Robot protection device, robot and protection method thereof

Abstract

The invention belongs to the technical field of industrial robots, and discloses a robot protection device, a robot and a protection method thereof.The robot controller controls the robot to act based on externally input alternating current; the protection device of the robot comprises a detection unit; wherein the detection unit is used for detecting whether externally input alternating current is abnormal or not at the input end of the externally input alternating current so as to continuously output a power supply abnormal signal for a first set time under the condition that the externally input alternating current is detected to be abnormal; and the controller is used for controlling the robot to stop working under the condition that the power supply abnormal signal output by the detection unit for the first set time is received. According to the scheme, when the alternating current input end of the controller of the robot detects the alternating current input power failure, the controller quickly responds and timely controls the robot to stop band-type brake, so that the robot is prevented from running abnormally and even being damaged, and the safety of the robot is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial robots, and specifically relates to a robot protection device, a robot and a protection method thereof, and more particularly to an AC input power-off protection circuit and a control system thereof, a robot and a protection method thereof. Background Art

[0002] In industrial automation robotics, power supply stability is a crucial factor in ensuring proper operation. Robots (such as industrial robots) are widely used in electronics assembly, precision assembly, and material handling due to their efficient multi-axis linkage and high-precision positioning. However, due to unpredictable power supply issues such as grid fluctuations, short circuits, and power outages, robotic controllers (such as those for industrial robots) can experience unexpected power outages, resulting in malfunctions or even damage.

[0003] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The object of the present invention is to provide a robot protection device, a robot and a protection method thereof, so as to solve the problem that the controller of a robot (such as an industrial robot) may suffer unexpected power interruptions due to unpredictable power supply problems such as grid fluctuations, short circuits, power outages, etc., resulting in abnormal operation or even damage of the robot. When the AC input power failure is detected at the AC input terminal of the robot controller, the controller quickly responds and promptly performs a controlled stop and braking of the robot, thereby avoiding abnormal operation or even damage of the robot and improving the safety of the robot.

[0005] The present invention provides a protection device for a robot, wherein the controller of the robot controls the movement of the robot based on externally input alternating current (AC); the protection device of the robot comprises: a detection unit; wherein the detection unit is used to detect whether the externally input AC power is abnormal at the input end of the externally input AC power, so as to output a power abnormality signal for a first set time continuously when the externally input AC power is detected to be abnormal; the controller is used to control the robot to stop working when receiving the power abnormality signal output by the detection unit for a first set time continuously; wherein the controller comprises an MCU1 and an MCU2; when the AC input loses power, the AC input power-off protection circuit outputs an abnormality signal to the MCU1, and the MCU1 outputs a flag of the AC input power-off to the MCU2. When the MCU2 receives the flag and generates a controlled planning program for controlling the robot to stop, the robot starts a controlled stop according to the controlled planning program, and the MCU1 starts to monitor the controlled stop process of the robot. If the MCU1 monitors that the robot has not completely stopped within the set time, the MCU1 controls the robot to brake when the set time arrives.

[0006] In some embodiments, the controller has a first control unit and a second control unit; the controller controls the robot to stop working when it receives the power supply abnormality signal output by the detection unit for a first set time, including: the first control unit is used to output an external input AC power abnormality flag signal to the second control unit when it receives the power supply abnormality signal output by the detection unit for a first set time; the second control unit is used to plan the trajectory of the robot to stop working when it receives the external input AC power abnormality flag signal, generate a controlled planning program for controlling the robot to stop working; and start controlling the robot to stop working according to the controlled planning program to control the robot to stop working.

[0007] In some embodiments, the controller, upon receiving the power anomaly signal output by the detection unit for a first set time, controls the timing of the robot to stop working, including: at any time between time ta and a preset normal jump time before time tb, the external input AC power is abnormal, and the detection unit outputs the power anomaly signal for a first set time from time ta to time tb after the first set time; from time tb to time tc, the second control unit generates a controlled planning program for controlling the robot to stop working, and from time tc to time td, controls the robot to stop working according to the controlled planning program.

[0008] In some embodiments, the controller, in the case of receiving the power abnormality signal output by the detection unit for a first set time, controls the robot to stop working, and further comprises: the first control unit, further configured to, while the second control unit starts to control the robot to stop working according to the controlled planning program, start to monitor the process of the robot stopping working according to the controlled planning program: determine whether the robot has stopped working within a second set time; and if it is determined that the robot has stopped working within the second set time, end the monitoring of the process of the robot stopping working according to the controlled planning program; if it is determined that the robot has not stopped working within the second set time, directly control the robot to perform a brake lock operation at the time t to control the robot to stop working.

[0009] In some embodiments, the controller, in the case of receiving the power abnormality signal output by the detection unit for a first set time, controls the timing of the robot stopping working, and further comprises: from the time t to the time t, while the second control unit starts to control the robot to stop working according to the controlled planning program, the first control unit starts to monitor the process of the robot stopping working according to the controlled planning program: determine whether the robot has stopped working within a second set time; from the time t to the time t, if it is determined that the robot has not stopped working within the second set time, the first control unit directly controls the robot to perform a brake lock operation at the time t.

[0010] In some embodiments, the detection unit comprises: an alternating current input power failure detection circuit.

[0011] In order to match the above device, the present application further provides a robot, comprising the above-mentioned robot protection device.

[0012] Matching the above-mentioned robot, the present invention provides a robot protection method on another aspect, including: detecting whether the external input AC power is abnormal at the input end of the external input AC power, so as to output a power supply abnormality signal for a first set time when the external input AC power is detected to be abnormal; controlling the robot to stop working when receiving the power supply abnormality signal output by the detection unit for a first set time; wherein the controller has MCU1 and MCU2; when the AC input loses power, the AC input power-off protection circuit will output an abnormality signal to MCU1, and MCU1 outputs the AC input power-off flag to MCU2. After MCU2 receives the flag, it generates a controlled planning program for controlling the robot to stop. The robot starts a controlled stop according to the controlled planning program, and MCU1 starts to monitor the robot's controlled stop process. If MCU1 monitors that the robot has not completely stopped within the set time, MCU1 controls the robot to brake when the set time arrives.

[0013] In some embodiments, when the power supply abnormality signal output by the detection unit for a first set time is received, the robot is controlled to stop working, including: through the first control unit, when the power supply abnormality signal output by the detection unit for a first set time is received, the flag signal of the external input AC power abnormality is output to the second control unit; through the second control unit, when the external input AC power abnormality flag signal is received, the trajectory of the robot to stop working is planned, and a controlled planning program for controlling the robot to stop working is generated; and the robot is started to be controlled to stop working according to the controlled planning program to control the robot to stop working.

[0014] In some embodiments, when the power supply abnormality signal output by the detection unit for a first set time is received, controlling the robot to stop working also includes: through the first control unit, while the second control unit starts to control the robot to stop working according to the controlled planning program, starting to monitor the process of the robot stopping working according to the controlled planning program: determining whether the robot stops working within a second set time; and if it is determined that the robot has stopped working within the second set time, ending the process of monitoring the robot to stop working according to the controlled planning program; if it is determined that the robot has not stopped working within the second set time, directly controlling the robot to perform a braking operation at time td to control the robot to stop working.

[0015] Therefore, the solution of the present invention is for a robot controller having MCU1 and MCU2, and the AC power at the power supply end of the controller, and uses an AC input power-off detection circuit to detect whether the AC power at the input side of the controller is abnormal. When the AC input is powered off, the AC input power-off protection circuit will output an abnormal signal (such as a continuous high-level signal) to MCU1, and MCU1 outputs the AC input power-off flag to MCU2. After receiving the flag, MCU2 generates a controlled planning program for controlling the robot to stop. The robot starts a controlled stop according to the controlled planning program, and MCU1 starts to monitor the robot's controlled stop process. If MCU1 monitors that the robot has not completely stopped within the set time, MCU1 controls the robot to brake when the set time arrives. Therefore, by detecting the AC input power off at the AC power input end of the robot's controller, the controller quickly responds and promptly performs a controlled stop and braking of the robot, thereby avoiding abnormal operation or even damage of the robot and improving the safety of the robot.

[0016] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention.

[0017] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the structure of an embodiment of a protection device for a robot of the present invention; Figure 2 This is a schematic diagram of the working process of the AC input power-off protection circuit and its control system 1, which can show the working process of each circuit module inside the entire controller; Figure 3 This is a schematic diagram of the working process of the AC input power-off protection circuit and its control system 2, which can show an internal working process of the control circuit after receiving the AC input power-off detection signal; Figure 4 This is a timing diagram of the AC input power-off protection circuit and its control system, where (a) is the timing diagram. Figure 1 , (b) is the time series Figure 2 ; Figure 5 This is a timing diagram of the power abnormality control signal and the 24V power failure control signal; Figure 6 This is a structural diagram of the AC input power-off detection circuit; Figure 7 1 is a flow chart of an embodiment of a robot protection method of the present invention; Figure 8A flowchart of an embodiment of the method of the present application in which the robot is stopped by the first control unit and the second control unit; Figure 9 A flowchart of an embodiment of the method of the present application in which the robot is stopped by the first control unit. DETAILED DESCRIPTION

[0019] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in connection with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0020] It is considered that due to unpredictable power supply problems such as power grid fluctuations, short circuits, power outages, etc., industrial robot controllers may suffer from unexpected power interruptions, causing abnormal operation of the robot and even damage. The power failure detection circuit in the related scheme usually relies on voltage monitoring and comparator circuits to detect the power state, and the response time is relatively slow, which cannot take effective protection measures immediately when the power is abnormal. While each power supply of the industrial robot controller has an energy storage capacitor to ensure stable power output during work, when the power fails, the abnormal power failure of the previous stage AC input, the power failure detected by the later stage may be delayed due to the existence of energy storage capacitors at each stage, and the system cannot immediately detect and respond, so that the brake cannot be closed in time when the power is abnormal, which may cause the end of the industrial robot to fall unexpectedly, thereby causing safety hazards. Each power supply of the industrial robot controller, specifically: the controller is a 220V AC power input, and after rectification, about 310V DC power is obtained. There are many energy storage capacitors here to prevent voltage fluctuations. Then the 310V DC power is converted into multiple different voltage power supplies such as 24V, 15V, 12V and 5V, and these power supplies also have energy storage capacitors.

[0021] In the field of industrial automation, especially in precision manufacturing and assembly processes, the stability and safety of industrial robots are of great importance. Any unexpected power interruption can cause equipment damage or production interruption, and even can endanger the safety of operating personnel. Therefore, it is particularly important to develop a power failure protection circuit that can quickly detect power abnormalities and take timely safety measures.

[0022] Therefore, the solution of the present invention proposes a protection device for the robot, specifically an AC input power-off protection circuit and its control system, which performs detection at the AC input end and promptly sends a power abnormality signal to the control chip (such as the control chip of the robot controller) when the power supply is abnormal, so that the system (such as the system where the robot is located) immediately performs a controlled stop and brakes, effectively avoiding the problem of accidental falling of the robot end due to power interruption, and improving the overall safety of the system.

[0023] According to an embodiment of the present invention, a protection device for a robot is provided. Figure 1 The schematic diagram of the structure of an embodiment of the device of the present invention is shown in FIG. The controller of the robot controls the movement of the robot based on the external input AC power; in the solution of the present invention, Figure 1 As shown, the protection device of the robot includes: a detection unit, such as an AC input power failure detection circuit.

[0024] Wherein, the detection unit is arranged between the external input AC power and the controller, specifically between the external input AC power and the first control unit, and is used to detect whether the external input AC power is abnormal at the input end of the external input AC power, so as to output a power supply abnormality signal for a first set time when the external input AC power is detected to be abnormal; wherein, the first set time is such as tms, and outputting the power supply abnormality signal for the first set time is such as outputting a high-level signal for tms.

[0025] The controller is arranged between the external input AC power and the robot, and is connected to the detection unit, and is used to control the robot to stop working when it receives the power supply abnormality signal output by the detection unit for a first set time; wherein, the controller has MCU1 and MCU2; when the AC input loses power, the AC input power-off protection circuit will output an abnormal signal to MCU1, and MCU1 outputs the AC input power-off flag to MCU2. After MCU2 receives the flag, it generates a controlled planning program for controlling the robot to stop. The robot starts a controlled stop according to the controlled planning program, and MCU1 starts to monitor the robot's controlled stop process. If MCU1 monitors that the robot has not completely stopped within the set time, MCU1 controls the robot to brake when the set time arrives.

[0026] Figure 2 This is a workflow diagram of the AC input power-off protection circuit and its control system 1, which is a workflow diagram of each circuit module within the entire controller and can show the workflow of each circuit module within the entire controller. Figure 2As shown, AC power supplies the controller, which controls the robot's movements. The controller includes an AC input module, a rectifier and filter module, a high-voltage circuit, and a control circuit, all connected in sequence. The AC input power-off detection circuit monitors the input power at the AC input module. If an abnormality is detected, it directly sends a power-off control signal to the control chip in the control circuit. This control circuit controls the robot's movements to prevent the robot's end-of-line from falling.

[0027] The present invention proposes an AC input power-off protection circuit and its control system. Figure 2 As shown in the figure, the input power is directly detected at the AC input end. When an input power abnormality is detected, a power abnormality control signal is directly sent to the control chip, so that the system can stop the brake in time. This can effectively avoid the problem of the robot end falling due to power interruption, and improve the overall safety of the system.

[0028] In some embodiments, the controller includes a first control unit and a second control unit, the first control unit being such as MCU1 and the second control unit being such as MCU2.

[0029] The controller, upon receiving the power supply abnormality signal output by the detection unit for a first set time, controls the robot to stop working, including: controlling the robot to stop working by the first control unit and the second control unit, specifically as follows: The first control unit is arranged between the detection unit and the second control unit and is connected to the control end of the robot. It is used to output a flag signal of external input AC power abnormality to the second control unit when it receives the power abnormality signal output by the detection unit for a first set time.

[0030] The second control unit is arranged between the first control unit and the control end of the robot, and is used to plan the trajectory of the robot to stop working when receiving a flag signal of abnormal AC power input from an external source, generate a controlled planning program for controlling the robot to stop working; and start controlling the robot to stop working according to the controlled planning program to control the robot to stop working.

[0031] The scheme of the present application aims to solve the end falling problem of industrial robots in accidental power failure, that is, when the input power fails, the system cannot detect the power failure in time and react to close the brake, so that there is a risk of falling of the robot end in accidental power failure, and there is a serious safety hazard. The AC input power failure protection circuit and its control system proposed by the scheme of the present application can detect power abnormalities at the AC power input end, send power abnormal signals to the control chip in time, make the system respond quickly and stop the brake under control, which can effectively avoid the problem of accidental falling of the robot end caused by power interruption and improve the safety of the system.

[0032] In some embodiments, the controller, in the case of receiving the power abnormal signal output by the detection unit for a first set time, controls the timing of stopping the robot from working, including: abnormal AC input from outside at any time between the preset normal jump time before ta time to tb time, the detection unit outputs the power abnormal signal for a first set time from ta time to tb time after the first set time; the second control unit generates a controlled planning program for controlling the robot to stop working from tb time to tc time, and controls the robot to stop working according to the controlled planning program from tc time to td time. Wherein, the preset normal jump time is the time when the normal rectangular wave jumps to low level; the preset normal jump time is a certain time between ta time and tb time. The tb-tc time is used for controlled planning, the tc-td time is used for controlled stop, and the td time is directly braked.

[0033] The AC input power failure protection circuit and its control system proposed by the scheme of the present application can detect power abnormalities at the AC power input end, so as to realize quick response and timely controlled stop brake, which can effectively avoid the problem of accidental falling of the robot end caused by power interruption, ensure that the robot enters the safe state quickly, and significantly improve the overall operation safety.

[0034] In some embodiments, the controller, in the case of receiving the power abnormal signal output by the detection unit for a first set time, controls the robot to stop working, and further comprises: controlling the process of stopping the robot from working by the first control unit, specifically as follows: The first control unit is further configured to start monitoring the process of stopping the robot from working according to the controlled planning program at the same time when the second control unit starts controlling the robot to stop working according to the controlled planning program: determining whether the robot stops working within a second set time. Wherein, the second set time is time t0. And, The first control unit is further configured to terminate the process of monitoring the robot to stop working according to the controlled planning program if it is determined that the robot has stopped working within the second set time.

[0035] The first control unit is further configured to directly control the robot to perform a braking operation at time td to control the robot to stop working if it is determined that the robot has not stopped working within the second set time.

[0036] Figure 3 This is a working diagram of the AC input power-off protection circuit and its control system 2, which is an internal working diagram of the control circuit after receiving the AC input power-off detection signal. It can show an internal working diagram of the control circuit after receiving the AC input power-off detection signal. Figure 3 As shown, the controller's control circuit includes MCU1 and MCU2. The AC input power-off detection circuit outputs a high-level tms signal to the input of MCU1. MCU1's first output outputs a flag signal to the input of MCU2. MCU2 outputs a controlled planning signal to the robot, which stops the robot based on the controlled planning signal. The second output of MCU1 outputs a monitoring signal to the robot to monitor whether the robot has stopped under control.

[0037] exist Figure 3 The reason for using MCU1 and MCU2 is that a single MCU cannot handle all functional processing within a controller. Functional divisions exist, such as a servo drive control module and an operation control module. In the present invention, MCU1 refers to the FPGA and MCU2 refers to the ARM. MCU1 is used for alarm detection, while MCU2 is used for controlled planning.

[0038] like Figure 3 As shown in the figure, when the AC input loses power, the AC input power-off protection circuit outputs an abnormal signal, such as a sustained high-level signal. When MCU1 detects a sustained high-level signal for tms (t milliseconds), it immediately sends a flag to MCU2. MCU2 then plans an optimal stopping trajectory for the robot based on its current motion state and sends the corresponding controlled planning program to the robot. Ultimately, the robot gradually reduces its speed according to the planned program (i.e., the controlled planning program) and comes to a complete stop. After MCU2 completes the controlled planning and before initiating a controlled stop, MCU1 begins monitoring the controlled stop process. If the robot has not come to a stop within the set time threshold t0, MCU1 quickly controls the robot to brake at t0 to ensure its safety.

[0039] For example, tms is generally sufficient to prevent a false alarm from occurring when the AC power supply is reduced by one cycle (20ms) due to grid fluctuations. This can be increased by approximately 10ms (the 10ms value is a reference only and can be adjusted based on the controller's specific requirements). MCU2 plans an optimal stopping trajectory for the robot based on its current motion state. Specifically, it plans a stop at the current speed using maximum deceleration. The maximum deceleration varies with load; for example, a larger load results in a smaller maximum deceleration, while a smaller load results in a larger maximum deceleration. MCU1 then monitors the controlled stop process, providing real-time feedback on the motor speed via an encoder. MCU1 can directly control the robot's braking operation, but only when the robot has not stopped under MCU2's control. This prevents structural damage caused by high-speed braking and extends the life of the device.

[0040] The unit of t0 is milliseconds. It varies among different robot controllers and needs to be less than the maximum controllable time of the robot at full load and full speed plus the detection time. For example, if the maximum controllable time at full load and full speed during a power outage is 100ms, with a detection time of 30ms, the controlled stop time t0 is generally around 20ms.

[0041] The solution of the present invention proposes an AC input power-off protection circuit and its control system, which can directly detect power anomalies at the AC input end and promptly send a power anomaly signal to a control chip (such as the control chip of a robot controller), so that the system can immediately perform a controlled stop and brake, effectively avoiding the problem of accidental falling of the robot end due to power interruption, and improving the overall safety of the system.

[0042] In some embodiments, the controller, when receiving the power supply abnormality signal output by the detection unit for a first set time, controls the timing of the robot to stop working, and also includes: from time tc to time td, while the second control unit starts to control the robot to stop working according to the controlled planning program, the first control unit starts to monitor the process of the robot stopping working according to the controlled planning program: determining whether the robot stops working within the second set time; from time tc to time td after the second set time, if the first control unit determines that the robot has not stopped working within the second set time, then at time td, it directly controls the robot to perform the braking operation.

[0043] Figure 4 This is a timing diagram of the AC input power-off protection circuit and its control system, where (a) is the timing diagram. Figure 1 , (b) is the time series Figure 2 . Figure 4In the figure, the horizontal axis represents time, and the vertical axis only represents two signals: power abnormality control signal and 24V power failure signal. Figure 4 In Figure (b), the brake signal 1 indicates the brake is on (not braking); 0 indicates the brake is engaged (in braking). In red, a high level indicates 1 when the brake is on, and a low level indicates 0 when the brake is engaged. The robot is in a decelerating state during time t0, and the robot's brake signal remains 1. Figure 3 and Figure 4 The t in the figure indicates that the AC detection circuit detects a high level for tms.

[0044] Figure 4 This is the timing diagram of the AC input power-off protection circuit and its control system, as shown in Figure 4 As shown in the figure, at time ta, the AC input loses power. At time tb, MCU1 detects the power anomaly and the control signal output remains high for tms. At this point, MCU1 sends a rising-edge-valid flag to MCU2. After receiving the flag, MCU2 begins planning the robot's optimal stopping trajectory. At time tc, MCU2 completes the controlled planning and initiates a controlled stop. At time tc, MCU1 begins monitoring the robot's controlled stop process. If the robot does not fully stop within time t0, at time td, MCU1 quickly applies the robot's brakes to ensure safety.

[0045] Figure 5 This is a timing diagram of the power abnormality control signal and the 24V power failure control signal. Figure 5 In the figure, the horizontal axis represents time, and the vertical axis only represents two signals: power abnormality control signal and 24V power failure signal. Figure 5 When the AC input power is lost, the AC input power-off protection circuit outputs the power abnormality control signal and the 24V power-off control signal timing diagram (24V is the power supply for the control circuit). Figure 5 Before the 24V power failure is detected, that is, before time te, the controller and the robot are in a controllable state. After the 24V power failure is detected, that is, after time te, the controller and the robot are in an uncontrollable state. Figure 5 If the AC input loses power at time ta, the control chip detects a power failure and the control signal remains high for time t, causing the system to immediately stop in a controlled manner. This ensures a rapid response to power failures and improves overall system safety. However, if a 24V power failure detection circuit is used, the power failure will not be detected until time te, resulting in a delay of te-tb. This prevents the system from detecting and responding immediately, and the brakes from being applied in time. This can cause the robot's end-point to accidentally fall, posing a safety hazard. Figure 5 In the example, the period of the power abnormality control signal is t T . t T: 10ms, tb-ta = t (the difference between the two times is t, which can be 30ms). tc-tb is the time it takes for the chip to receive the flag and perform controlled planning. This is related to the chip's data processing capabilities and cannot be specified. td-tc = t0: Controlled stop time, which can be 20ms. te-ta: The time from actual power failure to the 24V power supply detecting power failure, which depends on circuit design: 240ms. te-tb, which is te minus tb, is the time obtained, and refers to the delay te minus tb.

[0046] Depend on Figure 5 It can be seen that before the 24V power supply detects a power outage, the AC input power-off protection circuit and its control system of the present invention can detect the power supply abnormality and perform a controlled stop brake, ensuring that the robot can quickly enter a safe state. This not only improves the reliability and stability of the system, but also provides a safer operating environment for industrial automation.

[0047] Among them, in the solution of the present invention, T The detection period uses one cycle of the AC input detection circuit's power anomaly control signal. This period can be adjusted based on the application to prevent false alarms from power grid fluctuations. For example, after the AC input is disconnected, the controller and robot can still operate normally for 10 cycles due to the energy storage capacitor. After 10 cycles, the controller and robot become uncontrollable. In this case, a detection period of 1.5 cycles, or 30ms, can be set. The specific time can be adjusted based on the application. Upon detecting a power outage, the system immediately performs a controlled stop, ensuring that the robot completes the controlled stop within the normal operating time. If the system can operate normally for 15 cycles, a longer detection period, such as 3 cycles, can be set. For example, the 220V AC output from the power grid is not a completely stable 50Hz AC, and a cycle may be missing. If the detection period is too short, false alarms may occur during power grid fluctuations. Therefore, it is necessary to adjust the detection period based on the actual conditions of the controller and robot.

[0048] In some embodiments, the detection unit includes: an AC input power-off detection circuit.

[0049] Figure 6 The structure diagram of the AC input power failure detection circuit is shown in Figure 2. Figure 6 As shown. Figure 6As shown, the AC input power-off detection circuit includes resistors R1, R2, R3, and R4, a rectifier bridge, capacitor C1, R5, a Zener diode D1, an optocoupler, capacitors C2, C3, and R6, and a level shifter chip. R1, R2, R3, and R4 function as voltage dividers and current limiters, D1 provides rectification, R5 acts as a voltage divider, the Zener diode increases the optocoupler's on-state voltage, R6 is a pull-up resistor for the output signal, and C1 and C2 provide filtering. Detection is performed directly at the AC input, dividing the input AC line (L) and line (N) using voltage dividers to generate low-voltage AC power. This low-voltage AC power is then rectified by a rectifier circuit to generate low-voltage DC power. Resistor R5, Zener diode D1, and the optocoupler are connected in series to form a voltage sampling circuit that samples the rectified and filtered low-voltage DC power to generate the optocoupler output signal. The optocoupler output signal then passes through the level shifter chip to generate the final power supply abnormality control signal. The rectifier bridge in the AC input power-off detection circuit steps down the voltage and then rectifies it to produce 10V DC, which is used only by the detection circuit. The DC power generated after the AC input is rectified for detection: this refers to directly rectifying 220V AC to produce 310V DC, which is used to power the controller. Level shifters are used to safely convert between different voltage logic levels. For example, if the detection circuit outputs a 5V signal, but the MCU pin can only accept a 3.3V signal, the 5V signal must be converted to 3.3V by a level shifter before being fed to the MCU.

[0050] The AC live wire L is connected to the first connection terminal of the rectifier bridge input via resistors R1 and R2. The AC neutral wire N is connected to the second connection terminal of the rectifier bridge input via resistors R3 and R4. The first connection terminal of the rectifier bridge output is connected to the second connection terminal of the rectifier bridge output via capacitor C1. The first connection terminal of the rectifier bridge output is connected to the cathode of a voltage-stabilizing diode D1 via resistor R5. The anode of voltage-stabilizing diode D1 is connected to the first connection terminal of the optocoupler input. The second connection terminal of the rectifier bridge output is connected to the second connection terminal of the optocoupler input. The first connection terminal of the optocoupler output is connected to the second connection terminal of the optocoupler output via capacitor C3. The second connection terminal of the optocoupler output is grounded. The DC power supply VCC1 is connected to the first connection terminal of the optocoupler output via resistor R6. The DC power supply VCC1 is grounded via capacitor C2. The first connection terminal of the optocoupler output is connected to input terminal A of the level shifter chip. Output terminal B of the level shifter chip can output a signal indicating whether the AC power is abnormal. When the AC input loses power, the AC input power-off protection circuit will output an abnormal signal, such as a continuous high-level signal.

[0051] Some solutions offer a power-loss detection device, including an input circuit, a comparator, a reference power supply, and an output circuit. This solution uses DC power rectified from AC input for detection, which can be unsafe and unreliable. For example, by the time a power loss is detected, the controller and robot may already be in an uncontrollable state, such as with a screw drop.

[0052] Some solutions offer a power-off protection circuit and robot control system that detects DC power outages. This circuit detects the difference between the AC input voltage and the rectified DC voltage, and compares the difference with a threshold voltage. If the difference is greater than the threshold voltage and persists for a duration of T, it is considered an AC power outage. This solution requires detecting both the AC input and the rectified DC voltage, both of which must pass through a sampling circuit before being fed to the control circuit. This can lead to the following issues: Redundancy issue: Due to the presence of energy storage capacitors, the rectified DC voltage has small fluctuations. In theory, it does not need to be tested separately, which may increase the risk of misjudgment. Hardware cost and complexity: Two independent sampling circuits are required (one for AC input and one for DC output), which increases hardware costs. Furthermore, the sampling circuits have high requirements for PCB layout and routing, and issues such as signal interference and filtering design must be considered. Feasibility limitations: The dual-channel sampling logic is complex, which may increase the difficulty of system debugging and maintenance. In actual applications, the charging and discharging characteristics of the energy storage capacitor may cause detection delays and affect the response speed.

[0053] The present invention, however, performs detection at the AC input. Compared to voltage detection via a comparator, the present invention can directly detect AC input power outages. This allows for immediate action upon detecting an AC input anomaly, ensuring the robot quickly enters a safe state. This not only improves system reliability and stability but also provides a safer operating environment for industrial automation.

[0054] Other solutions detect the AC input voltage, compare the rectified and divided voltage with a reference voltage, and then control the conduction state of the switching circuit based on the output of the voltage comparator to determine whether the power supply has failed. This means that the final output is either high or low, and the reference voltage remains constant, meaning it cannot be adjusted later based on actual conditions. However, the solution of the present invention allows for later adjustment of detection conditions via software to accommodate different operating conditions (e.g., motors of varying power). Adjustments can be made based on the customer's robot's actual operating state, working environment, and operational requirements. For example, if high-precision detection is required, the detection time can be slightly reduced, such as to 15-20ms. However, this may result in false alarms if the power grid fluctuates and the voltage temporarily drops to zero. For more general accuracy requirements, a normal setting of 30-40ms is acceptable, depending on the actual situation.

[0055] By adopting the technical solution of the present invention, a robot controller having MCU1 and MCU2 and the AC power at the power supply end of the controller is used to detect whether the AC power at the input side of the controller is abnormal by using an AC input power-off detection circuit. When the AC input is powered off, the AC input power-off protection circuit will output an abnormal signal (such as a continuous high-level signal) to MCU1, and MCU1 outputs the AC input power-off flag to MCU2. After receiving the flag, MCU2 generates a controlled planning program for controlling the robot to stop. The robot starts a controlled stop according to the controlled planning program, and MCU1 starts to monitor the robot's controlled stop process. If MCU1 monitors that the robot has not completely stopped within the set time, MCU1 controls the robot to brake when the set time arrives. Therefore, when the AC input power off is detected at the AC power input end of the robot controller, the controller quickly responds and performs a controlled stop and braking of the robot in time, thereby avoiding abnormal operation or even damage of the robot and improving the safety of the robot.

[0056] According to an embodiment of the present invention, a robot corresponding to a robot protection device is also provided. The robot may include: the robot protection device described above. The robot protection device includes: a detection unit, such as an AC input power failure detection circuit.

[0057] Wherein, the detection unit is arranged between the external input AC power and the controller, specifically between the external input AC power and the first control unit, and is used to detect whether the external input AC power is abnormal at the input end of the external input AC power, so as to output a power supply abnormality signal for a first set time when the external input AC power is detected to be abnormal; wherein, the first set time is such as tms, and outputting the power supply abnormality signal for the first set time is such as outputting a high-level signal for tms.

[0058] The controller is arranged between the external input AC power and the robot, and is connected to the detection unit, and is used to control the robot to stop working when it receives the power supply abnormality signal output by the detection unit for a first set time; wherein, the controller has MCU1 and MCU2; when the AC input loses power, the AC input power-off protection circuit will output an abnormal signal to MCU1, and MCU1 outputs the AC input power-off flag to MCU2. After MCU2 receives the flag, it generates a controlled planning program for controlling the robot to stop. The robot starts a controlled stop according to the controlled planning program, and MCU1 starts to monitor the robot's controlled stop process. If MCU1 monitors that the robot has not completely stopped within the set time, MCU1 controls the robot to brake when the set time arrives.

[0059] like Figure 2 As shown, AC power supplies power to the controller, which controls the robot's movements. The controller includes: an AC input module, a rectifier and filter module, a high-voltage circuit, and a control circuit connected in sequence. The AC input power-off detection circuit detects the input power from the AC input module. When an abnormality is detected in the input power, a power abnormality control signal is directly sent to the control chip of the control circuit. The control circuit can control the robot's movements to prevent the end of the robot from falling. Figure 2 As shown in the figure, the input power is directly detected at the AC input end. When an input power abnormality is detected, a power abnormality control signal is directly sent to the control chip, so that the system can stop the brake in time. This can effectively avoid the problem of the robot end falling due to power interruption, and improve the overall safety of the system.

[0060] In some embodiments, the controller includes a first control unit and a second control unit, the first control unit being such as MCU1 and the second control unit being such as MCU2.

[0061] The controller, upon receiving the power supply abnormality signal output by the detection unit for a first set time, controls the robot to stop working, including: controlling the robot to stop working by the first control unit and the second control unit, specifically as follows: The first control unit is arranged between the detection unit and the second control unit and is connected to the control end of the robot. It is used to output a flag signal of external input AC power abnormality to the second control unit when it receives the power abnormality signal output by the detection unit for a first set time.

[0062] The second control unit is arranged between the first control unit and the control end of the robot, and is used to plan the trajectory of the robot to stop working when receiving a flag signal of abnormal AC power input from an external source, generate a controlled planning program for controlling the robot to stop working; and start controlling the robot to stop working according to the controlled planning program to control the robot to stop working.

[0063] The present invention aims to address the problem of industrial robots dropping their endpieces in the event of an unexpected power outage. Specifically, when the input power fails, the system fails to detect the power outage in a timely manner and respond by disabling the brakes. This creates a risk of the robot's endpiece dropping during an unexpected power outage, posing a serious safety hazard. The present invention proposes an AC input power-loss protection circuit and its control system, which can detect power anomalies at the AC power input and promptly transmit an anomaly signal to the control chip, enabling the system to quickly respond and initiate a controlled braking stop. This effectively prevents the robot's endpiece from accidentally dropping due to power interruptions, improving system safety.

[0064] In some embodiments, the controller, upon receiving the power anomaly signal output by the detection unit for a first set time, controls the timing of the robot to stop working, including: at any time between time ta and a preset normal jump time before time tb, the external input AC power is abnormal, and the detection unit outputs the power anomaly signal for a first set time from time ta to time tb after the first set time; from time tb to time tc, the second control unit generates a controlled planning program for controlling the robot to stop working, and from time tc to time td, controls the robot to stop working according to the controlled planning program.

[0065] The solution of the present invention proposes an AC input power-off protection circuit and its control system, which can detect power anomalies at the AC power input end, thereby achieving rapid response and timely controlled stop braking, which can effectively avoid the problem of accidental falling of the robot end due to power interruption, ensure that the robot quickly enters a safe state, and significantly improve the overall operation safety.

[0066] In some embodiments, the controller, upon receiving the power supply abnormality signal output by the detection unit for a first set time, controls the robot to stop working, further comprising: controlling the robot to stop working by the first control unit, specifically as follows: The first control unit is further configured to monitor the process of the robot stopping working according to the controlled planning program at the same time as the second control unit starts controlling the robot to stop working according to the controlled planning program: determining whether the robot stops working within a second set time. The second set time is, for example, time t0. And, The first control unit is further configured to terminate the process of monitoring the robot to stop working according to the controlled planning program if it is determined that the robot has stopped working within the second set time.

[0067] The first control unit is further configured to directly control the robot to perform a braking operation at time td to control the robot to stop working if it is determined that the robot has not stopped working within the second set time.

[0068] like Figure 3As shown in the figure, when the AC input loses power, the AC input power-off protection circuit outputs an abnormal signal, such as a sustained high-level signal. When MCU1 detects a sustained high-level signal for tms (t milliseconds), it immediately sends a flag to MCU2. MCU2 then plans an optimal stopping trajectory for the robot based on its current motion state and sends the corresponding controlled planning program to the robot. Ultimately, the robot gradually reduces its speed according to the planned program (i.e., the controlled planning program) and comes to a complete stop. After MCU2 completes the controlled planning and before initiating a controlled stop, MCU1 begins monitoring the controlled stop process. If the robot has not come to a stop within the set time threshold t0, MCU1 quickly controls the robot to brake at t0 to ensure its safety.

[0069] The solution of the present invention proposes an AC input power-off protection circuit and its control system, which can directly detect power anomalies at the AC input end and promptly send a power anomaly signal to a control chip (such as the control chip of a robot controller), so that the system can immediately perform a controlled stop and brake, effectively avoiding the problem of accidental falling of the robot end due to power interruption, and improving the overall safety of the system.

[0070] In some embodiments, the controller, when receiving the power supply abnormality signal output by the detection unit for a first set time, controls the timing of the robot to stop working, and also includes: from time tc to time td, while the second control unit starts to control the robot to stop working according to the controlled planning program, the first control unit starts to monitor the process of the robot stopping working according to the controlled planning program: determining whether the robot stops working within the second set time; from time tc to time td after the second set time, if the first control unit determines that the robot has not stopped working within the second set time, then at time td, it directly controls the robot to perform the braking operation.

[0071] like Figure 4 As shown in the figure, at time ta, the AC input loses power. At time tb, MCU1 detects the power anomaly and the control signal output remains high for tms. At this point, MCU1 sends a rising-edge-valid flag to MCU2. After receiving the flag, MCU2 begins planning the robot's optimal stopping trajectory. At time tc, MCU2 completes the controlled planning and initiates a controlled stop. At time tc, MCU1 begins monitoring the robot's controlled stop process. If the robot does not fully stop within time t0, at time td, MCU1 quickly applies the robot's brakes to ensure safety.

[0072] Figure 5If the AC input loses power at time ta, the control chip detects a power failure and the control signal remains high for time t, causing the system to immediately stop in a controlled manner. This ensures a rapid response to power failures and improves overall system safety. However, if a 24V power failure detection circuit is used, the power failure will not be detected until time te, resulting in a delay of te-tb. This prevents the system from detecting and responding immediately, and the brakes from being applied in time. This can cause the robot's end-point to accidentally fall, posing a safety hazard.

[0073] Depend on Figure 5 It can be seen that before the 24V power supply detects a power outage, the AC input power-off protection circuit and its control system of the present invention can detect the power supply abnormality and perform a controlled stop brake, ensuring that the robot can quickly enter a safe state. This not only improves the reliability and stability of the system, but also provides a safer operating environment for industrial automation.

[0074] In some embodiments, the detection unit includes: an AC input power-off detection circuit.

[0075] like Figure 6 As shown, the AC input power-off detection circuit includes: a resistor R1, a resistor R2, a resistor R3, a resistor R4, a rectifier bridge, a capacitor C1, a resistor R5, a voltage-stabilizing diode D1, an optocoupler, a capacitor C2, a capacitor C3, a resistor R6 and a level conversion chip.

[0076] The AC live wire L is connected to the first connection terminal of the rectifier bridge input via resistors R1 and R2. The AC neutral wire N is connected to the second connection terminal of the rectifier bridge input via resistors R3 and R4. The first connection terminal of the rectifier bridge output is connected to the second connection terminal of the rectifier bridge output via capacitor C1. The first connection terminal of the rectifier bridge output is connected to the cathode of a voltage-stabilizing diode D1 via resistor R5. The anode of voltage-stabilizing diode D1 is connected to the first connection terminal of the optocoupler input. The second connection terminal of the rectifier bridge output is connected to the second connection terminal of the optocoupler input. The first connection terminal of the optocoupler output is connected to the second connection terminal of the optocoupler output via capacitor C3. The second connection terminal of the optocoupler output is grounded. The DC power supply VCC1 is connected to the first connection terminal of the optocoupler output via resistor R6. The DC power supply VCC1 is grounded via capacitor C2. The first connection terminal of the optocoupler output is connected to input terminal A of the level shifter chip. Output terminal B of the level shifter chip can output a signal indicating whether the AC power is abnormal. When the AC input loses power, the AC input power-off protection circuit will output an abnormal signal, such as a continuous high-level signal.

[0077] The present invention performs detection at the AC input. Compared to voltage detection using a comparator, the present invention can directly detect AC input power outages. This allows for immediate action upon detecting an AC input anomaly, ensuring the robot quickly enters a safe state. This not only improves system reliability and stability but also provides a safer operating environment for industrial automation.

[0078] Since the processing and functions implemented by the robot of this embodiment basically correspond to the embodiments, principles and examples of the device, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0079] According to an embodiment of the present invention, a protection method for a robot corresponding to the robot is also provided, such as Figure 7 FIG. 1 is a flow chart of an embodiment of the method of the present invention. The robot protection method may include steps S110 to S120.

[0080] At step S110, at the input end of the external input AC power, whether the external input AC power is abnormal is detected, so that when the external input AC power is detected to be abnormal, a power abnormality signal is output for a first set time; wherein, the first set time is such as tms, and the power abnormality signal is output for the first set time, such as outputting a high-level signal for tms.

[0081] In step S120 , when the power supply abnormality signal output by the detection unit for a first set time is received, the robot is controlled to stop working.

[0082] In the solution of the present invention, the input power is directly tested at the AC input terminal. When an input power anomaly is detected, a power anomaly control signal is directly sent to the control chip, causing the system to immediately implement a controlled braking stop. This can effectively prevent the robot end-point from dropping due to power interruptions and improve the overall safety of the system. By directly detecting power anomalies at the AC input terminal and promptly sending a power anomaly signal to the control chip (such as the control chip of the robot controller), the system immediately implements a controlled braking stop, effectively preventing the robot end-point from accidentally dropping due to power interruptions and improving the overall safety of the system.

[0083] In some embodiments, in step S120, when the power supply abnormality signal output by the detection unit for a first set time is received, the robot is controlled to stop working, including: a process of controlling the robot to stop working by the first control unit and the second control unit.

[0084] The following combination Figure 8The flowchart of an embodiment of the method of the present invention in which the first control unit and the second control unit are used to control the robot to stop working is shown, further illustrating the specific process of controlling the robot to stop working by the first control unit and the second control unit in step S120, including: steps S210 to S220.

[0085] In step S210 , upon receiving the power abnormality signal output by the detection unit for a first set time, the first control unit outputs a flag signal indicating abnormal AC power input from the external source to the second control unit.

[0086] Step S220, through the second control unit, when receiving the flag signal of abnormal AC power input from the external input, the trajectory of the robot to stop working is planned, and a controlled planning program for controlling the robot to stop working is generated; and the robot is started to stop working according to the controlled planning program to control the robot to stop working.

[0087] The present invention proposes an AC input power-off protection circuit and its control system. Figure 2 As shown in the figure, the input power is directly detected at the AC input end. When an input power abnormality is detected, a power abnormality control signal is directly sent to the control chip, so that the system can stop the brake in time. This can effectively avoid the problem of the robot end falling due to power interruption, and improve the overall safety of the system.

[0088] In some embodiments, in step S120, upon receiving the power supply abnormality signal output by the detection unit for a first set time, controlling the robot to stop working also includes: a process of controlling the robot to stop working by the first control unit.

[0089] The following combination Figure 9 The flowchart of an embodiment of controlling the robot to stop working by the first control unit in the method of the present invention further illustrates the specific process of controlling the robot to stop working by the first control unit in step S120, including: steps S310 to S330.

[0090] Step S310: When the second control unit starts controlling the robot to stop working according to the controlled planning program, the first control unit starts monitoring the process of the robot stopping working according to the controlled planning program: determining whether the robot stops working within a second set time. And, Step S320: If it is determined that the robot has stopped working within the second set time, then the process of monitoring the robot to stop working according to the controlled planning program is ended.

[0091] Step S330: If it is determined that the robot has not stopped working within the second set time, directly controlling the robot to perform a braking operation at time td to control the robot to stop working.

[0092] like Figure 3 As shown in the figure, when the AC input loses power, the AC input power-off protection circuit outputs an abnormal signal, such as a sustained high-level signal. When MCU1 detects a sustained high-level signal for tms (t milliseconds), it immediately sends a flag to MCU2. MCU2 then plans an optimal stopping trajectory for the robot based on its current motion state and sends the corresponding controlled planning program to the robot. Ultimately, the robot gradually reduces its speed according to the planned program (i.e., the controlled planning program) and comes to a complete stop. After MCU2 completes the controlled planning and before initiating a controlled stop, MCU1 begins monitoring the controlled stop process. If the robot has not come to a stop within the set time threshold t0, MCU1 quickly controls the robot to brake at t0 to ensure its safety.

[0093] The solution of the present invention proposes an AC input power-off protection circuit and its control system, which can directly detect power anomalies at the AC input end and promptly send a power anomaly signal to a control chip (such as the control chip of a robot controller), so that the system can immediately perform a controlled stop and brake, effectively avoiding the problem of accidental falling of the robot end due to power interruption, and improving the overall safety of the system.

[0094] Since the processing and functions implemented by the method of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned robot, for any details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments and will not be repeated here.

[0095] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0096] The foregoing description is merely an embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of the claims.

Claims

1. A robot protection device, characterized in that: A controller of the robot, configured to control the movement of the robot based on externally input alternating current; The robot protection device includes: a detection unit; wherein, The detection unit is configured to detect whether the externally inputted alternating current is abnormal at an input end of the externally inputted alternating current, and output a power supply abnormality signal for a first set time if the externally inputted alternating current is detected to be abnormal. The controller is configured to control the robot to stop working when receiving the power abnormality signal output by the detection unit for a first set time; Among them, the controller has MCU1 and MCU2; when the AC input loses power, the AC input power-off protection circuit will output an abnormal signal to MCU1, and MCU1 will output the AC input power-off flag to MCU2. After receiving the flag, MCU2 generates a controlled planning program for controlling the robot to stop. The robot starts a controlled stop according to the controlled planning program, and MCU1 starts to monitor the robot's controlled stop process. If MCU1 monitors that the robot has not completely stopped within the set time, MCU1 controls the robot to brake when the set time arrives.

2. The robot protection device according to claim 1, characterized in that: The controller comprises a first control unit and a second control unit; The controller, upon receiving the power abnormality signal output by the detection unit for a first set time, controls the robot to stop working, including: The first control unit is configured to output a flag signal indicating an abnormal external AC power input to the second control unit upon receiving the abnormal power supply signal output by the detection unit for a first set time; The second control unit is configured to plan a trajectory for stopping the robot when receiving an externally inputted flag signal indicating abnormal alternating current power, and generate a controlled planning program for controlling the robot to stop working; And start controlling the robot to stop working according to the controlled planning program to control the robot to stop working.

3. The robot protection device according to claim 2, characterized in that: The controller controls the timing of stopping the robot from working when receiving the power supply abnormality signal output by the detection unit for a first set time, including: If the external AC power input is abnormal at any time between time ta and the normal trip time preset before time tb, the detection unit will output the power abnormality signal for the first set time from time ta to time tb after the first set time; From time tb to time tc, the second control unit generates a controlled planning program for controlling the robot to stop working, and from time tc to time td, starts to control the robot to stop working according to the controlled planning program.

4. The robot protection device according to claim 2, characterized in that: The controller controls the robot to stop working when receiving the power abnormality signal output by the detection unit for a first set time, further comprising: The first control unit is further configured to, when the second control unit starts controlling the robot to stop working according to the controlled planning program, start monitoring a process in which the robot stops working according to the controlled planning program: determine whether the robot stops working within a second set time; and If it is determined that the robot has stopped working within the second set time, then ending the process of monitoring the robot to stop working according to the controlled planning program; If it is determined that the robot has not stopped working within the second set time, the robot is directly controlled to perform a braking operation at time td to control the robot to stop working.

5. The robot protection device according to claim 4, characterized in that: The controller controls the timing of stopping the robot when receiving the power abnormality signal output by the detection unit for a first set time, further comprising: From time tc to time td, while the second control unit starts to control the robot to stop working according to the controlled planning program, the first control unit starts to monitor the process of the robot stopping working according to the controlled planning program: determining whether the robot stops working within a second set time; From time tc to time td after the second set time, if the first control unit determines that the robot has not stopped working within the second set time, the first control unit directly controls the robot to perform a braking operation at time td.

6. The robot protection device according to any one of claims 1 to 5, characterized in that: The detection unit includes: an AC input power-off detection circuit.

7. A robot, characterized in that: include: The robot protection device according to any one of claims 1 to 6.

8. A robot protection method according to claim 7, characterized in that: include: At an input end of the external AC power input, detecting whether the external AC power input is abnormal, and outputting a power abnormality signal for a first set time continuously when the external AC power input is detected to be abnormal; When receiving the power abnormality signal output by the detection unit for a first set time, controlling the robot to stop working; Among them, the controller has MCU1 and MCU2; when the AC input loses power, the AC input power-off protection circuit will output an abnormal signal to MCU1, and MCU1 will output the AC input power-off flag to MCU2. After receiving the flag, MCU2 generates a controlled planning program for controlling the robot to stop. The robot starts a controlled stop according to the controlled planning program, and MCU1 starts to monitor the robot's controlled stop process. If MCU1 monitors that the robot has not completely stopped within the set time, MCU1 controls the robot to brake when the set time arrives.

9. The robot protection method according to claim 8, characterized in that: When receiving the power abnormality signal output by the detection unit for a first set time, controlling the robot to stop working includes: By the first control unit, when receiving the power abnormality signal output by the detection unit for a first set time, outputting a flag signal indicating abnormality of the externally input AC power to the second control unit; Through the second control unit, when a flag signal of abnormal AC power is received from an external input, the trajectory of the robot to stop working is planned, and a controlled planning program for controlling the robot to stop working is generated; and the robot is controlled to stop working according to the controlled planning program to control the robot to stop working.

10. The robot protection method according to claim 9, characterized in that: When the power supply abnormality signal output by the detection unit for a first set time is received, controlling the robot to stop working further includes: By means of the first control unit, while the second control unit starts controlling the robot to stop working according to the controlled planning program, the process of monitoring the robot stopping working according to the controlled planning program is started: determining whether the robot stops working within a second set time; and If it is determined that the robot has stopped working within the second set time, then ending the process of monitoring the robot to stop working according to the controlled planning program; If it is determined that the robot has not stopped working within the second set time, the robot is directly controlled to perform a braking operation at time td to control the robot to stop working.

Images