Industrial robot power supply system and method

Abstract

The invention belongs to the technical field of robot control, and relates to an industrial robot power supply system and method. The system comprises a main controller, a voltage and current conversion unit, an external power supply unit, a battery management unit and a robot unit, the main controller is electrically connected with the voltage and current conversion unit and the battery management unit; the voltage and current conversion unit is electrically connected with the external power supply unit, and the voltage and current conversion unit is electrically connected with the battery management unit and the robot unit in an on-off mode; the battery management unit is electrically connected with the robot unit in an on-off mode. According to the power supply system, the modular design is adopted, the circuit design is simplified, the system can be switched into any one of an external power supply circuit, an internal power supply circuit and a charging circuit through combined use of all the units, the flexibility and adaptability of the system are improved, and meanwhile the complexity of the system is reduced.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a power supply system and method for an industrial robot. Background Art

[0002] With the continuous development of automated production, industrial robots are increasingly used in the field of industrial manufacturing. Traditional industrial robots consist of three parts: the robot body, the electrical cabinet, and the robot unit. One end of the electrical cabinet is connected to the robot body, and the other end of the electrical cabinet is connected to the mains power supply system. The electrical cabinet generally supports 220V or 380V AC input, and the compatible power supply type is single, which affects the flexibility of the robot and its use in special scenarios. And affected by the power supply system, the working position of the robot is relatively fixed and cannot be moved at will. Especially when used outdoors, a temporary power supply system needs to be built, which is time-consuming and labor-intensive, and significantly increases costs. Summary of the invention

[0003] The purpose of the present invention is to provide an industrial robot power supply system and method, aiming to solve the problems of poor flexibility and applicability of existing robot power supply systems.

[0004] To solve the above technical problems, the object of the present invention is achieved through the following technical solutions: providing an industrial robot power supply system, including a main controller, a voltage-current conversion unit, an external power supply unit, a battery management unit and a robot unit;

[0005] The main controller is electrically connected to the voltage-current conversion unit and the battery management unit;

[0006] The voltage-current conversion unit is electrically connected to the external power supply unit, and the voltage-current conversion unit is electrically connected to the battery management unit and the robot unit respectively in an on-off manner;

[0007] The battery management unit is electrically connected to the robot unit in an on-off manner;

[0008] Wherein, the main controller, the external power supply unit, the voltage-current conversion unit and the connection circuit of the robot unit constitute an external power supply circuit;

[0009] The main controller, the battery management unit, the voltage-current conversion unit and the connection circuit of the robot unit constitute an internal power supply circuit;

[0010] The connecting circuit of the main controller, the external power supply unit, the voltage-current conversion unit and the battery management unit constitutes a charging circuit.

[0011] Further, the voltage-current conversion unit includes an AC / DC controller, an AC / DC converter, a DC / DC controller and a DC / DC converter;

[0012] The AC / DC controller and the AC / DC converter are a group, the AC / DC controller is used to cooperate with the main controller to control the conversion process of the AC / DC converter, and the AC / DC converter is used to convert alternating current into direct current;

[0013] The DC / DC controller and the DC / DC converter form another group. The DC / DC controller is used to cooperate with the main controller to adjust the output voltage to meet the needs of different loads, and the DC / DC converter is used to convert direct current into direct current of different voltage levels.

[0014] Furthermore, the number of groups of the AC / DC controller and the AC / DC converter is at least one group, and the number of groups of the DC / DC controller and the DC / DC converter is at least one group.

[0015] Further, a parallel circuit connected in parallel to the robot unit is provided on the connection circuit between the AC / DC converter and the DC / DC converter, and a first relay is provided on the parallel circuit;

[0016] A second relay is provided on the connection circuit between the DC / DC converter and the robot unit;

[0017] A third relay is provided on the connection circuit between the DC / DC converter and the battery management unit.

[0018] Further, the robot unit includes an IO module, a bus module and a servo module;

[0019] The IO module is used to collect external sensor data of the robot and / or send control signals to the robot;

[0020] The bus module is used for communication and data transmission between the main controller and the robot;

[0021] The servo module is used for motion control, drive and power management, protection and diagnosis of the robot.

[0022] Furthermore, the battery management unit includes a battery management controller and a battery module, and the battery module is provided with at least two energy storage batteries; the battery management controller is used to detect the working state of the battery module and manage the charging and discharging state.

[0023] An embodiment of the present invention further provides an industrial robot power supply method, which is applied to the industrial robot power supply system as described above. The industrial robot power supply method includes:

[0024] Controlling the main controller, the external power supply unit, the voltage-current conversion unit and the robot unit to be connected to form the external power supply circuit for powering the robot;

[0025] Controlling the main controller, the battery management unit, the voltage-current conversion unit and the robot unit to be connected to form the internal power supply circuit for powering the robot;

[0026] The main controller, the external power supply unit, the voltage-current conversion unit and the battery management unit are controlled to be connected to form the charging circuit for charging the battery module.

[0027] Furthermore, the step of controlling the main controller, the external power supply unit, the voltage-current conversion unit and the robot unit to be connected to form the external power supply circuit for powering the robot includes:

[0028] Initialize the industrial robot power supply system by the main controller, and disconnect the first relay, the second relay, and the third relay;

[0029] The second relay is controlled to be turned on so that the main controller, the external power supply unit, the voltage-current conversion unit and the robot unit are connected to form the external power supply circuit for supplying power to the robot.

[0030] Furthermore, the step of controlling the main controller, the battery management unit, the voltage-current conversion unit and the robot unit to be connected to form the internal power supply circuit for powering the robot includes:

[0031] Initialize the industrial robot power supply system by the main controller, and disconnect the first relay, the second relay, and the third relay;

[0032] The first relay and the third relay are controlled to be turned on so that the main controller, the battery management unit, the voltage-current conversion unit and the robot unit are connected to form the internal power supply circuit for powering the robot.

[0033] Furthermore, the step of controlling the main controller, the external power supply unit, the voltage-current conversion unit and the battery management unit to be connected to form the charging circuit for charging the battery module includes:

[0034] Initialize the industrial robot power supply system by the main controller, and disconnect the first relay, the second relay, and the third relay;

[0035] The third relay is controlled to be turned on so that the main controller, the external power supply unit, the voltage-current conversion unit and the battery management unit are connected to form the charging circuit for charging the battery module.

[0036] Compared with the prior art, the end cover structure of the present invention has at least the following beneficial effects:

[0037] The power supply system of the present invention adopts a modular design, and each unit can be used in combination. The connection circuits of the main controller, external power supply unit, voltage-current conversion unit and robot unit can be combined into an external power supply circuit; the connection circuits of the main controller, battery management unit, voltage-current conversion unit and robot unit can be combined into an internal power supply circuit; the connection circuits of the main controller, external power supply unit, voltage-current conversion unit and battery management unit can be combined into a charging circuit; the external power supply circuit, internal power supply circuit and charging circuit can be switched according to the scenario, which increases the flexibility and applicability of the system.

[0038] The present invention is applicable to multi-axis palletizing robots (such as six-axis palletizing robots and four-axis palletizing robots) and SCARA robots.

[0039] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0041] Figure 1 A schematic diagram of the structure of an industrial robot power supply system in an initialization state provided by an embodiment of the present invention.

[0042] Figure 2 A schematic diagram of the structure of an industrial robot power supply system provided by an embodiment of the present invention when an external power supply circuit is connected.

[0043] Figure 3 This is a schematic diagram of the structure of an industrial robot power supply system provided by an embodiment of the present invention when the internal power supply circuit is connected.

[0044] Figure 4 A schematic diagram of the structure of an industrial robot power supply system provided by an embodiment of the present invention when a charging circuit is connected.

[0045] Figure 5 A schematic diagram of the structure of a battery module provided in an embodiment of the present invention.

[0046] Figure 6 A schematic flow chart of a method for powering an industrial robot provided in an embodiment of the present invention.

[0047] Figure 7A schematic diagram of a sub-flow chart of step S601 of the industrial robot power supply method provided in an embodiment of the present invention.

[0048] Figure 8 A schematic diagram of a sub-flow chart of step S602 of the industrial robot power supply method provided in an embodiment of the present invention.

[0049] Fig. 9 A schematic diagram of a sub-flow chart of step S603 of the industrial robot power supply method provided in an embodiment of the present invention.

[0050] Description of the symbols in the figure:

[0051] 1. Main controller; 2. Voltage and current conversion unit; 3. External power supply unit; 4. Battery management unit; 5. Robot unit. DETAILED DESCRIPTION

[0052] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention application are described in detail below in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures, or characteristics in one or more embodiments may be combined in any suitable form.

[0053] In the description of the present invention, it should be clarified that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, but are not necessarily used to describe a specific order or sequence; the terms "vertical", "lateral", "longitudinal", "front", "rear", "left", "right", "up", "down", "horizontal", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention, and do not mean that the referred device or element must have a specific direction or position, and therefore cannot be understood as a limitation on the present invention.

[0054] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] See also Figures 1 to 5 , an embodiment of the present invention provides an industrial robot power supply system, characterized in that it includes a main controller 1, a voltage-current conversion unit 2, an external power supply unit 3, a battery management unit 4 and a robot unit 5;

[0056] The main controller 1 is electrically connected to the voltage-current conversion unit 2 and the battery management unit 4;

[0057] The voltage-current conversion unit 2 is electrically connected to the external power supply unit 3, and the voltage-current conversion unit 2 is electrically connected to the battery management unit 4 and the robot unit 5 respectively in an on-off manner;

[0058] The battery management unit 4 is electrically connected to the robot unit 5 in an on-off manner;

[0059] Among them, the main controller 1, the external power supply unit 3, the voltage-current conversion unit 2 and the connection circuit of the robot unit 5 constitute an external power supply circuit;

[0060] The connection circuit of the main controller 1, the battery management unit 4, the voltage-current conversion unit 2 and the robot unit 5 constitutes an internal power supply circuit;

[0061] The connection circuit of the main controller 1, the external power supply unit 3, the voltage-current conversion unit 2 and the battery management unit 4 constitutes a charging circuit.

[0062] In this embodiment, the main controller 1 mainly performs voltage and current regulation, robot motion control, and power supply switching of the robot system; the voltage and current conversion unit 2 mainly converts the AC power from AC to DC, and adjusts the converted output voltage and output current according to actual needs; the battery management unit 4 mainly detects the working status of the battery module and manages charging and discharging; the robot system serves as a load in the system circuit, and the main controller 1 performs robot-related servo control, bus communication, IO interaction and other operations.

[0063] The system of the present invention adopts a modular design, and each unit has independent specific functions and can be flexibly combined to achieve the effect of meeting various needs. Specifically, the connection circuits of the main controller 1, the external power supply unit 3, the voltage and current conversion unit 2 and the robot unit 5 can be combined into an external power supply circuit, and the connection circuits of the main controller 1, the battery management unit 4, the voltage and current conversion unit 2 and the robot unit 5 can be combined into an internal power supply circuit; the connection circuits of the main controller 1, the external power supply unit 3, the voltage and current conversion unit 2 and the battery management unit 4 can be combined into a charging circuit. The three modes of external power supply circuit, internal power supply circuit and charging circuit can be switched and used according to the scene.

[0064] The present invention can switch the system to an external or internal power supply system or form a charging system through the combined use of various units, thereby increasing flexibility and applicability and reducing the complexity of the system.

[0065] The present invention is applicable to multi-axis palletizing robots (such as six-axis palletizing robots and four-axis palletizing robots) and SCARA robots.

[0066] In one embodiment, the voltage-current conversion unit 2 includes an AC / DC controller, an AC / DC converter, a DC / DC controller, and a DC / DC converter;

[0067] The AC / DC controller and the AC / DC converter are a group. The AC / DC controller is used to cooperate with the main controller to control the conversion process of the AC / DC converter. The AC / DC converter is used to convert alternating current into direct current.

[0068] The DC / DC controller and DC / DC converter are another group. The DC / DC controller is used to cooperate with the main controller to adjust the output voltage to meet the needs of different loads, and the DC / DC converter is used to convert DC power into DC power of different voltage levels.

[0069] In this embodiment, the design of the voltage-current conversion unit 2 ensures the high efficiency and stability of the power supply system. The use of the AC / DC controller in conjunction with the AC / DC converter enables the system to process AC input from different power sources and convert it into a stable DC output to meet the operating requirements of the robot unit 5. The combination of the DC / DC controller and the DC / DC converter further optimizes the power supply quality, and through precise control and regulation, ensures the stability and adaptability of the power supply of the robot under different working conditions. This design not only improves the utilization rate of energy, but also extends the working time of the robot and reduces maintenance costs.

[0070] Specifically, the number of groups of AC / DC controller and AC / DC converter is at least one group, and the number of groups of DC / DC controller and DC / DC converter is at least one group; while ensuring system safety, it can meet the needs of various load industrial control and increase applicability and flexibility.

[0071] In one embodiment, a parallel circuit connected in parallel to the robot unit 5 is provided on the connection circuit between the AC / DC converter and the DC / DC converter, and a first relay K1 is provided on the parallel circuit;

[0072] A second relay K2 is provided on the connection circuit between the DC / DC converter and the robot unit 5;

[0073] A third relay K3 is provided on the connection circuit between the DC / DC converter and the battery management unit 4 .

[0074] In this embodiment, by controlling the on / off of the first relay K1, the second relay K2 and the third relay K3, the switching between the three modes of the external power supply circuit, the internal power supply circuit and the charging circuit can be realized. When selecting the corresponding mode, the industrial robot power supply system is first initialized by the main controller 1, that is, each unit in the system is initialized, and the first relay K1, the second relay K2 and the third relay K3 are disconnected; then the corresponding relays are controlled to be on / off.

[0075] Specifically, Figure 2 As shown, when the external power supply circuit is selected, only the second relay K2 is controlled to be turned on, so that the main controller 1, the external power supply unit 3, the voltage-current conversion unit 2 and the robot unit 5 are connected to form an external power supply circuit for powering the robot. This mode reduces the cost of the entire system and meets the needs of repeatable robot work in a long-term fixed position.

[0076] Specifically, Figure 3 As shown, when the internal and external power supply circuit is selected, the first relay K1 and the third relay K3 are controlled to be turned on, so that the main controller 1, the battery management unit 4, the voltage and current conversion unit 2 and the robot unit 5 can be connected to form an internal power supply circuit for powering the robot. This mode is not restricted by the external wiring harness, is convenient for movement, and can meet some outdoor situations where it is inconvenient to connect to the mains.

[0077] Specifically, Figure 3 As shown, when the charging circuit is selected, the third relay K3 is controlled to be turned on, so that the main controller 1, the external power supply unit 3, the voltage-current conversion unit 2 and the battery management unit 4 are connected to form a charging circuit for charging the battery module.

[0078] Based on this, these three modes can be used in different scenarios, and the main controller 1 can switch different modes according to the voltage and current in the circuit to increase the flexibility and applicability of the system.

[0079] In some other embodiments, when the external power supply circuit is enabled, the battery management unit 4 can be controlled to enter a standby state at the same time to avoid unnecessary energy consumption.

[0080] In some other embodiments, when the enabled external power supply circuit is abnormally powered off, the second relay K2 is disconnected by the main controller 1, and the first relay K1 and the third relay K3 are closed, and the battery management unit 4 is started to power on mode at the same time, that is, it is quickly switched to the internal power supply mode to ensure the continuous output of electric energy and avoid the loss of robot position and damage to external equipment after the external power supply is abnormally powered off.

[0081] In one embodiment, the robot unit 5 includes an IO module, a bus module and a servo module;

[0082] The IO module is used to collect external sensor data of the robot and / or send control signals to the robot;

[0083] The bus module is used for communication and data transmission between the main controller 1 and the robot;

[0084] The servo module is used for motion control, drive and power management, protection and diagnosis of the robot.

[0085] In this embodiment, through the coordinated work of the IO module, the bus module and the servo module, the robot unit 5 can efficiently complete complex tasks while maintaining smooth communication with the main controller 1 to ensure accurate execution of instructions and timely feedback of data.

[0086] Combination Figure 5 As shown, in one embodiment, the battery management unit 4 includes a battery management controller and a battery module, and the battery module is provided with at least two energy storage batteries; the battery management controller is used to detect the working state of the battery module and manage the charging and discharging state.

[0087] In this embodiment, the battery management unit 4 can be used as a mobile power source to power other devices. The battery module is mainly composed of an energy storage battery 1 and an energy storage battery 2. The energy storage battery is generally a lithium battery, a chromium-nickel battery, a semi-solid battery, etc. When the battery detection system detects that the power is insufficient, it can actively stop the energy storage battery 1 or the energy storage battery 2 from working, unplug the energy storage battery 1 or 2, and recharge the energy storage battery 1 or the energy storage battery 2 separately. After the power is recharged, plug it back to the original position, switch the system power supply mode, and then restore the energy storage battery 1 or the energy storage battery 2 to continue to supply power.

[0088] See also Figure 6 The embodiment of the present invention further provides an industrial robot power supply method, which is applied to the above industrial robot power supply system. The industrial robot power supply method includes:

[0089] S601, controlling the main controller 1, the external power supply unit 3, the voltage-current conversion unit 2 and the robot unit 5 to be connected to form an external power supply circuit for powering the robot;

[0090] S602, controlling the main controller 1, the battery management unit 4, the voltage-current conversion unit 2 and the robot unit 5 to be connected to form an internal power supply circuit for powering the robot;

[0091] S603 , controlling the main controller 1 , the external power supply unit 3 , the voltage-current conversion unit 2 and the battery management unit 4 to be connected to form a charging circuit for charging the battery module.

[0092] In this embodiment, steps S601 to S603 are three modes, which can meet various needs. Specifically, the connection circuits of the main controller 1, the external power supply unit 3, the voltage-current conversion unit 2 and the robot unit 5 are combined into an external power supply circuit, and the connection circuits of the main controller 1, the battery management unit 4, the voltage-current conversion unit 2 and the robot unit 5 are combined into an internal power supply circuit; the connection circuits of the main controller 1, the external power supply unit 3, the voltage-current conversion unit 2 and the battery management unit 4 are combined into a charging circuit. Thus, three modes of external power supply circuit, internal power supply circuit and charging circuit can be formed, and any of these three modes can be switched according to the scene, which increases the flexibility and applicability of the system.

[0093] See also Figure 7 In one embodiment, step S601 includes:

[0094] S701, initializing the industrial robot power supply system through the main controller 1, disconnecting the first relay K1, the second relay K2 and the third relay K3;

[0095] S702, control the second relay K2 to be turned on, so that the main controller 1, the external power supply unit 3, the voltage-current conversion unit 2 and the robot unit 5 are connected to form an external power supply circuit for powering the robot.

[0096] In this embodiment, this mode reduces the cost of the entire system and meets the needs of repeatable robot work in a long-term fixed position.

[0097] See also Figure 8 In one embodiment, step S602 includes:

[0098] S801, initializing the industrial robot power supply system through the main controller 1, disconnecting the first relay K1, the second relay K2 and the third relay K3;

[0099] S802, control the first relay K1 and the third relay K3 to be turned on, so that the main controller 1, the battery management unit 4, the voltage-current conversion unit 2 and the robot unit 5 are connected to form an internal power supply circuit for powering the robot.

[0100] In this embodiment, this mode is not restricted by an external wiring harness, is easy to move, and can meet the needs of some outdoor situations where it is inconvenient to connect to the mains.

[0101] See also Fig. 9 In one embodiment, step S603 includes:

[0102] S901, initializing the industrial robot power supply system through the main controller 1, disconnecting the first relay K1, the second relay K2 and the third relay K3;

[0103] S902, control the third relay K3 to be turned on, so that the main controller 1, the external power supply unit 3, the voltage-current conversion unit 2 and the battery management unit 4 are connected to form a charging circuit for charging the battery module.

[0104] In this embodiment, this mode can charge the battery management unit 4 in the system standby state, so as to enable the internal power supply circuit later.

[0105] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous technical features can be freely combined and superimposed.

[0106] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. An industrial robot power supply system, characterized in that: It includes a main controller, a voltage and current conversion unit, an external power supply unit, a battery management unit and a robot unit; The main controller is electrically connected to the voltage-current conversion unit and the battery management unit; The voltage-current conversion unit is electrically connected to the external power supply unit, and the voltage-current conversion unit is electrically connected to the battery management unit and the robot unit respectively in an on-off manner; The battery management unit is electrically connected to the robot unit in an on-off manner; Wherein, the main controller, the external power supply unit, the voltage-current conversion unit and the connection circuit of the robot unit constitute an external power supply circuit; The main controller, the battery management unit, the voltage-current conversion unit and the connection circuit of the robot unit constitute an internal power supply circuit; The connecting circuit of the main controller, the external power supply unit, the voltage-current conversion unit and the battery management unit constitutes a charging circuit.

2. The industrial robot power supply system according to claim 1, characterized in that: The voltage-current conversion unit includes an AC / DC controller, an AC / DC converter, a DC / DC controller and a DC / DC converter; The AC / DC controller and the AC / DC converter are a group, the AC / DC controller is used to cooperate with the main controller to control the conversion process of the AC / DC converter, and the AC / DC converter is used to convert alternating current into direct current; The DC / DC controller and the DC / DC converter form another group. The DC / DC controller is used to cooperate with the main controller to adjust the output voltage to meet the needs of different loads, and the DC / DC converter is used to convert direct current into direct current of different voltage levels.

3. The industrial robot power supply system according to claim 2, characterized in that: The number of groups of the AC / DC controller and the AC / DC converter is at least one group, and the number of groups of the DC / DC controller and the DC / DC converter is at least one group.

4. The industrial robot power supply system according to claim 2, characterized in that: A parallel circuit connected in parallel to the robot unit is provided on the connection circuit between the AC / DC converter and the DC / DC converter, and a first relay is provided on the parallel circuit; A second relay is provided on the connection circuit between the DC / DC converter and the robot unit; A third relay is provided on the connection circuit between the DC / DC converter and the battery management unit.

5. The industrial robot power supply system according to claim 1, characterized in that: The robot unit includes an IO module, a bus module and a servo module; The IO module is used to collect external sensor data of the robot and / or send control signals to the robot; The bus module is used for communication and data transmission between the main controller and the robot; The servo module is used for motion control, drive and power management, protection and diagnosis of the robot.

6. The industrial robot power supply system according to claim 1, characterized in that: The battery management unit includes a battery management controller and a battery module, wherein the battery module is provided with at least two energy storage batteries; the battery management controller is used to detect the working state of the battery module and manage the charging and discharging state.

7. An industrial robot power supply method, applied to the industrial robot power supply system as claimed in any one of claims 1 to 6, characterized in that: The industrial robot power supply method comprises: Controlling the main controller, the external power supply unit, the voltage-current conversion unit and the robot unit to be connected to form the external power supply circuit for powering the robot; Controlling the main controller, the battery management unit, the voltage-current conversion unit and the robot unit to be connected to form the internal power supply circuit for powering the robot; The main controller, the external power supply unit, the voltage-current conversion unit and the battery management unit are controlled to be connected to form the charging circuit for charging the battery module.

8. The industrial robot power supply method according to claim 7 is applied to the industrial robot power supply system according to claim 4, characterized in that: The step of controlling the main controller, the external power supply unit, the voltage-current conversion unit and the robot unit to be connected to form the external power supply circuit for powering the robot includes: Initialize the industrial robot power supply system by the main controller, and disconnect the first relay, the second relay, and the third relay; The second relay is controlled to be turned on so that the main controller, the external power supply unit, the voltage-current conversion unit and the robot unit are connected to form the external power supply circuit for supplying power to the robot.

9. The industrial robot power supply method according to claim 7 is applied to the industrial robot power supply system according to claim 4, characterized in that: The steps of controlling the main controller, the battery management unit, the voltage-current conversion unit and the robot unit to be connected to form the internal power supply circuit for powering the robot include: Initialize the industrial robot power supply system by the main controller, and disconnect the first relay, the second relay, and the third relay; The first relay and the third relay are controlled to be turned on so that the main controller, the battery management unit, the voltage-current conversion unit and the robot unit are connected to form the internal power supply circuit for powering the robot.

10. The industrial robot power supply method according to claim 7 is applied to the industrial robot power supply system according to claim 4, characterized in that: The step of controlling the main controller, the external power supply unit, the voltage-current conversion unit and the battery management unit to be connected to form the charging circuit for charging the battery module includes: Initialize the industrial robot power supply system by the main controller, and disconnect the first relay, the second relay, and the third relay; The third relay is controlled to be turned on so that the main controller, the external power supply unit, the voltage-current conversion unit and the battery management unit are connected to form the charging circuit for charging the battery module.

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