Power-off energy storage device applied to robot system

Abstract

The utility model discloses a power-off energy storage device applied to a robot system, which is applied to a robot control cabinet and comprises a charging module, a discharging device and an energy storage module. The input end of the charging module is connected with a low-voltage power supply in an external robot control cabinet, the output end of the charging module is respectively connected with one end of the energy storage module and one end of the discharging device, and the other end of the discharging device is respectively connected with a main driving power supply in the external robot control cabinet and a robot load; the beneficial effects are that when abnormal power loss occurs, the bus voltage is reduced at a top speed and is reduced to the voltage provided by the energy storage module, and the energy storage module begins to discharge to the bus through the discharge device to carry out low-voltage power supply, so that the body side control unit continues to operate and records important parameters and information during a stop period until the main body side control unit is completely stopped finally; and further, normal operation can be continued during next starting.

Description

Technical Field

[0001] The utility model relates to the technical field of power supply, and particularly relates to a power-off energy storage device applied to a robot system. Background Art

[0002] At present, the robot system uses an AC / DC 48V built-in or external power supply as the system power supply unit. Only communication lines and drive power lines are used to connect the robot body and the control cabinet. When operating under normal external power supply conditions, in case of abnormal power-off, the bus voltage of the main drive power supply will drop rapidly, and the control system will stop running immediately, while the final position of the mechanical device after stopping and some other important data cannot be saved, which will cause poor operation after the next device restart. Generally, the common solutions are as follows:

[0003] 1. Install a large number of capacitors on the bus as the energy storage unit, and output energy to the robot body when the system loses power; however, since it directly supplies power to the bus, a large number of capacitors are required, and they are required to withstand the bus voltage, which will cause problems such as a large increase in cost and a large occupied volume; at the same time, since the energy storage unit continuously provides energy at a level equivalent to the drive voltage to the collaborative robot, when power should stop being supplied to the robot body during power-off, continuing to output energy will also pose a certain safety hazard;

[0004] 2. Usually, traditional industrial robots use batteries in the control cabinet to record important data collected in the control cabinet when power is lost; however, when sensor components such as drivers and encoders are integrated in the joints of the robot body, using batteries in the joints will increase the complexity of the structural design and the occupied space, and is not conducive to maintenance and replacement; in addition, if installed in the control cabinet, it is necessary to increase the wiring harness, and at the same time, it will also increase the complexity of assembly. Summary of the Utility Model

[0005] Aiming at the defects in the prior art, the utility model provides a power-off energy storage device applied to a robot system to realize low-voltage power supply to the robot body when the system loses power.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] A power-off energy storage device applied to a robot system, which is applied to a robot control cabinet and includes a charging module, a discharging device, and an energy storage module;

[0008] The input end of the charging module is connected to the low-voltage power supply in the external robot control cabinet, the output end of the charging module is respectively connected to the energy storage module and one end of the discharging device, and the other end of the discharging device is respectively connected to the main drive power supply and the robot load in the external robot control cabinet.

[0009] Preferably, the charging module includes a current-limiting resistor and a charging rectifier diode. The anode of the charging rectifier diode is connected to the current-limiting resistor, and the cathode of the charging rectifier diode is respectively connected to the energy storage module and one end of the discharging device.

[0010] Preferably, the number of the current-limiting resistors is at least one.

[0011] Preferably, the discharging device uses a discharging diode. The anode of the discharging diode is respectively connected to the cathode of the charging rectifier diode and the energy storage module, and the cathode of the discharging diode is respectively connected to the external main driving power supply and the robot load.

[0012] Preferably, the energy storage module includes at least one capacitor module.

[0013] Preferably, the capacitor module includes a voltage management unit and a super capacitor connected thereto.

[0014] Preferably, the voltage management unit uses a TL431 control IC, and a consumption resistor is connected between the TL431 control IC and the super capacitor.

[0015] Preferably, the voltage management unit uses a chip BW6101 and its peripheral circuit.

[0016] The beneficial effects of the present utility model are embodied in that: by installing the power-off energy storage device in the existing control cabinet and utilizing the connected charging module, discharging device and energy storage module; after power-on startup, the low-voltage module charges the energy storage module through the charging module; in case of abnormal power loss, the bus voltage drops rapidly and is lower than the voltage provided by the energy storage module. The energy storage module starts to discharge to the bus through the discharging device for low-voltage power supply, so as to continue to maintain the operation of the control unit on the main body side and record important parameters and information during the stop period until it finally stops completely; thus ensuring that it can continue to operate normally during the next startup. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts do not necessarily draw according to the actual scale.

[0018] Figure 1 FIG. is a schematic structural diagram of a power-off energy storage device applied to a robot system provided by an embodiment of the present utility model;

[0019] Figure 2Schematic diagram of a voltage management unit provided by an embodiment of the present utility model, which adopts a TL431 control IC;

[0020] Figure 3 Schematic diagram of another voltage management unit provided by an embodiment of the present utility model, which adopts a chip BW6101. Specific implementation manners

[0021] The embodiments of the technical solution of the present utility model will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present utility model more clearly, so they are only examples and cannot be used to limit the protection scope of the present utility model.

[0022] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present utility model belongs.

[0023] As Figure 1 shown, the present utility model provides a power-off energy storage device applied to a robot system, which is applied to a robot control cabinet and includes a charging module, a discharging device 3 and an energy storage module 4;

[0024] The input end of the charging module is connected to a low-voltage power supply in an external robot control cabinet, the output end of the charging module is respectively connected to the energy storage module and one end of the discharging device, and the other end of the discharging device is respectively connected to a main drive power supply and a robot load in the external robot control cabinet.

[0025] In this embodiment, the robot load is the robot body itself. The robot system includes a robot body and a robot control cabinet. A bus is connected between the main drive power supply and the robot load, and the low-voltage power supply provides a corresponding low-voltage charging voltage; wherein, the voltage provided by the energy storage module is lower than the bus voltage provided by the main drive power supply.

[0026] In this embodiment, the charging module includes a current-limiting resistor 1 and a charging rectifier diode 2. The anode of the charging rectifier diode 2 is connected to the current-limiting resistor 1, and the cathode of the charging rectifier diode 2 is respectively connected to the energy storage module 4 and one end of the discharging device 3.

[0027] Specifically, the number of the current-limiting resistors 1 is at least one; only examples are shown in the drawings and are not intended to limit it; in implementation, the current-limiting resistor 1 is not limited to being composed of only a single resistor; according to the usage requirements, it can also be composed of multiple resistors connected in series, in parallel or in a series-parallel combination.

[0028] Further, the discharger 3 uses a discharge diode. The anode of the discharge diode is connected to the cathode of the charging rectifier diode 2 and the energy storage module 4 respectively, and the cathode of the discharge diode is connected to the external main drive power supply and the robot load respectively.

[0029] In this embodiment, referring to Figure 2 , the energy storage module 4 includes at least one capacitor module.

[0030] Specifically, the capacitor module includes a voltage management unit 41 and a super capacitor 42 connected thereto; the voltage management unit uses a TL431 control IC, and a consumption resistor is connected between the TL431 control IC and the super capacitor; Figure 2 Three capacitor modules are taken as an example for illustration in Figure 2 as shown, and the corresponding consumption resistors are represented by Rx, Ry, and Rz respectively; its working process is as follows:

[0031] For example, set the voltage of each capacitor to 2.5V, the upper reference potential of TL431 is 2.5V. When the capacitor voltage is charged higher than 2.5V, a voltage difference appears across the resistor in each unit. The capacitor discharges to TL431 through the resistor, and the energy is consumed through the resistor, reducing the voltage across the capacitor in this unit (the voltage division in the entire series circuit decreases); the voltage division of other units rises, and finally a state of equal voltage division in each unit is achieved.

[0032] Further, in another embodiment, on the basis of the foregoing solution, referring to Figure 3 , the voltage management unit also adopts another implementation circuit. The voltage management unit uses a chip BW6101 and its peripheral circuit; that is, only the specific implemented voltage management unit is different; its working process is as follows:

[0033] For example, set the protection voltage point to 2.65V. When the VDD voltage is higher than this voltage, BW6101 turns on the MOSFET, and discharges and protects through the upper resistor connected thereto, and finally reaches the same balanced state; among them, the number and power of the discharge resistors can be increased or decreased according to needs; different models of MOSFET can be selected according to needs, or MOSFET is not used, but the energy is directly discharged through the lower resistor through the IOUT pin of the IC.

[0034] That is to say, the function of the voltage management unit is mainly to detect the voltage across a single capacitor. When its voltage exceeds the set value, its stored energy is discharged, and finally a state of equal voltage across each energy storage capacitor in the entire series circuit and no overvoltage is achieved.

[0035] During application, the number of capacitor modules included therein can be composed of multiple capacitor modules connected in series, in parallel, or in series-parallel according to usage requirements.

[0036] It should be noted that the working process of this technical solution is as follows:

[0037] After power-on startup, the low-voltage power supply charges the energy storage module. Since the low-voltage level is lower than the bus supply voltage, the energy storage module will not discharge to the bus during startup and normal operation. At the same time, due to the reverse cut-off of the discharge diode, the bus will not charge the high voltage into the energy storage module. In case of abnormal power failure, when the bus voltage drops rapidly and is lower than the voltage of the energy storage module, each joint detects the low-voltage state and enters the stop state. At the same time, the energy storage module starts to discharge to the bus to continue maintaining the operation of the control unit on the body side.

[0038] The utility model installs the power-off energy storage device in the existing control cabinet and utilizes the connected charging module, discharging device, and energy storage module. After power-on startup, the low-voltage module charges the energy storage module through the charging module. In case of abnormal power failure, the bus voltage drops rapidly and is lower than the voltage provided by the energy storage module. The energy storage module starts to discharge to the bus through the discharging device to supply low voltage, so as to continue maintaining the operation of the control unit on the body side and record important parameters and information during the stop period until it finally stops completely. Furthermore, it ensures that it can continue to operate normally during the next startup.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and are not intended to limit them. Although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present utility model, and they should all be covered by the scope of the claims and the description of the present utility model.

Claims

1. A power-off energy storage device applied to a robot system, characterized in that ,Applied to a robot control cabinet, including a charging module, a discharging device, and an energy storage module; ,The input end of the charging module is connected to the low-voltage power supply in the external robot control cabinet. The output end of the charging module is respectively connected to the energy storage module and one end of the discharging device. The other end of the discharging device is respectively connected to the main drive power supply in the external robot control cabinet and the robot load.

2. The power-off energy storage device applied to a robot system according to claim 1, wherein ,The charging module includes a current-limiting resistor and a charging rectifier diode. The anode of the charging rectifier diode is connected to the current-limiting resistor. The cathode of the charging rectifier diode is respectively connected to the energy storage module and one end of the discharging device.

3. The power-off energy storage device applied to a robot system according to claim 2, characterized in that ,The number of the current-limiting resistors is at least one.

4. The power-off energy storage device applied to a robot system according to claim 3, wherein ,The discharging device uses a discharging diode. The anode of the discharging diode is respectively connected to the cathode of the charging rectifier diode and the energy storage module. The cathode of the discharging diode is respectively connected to the external main drive power supply and the robot load.

5. The power-off energy storage device applied to a robot system according to any one of claims 1 to 4, characterized in that ,The energy storage module includes at least one capacitor module.

6. The power-off energy storage device applied to a robot system according to claim 5, characterized in that ,The capacitor module includes a voltage management unit and a super capacitor connected thereto.

7. The power-off energy storage device applied to the robot system according to claim 6, characterized in that ,The voltage management unit uses a TL431 control IC, and a consumption resistor is connected between the TL431 control IC and the super capacitor.

8. The power-off energy storage device applied to a robot system according to claim 6, characterized in that ,The voltage management unit uses a chip BW6101 and its peripheral circuit.

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