Robot controller power detection and protection system, robot

Abstract

The embodiment of the application discloses a kind of robot controller power detection and protection system, robot.It includes: power detection protection module is used to the output voltage of bus power supply is in real time detection, and simultaneously output detected bus power supply output signal to first control unit and second control unit;And for detecting the output voltage of power supply appears abnormal when controlling power supply shutdown, and simultaneously output power supply abnormal signal to first control unit and second control unit;And for detecting the output voltage of control power supply appears abnormal when at least controlling control power supply shutdown;First control unit and second control unit are used to determine the output voltage of bus power supply appears abnormal according to bus power supply output signal, and / or receive power supply abnormal signal when bus power supply shutdown control signal is output to power detection protection module, to control power detection protection module shuts down bus power supply, realizes the safety protection of controller power supply system.

Description

TECHNICAL FIELD

[0001] The embodiment of the application relates to the technical field of robots, in particular to a robot controller power detection and protection system and a robot. BACKGROUND

[0002] A robot is a modern tool applied in multiple fields and scenes, and in addition to making the robot more intelligent and efficient, a further important direction of the development of the contemporary robot is safety. People have been researching the safety problem of the robot, and a robot safety controller emerges as the times require in response to the problem.

[0003] Most of the safety controllers on the market have safety protection for abnormal safety input and output signals, but there is no complete safety protection scheme for the abnormality of the power supply part of the safety controller itself. If the safety controller itself is not stable and reliable, the robot in the rear stage cannot be effectively protected.

[0004] The power supply system of the entire safety controller itself is the basis for ensuring that the safety controller effectively protects the robot, and the abnormality of any power supply node may become a factor that cannot effectively protect the robot in the rear stage for the safety controller itself. For example, due to the abnormality of the power supply of a certain node of the safety controller itself, the safety signal is abnormal, and the robot cannot stop running in the abnormal state, the bus power cannot be effectively turned off, and the robot may be damaged, the loss is great, and the safety controller does not achieve the purpose of "safety". SUMMARY

[0005] The embodiment of the application provides a robot controller power detection and protection system and a robot, so as to perform safety protection on the power supply system of the robot safety controller itself, ensure the reliability of the robot safety controller, and then realize effective safety protection of the robot.

[0006] In a first aspect, the embodiment of the application provides a robot controller power detection and protection system, the robot controller power supply includes a bus power supply, a safety input and output circuit power supply and a control power supply, and the system includes a first control unit, a second control unit and a power detection and protection module.

[0007] The power detection and protection module is connected with the bus power supply, the power supply, the control power supply, the first control unit and the second control unit.

[0008] The power supply detection protection module is configured to detect the output voltage of the bus power supply in real time, and output the detected bus power supply output signal to the first control unit and the second control unit simultaneously; and control the power supply to be turned off when detecting that the output voltage of the power supply appears abnormal, and output a power supply abnormal signal to the first control unit and the second control unit simultaneously; and control the control power supply to be turned off when detecting that the output voltage of the control power supply appears abnormal.

[0009] The first control unit and the second control unit are in communication connection and are redundant to each other.

[0010] The first control unit and the second control unit are configured to output a bus power supply turn-off control signal to the power supply detection protection module to control the power supply detection protection module to turn off the bus power supply when judging that the output voltage of the bus power supply appears abnormal according to the bus power supply output signal, and / or receiving the power supply abnormal signal.

[0011] Optionally, the power supply detection protection module comprises a bus power supply detection protection submodule.

[0012] The power supply input end of the bus power supply detection protection submodule is connected to the bus power supply.

[0013] The first output end and the first input end of the bus power supply detection protection submodule are connected to the first control unit, and the second output end and the second input end of the bus power supply detection protection submodule are connected to the second control unit.

[0014] The power supply output end of the bus power supply detection protection submodule is connected to the bus power supply output end, and the bus power supply output end is configured to supply power to the robot.

[0015] The bus power supply detection protection submodule is configured to detect the output voltage of the bus power supply in real time, and output the detected bus power supply output signal to the first control unit and the second control unit through the first output end and the second output end respectively, and receive the bus power supply turn-off control signal through the first input end and the second input end respectively, so as to control the bus power supply to be disconnected from the bus power supply output end according to the bus power supply turn-off control signal.

[0016] Optionally, the bus power supply detection protection submodule comprises a first switch unit, a second switch unit, a first drive unit, a second drive unit, a first detection unit, and a second detection unit.

[0017] The first end of the first switch unit is used as a power input end of the bus power detection protection sub-module, the second end of the first switch unit is connected with the first end of the second switch unit, and the control end of the first switch unit is connected with the output end of the first drive unit;

[0018] The second end of the second switch unit is used as a power output end of the bus power detection protection sub-module, and the control end of the second switch unit is connected with the output end of the second drive unit.

[0019] The input end of the first drive unit is used as a first input end of the bus power detection protection sub-module.

[0020] The input end of the second drive unit is used as a second input end of the bus power detection protection sub-module.

[0021] The input end of the first detection unit is connected with the second end of the first switch unit, the input end of the second detection unit is connected with the second end of the second switch unit, the first output end of the first detection unit is connected with the first output end of the second detection unit and then used as a first output end of the bus power detection protection sub-module, and the second output end of the first detection unit is connected with the second output end of the second detection unit and then used as a second output end of the bus power detection protection sub-module.

[0022] The first detection unit is used for detecting the output voltage of the second end of the first switch unit in real time, and the detected first bus power output signal is simultaneously output to the first control unit and the second control unit through the first output end and the second output end of the first detection unit.

[0023] The second detection unit is used for detecting the output voltage of the second end of the second switch unit in real time, and the detected second bus power output signal is simultaneously output to the first control unit and the second control unit through the first output end and the second output end of the second detection unit.

[0024] The first control unit and the second control unit are respectively used for generating the bus power off control signal when the first bus power output signal is greater than a first overvoltage threshold or less than a first undervoltage threshold, and / or when the second bus power output signal is greater than a second overvoltage threshold or less than a second undervoltage threshold.

[0025] The first drive unit is used for controlling the first switch unit to be turned off according to the bus power off control signal, and the second drive unit is used for controlling the second switch unit to be turned off according to the bus power off control signal.

[0026] Optionally, the power supply detection protection module further comprises a power supply detection protection sub-module;

[0027] The power input end of the power supply detection protection sub-module is connected to the power supply;

[0028] The first output end of the power supply detection protection sub-module is connected to the first control unit and the second control unit, and the second output end of the power supply detection protection sub-module is connected to the first control unit and the second control unit;

[0029] The power output end of the power supply detection protection sub-module is connected to the power supply output end, and the power supply supplies power to the safety input and output circuit through the power supply output end;

[0030] The power supply detection protection sub-module is used for controlling the power supply to be turned off when the output voltage of the power supply is abnormal, and simultaneously outputting the power supply abnormal signal to the first control unit and the second control unit through the first output end and the second output end of the power supply detection protection sub-module, respectively.

[0031] Optionally, the power supply detection protection sub-module comprises a first voltage conversion unit, a third switch unit, a third detection unit and a fourth detection unit;

[0032] The input end of the first voltage conversion unit is used as the power input end of the power supply detection protection sub-module, and the output end of the first voltage conversion unit is connected to the first end of the third switch unit;

[0033] The second end of the third switch unit is used as the power output end of the power supply detection protection sub-module, and the control end of the third switch unit is connected to the output end of the third drive unit;

[0034] The first input end of the third drive unit is connected to the output end of the third detection unit, and the second input end of the third drive unit is connected to the output end of the fourth detection unit;

[0035] The input end of the third detection unit is connected to the output end of the first voltage conversion unit, and the output end of the third detection unit is connected to the first output end of the power supply detection protection sub-module; the input end of the fourth detection unit is connected to the second end of the third switch unit, and the output end of the fourth detection unit is connected to the second output end of the power supply detection protection sub-module;

[0036] The third detection unit is configured to output the power supply abnormal signal to the third driving unit, the first control unit and the second control unit when it is detected that the output voltage of the output end of the first voltage conversion unit is greater than a third overvoltage threshold or less than a third undervoltage threshold.

[0037] The fourth detection unit is configured to output the power supply abnormal signal to the third driving unit, the first control unit and the second control unit when it is detected that the output voltage of the second end of the third switch unit is greater than a fourth overvoltage threshold or less than a fourth undervoltage threshold.

[0038] The third driving unit is configured to control the third switch unit to be turned off according to the power supply abnormal signal.

[0039] The first control unit and the second control unit are respectively configured to generate the bus power supply turn-off control signal according to the power supply abnormal signal.

[0040] Optionally, the power supply detection protection module further comprises a control power supply detection protection sub-module.

[0041] The power input end of the control power supply detection protection sub-module is connected to the control power supply.

[0042] The first output end of the control power supply detection protection sub-module is connected to the power supply detection protection sub-module.

[0043] The power output end of the control power supply detection protection sub-module is connected to the control power supply output end, and the control power supply supplies power to the first control unit and the second control unit through the control power supply output end.

[0044] The control power supply detection protection sub-module is configured to control the control power supply to be turned off when it is detected that the output voltage of the control power supply is abnormal, and control the power supply to be turned off by controlling the power supply detection protection sub-module.

[0045] Optionally, the control power supply detection protection sub-module comprises a second voltage conversion unit, a fourth switch unit, a fifth detection unit and a detection control unit.

[0046] The first end of the fourth switch unit is the power input end of the control power supply detection protection sub-module, the second end of the fourth switch unit is connected to the input end of the second voltage conversion unit, and the control end of the fourth switch unit is connected to the output end of the detection control unit.

[0047] The output end of the second voltage conversion unit is the control power supply output end.

[0048] The first input end of the detection control unit is connected with the second end of the fourth switch unit;

[0049] The input end of the fifth detection unit is connected with the output end of the second voltage conversion unit, and the output end of the fifth detection unit is connected with the second input end of the detection control unit and the first output end of the control power supply detection protection sub-module;

[0050] The detection control unit is used for controlling the fourth switch unit to be turned off when the output voltage of the second end of the fourth switch unit is greater than a fifth overvoltage threshold or less than a fifth undervoltage threshold;

[0051] The fifth detection unit is used for controlling the fourth switch unit to be turned off by controlling the detection control unit and controlling the power supply to be turned off by controlling the power supply detection protection sub-module when the output voltage of the output end of the second voltage conversion unit is greater than a sixth overvoltage threshold or less than a sixth undervoltage threshold.

[0052] Optionally, the control power supply detection protection sub-module further comprises a sixth detection unit;

[0053] The second output end of the control power supply detection protection sub-module is connected with the first control unit, and the third output end of the control power supply detection protection sub-module is connected with the second control unit;

[0054] The input end of the sixth detection unit is connected with the output end of the second voltage conversion unit, the first output end of the sixth detection unit is used as the second output end of the control power supply detection protection sub-module, and the second output end of the sixth detection unit is used as the third output end of the control power supply detection protection sub-module; the sixth detection unit is used for simultaneously outputting voltage detection signals to the first control unit and the second control unit in real time;

[0055] The first control unit and the second control unit are used for generating the bus power supply turn-off control signal when the ripple of the output voltage detection signal exceeds a ripple threshold.

[0056] Optionally, the first control unit and the second control unit are respectively used for outputting corresponding error code information to the robot teach pendant when the bus power supply turn-off control signal is outputted.

[0057] In a second aspect, the embodiment of the present application further provides a robot, which comprises the robot controller power supply detection and protection system as described in the first aspect.

[0058] In the technical solution of the embodiment of the application, the controller of the robot comprises a bus power supply, a safety input and output circuit power supply and a control power supply, the robot controller power supply detection and protection system comprises a first control unit, a second control unit and a power supply detection and protection module, and the power supply detection and protection module is connected with the bus power supply, the safety input and output circuit power supply, the first control unit and the second control unit.

[0059] The power supply detection and protection module detects the output voltage of the bus power supply in real time, and outputs the detected bus power supply output signal to the first control unit and the second control unit simultaneously; when the first control unit and / or the second control unit judges that the output voltage of the bus power supply is abnormal according to the bus power supply output signal, the first control unit and / or the second control unit outputs a bus power supply shutdown control signal to the power supply detection and protection module, so as to control the power supply detection and protection module to shut down the bus power supply.

[0060] When the power supply detection and protection module detects that the output voltage of the safety input and output circuit power supply is abnormal, the power supply detection and protection module controls the safety input and output circuit power supply to shut down, and simultaneously outputs a power supply abnormality signal to the first control unit and the second control unit, so that the first control unit and / or the second control unit outputs a bus power supply shutdown control signal to the power supply detection and protection module according to the power supply abnormality signal, thereby controlling the power supply detection and protection module to shut down the bus power supply.

[0061] In addition, when the power supply detection and protection module detects that the output voltage of the control power supply is abnormal, the power supply detection and protection module at least controls the control power supply to shut down. The embodiment of the application detects each power supply in the robot safety controller in real time, and at least shuts down the abnormal power supply in time when an abnormality is detected, thereby realizing safety protection of the power supply system of the robot safety controller itself, ensuring the reliability of the safety controller, and further realizing effective safety protection of the robot in the rear stage; and the first control unit and the second control unit are redundantly arranged in the embodiment of the application, and the abnormality of one does not affect the other to continue normal work, thereby ensuring the reliability of the robot controller power supply detection and protection system, and providing reliable safety protection for the power supply system of the safety controller. BRIEF DESCRIPTION OF DRAWINGS

[0062] Figure 1 is a structural schematic diagram of a robot controller power supply detection and protection system provided by the embodiment of the application;

[0063] Figure 2 is a structural schematic diagram of another robot controller power supply detection and protection system provided by the embodiment of the application;

[0064] Figure 3is a structure diagram of a bus power supply detection and protection sub-module provided by an embodiment of the present application;

[0065] Figure 4 is a working flow diagram of a bus power supply detection and protection sub-module provided by an embodiment of the present application;

[0066] Figure 5 is a structure diagram of a power supply detection and protection sub-module provided by an embodiment of the present application;

[0067] Figure 6 is a working flow diagram of a power supply detection and protection sub-module provided by an embodiment of the present application;

[0068] Figure 7 is a structure diagram of a control power supply detection and protection sub-module provided by an embodiment of the present application;

[0069] Figure 8 is a working flow diagram of a control power supply detection and protection sub-module provided by an embodiment of the present application. DETAILED DESCRIPTION

[0070] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0071] Figure 1 is a structure diagram of a robot controller power supply detection and protection system provided by an embodiment of the present application. Referring to Figure 1 , the robot controller power supply detection and protection system comprises a first control unit 400, a second control unit 500 and a power supply detection and protection module 600. The power supply detection and protection module 600 is connected with the bus power supply 100, the power supply 200, the control power supply 300, the first control unit 400 and the second control unit 500.

[0072] The power supply detection protection module 600 is configured to detect the output voltage of the bus power supply 100 in real time, and output the detected bus power supply 100 output signal to the first control unit 400 and the second control unit 500 simultaneously; and configured to control the power supply 200 to be turned off when the output voltage of the power supply 200 is detected to be abnormal, and output a power supply abnormal signal to the first control unit 400 and the second control unit 500 simultaneously; and configured to control the control power supply 300 to be turned off when the output voltage of the control power supply 300 is detected to be abnormal; the first control unit 400 and the second control unit 500 are in communication connection and are redundant to each other; the first control unit 400 and the second control unit 500 are configured to output a bus power supply turn-off control signal to the power supply detection protection module 600 to control the power supply detection protection module 600 to turn off the bus power supply 100 when the output voltage of the bus power supply 100 is detected to be abnormal according to the bus power supply 100 output signal, and / or when the power supply abnormal signal is received.

[0073] In the embodiment, the controller of the robot includes the bus power supply 100, the power supply 200 for the safety input and output circuit (referred to as the power supply 200), and the control power supply 300. The bus power supply 100 is mainly configured to supply power to the robot. The safety input and output circuit is a safety input and output signal related circuit, and the safety input and output signal includes key safety signals such as system emergency stop and user emergency stop. The power supply 200 is configured to supply power to the safety input and output circuit, and the stability of this part of the power supply is crucial. The power supply 200 can be supplied by the bus power supply 100. The control power supply 300 is a core power supply of the safety controller, and can be configured to supply power to the first control unit 400, the second control unit 500, and other low-voltage circuits, such as a communication circuit and a detection circuit. Abnormality of the control power supply 300 is easy to cause the safety controller to misjudge or even completely fail, and the robot cannot be protected.

[0074] Specifically, the first control unit 400 and the second control unit 500 can each be a microprocessor. The power supply detection protection module 600 has the functions of detecting, judging, and controlling the output voltage of the bus power supply 100, the power supply 200, and the control power supply 300 in real time, and has the function of information interaction with the first control unit 400 and the second control unit 500. Abnormality of the output voltage of a certain power supply refers to overvoltage or undervoltage at a certain node in the output loop of the power supply.

[0075] The power detection protection module 600 detects the voltage at multiple nodes on the output loop of the bus power supply 100 in real time, and sends the detected bus power supply 100 output signal to the first control unit 400 and the second control unit 500 simultaneously. The first control unit 400 and the second control unit 500 respectively determine whether the output voltage of the bus power supply 100 is abnormal according to the bus power supply 100 output signal. When at least one of the first control unit 400 and the second control unit 500 determines that the output voltage of the bus power supply 100 is abnormal, such as overvoltage or undervoltage, the first control unit 400 and / or the second control unit 500 outputs a bus power supply shutdown control signal to the power detection protection module 600. The power detection protection module 600 shuts down the bus power supply 100 according to the bus power supply shutdown control signal, cuts off the power supply of the robot by the bus power supply 100, realizes the safety protection of the controller bus power supply 100, and further ensures the safety of the subsequent robot.

[0076] The power detection protection module 600 detects the voltage at multiple nodes on the output loop of the bus power supply 100 in real time. When the power detection protection module 600 detects that an abnormal situation such as overvoltage or undervoltage occurs at a node, the power detection protection module 600 directly and timely shuts down the power supply 200 without the need of the first control unit 400 and / or the second control unit 500, realizes the safety protection of the controller power supply 200, and simultaneously outputs a power supply abnormal signal to the first control unit 400 and the second control unit 500. The first control unit 400 and / or the second control unit 500 outputs a bus power supply shutdown control signal to the power detection protection module 600 according to the power supply abnormal signal, to shut down the bus power supply 100, realize the safety protection of the controller power supply 200, and further ensure the safety of the subsequent robot.

[0077] The power detection protection module 600 detects the voltage at multiple nodes on the output loop of the control power supply 300 in real time. When the power detection protection module 600 detects an abnormal condition such as overvoltage or undervoltage at a node, the power detection protection module 600 directly and timely turns off the control power supply 300 without the first control unit 400 and the second control unit 500, thereby achieving safety protection of the controller control power supply 300. In this case, in order to avoid misoperation of the controller, the power detection protection module 600 can also control the power supply 200 to be turned off at the same time as the control power supply 300 is turned off. Further, the first control unit 400 and / or the second control unit 500 can also detect and judge the ripple of the output voltage of the control power supply 300 based on the detection of the output voltage of the control power supply 300 by the power detection protection module 600. When the first control unit 400 and / or the second control unit 500 judges that the ripple of the output voltage of the control power supply 300 exceeds a ripple threshold, the power detection protection module 600 is also outputted with a bus power supply turn-off control signal to turn off the bus power supply 100.

[0078] The embodiments of the present application detect each power supply in the robot safety controller in real time, and at least turn off the abnormal power supply when an abnormality is detected, thereby achieving safety protection of the power supply system of the robot safety controller, ensuring the reliability of the safety controller, and further achieving effective safety protection of the robot in the rear stage. In addition, the first control unit 400 and the second control unit 500 are redundantly arranged in the embodiments of the present application, and the abnormality or failure of one does not affect the normal work of the other, thereby ensuring the reliability of the robot controller power detection and protection system, and providing reliable safety protection for the power supply system of the safety controller.

[0079] Figure 2 is a structural schematic diagram of another robot controller power detection and protection system provided by the embodiments of the present application, referring to Figure 2 On the basis of the above technical solutions, as an embodiment of the present application, the power detection protection module 600 includes a bus power detection protection sub-module 610.

[0080] The power input end A1 of the bus power supply detection protection sub-module 610 is connected to the bus power supply 100; the first output end A3 and the first input end A4 of the bus power supply detection protection sub-module 610 are connected with the first control unit 400, and the second output end A5 and the second input end A6 of the bus power supply detection protection sub-module 610 are connected with the second control unit 500; the power output end A2 of the bus power supply detection protection sub-module 610 is connected with the bus power supply output end 101, and the bus power supply 100 supplies power to the robot through the bus power supply output end 101; the bus power supply detection protection sub-module 610 is used for detecting the output voltage of the bus power supply 100 in real time, and outputs the detected bus power supply output signal to the first control unit 400 and the second control unit 500 through the first output end A3 and the second output end A5 respectively, and is used for receiving the bus power supply shutdown control signal through the first input end A4 and the second input end A6 respectively, so as to control the disconnection between the bus power supply 100 and the bus power supply output end 101 according to the bus power supply shutdown control signal.

[0081] Specifically, the output loop of the bus power supply 100 is a loop for the bus power supply 100 to supply power to the robot, and the loop includes an output path from the bus power supply 100 to the bus power supply output end 101. The bus power supply detection protection sub-module 610 detects the voltage at multiple nodes on the output loop of the bus power supply 100 in real time, and outputs the detected bus power supply output signal to the first control unit 400 and the second control unit 500 through the first output end and the second output end respectively. When at least one of the first control unit 400 and the second control unit 500 judges that the output voltage of the bus power supply 100 has an abnormal condition such as overvoltage or undervoltage, the first control unit 400 and / or the second control unit 500 outputs the bus power supply shutdown control signal to the first input end A4 and / or the second input end A6 of the bus power supply detection protection sub-module 610 respectively, so that the bus power supply detection protection sub-module 610 shuts down the bus power supply 100 according to the bus power supply shutdown control signal, cuts off the power supply of the robot by the bus power supply 100, realizes the safety protection of the controller bus power supply 100, and further ensures the safety of the robot in the later stage.

[0082] Figure 3 is a structural schematic diagram of a bus power supply detection protection sub-module provided by an embodiment of the application, referring to Figure 3 On the basis of the above technical solution, as an embodiment of the application, optionally, the bus power supply detection protection sub-module 610 includes: a first switch unit 611, a second switch unit 612, a first drive unit 613, a second drive unit 614, a first detection unit 615, and a second detection unit 616.

[0083] The first end of the first switch unit 611 is the power input end A1 of the bus power detection protection sub-module 610, the second end of the first switch unit 611 is connected with the first end of the second switch unit 612, and the control end of the first switch unit 611 is connected with the output end of the first drive unit 613;

[0084] The second end of the second switch unit 612 is the power output end A2 of the bus power detection protection sub-module 610, and the control end of the second switch unit 612 is connected with the output end of the second drive unit 614;

[0085] The input end of the first drive unit 613 is the first input end A4 of the bus power detection protection sub-module 610;

[0086] The input end of the second drive unit 614 is the second input end A6 of the bus power detection protection sub-module 610;

[0087] The input end of the first detection unit 615 is connected with the second end of the first switch unit 611, the input end of the second detection unit 616 is connected with the second end of the second switch unit 612, the first output end of the first detection unit 615 is connected with the first output end of the second detection unit 616, and then the first output end is the first output end A3 of the bus power detection protection sub-module 610, and the second output end of the first detection unit 615 is connected with the second output end of the second detection unit 616, and then the second output end is the second output end A5 of the bus power detection protection sub-module 610;

[0088] The first detection unit 615 is used for detecting the output voltage of the second end of the first switch unit 611 in real time, and outputting the detected first bus power output signal to the first control unit 400 and the second control unit 500 through the first output end and the second output end of the first detection unit 615 respectively;

[0089] The second detection unit 616 is used for detecting the output voltage of the second end of the second switch unit 612 in real time, and outputting the detected second bus power output signal to the first control unit 400 and the second control unit 500 through the first output end and the second output end of the second detection unit 616 respectively;

[0090] The first control unit 400 and the second control unit 500 are respectively used for generating a bus power off control signal when the first bus power output signal is greater than a first overvoltage threshold or less than a first undervoltage threshold, and / or when the second bus power output signal is greater than a second overvoltage threshold or less than a second undervoltage threshold;

[0091] The first drive unit 613 is used for controlling the first switch unit 611 to be turned off according to the bus power off control signal, and the second drive unit 614 is used for controlling the second switch unit 612 to be turned off according to the bus power off control signal.

[0092] Specifically, the first switch unit 611 and the second switch unit 612 are both arranged in the bus power supply 100 output loop, and the second end of the first switch unit 611 and the second end of the second switch unit 612 are both nodes on the bus power supply 100 output loop.

[0093] The first detection unit 615 is arranged to detect the output voltage of the second end of the first switch unit 611 in real time, and output the detected first bus power supply output signal to the first control unit 400 and the second control unit 500 through the first output end A3 and the second output end A5 of the first detection unit 615 respectively. When at least one of the first control unit 400 and the second control unit 500 judges that the first bus power supply output signal is greater than the first overvoltage threshold or less than the first undervoltage threshold, it is determined that the output voltage of the bus power supply 100 is abnormal, and the first control unit 400 and / or the second control unit 500 generates a bus power supply shutdown control signal. The first drive unit 613 controls the first switch unit 611 to shut down according to the bus power supply shutdown control signal, so as to cut off the output path of the bus power supply 100 to the bus power supply output end 101, and the bus power supply 100 stops supplying power to the robot, thereby realizing the safety protection of the controller bus power supply 100 and further ensuring the safety of the robot in the later stage.

[0094] The second detection unit 616 detects the output voltage of the second end of the second switch in real time, and outputs the detected second bus power supply output signal to the first control unit 400 and the second control unit 500 through the first output end and the second output end of the second detection unit 616 respectively. When at least one of the first control unit 400 and the second control unit 500 judges that the second bus power supply output signal is greater than the second overvoltage threshold or less than the second undervoltage threshold, it is determined that the output voltage of the bus power supply 100 is abnormal, and the first control unit 400 and / or the second control unit 500 generates a bus power supply shutdown control signal. The second drive unit 614 controls the second switch unit 612 to shut down according to the bus power supply shutdown control signal, so as to cut off the output path of the bus power supply 100 to the bus power supply output end 101, and the bus power supply 100 stops supplying power to the robot, thereby realizing the safety protection of the controller bus power supply 100 and further ensuring the safety of the robot in the later stage.

[0095] Exemplarily, Figure 4 is a working process schematic diagram of a bus power supply detection protection sub-module provided by the embodiment of the application. In combination with Figure 3 and Figure 4 , the working process of the bus power supply detection protection sub-module includes:

[0096] S10, the power input end receives the voltage output by the bus power supply.

[0097] S11, the first detection unit detects the output voltage of the second end of the first switch unit.

[0098] S12, the first detection unit outputs the first bus power output signal to the first control unit and the second control unit through the first output end and the second output end of the first detection unit respectively.

[0099] S13, when at least one of the first control unit and the second control unit judges that the first bus power output signal is greater than the first overvoltage threshold or less than the first undervoltage threshold, the first drive unit and / or the second drive unit receives the bus power off control signal to control the first switch unit and / or the second switch unit to be off.

[0100] S14, the second detection unit detects the output voltage of the second end of the second switch unit.

[0101] S15, the second detection unit outputs the second bus power output signal to the first control unit and the second control unit through the first output end and the second output end of the second detection unit respectively.

[0102] S16, when at least one of the first control unit and the second control unit judges that the second bus power output signal is greater than the second overvoltage threshold or less than the second undervoltage threshold, the first drive unit and / or the second drive unit receives the bus power off control signal to control the first switch unit and / or the second switch unit to be off.

[0103] Wherein, the first control unit 400 and the second control unit 500 can compare signals with each other, only when the second bus power output signal received by the first control unit 400 and the second control unit 500 is the same and has no abnormality (or the first bus power output signal received is the same and has no abnormality), the first control unit 400 and the second control unit 500 do not output the bus power off control signal, and the first switch unit 611 and the second switch unit 612 remain on.

[0104] That is, the technical scheme of the embodiment of the application, the bus power supply detection protection submodule 610 detects the voltage at multiple nodes on the output loop of the bus power supply 100 (such as the output voltage of the second end of the first switching unit 611 and the output voltage of the second end of the second switching unit 612) in real time, and when at least one of the first control unit 400 and the second control unit 500 judges that an abnormal condition such as overvoltage or undervoltage occurs at a certain node therein, the first control unit 400 and / or the second control unit 500 generates a bus power supply shutdown control signal to cut off the output path of the bus power supply 100 to the bus power supply output end 101 through the first driving unit 613 and / or the second driving unit 614, so that the bus power supply 100 stops supplying power to the robot, realizing the safety protection of the controller bus power supply 100, ensuring the reliability of the controller, and further ensuring the safety of the robot in the later stage.

[0105] In addition, the bus power supply detection protection submodule 610 includes two switching units, two detection units and two driving units, thereby forming a double-channel design, and any abnormality in any channel will not affect the safety protection of the bus power supply detection protection submodule 610 to the bus power supply 100, ensuring reliable safety protection of the bus power supply 100.

[0106] Optionally, the first switching unit 611 can include a first transistor, the first end of the first transistor serving as the first end of the first switching unit 611, the second end of the first transistor serving as the second end of the first switching unit 611, and the control end of the first transistor serving as the control end of the first switching unit 611. The second switching unit 612 can include a second transistor, the first end of the second transistor serving as the first end of the second switching unit 612, the second end of the second transistor serving as the second end of the second switching unit 612, and the control end of the second transistor serving as the control end of the second switching unit 612. Optionally, the first driving unit 613 and the second driving unit 614 can use optical coupling to isolate input and output, which can use a lower level to turn on the transistor, and can also isolate the high-voltage part of the bus from the low-voltage part of the microprocessor.

[0107] Reference can be continued to Figure 2 On the basis of the above technical scheme, as an embodiment of the application, the power supply detection protection module 600 further includes a power supply detection protection submodule 620.

[0108] The power supply input end B1 of the power supply detection protection sub-module 620 is connected to the power supply 200; the first output end B3 of the power supply detection protection sub-module 620 is connected to the first control unit 400 and the second control unit 500, and the second output end B4 of the power supply detection protection sub-module 620 is connected to the first control unit 400 and the second control unit 500; the power supply output end B2 of the power supply detection protection sub-module 620 is connected to the power supply output end 201, and the power supply 200 supplies power to the safety input and output circuit through the power supply output end 201; when the output voltage of the power supply 200 is detected to be abnormal, the power supply detection protection sub-module 620 controls the power supply 200 to be turned off, and simultaneously outputs a power supply abnormal signal to the first control unit 400 and the second control unit 500 through the first output end and the second output end of the power supply detection protection sub-module 620.

[0109] Specifically, the output loop of the power supply 200 includes an output path of the power supply 200 to the safety input and output circuit, that is, an output path from the power supply 200 to the power supply output end 201. The power supply detection protection sub-module 620 detects the voltage at multiple nodes on the output loop of the power supply 200 in real time, and when an abnormal condition such as overvoltage or undervoltage occurs at a certain node, the power supply 200 is directly turned off, the path of the power supply 200 to the safety input and output circuit is cut off, the safety protection of the power supply 200 is realized, and a power supply abnormal signal is output to the first control unit 400 and / or the second control unit 500 through the first output end B3 and / or the second output end B4 of the power supply detection protection sub-module 620. The first control unit 400 and the second control unit 500 output a bus power supply turn-off control signal to the bus power supply detection protection sub-module 610 according to the power supply abnormal signal, so as to turn off the bus power supply 100, thereby realizing the safety protection of the controller power supply 200 and the safety protection of the controller bus power supply 100, and further ensuring the safety of the robot in the later stage.

[0110] Figure 5 is a structural schematic diagram of a power supply detection protection sub-module provided by an embodiment of the application, referring to Figure 5 On the basis of the above technical solution, as an embodiment of the application, optionally, the power supply detection protection sub-module 620 comprises: a first voltage conversion unit 621, a third switch unit 622, a third detection unit 623, and a fourth detection unit 624.

[0111] The input end of the first voltage conversion unit 621 is the power supply input end B1 of the power supply detection protection sub-module 620, and the output end of the first voltage conversion unit 621 is connected to the first end of the third switch unit 622.

[0112] The second end of the third switch unit 622 is a power supply output end B2 of the power supply detection protection sub-module 620, and the control end of the third switch unit 622 is connected with the output end of the third drive unit 625.

[0113] The first input end of the third drive unit 625 is connected with the output end of the third detection unit 623, and the second input end of the third drive unit 625 is connected with the output end of the fourth detection unit 624.

[0114] The input end of the third detection unit 623 is connected with the output end of the first voltage conversion unit 621, and the output end of the third detection unit 623 is connected with the first output end B3 of the power supply detection protection sub-module 620. The input end of the fourth detection unit 624 is connected with the second end of the third switch unit 622, and the output end of the fourth detection unit 624 is connected with the second output end B4 of the power supply detection protection sub-module 620.

[0115] The third detection unit 623 is configured to output a power supply abnormal signal to the third drive unit 625, the first control unit 400 and the second control unit 500 when the output voltage of the output end of the first voltage conversion unit 621 is greater than a third overvoltage threshold or less than a third undervoltage threshold.

[0116] The fourth detection unit 624 is configured to output a power supply abnormal signal to the third drive unit 625, the first control unit 400 and the second control unit 500 when the output voltage of the second end of the third switch unit 622 is greater than a fourth overvoltage threshold or less than a fourth undervoltage threshold.

[0117] The third drive unit 625 is configured to control the third switch unit 622 to be turned off according to the power supply abnormal signal.

[0118] The first control unit 400 and the second control unit 500 respectively generate a bus power supply turn-off control signal according to the power supply abnormal signal.

[0119] Specifically, the power supply 200 can be directly provided by the bus power supply 100. The power supply output by the power supply 200 is converted by the first voltage conversion unit 621 and provided to the safety input and output circuit. The third switch unit 622 is arranged in the output loop of the power supply 200, and the first end and the second end of the third switch unit 622 are both nodes on the output loop of the power supply 200.

[0120] The third detection unit 623 detects the output voltage of the first end of the third switch unit 622 in real time, and determines that the output voltage of the first voltage conversion unit 621 is abnormal when the output voltage of the first end of the third switch unit 622 is greater than the third overvoltage threshold or less than the third undervoltage threshold, and the third detection unit 623 outputs a power supply abnormal signal to the third driving unit 625, the first control unit 400 and the second control unit 500 at the same time, so that the third driving unit 625 directly and timely controls the third switch unit 622 to be turned off, so as to cut off the output path of the power supply 200 to the power supply output end, and the power supply 200 stops supplying power to the safety input and output circuit, thereby realizing safety protection of the controller power supply 200, and further ensuring the safety of the subsequent robot.

[0121] The fourth detection unit 624 detects the output voltage of the second end of the third switch unit 622 in real time, and determines that the output voltage of the first voltage conversion unit 621 is abnormal after passing through the third switch unit 622 when the output voltage of the second end of the third switch unit 622 is greater than the fourth overvoltage threshold or less than the fourth undervoltage threshold, and the fourth detection unit 624 outputs a power supply abnormal signal to the third driving unit 625, the first control unit 400 and the second control unit 500 at the same time, so that the third driving unit 625 directly and timely controls the third switch unit 622 to be turned off, so as to cut off the output path of the power supply 200 to the power supply output end, and the power supply 200 stops supplying power to the safety input and output circuit, thereby realizing safety protection of the controller power supply 200, and further ensuring the safety of the subsequent robot.

[0122] Optionally, the third switch unit 622 comprises a third transistor; the first end of the third transistor is used as the first end of the third switch unit 622, the second end of the third transistor is used as the second end of the third switch unit 622, and the control end of the third transistor is used as the control end of the third switch unit 622.

[0123] Exemplarily, Figure 6 is a working process schematic diagram of a power supply detection protection sub-module provided by the embodiment of the application. In combination with Figure 5 and Figure 6 , the working process of the power supply detection protection sub-module 620 comprises:

[0124] S20, the power supply input end receives the output voltage of the power supply.

[0125] S21, the first voltage conversion unit outputs the voltage.

[0126] S22, the third detection unit detects the output voltage of the first end of the third switch unit, and when detecting that the output voltage of the first end of the third switch unit is greater than the third overvoltage threshold or less than the third undervoltage threshold, simultaneously outputs the power supply abnormal signal to the third drive unit, the first control unit and the second control unit.

[0127] S23, the third drive unit turns off the third switch unit according to the power supply abnormal signal.

[0128] S24, the fourth detection unit detects the output voltage of the second end of the third switch unit, and when detecting that the output voltage of the second end of the third switch unit is greater than the fourth overvoltage threshold or less than the fourth undervoltage threshold, simultaneously outputs the power supply abnormal signal to the third drive unit, the first control unit and the second control unit.

[0129] S25, the third drive unit turns off the third switch unit according to the power supply abnormal signal.

[0130] Wherein, the third drive unit does not receive at least one of the power supply abnormal signal and the control power supply abnormal signal, and does not control the third switch unit to turn off.

[0131] That is, the technical scheme of the embodiment of the application, the power supply detection protection sub-module 620 detects the voltage at multiple nodes on the output loop of the power supply 200 (such as the output voltage of the output end of the first voltage conversion unit 621 and the output voltage of the second end of the third switch unit 622) in real time and determines, when an abnormal condition such as overvoltage or undervoltage occurs at a certain node, the power supply 200 is turned off in time, the power supply 200 stops supplying power to the safety input and output circuit, realizing the safety protection of the controller power supply 200, and further ensuring the safety of the robot in the later stage, and the power supply abnormal signal is used to control the bus power supply detection protection sub-module 610 to turn off the bus power supply 100, thereby realizing the safety protection of the controller bus power supply 100.

[0132] Continue to refer to Figure 2 On the basis of the above technical scheme, as an embodiment of the application, the power supply detection protection module 600 further comprises: a control power supply detection protection sub-module 630.

[0133] The power input end C1 of the control power supply detection protection sub-module 630 is connected to the control power supply 300; the first output end C3 of the control power supply detection protection sub-module 630 is connected to the power supply detection protection sub-module 620; the power output end C2 of the control power supply detection protection sub-module 630 is connected to the control power supply output end 301, and the control power supply 300 supplies power to the first control unit 400 and the second control unit 500 through the control power supply output end 301; the control power supply detection protection sub-module 630 is used for controlling the control power supply 300 to be turned off when detecting that the output voltage of the control power supply 300 is abnormal, and controlling the power supply 200 to be turned off through the power supply detection protection sub-module 620.

[0134] Specifically, the control power supply 300 output loop includes an output path of the control power supply 300 to the first control unit 400, the second control unit 500 and other low-voltage circuits, that is, an output path of the control power supply 300 to the control power supply output end 301. The control power supply detection protection sub-module 630 detects the voltage at multiple nodes on the control power supply 300 output loop in real time, and directly turns off the control power supply 300 when detecting that an abnormal condition such as overvoltage or undervoltage occurs at a certain node, thereby cutting off the output path of the control power supply 300 to the control power supply output end 301, and realizing the safety protection of the control power supply 300. In this case, in order to avoid the misoperation of the controller, the control power supply detection protection sub-module 630 can also control the power supply 200 to be turned off at the same time when the control power supply 300 is turned off.

[0135] Figure 7 is a structural schematic diagram of a control power supply detection protection sub-module provided by an embodiment of the application, referring to Figure 7 On the basis of the above technical solution, as an embodiment of the application, the control power supply detection protection sub-module 630 comprises: a second voltage conversion unit 632, a fourth switch unit 631, a fifth detection unit 633 and a detection control unit 634.

[0136] The first end of the fourth switch unit 631 is the power input end C1 of the control power supply detection protection sub-module 630, the second end of the fourth switch unit 631 is connected to the input end of the second voltage conversion unit 632, and the control end of the fourth switch unit 631 is connected to the output end of the detection control unit 634.

[0137] The output end of the second voltage conversion unit 632 is the control power supply output end 301.

[0138] The first input end of the detection control unit 634 is connected to the second end of the fourth switch unit 631.

[0139] The input end of the fifth detection unit 633 is connected with the output end of the second voltage conversion unit 632, and the output end of the fifth detection unit 633 is connected with the second input end of the detection control unit 634 and the first output end C3 of the power supply detection protection submodule 630;

[0140] The detection control unit 634 is used for controlling the fourth switch unit 631 to be turned off when the output voltage of the second end of the fourth switch unit 631 is greater than the fifth overvoltage threshold or less than the fifth undervoltage threshold;

[0141] The fifth detection unit 633 is used for controlling the fourth switch unit 631 to be turned off by controlling the detection control unit 634 and controlling the power supply 200 to be turned off by controlling the power supply detection protection submodule 620 when the output voltage of the output end of the second voltage conversion unit 632 is greater than the sixth overvoltage threshold or less than the sixth undervoltage threshold.

[0142] Specifically, the output loop of the control power supply 300 includes the fourth switch unit 631, and the output of the control power supply 300 is converted by the second voltage conversion unit 632 and then provided to the first control unit 400, the second control unit 500 and other low-voltage circuits. The fourth switch unit 631 and the second voltage conversion unit 632 are both arranged in the output loop of the control power supply 300, and the second end of the fourth switch unit 631 and the output end of the second voltage conversion unit 632 are both nodes on the output loop of the control power supply 300.

[0143] In this embodiment, the detection control unit 634 detects the output voltage of the second end of the fourth switch unit 631 in real time, and when the output voltage of the second end of the fourth switch unit 631 is greater than the fifth overvoltage threshold or less than the fifth undervoltage threshold, the detection control unit 634 directly and timely controls the fourth switch unit 631 to be turned off, so as to turn off the control power supply 300 and cut off the output path of the control power supply 300, thereby realizing the safety protection of the controller control power supply 300 and further ensuring the safety of the subsequent robot.

[0144] The fifth detection unit 633 detects the output voltage of the output end of the second voltage conversion unit 632 in real time, and when the output voltage of the output end of the second voltage conversion unit 632 is greater than the sixth overvoltage threshold or less than the sixth undervoltage threshold, the fifth detection unit 633 sends a control power supply abnormal signal to the detection control unit 634, so that the detection control unit 634 controls the fourth switch unit 631 to be turned off, thereby turning off the control power supply 300. In order to avoid the misoperation of the controller, the fifth detection unit 633 can also send the control power supply abnormal signal to the third drive unit 625 of the power supply detection protection submodule 620, so that the third drive unit 625 controls the third switch unit 622 to be turned off, thereby turning off the power supply 200.

[0145] Optionally, the fourth switch unit 631 comprises a fourth transistor; a first end of the fourth transistor is the first end of the fourth switch unit 631, a second end of the fourth transistor is the second end of the fourth switch unit 631, and a control end of the fourth transistor is the control end of the fourth switch unit 631.

[0146] Exemplarily, Figure 8 is a working flow diagram of a control power detection protection sub-module provided by an embodiment of the present application. In combination with Figure 7 and Figure 8 , the working flow of the control power detection protection sub-module comprises:

[0147] S30, the power input end receives the voltage output by the control power.

[0148] S31, the detection control unit detects the output voltage of the second end of the fourth switch unit, and directly controls the fourth switch unit to be turned off when it is detected that the output voltage of the second end of the fourth switch unit is greater than or less than the fifth overvoltage threshold.

[0149] Wherein, if the detection control unit detects that the output voltage of the second end of the fourth switch unit is normal, the fourth switch unit is kept on.

[0150] S32, the second voltage conversion unit outputs the voltage.

[0151] S33, the fifth detection unit detects the output voltage of the output end of the second voltage conversion unit, and sends a control power abnormal signal to the detection control unit and the third driving unit of the power supply detection protection sub-module when it is detected that the output voltage of the output end of the second voltage conversion unit is greater than or less than the sixth overvoltage threshold.

[0152] Wherein, if the fifth detection unit detects that the output voltage of the output end of the second voltage conversion unit is normal, the fourth switch unit and the third switch unit are kept on.

[0153] That is, the technical scheme of the embodiment of the present application, the control power detection protection sub-module 630 detects the voltage at multiple nodes on the output loop of the control power 300 (such as the output voltage of the second end of the fourth switch unit 631 and the output voltage of the output end of the second voltage conversion unit 632) in real time and determines, when an abnormal condition such as overvoltage or undervoltage occurs at a certain node, the control power 300 is directly and timely turned off, the control power 300 stops supplying power to the outside, realizing the safety protection of the controller control power 300, and further ensuring the safety of the robot in the later stage.

[0154] Continuing to refer to Figure 7As an embodiment of the present application, on the basis of the above technical solution, the control power detection protection sub-module 630 further comprises a sixth detection unit 635.

[0155] The second output end C4 of the control power detection protection sub-module 630 is connected with the first control unit 400, and the third output end C5 of the control power detection protection sub-module 630 is connected with the second control unit 500.

[0156] The input end of the sixth detection unit 635 is connected with the output end of the second voltage conversion unit 632, the first output end of the sixth detection unit 635 is the second output end C4 of the control power detection protection sub-module 630, and the second output end of the sixth detection unit 635 is the third output end C5 of the control power detection protection sub-module 630; the sixth detection unit 635 is used for simultaneously outputting voltage detection signals to the first control unit 400 and the second control unit 500 in real time.

[0157] The first control unit 400 and the second control unit 500 are used for generating a bus power off control signal when the ripple of the output voltage detection signal exceeds a ripple threshold.

[0158] Specifically, the sixth detection unit 635 detects the output voltage of the output end of the second voltage conversion unit 632 in real time and simultaneously transmits the detected voltage signal to the first control unit 400 and the second control unit 500. The first control unit 400 and the second control unit 500 judge the ripple size of the voltage signal according to the received voltage signal, and when it is detected that the ripple is greater than the ripple threshold, that is, the ripple is large, the first control unit 400 and the second control unit 500 generate a bus power off control signal to turn off the bus power 100. Since the ripple is not dangerous to the safety controller itself, only has a potential factor of instability, the safety controller other power can be turned off. The sixth detection unit 635 can adopt an operational amplifier circuit, the output of which is connected to the AD pin of the microprocessor, and the microprocessor monitors the voltage in real time to monitor whether the ripple is too large.

[0159] In any of the above embodiments, optionally, when the first control unit 400 and the second control unit 500 output the bus power off control signal, the first control unit 400 and the second control unit 500 further output corresponding error code information to the robot teach pendant.

[0160] In the embodiment of the present application, when any abnormality occurs at any node of the power supply system of the controller, the corresponding error code information is provided to the robot teach pendant for maintenance personnel to repair. For example, when the output voltage of the bus power supply 100 is abnormal, the first control unit 400 and the second control unit 500 provide error code information about the abnormality of the bus power supply 100 to the teach pendant (which can include error code information about the abnormality of the second end of the first switch unit 611 and / or error code information about the abnormality of the second end of the second switch unit 612, respectively); when the output voltage of the power supply 200 is abnormal, the first control unit 400 and the second control unit 500 provide error code information about the abnormality of the power supply 200 to the teach pendant (which can include error code information about the abnormality of the first end of the third switch unit 622 and / or error code information about the abnormality of the second end of the third switch unit 622, respectively); similarly, when the control power supply 300 is abnormal and the voltage ripple on the power output path of the control power supply 300 is large, the corresponding error code information is provided to the robot teach pendant for maintenance personnel to repair.

[0161] The embodiment of the present application also provides a robot, which comprises the robot controller power supply detection and protection system provided by any of the above embodiments. The robot and the robot controller power supply detection and protection system provided by the embodiment of the present application belong to the same inventive concept and can achieve the same technical effects, and the repeated content will not be described here. It should be noted that the above is only the preferred embodiment of the present application and the technical principle applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, re-adjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the inventive concept, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A robot controller power detection and protection system, the robot controller power including a bus power, a safety input output circuit power supply, and a control power, characterized by, The system comprises a first control unit, a second control unit and a power detection protection module; The power detection protection module is connected with the bus power supply, the power supply, the control power supply, the first control unit and the second control unit; The power detection protection module is used for detecting the output voltage of the bus power supply in real time, and simultaneously outputs the detected bus power supply output signal to the first control unit and the second control unit; and controls the power supply to be turned off when detecting that the output voltage of the power supply is abnormal, and simultaneously outputs the power supply abnormal signal to the first control unit and the second control unit; and controls the control power supply to be turned off when detecting that the output voltage of the control power supply is abnormal; The first control unit and the second control unit are in communication connection and are redundant to each other; The first control unit and the second control unit are used for outputting a bus power supply turn-off control signal to the power detection protection module to control the power detection protection module to turn off the bus power supply when judging that the output voltage of the bus power supply is abnormal according to the bus power supply output signal, and / or receiving the power supply abnormal signal; The power detection protection module comprises a bus power supply detection protection submodule, a power supply detection protection submodule and a control power supply detection protection submodule; the bus power supply detection protection submodule comprises two switching units, two detection units and two driving units, forming a double-channel design to ensure reliable safety protection of the bus power supply; The power input end of the bus power supply detection protection submodule is connected with the bus power supply, and the power output end of the bus power supply detection protection submodule is connected with the bus power supply output end, which is used for supplying power to the robot; The bus power supply detection protection submodule is used for detecting the output voltage of the bus power supply in real time, and simultaneously outputs the detected bus power supply output signal to the first control unit and the second control unit through the first output end and the second output end respectively, and is used for receiving the bus power supply turn-off control signal through the first input end and the second input end respectively to control the bus power supply to be disconnected from the bus power supply output end according to the bus power supply turn-off control signal; The power input end of the power supply detection protection submodule is connected with the power supply, and the power output end of the power supply detection protection submodule is connected with the power supply output end, through which the power supply supplies power to the safety input and output circuit; The power supply detection protection submodule is used for controlling the power supply to be turned off when detecting that the output voltage of the power supply is abnormal, and simultaneously outputs the power supply abnormal signal to the first control unit and the second control unit through the first output end and the second output end of the submodule respectively; The power input end of the control power supply detection protection submodule is connected with the control power supply, and the power output end of the control power supply detection protection submodule is connected with the control power supply output end, through which the control power supply supplies power to the safety input and output circuit; The control power supply detection protection submodule is used for controlling the control power supply to be turned off when detecting that the output voltage of the control power supply is abnormal, and simultaneously outputs the control power supply abnormal signal to the first control unit and the second control unit through the first output end and the second output end of the submodule respectively. The control power supply detection protection sub-module is connected with the control power supply, and the control power supply detection protection sub-module is connected with the control power supply output end. The control power supply detection protection sub-module is connected with the control power supply, and the control power supply detection protection sub-module is connected with the control power supply output end.

2. The robotic controller power detection and protection system of claim 1, wherein, The first output end and the first input end of the bus power supply detection protection sub-module are connected with the first control unit, and the second output end and the second input end of the bus power supply detection protection sub-module are connected with the second control unit.

3. The robotic controller power detection and protection system of claim 2, wherein, The bus power supply detection protection sub-module comprises a first switch unit, a second switch unit, a first drive unit, a second drive unit, a first detection unit and a second detection unit. The first end of the first switch unit is used as the power input end of the bus power supply detection protection sub-module, the second end of the first switch unit is connected with the first end of the second switch unit, and the control end of the first switch unit is connected with the output end of the first drive unit. The second end of the second switch unit is used as the power output end of the bus power supply detection protection sub-module, and the control end of the second switch unit is connected with the output end of the second drive unit. The input end of the first drive unit is used as the first input end of the bus power supply detection protection sub-module. The input end of the second drive unit is used as the second input end of the bus power supply detection protection sub-module. The input end of the first detection unit is connected with the second end of the first switch unit, the input end of the second detection unit is connected with the second end of the second switch unit, the first output end of the first detection unit is connected with the first output end of the second detection unit, and the second output end of the first detection unit is connected with the second output end of the second detection unit. The first detection unit is used for detecting the output voltage of the second end of the first switch unit in real time, and the detected first bus power supply output signal is output to the first control unit and the second control unit through the first output end and the second output end of the first detection unit. The second detection unit is used for detecting the output voltage of the second end of the second switch unit in real time, and the detected second bus power supply output signal is output to the first control unit and the second control unit through the first output end and the second output end of the second detection unit. The first control unit and the second control unit are used for generating the bus power supply shutdown control signal when the first bus power supply output signal is greater than the first overvoltage threshold or less than the first undervoltage threshold, and / or when the second bus power supply output signal is greater than the second overvoltage threshold or less than the second undervoltage threshold. The first driving unit is configured to control the first switch unit to be turned off according to the bus power-off control signal, and the second driving unit is configured to control the second switch unit to be turned off according to the bus power-off control signal.

4. The robotic controller power detection and protection system of claim 2 or 3, wherein, The first output end of the power supply detection protection sub-module is connected with the first control unit and the second control unit, and the second output end of the power supply detection protection sub-module is connected with the first control unit and the second control unit.

5. The robotic controller power detection and protection system of claim 4, wherein, The power supply detection protection sub-module comprises a first voltage conversion unit, a third switch unit, a third detection unit and a fourth detection unit. The input end of the first voltage conversion unit is configured as a power input end of the power supply detection protection sub-module, and the output end of the first voltage conversion unit is connected with the first end of the third switch unit. The second end of the third switch unit is configured as a power output end of the power supply detection protection sub-module, and the control end of the third switch unit is connected with the output end of the third driving unit. The first input end of the third driving unit is connected with the output end of the third detection unit, and the second input end of the third driving unit is connected with the output end of the fourth detection unit. The input end of the third detection unit is connected with the output end of the first voltage conversion unit, and the output end of the third detection unit is connected with the first output end of the power supply detection protection sub-module; the input end of the fourth detection unit is connected with the second end of the third switch unit, and the output end of the fourth detection unit is connected with the second output end of the power supply detection protection sub-module. The third detection unit is configured to output the power supply abnormal signal to the third driving unit, the first control unit and the second control unit when the output voltage of the output end of the first voltage conversion unit is greater than a third overvoltage threshold or less than a third undervoltage threshold. The fourth detection unit is configured to output the power supply abnormal signal to the third driving unit, the first control unit and the second control unit when the output voltage of the second end of the third switch unit is greater than a fourth overvoltage threshold or less than a fourth undervoltage threshold. The third driving unit is configured to control the third switch unit to be turned off according to the power supply abnormal signal. The first control unit and the second control unit are configured to generate the bus power-off control signal according to the power supply abnormal signal.

6. The robotic controller power detection and protection system of claim 4, wherein, The first output end of the control power supply detection protection sub-module is connected with the power supply detection protection sub-module.

7. The robotic controller power detection and protection system of claim 6, wherein, The control power supply detection protection sub-module comprises a second voltage conversion unit, a fourth switch unit, a fifth detection unit and a detection control unit. The first end of the fourth switch unit is configured as a power input end of the control power supply detection protection sub-module, the second end of the fourth switch unit is connected with the input end of the second voltage conversion unit, and the control end of the fourth switch unit is connected with the output end of the detection control unit. The output end of the second voltage conversion unit is configured as a control power output end. The first input end of the detection control unit is connected with the second end of the fourth switch unit; The input end of the fifth detection unit is connected with the output end of the second voltage conversion unit, and the output end of the fifth detection unit is connected with the second input end of the detection control unit and the first output end of the control power supply detection protection sub-module; The detection control unit is used for controlling the fourth switch unit to be turned off when the output voltage of the second end of the fourth switch unit is greater than a fifth overvoltage threshold or less than a fifth undervoltage threshold; The fifth detection unit is used for controlling the fourth switch unit to be turned off by controlling the detection control unit and controlling the power supply to be turned off by controlling the power supply detection protection sub-module when the output voltage of the output end of the second voltage conversion unit is greater than a sixth overvoltage threshold or less than a sixth undervoltage threshold.

8. The robotic controller power detection and protection system of claim 7, wherein, The control power supply detection protection sub-module further comprises a sixth detection unit; The second output end of the control power supply detection protection sub-module is connected with the first control unit, and the third output end of the control power supply detection protection sub-module is connected with the second control unit; The input end of the sixth detection unit is connected with the output end of the second voltage conversion unit, the first output end of the sixth detection unit is used as the second output end of the control power supply detection protection sub-module, and the second output end of the sixth detection unit is used as the third output end of the control power supply detection protection sub-module; the sixth detection unit is used for simultaneously outputting voltage detection signals to the first control unit and the second control unit in real time; The first control unit and the second control unit are used for generating the bus power supply turn-off control signal when the ripple of the output voltage detection signal exceeds a ripple threshold.

9. The robotic controller power detection and protection system of claim 1, wherein, The first control unit and the second control unit are also respectively used for outputting corresponding error code information to the robot teach pendant when the bus power supply turn-off control signal is outputted.

10. A robot, characterized in that A robot controller power supply detection and protection system comprising the robot controller power supply detection and protection system according to any one of claims 1-9.

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