CN105743177A - Power supply management system for exoskeleton robot - Google Patents
Power supply management system for exoskeleton robot Download PDFInfo
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- CN105743177A CN105743177A CN201610229677.1A CN201610229677A CN105743177A CN 105743177 A CN105743177 A CN 105743177A CN 201610229677 A CN201610229677 A CN 201610229677A CN 105743177 A CN105743177 A CN 105743177A
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- 238000002955 isolation Methods 0.000 claims abstract description 41
- 238000004891 communication Methods 0.000 claims abstract description 37
- 230000003750 conditioning effect Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000002159 abnormal effect Effects 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000005856 abnormality Effects 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 4
- 230000001629 suppression Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005355 Hall effect Effects 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 241001347978 Major minor Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004643 material aging Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
Classifications
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- H02J7/0026—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/20—Charging or discharging characterised by the power electronics converter
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/00304—Overcurrent protection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/00306—Overdischarge protection
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Abstract
The invention discloses a power supply management system for an exoskeleton robot. The power supply management system comprises a battery pack, a circuit protection module, a power supply conditioning module, a safety isolation module, a parameter detection module, a battery protection module and a communication interface module. The fluctuation voltage output by the battery is converted into stable electric energy by the power supply conditioning circuit, wherein the stable electric energy satisfies voltage, power and other power supply requirements of a control system, a sensing system and a driving system; the state information of the voltage, current, power consumption/temperature and the like of each system module of the exoskeleton robot is monitored in real time by the parameter detection module; through overtemperature, overcurrent and overdischarge emergency treatment, the state parameters of each system module are displayed through an upper computer monitoring platform; and the safety isolation measures, such as circuit protection, battery protection, signal isolation, noise isolation and the like are adopted in the power supply safety aspect.
Description
Technical field
The present invention relates to the power-supply management system of a kind of exoskeleton robot.
Background technology
Exoskeleton robot is a kind of Wearable, can be worn on human external, it is possible to provide protection, extra power and ability to people, strengthens function of human body so that operator can easily complete much difficult activity and task.In civilian, it has broad application prospects: auxiliary people with disability and old people's walking, the anti-dangerous disaster relief, fire-fighting, construction, furniture carrying etc.；In Military Application, ectoskeleton can improve the bearing capacity of soldier, accelerates marching speed, enables soldier to bear a heavy burden the place cannot passed through in vehicle of trudging.
Exoskeleton robot power-supply management system (PM) its major function includes: each system module is powered, battery physical parameter is monitored in real time, battery charge state (SOC) is estimated, fault diagnosis and early warning, charge/discharge Balance route, heat management etc..Battery management system is possible not only to estimation dump energy, it is ensured that maintain in rational working range, it is also possible to prevent from, due to overcharge, overdischarge, the excessive temperature damage to battery, improving battery, it is ensured that wearer personal safety.
In the art; disclosed technology has patent publication No. to be CN104767277A's; the patent of invention of " a kind of digital power for exoskeleton robot manages system " by name, this invention includes main battery, auxiliary battery, power supply handover module, power switching module, power supply pretreatment module, signal sampling module, hardware protection module, CPU module and voice module.The invention provides a kind of digital power for exoskeleton robot and manage system, can detect the voltage of power-supply battery, whether electric current, power are in normal condition, under having the abnormal situation of parameter, carry out early warning by voice module, when more urgent, automatically cut off the power supply of all motors；And the dump energy of electricity service condition and battery can be added up, not enough at main battery electricity, in auxiliary battery electric quantity abundance situation, automatically system power supply is switched to auxiliary battery voice reminder, when the equal electricity of major-minor battery is not enough, changes battery in time by voice module prompting user.
But this device there is also following weak point: (1) this system adopts double cell group, but double cell group is powered, the design of its balanced charge and discharge circuit increases the difficulty of power-supply management system and the complexity of control, and additionally the design of double cell group increases the difficulty that its dump energy (SOC) is estimated；(2) whether extremely the Digital Logical Circuits CPLD in this system is used for sensed current signal, voltage signal and temperature signal, and the work of this part can be completed by central processing unit completely, and CPLD adds cost and redundancy control logic；(3) this system adopts Current integrating method to calculate remaining time of battery energy continuous firing, however after power-off system is restarted power consumption do not store therefore cannot accurate estimating remaining capacity of battery (SOC)；(4) this system lacks battery protection and circuit protection, and shortage is safely and effectively isolated, it is easy to threaten the personal safety of wearer.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, the power-supply management system of a kind of exoskeleton robot is provided, by power supply modulate circuit the fluctuation voltage that battery exports converted to and meet control system, sensor-based system, drive system about the regulated power of the power reguirements such as voltage, power, by status informations such as the voltage of the parameter detection module each system module of monitor in real time exoskeleton robot, electric current, power consumption/temperature, realize excess temperature, cross stream, cross and put emergency processing, show each system module state parameter by ipc monitor platform.In power supply security, take the security isolation measures such as circuit protection, battery protection and signal isolation, noise isolation.
It is an object of the invention to be achieved through the following technical solutions: the power-supply management system of a kind of exoskeleton robot; it includes set of cells, circuit protection module, power supply conditioning module, security isolation module, parameter detection module, battery protection module and communication interface modules, and set of cells is connected with circuit protection module；Circuit protection module is connected with power supply conditioning module；Power supply conditioning module is connected with security isolation module；Power supply conditioning module is also connected with control system, sensor-based system and drive system and is that control system, sensor-based system and drive system are powered；Security isolation module is connected with parameter detection module；Security isolation module is also connected with communication interface modules；Parameter detection module is connected with battery protection module；Battery protection module is connected with power supply conditioning module；Communication interface can turn USB line by CAN and be connected with ipc monitor platform；
Described security isolation module includes: EMC protection, light-coupled isolation; described EMC protection and light-coupled isolation are for carrying out signal isolation and noise isolation by microprocessor and communication interface, ADC sampling etc., it is prevented that signal transmission distortion that the ground potential difference caused because of loop circuit impedance and common mode disturbances causes also weakens electromagnetic interference influence；Described EMC protection is additionally operable to connect power supply input and power supply conditioning module, it is to avoid bring excessive interference to microprocessor；
Described power supply conditioning module includes buck DC-DC conversion topologies, wave filter, clamp circuit, leadage circuit, and the fluctuation voltage that battery exports is converted to and meets control system, sensor-based system about the regulated power of voltage and power power reguirements by described buck DC-DC conversion topologies；The fluctuation voltage that battery exports is converted to the regulated power meeting drive system about voltage, the power reguirements of power by described wave filter and clamp circuit；
Described battery protection module includes: set of cells, resistance pressure-dividing network, current sensor, temperature sensor, double differential comparator, microprocessor, microprocessor, voice module, drive system power switch, described resistance pressure-dividing network, current sensor, temperature sensor is respectively by voltage signal to be sampled, current signal, temperature signal is transformed to digital quantity through double differential comparator, by microprocessor judges battery external voltage, trunk roads electric current, whether battery temperature is abnormal, if certain conditional judgment is abnormal, can send should the voice message of abnormality by voice module.
Described circuit protection module includes: overcurrent protection, overvoltage protection, Surge suppression and reverse protection.
Described parameter detection module includes: resistance pressure-dividing network, current sensor, temperature sensor, with ADC sampling microprocessor, EEPROM, voltage signal to be sampled, current signal, temperature signal are transformed to the analog quantity in the ADC range ability measured by described resistance pressure-dividing network, current sensor, temperature sensor respectively, and these information and the battery dump energy estimated value calculated are stored in EEPROM.
Described communication interface modules includes: bluetooth, 2.4G wireless communication module, CAN, microprocessor (MCU) with IIC and IIS communication interface, described bluetooth is connected with the universal synchronous/asynchronous serial reception/transmitter of microprocessor, described bluetooth can with power-supply management system outside mobile phone terminal or PC host computer radio communication, described 2.4G wireless communication module can with sensor-based system radio communication, described CAN can with ipc monitor platform, master controller, articulation nodes controller communicates, described IIC and IIS communication interface connects voice module, described IIC interface is connected with EERPOM.
The invention has the beneficial effects as follows: 1) use monocell group instead and power to exoskeleton robot, simplify the design of double cell group equilibrium charge and discharge circuit, and reduce the difficulty that dump energy (SOC) is estimated；2) by whether central processing unit monitoring current signal, voltage signal and temperature signal extremely reduce cost and remove redundancy control logic；3) increase EEPROM (EEPROM), after system power failure, store battery dump energy, continue estimating remaining capacity of battery (SOC) after system reboot, improve estimation accuracy；4) increase battery protection and circuit protection, and increase signal isolation and noise isolation to improve the Electromagnetic Compatibility of system.Power-supply management system is more safe and reliable, efficient stable, and reduces cost, simplifies circuit design and control logic.
Accompanying drawing explanation
Fig. 1 is power-supply management system block diagram；
Fig. 2 is circuit protection module schematic diagram；
Fig. 3 is power supply conditioning module schematic diagram；
Fig. 4 is security isolation module diagram；
Fig. 5 is parameter detection module schematic diagram；
Fig. 6 is battery protection module schematic diagram；
Fig. 7 is communication interface modules schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is described in further detail, but protection scope of the present invention is not limited to the following stated.
As shown in Figure 1; a kind of power-supply management system of exoskeleton robot; it includes set of cells, circuit protection module, power supply conditioning module, security isolation module, parameter detection module, battery protection module and communication interface modules; described set of cells adopts lithium polymer battery group; because its energy density is high, single-unit battery core voltage is high, self-discharge rate is low, environmental protection, memory-less effect；Set of cells is connected with circuit protection module；Circuit protection module is connected with power supply conditioning module；Power supply conditioning module is connected with security isolation module；Power supply conditioning module is also connected with control system, sensor-based system and drive system and is that control system, sensor-based system and drive system are powered；Security isolation module is connected with parameter detection module, is used for sampled signal and microprocessor (MCU) isolation, it is to avoid because being directly electrically connected the interference brought；Security isolation module is also connected with communication interface modules, weakens electromagnetic interference and prevents communication signal transmissions distortion；Parameter detection module is connected with battery protection module；Battery protection module is connected with power supply conditioning module, it is prevented that because battery is crossed stream, overvoltage, excess temperature, crossed and the damage causing battery such as put；Communication interface can turn USB line by CAN and be connected with ipc monitor platform；
As shown in Figure 4; described security isolation module includes: EMC protection, light-coupled isolation; described EMC protection and light-coupled isolation are for carrying out signal isolation and noise isolation by microprocessor and communication interface, ADC sampling etc., it is prevented that signal transmission distortion that the ground potential difference caused because of loop circuit impedance and common mode disturbances causes also weakens electromagnetic interference influence；Described EMC protection is additionally operable to connect power supply input and power supply conditioning module, it is to avoid bring excessive interference to microprocessor；
As shown in Figure 3, described power supply conditioning module includes buck DC-DC conversion topologies, wave filter, clamp circuit, leadage circuit, and the fluctuation voltage that battery exports is converted to and meets control system, sensor-based system about the regulated power of voltage and power power reguirements by described buck DC-DC conversion topologies；The fluctuation voltage that battery exports is converted to the regulated power meeting drive system about voltage, the power reguirements of power by described wave filter and clamp circuit；The design of the clamp circuit stated is to solve drive system overpressure problems, drive system can produce a superposition counter electromotive force when rotating, raising busbar voltage, and then to cause that drive system reports an error out of control, this dresses the personal safety of exoskeleton robot person by threatening, and busbar voltage can effectively be restrained by clamp circuit and leadage circuit, and inverse electromotive force is discharged by leadage circuit.
As shown in Figure 6, described battery protection module includes: set of cells, resistance pressure-dividing network, current sensor, temperature sensor, double differential comparator, microprocessor, microprocessor, voice module, drive system power switch, described resistance pressure-dividing network, current sensor, temperature sensor is respectively by voltage signal to be sampled, current signal, temperature signal is transformed to digital quantity through double differential comparator, by microprocessor judges battery external voltage, trunk roads electric current, whether battery temperature is abnormal, if certain conditional judgment is abnormal, can send should the voice message of abnormality by voice module, and according to abnormality type decided the need of turning off drive system power switch.
As in figure 2 it is shown, described circuit protection module includes: overcurrent protection, overvoltage protection, Surge suppression and reverse protection, it is prevented that because inputting stream, overvoltage, surge pulse was excessive, input the damage reversely causing circuit board, drive system.Exoskeleton robot is in running; because of invaded by external influence such as surge, humidity, foreign body or because of internal material aging, be heated, the reason such as insulation damages and maloperation; circuit board is likely to occur various fault and abnormal ruuning situation, it is therefore necessary to its circuit board is protected.
As shown in Figure 5, described parameter detection module includes: resistance pressure-dividing network, current sensor, temperature sensor, with ADC sampling microprocessor, EEPROM (EEPROM), voltage signal to be sampled, current signal, temperature signal are transformed to the analog quantity in the ADC range ability measured by described resistance pressure-dividing network, current sensor, temperature sensor respectively, and these information and the battery dump energy estimated value calculated are stored in EEPROM；What described resistance pressure-dividing network gathered is battery external voltage；Described current sensor utilizes Hall effect that current signal is converted to voltage signal, gathers battery trunk roads discharge current here；Temperature signal is converted to voltage signal by described temperature sensor, gathers battery surface temperature here；Power that these information and algorithm calculate, battery dump energy (SOC) estimated value etc. is utilized to be stored in EEPROM；Described microprocessor connects EEPROM by IIC communication interface.
nullAs shown in Figure 7，Described communication interface modules includes: bluetooth、2.4G wireless communication module、CAN、Microprocessor (MCU) with IIC and IIS communication interface，Described bluetooth is connected with the universal synchronous/asynchronous serial reception/transmitter (USART) of microprocessor (MCU)，Described bluetooth 1 can with power-supply management system outside mobile phone terminal or PC host computer bluetooth 2 radio communication，Mobile phone terminal can be passed through or PC host computer monitors exoskeleton robot power-supply management system state parameter or in real time by mobile phone terminal or PC host computer remote control exoskeleton robot，Described 2.4G wireless communication module can with sensor-based system radio communication，Know the data of sensor-based system and data message is sent to master controller MCU by CAN，Described CAN can with ipc monitor platform、Master controller、Articulation nodes controller communicates，The status information of underlying system module is shown to ipc monitor platform by described CAN in real time，Realize friendly human-computer interaction function，The voltage of each system module of monitor in real time exoskeleton robot、Electric current、Power consumption、The status informations such as temperature，And detect whether battery excess temperature、Cross stream、After to one's heart's content condition；Showing battery dump energy in real time, and estimate residue continuation of the journey duration, described IIC and IIS communication interface connects voice module, described IIC interface is connected with EERPOM.
The power-supply management system of exoskeleton robot provided by the invention, by power supply modulate circuit the fluctuation voltage that battery exports converted to and meet control system, sensor-based system, drive system about the regulated power of the power reguirements such as voltage, power, by status informations such as the voltage of the parameter detection module each system module of monitor in real time exoskeleton robot, electric current, power consumption/temperature, realize excess temperature, cross stream, cross and put emergency processing, show each system module state parameter by ipc monitor platform.In power supply security, take the security isolation measures such as circuit protection, battery protection and signal isolation, noise isolation.
Claims (4)
1. the power-supply management system of an exoskeleton robot; it is characterized in that: it includes set of cells, circuit protection module, power supply conditioning module, security isolation module, parameter detection module, battery protection module and communication interface modules, and set of cells is connected with circuit protection module；Circuit protection module is connected with power supply conditioning module；Power supply conditioning module is connected with security isolation module；Power supply conditioning module is also connected with control system, sensor-based system and drive system and is that control system, sensor-based system and drive system are powered；Security isolation module is connected with parameter detection module；Security isolation module is also connected with communication interface modules；Parameter detection module is connected with battery protection module；Battery protection module is connected with power supply conditioning module；Communication interface can turn USB line by CAN and be connected with ipc monitor platform；
Described security isolation module includes: EMC protection, light-coupled isolation; described EMC protection and light-coupled isolation are for carrying out signal isolation and noise isolation by microprocessor and communication interface, ADC sampling etc., it is prevented that signal transmission distortion that the ground potential difference caused because of loop circuit impedance and common mode disturbances causes also weakens electromagnetic interference influence；Described EMC protection is additionally operable to connect power supply input and power supply conditioning module, it is to avoid bring excessive interference to microprocessor；
Described power supply conditioning module includes buck DC-DC conversion topologies, wave filter, clamp circuit, leadage circuit, and the fluctuation voltage that battery exports is converted to and meets control system, sensor-based system about the regulated power of voltage and power power reguirements by described buck DC-DC conversion topologies；The fluctuation voltage that battery exports is converted to the regulated power meeting drive system about voltage, the power reguirements of power by described wave filter and clamp circuit；
Described battery protection module includes: set of cells, resistance pressure-dividing network, current sensor, temperature sensor, double differential comparator, microprocessor, microprocessor, voice module, drive system power switch, described resistance pressure-dividing network, current sensor, temperature sensor is respectively by voltage signal to be sampled, current signal, temperature signal is transformed to digital quantity through double differential comparator, by microprocessor judges battery external voltage, trunk roads electric current, whether battery temperature is abnormal, if certain conditional judgment is abnormal, can send should the voice message of abnormality by voice module.
2. the power-supply management system of a kind of exoskeleton robot according to claim 1, it is characterised in that: described circuit protection module includes: overcurrent protection, overvoltage protection, Surge suppression and reverse protection.
3. the power-supply management system of a kind of exoskeleton robot according to claim 1, it is characterized in that: described parameter detection module includes: resistance pressure-dividing network, current sensor, temperature sensor, with ADC sampling microprocessor, EEPROM, voltage signal to be sampled, current signal, temperature signal are transformed to the analog quantity in the ADC range ability measured by described resistance pressure-dividing network, current sensor, temperature sensor respectively, and these information and the battery dump energy estimated value calculated are stored in EEPROM.
4. the power-supply management system of a kind of exoskeleton robot according to claim 1, it is characterized in that: described communication interface modules includes: bluetooth, 2.4G wireless communication module, CAN, microprocessor (MCU) with IIC and IIS communication interface, described bluetooth is connected with the universal synchronous/asynchronous serial reception/transmitter of microprocessor, described bluetooth can with power-supply management system outside mobile phone terminal or PC host computer radio communication, described 2.4G wireless communication module can with sensor-based system radio communication, described CAN can with ipc monitor platform, master controller, articulation nodes controller communicates, described IIC and IIS communication interface connects voice module, described IIC interface is connected with EERPOM.
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113041A (en) * | 2016-07-20 | 2016-11-16 | 徐州木牛流马机器人科技有限公司 | A kind of Study of Intelligent Robot Control system based on bus servos control |
| CN106300553A (en) * | 2016-09-30 | 2017-01-04 | 成都普诺思博科技有限公司 | A kind of mobile power management system of robot and method |
| CN106597924A (en) * | 2016-11-28 | 2017-04-26 | 南京熊猫电子股份有限公司 | Intelligent power supply monitoring device for universal robot and universal robot |
| CN107340477A (en) * | 2017-01-22 | 2017-11-10 | 中电科海洋信息技术研究院有限公司 | A kind of underwater robot energy management control system and control method |
| CN108347079A (en) * | 2018-03-19 | 2018-07-31 | 北京钢铁侠科技有限公司 | Power-supply controller of electric and robot with the power-supply controller of electric |
| CN108683243A (en) * | 2018-06-20 | 2018-10-19 | 电子科技大学 | A kind of power-supply management system and method for motor driving quadruped robot |
| CN108767816A (en) * | 2018-08-10 | 2018-11-06 | 中国科学院合肥物质科学研究院 | A kind of mobile robot electric power processing system |
| CN108942887A (en) * | 2018-08-20 | 2018-12-07 | 上海司羿智能科技有限公司 | A kind of control system of lower limb assistance exoskeleton robot |
| CN110224464A (en) * | 2019-06-18 | 2019-09-10 | 北京海益同展信息科技有限公司 | Robot power supply control system and robot |
| CN110488700A (en) * | 2019-08-19 | 2019-11-22 | 深圳优地科技有限公司 | A kind of power-supply management system and robot |
| CN110509277A (en) * | 2019-09-03 | 2019-11-29 | 哈尔滨工业大学 | A kind of robot movement-control system and robot |
| CN110544179A (en) * | 2019-08-21 | 2019-12-06 | 苏州智汇云祥通信系统有限公司 | Integrated power management system for realizing low energy consumption of battery |
| CN110880748A (en) * | 2019-10-08 | 2020-03-13 | 布法罗机器人科技（成都）有限公司 | Multi-motor back electromotive force discharge circuit and system for rehabilitation robot |
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| CN112217179A (en) * | 2020-10-23 | 2021-01-12 | 北京精密机电控制设备研究所 | Switch and protection circuit for exoskeleton robot |
| CN113650027A (en) * | 2021-08-23 | 2021-11-16 | 深圳市重器科技有限公司 | Mobile service robot control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106113041A (en) * | 2016-07-20 | 2016-11-16 | 徐州木牛流马机器人科技有限公司 | A kind of Study of Intelligent Robot Control system based on bus servos control |
| CN106300553A (en) * | 2016-09-30 | 2017-01-04 | 成都普诺思博科技有限公司 | A kind of mobile power management system of robot and method |
| CN106597924A (en) * | 2016-11-28 | 2017-04-26 | 南京熊猫电子股份有限公司 | Intelligent power supply monitoring device for universal robot and universal robot |
| CN106597924B (en) * | 2016-11-28 | 2018-12-25 | 南京熊猫电子股份有限公司 | A kind of the intelligent power monitoring device and all-purpose robot of all-purpose robot |
| CN107340477A (en) * | 2017-01-22 | 2017-11-10 | 中电科海洋信息技术研究院有限公司 | A kind of underwater robot energy management control system and control method |
| CN108347079A (en) * | 2018-03-19 | 2018-07-31 | 北京钢铁侠科技有限公司 | Power-supply controller of electric and robot with the power-supply controller of electric |
| CN108683243B (en) * | 2018-06-20 | 2021-10-22 | 电子科技大学 | Power management system and method for motor-driven quadruped robot |
| CN108683243A (en) * | 2018-06-20 | 2018-10-19 | 电子科技大学 | A kind of power-supply management system and method for motor driving quadruped robot |
| CN108767816A (en) * | 2018-08-10 | 2018-11-06 | 中国科学院合肥物质科学研究院 | A kind of mobile robot electric power processing system |
| CN108767816B (en) * | 2018-08-10 | 2024-04-19 | 中国科学院合肥物质科学研究院 | Mobile robot power supply processing system |
| CN108942887A (en) * | 2018-08-20 | 2018-12-07 | 上海司羿智能科技有限公司 | A kind of control system of lower limb assistance exoskeleton robot |
| CN110224464A (en) * | 2019-06-18 | 2019-09-10 | 北京海益同展信息科技有限公司 | Robot power supply control system and robot |
| CN110488700A (en) * | 2019-08-19 | 2019-11-22 | 深圳优地科技有限公司 | A kind of power-supply management system and robot |
| CN110544179A (en) * | 2019-08-21 | 2019-12-06 | 苏州智汇云祥通信系统有限公司 | Integrated power management system for realizing low energy consumption of battery |
| CN110509277A (en) * | 2019-09-03 | 2019-11-29 | 哈尔滨工业大学 | A kind of robot movement-control system and robot |
| CN110880748A (en) * | 2019-10-08 | 2020-03-13 | 布法罗机器人科技（成都）有限公司 | Multi-motor back electromotive force discharge circuit and system for rehabilitation robot |
| CN110880748B (en) * | 2019-10-08 | 2021-12-07 | 布法罗机器人科技（成都）有限公司 | Multi-motor back electromotive force discharge system for rehabilitation robot |
| CN111515934A (en) * | 2020-05-09 | 2020-08-11 | 中国人民解放军32286部队50分队 | Wearable individual equipment maintenance exoskeleton system and control method thereof |
| CN112217179A (en) * | 2020-10-23 | 2021-01-12 | 北京精密机电控制设备研究所 | Switch and protection circuit for exoskeleton robot |
| CN112217179B (en) * | 2020-10-23 | 2022-12-27 | 北京精密机电控制设备研究所 | Switch and protection circuit for exoskeleton robot |
| CN113650027A (en) * | 2021-08-23 | 2021-11-16 | 深圳市重器科技有限公司 | Mobile service robot control system |
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