start signal is received, the first drive unit 201 outputs a first drive signal, and when the first voltage conversion unit 202 receives the first drive signal, it converts the electrical signal output by the first battery 100 and outputs a preset power supply voltage to the power supply terminal A to supply power to the robot body 500 which is electrically connected to the power supply terminal A.

[0033] For example, such as Figure 3 As shown, the first driving unit 201 includes a first driving chip U1. The first voltage conversion unit 202 includes a first switch Q1, a second switch Q2, a third switch Q3, a fourth switch Q4, and a first inductor L1. The first switch Q1, the first inductor L1, and the second switch Q2 are connected in series between the first battery 100 and the power supply terminal A. The first terminal of the third switch Q3 is electrically connected to the common terminal of the first switch Q1 and the first inductor L1. The first terminal of the fourth switch Q4 is electrically connected to the common terminal of the first inductor L1 and the second switch Q2. The second terminals of the third switch Q3 and the fourth switch Q4 are both grounded. The control terminals of the first switch Q1, the second switch Q2, the third switch Q3, and the fourth switch Q4 are all electrically connected to the first driving chip U1.

[0034] When the first driver chip U1 receives the first conversion start signal, it sends first drive signals to the first switch Q1, the second switch Q2, the third switch Q3, and the fourth switch Q4 respectively (the first drive signal includes the drive signal of the first switch Q1, the drive signal of the second switch Q2, the drive signal of the third switch Q3, and the drive signal of the fourth switch Q4). The first switch Q1, the second switch Q2, the third switch Q3, and the fourth switch Q4 operate (turn on or off) according to the corresponding drive signals, converting the electrical signal output by the first battery 100 and outputting a preset supply voltage to the power supply terminal A to supply power to the robot body 500 electrically connected to the power supply terminal A.

[0035] For example, the first driver chip U1 can be an LT8708 chip.

[0036] In some embodiments, such as Figure 2 As shown, the first adjustment module 400 includes a second drive unit 401 and a first switch unit 402. The second drive unit 401 is electrically connected to the control module 300 and is configured to output a second drive signal in response to receiving a first adjustment signal. The first switch unit 402 is connected in series between the first battery 100 and the power supply terminal A, and is electrically connected to the second drive unit 401, and is configured to switch to an on state in response to receiving the second drive signal.

[0037] Specifically, during the power supply process of the first battery 100, the control module 300 receives the supply voltage and outputs a first adjustment signal when the supply voltage exceeds the preset voltage range. When the second drive unit 401 receives the first adjustment signal, it outputs a second drive signal. When the first switch unit 402 receives the second drive signal, it switches to the on state. At this time, the first battery 100 is connected to the power supply terminal A. The first battery 100 replenishes the power supply terminal A or absorbs the energy of the power supply terminal A, so that the supply voltage of the power supply terminal A is restored to the preset voltage range, ensuring that the supply voltage is not too high or too low. Therefore, it is not necessary to select components that support a wide voltage range, which helps to reduce the difficulty of component selection and reduce the overall cost of the robot.

[0038] For example, such as Figure 3 As shown, the second driving unit 401 includes a second driving chip U2. The first switching unit 402 includes a fifth switching transistor Q5 and a sixth switching transistor Q6. The fifth switching transistor Q5 and the sixth switching transistor Q6 are connected in series between the first battery 100 and the power supply terminal A. The control terminals of the fifth switching transistor Q5 and the sixth switching transistor Q6 are electrically connected to the second driving chip U2, respectively.

[0039] When the second drive chip U2 receives the first adjustment signal, the first drive chip U1 sends second drive signals to the fifth switch Q5 and the sixth switch Q6 respectively (the second drive signals include the drive signals for the fifth switch Q5 and the sixth switch Q6). The fifth switch Q5 and the sixth switch Q6 are turned on according to the corresponding drive signals. At this time, the first battery 100 is connected to the power supply terminal A. The first battery 100 replenishes the power supply terminal A with electrical energy or absorbs the energy of the power supply terminal A, so that the power supply voltage of the power supply terminal A is restored to the preset voltage range, ensuring that the power supply voltage is not too high or too low. Therefore, it is not necessary to select components that support a wide voltage range, which helps to reduce the difficulty of component selection and reduce the overall cost of the robot.

[0040] For example, the second driver chip U2 can be an LTC7001 chip.

[0041] In some embodiments, such as Figure 2As shown, the control module 300 includes a first comparison unit 302, a second comparison unit 303, and a control unit 301. The first comparison unit 302 is electrically connected to power supply terminal A and is configured to output a first comparison signal in response to a power supply voltage greater than a first preset voltage; wherein the first preset voltage is the maximum voltage within a preset voltage range. The second comparison unit 303 is electrically connected to power supply terminal A and is configured to output a second comparison signal in response to a power supply voltage less than a second preset voltage; wherein the second preset voltage is the minimum voltage within a preset voltage range. The control unit 301 is electrically connected to both the first comparison unit 302 and the second comparison unit 303 and is configured to output a first adjustment signal in response to receiving either the first comparison signal or the second comparison signal.

[0042] Specifically, when the supply voltage exceeds the first preset voltage, it indicates that the supply voltage is too high, and the component may enter protection mode or be damaged due to the excessively high supply voltage. At this time, the first comparison unit 302 outputs a first comparison signal. The control unit 301 outputs a first adjustment signal upon receiving the first comparison signal. When the second drive chip U2 receives the first adjustment signal, the first drive chip U1 sends second drive signals to the fifth switch Q5 and the sixth switch Q6 respectively. The fifth switch Q5 and the sixth switch Q6 are turned on according to the corresponding drive signals. At this time, the first battery 100 is connected to the power supply terminal A. The first battery 100 absorbs energy from the power supply terminal A, reducing the supply voltage and restoring the supply voltage of the power supply terminal A back to the preset voltage range, ensuring that the component will not enter protection mode or be damaged due to excessively high supply voltage.

[0043] When the supply voltage is lower than the second preset voltage, it indicates that the supply voltage is too low, and the component may lose power due to the low supply voltage. At this time, the second comparison unit 303 outputs a second comparison signal. When the control unit 301 receives the second comparison signal, it outputs a first adjustment signal. When the second drive chip U2 receives the first adjustment signal, the first drive chip U1 sends second drive signals to the fifth switch Q5 and the sixth switch Q6 respectively. The fifth switch Q5 and the sixth switch Q6 are turned on according to the corresponding drive signals. At this time, the first battery 100 is connected to the power supply terminal A, and the first battery 100 replenishes the power supply terminal A with power, increasing the supply voltage and restoring the supply voltage of the power supply terminal A back to the preset voltage range, ensuring that the power supply voltage does not become too low and cause a power outage.

[0044] It should be noted that designers can set the specific values ​​of the first preset voltage and the second preset voltage according to the actual situation. This application does not limit the specific values ​​of the first preset voltage and the second preset voltage.

[0045] For example, the first comparison unit 302 includes a first comparator, one input terminal of which is electrically connected to the power supply terminal A, the other input terminal of which is used to receive a first preset voltage, and the output terminal of which is electrically connected to the control unit 301. The second comparison unit 303 includes a second comparator, one input terminal of which is electrically connected to the power supply terminal A, the other input terminal of which is used to receive a second preset voltage, and the output terminal of which is electrically connected to the control unit 301.

[0046] Robot batteries require periodic charging, mostly manually via direct chargers or through specialized charging stations. Due to technological limitations and safety considerations, charging current is currently mostly controlled below 0.5C (e.g., for a 20AH battery, 20A is 1C, and 0.5C is equivalent to 10A), resulting in relatively long charging times. During charging, the robot cannot perform various tasks, significantly reducing its efficiency.

[0047] Based on the above issues, such as Figure 4 As shown, the power supply system also includes a second battery 600, a second conversion module 700, and a second adjustment module 800. The second conversion module 700 is connected in series between the second battery 600 and power supply terminal A, and is configured to convert the electrical signal output by the second battery 600 and output a supply voltage to power supply terminal A in response to receiving a second conversion start signal. The control module 300 is electrically connected to the second conversion module 700, and is further configured to output a second conversion start signal in response to the second battery 600 being present, and to output a second adjustment signal in response to the second battery 600 being present and the supply voltage exceeding a preset voltage range. The second adjustment module 800 is connected in series between the second battery 600 and power supply terminal A, and is electrically connected to the control module 300, and is configured to adjust the supply voltage to a preset voltage range in response to receiving the second adjustment signal.

[0048] Specifically, the control module 300 is communicatively connected to the second battery 600 (not shown in the figure). The control module 300 obtains parameters of the second battery 600, including the battery's presence status, charge level, charging / discharging status, charging / discharging current, battery voltage, voltage of each cell, cell temperature, various alarms and abnormalities, etc.

[0049] When both the first battery 100 and the second battery 600 are in place, the control module 300 outputs a first conversion start signal and a second conversion start signal. When the first conversion module 200 receives the first conversion start signal, it converts the electrical signal output by the first battery 100 and outputs a preset supply voltage to power supply terminal A. Simultaneously, when the second conversion module 700 receives the second conversion start signal, it converts the electrical signal output by the second battery 600 and outputs a preset supply voltage to power supply terminal A. At this time, both the first battery 100 and the second battery 600 simultaneously supply power to the robot body 500.

[0050] When the second battery 600 needs charging, it is removed, leaving only the first battery 100 in place. The control module 300 then outputs a first conversion start signal. Upon receiving the first conversion start signal, the first conversion module 200 converts the electrical signal output by the first battery 100 and outputs a preset power supply voltage to the power supply terminal A to power the robot body 500.

[0051] When the first battery 100 needs charging, it is removed, leaving only the second battery 600 in place. The control module 300 then outputs a second conversion start signal. Upon receiving this signal, the second conversion module 700 converts the electrical signal output from the second battery 600 and outputs a preset supply voltage to power supply terminal A to power the robot body 500. During power supply, if the supply voltage exceeds the preset voltage range, the control module 300 outputs a second adjustment signal. Upon receiving this signal, the second adjustment module 800 adjusts the supply voltage to the preset range. This avoids situations where the supply voltage is too high or too low, eliminating the need for components supporting a wide voltage range, thus reducing component selection difficulty and overall robot cost.

[0052] Therefore, with this design, users can charge one of the robot's batteries while the other battery continuously powers the robot, ensuring that the robot can remain in working condition and improving its work efficiency.

[0053] In some embodiments, such as Figure 5 As shown, the second conversion module 700 includes a third drive unit 701 and a second voltage conversion unit 702. The third drive unit 701 is electrically connected to the control module 300 and is configured to output a third drive signal in response to receiving a second conversion start signal. The second voltage conversion unit 702 is connected in series between the second battery 600 and the power supply terminal A, and is electrically connected to the third drive unit 701. It is configured to convert the electrical signal output by the second battery 600 in response to receiving the third drive signal and output a preset power supply voltage to the power supply terminal A.

[0054] Specifically, when the second battery 600 is in place, the control module 300 will output a second conversion start signal. When the third drive unit 701 receives the second conversion start signal, it outputs a third drive signal. When the second voltage conversion unit 702 receives the third drive signal, it converts the electrical signal output by the second battery 600 and outputs a preset power supply voltage to the power supply terminal A to supply power to the robot body 500 which is electrically connected to the power supply terminal A.

[0055] For example, such as Figure 6 As shown, the third driving unit 701 includes a third driving chip U3. The second voltage conversion unit 702 includes a seventh switch Q7, an eighth switch Q8, a ninth switch Q9, a tenth switch Q10, and a second inductor L2. The seventh switch Q7, the second inductor L2, and the eighth switch Q8 are connected in series between the second battery 600 and the power supply terminal A. The first terminal of the ninth switch Q9 is electrically connected to the common terminal of the seventh switch Q7 and the second inductor L2. The first terminal of the tenth switch Q10 is electrically connected to the common terminal of the second inductor L2 and the eighth switch Q8. The second terminals of the ninth switch Q9 and the tenth switch Q10 are both grounded. The control terminals of the seventh switch Q7, the eighth switch Q8, the ninth switch Q9, and the tenth switch Q10 are all electrically connected to the third driving chip U3.

[0056] When the third drive chip U3 receives the second conversion start signal, it sends third drive signals to the seventh switch Q7, the eighth switch Q8, the ninth switch Q9, and the tenth switch Q10 respectively (the third drive signals include the drive signals of the seventh switch Q7, the eighth switch Q8, the ninth switch Q9, and the tenth switch Q10). The seventh switch Q7, the eighth switch Q8, the ninth switch Q9, and the tenth switch Q10 operate (turn on or off) according to their corresponding drive signals, converting the electrical signals output by the second battery 600 and outputting a preset supply voltage to the power supply terminal A to power the robot body 500, which is electrically connected to the power supply terminal A.

[0057] For example, the third driver chip U3 can be the LT8708 chip.

[0058] In some embodiments, such as Figure 5 As shown, the second adjustment module 800 includes a fourth drive unit 801 and a second switch unit 802. The fourth drive unit 801 is electrically connected to the control module 300 and is configured to output a fourth drive signal in response to receiving a second adjustment signal. The second switch unit 802 is connected in series between the second battery 600 and the power supply terminal A, and is electrically connected to the fourth drive unit 801, and is configured to switch to an on state in response to receiving a fourth drive signal.

[0059] Specifically, during the power supply process of the second battery 600, the control module 300 receives the supply voltage and outputs a second adjustment signal when the supply voltage exceeds the preset voltage range. The fourth drive unit 801 outputs a fourth drive signal upon receiving the second adjustment signal. The second switch unit 802 switches to the on state upon receiving the fourth drive signal. At this time, the second battery 600 is connected to the power supply terminal A. The second battery 600 replenishes power to the power supply terminal A or absorbs energy from the power supply terminal A, restoring the supply voltage of the power supply terminal A to the preset voltage range. This ensures that the supply voltage is not too high or too low, thus eliminating the need to select components that support a wide voltage range, which helps reduce the difficulty of component selection and the overall cost of the robot.

[0060] For example, such as Figure 6 As shown, the fourth drive unit 801 includes a fourth drive chip U4. The second switch unit 802 includes an eleventh switch Q11 and a twelfth switch Q12. The eleventh switch Q11 and the twelfth switch Q12 are connected in series between the second battery 600 and the power supply terminal A. The control terminals of the eleventh switch Q11 and the twelfth switch Q12 are electrically connected to the fourth drive chip U4, respectively.

[0061] When the fourth drive chip U4 receives the second adjustment signal, it sends a fourth drive signal to the eleventh switch Q11 and the twelfth switch Q12 respectively (the fourth drive signal includes the drive signal for the eleventh switch Q11 and the drive signal for the twelfth switch Q12). The eleventh switch Q11 and the twelfth switch Q12 turn on according to the corresponding drive signal. At this time, the second battery 600 is connected to the power supply terminal A. The second battery 600 replenishes the power supply terminal A with electrical energy or absorbs the energy of the power supply terminal A, so that the power supply voltage of the power supply terminal A is restored to the preset voltage range, ensuring that the power supply voltage is not too high or too low. Therefore, it is not necessary to select components that support a wide voltage range, which helps to reduce the difficulty of component selection and reduce the overall cost of the robot.

[0062] For example, the fourth driver chip U4 can be an LTC7001 chip.

[0063] In some embodiments, the control module 300 is configured to output a first adjustment signal or a second adjustment signal according to the parameters of the first battery 100 and the second battery 600 when both the first battery 100 and the second battery 600 are in place and the supply voltage exceeds a preset voltage range.

[0064] The parameters of the first battery 100 include the voltage of the first battery 100, and the parameters of the second battery 600 include the voltage of the second battery 600.

[0065] The control module 300 is also configured to output a first adjustment signal in response to the following conditions: both the first battery 100 and the second battery 600 are in place, the supply voltage is greater than a first preset voltage, and the voltage of the first battery 100 is less than or equal to the voltage of the second battery 600; wherein the first preset voltage is the maximum voltage in the preset voltage range.

[0066] Specifically, when both the first battery 100 and the second battery 600 are in place, if the supply voltage is greater than the first preset voltage, the supply voltage needs to be adjusted to reduce it, preventing excessive supply voltage from causing the components to enter protection mode or be damaged. At this time, the control module 300 compares the voltage of the first battery 100 with the voltage of the second battery 600. If the voltage of the first battery 100 is less than or equal to the voltage of the second battery 600, it indicates that the charge of the first battery 100 is lower than that of the second battery 600, and the energy absorption capacity of the first battery 100 is higher than that of the second battery 600. In this case, the control module 300 outputs a first adjustment signal. When the second driver chip U2 receives the first adjustment signal, the first driver chip U1 sends second drive signals to the fifth switch Q5 and the sixth switch Q6, respectively. The fifth switch Q5 and the sixth switch Q6 are turned on according to the corresponding drive signals. At this time, the first battery 100 is connected to the power supply terminal A. The first battery 100 absorbs the energy of the power supply terminal A, which reduces the power supply voltage and restores the power supply voltage of the power supply terminal A to the preset voltage range, ensuring that the power supply voltage is not too high, which would cause the component to enter the protection or be damaged.

[0067] The control module 300 is also configured to output a second adjustment signal in response to the following conditions: both the first battery 100 and the second battery 600 are in place, the supply voltage is greater than the first preset voltage, and the voltage of the first battery 100 is greater than the voltage of the second battery 600.

[0068] Specifically, when both the first battery 100 and the second battery 600 are in place, if the supply voltage is greater than the first preset voltage, the supply voltage needs to be adjusted to reduce it, preventing excessively high supply voltage from causing the components to enter protection mode or be damaged. At this time, the control module 300 compares the voltage of the first battery 100 and the voltage of the second battery 600. If the voltage of the first battery 100 is greater than the voltage of the second battery 600, it indicates that the charge of the second battery 600 is lower than that of the first battery 100, and the energy absorption capacity of the second battery 600 is higher than that of the first battery 100. In this case, the control module 300 outputs a second adjustment signal. When the fourth drive chip U4 receives the second adjustment signal, it sends a fourth drive signal to the eleventh switch Q11 and the twelfth switch Q12, respectively. The eleventh switch Q11 and the twelfth switch Q12 are turned on according to the corresponding drive signals. At this time, the second battery 600 is connected to the power supply terminal A. The second battery 600 absorbs the energy of the power supply terminal A, which reduces the power supply voltage and restores the power supply voltage of the power supply terminal A to the preset voltage range, ensuring that the power supply voltage is not too high, which would cause the component to enter the protection or be damaged.

[0069] The control module 300 is also configured to output a first adjustment signal in response to the following conditions: both the first battery 100 and the second battery 600 are in place, the supply voltage is less than a second preset voltage, and the voltage of the first battery 100 is greater than or equal to the voltage of the second battery 600; wherein the second preset voltage is the minimum voltage in the preset voltage range.

[0070] Specifically, when both the first battery 100 and the second battery 600 are in place, if the supply voltage is lower than the second preset voltage, the supply voltage needs to be adjusted to increase it and prevent the component from losing power due to excessively low supply voltage. At this time, the control module 300 compares the voltage of the first battery 100 and the voltage of the second battery 600. If the voltage of the first battery 100 is greater than or equal to the voltage of the second battery 600, it means that the charge of the first battery 100 is greater than that of the second battery 600, and the charging capability of the first battery 100 is greater than that of the second battery 600. At this time, the control module 300 outputs a first adjustment signal. When the second driver chip U2 receives the first adjustment signal, the first driver chip U1 sends a second drive signal to the fifth switch Q5 and the sixth switch Q6 respectively. The fifth switch Q5 and the sixth switch Q6 are turned on according to the corresponding drive signals. At this time, the first battery 100 is connected to the power supply terminal A. The first battery 100 replenishes the power supply terminal A, causing the power supply voltage to rise and restore the power supply voltage of the power supply terminal A to the preset voltage range, ensuring that the power supply voltage is not too low and the component will not lose power.

[0071] The control module 300 is also configured to output a second adjustment signal in response to the following conditions: both the first battery 100 and the second battery 600 are in place, the supply voltage is less than a second preset voltage, and the voltage of the first battery 100 is less than the voltage of the second battery 600.

[0072] Specifically, when both the first battery 100 and the second battery 600 are in place, if the supply voltage is lower than the second preset voltage, the supply voltage needs to be adjusted to increase it and prevent the component from losing power due to excessively low supply voltage. At this time, the control module 300 compares the voltage of the first battery 100 and the voltage of the second battery 600. If the voltage of the first battery 100 is lower than the voltage of the second battery 600, it means that the charge of the second battery 600 is greater than that of the first battery 100, and the charging capability of the second battery 600 is greater than that of the first battery 100. At this time, the control module 300 outputs a second adjustment signal. When the fourth driver chip U4 receives the second adjustment signal, the fourth driver chip U4 sends a fourth drive signal to the eleventh switch Q11 and the twelfth switch Q12 respectively. The eleventh switch Q11 and the twelfth switch Q12 are turned on according to the corresponding drive signals. At this time, the second battery 600 is connected to the power supply terminal A. The second battery 600 replenishes the power supply terminal A, causing the power supply voltage to rise and restore the power supply voltage of the power supply terminal A to the preset voltage range, ensuring that the component will not lose power due to the power supply voltage being too low.

[0073] This application provides a robot including the aforementioned power supply system. The user can charge one of the robot's batteries while the other continuously powers the robot, ensuring it remains operational and improving its efficiency. Simultaneously, the power supply system can stably output a voltage within a preset range to the power supply terminal, preventing excessively high or low voltages. This eliminates the need for components supporting a wide voltage range, reducing component selection complexity and overall robot cost. For a detailed description of the power supply system, please refer to the above description; further elaboration is omitted here.

[0074] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A power supply system, characterized in that, include: First battery; The first conversion module is connected in series between the first battery and the power supply terminal of the robot body. It is configured to convert the electrical signal output by the first battery and output a preset power supply voltage to the power supply terminal in response to receiving the first conversion start signal. The control module is electrically connected to the power supply terminal and the first conversion module respectively, and is configured to output the first conversion start signal in response to the first battery being in place, and to output the first adjustment signal in response to the power supply voltage exceeding the preset voltage range. as well as A first adjustment module is connected in series between the first battery and the power supply terminal, and is electrically connected to the control module. It is configured to adjust the power supply voltage to the preset voltage range in response to receiving the first adjustment signal.

2. The power supply system according to claim 1, characterized in that, The first conversion module includes: A first drive unit, electrically connected to the control module, is configured to output a first drive signal in response to receiving the first conversion start signal; and A first voltage conversion unit is connected in series between the first battery and the power supply terminal, and is electrically connected to the first drive unit. It is configured to convert the electrical signal output by the first battery in response to receiving the first drive signal, and output a preset power supply voltage to the power supply terminal.

3. The power supply system according to claim 1, characterized in that, The first adjustment module includes: The second drive unit, electrically connected to the control module, is configured to output a second drive signal in response to receiving the first adjustment signal; and The first switching unit, connected in series between the first battery and the power supply terminal and electrically connected to the second driving unit, is configured to switch to the on state in response to receiving the second driving signal.

4. The power supply system according to claim 1, characterized in that, The control module includes: A first comparison unit, electrically connected to the power supply terminal, is configured to output a first comparison signal in response to the power supply voltage being greater than a first preset voltage; wherein the first preset voltage is the maximum voltage within the preset voltage range; A second comparison unit, electrically connected to the power supply terminal, is configured to output a second comparison signal in response to the power supply voltage being less than a second preset voltage; wherein the second preset voltage is the minimum voltage within the preset voltage range; and The control unit is electrically connected to the first comparison unit and the second comparison unit respectively, and is configured to output the first adjustment signal in response to receiving the first comparison signal or the second comparison signal.

5. The power supply system according to any one of claims 1-4, characterized in that, The power supply system also includes: Second battery; The second conversion module, connected in series between the second battery and the power supply terminal, is configured to convert the electrical signal output by the second battery and output the power supply voltage to the power supply terminal in response to receiving the second conversion start signal. The control module is electrically connected to the second conversion module, and the control module is further configured to output a second conversion start signal in response to the presence of the second battery, and to output a second adjustment signal in response to the presence of only the second battery and the supply voltage exceeding a preset voltage range; and The second adjustment module is connected in series between the second battery and the power supply terminal, and is electrically connected to the control module. It is configured to adjust the power supply voltage to the preset voltage range in response to receiving the second adjustment signal.

6. The power supply system according to claim 5, characterized in that, The control module is configured as follows: In response to both the first battery and the second battery being in place and the power supply voltage exceeding a preset voltage range, the first adjustment signal or the second adjustment signal is output according to the parameters of the first battery and the second battery.

7. The power supply system according to claim 6, characterized in that, The parameters of the first battery include the voltage of the first battery, and the parameters of the second battery include the voltage of the second battery; The control module is also configured to: In response to the following conditions: both the first battery and the second battery are in place, the supply voltage is greater than a first preset voltage, and the voltage of the first battery is less than or equal to the voltage of the second battery, a first adjustment signal is output; wherein, the first preset voltage is the maximum voltage within the preset voltage range; In response to the fact that both the first battery and the second battery are in place, the supply voltage is greater than the first preset voltage, and the voltage of the first battery is greater than the voltage of the second battery, a second adjustment signal is output; In response to the fact that both the first battery and the second battery are in place, the supply voltage is less than the second preset voltage, and the voltage of the first battery is greater than or equal to the voltage of the second battery, a first adjustment signal is output; wherein, the second preset voltage is the minimum voltage in the preset voltage range; In response to the fact that both the first battery and the second battery are in place, the supply voltage is less than the second preset voltage, and the voltage of the first battery is less than the voltage of the second battery, a second adjustment signal is output.

8. The power supply system according to claim 5, characterized in that, The second conversion module includes: A third drive unit, electrically connected to the control module, is configured to output a third drive signal in response to receiving the second conversion start signal; and The second voltage conversion unit is connected in series between the first battery and the power supply terminal, and is electrically connected to the third drive unit. It is configured to convert the electrical signal output by the second battery in response to receiving the third drive signal, and output a preset power supply voltage to the power supply terminal.

9. The power supply system according to claim 5, characterized in that, The second adjustment module includes: A fourth drive unit, electrically connected to the control module, is configured to output a fourth drive signal in response to receiving the second adjustment signal; and The second switching unit, connected in series between the first battery and the power supply terminal and electrically connected to the fourth driving unit, is configured to switch to the on state in response to receiving the fourth driving signal.

10. A robot, characterized in that, Includes the power supply system as described in any one of claims 1-9.

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