Efficient energy management circuit of humanoid robot

Abstract

The utility model relates to the technical field of robots, in particular to a high-efficiency energy management circuit of a humanoid robot. The system comprises a kinetic energy recovery device, an isolation circuit and a power management chip U1. The kinetic energy recovery device comprises a vibration energy collector, a spring energy storage device and a permanent magnet generator M and aims to convert mechanical motion into available electric energy. Energy stored by the spring energy storage device is converted into electric energy through the permanent magnet generator M. Meanwhile, the vibration energy collector is responsible for capturing vibration energy from the surrounding environment and converting the vibration energy into electric power. And after being processed by the isolating circuit, alternating current generated by the two is converted into direct current voltage suitable for working of internal components of the robot by the power management chip U1. In addition, the power management chip U1 ensures stable operation of the circuit and effective distribution of energy through function configuration of different pins of the power management chip U1. According to the circuit design, the energy utilization rate is improved, and the problem that kinetic energy cannot be effectively utilized when the humanoid robot acts is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a high-efficiency energy management circuit for a humanoid robot. Background Art

[0002] As a bridge between technology and education, the design of educational robots must not only focus on delivering educational content but also consider how to stimulate students' learning interest through interactive experiences. In recent years, technological advancements have made educational robots, particularly humanoid educational robots, more engaging and engaging due to their human-like appearance and movements. These robots not only offer unique advantages in delivering educational content but also enhance interactivity by simulating human movements and expressions.

[0003] Educational robots have made significant progress in energy management systems, particularly in battery management and power conversion efficiency. These advances enable educational robots to remain active for longer periods, providing learners with a continuous interactive experience. However, the diversification of educational robots' functions, particularly the addition of more interactive motion features, has placed new demands on energy management. For example, when teaching physics principles or conducting physical training, humanoid educational robots may need to perform complex movements such as walking, jumping, and even dancing. These movements not only enhance the fun and interactivity of the learning process, but also increase energy consumption. Utility Model Content

[0004] The purpose of the utility model is to provide a high-efficiency energy management circuit for a humanoid robot, so as to solve the problems of low energy utilization efficiency and ineffective recycling of kinetic energy of the robot.

[0005] To achieve the above-mentioned objectives, a high-efficiency energy management circuit for a humanoid robot is provided, including a kinetic energy recovery device, an isolation circuit and a power management chip U1. The kinetic energy recovery device is provided with a vibration energy collector, a spring energy storage device and a permanent magnet generator M. The spring energy storage device is connected to the permanent magnet generator M. The permanent magnet generator M is used to convert the kinetic energy of the spring energy storage device into electrical energy. The vibration energy collector is used to collect energy from environmental vibrations and convert it into usable electricity. The vibration energy collector and the permanent magnet generator M respectively input electrical energy into the power management chip U1 through the isolation circuit. The isolation circuit is used to process the electrical energy generated by the vibration energy collector and the permanent magnet generator M to prevent mutual interference. The power management chip U1 is used to convert AC voltage into DC voltage suitable for use by the internal components of the robot.

[0006] As a further improvement of the present technical solution, the pins PZ1 and PZ2 of the power management chip U1 are connected to an isolation circuit for receiving the processed alternating current generated by the vibration energy harvester and the permanent magnet generator M.

[0007] As a further improvement of this technical solution, the pin VIN of the power management chip U1 is connected to the capacitor C1, the other end of the capacitor C1 is grounded, the pin CAP of the power management chip U1 is connected to the capacitor C2, and the other end of the capacitor C2 is connected to the capacitor C1 and the pin VIN of the power management chip U1.

[0008] As a further improvement of the present technical solution, the pin VIN2 of the power management chip U1 is connected to the capacitor C3, the other end of the capacitor C3 is grounded, the pin D0 of the power management chip U1 is connected to the capacitor C3 and the pin VIN2 of the power management chip U1, and the pin D0, pin D1 and pin GND of the power management chip U1 are grounded.

[0009] As a further improvement of the present technical solution, the pin PGOOD of the power management chip U1 is connected to the resistor R1 , and the other end of the resistor R1 is grounded.

[0010] As a further improvement of the present technical solution, the pin SW of the power management chip U1 is connected to the inductor L1, the other end of the inductor L1 is connected to the capacitor C4 and the load, the other end of the capacitor C4 is grounded and connected to the load, and the pin VOUT of the power management chip U1 is connected to the other end of the inductor L1, the capacitor C4 and the load.

[0011] As a further improvement of the present technical solution, the vibration energy harvester includes a sinusoidal current source i(t), an internal capacitor Cp and an internal resistor Rp. The sinusoidal current source i(t) is connected in parallel with the internal capacitor Cp, and the sinusoidal current source i(t) is connected in parallel with the internal resistor Rp. One end of the vibration energy harvester is connected to the primary winding connection point a of the transformer T1, and the other end of the vibration energy harvester is connected to the primary winding connection point b of the transformer T1. The vibration energy harvester is connected in parallel with the varistor ZR1, and the vibration energy harvester is connected in parallel with the capacitor C5.

[0012] As a further improvement of the present technical solution, the primary winding connection point c of the transformer T1 is connected to one end of the permanent magnet generator M, the primary winding connection point d of the transformer T1 is connected to the other end of the permanent magnet generator M, the permanent magnet generator M is connected in parallel with the varistor ZR1, and the permanent magnet generator M is connected in parallel with the capacitor C6.

[0013] As a further improvement of the present technical solution, the secondary winding connection point e of the transformer T1 is connected to the pin PZ1 of the power management chip U1, the secondary winding connection point f of the transformer T1 is connected to the pin PZ2 of the power management chip U1, the secondary winding connection point e and the connection point f of the transformer T1 are connected in parallel with capacitor C9, the secondary winding connection point e of the transformer T1 is connected to capacitor C8, the secondary winding connection point f of the transformer T1 is connected to capacitor C7, and the other ends of the capacitors C7 and C8 are grounded.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The humanoid robot's efficient energy management circuit incorporates a vibration energy harvester and spring energy storage device, coupled with a permanent magnet generator (M). This design fully captures the robot's mechanical energy in various motion states and efficiently converts it into electrical energy. This not only broadens the application scenarios for energy recovery, but also significantly improves the energy recovery rate, reduces energy waste, and enhances the overall system's energy efficiency. Furthermore, its application in educational robots can help cultivate students' environmental awareness.

[0016] 2. The humanoid robot's efficient energy management circuit uses the LTC3588-2 power management chip, which integrates a rectifier bridge, voltage regulation, and control circuits. It can convert the AC power provided by the kinetic energy recovery device into a DC voltage suitable for the robot's internal electronic components. This makes the structure more compact and reduces the module size, while ensuring the stability and reliability of the power supply and optimizing energy conversion efficiency.

[0017] 3. In the humanoid robot's high-efficiency energy management circuit, compared with the regenerative braking technology primarily used for energy recovery in the existing technology, the application of this module in the humanoid robot is, first, cost-effective. The hardware of the vibration energy harvester and spring energy accumulator is relatively simple, with low initial costs, and does not require expensive components such as complex motors / generators and inverters. In addition, maintenance and fault diagnosis are relatively simple, reducing long-term operating costs. Secondly, the system complexity is low, the design and control are relatively simple, and it is easy to integrate into the robot system, reducing the difficulty of design and debugging, and improving the reliability and stability of the system. In terms of lightweighting and miniaturization, the vibration energy harvester and spring energy accumulator are light in weight and will not significantly increase the total weight of the robot, helping to maintain the robot's maneuverability and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the module structure of the utility model;

[0019] Figure 2 This is a circuit schematic diagram of the isolation circuit of the utility model;

[0020] Figure 3 This is a circuit diagram of the power management chip of this utility model. DETAILED DESCRIPTION

[0021] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] See also Figure 1-Figure 3 As shown, the purpose of this embodiment is to provide an efficient energy management circuit for a humanoid robot, including a kinetic energy recovery device, an isolation circuit and a power management chip U1. The kinetic energy recovery device is provided with a vibration energy collector, a spring energy storage device and a permanent magnet generator M. The spring energy storage device is connected to the permanent magnet generator M. The permanent magnet generator M is used to convert the kinetic energy of the spring energy storage device into electrical energy. The vibration energy collector is used to collect energy from environmental vibrations and convert it into usable electricity. The vibration energy collector and the permanent magnet generator M respectively input electrical energy to the power management chip U1 through the isolation circuit. The power management chip U1 is used to convert AC voltage into DC voltage suitable for use by the internal components of the robot.

[0023] To maximize the use of the robot's kinetic energy, vibration energy harvesters should be installed in areas with high frequency and large amplitude of movement, such as the legs, arms, or back. These areas generate a large amount of vibration when the robot moves, and the vibration energy harvester can convert this energy into usable electrical resources. On the other hand, the optimal installation location for the spring energy accumulator is at the robot's joints, such as the knee joint, elbow joint, or any joint that can produce large displacement. This arrangement allows the spring energy accumulator to store some kinetic energy when the robot performs routine movements such as walking or waving its limbs, and convert this kinetic energy into electrical energy through the connected permanent magnet generator M, thereby improving the energy recycling rate. The AC power generated by the vibration energy harvester and permanent magnet generator M is then separated by an isolation circuit to prevent mutual interference and connected to the power management chip U1.

[0024] The vibration energy harvester consists of a sinusoidal current source i(t), an internal capacitor Cp, and an internal resistor Rp. The sinusoidal current source i(t) simulates the current generated by vibration. When the robot moves or is subjected to external vibration, the vibration energy harvester generates a sinusoidal current, which can be converted into usable electrical energy. The internal capacitor Cp, connected in parallel with the sinusoidal current source i(t), stores and releases charge, smoothing current fluctuations and improving energy harvesting efficiency. The internal resistor Rp, also connected in parallel with the sinusoidal current source i(t), dissipates excess energy and prevents excessive voltage from damaging the circuit. A varistor ZR1 is connected in parallel with the vibration energy harvester to protect the circuit from overvoltage. When the voltage exceeds a certain threshold, the varistor conducts, dissipating excess energy. Furthermore, a capacitor C5 is connected in parallel with the vibration energy harvester to further smooth voltage fluctuations and ensure output voltage stability. One end of the vibration energy harvester is connected to the primary winding connection point a of transformer T1, and the other end is connected to the primary winding connection point b of transformer T1.

[0025] Transformer T1's primary winding connection point c is connected to one end of a permanent magnet generator M, and its primary winding connection point d is connected to the other end of the generator M. The generator M generates electrical energy through mechanical motion. When the robot moves, the generator converts mechanical energy into electrical energy, providing additional power input. A varistor ZR1 is connected in parallel with the generator M to protect the generator and subsequent circuits from overvoltage. A capacitor C6 is also connected in parallel with the generator M to smooth voltage fluctuations and ensure output voltage stability.

[0026] Because the voltage and current of the energy generated by the vibration energy harvester and the spring accumulator may differ, the vibration energy harvester and the permanent magnet generator M require different windings. A vibration energy harvester uses the vibrations of a moving robot to generate electricity. It typically employs piezoelectric materials or electromagnetic induction. When the robot moves, the piezoelectric material or coil within the vibration energy harvester generates alternating current and voltage. This alternating current and voltage can be further converted and utilized through appropriate circuit design, providing additional energy for the robot.

[0027] The output characteristics of a vibration energy harvester are as follows: The current is typically low because the energy generated by vibration is limited. This means that vibration energy harvesters are primarily suitable for low-power applications. The voltage depends on the amplitude and frequency of the vibration, as well as the properties of the materials used. To efficiently transmit and utilize the energy from the vibration energy harvester, it can be connected to a primary winding with a large number of turns to match the lower input voltage.

[0028] A spring accumulator stores kinetic energy using a mechanical spring. When the robot moves, the spring compresses or stretches, storing energy. When the energy needs to be released, the spring's potential energy is converted into electrical energy through a mechanism, such as a permanent magnet generator. Specifically, when the spring releases energy, it rotates the permanent magnet generator's rotor, cutting through magnetic flux lines and generating electricity.

[0029] The current depends on the speed at which the spring releases energy and the efficiency of the generator used, and can usually provide a large instantaneous current. This means that spring energy storage devices are suitable for short-term applications that require high power output. In order to effectively transmit and utilize the electrical energy of the spring energy storage device, it can be connected to a primary winding with fewer turns to match its higher input voltage.

[0030] Transformer T1's secondary winding connection point e is connected to pin PZ1 of the power management chip U1, and secondary winding connection point f is connected to pin PZ2 of the power management chip U1. A capacitor C9 is connected in parallel between connection points e and f of the transformer T1's secondary winding to further smooth voltage fluctuations and ensure stable input voltage to the power management chip. Furthermore, a capacitor C8 is connected to connection point e, and a capacitor C7 is connected to connection point f. The other ends of capacitors C7 and C8 are grounded for further filtering and voltage stabilization.

[0031] Power management chip U1, a model LTC3588-2, integrates a rectifier bridge, voltage regulation, and control circuitry. It can directly process the AC power provided by the kinetic energy recovery device and convert it into a DC voltage suitable for the robot's internal electronic components. Pins PZ1 and PZ2 are connected to an isolation circuit, which receives the processed AC power generated by the vibration energy harvester and permanent magnet generator M. Power management chip U1 converts this AC power into a DC voltage suitable for the robot's internal components. Pin VIN of power management chip U1 is connected to ground via capacitor C1, while pin CAP is connected to capacitor C2. The other end of capacitor C2 is connected to capacitor C1 and pin VIN of power management chip U1. This design helps filter and smooth the power supply voltage. Furthermore, pin VIN2 of power management chip U1 is connected to capacitor C3, the other end of which is grounded. Pin D0 is connected to capacitor C3 and pin VIN2 of power management chip U1. Pins D0, D1, and GND are grounded. These designs further ensure circuit stability and reliability. Pin PGOOD of power management chip U1 is connected to resistor R1, the other end of which is grounded. Pin SW of power management chip U1 is connected to inductor L1, the other end of inductor L1 is connected to capacitor C4 and the load, the other end of capacitor C4 is grounded and connected to the load. Pin VOUT of power management chip U1 is connected to the other end of inductor L1, capacitor C4, and the load. This design ensures that the load receives a stable DC voltage.

[0032] Working principle:

[0033] The core of this circuit lies in the coordinated operation of the kinetic energy recovery device and the power management chip U1. The vibration energy harvester and spring accumulator in the kinetic energy recovery device absorb ambient vibration and mechanical energy during robot motion. The vibration energy harvester directly converts vibration energy into AC power, while the spring accumulator converts this energy into AC power via a permanent magnet generator M. This converted energy is then fed into the power management chip U1 through an isolation circuit. The PZ1 and PZ2 pins of the power management chip U1 receive the AC power from the kinetic energy recovery device. The D0 and D1 pins select the output voltage. In this circuit, the output voltage is set to 5.0V, which can directly power a microcontroller and sensors. The PGOOD pin serves as a "ready" signal for the regulated power supply, indicating that the power management chip U1 is ready to provide a stable voltage to the load.

[0034] Power management chip U1 converts the AC voltage to DC and begins charging storage capacitor C1 at the input. As the charging process progresses, the voltage across C1 gradually rises. Once the voltage exceeds the rising threshold voltage (typically 16V), the LTC3588-2 activates its internal voltage regulation circuitry, transferring the charge from C1 to storage capacitor C2 at the output. At this point, the output voltage rapidly rises to 5V, supplying power to the load. Simultaneously, the "good" signal, Pgood, is asserted high, indicating that the regulated power supply is ready for operation. As the charge from C1 is transferred to the output, the voltage across C1 decreases. When the voltage drops below the falling threshold voltage, the LTC3588-2 shuts down its internal voltage regulation circuitry, stopping the transfer of charge from C1, and allowing the voltage across C1 to slowly rise again. This repetitive process ensures a stable DC voltage is continuously supplied to the load, even with unstable input energy.

[0035] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An efficient energy management circuit for a humanoid robot, characterized by: It includes a kinetic energy recovery device, an isolation circuit and a power management chip U1. The kinetic energy recovery device is provided with a vibration energy collector, a spring energy accumulator and a permanent magnet generator M. The spring energy accumulator is connected to the permanent magnet generator M. The permanent magnet generator M is used to convert the kinetic energy of the spring energy accumulator into electrical energy. The vibration energy collector is used to collect energy from environmental vibrations and convert it into usable electricity. The vibration energy collector and the permanent magnet generator M respectively input electrical energy to the power management chip U1 through the isolation circuit. The isolation circuit is used to process the electrical energy generated by the vibration energy collector and the permanent magnet generator M to prevent mutual interference. The power management chip U1 is used to convert AC voltage into DC voltage suitable for use by the internal components of the robot.

2. The high-efficiency energy management circuit for a humanoid robot according to claim 1, wherein: Pins PZ1 and PZ2 of the power management chip U1 are connected to an isolation circuit for receiving processed alternating current generated by the vibration energy harvester and the permanent magnet generator M.

3. The high-efficiency energy management circuit for a humanoid robot according to claim 2, wherein: The pin VIN of the power management chip U1 is connected to the capacitor C1, the other end of the capacitor C1 is grounded, the pin CAP of the power management chip U1 is connected to the capacitor C2, the other end of the capacitor C2 is connected to the capacitor C1 and the pin VIN of the power management chip U1.

4. The high-efficiency energy management circuit for a humanoid robot according to claim 1, wherein: Pin VIN2 of the power management chip U1 is connected to capacitor C3, the other end of the capacitor C3 is grounded, pin D0 of the power management chip U1 is connected to capacitor C3 and pin VIN2 of the power management chip U1, and pin D0, pin D1 and pin GND of the power management chip U1 are grounded.

5. The high-efficiency energy management circuit for a humanoid robot according to claim 1, wherein: A pin PGOOD of the power management chip U1 is connected to a resistor R1 , and the other end of the resistor R1 is grounded.

6. The high-efficiency energy management circuit for a humanoid robot according to claim 1, wherein: Pin SW of the power management chip U1 is connected to the inductor L1, the other end of the inductor L1 is connected to the capacitor C4 and the load, the other end of the capacitor C4 is grounded and connected to the load, and pin VOUT of the power management chip U1 is connected to the other end of the inductor L1, the capacitor C4 and the load.

7. The high-efficiency energy management circuit for a humanoid robot according to claim 1, wherein: The vibration energy harvester includes a sinusoidal current source i(t), an internal capacitor Cp and an internal resistor Rp. The sinusoidal current source i(t) is connected in parallel with the internal capacitor Cp, and the sinusoidal current source i(t) is connected in parallel with the internal resistor Rp. One end of the vibration energy harvester is connected to the primary winding connection point a of the transformer T1, and the other end of the vibration energy harvester is connected to the primary winding connection point b of the transformer T1. The vibration energy harvester is connected in parallel with the varistor ZR1, and the vibration energy harvester is connected in parallel with the capacitor C5.

8. The high-efficiency energy management circuit of the humanoid robot according to claim 7 is characterized in that: the primary side winding connection point c of the transformer T1 is connected to one end of the permanent magnet generator M, the primary side winding connection point d of the transformer T1 is connected to the other end of the permanent magnet generator M, the permanent magnet generator M is connected in parallel with the varistor ZR1, and the permanent magnet generator M is connected in parallel with the capacitor C6.

9. The high-efficiency energy management circuit for a humanoid robot according to claim 8, characterized in that The secondary winding connection point e of the transformer T1 is connected to the pin PZ1 of the power management chip U1, the secondary winding connection point f of the transformer T1 is connected to the pin PZ2 of the power management chip U1, the secondary winding connection point e and the connection point f of the transformer T1 are connected in parallel with capacitor C9, the secondary winding connection point e of the transformer T1 is connected to capacitor C8, the secondary winding connection point f of the transformer T1 is connected to capacitor C7, and the other ends of the capacitors C7 and C8 are grounded.

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