A robot and a power supply structure thereof

Abstract

The utility model discloses a kind of robot and its power supply structure in the technical field of collaborative robot, to solve the problems of robot and its power supply structure in prior art, poor environmental adaptability, power supply is insufficient to support long time work.It includes: when the voltage of external DC power input power supply circuit is greater than battery voltage, battery charge-discharge management board works in Buck mode, external DC power not only powers for robot body power supply to power, also charges for battery through battery charge-discharge management board;When the voltage of external DC power input power supply circuit is less than battery voltage, it is shown that external DC power is not connected power or the power quality of external DC power access is poor, at this time battery charge-discharge management board works in Boost mode, battery is powered for robot body power supply through battery charge-discharge management board and power supply circuit, ensure that robot body power supply can always be powered, improve environmental adaptability.

Description

Technical Field

[0001] This utility model relates to a robot and its power supply structure, belonging to the field of collaborative robot technology. Background Technology

[0002] For collaborative robots, rapid deployment and easy handling are major advantages that distinguish them from traditional industrial robots.

[0003] Existing collaborative robots draw AC power from a fixed power source via a power cord, converting the AC to DC to power the robot body and its peripherals. Collaborative robots frequently need to be moved, requiring frequent switching of power supplies to their peripherals. This results in frequent power on / off cycles for the collaborative robot. In some working environments, there is even a lack of external power outlets available for collaborative robots.

[0004] Therefore, existing robots and their power supply structures have poor environmental adaptability and insufficient power supply to support long-term operation. Utility Model Content

[0005] The purpose of this application is to overcome the shortcomings of the prior art and provide a robot and its power supply structure that are highly adaptable to the environment and have sufficient power supply to support long-term operation.

[0006] To achieve the above objectives, this application employs the following technical solution: Firstly, this application provides a robot power supply structure, including, A battery charge / discharge management board and a battery electrically connected to the battery charge / discharge management board are provided. The battery charge / discharge management board, the robot body power supply, and the external DC power supply are electrically connected through a power supply circuit. The battery charge / discharge management board includes a first circuit electrically connected to the power supply circuit, wherein the source and drain of a first MOSFET and a second MOSFET are connected in series with ground in the first circuit, and a first capacitor is connected in parallel across the first MOSFET and the second MOSFET; the battery charge / discharge management board also includes a second circuit electrically connected to the battery, wherein the source and drain of a third MOSFET and a fourth MOSFET are connected in series with ground in the second circuit, and a second capacitor is connected in parallel across the third MOSFET and the fourth MOSFET; the first circuit and the second circuit are connected by a first inductor coupling.

[0007] In some embodiments of the first aspect of this application, the connection point between the first inductor and the first circuit is located between the first MOSFET and the second MOSFET; the connection point between the first inductor and the second circuit is located between the third MOSFET and the fourth MOSFET. The first circuit is electrically connected to the power supply circuit through a first positive terminal and a first negative terminal, and the first positive terminal and the first negative terminal are respectively electrically connected to the two plates of the first capacitor; the positive and negative terminals of the battery are respectively electrically connected to the two plates of the second capacitor.

[0008] In some embodiments of the first aspect of this application, the external DC power supply includes an AC-to-DC switching power supply, and the external AC power supply supplies power to the power supply circuit through the AC-to-DC switching power supply.

[0009] In some embodiments of the first aspect of this application, the electrical connection point between the power supply circuit and the first circuit is located at the output port of the AC to DC switching power supply.

[0010] In some embodiments of the first aspect of this application, the AC to DC switching power supply outputs AC220V to DC48V, and the battery outputs 48V.

[0011] In some embodiments of the first aspect of this application, robot control and peripheral power supply are also included, wherein the robot control and peripheral power supply are electrically connected to the power supply circuit.

[0012] In some embodiments of the first aspect of this application, a branch circuit is further included, wherein the input terminal of the branch circuit is electrically connected to the power supply circuit, the branch circuit has at least three output terminals with different output specifications, and the multiple output terminals of the branch circuit are respectively electrically connected to different input interfaces for robot control and peripheral power supply.

[0013] In some embodiments of the first aspect of this application, the output specifications of the three output terminals of the branch circuit are respectively: 48V to 24V, 48V to 15V, and 48V to 5V.

[0014] In some embodiments of the first aspect of this application, a Schottky diode is also included, the Schottky diode being disposed between the power supply circuit and the power supply to the robot body.

[0015] Secondly, this application also provides a robot, including the robot power supply structure described in any of the first aspects.

[0016] Compared with the prior art, the beneficial effects achieved by this application are as follows: The robot and its power supply structure provided in this application, including the capacitors, inductors, MOSFETs, and their circuit structure within the battery charging and discharging management board, are equivalent to a Buck-Boost converter. When the voltage of the external DC power input circuit is greater than the battery voltage, the battery charging and discharging management board operates in Buck mode. The external DC power supply not only powers the robot body through the power supply circuit but also charges the battery through the battery charging and discharging management board. When the voltage of the external DC power input circuit is less than the battery voltage, indicating that the external DC power supply is not connected or the power quality of the external DC power supply is poor, the battery charging and discharging management board operates in Boost mode. The battery powers the robot body through the battery charging and discharging management board and the power supply circuit, ensuring that the robot body is always powered and improving environmental adaptability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a simplified circuit diagram of the robot power supply structure provided in this embodiment; Figure 2 yes Figure 1 A simplified circuit diagram illustrating the structure of the battery charge / discharge management board. In the diagram: 1. Battery charging and discharging management board; 2. Battery; 3. AC power supply; 4. AC to DC switching power supply; 5. Power supply for the robot body; 6. Power supply for robot control and peripherals; 7. Power supply circuit; 8. Branch circuit; C1, the first capacitor; C2, the second capacitor; Q1, first MOSFET; Q2, second MOSFET; Q3, third MOSFET; Q4, fourth MOSFET; L1, first inductor; D1, Schottky diode; 1.1 First circuit; 1.2 Second circuit; 1.1.1 First positive terminal; 1.1.2 First negative terminal. Detailed Implementation

[0019] The technical solutions of this application / the embodiments thereof will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application / the embodiments thereof, and not all embodiments thereof. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application / the application thereof or its application or use. Example 1

[0020] This embodiment provides a robot power supply structure to solve the problems of poor environmental adaptability and insufficient power supply to support long-term operation in the prior art.

[0021] refer to Figure 1 and Figure 2 The robot power supply structure provided in this embodiment includes, The battery charging and discharging management board 1 and the battery 2 electrically connected to the battery charging and discharging management board 1 are electrically connected to the robot body power supply 5 and the external DC power supply through the power supply circuit 7. The battery charge / discharge management board 1 includes a first circuit 1.1 electrically connected to the power supply circuit 7. The source and drain of the first MOSFET Q1 and the second MOSFET Q2 are connected in series with ground in the first circuit 1.1, and the first capacitor C1 is connected in parallel across the first MOSFET Q1 and the second MOSFET Q2. The battery charge / discharge management board 1 also includes a second circuit 1.2 electrically connected to the battery 2. The source and drain of the third MOSFET Q3 and the fourth MOSFET Q4 are connected in series with ground in the second circuit 1.2, and the second capacitor C2 is connected in parallel across the third MOSFET Q3 and the fourth MOSFET Q4. The first circuit 1.1 and the second circuit 1.2 are coupled together through a first inductor L1.

[0022] In use, the capacitors, inductors, MOSFETs, and their circuit structure within the battery charge / discharge management board 1 are equivalent to a Buck-Boost converter. When the voltage of the external DC power input circuit 7 is greater than the voltage of the battery 2, the battery charge / discharge management board 1 operates in Buck mode. The external DC power supply not only powers the robot body power supply 5 through the power supply circuit 7 but also charges the battery 2 through the battery charge / discharge management board 1. When the voltage of the external DC power input circuit 7 is less than the voltage of the battery 2, it indicates that the external DC power supply is not connected or the power quality of the external DC power supply is poor. At this time, the battery charge / discharge management board 1 operates in Boost mode. The battery 2 powers the robot body power supply 5 through the battery charge / discharge management board 1 and the power supply circuit 7, ensuring that the robot body power supply 5 can always be powered, thus improving environmental adaptability.

[0023] The first inductor L1, the first capacitor C1, the second capacitor C2, the first MOSFET Q1, the second MOSFET Q2, the third MOSFET Q3, and the fourth MOSFET Q4, along with related circuitry and components, constitute a symmetrical four-switch Buck-Boost circuit. By controlling the switching states of the four MOSFETs, bidirectional energy flow can be easily achieved. The second MOSFET Q2 and the third MOSFET Q3 are primarily used as synchronous rectifiers.

[0024] When the battery charge / discharge management board 1 is in discharge / output mode, it needs to operate in reverse. In this mode, battery 2 is the "source," and the original input port becomes the "output port." If the voltage of battery 2 is lower than the voltage required by the load, the battery charge / discharge management board 1 needs to operate in Boost mode, but in the reverse direction, boosting from the battery terminal to the input / output terminal. If the voltage of battery 2 is higher than the voltage required by the load, the battery charge / discharge management board 1 needs to operate in Buck mode, but in the reverse direction, bucking from the battery terminal to the input / output terminal. The Boost and Buck modes can be manually switched by controlling the source of the MOSFET.

[0025] In practical applications, collaborative robots face highly complex scenarios. Correspondingly, in locations where wired power is available, an external DC power source can be used for wired power supply to replenish the battery 2. In situations where there is no power source or where long-distance movement is required, the battery 2 can be used for power supply, thereby improving the robot's endurance. Example 2

[0026] This embodiment provides a robot power supply structure. This embodiment is an optimization based on Embodiment 1 to improve the technical effect and refine the technical solution. For details not described in this embodiment, please refer to Embodiment 1.

[0027] In one embodiment, the connection point of the first inductor L1 to the first circuit 1.1 is located between the first MOSFET Q1 and the second MOSFET Q2; the connection point of the first inductor L1 to the second circuit 1.2 is located between the third MOSFET Q3 and the fourth MOSFET Q4. The first circuit 1.1 is electrically connected to the power supply circuit 7 through the first positive terminal 1.1.1 and the first negative terminal 1.1.2. The first positive terminal 1.1.1 and the first negative terminal 1.1.2 are respectively electrically connected to the two plates of the first capacitor C1; the positive and negative terminals of the battery 2 are respectively electrically connected to the two plates of the second capacitor C2.

[0028] The first positive terminal 1.1.1 and the first negative terminal 1.1.2 are the input / output terminals mentioned in Embodiment 1.

[0029] In one embodiment, the electrical connection point between the power supply circuit 7 and the first circuit 1.1 is located at the output port of the AC to DC switching power supply 4.

[0030] This configuration can improve the efficiency and reliability of the Boost / Buck function of the battery charge / discharge management board 1.

[0031] In one embodiment, the external DC power supply includes an AC-to-DC switching power supply 4, through which the external AC power supply 3 supplies power to the power supply circuit 7. "AC" refers to alternating current, and "DC" refers to direct current.

[0032] Generally speaking, robot control and peripheral power supply 6 not only requires 48VDC power supply, but also 24V and 15V DC power supply. In this embodiment, an AC to DC switching power supply 4 is used to supply power to the power supply circuit 7. The 24V and 15V DC power supply can be converted again by stepping down the output of the AC to DC switching power supply 4, which simplifies the power conversion equipment.

[0033] In one embodiment, the AC to DC switching power supply 4 outputs AC220V to DC48V, and the battery 2 outputs 48V.

[0034] As one embodiment, it also includes a robot control and peripheral power supply 6, which is electrically connected to the power supply circuit 7.

[0035] As one embodiment, it also includes a branch circuit 8, the input terminal of which is electrically connected to the power supply circuit 7. The branch circuit 8 has at least three output terminals with different output specifications, and the multiple output terminals of the branch circuit 8 are electrically connected to different input interfaces of the robot control and peripheral power supply 6, respectively.

[0036] In one embodiment, the output specifications of the three output terminals of the branch circuit 8 are 48V to 24V, 48V to 15V, and 48V to 5V, respectively.

[0037] As one embodiment, a Schottky diode D1 is also included, which is located between the power supply circuit 7 and the robot body power supply. In this way, the regenerative voltage generated by the robot body due to its movements is prevented from returning to the output of the AC-to-DC switching power supply 4 due to the unidirectional blocking effect of the Schottky diode D1, thus protecting the AC-to-DC switching power supply 4 and the battery 2.

[0038] The robot power supply structure provided in this embodiment increases flexibility, freeing it from the constraints of power cords. This allows collaborative robots to be mounted on autonomous mobile robots (AMRs) or AGVs, achieving true end-to-end automation in material handling, loading / unloading, and inspection, significantly expanding the work scope. It also features power outage recovery capability; in the event of a sudden power outage, battery 2 can act as an uninterruptible power supply (UPS), allowing the robot to complete its current cycle or safely move to a stopping position, preventing workpieces from getting stuck in mid-air or colliding, thus protecting products and equipment. For short-duration, intermittent tasks such as demonstrations, teaching, and temporary experiments, there is no need to find a power interface, enabling extremely rapid deployment. Example 3

[0039] This embodiment provides a robot, including the robot power supply structure provided in Embodiment 1 or 2. Therefore, the robot provided in this embodiment has the same or corresponding technical effects as the robot power supply structure in Embodiment 1 or 2, which will not be repeated here. For details not described in this embodiment, please refer to Embodiment 1 or 2.

[0040] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do 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 utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0041] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "located in," "equipped with," "located in," "installed," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. "Hinged connection" includes "rotational connection."

[0042] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A robot power supply structure characterized by comprising: include, The battery charge and discharge management board (1) and the battery (2) electrically connected to the battery charge and discharge management board (1) are electrically connected to each other, the battery charge and discharge management board (1), the robot body power supply (5) and the external DC power supply are electrically connected through the power supply circuit (7). The battery charge / discharge management board (1) includes a first circuit (1.1) electrically connected to the power supply circuit (7), with the source and drain of the first MOS transistor (Q1) and the second MOS transistor (Q2) connected in series with ground on the first circuit (1.1), and a first capacitor (C1) connected in parallel across the first MOS transistor (Q1) and the second MOS transistor (Q2); the battery charge / discharge management board (1) also includes a second circuit (1.2) electrically connected to the battery (2), with the source and drain of the third MOS transistor (Q3) and the fourth MOS transistor (Q4) connected in series with ground on the second circuit (1.2), and a second capacitor (C2) connected in parallel across the third MOS transistor (Q3) and the fourth MOS transistor (Q4); the first circuit (1.1) and the second circuit (1.2) are coupled together through a first inductor (L1).

2. The power supply structure for robots according to claim 1, characterized by The connection point between the first inductor (L1) and the first circuit (1.1) is located between the first MOSFET (Q1) and the second MOSFET (Q2); the connection point between the first inductor (L1) and the second circuit (1.2) is located between the third MOSFET (Q3) and the fourth MOSFET (Q4); The first circuit (1.1) is electrically connected to the power supply circuit (7) through the first positive terminal (1.1.1) and the first negative terminal (1.1.2), and the first positive terminal (1.1.1) and the first negative terminal (1.1.2) are respectively electrically connected to the two plates of the first capacitor (C1); the positive and negative terminals of the storage battery (2) are respectively electrically connected to the two plates of the second capacitor (C2).

3. The robotic power supply structure of claim 2, wherein, The external DC power supply includes an AC to DC switching power supply (4), and the external AC power supply (3) supplies power to the power supply circuit (7) through the AC to DC switching power supply (4).

4. The robotic power supply structure of claim 3, wherein, The electrical connection point between the power supply circuit (7) and the first circuit (1.1) is located at the output port of the AC to DC switching power supply (4).

5. The robot power supply structure according to claim 3, characterized in that, The AC to DC switching power supply (4) has an output specification of AC220V to DC48V, and the battery (2) has an output voltage of 48V.

6. The robot power supply structure according to claim 5, characterized in that, It also includes robot control and peripheral power supply (6), which is electrically connected to the power supply circuit (7).

7. The robot power supply structure according to claim 6, characterized in that, It also includes a branch circuit (8), the input terminal of which is electrically connected to the power supply circuit (7), the branch circuit (8) having at least three output terminals with different output specifications, and the multiple output terminals of the branch circuit (8) being electrically connected to different input interfaces of the robot control and peripheral power supply (6).

8. The robot power supply structure according to claim 7, characterized in that, The output specifications of the three output terminals of the branch circuit (8) are 48V to 24V, 48V to 15V, and 48V to 5V, respectively.

9. The robot power supply structure according to claim 1, characterized in that, It also includes a Schottky diode (D1) disposed between the power supply circuit (7) and the power supply of the robot body.

10. A robot, characterized in that, Includes the robot power supply structure as described in any one of claims 1 to 9.

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