Battery pack freewheeling circuit and robot

Abstract

The application provides a battery pack freewheeling circuit and a robot, a battery management system is integrated on a battery pack; a first MOS tube switch circuit and a second MOS tube switch circuit are connected in parallel, a motor and a capacitor are connected in parallel; a positive electrode of the battery pack is connected with one end of the first MOS tube switch circuit and one end of a thermistor module, the other end of the thermistor module is connected with the second MOS tube switch circuit, the second MOS tube switch circuit is connected with a triode switch circuit, a first voltage stabilizing tube, one end of the motor and one end of the capacitor respectively, the other end of the first MOS tube switch circuit is connected with one end of the motor and one end of the capacitor respectively, and the other end of the motor and the other end of the capacitor are connected with a negative electrode of the battery pack. The application can actively freewheel without software control, has high safety and fast response speed, and greatly increases the service life of the battery pack.

Description

Technical Field

[0001] This application relates to the field of battery freewheeling technology, and in particular to a battery pack freewheeling circuit and a robot. Background Technology

[0002] Currently, during the use of robots, it is necessary to continuously connect the battery pack. When the robot stops moving, there is a back electromotive force, and the control logic for continuing current to the battery pack is very complicated and has the problem of untimely response. Another approach is to add transient voltage suppressors (TVS) at the port, which can easily lead to short circuits. Utility Model Content

[0003] In view of this, this application provides a battery pack freewheeling circuit and robot, which can actively provide freewheeling without software control, has a fast response speed and high safety, and greatly increases the service life of the battery pack.

[0004] In a first aspect, embodiments of this application provide a battery pack freewheeling circuit, which includes a battery pack, a battery management system, a thermistor module, a first insulated gate field effect MOSFET switching circuit, a second MOSFET switching circuit, a transistor switching circuit, a first Zener diode, a motor, and a capacitor. The battery management system is integrated into the battery pack; The first MOSFET switching circuit and the second MOSFET switching circuit are connected in parallel, and the motor and the capacitor are connected in parallel. The positive terminal of the battery pack is connected to one end of the first MOSFET switching circuit and one end of the thermistor module. The other end of the thermistor module is connected to the second MOSFET switching circuit. The second MOSFET switching circuit is connected to the transistor switching circuit, the first Zener diode, one end of the motor, and one end of the capacitor. The other end of the first MOSFET switching circuit is connected to one end of the motor and one end of the capacitor. The other end of the motor and the other end of the capacitor are connected to the negative terminal of the battery pack.

[0005] In one possible embodiment, if a load is connected to the battery pack, the battery management system drives the second MOS transistor switching circuit to turn on in order to charge the capacitor; If the voltage difference between the positive terminal of the battery pack and one end of the motor is less than a preset voltage difference threshold, the first MOS transistor switching circuit is turned on. If the motor stops working and the reverse electromotive force is greater than the breakdown voltage of the first Zener diode, the transistor switching circuit is turned on, and the reverse electromotive force passes through the first Zener diode, the transistor switching circuit, the second MOSFET switching circuit, the thermistor module, and the positive terminal of the battery pack to complete the freewheeling.

[0006] In one possible embodiment, the first MOSFET switching circuit includes a first switching MOSFET, a first driving module, and a second switching MOSFET. The first switching MOSFET and the first driving module form a discharge ideal diode, and the second switching MOSFET is connected in series with the discharge ideal diode.

[0007] In one possible embodiment, the second MOSFET switching circuit includes a third MOSFET and a fourth MOSFET. The first terminal of the third MOSFET is connected to the other terminal of the thermistor module, the second terminal of the third MOSFET is connected to the first terminal of the fourth MOSFET, the third terminal of the third MOSFET is connected to one terminal of the transistor switching circuit, the second terminal of the fourth MOSFET is connected to the other terminal of the transistor switching circuit, the first Zener diode, and one terminal of the motor, respectively, and the third terminal of the fourth MOSFET is connected to one terminal of the transistor switching circuit.

[0008] In one possible embodiment, the transistor switching circuit includes a first transistor and a second transistor. The first terminal of the first transistor is connected to the third terminal of the third switching MOSFET, the second terminal of the first transistor is connected to the third terminal of the second transistor, the third terminal of the first transistor is grounded, the first terminal of the second transistor is connected to the second terminal of the fourth switching MOSFET, the second terminal of the second transistor is connected to the second terminal of the fourth switching MOSFET and one terminal of the first Zener diode, and the third terminal of the second transistor is grounded and connected to the other terminal of the first Zener diode.

[0009] In one possible embodiment, the battery pack freewheeling circuit further includes a voltage divider resistor module and a second Zener diode, wherein the voltage divider resistor module includes a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, and a sixth resistor; One end of the second Zener diode is connected to the first end of the fourth switching MOSFET, and the other end of the second Zener diode is connected to the third end of the third switching MOSFET. One end of the first resistor is connected to the second terminal of the third switching MOSFET, and the other end of the first resistor is connected to the third terminal of the third switching MOSFET. One end of the second resistor is connected to the other end of the first resistor, and the other end of the second resistor is connected to the first end of the first transistor; One end of the third resistor is connected to the third terminal of the second transistor, the other end of the third resistor is connected to one end of the fourth resistor, and the other end of the fourth resistor is connected to the other end of the first Zener diode. One end of the fifth resistor is connected to one end of the first Zener diode, and the other end of the fifth resistor is connected to one end of the sixth resistor and the second end of the second transistor. The other end of the sixth resistor is connected to the second end of the fourth switching MOSFET, the second end of the second switching MOSFET, one end of the motor, and one end of the capacitor.

[0010] In one possible embodiment, the battery management system includes a microprocessor and a front-end analog circuit, the microprocessor and the front-end analog circuit communicating via a serial peripheral interface.

[0011] In one possible embodiment, the battery pack freewheeling circuit further includes a connector that is communicatively connected to the microprocessor and is used to connect a load.

[0012] In one possible embodiment, the thermistor module includes at least one thermistor. When the thermistor module includes at least two thermistors, the at least two thermistors are connected in parallel. The number of thermistors included in the thermistor module is negatively correlated with the magnitude of the current used to charge the capacitor.

[0013] Secondly, embodiments of this application provide a robot equipped with a battery pack freewheeling circuit as described in any of the first aspects of embodiments of this application.

[0014] As can be seen, the battery pack freewheeling circuit and robot described above include a battery pack, a battery management system, a thermistor module, a first insulated-gate field-effect MOSFET switching circuit, a second MOSFET switching circuit, a transistor switching circuit, a first Zener diode, a motor, and a capacitor. The battery management system is integrated on the battery pack. The first and second MOSFET switching circuits are connected in parallel, and the motor and capacitor are connected in parallel. The positive terminal of the battery pack is connected to one end of the first MOSFET switching circuit and one end of the thermistor module. The other end of the thermistor module is connected to the second MOSFET switching circuit. The second MOSFET switching circuit is connected to the transistor switching circuit, the first Zener diode, one end of the motor, and one end of the capacitor. The other end of the first MOSFET switching circuit is connected to one end of the motor and one end of the capacitor. The other end of the motor and the other end of the capacitor are connected to the negative terminal of the battery pack. Active freewheeling without software control provides fast response and high safety, significantly increasing the battery pack's lifespan. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of a battery pack freewheeling circuit provided in an embodiment of this application; Figure 2 This is a schematic diagram of another battery pack freewheeling circuit provided in an embodiment of this application; Figure 3 This is a schematic diagram of another battery pack freewheeling circuit provided in an embodiment of this application. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0018] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0019] It should be understood that the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document indicates that the preceding and following related objects are in an "or" relationship. In the embodiments of this application, "multiple" refers to two or more.

[0020] In the embodiments of this application, "at least one item" or its similar expression refers to any combination of these items, including any combination of a single item or a plurality of items. "One or more" means one or more, while "multiple" means two or more. For example, "at least one item" of a, b, or c can represent the following seven cases: a, b, c; a and b; a and c; b and c; a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0021] In this application, the term "connection" refers to various connection methods, such as direct connection or indirect connection, to achieve communication between devices. This application does not impose any limitations on this.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] Please see Figure 1 , Figure 1 This is a schematic diagram of a battery pack freewheeling circuit provided in an embodiment of this application. The battery pack freewheeling circuit includes a battery pack 110, a battery management system 120, a thermistor module 130, a first insulated gate field effect MOSFET switching circuit 140, a second MOSFET switching circuit 150, a transistor switching circuit 160, a first Zener diode 170, a motor 180, and a capacitor 190.

[0024] The battery management system 120 is integrated on the battery pack 110; The first MOSFET switching circuit 140 and the second MOSFET switching circuit 150 are connected in parallel, and the motor 180 and the capacitor 190 are connected in parallel; The positive terminal of the battery pack 110 is connected to one end of the first MOSFET switching circuit 140 and one end of the thermistor module 130. The other end of the thermistor module 130 is connected to the second MOSFET switching circuit 150. The second MOSFET switching circuit 150 is connected to one end of the transistor switching circuit 160, the first Zener diode 170, the motor 180, and one end of the capacitor 190. The other end of the first MOSFET switching circuit 140 is connected to one end of the motor 180 and one end of the capacitor 190. The other end of the motor 180 and the other end of the capacitor 190 are connected to the negative terminal of the battery pack 110.

[0025] When the battery pack is powered on, if a load is connected to the battery pack 110, the battery management system 120 drives the second MOS transistor switching circuit 150 to conduct in order to charge the capacitor 190. If the voltage difference between the positive terminal of the battery pack 110 and one end of the motor 180 is less than a preset voltage difference threshold, the first MOS transistor switching circuit 140 is turned on. If the motor 180 stops working and the reverse electromotive force is greater than the breakdown voltage of the first Zener diode 170, the transistor switching circuit 160 is turned on, and the reverse electromotive force passes through the first Zener diode 170, the transistor switching circuit 160, the second MOSFET switching circuit 150, the thermistor module 130, and the positive terminal of the battery pack 110 to complete the freewheeling.

[0026] When the load is connected to the battery pack 110, the current flows from the positive terminal of the battery pack 110 through the thermistor module 130, the second MOSFET switching circuit 150, and the capacitor 190 to the negative terminal of the battery pack 110, thereby charging the capacitor.

[0027] The thermistor module 130 includes at least one thermistor. When the thermistor module 130 includes at least two thermistors, the at least two thermistors are connected in parallel. The number of thermistors in the thermistor module 130 is negatively correlated with the charging current of the capacitor 190. That is, the charging current can be controlled by adjusting the number of thermistors connected in parallel.

[0028] In order to protect the circuit, the first MOS transistor switching circuit 140 can be turned on to discharge when the voltage difference between the positive terminal of the battery pack 110 and one end of the motor 180 is less than a preset voltage difference threshold.

[0029] As can be seen, the battery pack freewheeling circuit and robot described above include a battery pack, a battery management system, a thermistor module, a first insulated-gate field-effect MOSFET switching circuit, a second MOSFET switching circuit, a transistor switching circuit, a first Zener diode, a motor, and a capacitor. The battery management system is integrated on the battery pack. The first and second MOSFET switching circuits are connected in parallel, and the motor and capacitor are connected in parallel. The positive terminal of the battery pack is connected to one end of the first MOSFET switching circuit and one end of the thermistor module. The other end of the thermistor module is connected to the second MOSFET switching circuit. The second MOSFET switching circuit is connected to the transistor switching circuit, the first Zener diode, one end of the motor, and one end of the capacitor. The other end of the first MOSFET switching circuit is connected to one end of the motor and one end of the capacitor. The other end of the motor and the other end of the capacitor are connected to the negative terminal of the battery pack. Active freewheeling without software control provides fast response and high safety, significantly increasing the battery pack's lifespan.

[0030] Please see Figure 2 , Figure 2 This is a schematic diagram of another battery pack freewheeling circuit provided in an embodiment of this application.

[0031] The first MOSFET switching circuit 140 includes a first switching MOSFET 141, a first driving module 142, and a second switching MOSFET 143. The first switching MOSFET 141 and the first driving module 142 form a discharge ideal diode, and the second switching MOSFET 143 is connected in series with the discharge ideal diode. The second switching MOSFET is driven by the battery management system 120.

[0032] The second MOSFET switching circuit 150 includes a third MOSFET 151 and a fourth MOSFET 152. The first end of the third MOSFET 151 is connected to the other end of the thermistor module 130, the second end of the third MOSFET 151 is connected to the first end of the fourth MOSFET 152, the third end of the third MOSFET 151 is connected to one end of the transistor switching circuit 160, the second end of the fourth MOSFET 152 is connected to the other end of the transistor switching circuit 160, the first Zener diode 170, and one end of the motor 180, respectively, and the third end of the fourth MOSFET 152 is connected to one end of the transistor switching circuit 160.

[0033] The transistor switching circuit 160 includes a first transistor 161 and a second transistor 162. The first end of the first transistor 161 is connected to the third end of the third switching MOSFET 151, and the second end of the first transistor 161 is connected to the third end of the second transistor 162. The third end of the first transistor 161 is grounded. The first end of the second transistor 162 is connected to the second end of the fourth switching MOSFET 152. The second end of the second transistor 162 is connected to the second end of the fourth switching MOSFET 152 and one end of the first Zener diode 170. The third end of the second transistor 162 is grounded and connected to the other end of the first Zener diode 170.

[0034] As can be seen, when the motor 180 stops working, a reverse electromotive force will momentarily form a higher voltage. When the voltage of the reverse electromotive force is higher than the breakdown voltage of the first Zener diode 170, the first Zener diode 170 will turn on. At this time, the third terminal (base) of the second transistor 162 will be pulled to ground and turn on. This will give a high level to the third terminal (base) of the first transistor 161, which will also turn on the first transistor 161. This will pull the third terminal (gate) of the third switching MOSFET 151 to ground and turn on the third switching MOSFET 151. The third terminal (gate) of the fourth switching MOSFET 152 will be pulled to ground and turn on the fourth switching MOSFET 152. In this way, the reverse electromotive force can return to the positive terminal of the battery pack 110 through the first transistor 161, the third switching MOSFET 151, and the thermistor module 130 and be absorbed.

[0035] As can be seen, the battery pack freewheeling circuit and robot described above include a battery pack, a battery management system, a thermistor module, a first insulated-gate field-effect MOSFET switching circuit, a second MOSFET switching circuit, a transistor switching circuit, a first Zener diode, a motor, and a capacitor. The battery management system is integrated on the battery pack. The first and second MOSFET switching circuits are connected in parallel, and the motor and capacitor are connected in parallel. The positive terminal of the battery pack is connected to one end of the first MOSFET switching circuit and one end of the thermistor module. The other end of the thermistor module is connected to the second MOSFET switching circuit. The second MOSFET switching circuit is connected to the transistor switching circuit, the first Zener diode, one end of the motor, and one end of the capacitor. The other end of the first MOSFET switching circuit is connected to one end of the motor and one end of the capacitor. The other end of the motor and the other end of the capacitor are connected to the negative terminal of the battery pack. Active freewheeling without software control provides fast response and high safety, significantly increasing the battery pack's lifespan.

[0036] For details not described above, please refer to Figure 1The description of the battery pack freewheeling circuit will not be repeated here.

[0037] In one possible embodiment, the battery pack freewheeling circuit further includes a voltage divider resistor module and a second Zener diode, wherein the voltage divider resistor module includes a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, and a sixth resistor; One end of the second Zener diode is connected to the first end of the fourth switching MOSFET, and the other end of the second Zener diode is connected to the third end of the third switching MOSFET. One end of the first resistor is connected to the second terminal of the third switching MOSFET, and the other end of the first resistor is connected to the third terminal of the third switching MOSFET. One end of the second resistor is connected to the other end of the first resistor, and the other end of the second resistor is connected to the first end of the first transistor; One end of the third resistor is connected to the third terminal of the second transistor, the other end of the third resistor is connected to one end of the fourth resistor, and the other end of the fourth resistor is connected to the other end of the first Zener diode. One end of the fifth resistor is connected to one end of the first Zener diode, and the other end of the fifth resistor is connected to one end of the sixth resistor and the second end of the second transistor. The other end of the sixth resistor is connected to the second end of the fourth switching MOSFET, the second end of the second switching MOSFET, one end of the motor, and one end of the capacitor.

[0038] The battery management system includes a microprocessor and a front-end analog circuit, which communicate with each other via a serial peripheral interface.

[0039] The battery pack freewheeling circuit also includes a connector, which is communicatively connected to the microprocessor and is used to connect to a load.

[0040] Please see Figure 3 , Figure 3 This is a schematic diagram of another battery pack freewheeling circuit provided in an embodiment of this application.

[0041] In this circuit, AFE stands for Analog Front End, MCU for Microcontroller Unit, B+ for the positive terminal of the battery pack, B- for the negative terminal of the battery pack, Q1 for the first switching MOSFET, Q1 and the ideal diode driver form a discharge ideal diode, Q2 for the second switching MOSFET acting as a discharge MOSFET and connected to the DSG_DRIVE interface of AFE, driven by AFE; PTC is a thermistor module, Q4 is the third switching MOSFET, Q5 is the fourth switching MOSFET, Q3 is the first transistor, Q6 is the second transistor, D2 is the first Zener diode, D1 is the second Zener diode, R1-R6 is a voltage divider resistor module, X1 is a capacitor, and M is a motor.

[0042] Among them, the PMOS_DRIVE interface of AFE can control Q4 and Q5.

[0043] The battery pack integrates a battery management system. Upon power-up, the MCU identifies the load connection connector and notifies the AFE via the serial peripheral interface SPI to control the closing of Q4 and Q5. The AFE's PMOS_DRIVE interface can control Q4 and Q5, allowing the PTC to connect to the discharge circuit and charge capacitor X1. The current entering capacitor X1 is limited to prevent false triggering of overcurrent protection. When the voltage difference between the positive terminal of the battery pack and one end of motor M is less than a preset voltage difference threshold, the ideal diode driver can control Q1 to close, and the AFE can control Q2 to close via the DSG_DRIVE interface. At the instant motor M stops working, a momentary interruption occurs. A reverse electromotive force (EMF) generates a relatively high voltage. When this voltage exceeds the breakdown voltage of the first Zener diode D2, it turns on the second Zener diode D1. At this time, the base of Q6 is pulled to ground and conducts, which will give a high level to the base of Q3, causing Q3 to conduct. This pulls the gates of Q4 and Q5 to GND, making them conduct. R1 / R2 / R3 / R4 / R5 / R6 are voltage divider conditioning resistors. The second Zener diode D1 is an overvoltage protection device for the gates of Q4 and Q5. At this time, the reverse EMF returns to the battery pack through Q3, Q4, and PTC and is absorbed. The current can be adjusted by the number of PTCs connected in parallel, and the feedback breakdown voltage can be adjusted by D2.

[0044] As can be seen, the battery pack freewheeling circuit and robot described above include a battery pack, a battery management system, a thermistor module, a first insulated-gate field-effect MOSFET switching circuit, a second MOSFET switching circuit, a transistor switching circuit, a first Zener diode, a motor, and a capacitor. The battery management system is integrated on the battery pack. The first and second MOSFET switching circuits are connected in parallel, and the motor and capacitor are connected in parallel. The positive terminal of the battery pack is connected to one end of the first MOSFET switching circuit and one end of the thermistor module. The other end of the thermistor module is connected to the second MOSFET switching circuit. The second MOSFET switching circuit is connected to the transistor switching circuit, the first Zener diode, one end of the motor, and one end of the capacitor. The other end of the first MOSFET switching circuit is connected to one end of the motor and one end of the capacitor. The other end of the motor and the other end of the capacitor are connected to the negative terminal of the battery pack. Active freewheeling without software control provides fast response and high safety, significantly increasing the battery pack's lifespan.

[0045] This application provides a robot equipped with a battery pack freewheeling circuit as described in the embodiments of this application.

[0046] It should be noted that, for the sake of simplicity, the above embodiments are all described as a series of actions. Those skilled in the art should understand that this application is not limited to the described order of actions, as some steps in the embodiments of this application can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions, steps, modules, or units involved are not necessarily essential to the embodiments of this application.

[0047] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0048] The steps of the methods or algorithms described in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in RAM, flash memory, ROM, EPROM, electrically erasable programmable read-only memory (EEPROM), registers, hard disk, portable hard disk, or read-only optical disc (CD-ROM).

[0049] Those skilled in the art will recognize that, in one or more of the examples above, the functions described in the embodiments of this application can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0050] The modules / units included in the various devices and products described in the above embodiments can be software modules / units, hardware modules / units, or a combination of both. For example, for devices and products applied to or integrated into a chip, all modules / units can be implemented using hardware methods such as circuits, or at least some modules / units can be implemented using software programs that run on a processor integrated within the chip, while the remaining (if any) modules / units can be implemented using hardware methods such as circuits. For devices and products applied to or integrated into a chip module, all modules / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components of the chip module, or at least some modules / units can be implemented using hardware methods such as circuits. The implementation is achieved through a software program that runs on the processor integrated within the chip module. The remaining modules / units (if any) can be implemented using hardware methods such as circuits. For various devices and products applied to or integrated into terminal equipment, each of their modules / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components within the terminal equipment. Alternatively, at least some modules / units can be implemented through a software program that runs on the processor integrated within the terminal equipment, while the remaining modules / units (if any) can be implemented using hardware methods such as circuits.

[0051] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above descriptions are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A battery pack freewheeling circuit, characterized in that, The battery pack freewheeling circuit includes a battery pack, a battery management system, a thermistor module, a first insulated gate field effect MOSFET switching circuit, a second MOSFET switching circuit, a transistor switching circuit, a first Zener diode, a motor, and a capacitor; The battery management system is integrated into the battery pack; The first MOSFET switching circuit and the second MOSFET switching circuit are connected in parallel, and the motor and the capacitor are connected in parallel. The positive terminal of the battery pack is connected to one end of the first MOSFET switching circuit and one end of the thermistor module. The other end of the thermistor module is connected to the second MOSFET switching circuit. The second MOSFET switching circuit is connected to the transistor switching circuit, the first Zener diode, one end of the motor, and one end of the capacitor. The other end of the first MOSFET switching circuit is connected to one end of the motor and one end of the capacitor. The other end of the motor and the other end of the capacitor are connected to the negative terminal of the battery pack.

2. The battery pack freewheeling circuit according to claim 1, characterized in that, If a load is connected to the battery pack, the battery management system drives the second MOS transistor switching circuit to turn on in order to charge the capacitor; If the voltage difference between the positive terminal of the battery pack and one end of the motor is less than a preset voltage difference threshold, the first MOS transistor switching circuit is turned on. If the motor stops working and the reverse electromotive force is greater than the breakdown voltage of the first Zener diode, the transistor switching circuit is turned on, and the reverse electromotive force passes through the first Zener diode, the transistor switching circuit, the second MOSFET switching circuit, the thermistor module, and the positive terminal of the battery pack to complete the freewheeling.

3. The battery pack freewheeling circuit according to claim 2, characterized in that, The first MOSFET switching circuit includes a first switching MOSFET, a first driving module, and a second switching MOSFET. The first switching MOSFET and the first driving module form a discharge ideal diode, and the second switching MOSFET is connected in series with the discharge ideal diode.

4. The battery pack freewheeling circuit according to claim 3, characterized in that, The second MOSFET switching circuit includes a third MOSFET and a fourth MOSFET. The first end of the third MOSFET is connected to the other end of the thermistor module, the second end of the third MOSFET is connected to the first end of the fourth MOSFET, the third end of the third MOSFET is connected to one end of the transistor switching circuit, the second end of the fourth MOSFET is connected to the other end of the transistor switching circuit, the first Zener diode, and one end of the motor, and the third end of the fourth MOSFET is connected to one end of the transistor switching circuit.

5. The battery pack freewheeling circuit according to claim 4, characterized in that, The transistor switching circuit includes a first transistor and a second transistor. The first end of the first transistor is connected to the third end of the third switching MOSFET. The second end of the first transistor is connected to the third end of the second transistor. The third end of the first transistor is grounded. The first end of the second transistor is connected to the second end of the fourth switching MOSFET. The second end of the second transistor is connected to the second end of the fourth switching MOSFET and one end of the first Zener diode. The third end of the second transistor is grounded and connected to the other end of the first Zener diode.

6. The battery pack freewheeling circuit according to claim 5, characterized in that, The battery pack freewheeling circuit also includes a voltage divider resistor module and a second Zener diode. The voltage divider resistor module includes a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, and a sixth resistor. One end of the second Zener diode is connected to the first end of the fourth switching MOSFET, and the other end of the second Zener diode is connected to the third end of the third switching MOSFET. One end of the first resistor is connected to the second terminal of the third switching MOSFET, and the other end of the first resistor is connected to the third terminal of the third switching MOSFET. One end of the second resistor is connected to the other end of the first resistor, and the other end of the second resistor is connected to the first end of the first transistor; One end of the third resistor is connected to the third terminal of the second transistor, the other end of the third resistor is connected to one end of the fourth resistor, and the other end of the fourth resistor is connected to the other end of the first Zener diode. One end of the fifth resistor is connected to one end of the first Zener diode, and the other end of the fifth resistor is connected to one end of the sixth resistor and the second end of the second transistor. The other end of the sixth resistor is connected to the second end of the fourth switching MOSFET, the second end of the second switching MOSFET, one end of the motor, and one end of the capacitor.

7. The battery pack freewheeling circuit according to any one of claims 1-6, characterized in that, The battery management system includes a microprocessor and a front-end analog circuit, which communicate with each other via a serial peripheral interface.

8. The battery pack freewheeling circuit according to claim 7, characterized in that, The battery pack freewheeling circuit also includes a connector, which is communicatively connected to the microprocessor and is used to connect to a load.

9. The battery pack freewheeling circuit according to any one of claims 1-6, characterized in that, The thermistor module includes at least one thermistor. When the thermistor module includes at least two thermistors, the at least two thermistors are connected in parallel. The number of thermistors included in the thermistor module is negatively correlated with the magnitude of the charging current of the capacitor.

10. A robot, characterized in that, The robot is equipped with a battery pack freewheeling circuit as described in any one of claims 1-9.

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