High-power multi-path power supply switching control system for walking robot

Abstract

A high-power multi-path power supply switching control system for a walking robot comprises at least three switching control circuits, and the power supply input end of each switching control circuit is connected with a main power supply, a standby power supply and a standby braking power supply; the switching control circuit comprises an MOS tube unit and a controller, a source electrode of the MOS tube unit serves as a power input end, a drain electrode of the MOS tube unit serves as a power output end, and a grid electrode of the MOS tube unit is connected with a control end of the controller. According to the utility model, on one hand, the heating power consumption during high-power loading can be greatly reduced, and the over-current capability can be improved by adopting the MOS tube array; on the other hand, automatic and rapid switching of three paths of power supplies can be realized; and when the main power supply and the standby power supply fail, the robot can use the standby braking power supply to work, the failure is judged in real time, the robot is in a braking mode, and front and back landslides are prevented.

Description

Technical Field

[0001] The utility model relates to the technical field of walking robots, in particular to a high-power multi-channel power supply switching control system for walking robots. Background Art

[0002] Walking robots usually require multiple power supplies, such as motors, sensors, control circuits, etc., and need to set up a main power supply, a backup power supply, and a backup brake power supply. In order to achieve stable operation of these devices, it is necessary to set up a power switching control circuit so that it can switch between different power supplies and ensure the stable operation of the equipment.

[0003] Traditionally, Schottky diodes are used as switching circuits between multiple power inputs and power outputs, such as Figure 1 As shown, D10 and D11 use Schottky diodes of model MBR6045PT, with a forward voltage drop of 510mV. Using the unidirectional conductivity of the Schottky diode, under normal circumstances, the main power is output through D10. When the main power fails and there is no voltage output, the backup power is output through D11. However, because the Schottky diode has a fixed voltage drop when it is forward-conducted, the thermal power consumption of the Schottky diodes D10 and D11 is proportional to the current flowing through it. The larger the current, the more heat is generated, the higher the temperature will be, the worse the stability of the equipment will be, and the cost of the required heat dissipation module will be more expensive.

[0004] In addition, existing walking robots mainly involve main power supply and backup power supply. Once both power supplies fail, the robot will not be able to brake quickly, causing it to slide forward or backward. Utility Model Content

[0005] The purpose of the utility model is to overcome the above-mentioned deficiencies of the prior art and to provide a high-power multi-channel power switching control system for a walking robot which has low heating power and can automatically and quickly switch.

[0006] The technical solution of the utility model is: a high-power multi-channel power switching control system for a walking robot, comprising at least three switching control circuits, wherein the power input end of each switching control circuit is respectively connected to a main power supply, a backup power supply and a backup brake power supply; the switching control circuit comprises a MOS tube unit and a controller, wherein the source of the MOS tube unit serves as the power input end, the drain serves as the power output end, and the gate is connected to the control end of the controller.

[0007] Furthermore, the gate of the MOS tube unit is connected to the gate output control terminal of the controller, the source of the MOS tube unit is connected to the gate output control terminal of the controller via a voltage regulator diode, and the source of the MOS tube unit is connected to the anode of the voltage regulator diode, and the gate of the MOS tube unit is connected to the cathode of the voltage regulator diode.

[0008] Furthermore, the source of the MOS tube unit is also connected to the source input terminal and the IN input terminal of the controller; the source of the MOS tube unit is also connected to the power ground of the controller via a bidirectional TVS tube; and the source of the MOS tube unit is also grounded via a freewheeling tube.

[0009] Furthermore, the source of the MOS tube unit is connected to the drain of the MOS tube unit via another freewheeling tube; and the output end of the controller is connected to the drain of the MOS tube unit via a resistor.

[0010] Furthermore, the MOS tube unit is a single MOS tube or a MOS tube array, and the MOS tube array is a plurality of MOS tubes connected in parallel.

[0011] Furthermore, the controller is a switch controller.

[0012] Furthermore, the main power supply, backup power supply and backup brake power supply are respectively connected to the power output interface through corresponding switching control circuits and then output externally.

[0013] Furthermore, voltage collection points are provided at both the power input and power output ends of the MOS tube unit. When a failure of the main power supply or the backup power supply is detected by the robot detection device, the robot brakes using the backup braking power supply.

[0014] Furthermore, among the at least three switching control circuits, a circuit with a higher input voltage is preferentially selected as the power supply.

[0015] Furthermore, when the voltage of a certain power supply is lower than the voltage of other power supplies, the current of the switching control circuit of the power supply flows in the reverse direction from the power supply output end to the power supply input end, and the switching control circuit of the power supply turns off the MOS tube unit.

[0016] The beneficial effects of the utility model are as follows: the main power supply, the backup power supply and the backup brake power supply are output to the outside after being respectively output through the corresponding switching control circuits, and the switching control circuit adopts MOS tube units, which can greatly reduce the heat consumption when high-power is loaded, and the use of MOS tube arrays can improve the overcurrent capacity; on the other hand, it can realize automatic and rapid switching of three power supplies; and when both the main and backup power supplies fail, the robot can use the backup brake power supply to work, instantly judge the fault and put the robot in braking mode to prevent sliding forward and backward. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a circuit function diagram of the prior art;

[0018] Figure 2 It is a circuit function diagram of an embodiment of the utility model;

[0019] Figure 3It is a schematic diagram of the circuit principle of an embodiment of the utility model;

[0020] Figure 4 yes Figure 3 An enlarged schematic diagram of a switching control circuit in the illustrated embodiment. DETAILED DESCRIPTION

[0021] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] like Figure 2 and Figure 3 As shown in the figure, a high-power multi-way power switching control system for a walking robot is used. The main power supply, backup power supply and backup brake power supply are output to the outside after passing through the corresponding switching control circuits. Among them, points A, B, and C are the acquisition points of the switching control circuit for the voltage of each input circuit, and point D is the main power output circuit.

[0023] Figure 4 It is a switching control circuit, specifically including a controller U6, a MOS tube unit Q2, freewheeling tubes D9, D21 and other protection devices D7, D8. Among them, the source S of the MOS tube unit Q2 is divided into seven branches, the first branch is used as a power input terminal, used to connect the main power supply, backup power supply or backup brake power supply; the second branch is grounded through the freewheeling tube D21, and the third branch is connected to the drain D of Q2 through the freewheeling tube D9; the third branch connects the drain D of Q2 as a power output terminal, connected to the power output interface; the fourth branch is connected to the power ground (VSS pin) of the controller U6 through the bidirectional TVS tube D8; the fifth branch is connected to the anode of the voltage-stabilizing diode D7; the sixth branch is connected to the source input terminal (SOURCE pin) of the controller U6; the seventh branch is connected to the input terminal (IN pin) of the controller U6. The gate G of the MOS tube unit Q2 is connected to the gate output control terminal (GATE pin) of the controller U6, and is also connected to the cathode of the voltage-stabilizing diode D7. One branch of the output terminal (OUT pin) of the controller U6 is connected to the drain D of Q2 via the resistor R95, and the other branch is grounded via the capacitor C45 and the resistor R86. The VSS pin of the controller U6 is connected to the node between the capacitor C45 and the resistor R86.

[0024] Preferably, the chip model of the controller U6 is a switch controller of LTC4359. The MOS tube unit Q2 can be a single MOS tube or a MOS tube array, for example Figure 4 The MOS tube unit Q2 shown in the figure is a MOS tube array, which connects multiple MOS tubes in parallel to improve the current capacity. After the multiple MOS tubes are connected in parallel, their respective sources S are commonly connected to the branches described above, their respective drains D serve as power output terminals, and their respective gates G are commonly connected to the gate output control terminal of the controller U6.

[0025] As Figure 2 shown: The working principle of this embodiment is as follows: When all three input power supplies are working properly, the circuit will preferentially select the one with the higher input voltage as the power supply (generally: standby braking power supply voltage < standby power supply voltage < main power supply voltage). At this time, the output voltage Vd = Va. That is, the main power supply voltage Va is input to the source S of the MOS transistor array Q2 of the main power supply switching control circuit, the zener diode D7 of the controller U6 conducts, and the formed gate-source voltage drives the MOS transistor array Q2 to conduct. The drain D of Q2 outputs the voltage Vd = Va. When a fault occurs in the main power supply, the input voltage at point A drops, which will cause the output voltage at point D of the output terminal of the MOS transistor unit Q2 to continuously drop. When Vd < Vb - 30mV, the standby power supply switching control circuit automatically turns on the standby power supply MOS transistor array, and the standby power supply supplies power externally, and the supply voltage is Vd = Vb; for the main power supply, when Va < Vb, the current flows in the reverse direction (current D → A), and the main power supply switching control circuit will turn off the main power supply MOS transistor array. When faults occur in both the main power supply and the standby power supply, the main and standby power supply switching control circuits turn off the corresponding MOS transistor arrays, and the standby braking power supply switching control circuit turns on the standby braking power supply MOS transistor array, and the standby braking power supply supplies power externally. At this time, the output voltage Vd = Vc; when the robot detection device detects faults in the main power supply and the standby power supply, the robot uses the standby braking power supply to brake and switches to the braking mode to prevent the vehicle from slipping.

[0026] In the usage environment of this embodiment with a power supply voltage of 48V and a current of 50A, if Figure 1 the shown Schottky diode is used as the switching circuit, the heating power consumption is P = 0.51V * 50A = 25.5W, where 0.51V is the voltage drop across the Schottky diode and 50A is the current flowing through the Schottky diode. And the heating power consumption of the switching control circuit based on the present invention is P = 50A * 50A * 0.002Ω = 5W, where 0.002Ω is the on-resistance of the MOS transistor unit. It can be seen from the calculation results that the heating power consumption based on the above switching control circuit is greatly reduced.

[0027] In addition, in a mobile robot system where the main and standby power supplies are 48V and the standby braking power supply is 24V or 36V, when both the main and standby power supplies fail, the robot works with the standby braking power supply, immediately judges the fault and makes the robot in the braking mode to prevent forward and backward sliding.

Claims

1. A high-power multi-way power switching control system for a walking robot, characterized in that: It comprises at least three switching control circuits, and the power input end of each switching control circuit is respectively connected to the main power supply, the backup power supply and the backup brake power supply; the switching control circuit comprises a MOS tube unit and a controller, the source of the MOS tube unit is used as the power input end, the drain is used as the power output end, and the gate is connected to the control end of the controller.

2. The high-power multi-way power switching control system for a walking robot according to claim 1 is characterized in that: The gate of the MOS tube unit is connected to the gate output control end of the controller, the source of the MOS tube unit is connected to the gate output control end of the controller via a voltage regulator diode, the source of the MOS tube unit is connected to the anode of the voltage regulator diode, and the gate of the MOS tube unit is connected to the cathode of the voltage regulator diode.

3. The high-power multi-way power switching control system for a walking robot according to claim 1 is characterized in that: The source of the MOS tube unit is also connected to the source input terminal and the IN input terminal of the controller; the source of the MOS tube unit is also connected to the power ground of the controller via a bidirectional TVS tube; and the source of the MOS tube unit is also grounded via a freewheeling tube.

4. The high-power multi-way power switching control system for a walking robot according to claim 1, characterized in that: The source of the MOS tube unit is also connected to the drain of the MOS tube unit via another freewheeling tube; and the output end of the controller is connected to the drain of the MOS tube unit via a resistor.

5. The high-power multi-way power switching control system for a walking robot according to claim 1, characterized in that: The MOS tube unit is a single MOS tube or a MOS tube array, and the MOS tube array is a plurality of MOS tubes connected in parallel.

6. The high-power multi-way power switching control system for a walking robot according to claim 1, characterized in that: The controller is a switch controller.

7. The high-power multi-way power switching control system for a walking robot according to claim 1, characterized in that: The main power supply, the backup power supply and the backup brake power supply are respectively connected to the power output interface through corresponding switching control circuits and then output to the outside.

8. The high-power multi-way power switching control system for a walking robot according to claim 1, characterized in that: Voltage collection points are set at the power input and power output ends of the MOS tube unit. When the robot detection equipment detects that the main power supply or the backup power supply fails, the robot uses the backup braking power supply to brake.

9. The high-power multi-way power switching control system for a walking robot according to claim 1, characterized in that: Among the at least three switching control circuits, a circuit with a higher input voltage is preferentially selected as the power supply.

10. The high-power multi-way power switching control system for a walking robot according to claim 1, characterized in that: When the voltage of a certain power supply is lower than the voltage of other power supplies, the current of the switching control circuit of the power supply flows in the opposite direction, from the power supply output end to the power supply input end, and the switching control circuit of the power supply turns off the MOS tube unit.

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