Robot power supply management system and robot

Abstract

The application provides a robot power supply management system and a robot, and relates to the technical field of robots. The robot power supply management system comprises a main battery, a backup battery and a power management module. The main battery is detachably installed in a battery compartment in the robot body, and the backup battery is installed in the robot body. The power management module comprises a discharging module, and the discharging module comprises at least a main battery main loop discharging unit, a main battery backup loop discharging unit and a backup battery discharging unit. The main battery can supply power to the robot body through the main battery main loop discharging unit, and the backup battery can supply power to the robot body through the backup battery discharging unit. During the power supply switching process of the main battery and the backup battery, the main battery can supply power to the robot body through the main battery backup loop discharging unit. The application can simplify the battery replacement process and prolong the endurance time of the robot.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more specifically, to a robot power supply management system and a robot. Background Technology

[0002] Existing fully functional robots have limited battery capacity due to space constraints, but consume a lot of power. A robot of average adult height can only last for a few hours at its normal walking speed. After the battery is depleted, the robot cannot stand up and will fall to the ground. Therefore, it is necessary to charge the robot or replace the battery before it runs out of power.

[0003] If the robot's battery cannot be quickly replaced, the entire robot needs to be charged. During the charging process, the robot cannot stand or work. If the robot's battery supports quick removal and replacement, the entire robot needs to be lifted with a crane, the battery disconnected from the body, and then a fully charged battery replaced for a second power-on.

[0004] It can be seen that existing robots suffer from cumbersome charging or battery swapping processes due to their short battery life. Utility Model Content

[0005] The purpose of this application is to address the shortcomings of the prior art by providing a robot power supply management system and a robot, so as to simplify the battery swapping process and extend the robot's battery life.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, embodiments of this application provide a robot power supply management system, which includes: a main battery, a backup battery, and a power management module; The main battery is detachably installed in the battery compartment inside the robot body, and the spare battery is installed inside the robot body. The power management module includes a discharge module, which includes at least a main battery main circuit discharge unit, a main battery backup circuit discharge unit, and a backup battery discharge unit. The power input terminal of the main battery main circuit discharge unit and the power input terminal of the main battery backup circuit discharge unit are connected to each other, serving as the first power input terminal of the power management module. The power input terminal of the backup battery discharge unit serves as the second power input terminal of the power management module. The power output terminals of the main battery main circuit discharge unit, the main battery backup circuit discharge unit, and the backup battery discharge unit are connected to each other, serving as the power output terminal of the power management module. The main battery is connected to the first power input terminal of the power management module, the backup battery is connected to the second power input terminal of the power management module, and the power output terminal of the power management module is connected to the power board inside the robot body. The main battery can power the robot body through the main battery main circuit discharge unit, and the backup battery can power the robot body through the backup battery discharge unit; during the power supply switching between the main battery and the backup battery, the main battery can power the robot body through the main battery backup circuit discharge unit.

[0007] Optionally, the power management module further includes: a detection mechanism and a controller; The detection mechanism is set at a preset detection position in the battery compartment to detect the locking status of the main battery in the battery compartment. The controller is electrically connected to the detection mechanism, obtains the locking state of the main battery in the battery compartment detected by the detection mechanism, and controls the on / off state of the main battery main circuit discharge unit, the main battery backup circuit discharge unit and the backup battery discharge unit according to the locking state of the main battery in the battery compartment.

[0008] Optionally, the power management module further includes a charging sub-module; The charging submodule is connected to the main battery and the backup battery respectively; When the charging submodule is connected to an external power source, the external power source can charge the main battery and the backup battery through the charging submodule. When the charging submodule is not connected to an external power source, the main battery can charge the backup battery through the charging submodule.

[0009] Optionally, the power management module further includes a main power switch submodule; The main power switch submodule is connected to other modules in the power management module. When the main power switch submodule is turned off, the robot power supply management system is powered off. When the main power switch submodule is turned on, the robot power supply management system is powered on.

[0010] Optionally, the housing of the main battery is provided with a locking part, the locking part including: a rotation drive and a drive-connected locking plate; The battery compartment inside the robot body has a pre-set mounting position with a slot that matches the card plate, and the rotary drive is used to control the locking state between the card plate and the slot.

[0011] Optionally, the rotary drive includes a crank and a connecting rod. The crank is connected to the clamping plate via the connecting rod. The rotation of the crank drives the clamping plate to move, thereby controlling the locking state of the clamping plate and the clamping slot. The detection mechanism is a distance sensor, which is used to detect the distance between the card plate and the card slot to determine the locking status of the main battery in the battery compartment.

[0012] Optionally, the distance sensor is a limit switch.

[0013] Optionally, the capacity of the main battery is greater than the capacity of the backup battery.

[0014] Secondly, embodiments of this application also provide a robot, the robot including the robot power management system described in any of the first aspects and a power board located inside the robot body, the robot power management system being connected to the power board to supply power to the robot body.

[0015] Optionally, the robot body includes sensors and / or joints, which maintain their current operating state when powered by the backup battery of the robot power management system.

[0016] The beneficial effects of this application are: The robot power supply management system and robot provided in this application include a removable main battery, a backup battery, and a power management module within the robot body. During the removal and installation of the main battery, the power management module manages the power supply status of the main and backup batteries through the main battery main circuit discharge unit, the main battery backup circuit discharge unit, and the backup battery discharge unit, enabling power switching between the main and backup batteries. This ensures that the robot body will not fall due to lack of power during main battery replacement, eliminating the need to lift the entire robot body to prevent it from falling. This greatly simplifies the battery replacement process, reduces the tools required for battery replacement, shortens the battery replacement time, and extends the robot's working time. Furthermore, the main battery backup circuit discharge unit prevents the backup battery from providing a sudden large current to the main battery during the switching process, avoiding short circuits and protecting circuit safety. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 System architecture of the robot power supply management system provided in the embodiments of this application Figure 1 ; Figure 2 This is a schematic diagram of the power management module provided in an embodiment of this application; Figure 3 This is a schematic diagram of the main battery structure provided in an embodiment of this application; Figure 4 Control timing diagrams provided for embodiments of this application; Figure 5 This is a schematic diagram of the main battery disassembly structure provided in an embodiment of this application; Figure 6 This is a schematic diagram of the robot provided in an embodiment of this application; Figure 7 A flowchart illustrating the workflow of the robot power supply management system provided in this application embodiment. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0020] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0021] In the description of this application, it should be noted that if the terms "upper", "lower", etc. appear to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0022] Furthermore, the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0024] Figure 1 System architecture of the robot power supply management system provided in the embodiments of this application Figure 1 ,like Figure 1 As shown, the robot power management system 100 may include a main battery 10, a backup battery 20, and a power management module 30. The main battery 10 is detachably installed in the battery compartment inside the robot body, and the backup battery 20 is installed inside the robot body.

[0025] Figure 2 This is a schematic diagram of the power management module provided in an embodiment of this application, as shown below. Figure 2 As shown, the power management module 30 may include a discharge module 31, which may include at least a main battery main circuit discharge unit 311, a main battery backup circuit discharge unit 312, and a backup battery discharge unit 313. The power input terminal of the main battery main circuit discharge unit 311 and the power input terminal of the main battery backup circuit discharge unit 312 are connected as the first power input terminal of the power management module 30, and the power input terminal of the backup battery discharge unit 313 is the second power input terminal of the power management module 30. The power output terminal of the main battery main circuit discharge unit 311, the power output terminal of the main battery backup circuit discharge unit 312, and the power output terminal of the backup battery discharge unit 313 are connected as the power output terminal of the power management module 30.

[0026] The main battery 10 is connected to the first power input terminal of the power management module 30, the backup battery 20 is connected to the second power input terminal of the power management module 30, and the power output terminal of the power management module 30 is connected to the power board inside the robot body.

[0027] The main battery 10 can power the robot body through the main battery main circuit discharge unit 311, and the backup battery 20 can power the robot body through the backup battery discharge unit 313; during the power supply switching process between the main battery 10 and the backup battery 20, the main battery 10 can power the robot body through the main battery backup circuit discharge unit 312.

[0028] In this embodiment, the main battery 10 is a removable battery. The removal of the main battery 10 is triggered when the main battery 10 is about to run out of power. When the main battery 10 is about to run out of power, the robot sends a battery replacement prompt. At this time, after receiving the battery replacement prompt, the maintenance personnel or the automatic battery swapping equipment replaces the main battery 10 that is about to run out of power with a fully charged main battery 10.

[0029] In some embodiments, the controller inside the robot body monitors the power level of the main battery 10. When the power level of the main battery 10 is less than a preset power threshold, the controller inside the robot body issues a battery replacement prompt.

[0030] In other embodiments, the controller inside the robot monitors the power level of the main battery 10. When the controller receives a new action command for the robot, it determines whether the current remaining power of the main battery 10 is sufficient to support the robot in completing the new action command. If the current remaining power of the main battery 10 is insufficient to support the robot in completing the new action command, the controller inside the robot issues a battery replacement prompt.

[0031] Furthermore, when the main battery 10's charge is less than a preset charge threshold, or when the main battery 10's current remaining charge does not support the robot in completing new action commands, the controller within the robot body controls the robot body to enter a low-power pose. The working state of each power-consuming module remains unchanged, and no new action commands are received. Specifically, if the robot is performing a transport task, the low-power pose can be a standing pose, in which case the robot will put down the transported load and enter the standing pose; if the robot is performing a non-transport task, the low-power pose can be the current pose, and the calculated information of each sensor and the angle position information of each joint remain unchanged.

[0032] In addition to the main battery 10 for power supply, the robot body provided in this embodiment also includes an additional backup battery 20, which is used to power the robot body after the main battery 10 is removed.

[0033] Specifically, the main battery 10 is connected to the power board inside the robot body through the main battery main circuit discharge unit 311. The main battery 10 is also connected to the power board inside the robot body through the main battery backup circuit discharge unit 312. When the main battery main circuit discharge unit 311 is turned on, the main power supply circuit between the main battery 10 and the power board inside the robot body is turned on. When the main battery backup circuit discharge unit 312 is turned on, the backup power supply circuit between the main battery 10 and the power board inside the robot body is turned on.

[0034] The backup battery 20 is connected to the power board inside the robot body through the backup battery discharge unit 313. When the backup battery discharge unit 313 is turned on, the auxiliary power supply circuit between the backup battery 20 and the power board inside the robot body is turned on.

[0035] During the removal of the main battery 10, before the main battery 10 is disconnected from the first power input terminal of the power management module 30, firstly, the main battery backup circuit discharge unit 312 is turned on, and the main battery 10 supplies power to the robot body through the backup power supply circuit. Then, the main battery main circuit discharge unit 311 is turned off, and the main power supply circuit is disconnected. Next, the backup battery discharge unit 313 is turned on, and the backup battery 20 supplies power to the robot body through the auxiliary power supply circuit. At this point, it is no longer necessary to use the main battery 10 to supply power to the robot body. The main battery backup circuit discharge unit 312 is turned off, and the main battery 10 stops supplying power to the robot body through the backup power supply circuit. In this way, the power supply switching process from the main battery 10 to the backup battery 20 is realized.

[0036] During the reinstallation of the fully charged main battery 10, after the main battery 10 is connected to the first power input terminal of the power management module 30, firstly, the main battery backup circuit discharge unit 312 is turned on, and the main battery 10 supplies power to the robot body through the backup power supply circuit. Then, the backup battery discharge unit 313 is turned off, and the backup battery 20 stops supplying power to the robot body through the auxiliary power supply circuit. Next, the main battery main circuit discharge unit 311 is turned on, the main power supply circuit is activated, and the main battery 10 supplies power to the robot body through the main power supply circuit. At this time, it is no longer necessary to supply power to the robot body through the backup power supply circuit. The main battery backup circuit discharge unit 312 is turned off, and the main battery 10 stops supplying power to the robot body through the backup power supply circuit. In this way, the power supply switching process from the backup battery 20 to the main battery 10 is realized.

[0037] The purpose of setting up a main battery main circuit discharge unit 311 and a main battery backup circuit discharge unit 312 for the main battery 10 is that the main power supply circuit of the main battery main circuit discharge unit 311 has a kinetic energy recovery function. In the absence of a discharge circuit for the robot as a whole, the robot will charge the main battery 10 through the main power supply circuit during robot joint deceleration, braking, etc. To ensure uninterrupted power supply during the switching between the main battery 10 and the backup battery 20, the main power supply circuit and the auxiliary power supply circuit are simultaneously activated for a period of time. This could cause the backup battery 20 to momentarily charge the main battery 10 with a large current, resulting in a short circuit. Therefore, to avoid short circuits, a main battery backup circuit discharge unit 312 is set up for the main battery 10 to form a backup power supply circuit. The backup power supply circuit does not have a kinetic energy recovery function. Thus, by turning on the main battery backup circuit discharge unit 312 and then turning off the main battery main circuit discharge unit 311, not only can the main battery 10 maintain power supply to the robot body, but it can also prevent the main battery 10 from receiving a momentary large current when the backup battery discharge unit 313 is activated, thus avoiding short circuits and protecting circuit safety.

[0038] The robot power supply management system provided in the above embodiment includes a removable main battery 10, a backup battery 20, and a power management module 30 within the robot body. During the removal and installation of the main battery 10, the power management module 30 manages the power supply status of the main battery 10 and the backup battery 20 through the main battery main circuit discharge unit 311, the main battery backup circuit discharge unit 312, and the backup battery discharge unit 313, enabling power switching between the main battery 10 and the backup battery 20. This ensures that the robot body will not fall due to lack of power during the replacement of the main battery 10, eliminating the need to lift the entire robot body to prevent it from falling. This greatly simplifies the battery replacement process, reduces the tools required for battery replacement, shortens the battery replacement time, and extends the robot's working time. Furthermore, the main battery backup circuit discharge unit 312 prevents the backup battery 20 from providing a sudden large current to the main battery 10 during the switching process between the main battery 10 and the backup battery 20, avoiding short circuits and protecting circuit safety.

[0039] In one possible implementation, such as Figure 2 As shown, the power management module 30 may also include a detection mechanism 32 and a controller 33.

[0040] The detection mechanism 32 is set at a preset detection position in the battery compartment to detect the locking status of the main battery 10 in the battery compartment; the controller 33 is electrically connected to the detection mechanism 32, obtains the locking status of the main battery 10 in the battery compartment detected by the detection mechanism 32, and controls the on / off state of the main battery main circuit discharge unit 311, the main battery backup circuit discharge unit 312 and the backup battery discharge unit 313 according to the locking status of the main battery 10 in the battery compartment.

[0041] In this embodiment, the locking states of the main battery 10 within the battery compartment are divided into: fully locked, partially locked, completely unlocked (electrically connected only), and disconnected. During the removal of the main battery 10, the locking states of the main battery 10 within the battery compartment change from fully locked to partially locked, then to completely unlocked, and finally to disconnected. During the installation of the main battery 10, the locking states of the main battery 10 within the battery compartment change from completely unlocked (electrically connected only) to partially locked and then to fully locked. The electrically connected only and disconnected states represent the connection states between the main battery 10 and the first power input terminal of the power management module 30.

[0042] The controller 33 is connected to the discharge module 31. During the removal of the main battery 10, when the detection mechanism 32 detects that the main battery 10 is in a partially locked state within the battery compartment, the controller 33 first controls the main battery backup circuit discharge unit 312 to conduct, allowing the main battery 10 to supply power to the robot body through the backup power supply circuit. Then, the controller 33 controls the main battery main circuit discharge unit 311 to turn off, disconnecting the main power supply circuit. Next, the controller 33 controls the backup battery discharge unit 313 to conduct, allowing the backup battery 20 to supply power to the robot body through the auxiliary power supply circuit. At this point, it is no longer necessary to use the main battery 10 to supply power to the robot body. The controller 33 controls the main battery backup circuit discharge unit 312 to turn off, stopping the main battery 10 from supplying power to the robot body through the backup power supply circuit. The main battery 10 completes the change from a partially locked state to a fully unlocked state, or a disconnected state, before being removed from the battery compartment. This completes the power supply switching process from the main battery 10 to the backup battery 20.

[0043] During the installation of the main battery 10, when the main battery 10 is placed in the battery compartment, the main battery 10 is electrically connected to the first power input terminal of the power management module 30. The locking state of the main battery 10 in the battery compartment is a completely unlocked state (electrically connected only). When the detection mechanism 32 detects that the locking state of the main battery 10 in the battery compartment is a half-locked state, the controller 33 first controls the main battery backup circuit discharge unit 312 to be turned on, and the main battery 10 supplies power to the robot body through the backup power supply circuit. Then, the controller 33 controls the backup battery discharge unit 313 to be turned off, and the backup battery 20 stops supplying power to the robot body through the auxiliary power supply circuit. Then, the controller 33 controls the main battery main circuit discharge unit 311 to be turned on, the main power supply circuit is turned on, and the main battery 10 supplies power to the robot body through the main power supply circuit. At this time, it is no longer necessary to supply power to the robot body through the backup power supply circuit. The controller 33 controls the main battery backup circuit discharge unit 312 to be turned off, and the main battery 10 stops supplying power to the robot body through the backup power supply circuit.

[0044] The robot power supply management system provided in the above embodiment detects the locking status of the main battery in the battery compartment through a detection mechanism, and controls the on / off of the main battery main circuit discharge unit 311, the main battery backup circuit discharge unit 312 and the backup battery discharge unit 313 according to the locking status, so as to realize the power supply switching between the main battery 10 and the backup battery 20, which greatly simplifies the robot battery replacement process, shortens the battery replacement time, and extends the robot's working time.

[0045] In one possible implementation, such as Figure 2 As shown, the power management module 30 may further include a charging submodule 34; the charging submodule 34 is connected to the main battery 10 and the backup battery 20 respectively; when the charging submodule 34 is connected to an external power source, the external power source can charge the main battery 10 and the backup battery 20 through the charging submodule; when the charging submodule 34 is not connected to an external power source, the main battery 10 can charge the backup battery 20 through the charging submodule 34.

[0046] In this embodiment, the charging submodule 34 has a first charging circuit with the main battery 10 and a second charging circuit with the backup battery 20. When the charging submodule 34 is connected to an external power source, the first charging circuit and the second charging circuit are connected. The external power source charges the main battery 10 through the first charging circuit and charges the backup battery 20 through the second charging circuit.

[0047] The charging submodule 34 also forms a third charging circuit between the main battery 10 and the backup battery 20. When the charging submodule 34 is not connected to an external power source, the first and second charging circuits are turned off, and the main battery 10 can charge the backup battery 20 through the third charging circuit.

[0048] In some embodiments, the main battery 10 charges the backup battery 20 only when the charge of the main battery 10 is greater than a first charge threshold and the charge of the backup battery 20 is less than a second charge threshold, wherein the second charge threshold is less than the first charge threshold.

[0049] It should be noted that the third charging circuit is a unidirectional charging circuit and does not support the backup battery 20 charging the main battery 10, in order to prevent the backup battery 20 from being depleted.

[0050] The robot power supply management system provided in the above embodiment, by setting up a charging submodule 34, can charge the main battery 10 and the backup battery 20 when connected to an external power source, without having to remove the main battery 10 for charging; when not connected to an external power source, the main battery 10 can charge the backup battery 20 to prevent the backup battery 20 from running out of power, so as to ensure that the backup battery 20 can supply power to the robot body during the removal of the main battery 10.

[0051] In one possible implementation, such as Figure 2 As shown, the power management module 30 may also include a main power switch submodule 35; the main power switch submodule 35 is connected to other modules in the power management module, and when the main power switch submodule 35 is closed, the robot power supply management system is powered off; when the main power switch submodule 35 is open, the robot power supply management system is powered on.

[0052] In this embodiment, the main power switch submodule 35 is connected to the power terminals of the discharge module 31, detection mechanism 32, controller 33, and charging submodule 34 in the power management module 30. The main power switch submodule 35 controls the opening and closing of the entire power management module 30. When the main power switch submodule 35 is on, the power terminals of the discharge module 31, detection mechanism 32, controller 33, and charging submodule 34 in the power management module 30 are in a powered state, and the power management module 30 can work, that is, the entire robot power management system is in a working state when powered on. When the main power switch submodule 35 is off, the power terminals of the discharge module 31, detection mechanism 32, controller 33, and charging submodule 34 in the power management module 30 are in a powered-off state, and the power management module 30 stops working, that is, the entire robot power management system is in a stopped state when powered off.

[0053] The robot power supply management system provided in the above embodiment controls the working status of each module in the power management module 30 through the main power switch submodule 35, thereby controlling the working status of the robot power supply management system and enabling one-button power-on and power-off.

[0054] In one possible implementation, such as Figure 2As shown, the power management module 30 may further include a protocol conversion submodule 36. The protocol conversion submodule 36 is connected to the discharge module 31, acquires the power supply status of the main battery 10 or the backup battery 20, and performs protocol conversion on the power supply status of the main battery 10 or the backup battery 20. The protocol conversion submodule 36 is also connected to the control unit within the robot body, sending the protocol-converted power supply status to the control unit within the robot body, so that the control unit within the robot body can control the operating state of the robot body according to the power supply status. For example, when it is determined that the backup battery 20 is providing power, the robot body is controlled to be in a low-power mode; when it is determined that the main battery 10 is providing power, the robot body is controlled to be in a working mode.

[0055] In some embodiments, the protocol conversion submodule 36 can read the power information of the main battery 10 and the backup battery 20, and send the power information to the control unit in the robot body after protocol conversion, so that the control unit can perform a battery replacement process for the robot according to the power of the main battery 10 and the backup battery 20.

[0056] In some embodiments, Figure 3 This is a schematic diagram of the main battery structure provided in an embodiment of this application, such as... Figure 3 As shown, the housing of the main battery 10 is provided with a locking part, which may include a rotation drive 101 and a drive-connected card plate 102.

[0057] The battery compartment inside the robot body has a pre-set mounting position with a slot that matches the card plate 102. The rotation drive 101 is used to control the locking state between the card plate 102 and the slot.

[0058] In this embodiment, in order to ensure the stability of the connection between the main battery 10 and the battery compartment, a slot is provided at the opening of the battery compartment. The locking part on the shell of the main battery 10 serves as a detachable structure of the main battery 10 and consists of a locking plate 102 and a rotary drive 101. The locking plate 102 matches the slot at the preset installation position of the battery compartment inside the robot body in shape. The rotary drive 101 and the locking plate 102 can be integrally formed or spliced. The locking state of the locking plate 102 and the slot can be controlled by the rotary drive 101, which can be from a completely unlocked state to a half-locked state and then to a fully locked state, or from a fully locked state to a half-locked state and then to a completely unlocked state.

[0059] When the card plate 102 and the card slot are fully locked, the main battery 10 cannot be removed from the battery compartment inside the robot body. When the card plate 102 and the card slot are not fully locked, the main battery 10 can be removed from the battery compartment inside the robot body.

[0060] The locking part composed of the card plate 102 and the rotary drive component 101 is a detachable structure. The detection mechanism 32 detects the locking state of the card plate 102 and the card slot. When the detection mechanism 32 detects that the locking state of the card plate 102 and the card slot is from a fully locked state to a half-locked state, it determines that the main battery 10 is in the process of being removed from the battery compartment inside the robot body. The controller 33 sequentially controls the main battery backup circuit discharge unit 312 to be turned on, the main battery main circuit discharge unit 311 to be turned off, the backup battery discharge unit 313 to be turned on, and the main battery backup circuit discharge unit 312 to be turned off, so as to switch from the main battery 10 to the backup battery 20, and the backup battery 20 supplies power to the robot body, thereby removing the main battery 10 from the battery compartment inside the robot body.

[0061] After the fully charged main battery 10 is installed into the battery compartment inside the robot body, the fully charged main battery 10 begins to supply power to the robot's power-consuming modules. The detection mechanism 32 detects the locking state of the card plate 102 and the card slot. When the detection mechanism 32 detects that the locking state of the card plate 102 and the card slot has changed from a completely unlocked state to a half-locked state, it determines that the main battery 10 is in the process of being installed into the battery compartment inside the robot body. The controller 33 sequentially controls the main battery backup circuit discharge unit 312 to be turned on, the backup battery discharge unit 313 to be turned off, the main battery main circuit discharge unit 311 to be turned on, and the main battery backup circuit discharge unit 312 to be turned off, so as to switch from the backup battery 20 to the main battery 10, and the main battery 10 supplies power to the robot body.

[0062] In some embodiments, the card plate 102 is a retractable component, and the rotary drive 101 is a rotary handle. By rotating the rotary handle, the retractable component can be locked with or unlocked from the card slot.

[0063] For example, the retractable component could be a retractable buckle.

[0064] The latch ejection and the rotary handle reset are both supported by spring mechanisms, meaning the latch fully ejects and the rotary handle returns from its rotating, pulled state to its original position. Figure 7 The horizontal states shown are all achieved using spring mechanisms.

[0065] The robot power management system 100 provided in the above embodiment has a locking part including a card plate 102 and a rotary drive 101 on the housing of the main battery 10. The card plate 102 is locked to the card slot by the rotary drive 101. The disassembly and installation of the main battery 10 can be controlled by this simple structure, which simplifies the replacement process and operation of the main battery 10 and facilitates the replacement of the main battery 10.

[0066] In one possible implementation, the rotary drive 101 includes a crank 111 and a connecting rod 112. The crank 111 is connected to the card plate 102 via the connecting rod 112. The crank 111 rotates to drive the card plate 102 to move, controlling the locking state of the card plate 102 and the card slot. The detection mechanism 32 can be a distance sensor. The distance sensor detects the distance between the card plate 102 and the card slot to determine the locking state of the main battery 10 in the battery compartment.

[0067] Specifically, the rotary drive 101 is connected to the card plate 102 via a connecting rod. One end of the connecting rod 112 is connected to the card plate 102, and the other end is hinged to the crank 111. When the card plate 102 is fully inserted into the card slot, the axis of the connecting rod 112 passes through the rotation center of the crank 111. The rotary drive 101 controls the movement of the card plate 102 via the connecting rod to control the card plate 102 to lock with or unlock from the card slot.

[0068] like Figure 3 As shown, crank 111 is a rod that can rotate about a fixed axis, while connecting rod 112 can transmit force to locking plate 102. In the rotation drive 101 of this locking part, crank 111 and connecting rod 112 cooperate with each other to convert the rotational motion of crank 111 into linear motion of locking plate 102.

[0069] Since the crank 111 is hinged to the connecting rod 112, the axis of the connecting rod 112 passes through the rotation center of the crank 111 only when the card plate 102 is fully inserted into the slot. At this time, the locking part is located at the dead point. Therefore, the card plate 102 will not be accidentally removed from the slot due to abnormal disassembly or assembly. This ensures that the card plate 102 will not be accidentally removed from the slot under any movement or impact of the robot. In other words, the main battery 10 will never come out of the battery compartment under accidental circumstances, which is safer.

[0070] Furthermore, such as Figure 3 As shown, the number of connecting rods 112 is one or two. When there are two connecting rods 112, the two connecting rods 112 are respectively arranged on opposite sides of the crank 111; the slots are correspondingly arranged with the connecting rods 112. When there are two connecting rods 112, correspondingly, there are also two locking plates 102 and two locking slots. The two locking slots can be arranged opposite each other to further improve the connection stability between the battery compartment and the main battery 10.

[0071] Furthermore, such as Figure 3 As shown, the rotary drive 101 also includes a handle 113, which is connected to the crank 111. The handle 113 can drive the crank 111 to move the connecting rod 112 and the clamping plate 102.

[0072] Specifically, such as Figure 3As shown, the handle 113 has an arc-shaped structure for easy gripping by the operator. The two ends of the handle 113 are connected to the crank 111, allowing the crank 111 to drive the connecting rod 112 and the locking plate 102 to rotate. Alternatively, the handle 113 can also be a columnar structure protruding from the middle of the crank 111. This columnar structure facilitates the operator's grip on the handle 113 and allows the crank 111 to rotate.

[0073] It should be noted that this application does not impose any restrictions on the specific configuration of the handle 113, as long as it facilitates the operator to drive the crank 111 to rotate more reliably through the handle 113.

[0074] The handle 113 makes the operation of the rotary drive 101 more user-friendly and convenient. The operator can drive the crank 111 to rotate clockwise or counterclockwise by using the handle 113, so that the card plate 102 can be inserted into or removed from the card slot.

[0075] For example, when the crank 111 rotates clockwise, it can unlock the locking plate 102 from the locking slot via the connecting rod 112; when the crank 111 rotates counterclockwise, it can lock the locking plate 102 from the locking slot via the connecting rod 112.

[0076] A distance sensor is installed on the groove wall opposite to the movement direction of the card slot and the card plate 102. It is used to detect the distance between the card plate 102 of the main battery 10 and the card slot during the movement of the card plate 102, thereby determining the locking state of the main battery 10 in the battery compartment.

[0077] The telescopic length range for the linkage to extend and retract the telescopic component is a preset length range. When the distance between the main battery 10's locking plate 102 and the locking slot is greater than or equal to the maximum value of the preset length range, it is determined that the main battery 10's locking plate 102 is completely disengaged from the locking slot at the preset installation position of the battery compartment inside the robot body, and the main battery 10 is in a completely unlocked state in the battery compartment. When the distance between the main battery 10's locking plate 102 and the locking slot is less than or equal to the middle value of the preset length range, it is determined that the main battery 10's locking plate 102 is partially disengaged from the locking slot at the preset installation position of the battery compartment inside the robot body, and the main battery 10 is in a partially locked state in the battery compartment. When the distance between the main battery 10 and the locking slot is the minimum value of the preset length range, it is determined that the main battery 10's locking plate 102 is fully inserted into the locking slot at the preset installation position of the battery compartment inside the robot body, and the main battery 10 is in a fully locked state in the battery compartment.

[0078] For example, the telescopic length range of the linkage that drives the telescopic component to extend and retract is 0-6mm. When the distance between the main battery 10's locking plate 102 and the locking slot is 0mm, the main battery 10 is determined to be fully locked in the battery compartment. When the distance between the main battery 10's locking plate 102 and the locking slot is 3mm, the main battery 10 is determined to be partially locked in the battery compartment. When the distance between the main battery 10's locking plate 102 and the locking slot is 6mm, the main battery 10 is determined to be fully unlocked in the battery compartment.

[0079] Example, Figure 4 The control timing diagrams provided for embodiments of this application are as follows: Figure 4 As shown, a low level indicates an off state, and a high level indicates a power-on state. During the disassembly of the main battery 10, at times t0-t1, the distance between the main battery 10's retaining plate 102 and the retaining slot is 3mm, and the main battery 10 is in a semi-locked state in the battery compartment. At this time, the main battery backup circuit discharge unit is turned on. Then, at time t1, the main battery main circuit discharge unit is turned off. At times t2-t3, the backup battery discharge unit is turned on. At times t3-t4, the main battery backup circuit discharge unit is turned off. At times t4-t5, the backup battery 20 supplies power to the robot body.

[0080] like Figure 3 As shown, during the installation of the main battery 10, at times t5-t6, the distance between the main battery 10's locking plate 102 and the slot is 3mm, and the main battery 10 is in a semi-locked state in the battery compartment. At this time, the main battery backup circuit discharge unit is turned on. At times t6-t7, the backup battery discharge unit is turned off. At times t7-t8, the main battery main circuit discharge unit is turned on. At times t8-t9, the main battery backup circuit discharge unit is turned off. After time t9, the main battery 10 supplies power to the robot body.

[0081] In some embodiments, the distance sensor is a limit switch, which detects the distance between the card plate 102 and the card slot.

[0082] The robot power supply management system provided in the above embodiment can accurately detect whether the main battery is installed in the battery compartment inside the robot body by detecting the distance between the locking plate 102 of the main battery 10 and the slot at the preset installation position of the battery compartment inside the robot body through the distance sensor. The entire structure and working principle are very simple, which facilitates the industrialization of the entire system.

[0083] In one possible implementation, Figure 5 This is a schematic diagram of the main battery disassembly structure provided in an embodiment of this application, such as... Figure 5As shown, the battery compartment 40 has an opening that communicates with the outside. The main battery 10 can be detachably installed in the battery compartment 40 through the opening. When the main battery 10 is installed in the battery compartment 40 through the opening, it can be fixed together with the battery compartment 40 and form an electrical connection.

[0084] A quick-release connector 123 is provided on the side of the main battery 10 facing away from the opening, and a mating connector is provided on the inner wall of the battery compartment 40. When the main battery 10 is installed in the battery compartment 40, the quick-release connector 123 is electrically connected to the mating connector. After the main battery 10 is removed from the battery compartment 40, the quick-release connector 123 is disconnected from the mating connector.

[0085] In one possible implementation, the capacity of the main battery 10 is greater than the capacity of the backup battery 20.

[0086] In this embodiment, in order to shorten the replacement time of the main battery 10, after the main battery 10 with depleted power is removed, it is not waited for to be fully charged before being installed in the battery compartment. Instead, a new, pre-charged main battery 10 is directly installed in the battery compartment. In this case, the backup battery 20 only needs to supply power to the robot's power-consuming modules during the replacement of the main battery 10. During this period, the robot body is in a low-power consumption state and will not receive new action commands to work. Therefore, the battery capacity of the backup battery 20 is small, while the battery capacity of the main battery 10 is much larger than that of the backup battery 20. This minimizes the number of times the main battery 10 needs to be replaced, given a certain power consumption of the robot body.

[0087] In one possible implementation, this application also provides a robot. Figure 6 This is a schematic diagram of the robot structure provided in the embodiments of this application, such as... Figure 6 As shown, the robot may include: the robot power management system 100 and the power board 200 located inside the robot body. The robot power management system 100 is connected to the power board 200 to supply power to the robot body.

[0088] In the robot power management system 100, the main battery 10 is located in the battery compartment inside the robot body, the backup battery 20 is installed inside the robot body, and the power management module 30 manages the power supply status of the main battery 10 and the backup battery 20 to the robot body.

[0089] In some embodiments, the robot body includes sensors and / or joints that maintain their current operating state when powered by the backup battery 20.

[0090] In this embodiment, when the robot body is powered by the backup battery 20, the robot's control unit can keep the calculated information of the robot's sensors and the angle position information of the robot's joints unchanged. When the robot body is switched back to being powered by the main battery 10, the robot's control unit can control the robot's sensors and joints to continue performing the work that was performed before the main battery 10 was replaced.

[0091] Example, Figure 7 The flowchart of the robot provided in the embodiments of this application is as follows: Figure 7 As shown, the main battery 10 powers the robot body and charges the backup battery 20. The robot is in operation, and the main battery 10 continuously consumes power. When the main battery 10 is low, the robot issues a battery replacement prompt. The robot maintains a low-power posture, and all sensors and / or joints remain in their current working state. The robot does not receive new action commands. The rotation drive 101 of the main battery 10 controls the locking plate 102 to move from a fully locked state to a partially locked state, and then to a fully unlocked state in the preset installation position of the battery compartment within the robot body, switching to the backup battery 20 to power the robot body. The robot continues to maintain a low-power posture, and all sensors and / or joints continue to maintain their current working state. The robot does not receive new motion commands. Then, it takes out the depleted main battery 10 from the battery compartment, installs the fully charged main battery 10 in the battery compartment inside the robot body, and controls the card plate 102 to switch from a completely unlocked state to a half-locked state and then to a fully locked state through the rotation drive 101 of the fully charged main battery 10 to power the robot body and charge the backup battery 20. The backup battery 20 then stops powering the robot body.

[0092] The robot provided in the above embodiments uses the robot power management system 100 of the aforementioned embodiments to power the robot body, ensuring that the robot body will not fall over due to lack of power during the replacement of the main battery 10. Therefore, it is not necessary to lift the entire robot body to prevent it from falling over, which greatly simplifies the robot battery replacement process, simplifies the tools required for battery replacement, shortens the battery replacement time, extends the robot's working time, and facilitates the industrialization of the robot.

[0093] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A robot power supply management system, characterized in that, The robot power supply management system includes: a main battery, a backup battery, and a power management module; The main battery is detachably installed in the battery compartment inside the robot body, and the spare battery is installed inside the robot body. The power management module includes a discharge module, which includes at least a main battery main circuit discharge unit, a main battery backup circuit discharge unit, and a backup battery discharge unit. The power input terminal of the main battery main circuit discharge unit and the power input terminal of the main battery backup circuit discharge unit are connected to each other, serving as the first power input terminal of the power management module. The power input terminal of the backup battery discharge unit serves as the second power input terminal of the power management module. The power output terminals of the main battery main circuit discharge unit, the main battery backup circuit discharge unit, and the backup battery discharge unit are connected to each other, serving as the power output terminal of the power management module. The main battery is connected to the first power input terminal of the power management module, the backup battery is connected to the second power input terminal of the power management module, and the power output terminal of the power management module is connected to the power board inside the robot body. The main battery can power the robot body through the main battery main circuit discharge unit, and the backup battery can power the robot body through the backup battery discharge unit; during the power supply switching between the main battery and the backup battery, the main battery can power the robot body through the main battery backup circuit discharge unit.

2. The robot power supply management system as described in claim 1, characterized in that, The power management module also includes: a detection mechanism and a controller; The detection mechanism is set at a preset detection position in the battery compartment to detect the locking status of the main battery in the battery compartment. The controller is electrically connected to the detection mechanism, obtains the locking state of the main battery in the battery compartment detected by the detection mechanism, and controls the on / off state of the main battery main circuit discharge unit, the main battery backup circuit discharge unit and the backup battery discharge unit according to the locking state of the main battery in the battery compartment.

3. The robot power supply management system as described in claim 1, characterized in that, The power management module also includes a charging sub-module; The charging submodule is connected to the main battery and the backup battery respectively; When the charging submodule is connected to an external power source, the external power source can charge the main battery and the backup battery through the charging submodule. When the charging submodule is not connected to an external power source, the main battery can charge the backup battery through the charging submodule.

4. The robot power supply management system as described in claim 1, characterized in that, The power management module also includes a main power switch submodule; The main power switch submodule is connected to other modules in the power management module. When the main power switch submodule is turned off, the robot power supply management system is powered off. When the main power switch submodule is turned on, the robot power supply management system is powered on.

5. The robot power supply management system as described in claim 2, characterized in that, The main battery casing is provided with a locking part, which includes: a rotation drive and a drive-connected locking plate; The battery compartment inside the robot body has a pre-set mounting position with a slot that matches the card plate, and the rotary drive is used to control the locking state between the card plate and the slot.

6. The robot power supply management system as described in claim 5, characterized in that, The rotary drive component includes a crank and a connecting rod. The crank is connected to the locking plate via the connecting rod. The rotation of the crank drives the locking plate to move, thereby controlling the locking state of the locking plate and the locking groove. The detection mechanism is a distance sensor, which is used to detect the distance between the card plate and the card slot to determine the locking status of the main battery in the battery compartment.

7. The robot power supply management system as described in claim 6, characterized in that, The distance sensor is a limit switch.

8. The robot power supply management system as described in claim 1, characterized in that, The capacity of the main battery is greater than that of the backup battery.

9. A robot, characterized in that, The robot includes a robot power management system as described in any one of claims 1 to 8 and a power board located inside the robot body, wherein the robot power management system is connected to the power board to supply power to the robot body.

10. The robot as described in claim 9, characterized in that, The robot body includes sensors and / or joints, which maintain their current working state when powered by the backup battery of the robot power management system.

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