Robot and power management circuit and power management method thereof

Abstract

The application discloses a robot and a power management circuit and a power management method thereof, and belongs to the field of robot power management. The power management circuit comprises a power supply, a pre-charging circuit, a total switch circuit, a first ADC sampling circuit and a controller. The input end of the pre-charging circuit is connected with the power supply, and the output end is connected with the output end of the power supply. The total switch circuit is arranged between the power supply and the output end of the power supply. The first ADC sampling circuit is arranged between the output end of the power supply and the input end of a bus, and is used for monitoring the input voltage of the input end of the bus. A plurality of parallel power supply circuits are connected with the input end of the bus, and the voltage output end of each power supply circuit is used for supplying power to one load. The controller is connected with the pre-charging circuit, the first ADC sampling circuit and the plurality of power supply circuits. After the power supply is powered on, the controller controls the pre-charging circuit to charge. When the input voltage is monitored to exceed a preset threshold value, the pre-charging circuit is turned off, the total switch circuit is turned on, and the plurality of power supply circuits are started to supply power. The application can realize safe power supply of the plurality of power supply circuits.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot and its power management circuit and power management method. Background Technology

[0002] With the rapid iteration of industrial automation and intelligent equipment technologies, industrial robots, collaborative robots and mobile robots have been widely used in core production scenarios such as intelligent manufacturing, precision machining and intelligent warehousing, undertaking repetitive, high-precision and high-load tasks.

[0003] The robot includes various loads such as a main control board, communication modules, and joint modules, each with a different rated voltage. Therefore, it is necessary to develop a power management circuit to safely manage the power supply to multiple loads. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, one object of this invention is to provide a robot and its power management circuit and method, capable of safely supplying power to multiple power supply circuits.

[0005] The technical solution adopted in this invention is: In a first aspect, the present invention provides a power management circuit for a robot, comprising: a power supply; a pre-charging circuit, with its input terminal connected to the power supply and its output terminal connected to the power supply output terminal; a main switch circuit disposed between the power supply and the power supply output terminal; a first ADC sampling circuit disposed between the power supply output terminal and the bus input terminal for monitoring the input voltage of the bus input terminal; a multi-parallel power supply circuit, each power supply circuit having its voltage input terminal connected to the bus input terminal and its voltage output terminal for outputting a preset power supply voltage to power a load; and a controller connected to the pre-charging circuit, the first ADC sampling circuit, and the multi-parallel power supply circuit respectively; after the power supply is powered on, the controller controls the pre-charging circuit to charge, and according to the first ADC sampling circuit, turns on the main switch circuit and turns off the pre-charging circuit, and starts the multi-parallel power supply circuit to begin power supply.

[0006] Furthermore, the pre-charge circuit includes: a first MOSFET, the source of which is connected to the power supply, and the drain of which is connected to the power supply output terminal via a connector, the connector being externally connected to a pre-charge resistor; a first transistor, the base of which is connected to the controller, the collector of which is connected to the power supply and the gate of the first MOSFET respectively, and the emitter being grounded; a first charging capacitor disposed between the source and the gate of the first MOSFET; and a second charging capacitor disposed between the base and the emitter of the first transistor.

[0007] Furthermore, the master switch circuit includes a second transistor and a relay. The base of the second transistor is connected to the relay enable pin of the controller through a resistor. The emitter of the second transistor is grounded. The collector of the second transistor is connected to the coil control terminal of the relay. The common terminal of the relay is connected to the power supply. The normally open terminal of the relay is connected to the power supply output terminal.

[0008] Furthermore, the first ADC sampling circuit includes: a sampling resistor, one end of which is connected to the power supply output terminal and the other end of which is connected to the bus input terminal; and a first ADC voltage sampling circuit for monitoring the input voltage of the bus input terminal.

[0009] Furthermore, the multi-channel power supply circuit includes: a first power supply circuit for supplying power to the sensor; a second power supply circuit for supplying power to the main control board; and a third power supply circuit for supplying power to the motor drive bus.

[0010] Furthermore, the power supply circuit includes: an inductor; a power management chip, with its enable input voltage pin connected to the enable output voltage pin of the controller; a feedback circuit, including a feedback resistor disposed between the feedback input pin of the power management chip and the voltage output terminal; a high-side MOSFET, with its source connected to the gate driver pin of the high-side MOSFET of the power management chip via a first resistor, its gate connected to the bus input terminal, and its drain connected to the switch pin of the power management chip and one end of the inductor; and a low-side MOSFET, with its source connected to the gate driver pin of the low-side MOSFET of the power management chip via a second resistor, its gate connected to the drain of the high-side MOSFET, and its drain grounded; wherein, the other end of the inductor is connected to the voltage output terminal, and the different resistance values ​​of the feedback resistor allow the voltage output terminal of the power supply circuit to output different voltages.

[0011] Furthermore, the power supply circuit also includes a second ADC sampling circuit for monitoring the power supply current of the power supply circuit.

[0012] Furthermore, if the supply current is greater than a preset threshold, the controller cuts off the voltage input of the power supply circuit through the enable output voltage pin; if the supply current change rate of the second or third power supply circuit exceeds a preset threshold, the controller controls the output voltage of the third power supply circuit to rise instantaneously to a preset value, and controls the output voltage to fall back to the rated voltage after the supply current change rate stabilizes.

[0013] Secondly, the present invention provides a power management method for a robot, applied to the aforementioned power management circuit. The power management method includes: after the power supply is powered on, the controller controls the pre-charging circuit to charge; when the input voltage is detected to exceed a preset threshold, the pre-charging circuit is turned off and the main switch circuit is turned on; and the multi-power supply circuit is controlled to start supplying power according to a preset power-on sequence.

[0014] Thirdly, the present invention provides a robot including the power management circuit described above.

[0015] The beneficial effects of this invention are: In this invention, after power is supplied, the controller controls the pre-charging circuit to charge. When the input voltage at the bus input terminal exceeds a preset threshold, the pre-charging circuit is shut down and the main switch circuit is turned on, controlling the multiple power supply circuits to start supplying power. This invention overcomes the technical problem of voltage spikes at the bus input terminal during power-on in existing technologies, achieving safe power supply. Attached Figure Description

[0016] Figure 1 This is a structural block diagram of one embodiment of the power management circuit of the robot of the present invention; Figure 2 yes Figure 1 A circuit diagram of one embodiment of the pre-charging circuit 2; Figure 3 yes Figure 1 A circuit diagram of one embodiment of the main switch circuit 3; Figure 4 yes Figure 1 A circuit diagram of one embodiment of the first ADC sampling circuit 5; Figure 5 yes Figure 1 A first part of the circuit diagram of an embodiment of the first power supply circuit in the multi-channel power supply circuit 6; Figure 6 yes Figure 1 A second part of the circuit diagram of an embodiment of the first power supply circuit in the multi-channel power supply circuit 6; Figure 7 yes Figure 1 A structural block diagram of one embodiment of the controller 7; Figure 8 This is a flowchart illustrating an embodiment of the power management method for the robot of the present invention. Detailed Implementation

[0017] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0018] Example 1

[0019] Please see Figure 1 , Figure 1 This is a structural block diagram of one embodiment of the power management circuit for the robot of the present invention. (See diagram below.) Figure 1As shown, the power management circuit includes a power supply 1, a pre-charging circuit 2, a main switch circuit 3, a power output terminal 4, a first ADC sampling circuit 5, a multi-parallel power supply circuit 6, a controller 7, and a bus input terminal 8.

[0020] The input terminal of the pre-charging circuit 2 is connected to the power supply 1, and the output terminal is connected to the power supply output terminal 4.

[0021] The main switch circuit 3 is located between the power supply 1 and the power supply output terminal 4.

[0022] The first ADC sampling circuit 5 is located between the power output terminal 4 and the bus input terminal 8, and is used to monitor the input voltage of the bus input terminal 8.

[0023] The voltage input terminal of each power supply circuit is connected to the bus input terminal 8, and the voltage output terminal is used to output a preset power supply voltage to supply power to one load.

[0024] The controller 7 is connected to the pre-charging circuit 2, the first ADC sampling circuit 5, and the multi-channel power supply circuit 6, respectively. It should be noted that after the power supply 1 is powered on, the controller 7 controls the pre-charging circuit 2 to charge. When the input voltage of the bus input terminal 8 is detected to exceed the preset threshold, the pre-charging circuit 2 is turned off and the main switch circuit 3 is turned on, and the multi-channel power supply circuit 6 is started to supply power.

[0025] Specifically, such as Figure 2 As shown, the pre-charging circuit includes a first MOSFET Q31, a first transistor Q32, a first charging capacitor C225, and a second charging capacitor C226.

[0026] The source of the first MOSFET Q31 is connected to the power supply (the voltage output by the power supply is denoted as VIN, 48V), and the drain is connected to the power supply output terminal (the voltage output by the power supply is denoted as VBAT) through a connector J34. The connector J34 is connected to an external pre-charge resistor (not shown in the figure).

[0027] The base of the first transistor Q32 is connected to a pin of the controller via a resistor R295, and this pin outputs the CTL_PRECHARE_2 signal. The collector of the first transistor Q32 is connected to the power supply and the gate of the first MOSFET Q31, while the emitter is grounded. Resistors R292 and R294 are connected in series between the collector of the first transistor Q32 and the power supply VIN. Resistors R294 and R293 are connected in series between the collector of the first transistor Q32 and the gate of the first MOSFET Q31.

[0028] The first charging capacitor C225 is disposed between the source and gate of the first MOSFET Q31. One end of the first charging capacitor C225 is connected to the power supply VIN and the source of the first MOSFET Q31, respectively. The other end of the first charging capacitor C225 is connected to one end of resistor R294 and one end of resistor R293, respectively. The other end of resistor R294 is connected to the collector of the first transistor Q32, and the other end of resistor R293 is connected to the gate of the first MOSFET Q31.

[0029] The second charging capacitor C226 is disposed between the base and emitter of the first transistor Q32. One end of the second charging capacitor C226 is connected to one end of resistor R295, one end of resistor R296, and the base of the first transistor Q32, respectively. The other end of the second charging capacitor C226 is connected to the other end of resistor R296, the emitter of the first transistor Q32, and ground, respectively.

[0030] The pre-charge circuit works as follows: When power supply 1 is powered on, the pre-charge control pin of controller 7 sends a CTL_PRECHARE_2 signal, turning on the first transistor Q32 and the first MOSFET Q31. At this time, the first charging capacitor C225 and the second charging capacitor C226 are charged, and the voltage output terminal of the pre-charge circuit slowly outputs voltage. When the voltage VBAT output by the pre-charge circuit reaches a preset threshold (e.g., 95% of the power supply voltage), the pre-charge control pin of controller 7 sends a CTL_PRECHARE_2 signal, turning off the first transistor Q32 and the first MOSFET Q31, thus shutting down the pre-charge circuit.

[0031] Specifically, such as Figure 3 As shown, the main switch circuit includes a second transistor Q33 and a relay U26. This main switch circuit is used as a power switch.

[0032] The base of the second transistor Q33 is connected to the relay enable pin JDQ_EN of the controller 7 through resistor R297. The emitter of the second transistor Q33 is grounded. The collector of the second transistor Q33 is connected to the coil control terminal 2 of the relay U26. The common terminal 1 of the relay U26 is connected to the power supply. The normally open terminal of the relay U26 is connected to the power supply output terminal.

[0033] Alternatively, the relay U26 can be a miniature power relay JS1-12V-F manufactured by Panasonic.

[0034] The operating principle of this master switch circuit is as follows: When controller 7 sends a signal through the relay enable pin JDQ_EN, the second transistor Q33 conducts, relay U26 closes, and the master switch circuit outputs voltage VBAT. When controller 7 sends a signal through the relay enable pin JDQ_EN, the second transistor Q33 de-conducts, relay U26 opens, and the master switch circuit outputs voltage 0.

[0035] Specifically, such as Figure 4 As shown, the first ADC sampling circuit includes a first sampling resistor R315 and a first ADC voltage sampling circuit (not shown in the figure).

[0036] One end of the first sampling resistor R315 is connected to the power output terminal (the voltage at the power output terminal is denoted as VBAT), and the other end is connected to the bus input terminal (the voltage at the bus input terminal is denoted as VBAT_IN).

[0037] The first ADC voltage sampling circuit is used to monitor the input voltage at the input terminal of the bus.

[0038] The first ADC voltage sampling circuit includes: a first voltage divider resistor R318, a second voltage divider resistor R320, a shunt resistor R319, a bidirectional clamping protection circuit D97, and a third capacitor C266. One end of the first voltage divider resistor R318 is connected to the bus input terminal VBAT_IN. The other end of the first voltage divider resistor R318 is connected to one end of the shunt resistor R319 and one end of the second voltage divider resistor R320. The other end of the shunt resistor R319 is connected to one end of the third capacitor C266, the third terminal of the bidirectional clamping protection circuit D97, and the VBUS pin of the controller. The other end of the second voltage divider resistor R320, the other end of the third capacitor C266, and the first terminal of the bidirectional clamping protection circuit D97 are grounded. The second terminal of the bidirectional clamping protection circuit D97 is connected to a 3.3V voltage. The VBUS pin of the controller monitors the input voltage VBAT_IN of the bus input terminal in real time based on the output voltage of the other end of the shunt resistor R319.

[0039] In a preferred embodiment, the multi-channel power supply circuit includes a first power supply circuit, a second power supply circuit, and a third power supply circuit. The first power supply circuit outputs a voltage of 12V and is used to power the sensor. The second power supply circuit outputs a voltage of 19V and is used to power the main control board. The third power supply circuit outputs a voltage of 24V and is used to power the motor drive bus.

[0040] It should be noted that the components and circuit structure of this multi-channel power supply circuit are the same, the difference lies in the different resistance values ​​of the feedback resistor in the feedback circuit, which results in different output supply voltages.

[0041] The structure of the first power supply circuit is described below.

[0042] Please see Figure 5 ,like Figure 5 As shown, the first power supply circuit includes a power management chip U9, a feedback circuit (not shown in the figure), a high-side MOSFET Q10, a low-side MOSFET Q11, and an inductor L3.

[0043] The power management chip U9 includes multiple pins. The enable / undervoltage lockout input pin EN_UVLO is connected to the controller's enable output voltage pin MCU_12V_EN. The EN_UVLO pin controls the power management chip's startup and shutdown. The input power pin VIN is connected to the bus input terminal to supply power to the power management chip. The power management chip U9 can be a Texas Instruments LM5146RGYR synchronous buck DC / DC controller.

[0044] The feedback circuit includes a first feedback resistor R92 and a second feedback resistor R102, which are located between the feedback input pin FB of the power management chip U9 and the voltage output terminal. Optionally, the resistance of the first feedback resistor R92 is 150K ohms, and the resistance of the second feedback resistor R102 is 10K ohms.

[0045] The source of the high-side MOSFET Q10 is connected to the gate driver pin HO of the high-side MOSFET of the power management chip U9 through the first resistor R86. The gate of Q10 is connected to the bus input terminal, and the drain of Q10 is connected to the switch pin SW of the power management chip and one end of the inductor L3. The other end of the inductor L3 is connected to the voltage output terminal of the first power supply circuit, and the output voltage is used to power the sensor.

[0046] The source of the low-side MOSFET Q11 is connected to the gate driver pin LO of the low-side MOSFET of the power management chip through the second resistor R96. The gate of Q11 is connected to the drain of the high-side MOSFET Q10, and the drain of Q11 is grounded.

[0047] It should be noted that the structures of the second and third power supply circuits are the same as those of the first power supply circuit, the difference being the different feedback resistors in the feedback circuits. Because the feedback resistors of each power supply circuit have different values, they output different voltages to power different loads.

[0048] Please see Figure 6 ,like Figure 6As shown, the first power supply circuit also includes a second ADC sampling circuit, which comprises a second ADC voltage sampling circuit and a second ADC current sampling circuit, used to monitor the supply voltage and supply current of the power supply circuit, respectively. The structure of the second ADC voltage sampling circuit is the same as that of the first ADC voltage sampling circuit, and will not be described again here. The structure of the second ADC current sampling circuit is described below.

[0049] The second ADC current sampling circuit includes a second sampling resistor R88 and a current detection amplifier U10. One end of the second sampling resistor R88 is connected to the voltage output terminal of the first power supply circuit (the output voltage of the voltage output terminal is V1), and the other end of the second sampling resistor R88 is connected to the voltage input terminal of the load (the voltage of the voltage input terminal of the load is VOUT_12V).

[0050] The current sensing amplifier has a differential input positive pin 3 connected to one end of the second sampling resistor R88, a differential input negative pin 4 connected to one end of the second sampling resistor R88, and an analog voltage output pin 1 connected to the 12V_IBUS pin of the controller through a resistor R99. The controller monitors the power supply current of the first power supply circuit in real time based on the analog current output by the analog voltage output pin 1.

[0051] After monitoring the supply current of each power supply circuit, if the supply current exceeds a preset threshold, the controller 7 cuts off the voltage input of that power supply circuit through the enable output voltage pin. By monitoring the supply current of each power supply circuit in real time to activate fault protection, the controller 7 further enhances the system's early warning and fault tolerance capabilities for abnormal operating conditions.

[0052] It should be noted that this embodiment employs a dynamic voltage adjustment strategy. If the rate of change of the supply current in the second or third power supply circuit exceeds a preset threshold, the controller 7 controls the output voltage of the third power supply circuit to instantaneously rise to a preset value (e.g., 25.2V). After the rate of change of the supply current stabilizes, the controller controls the output voltage of the third power supply circuit to fall back to the rated voltage of 24V. This dynamic voltage adjustment strategy predicts load demand in real time based on the rate of change of current, effectively suppressing voltage drops caused by frequent motor starts and stops or sudden load changes, and improving the stability of multi-motor collaborative operation.

[0053] Preferably, the current sensing amplifier can be an INA193AIDBVR manufactured by Texas Instruments.

[0054] Please see Figure 7 ,like Figure 7As shown, the controller 7 in this embodiment includes multiple output pins and multiple input pins, which are connected to the pre-charge circuit 2, the main switch circuit 3, the first ADC sampling circuit 5, and the multiple power supply circuit 6, respectively, to start and stop each circuit. Preferably, the controller 7 can be an STM32F407VET6.

[0055] The working principle of this embodiment is as follows: After the power is supplied, the controller 7 controls the pre-charge circuit 2 to operate. At the same time, the first ADC sampling circuit 5 monitors the input voltage at the bus input terminal 8.

[0056] When the input voltage at the bus input terminal 8 is detected to exceed the preset threshold, the controller 7 shuts down the pre-charging circuit 2 and turns on the main switch circuit 3 to start supplying power to the multi-channel power supply circuit 6.

[0057] Fault protection is activated. The second ADC sampling circuit monitors the supply current and voltage of each power supply circuit. If the supply current exceeds a preset threshold, the controller 7 cuts off the voltage input to that power supply circuit.

[0058] Example 2

[0059] Please see Figure 8 The present invention also includes a power management method for a robot, applied to the power management circuit described in Embodiment 1, the power management method comprising: S11: After the power is turned on, the controller controls the pre-charging circuit to charge. S12: When the input voltage is detected to exceed the preset threshold, the pre-charge circuit is turned off and the main switch circuit is turned on; S13: Control the multi-channel power supply circuit to start supplying power according to the preset power-on sequence.

[0060] The power-on sequence can be as follows: First, the controller controls the power supply to the first power supply circuit; after a preset time interval, the controller controls the power supply to the second power supply circuit; after a preset time interval, the controller controls the power supply to the third power supply circuit.

[0061] Specifically, the working process of the power management method in this embodiment has been described in detail in Embodiment 1, and will not be repeated here.

[0062] Example 3

[0063] The present invention also includes a robot, characterized in that it includes a power management circuit as described in Embodiment 1.

[0064] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A power management circuit for a robot, characterized in that, include: power supply; The pre-charging circuit has its input terminal connected to the power supply and its output terminal connected to the power supply output terminal. A main switch circuit is located between the power supply and the power supply output terminal; The first ADC sampling circuit is located between the power output terminal and the bus input terminal, and is used to monitor the input voltage of the bus input terminal; A multi-parallel power supply circuit, wherein the voltage input terminal of each power supply circuit is connected to the bus input terminal, and the voltage output terminal is used to output a preset power supply voltage to supply power to one load. The controller is connected to the pre-charging circuit, the first ADC sampling circuit, and the multi-channel power supply circuit, respectively. After the power supply is powered on, the controller controls the pre-charging circuit to charge, and shuts down the pre-charging circuit and turns on the main switch circuit according to the first ADC sampling circuit, and starts the multi-channel power supply circuit to start supplying power.

2. The power management circuit according to claim 1, characterized in that, The pre-charging circuit includes: The first MOSFET has its source connected to the power supply and its drain connected to the power supply output terminal via a connector, with an external pre-charge resistor connected to the connector. The base of the first transistor is connected to the controller, the collector is connected to the power supply and the gate of the first MOS transistor, and the emitter is grounded. The first charging capacitor is disposed between the source and the gate of the first MOS transistor. The second charging capacitor is disposed between the base of the first transistor and the emitter of the first transistor.

3. The power management circuit according to claim 1, characterized in that, The main switch circuit includes a second transistor and a relay. The base of the second transistor is connected to the relay enable pin of the controller through a resistor. The emitter of the second transistor is grounded. The collector of the second transistor is connected to the coil control terminal of the relay. The common terminal of the relay is connected to the power supply. The normally open terminal of the relay is connected to the power supply output terminal.

4. The power management circuit according to claim 1, characterized in that, The first ADC sampling circuit includes: The sampling resistor has one end connected to the power supply output terminal and the other end connected to the bus input terminal. The first ADC voltage sampling circuit is used to monitor the input voltage at the bus input terminal.

5. The power management circuit according to claim 1, characterized in that, The multi-channel power supply circuit includes: The first power supply circuit is used to power the sensor; The second power supply circuit is used to supply power to the main control board; The third power supply circuit is used to supply power to the motor drive bus.

6. The power management circuit according to claim 5, characterized in that, The power supply circuit includes: inductance; The power management chip has its enable input voltage pin connected to the enable output voltage pin of the controller. A feedback circuit, including a feedback resistor, is disposed between the feedback input pin of the power management chip and the voltage output terminal; The source of the high-side MOSFET is connected to the gate driver pin of the high-side MOSFET of the power management chip through a first resistor, the gate is connected to the bus input terminal, and the drain is connected to the switch pin of the power management chip and one end of the inductor, respectively. The source of the low-side MOSFET is connected to the gate driver pin of the low-side MOSFET in the power management chip through a second resistor, and the gate is connected to the drain of the high-side MOSFET, with the drain grounded. The other end of the inductor is connected to the voltage output terminal, and the different resistance values ​​of the feedback resistors result in different voltages being output by the voltage output terminal of the power supply circuit.

7. The power management circuit according to claim 6, characterized in that, The power supply circuit also includes: The second ADC sampling circuit is used to monitor the power supply current of the power supply circuit.

8. The power management circuit according to claim 7, characterized in that, If the supply current is greater than a preset threshold, the controller cuts off the voltage input of the power supply circuit through the enable output voltage pin; if the supply current change rate of the second or third power supply circuit exceeds a preset threshold, the controller controls the output voltage of the third power supply circuit to rise instantaneously to a preset value, and controls the output voltage to fall back to the rated voltage after the supply current change rate stabilizes.

9. A power management method for a robot, applied to the power management circuit according to any one of claims 1 to 8, characterized in that, include: After the power is turned on, the controller controls the pre-charging circuit to charge. When the input voltage is detected to exceed a preset threshold, the pre-charging circuit is turned off and the main switch circuit is turned on; According to the preset power-on sequence, the multi-channel power supply circuit is controlled to start supplying power.

10. A robot, characterized in that, Includes the power management circuit as described in any one of claims 1 to 8.

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