CN216086173U - Robot and robot system - Google Patents
Robot and robot system Download PDFInfo
- Publication number
- CN216086173U CN216086173U CN202120661404.0U CN202120661404U CN216086173U CN 216086173 U CN216086173 U CN 216086173U CN 202120661404 U CN202120661404 U CN 202120661404U CN 216086173 U CN216086173 U CN 216086173U
- Authority
- CN
- China
- Prior art keywords
- robot
- switch
- charging
- resistor
- circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The utility model discloses a robot and a robot system, which are used for solving the problem of arc discharge at the moment of separation of the robot and charging equipment in the prior art. The robot comprises a switch circuit and a controller, wherein the switch circuit is used for controlling the on-off of a charging loop of a charging load in the robot, and the controller is connected with the switch circuit and is used for controlling the switch circuit to disconnect the charging loop before the robot is separated from charging equipment. Because before the robot breaks away from the battery charging outfit, the controller controls the switch circuit to break off the charging loop, thereby avoiding the instant generation of huge impact current when the robot breaks away from the battery charging outfit in an electrified way, avoiding the generation of arcing discharge phenomenon, avoiding the oxidation of the electrode at the charging end of the robot and the electrode at the electric energy output end of the battery charging outfit, and further prolonging the service life of the robot and the battery charging outfit.
Description
Technical Field
The utility model relates to the technical field of charging, in particular to a robot and a robot system.
Background
At present, robots are a trend of market development, such as industrial robots, service robots, sweeping robots and the like. General robot can charge through battery charging outfit, is provided with the end that charges at the robot fuselage, is provided with the electric energy output who connects the end that charges of robot on battery charging outfit.
In the prior art, a huge impact current is often generated at the moment of separation of a charging end of a robot and an electric energy output end of charging equipment, so that charged ions in air are ionized instantly to generate an arc discharge phenomenon. After the use time is long, the electrode can be oxidized and blackened due to arc discharge, the charging effect is influenced, the heating is serious, even the contact impedance is too large, the electrode cannot be charged, the structural part for fixing the electrode is melted, and the service life of the robot and the charging equipment is influenced.
In summary, in the prior art, an arc discharge phenomenon occurs when the robot and the charging device are separated.
SUMMERY OF THE UTILITY MODEL
The utility model provides a robot and a robot system, which are used for solving the problem of arc discharge when the robot is separated from charging equipment in the prior art.
In a first aspect, an embodiment of the present invention provides a robot, including:
the switching circuit is used for controlling the on-off of a charging loop of a charging load in the robot;
and the controller is connected with the switching circuit and is used for controlling the switching circuit to disconnect the charging loop before the robot is separated from the charging equipment.
In one possible implementation manner, a first end of the switch circuit is connected with a negative pole of a charging end of the robot, and a second end of the switch circuit is connected with a negative pole of the charging load;
the controller is specifically connected with the on-off control end of the switch circuit, and is specifically configured to output a level signal for controlling the on-off control end of the switch circuit to turn off the switch circuit before the robot is detached from the charging device.
In one possible implementation, the switching circuit includes a switch control module and a switch module;
the first end of the switch module is connected with the first end of the switch control module to serve as the first end of the switch circuit, the second end of the switch module serves as the second end of the switch circuit, and the third end of the switch module is connected with the second end of the switch control module;
and the third end of the switch control module is used as an on-off control end of the switch circuit, and the switch control module is used for controlling the switch module to be switched off when receiving the level signal output by the controller.
In one possible implementation manner, the switch control module includes a first resistor, a second resistor, a third resistor, a fourth resistor, a first switching tube, and a photocoupler, wherein:
one end of the first resistor is used as a third end of the switch control module, and the other end of the first resistor is connected with one end of the second resistor and the control end of the first switch tube;
the other end of the second resistor is connected with the second end of the first switching tube and is grounded;
the first end of the first switching tube is connected with one end of the fourth resistor and the second end of the photoelectric coupler;
the other end of the fourth resistor is connected with one end of the third resistor and the first end of the photoelectric coupler;
the other end of the third resistor is connected with a power supply;
and the third end of the photoelectric coupler is used as the first end of the switch control module, and the fourth end of the photoelectric coupler is used as the second end of the switch control module.
In one possible implementation, the switch module includes a second switch tube;
the first end of the second switch tube is used as the first end of the switch module, the second end of the second switch tube is used as the second end of the switch module, and the control end of the second switch tube is used as the third end of the switch module.
In one possible implementation, the robot further includes:
and the slow starting circuit is used for controlling the charging current in the charging circuit to gradually increase after the robot is connected with the charging equipment.
In a possible implementation manner, the first end of the slow start circuit is connected to the positive electrode of the charging terminal, the second end of the slow start circuit is connected to the negative electrode of the charging terminal, the third end of the slow start circuit is connected to the third end of the switch module, and the slow start circuit is specifically configured to control the input voltage of the third end of the switch module to gradually increase after the robot is connected to the charging device.
In one possible implementation manner, the slow start circuit includes a capacitor, a fifth resistor, a sixth resistor, a first diode, and a third switch tube, where:
one end of the fifth resistor is used as the first end of the slow start circuit, and the other end of the fifth resistor is connected with the anode of the first diode, one end of the sixth resistor and the control end of the third switching tube and used as the third end of the slow start circuit;
the negative electrode of the first diode is connected with one end of the capacitor and the second end of the third switching tube;
the other end of the capacitor is connected with the first end of the third switching tube and the other end of the sixth resistor and serves as the second end of the slow starting circuit.
In one possible implementation, the soft start circuit further includes a voltage regulator, wherein:
and the voltage-stabilizing tube is connected between the first end and the control end of the third switching tube.
In a second aspect, the present invention also provides a robot system, including a charging device and the robot according to any one of the first aspect.
According to the robot and the robot system provided by the utility model, before the robot is separated from the charging equipment, the controller controls the switch circuit to disconnect the charging loop, so that huge impact current can be avoided at the moment that the robot is separated from the charging equipment in an electrified manner, the phenomenon of arc discharge is avoided, the oxidation of an electrode at the charging end of the robot and an electrode at the electric energy output end of the charging equipment is avoided, and the service lives of the robot and the charging equipment can be further prolonged.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a switch circuit according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a switch control module according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a switch module according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of another switching circuit according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a slow start circuit according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a slow start circuit according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a slow start circuit according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a circuit of a robot according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a robot system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present invention provides a robot, as shown in fig. 1, comprising a switching circuit 11 and a controller 12, wherein:
the switching circuit 11 is used for controlling the on-off of a charging loop of a charging load in the robot;
and the controller 12 is connected with the switch circuit 11 and is used for controlling the switch circuit 11 to disconnect the charging loop before the robot is separated from the charging equipment.
In the embodiment of the utility model, the switching circuit controls the on-off of the charging loop of the charging load in the robot, and the controller controls the switching circuit to disconnect the charging loop before the robot is separated from the charging equipment, so that huge impact current can be avoided at the moment that the robot is separated from the charging equipment in a charged state, the phenomenon of arc discharge is avoided, the oxidation of an electrode at the charging end of the robot and an electrode at the electric energy output end of the charging equipment is avoided, and the service lives of the robot and the charging equipment can be prolonged.
In fig. 1, the negative pole of the charging terminal of the robot is grounded, and outside the robot, the positive pole a of the charging terminal of the robot is used for being connected with the positive pole of the power output terminal of the charging device, and the negative pole B of the charging terminal of the robot is used for being connected with the negative pole of the power output terminal of the charging device; inside the robot, the positive pole A of end of charging can be connected with the anodal of the load that charges, and the negative pole B of end of charging can be connected with switch circuit's first end, and switch circuit's second end can be connected with the negative pole of the load that charges, and end of charging, load and switch circuit constitute the charging circuit that charges, and when the charging circuit switched on, battery charging outfit was through the end of charging with the electric energy input to the load that charges, charges for the load that charges.
The controller 12 is specifically connected to the on-off control end of the switch circuit 11, and is specifically configured to output a level signal for controlling the switch circuit 11 to be turned off to the on-off control end of the switch circuit 11 before the robot is detached from the charging device.
In a specific implementation, the controller 12 may include a main controller and a microcontroller, the main controller may be disposed on a body of the robot or a head of the robot, the microcontroller may be disposed on a chassis of the robot, when the main controller determines that charging of the charging load is completed, the main controller issues an instruction to disconnect the charging loop to the microcontroller, and the microcontroller sends a high-level signal to the switching circuit after receiving the instruction.
It should be noted that the main controller determines that the charging of the charging load is completed, and may be that the charging load is fully charged, or may be that the charging load is not fully charged but the charging needs to be interrupted.
Fig. 2 is a schematic structural diagram of a switching circuit according to an embodiment of the present invention. The switch circuit 11 may include a switch module 111 and a switch control module 112, wherein a first terminal of the switch module 111 is connected to a first terminal of the switch control module 112, and is connected to a negative electrode B of the charging terminal as the first terminal of the switch circuit 11, a second terminal of the switch module 111 is connected to a negative electrode of the charging load as the second terminal of the switch circuit 11, and a third terminal of the switch module 111 is connected to the second terminal of the switch control module 112;
the third terminal of the switch control module 112, which is an on-off control terminal of the switch circuit 11, is connected to the controller 12, and the switch control module 112 is configured to control the switch module 111 to be turned off, that is, to turn off a path between the first terminal of the switch module 111 and the second terminal of the switch module 111, that is, to turn off a path between the negative electrode B of the charging terminal and the negative electrode of the charging load, when receiving a level signal output by the controller 12 and used for controlling the switch circuit to be turned off.
The negative pole B of the disconnection end that charges and the negative pole of the load that charges between the negative pole, the charging circuit is broken off, and the end that charges of robot is uncharged to can realize that robot and battery charging outfit are uncharged and break away from, avoid the arc discharge phenomenon that draws that the huge impulse current that electrified produced that breaks away from caused, and then avoid the electrode of the end that charges of robot and the electrode oxidation of battery charging outfit's electric energy output end, and then can prolong the life of robot and battery charging outfit.
In one possible embodiment, as shown in fig. 3, the switch control module 112 provided by the present invention may include a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first switching tube Q1, and a photo-coupler U1, wherein:
one end of the first resistor R1 is used as the third end of the switch control module 112, and the other end of the first resistor R1 is connected with one end of the second resistor R2 and the control end of the first switch tube Q1;
the other end of the second resistor R2 is connected with the second end of the first switch tube Q1 and is grounded;
a first end of the first switching tube Q1 is connected with one end of the fourth resistor R4 and a second end of the photocoupler U1;
the other end of the fourth resistor R4 is connected with one end of the third resistor R3 and the first end of the photoelectric coupler;
the other end of the third resistor R3 is connected with a power supply 3.3V;
the third end of the photocoupler U1 is used as the first end of the switch control module 112 and connected with the first end of the switch module 111, and the fourth end of the photocoupler U1 is used as the second end of the switch control module 112 and connected with the third end of the switch module 111.
The first switch Q1 may be an NPN transistor, the control terminal of the Q1 is a base of the NPN transistor, the first terminal of the Q1 is a collector of the NPN transistor, and the second terminal of the Q1 is an emitter of the NPN transistor.
In conjunction with the circuit diagram shown in fig. 3, the switching control module 112 operates as follows:
the high level signal that controller 12 sent, after first resistance R1 and second resistance R2 partial pressure, control first triode Q1 and switch on, the 3.3V voltage of power supply output passes through third resistance R3 and fourth resistance R4 partial pressure after, trigger photoelectric coupler U1's first end and second end and switch on, then photoelectric coupler U1's fourth end and third end also switch on, make the voltage step-down between the third end of switch module 111 and the first end, thereby control switch module 111 disconnection.
The switch module in the embodiment of the present invention, as shown in fig. 4, may include a second switch Q2, a first terminal of the second switch Q2 being a first terminal of the switch module 111, a second terminal of the second switch Q2 being a second terminal of the switch module 111, and a control terminal of the second switch Q2 being a third terminal of the switch module 111.
The second switch Q2 may be a MOS transistor, the control terminal of the second switch Q2 is a gate of the MOS transistor, the first terminal of the second switch Q2 is a source of the MOS transistor, and the second terminal of the second switch Q2 is a drain of the MOS transistor.
Because optoelectronic coupler's fourth end and third end switch on, optoelectronic coupler's third end and the source electrode of MOS pipe are connected, optoelectronic coupler's fourth end and the grid connection of MOS pipe, optoelectronic coupler's third end and fourth end switch on the back, because the source electrode ground connection of MOS pipe, so the voltage step-down between the grid of MOS pipe and the source electrode, then the MOS pipe disconnection to make charging circuit disconnection.
The above-mentioned scheme designed for preventing the phenomenon of arc discharge caused by the charged separation of the robot and the charging equipment, except that the phenomenon of arc discharge caused by charged separation, there is also a case that when the electric energy output end of the charging equipment is charged, the moment the robot is connected to the charging equipment, that is, the moment the charging end of the robot contacts the electric energy output end of the charging equipment, the instant impact current may be generated to cause the phenomenon of arc discharge.
Based on this, the robot provided in the embodiment of the present invention may further include a slow start circuit 13, as shown in fig. 5, where the slow start circuit 13 is configured to control the charging current in the charging circuit to gradually increase after the robot accesses the charging device.
Because the slow starting circuit in the robot can control the charging current in the charging circuit to be gradually increased, the instantaneous impact current generated when the robot is connected to the charging equipment can be avoided, the arcing discharge phenomenon is avoided, the electrode at the charging end of the robot and the electrode at the electric energy output end of the charging equipment are prevented from being oxidized, and the service lives of the robot and the charging equipment can be prolonged.
Specifically, as shown in fig. 5, a first terminal of the slow start circuit 13 is connected to the positive electrode a of the charging terminal, a second terminal of the slow start circuit 13 is connected to the negative electrode B of the charging terminal, a third terminal of the slow start circuit 13 is connected to the third terminal of the switch module 111, and the slow start circuit 13 is specifically configured to control the input terminal of the third terminal of the switch module 111 to gradually increase in voltage after the robot is connected to the charging device.
After the robot inserts the battery charging outfit, the input voltage of the third end of slow starting circuit 13 control switch module 111 crescent, charging circuit's charging current crescent promptly to can avoid the robot to insert the battery charging outfit in the twinkling of an eye to produce instantaneous impulse current, avoid producing and draw the arc discharge phenomenon, and then can protect the electrode of the electric energy output of the electrode of the charging end of robot and battery charging outfit, prolong the life of robot and battery charging outfit.
In a specific implementation, as shown in fig. 6, the soft start circuit 13 may include a capacitor C, a fifth resistor R5, a sixth resistor R6, a first diode D1, and a third switch Q3, wherein:
one end of the fifth resistor R5 is used as the first end of the soft start circuit 13 and is connected to the positive electrode of the charging terminal, and the other end of the fifth resistor R5 is connected to the positive electrode of the first diode D1, one end of the sixth resistor R6, and the control end of the third switching tube Q3, and is used as the third end of the soft start circuit 13 and is connected to the third end of the switching module 111;
the cathode of the first diode D1 is connected with one end of the capacitor C and the second end of the third switching tube Q3;
the other end of the capacitor C is connected to the first end of the third switching transistor Q3 and the other end of the sixth resistor R6, and serves as the second end of the soft start circuit 13, and is connected to the negative electrode B of the charging terminal.
The third switching tube Q3 may be a PNP type triode, the control terminal of Q2 is the base of the PNP type triode, the first terminal of Q2 is the collector of the PNP type triode, and the second terminal of Q2 is the emitter of the PNP type triode.
In the slow start circuit 13, the voltage U input from the charging terminal a passes through the resistor R5 and the first diode D1 to charge the capacitor C; the voltage U is divided by a resistor R5 and a resistor R6 to obtain a voltage Vgs2Voltage V due to the presence of capacitor Cgs2Will slowly rise from 0 and finally reach Vgs2＝U*R6(R6+R5)。
Voltage Vgs2I.e. the driving voltage of the switching tube Q2, V due to the characteristics of the triodegs2Will pass through the linearity of the transistor during the slow rise from 0In the linear amplification area of the triode, U can slowly charge the capacitor C through the variable resistor RX of the triode, the charging current is U/RX, and as RX starts to be large in the variable resistor area and then gradually decreases, the charging impact current U/RX is limited to be a small value at the moment that the robot is connected with the charging equipment and then gradually increases, so that the phenomenon of sparking caused by overlarge impact current at the moment that the robot is connected with the charging equipment is avoided.
V is gradually filled with the electric quantity of the capacitor Cgs2And then, the internal resistance Rdson between the collector and the emitter of the transistor is reduced to the milliohm level after the saturation driving voltage of the transistor Q2 is increased.
It should be noted that the loss of the triode during normal charging is very small and can be ignored.
The slow start circuit 13 in the embodiment of the present invention may further include a voltage regulator tube, as shown in fig. 7.
The voltage-regulator tube D2 is connected between the first end and the control end of the third switch tube Q3, specifically, the input end of the voltage-regulator tube D2 and the grounding end of the voltage-regulator tube D2 are connected with the first end of the third switch tube Q3, and the output end of the voltage-regulator tube D2 is connected with the control end of the third switch tube Q3.
The voltage regulator tube D2 plays a role in protecting the third switch tube Q3.
In one possible implementation, as shown in fig. 8, the robot may further include a second diode D3, an anode of the second diode D3 is connected to the anode a of the charging terminal, and a cathode of the second diode D3 is connected to the anode of the charging load.
On the one hand, the diode D3 can cut off the current in the charging load from flowing to the charging terminal, and on the other hand, the diode D3 and the transistor Q2 can discharge the capacitor C.
The discharge process of the capacitor C will be described in detail below.
After the robot is separated from the charging equipment, the voltage U is rapidly powered off and V is rapidly powered off due to the reverse cutoff action of D3gs2At 0V, Q2 is turned off, and since Q2 is a PNP type triode, the base voltage of the triode becomes low, and the collector and emitter of Q2 are conducted to rapidly discharge the capacitor CAnd the capacitor C is at 0 potential in preparation for the next time when the robot is connected to the charging equipment.
Fig. 9 is a circuit diagram of a robot according to an embodiment of the present invention.
In the embodiment of the utility model, when the charging end of the robot is contacted with the electric energy output end of the charging equipment, the MOS tube Q2 is conducted, and the charging current is gradually increased to a stable value from a small value due to the existence of the capacitor C and the triode Q3; in the in-process that charges, if the robot need break away from battery charging outfit, before breaking away from, controller 12 output high level signal, triode Q1 switches on, and photoelectric coupler U1's first end and second end switch on, and photoelectric coupler's third end and fourth end switch on to draw MOS pipe Q2's grid voltage down, MOS pipe Q2 cuts off, and the terminal that charges of robot is uncharged, and the robot can break away from battery charging outfit this moment.
In the embodiment of the present invention, in order to better ensure that the robot and the charging device do not generate an arc discharge phenomenon when they are separated, the controller 12 may control the robot to separate from the charging device after outputting a high level signal for N seconds, where N is a positive integer.
Based on the same concept, the embodiment of the present invention further provides a robot system, as shown in fig. 10, including a charging device 101 and any one of the robots 102 described above.
The implementation of the system can refer to the implementation of the robot, and repeated details are omitted.
The present application is described above with reference to block diagrams and/or flowchart illustrations of methods, apparatus (systems) and/or computer program products according to embodiments of the application. It will be understood that one block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, and/or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer and/or other programmable data processing apparatus, create means for implementing the functions/acts specified in the block diagrams and/or flowchart block or blocks.
Accordingly, the subject application may also be embodied in hardware and/or in software (including firmware, resident software, micro-code, etc.). Furthermore, the present application may take the form of a computer program product on a computer-usable or computer-readable storage medium having computer-usable or computer-readable program code embodied in the medium for use by or in connection with an instruction execution system. In the context of this application, a computer-usable or computer-readable medium may be any medium that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the utility model. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A robot, comprising:
the switching circuit is used for controlling the on-off of a charging loop of a charging load in the robot;
and the controller is connected with the switching circuit and is used for controlling the switching circuit to disconnect the charging loop before the robot is separated from the charging equipment.
2. The robot of claim 1, wherein a first terminal of the switching circuit is connected to a negative terminal of a charging terminal of the robot, and a second terminal of the switching circuit is connected to a negative terminal of the charging load;
the controller is specifically connected with the on-off control end of the switch circuit, and is specifically configured to output a level signal for controlling the on-off control end of the switch circuit to turn off the switch circuit before the robot is detached from the charging device.
3. The robot of claim 2, wherein the switching circuit includes a switch control module and a switch module;
the first end of the switch module is connected with the first end of the switch control module to serve as the first end of the switch circuit, the second end of the switch module serves as the second end of the switch circuit, and the third end of the switch module is connected with the second end of the switch control module;
and the third end of the switch control module is used as an on-off control end of the switch circuit, and the switch control module is used for controlling the switch module to be switched off when receiving the level signal output by the controller.
4. The robot of claim 3, wherein the switch control module comprises a first resistor, a second resistor, a third resistor, a fourth resistor, a first switching tube, and an opto-coupler, wherein:
one end of the first resistor is used as a third end of the switch control module, and the other end of the first resistor is connected with one end of the second resistor and the control end of the first switch tube;
the other end of the second resistor is connected with the second end of the first switching tube and is grounded;
the first end of the first switching tube is connected with one end of the fourth resistor and the second end of the photoelectric coupler;
the other end of the fourth resistor is connected with one end of the third resistor and the first end of the photoelectric coupler;
the other end of the third resistor is connected with a power supply;
and the third end of the photoelectric coupler is used as the first end of the switch control module, and the fourth end of the photoelectric coupler is used as the second end of the switch control module.
5. The robot of claim 3, wherein the switch module includes a second switch tube;
the first end of the second switch tube is used as the first end of the switch module, the second end of the second switch tube is used as the second end of the switch module, and the control end of the second switch tube is used as the third end of the switch module.
6. A robot as claimed in claim 3, further comprising:
and the slow starting circuit is used for controlling the charging current in the charging circuit to gradually increase after the robot is connected with the charging equipment.
7. The robot as claimed in claim 6, wherein a first terminal of the soft start circuit is connected to a positive terminal of the charging terminal, a second terminal of the soft start circuit is connected to a negative terminal of the charging terminal, a third terminal of the soft start circuit is connected to a third terminal of the switching module, and the soft start circuit is configured to control an input voltage of the third terminal of the switching module to gradually increase after the robot is connected to the charging device.
8. The robot of claim 7, wherein the slow start circuit comprises a capacitor, a fifth resistor, a sixth resistor, a first diode, and a third switch, wherein:
one end of the fifth resistor is used as the first end of the slow start circuit, and the other end of the fifth resistor is connected with the anode of the first diode, one end of the sixth resistor and the control end of the third switching tube and used as the third end of the slow start circuit;
the negative electrode of the first diode is connected with one end of the capacitor and the second end of the third switching tube;
the other end of the capacitor is connected with the first end of the third switching tube and the other end of the sixth resistor and serves as the second end of the slow starting circuit.
9. The robot of claim 8, wherein said slow start circuit further comprises a voltage regulator tube, wherein:
and the voltage-stabilizing tube is connected between the first end and the control end of the third switching tube.
10. A robot system comprising a charging device and a robot according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120661404.0U CN216086173U (en) | 2021-03-31 | 2021-03-31 | Robot and robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120661404.0U CN216086173U (en) | 2021-03-31 | 2021-03-31 | Robot and robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216086173U true CN216086173U (en) | 2022-03-18 |
Family
ID=80634976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120661404.0U Active CN216086173U (en) | 2021-03-31 | 2021-03-31 | Robot and robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216086173U (en) |
-
2021
- 2021-03-31 CN CN202120661404.0U patent/CN216086173U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2011060666A1 (en) | Soft-start module and startup device for motor controller using the same | |
| CN110996027B (en) | Standby circuit, method and television | |
| CN108683217B (en) | Power supply voltage monitoring circuit capable of being turned off | |
| CN216086173U (en) | Robot and robot system | |
| CN218633695U (en) | Power-on slow start circuit, chip and laser radar | |
| CN109742938B (en) | Anti-interference delay start control circuit and system | |
| CN110768518A (en) | Power isolation circuit and intelligent door lock system | |
| CN212304746U (en) | Reverse connection prevention protection circuit | |
| CN106533409B (en) | Zero power consumption control device of dust collection cup lithium battery | |
| CN203813714U (en) | Motor driving device and frequency-conversion household electrical appliance | |
| CN211127124U (en) | Surge current suppression circuit | |
| CN212210543U (en) | Anti-lock BMS electrical power generating system | |
| CN211959179U (en) | Isolation driving electronic switch module | |
| CN209913796U (en) | Switching circuit | |
| CN203522519U (en) | DC power supply starting circuit | |
| CN214314644U (en) | Charging equipment and robot system of robot | |
| CN216564556U (en) | Charging system of lithium battery | |
| CN110719018A (en) | Quick bus capacitor discharge circuit and method of servo driver | |
| CN218493770U (en) | Intelligent pump switch control system | |
| CN217563324U (en) | Ignition prevention circuit of direct current brushless motor controller | |
| CN219960206U (en) | Emergency switching circuit for power supply | |
| TW202006776A (en) | Power supply device with an electronic circuit breaker and method for controlling the same | |
| CN217240313U (en) | Overcurrent protection circuit | |
| CN218648725U (en) | Soft start circuit of switching power supply | |
| CN210110647U (en) | Direct current relay control circuit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |