Power supply system, chassis assembly, and mobile robot

Abstract

This invention provides a power supply system, a chassis assembly, and a mobile robot. The power supply system includes: several DIN rails; at least two main voltage divider terminals disposed on the DIN rails, at least one of the main voltage divider terminals having a voltage input port for electrical connection to a power module; the at least two main voltage divider terminals being sequentially connected electrically; and each main voltage divider terminal having a group of voltage output ports; and several DC-DC converters, each DC-DC converter being connected between any two adjacent main voltage divider terminals that are sequentially connected electrically. Compared to the prior art using centralized voltage divider power supply on a PCB board, the power supply system provided by this invention has the advantages of smaller footprint and easier adjustment of the power supply interface layout to achieve a modular power supply design.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a power supply system, chassis assembly, and mobile robot. Background Technology

[0002] Wheeled robots are widely used in industrial inspection, logistics handling, and smart warehousing. Their chassis typically require both high-voltage power (e.g., 48V power for driving the walking motor) and low-voltage control power (e.g., 24V control power for powering controllers, sensors, etc.). Currently, there are two main solutions for distributing the input power to these two voltage levels, but both have significant drawbacks.

[0003] One approach is to use a centralized power supply solution on a PCB board. This involves designing a dedicated printed circuit board that integrates the 48V input, 48V output, 24V step-down conversion circuit, and multiple output terminals. This solution has the following technical problems: 1) Due to its large size, the PCB cannot be further compressed in order to ensure the safety clearance (creep distance and clearance) between copper foil traces of different voltage levels, which occupies a lot of valuable space in the robot chassis. 2) Low modularity: Once the PCB board design is finalized, its output voltage channels and interface positions are fixed, making it difficult to flexibly adjust according to different robot configurations. When some circuits fail, the entire board usually needs to be replaced, resulting in high maintenance costs.

[0004] Another approach is manual wiring of discrete components. Some early or low-cost robots used discrete components such as independent power modules and terminal blocks, which were then manually wired point by point by workers. However, this method relies entirely on manual wiring, resulting in poor consistency, messy wiring harnesses, mixed high and low voltage cables, severe electromagnetic interference, low system reliability, and difficult maintenance. Summary of the Invention

[0005] Therefore, the object of the present invention is to provide a power supply system, chassis assembly and mobile robot to solve at least one technical problem existing in the prior art.

[0006] A first aspect of the present invention provides a power supply system for a mobile robot. The power supply system includes: a plurality of DIN rails; at least two main voltage divider terminals disposed on the plurality of DIN rails, wherein at least one of the at least two main voltage divider terminals has a voltage input port for electrical connection to a power module, the at least two main voltage divider terminals are sequentially electrically connected, and each main voltage divider terminal has a group of voltage output ports; and a plurality of DC-DC converters, each DC-DC converter being connected between any two adjacent main voltage divider terminals that are sequentially electrically connected.

[0007] Furthermore, in some embodiments, at least two main voltage divider terminals include a first main voltage divider terminal and a second main voltage divider terminal, and a plurality of DC-DC converters include a first DC-DC converter; wherein, the voltage input port of the first main voltage divider terminal is electrically connected to the power module, one of the voltage output ports of the first main voltage divider terminal is electrically connected to the input port of the first DC-DC converter, and the output port of the first DC-DC converter is electrically connected to the voltage input port of the second main voltage divider terminal.

[0008] Furthermore, in some embodiments, at least one voltage output port in the voltage output port group of the first main voltage divider terminal is used to output power electricity; at least one voltage output port in the voltage output port group of the second main voltage divider terminal is used to output control electricity.

[0009] Furthermore, in some embodiments, the power supply system further includes: at least two reference voltage divider terminals, disposed on several DIN rails and corresponding one-to-one with at least two main voltage divider terminals, with each reference voltage divider terminal connected in parallel to the two ends of the corresponding main voltage divider terminal.

[0010] Furthermore, in some embodiments, the power supply system further includes: an anti-backlash module, the input terminal of which is electrically connected to the power supply module, and the input terminal of the anti-backlash module is electrically connected to at least one rail-mounted voltage divider terminal; and a relay connected between at least one main voltage divider terminal and the anti-backlash module.

[0011] Furthermore, in some embodiments, the power supply system further includes: a plurality of cable trays for accommodating cables extending from a group of voltage output ports of at least two main voltage divider terminals.

[0012] A second aspect of the present invention provides a chassis assembly for a mobile robot, the chassis assembly comprising: a chassis; and a power supply system as described in any of the above embodiments, the power supply system being disposed on the chassis.

[0013] A third aspect of the present invention provides a mobile robot, the mobile robot including a power supply system as described in any of the above embodiments, or a chassis assembly as described in the above embodiments.

[0014] Furthermore, in some embodiments, the mobile robot further includes: a plurality of walking motors and a plurality of detection modules, wherein a portion of the voltage output ports of at least two main voltage divider terminals are electrically connected to the plurality of walking motors, and another portion of the voltage output ports of at least two main voltage divider terminals are electrically connected to the plurality of detection modules.

[0015] Furthermore, in some embodiments, the mobile robot also includes: a plurality of fusible terminals disposed on a plurality of DIN rails, each fusible terminal being connected between each walking motor and a main voltage divider terminal.

[0016] The power supply system provided in this invention achieves voltage division power supply through a main voltage divider terminal and a DC-DC converter. Compared with the prior art that uses centralized voltage division power supply on a PCB board, it can free up a large amount of effective space in the original PCB board area, thus occupying less space. Moreover, it facilitates the adjustment of the power supply interface layout and makes maintenance convenient.

[0017] The chassis assembly and mobile robot provided in the embodiments of the present invention have the power supply system provided in the first aspect of the above embodiments, and thus have the beneficial effects of the power supply system, which will not be repeated here.

[0018] Further aspects and / or advantages of the general concept of the invention will be set forth in part in the description which follows, and in part will be obvious from the description or may be learned by practice of the general concept of the invention. Attached Figure Description

[0019] The above and other objects and features of the present invention will become clearer from the following description of embodiments in conjunction with the accompanying drawings, in which: Figure 1 A schematic diagram of the chassis assembly of a mobile robot according to an embodiment of this application is shown.

[0020] Figure 1 Explanation of Chinese icon symbols: 100 chassis; 110 first zone; 120 second zone; 130 third zone; 140 fourth zone; 150 fifth zone; 200 DIN rail; 210 first DIN rail; 220 second DIN rail; 230 third DIN rail; 240 fourth DIN rail; 300 Main voltage divider terminal; 310 First main voltage divider terminal; 311 Voltage input port; 312 Voltage output port group; 320 Second main voltage divider terminal; 321 Voltage input port; 322 Voltage output port group; 400 DC-DC converter; 500 Reference voltage divider terminal; 510 First reference voltage divider terminal; 520 Second reference voltage divider terminal; 600 anti-recoil module; 700 relay; 800 cable tray; 810 first cable tray; 820 second cable tray; 830 third cable tray; 840 fourth cable tray; 900 Fuse terminal; 910 First fuse terminal; 920 Second fuse terminal; 930 Third fuse terminal; 940 Fourth fuse terminal; 950 Fifth fuse terminal; 1100 Safety Edge Controller; 1200 partition. Detailed Implementation

[0021] The following detailed embodiments are provided to aid the reader in gaining a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will become apparent upon understanding this disclosure. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but may be changed as will become clear upon understanding this disclosure, except for operations that must occur in a specific order. Furthermore, for clarity and conciseness, descriptions of features known in the art may be omitted.

[0022] The features described herein may be implemented in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein are provided only to illustrate some of the many feasible ways of implementing the methods, apparatus, and / or systems described herein, which will become clear upon understanding the disclosure of this application.

[0023] As used herein, the term “and / or” includes any one of the associated listed items and any combination of any two or more.

[0024] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts should not be limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Thus, without departing from the teaching of the examples described herein, the first component, first assembly, first region 110, first layer, or first part referred to as the first component, first assembly, second region 120, second layer, or second part may also be referred to as the second component, second assembly, second region 120, second layer, or second part.

[0025] In the specification, when an element such as a layer, region, or substrate is described as being "on" another element, "connected to," or "bonded to" another element, the element may be directly "on" another element, directly "connected to," or "bonded to" the other element, or one or more other elements may be present in between. Conversely, when an element is described as being "directly on" another element, "directly connected to," or "directly bonded to" another element, no other elements may be present in between.

[0026] The terminology used herein is for the purpose of describing various examples only and is not intended to limit disclosure. Unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. The terms “comprising,” “including,” and “having” indicate the presence of the described features, quantities, operations, components, elements, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof. The term “a plurality” represents any quantity of two or more.

[0027] The directional terms “above,” “up,” “below,” “left,” and “right” used in this application, unless otherwise specified, are based on the orientation of the product under normal use.

[0028] Unless otherwise defined, all terms used herein, including technical and scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains upon understanding the invention. Unless expressly defined herein, terms such as those defined in a general dictionary shall be interpreted as having a meaning consistent with their meaning in the context of the relevant field and in this invention, and shall not be interpreted in an idealized or overly formalistic manner.

[0029] The following will combine Figure 1 The present invention describes a power supply system, chassis assembly, and mobile robot provided by embodiments thereof.

[0030] like Figure 1 As shown, a first aspect embodiment of the present invention provides a power supply system for a mobile robot. The power supply system includes: a plurality of DIN rails 200; at least two main voltage divider terminals 300 disposed on the plurality of DIN rails 200, wherein at least one of the at least two main voltage divider terminals 300 has a voltage input port for electrical connection to a power module, the at least two main voltage divider terminals 300 are electrically connected sequentially, and each main voltage divider terminal 300 has a group of voltage output ports; and a plurality of DC-DC converters 400, each DC-DC converter 400 being connected between any two adjacent main voltage divider terminals 300 that are electrically connected sequentially.

[0031] The power supply system provided in this embodiment of the invention includes at least two main voltage divider terminals 300 and several DC-DC converters 400 connected in sequence. The DC-DC converters 400 can adjust the voltage, making their input and output voltages different. The voltage output ports of the main voltage divider terminals 300 can then transmit the adjusted voltages to the power-consuming components of the mobile robot. For example, the DC-DC converters 400 can adjust the input 48V high-voltage power to the output 24V low-voltage control power. Then, through the voltage output ports of the main voltage divider terminals 300, the 48V high-voltage power and the 24V low-voltage control power are output in multiple paths. Compared to directly integrating the input, step-down, and output circuits on a PCB board, using compact main voltage divider terminals 300 to replace a large PCB board for power distribution frees up a significant amount of usable space in the original PCB area, facilitating the miniaturization of the mobile robot or allowing more functional components to be mounted on DIN rails 200.

[0032] Moreover, the main voltage divider terminal 300 typically uses a spring-loaded connection method. Compared with traditional PCB board connections made by soldering or using ordinary screws, the connection is more robust and has durable vibration resistance. This completely solves problems such as PCB board solder joint cracking and loose screw terminals, ensuring the reliability of the connection from the source.

[0033] This embodiment can achieve physical isolation of high and low voltage output from the source of power distribution. If it is further combined with the cable tray 800 to achieve spatial separation of high and low voltage cables throughout the entire process, the conduction and radiation interference of power electricity to control electricity is almost physically eliminated, and the EMC performance of the system can achieve a qualitative leap.

[0034] In addition, to reduce the difficulty of safety certification, this embodiment can use standard industrial voltage divider terminals that have passed international safety certifications such as UL. Their internal high and low voltage isolation has been certified and guaranteed, which greatly reduces the risk of robot whole machine certification and shortens the certification cycle.

[0035] In addition, in this embodiment, the main voltage divider terminal 300 is set on the DIN rail 200. The DIN rail 200 can support the rapid addition, removal and position adjustment of the main voltage divider terminal 300. This is beneficial for flexibly configuring the number and type of the main voltage divider terminal 300 according to the power requirements of different robot models, easily adjusting the power supply interface layout, and realizing a modular power supply design.

[0036] As an example, the main voltage divider terminal 300 is mounted on the DIN rail 200 using an anti-loosening clip, ensuring stable and reliable installation. As an example, the anti-loosening clip can be a Phoenix Contact locking clip.

[0037] In addition, the faulty main voltage divider terminal 300 can be disassembled and replaced separately, without the need for the entire board to be removed and re-soldered like a PCB board. It can be used with standard prefabricated wiring harnesses, which can significantly shorten the maintenance time.

[0038] It should be noted that in this embodiment, at least two main voltage divider terminals 300 are electrically connected sequentially. This connection can be either series-connected or has several branches. A power module (e.g., a battery) can be electrically connected to at least one of the main voltage divider terminals 300, making the output voltage of the power module the input voltage of at least one main voltage divider terminal 300, such as high-voltage power. The voltage output ports of these main voltage divider terminals 300 then form multiple output terminals for the high-voltage power, facilitating power supply to devices requiring high-voltage power. These main voltage divider terminals 300 are then connected to the next-stage main voltage divider terminal 300 via a DC-DC converter 400. The DC-DC converter can adjust the voltage, for example, converting the input high-voltage power into low-voltage control power, so that the input voltage of the next-stage main voltage divider terminal 300 is low-voltage control power. The voltage output ports of the next-stage main voltage divider terminal 300 then form multiple output terminals for low-voltage control power, facilitating power supply to devices requiring low-voltage control power.

[0039] The number of main voltage divider terminals 300 can be two, three, or even more. The number of DC-DC converters can be one or two, etc., allowing for the adjustment of different voltage levels to power devices with varying voltage requirements. Further, as an example, the DC-DC converter 400 is a DC-DC step-down converter. For instance, with an input voltage of 48V and an output voltage requirement of 24V, the DC-DC converter 400 can be a 48V-24V DC-DC step-down converter. Furthermore, at least two main voltage divider terminals 300 can be spaced apart, such as by mounting them on different DIN rails 200, to ensure spatial isolation and avoid electromagnetic interference.

[0040] Furthermore, in some embodiments, at least two main voltage divider terminals 300 include a first main voltage divider terminal 310 and a second main voltage divider terminal 320, and a plurality of DC-DC converters 400 include a first DC-DC converter 400; wherein, the voltage input port 311 of the first main voltage divider terminal 310 is electrically connected to the power module, one of the voltage output ports 312 of the first main voltage divider terminal 310 is electrically connected to the input port of the first DC-DC converter 400, and the output port of the first DC-DC converter 400 is electrically connected to the voltage input port 321 of the second main voltage divider terminal 320.

[0041] Furthermore, at least one voltage output port in the voltage output port group 312 of the first main voltage divider terminal 310 is used to output power electricity; at least one voltage output port in the voltage output port group 322 of the second main voltage divider terminal 320 is used to output control electricity.

[0042] In a specific embodiment, such as Figure 1 As shown, the power module provides an input voltage of 48V DC, which can be output from the robot's battery pack. The first DC-DC converter 400 is a 48V-24V DC-DC step-down converter. The voltage input port 311 of the first main voltage divider terminal 310 is electrically connected to the power module. One voltage output port of the voltage output port group 312 of the first main voltage divider terminal 310 is electrically connected to the input port of the first DC-DC converter 400. The remaining voltage output ports are used to output 48V power, which can drive drive components such as the walking motor. The output port of the first DC-DC converter 400 is electrically connected to the voltage input port 321 of the second main voltage divider terminal 320. The voltage output port group 322 of the second main voltage divider terminal 320 is used to output 24V control power, which can power controllers, sensors, etc. The 48V voltage output port group 312 and the 24V voltage output port group 322 are physically separated on the two main voltage divider terminals 300, forming a high-low voltage separation layout. The voltage divider section does not contain a printed circuit board, and its internal voltage distribution and switching can be reliably achieved through the metal current guide strip of the main voltage divider terminal 300.

[0043] Furthermore, in some embodiments, the power supply system further includes: at least two reference voltage divider terminals 500, disposed on a plurality of DIN rails 200, and corresponding one-to-one with at least two main voltage divider terminals 300, wherein each reference voltage divider terminal 500 is connected in parallel to the two ends of the corresponding main voltage divider terminal 300.

[0044] In these embodiments, the main voltage divider terminal 300 is equipped with a reference voltage divider terminal 500 to facilitate the output of a reference voltage with a fixed amplitude, providing a voltage reference for voltage detection, signal sampling, and threshold determination. Furthermore, the reference voltage divider terminal 500 is also mounted on the DIN rail 200 for easy installation and convenient adjustment of its position on the DIN rail 200 according to actual needs.

[0045] As an example, such as Figure 1 As shown, when at least two main voltage divider terminals 300 include a first main voltage divider terminal 310 and a second main voltage divider terminal 320, and several DC-DC converters 400 include a first DC-DC converter 400, at least two reference voltage divider terminals 500 may include a first reference voltage divider terminal 510 and a second reference voltage divider terminal 520. The first reference voltage divider terminal 510 is connected in parallel to both ends of the first main voltage divider terminal 310. One end of the second reference voltage divider terminal 520 is electrically connected to the voltage input port 321 of the second main voltage divider terminal 320, and the other end is directly connected to the system GND.

[0046] Furthermore, in some embodiments, such as Figure 1As shown, the power supply system also includes an anti-backlash module 600. The input terminal of the anti-backlash module 600 is electrically connected to the power supply module, and the input terminal of the anti-backlash module 600 is electrically connected to at least one main voltage divider terminal. The anti-backlash module 600 is connected in series between the power supply module and the load, and is configured with a unidirectional conduction unit. When the polarity of the power supply module is reversed or the current flows in the reverse direction, this unit is cut off, cutting off the reverse current path, which can protect the power supply module and subsequent circuits from damage by reverse voltage / current.

[0047] Furthermore, such as Figure 1 As shown, the power supply system also includes a relay 700, which is connected between at least one main voltage divider terminal 300 and the anti-backlash module 600. This facilitates the control of the relay 700 to disconnect in case of an emergency, thereby achieving a complete power outage of the power supply system and stopping the mobile robot.

[0048] As an example, relay 700 can be a solid-state relay 700, which is far more vibration resistant than electromagnetic relay 700 and is suitable for robot joints and moving parts.

[0049] Furthermore, in some embodiments, such as Figure 1 As shown, the power supply system also includes: several cable trays 800 for accommodating cables leading out from the voltage output ports of at least two main voltage divider terminals 300.

[0050] In these embodiments, the cables are housed within the cable trays 800, allowing for functional zoning. The cable trays 800 constrain cable routing, preventing cable wear and vibration damage. Furthermore, the cable trays 800 isolate electromagnetic interference between different types of wiring, improving signal transmission stability and overall wiring reliability.

[0051] Furthermore, as an example, the cable tray 800 may extend along the direction of the DIN rail 200, including but not limited to. The cable tray 800 may have at least two mutually isolated cable routing channels, a first cable routing channel for accommodating cables connected to the voltage output port group 312 of the first main voltage divider terminal 310, and a second cable routing channel for accommodating cables connected to the voltage output port group 322 of the second main voltage divider terminal 320, thereby achieving spatial physical isolation between high and low voltage cables.

[0052] like Figure 1 As shown, a second aspect of the present invention provides a chassis assembly for a mobile robot, the chassis assembly including: a chassis 100; and a power supply system as described in any of the above embodiments, the power supply system being disposed on the chassis 100.

[0053] The chassis assembly provided in this embodiment has the power supply system provided in the first embodiment, and thus has the beneficial effects of the first embodiment, which will not be repeated here.

[0054] Furthermore, in some embodiments, the mobile robot also includes a power module, which is disposed on the chassis 100 and is located close to at least one main voltage divider terminal 300, facilitating easy connection between the two. Moreover, by placing both the power supply system and the power module on the chassis 100, which typically does not require flipping or other movements, the power supply system can be installed stably, thus ensuring a stable power supply to the various electrical components of the mobile robot. Additionally, since the power module is usually heavy, placing it on the chassis 100 also helps to lower the center of gravity of the mobile robot, thereby promoting stable movement.

[0055] To minimize the size of the chassis 100 and ensure sufficient safety clearance between the main voltage divider terminals 300, the positions of components such as the DIN rail 200, the main voltage divider terminals 300, the DC converter 400, and the cable tray 800 can be arranged reasonably.

[0056] Furthermore, in some embodiments, the number of DIN rails 200 can be multiple, distributed at intervals on the chassis 100, and each main voltage divider terminal 300 can be installed on a different DIN rail 200, which helps to ensure that the spacing between the main voltage divider terminals 300 is sufficient.

[0057] Of course, in other embodiments, each main voltage divider terminal 300 may also be set on the same DIN rail 200, but they need to be spaced a certain distance apart from each other.

[0058] Furthermore, in some embodiments, such as Figure 1 As shown, multiple cable trays 800 can be used, extending along the length and width of the chassis 100, thereby dividing the chassis 100 into multiple areas in the horizontal direction. It should be noted that the chassis 100 can be divided into multiple layers in the robot's height direction; here, only the layer containing the DIN rail 200, main voltage divider terminals 300, and DC-DC converter 400 is represented. Multiple cable trays 800 divide this shared layer into multiple areas, and at least two main voltage divider terminals 300 are distributed in different areas of this layer, further ensuring sufficient spacing between the main voltage divider terminals 300 to prevent electromagnetic interference.

[0059] Additionally, it should be noted that after the power supply system divides and reduces the output voltage of the power module on this layer, it can transmit electrical energy to the electrical components above the robot, as well as to the electrical components such as the chassis 100 walking motor below.

[0060] Further, the DC converter 400 can be arranged in an area adjacent to the area where two sequentially adjacent main voltage dividing terminals 300 are located, that is, adjacent to the areas where the two main voltage dividing terminals 300 are located at the same time, the wiring between the three is short, the layout is compact, which is beneficial to reducing the occupied space, and thus beneficial to reducing the size of the chassis 100.

[0061] Further, the relay 700, the anti-recoil module 600 and the main voltage dividing terminal 300 connected to the power module can be arranged in the same area, for example, in an area close to the power module. Since the three are closely connected, the centralized arrangement is facilitated, and the wiring is short.

[0062] Further, in some embodiments, a partition plate 1200 may be further disposed on the chassis 100, and the main voltage dividing terminals 300 are separated by the partition plate 1200. Compared with dividing the area only by using the wiring groove 800, the anti-interference performance is better.

[0063] In a specific embodiment, as shown in Figure 1 , the wiring groove 800 can include a first wiring groove 810, a second wiring groove 820, a third wiring groove 830 and a fourth wiring groove 840. The first wiring groove 810 and the third wiring groove 830 extend along the width direction of the chassis 100 and are distributed at intervals in the length direction of the chassis 100. The second wiring groove 820 and the fourth wiring groove 840 extend along the length direction of the chassis 100, are connected to each other and are generally located in the middle of the chassis 100 in the width direction, which facilitates the wiring groove 800 to guide cables to extend in multiple directions of the chassis 100 for power supply. Further, as an example, the main voltage dividing terminal 300 can be arranged close to the second wiring groove 820 and the fourth wiring groove 840, which is beneficial to reducing the wiring length of the power supply system.

[0064] The first wiring groove 810, the second wiring groove 820, the third wiring groove 830 and the fourth wiring groove 840 can be combined to form a T-shape, dividing one layer of area of the chassis 100 into a first area 110 at the top in the diagram, a second area 120 adjacent to the first area 110 and located on the lower left in the diagram, a third area 130 adjacent to the first area 110 and located on the lower right in the diagram, a fourth area 140 located below the second area 120, and a fifth area 150 located below the third area 130.

[0065] The DIN rail 200 includes a first DIN rail 210, a second DIN rail 220, a third DIN rail 230, and a fourth DIN rail 240. The first DIN rail 210 can be positioned in the third region 130 near the power module, with the first main voltage divider terminal 310 located on it. The DC-DC converter 400 is located in the second region 120, the second DIN rail 220 in the fourth region 140, and the second main voltage divider terminal 320 on it. This design ensures that the first and second main voltage divider terminals 310 and 320 are sufficiently far apart to prevent electromagnetic interference. Furthermore, the close proximity between the first main voltage divider terminal 310 and the DC-DC converter 400, and between the DC-DC converter 400 and the second main voltage divider terminal 320, reduces wiring length and creates a compact layout, contributing to a smaller chassis 100.

[0066] Specifically, the cables connecting the voltage output port group 312 of the first main voltage divider terminal 310 can be routed through the first cable tray 810, the second cable tray 820 and the fourth cable tray 840, and the cables connecting the voltage output port group 322 of the second main voltage divider terminal 320 can be routed through the third cable tray 830, but are not limited thereto, and the routing of the cables can be set according to requirements.

[0067] Alternatively, the first reference voltage divider terminal 510 can also be located on the first DIN rail 210, resulting in a compact layout, closer proximity to the power module, and shorter wiring.

[0068] The fourth DIN rail 240 is placed in the first area 110, and the third DIN rail 230 is placed in the fifth area 150. This means that DIN rails 200 are present in all areas—first area 110, third area 130, fourth area 140, and fifth area 150—facilitating the installation of electrical components. Since the DC-DC converter 400 is relatively large, it is placed in the second area 120, which is a reasonable layout.

[0069] Furthermore, the chassis assembly may also include four fuse terminals 900, located at the four corners of the chassis 100. Each of the four fuse terminals 900 includes a fuse and a twin terminal. The twin terminal includes two output ports, which can output to two motors respectively for robot steering and wheel control. In this case, the length of the fourth DIN rail 240 can be relatively long, even reaching the width of the chassis 100. The first fuse terminal 910 and the second fuse terminal 920 located in the first area 110 are both set on the fourth DIN rail 240, simplifying the structure and facilitating assembly. The third fuse terminal 930 is installed on the second DIN rail 220, and the fourth fuse terminal 940 is installed on the third DIN rail 230, facilitating assembly.

[0070] Furthermore, the chassis assembly may also include a fifth fuse terminal 950 capable of connecting to the output port group of the first main voltage divider terminal 310. The fifth fuse terminal 950 is disposed in the fourth region 140, fixed on the second DIN rail 220, and located between the third fuse terminal 930 and the second main voltage divider terminal 320. The fifth fuse terminal 950 can supply power to other high-voltage electrical appliances, such as the robot's communication module and video module.

[0071] Furthermore, the chassis assembly may also include a safety edge controller 1100, which is mounted on the fourth DIN rail 240 and located between the first fuse terminal 910 and the second fuse terminal 920. The safety edge controller 1100 can protect the circuitry in the event of a robot collision.

[0072] The arrangement of the aforementioned cable trays 800, DIN rails 200, first main voltage divider terminal 310, second main voltage divider terminal 320, DC converter 400, relay 700, and anti-backlash module 600 maximizes cable savings and results in a clear, compact structure with a small overall size. For example, the length of the chassis 100 can be less than 600mm, such as 580mm, and the width of the chassis 100 can be less than or equal to 550mm, such as 520mm.

[0073] A third aspect of the present invention provides a mobile robot, the mobile robot including a power supply system as described in any of the above embodiments, or a chassis assembly as described in the above embodiments.

[0074] The mobile robot provided in this embodiment has the beneficial effects of any of the above embodiments due to having the power supply system of any of the above embodiments or the chassis component provided in any of the above embodiments, which will not be described in detail here.

[0075] Furthermore, the power supply system is preferably located on the chassis 100. Of course, in other embodiments, the power supply system can also be located in other positions on the mobile robot, such as the leg module, body module, etc., and can be designed according to actual power supply needs.

[0076] Furthermore, in some embodiments, the mobile robot further includes: a plurality of walking motors and a plurality of detection modules, wherein a portion of the voltage output ports of at least two main voltage divider terminals 300 are electrically connected to the plurality of walking motors for facilitating power supply to the walking motors. Another portion of the voltage output ports of the at least two main voltage divider terminals 300 are electrically connected to the plurality of detection modules for facilitating power supply to various sensors.

[0077] Furthermore, the mobile robot may also include other drive units, such as joint drive units, and the voltage output port group of at least a portion of the two main voltage divider terminals 300 may also be electrically connected to other drive units to power the other drive units.

[0078] As an example, at least two main voltage divider terminals 300 may include a first main voltage divider terminal 310. In the voltage output port group 312 of the first main voltage divider terminal 310, a number of voltage output ports are electrically connected to a number of walking motors, and other voltage output ports are electrically connected to other drive units. Of course, one voltage output port is left to be electrically connected to the DC converter 400.

[0079] Furthermore, the mobile robot may also include several controllers, and the voltage output port group of another part of the main voltage divider terminals 300 of at least two main voltage divider terminals 300 may also be electrically connected to several controllers to supply power to several controllers.

[0080] As an example, at least two main voltage divider terminals 300 may include a second main voltage divider terminal 320. In the voltage output port group 322 of the second main voltage divider terminal 320, a number of voltage output ports are electrically connected to a number of detection modules in a one-to-one correspondence, and other numbers of voltage output ports are electrically connected to a number of controllers in a one-to-one correspondence.

[0081] Furthermore, in some embodiments, the mobile robot is a humanoid robot.

[0082] Furthermore, in some embodiments, the mobile robot is a transport robot.

[0083] Furthermore, in some embodiments, the mobile robot is a wheeled robot.

[0084] A fourth aspect of the present invention also provides a method for laying out a power supply system, comprising the following steps: Step 101: Securely install the DIN rail 200 on the robot's chassis 100 frame; Step 102: Align the metal anti-loosening blocks at the bottom of the first main voltage divider terminal 310 and the second main voltage divider terminal 320 with the upper edge of the DIN rail 200, press and slide them into place. When you hear a locking sound, it means that the terminals have been firmly locked onto the DIN rail 200. Step 103: Secure the industrial cable tray 800 to the chassis 100 frame along the transverse and longitudinal directions using screws. Step 104: Using a 10AWG (American Wire Gauge) thick cable, connect the input voltage of the power module to the voltage input port of the main voltage divider terminal 300; Step 105: Utilizing the physical separation of the first main voltage divider terminal 310 and the second main voltage divider terminal 320, the 48V power supply and 24V control power supply are independently led out from the voltage output port group 312 of the first main voltage divider terminal 310 and the voltage output port group 322 of the second main voltage divider terminal 320, respectively. A 48V power line is led out from the voltage output port group 312 of the first main voltage divider terminal 310 and connected to each walking motor driver; a 24V power line is led out from the voltage output port group 322 of the second main voltage divider terminal 320 and connected to the robot main controller, laser navigation radar, and other respective power-consuming equipment. Step 106: Lay the cables connected to the 48V electrical equipment and the cables connected to the 24V electrical equipment in different wiring channels of the industrial cable tray 800, completely eliminating the physical path of electromagnetic interference.

[0085] The mobile robot proposed in this invention has undergone extensive testing on continuously bumpy roads and has never experienced operational failures due to loose power supply wiring or EMC interference. Furthermore, the modular design of its power supply system allows for adjustments to the power supply configuration based on customer needs simply by adding or removing the number of voltage divider terminals on the DIN rail 200, without requiring any redesign of the circuit board, significantly reducing development time and cost.

[0086] While embodiments of the present invention have been described in detail above, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. It should be understood that, to those skilled in the art, these modifications and variations will still fall within the spirit and scope of the embodiments of the present invention as defined in the claims.

Claims

1. A power supply system for a mobile robot, characterized in that, The power supply system includes: Several DIN rails (200); At least two main voltage divider terminals (300) are disposed on the plurality of DIN rails (200). The voltage input port of at least one of the at least two main voltage divider terminals (300) is used for electrical connection with the power module. The at least two main voltage divider terminals (300) are electrically connected in sequence. Each of the main voltage divider terminals (300) has a group of voltage output ports. A plurality of DC-DC converters (400), each of the DC-DC converters (400) being connected between any two adjacent main voltage divider terminals (300) that are electrically connected in sequence.

2. The power supply system according to claim 1, characterized in that, The at least two main voltage divider terminals (300) include a first main voltage divider terminal (310) and a second main voltage divider terminal (320), and the plurality of DC-DC converters (400) include a first DC-DC converter (400). The voltage input port (311) of the first main voltage divider terminal (310) is electrically connected to the power supply module, one of the voltage output ports (312) of the first main voltage divider terminal (310) is electrically connected to the input port of the first DC converter (400), and the output port of the first DC converter (400) is electrically connected to the voltage input port (321) of the second main voltage divider terminal (320).

3. The power supply system according to claim 2, characterized in that, At least one voltage output port in the voltage output port group (312) of the first main voltage divider terminal (310) is used to output power. At least one voltage output port in the voltage output port group (322) of the second main voltage divider terminal (320) is used to output control electricity.

4. The power supply system according to claim 1, characterized in that, The power supply system also includes: At least two reference voltage divider terminals (500) are disposed on the plurality of DIN rails (200) and correspond one-to-one with the at least two main voltage divider terminals (300). Each reference voltage divider terminal (500) is connected in parallel to the two ends of the corresponding main voltage divider terminal (300).

5. The power supply system according to claim 1, characterized in that, The power supply system also includes: An anti-recoil module (600) is provided, the input terminal of which is electrically connected to the power supply module and the input terminal of which is electrically connected to at least one rail-mounted voltage divider terminal. A relay (700) is connected between the at least one main voltage divider terminal and the anti-backlash module (600).

6. The power supply system according to claim 1, characterized in that, The power supply system also includes: Several cable trays (800) are provided for accommodating cables extending from the voltage output port group of the at least two main voltage divider terminals (300).

7. A chassis assembly for a mobile robot, characterized in that, The chassis components include: Chassis (100); and The power supply system as described in any one of claims 1 to 6, wherein the power supply system is disposed on the chassis (100).

8. A mobile robot, characterized in that, The mobile robot includes a power supply system as described in any one of claims 1 to 6, or a chassis assembly as described in claim 7.

9. The mobile robot according to claim 8, characterized in that, The mobile robot also includes: The system includes several walking motors and several detection modules. A portion of the voltage output ports of the at least two main voltage divider terminals (300) are electrically connected to the several walking motors, and another portion of the voltage output ports of the at least two main voltage divider terminals (300) are electrically connected to the several detection modules.

10. The mobile robot according to claim 9, characterized in that, The mobile robot also includes: A plurality of fuse terminals (900) are disposed on the plurality of DIN rails (200), each of the fuse terminals (900) being connected between each of the travel motors and a main voltage divider terminal (300).

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