A robot protection device, a robot, and a robot protection method

Abstract

The application belongs to the technical field of industrial robots, and discloses a robot protection device, a robot and a robot protection method, a controller of the robot, which controls the robot action based on external input alternating current; the robot protection device comprises a detection unit; the detection unit is used for detecting whether the external input alternating current is abnormal at the input end of the external input alternating current, so as to output a power supply abnormal signal for a first set time in the case that the external input alternating current is detected to be abnormal; and the controller is used for controlling the robot to stop working in the case 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 of the controller of the robot is detected to be powered off, the controller quickly responds and the robot is controlled to stop and be braked in time, so that the robot is prevented from running abnormally or even being damaged, and the safety of the robot is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of industrial robots, and particularly relates to a robot protection device, a robot and a robot protection method, in particular to an alternating current input power failure protection circuit and a control system thereof, a robot and a robot protection method. BACKGROUND

[0002] In the application of robots in the field of industrial automation, power stability is one of the important factors to ensure the normal operation of equipment. Robots (such as industrial robots) are widely used in electronic assembly, precision assembly and material handling due to their efficient multi-axis linkage capability and high-precision positioning performance. However, due to unpredictable power supply problems such as power grid fluctuations, short circuits, power outages, etc., the robot controller (such as an industrial robot controller) may suffer from unexpected power interruptions, leading to abnormal operation of the equipment and even damage.

[0003] The above content is only used to assist in understanding the technical solutions of the application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The purpose of the present application is to provide a robot protection device, a robot and a robot protection method to solve the problem that due to unpredictable power supply problems such as power grid fluctuations, short circuits, power outages, etc., the robot controller (such as an industrial robot controller) may suffer from unexpected power interruptions, leading to abnormal operation of the robot and even damage. The effect of improving the safety of the robot is achieved by detecting the alternating current input power failure at the alternating current input end of the controller of the robot, and quickly responding and timely stopping the robot under control to avoid abnormal operation of the robot and even damage.

[0005] The application provides a protection device of a robot, a controller of the robot, which controls the robot based on external input alternating current; the protection device of the robot comprises a detection unit; wherein the detection unit is used for detecting whether the external input alternating current is abnormal at the input end of the external input alternating current, so as to output a power abnormality signal for a first set time in the case that the external input alternating current is detected to be abnormal; the controller is used for controlling the robot to stop working in the case that the power abnormality signal outputted by the detection unit for the first set time is received; wherein the controller has MCU1 and MCU2; when alternating current input power failure occurs, an alternating current input power failure protection circuit outputs an abnormality signal to MCU1, MCU1 outputs a flag bit of alternating current input power failure to MCU2, MCU2 generates a controlled planning program for controlling the robot to stop working after receiving the flag bit, the robot starts controlled stopping according to the controlled planning program, and MCU1 starts monitoring the controlled stopping process of the robot; if MCU1 monitors that the robot does not stop completely within a set time, MCU1 controls the robot brake to be engaged when the set time arrives.

[0006] In some embodiments, the controller has a first control unit and a second control unit; the controller, in the case that the power abnormality signal outputted by the detection unit for the first set time is received, controls the robot to stop working, which comprises: the first control unit, in the case that the power abnormality signal outputted by the detection unit for the first set time is received, outputs a flag bit signal of the abnormality of the external input alternating current to the second control unit; the second control unit, in the case that the flag bit signal of the abnormality of the external input alternating current is received, plans a trajectory of the robot to stop working, generates a controlled planning program for controlling the robot to stop working, and starts 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, in the case that the power abnormality signal outputted by the detection unit for the first set time is received, controls the timing of the robot to stop working, which comprises: in the case that the external input alternating current is abnormal at any time between a normal time jump time preset before ta time to tb time, the detection unit outputs the power abnormality signal for the first set time at 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 at tb time to tc time, and starts controlling the robot to stop working according to the controlled planning program at tc time to td time.

[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 achieve the above-mentioned purposes, the present application provides a robot protection device, comprising: a detection unit, configured to detect whether a power supply of the robot is abnormal; a first control unit, configured to, in the case of receiving a power abnormality signal output by the detection unit, control the robot to stop working according to a controlled planning program; and a second control unit, configured to, in the case of receiving the power abnormality signal output by the detection unit for a first set time, control the robot to stop working.

[0012] In another aspect, the present application provides a robot protection method, comprising: detecting whether the external input AC power is abnormal at the input end of the external input AC power, and outputting a power abnormality signal for a first set time if the external input AC power is detected to be abnormal; controlling the robot to stop working if the power abnormality signal output by the detection unit for the first set time is received; wherein the controller has MCU1 and MCU2; when the AC input power fails, the AC input power failure protection circuit outputs an abnormality signal to MCU1, MCU1 outputs an AC input power failure flag to MCU2, and when MCU2 receives the flag and generates a controlled planning program for controlling the robot to stop, the robot starts controlled stopping according to the controlled planning program, and MCU1 starts monitoring the controlled stopping process of the robot; if MCU1 monitors that the robot has not completely stopped within a set time, MCU1 controls the robot to brake and lock at the set time.

[0013] In some embodiments, the robot is controlled to stop working if the power abnormality signal output by the detection unit for the first set time is received, comprising: outputting an external input AC power abnormality flag signal to the second control unit by the first control unit if the power abnormality signal output by the detection unit for the first set time is received; planning a trajectory for the robot to stop working by the second control unit if the external input AC power abnormality flag signal is received, generating a controlled planning program for controlling the robot to stop working, and starting to control the robot to stop working according to the controlled planning program to control the robot to stop working.

[0014] In some embodiments, the robot is controlled to stop working if the power abnormality signal output by the detection unit for the first set time is received, further comprising: starting to monitor the process of the robot stopping working according to the controlled planning program by the first control unit at the same time as the second control unit starts to control the robot to stop working according to the controlled planning program; determining 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, ending 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 controlling the robot to perform a brake and lock operation at time td to control the robot to stop working.

[0015] Therefore, the scheme of the application, for the robot controller with MCU1 and MCU2, and the AC power supply end of the controller, uses the AC input power failure detection circuit to detect whether the AC power of the input side of the controller is abnormal, when the AC input power fails, the AC input power failure protection circuit outputs an abnormal signal (such as a continuous high level signal) to the MCU1, the MCU1 outputs a flag bit of AC input power failure to the MCU2, and the MCU2 generates a controlled planning program for controlling the robot to stop after receiving the flag bit, and the robot starts controlled stopping according to the controlled planning program, and the MCU1 starts to monitor the controlled stopping process of the robot, if the MCU1 monitors that the robot does not stop completely within a set time, the MCU1 controls the robot brake to be clamped when the set time arrives; thereby, when the AC input power failure of the robot controller is detected, the robot controlled stopping and clamping are performed in time through the fast response of the controller, the abnormal operation of the robot is avoided, and the safety of the robot is improved.

[0016] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the application.

[0017] The technical scheme of the present application will be further described in detail below with the help of the accompanying drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The structure schematic diagram of an embodiment of the protection device of the robot of the present application;

[0019] Figure 2 The working flow schematic diagram of the AC input power failure protection circuit and its control system 1, which can show the working flow of each circuit module inside the controller;

[0020] Figure 3 The working flow schematic diagram of the AC input power failure protection circuit and its control system 2, which can show an internal working flow of the control circuit after receiving the AC input power failure detection signal;

[0021] Figure 4 The timing schematic diagram of the AC input power failure protection circuit and its control system, wherein (a) is the timing Figure 1 , (b) is the timing Figure 2 ;

[0022] Figure 5 The timing schematic diagram of the power abnormality control signal and the 24V power failure control signal;

[0023] Figure 6 The structure schematic diagram of the AC input power failure detection circuit;

[0024] Figure 7 Flowchart of an embodiment of the method for protecting the robot of the application;

[0025] Figure 8 Flowchart of an embodiment of the method for stopping the robot by the first control unit and the second control unit in the method of the application;

[0026] Figure 9 Flowchart of an embodiment of the method for stopping the robot by the first control unit in the method of the application. DETAILED DESCRIPTION

[0027] 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 conjunction 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.

[0028] 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 front-stage alternating current input, the power failure detected by the rear-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 alternating current power input, and after rectification, about 310V direct current is obtained. There are many energy storage capacitors here to prevent voltage fluctuations. Then the 310V direct current power is converted into multiple different voltage powers such as 24V, 15V, 12V and 5V through voltage reduction, and these power supplies also have energy storage capacitors.

[0029] 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.

[0030] Therefore, the scheme of the present application proposes a protection device of a robot, in particular an AC input power failure protection circuit and a control system thereof. The AC input end is detected, and when the power supply is abnormal, a power supply abnormality signal is sent to a control chip (such as a control chip of a robot controller) in time, so that the system (such as a system where the robot is located) immediately stops under control and is braked, effectively avoiding the problem of accidental falling of the robot end due to power interruption, and improving the overall safety of the system.

[0031] According to an embodiment of the present application, a protection device of a robot is provided. Referring to Figure 1 The structure diagram of an embodiment of the device of the present application is shown. The controller of the robot controls the robot action based on the external input AC power. In the scheme of the present application, as shown in Figure 1 The protection device of the robot includes a detection unit, such as an AC input power failure detection circuit.

[0032] 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, for 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 in the case of detecting that the external input AC power is abnormal; wherein the first set time is tms, and the power supply abnormality signal is output for a first set time, such as a high-level signal output for tms.

[0033] The controller is arranged between the external input AC power and the robot, and is connected with the detection unit, for controlling the robot to stop working in the case of 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 power fails, the AC input power failure protection circuit outputs an abnormality signal to MCU1, MCU1 outputs a flag bit of AC input power failure to MCU2, and MCU2 generates a controlled planning program for controlling the robot to stop when receiving the flag bit, so that the robot starts to stop under control according to the controlled planning program, and MCU1 starts to monitor the controlled stopping process of the robot. If MCU1 monitors that the robot does not completely stop within a set time, MCU1 controls the robot brake to be braked at the moment when the set time arrives.

[0034] Figure 2 The working flowchart of the AC input power failure protection circuit and the control system thereof 1 is a working flowchart of each circuit module in the entire controller, which can show the working flow of each circuit module in the entire controller. As shown in Figure 2As shown, the AC power supplies the controller, and the controller controls the robot action.

[0035] The application provides an AC input power failure protection circuit and a control system thereof. Figure 2 As shown, the AC input end directly detects the input power supply, and when the input power supply is detected to be abnormal, an abnormal power supply control signal is directly sent to the control chip, so that the system is timely controlled to stop and brake, and the robot end falling problem caused by power interruption is effectively avoided, and the overall safety of the system is improved.

[0036] In some embodiments, the controller has a first control unit and a second control unit, the first control unit is MCU1, and the second control unit is MCU2.

[0037] The controller, when receiving the power abnormal signal output by the detection unit for the first set time, controls the robot to stop working, including: controlling the robot to stop working through the first control unit and the second control unit, and the process is specifically as follows:

[0038] The first control unit is arranged between the detection unit and the second control unit, and is connected with the control end of the robot, and is used for outputting an external input AC abnormal flag bit signal to the second control unit when receiving the power abnormal signal output by the detection unit for the first set time.

[0039] The second control unit is arranged between the first control unit and the control end of the robot, and is used for planning a robot stop working track and generating a controlled planning program for controlling the robot to stop working when receiving the external input AC abnormal flag bit signal.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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:

[0044] 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,

[0045] The first control unit is further configured to end monitoring the robot stopping working according to the controlled planning program if it is determined that the robot has stopped working for a second set time.

[0046] The first control unit is further configured to directly control the robot to perform a brake lock operation at the time t to control the robot to stop working if it is determined that the robot has not stopped working for a second set time.

[0047] Figure 3 The working flowchart of the AC input power failure protection circuit and the control system 2 is an internal working flowchart of the control circuit after receiving the AC input power failure detection signal, which can show an internal working flowchart of the control circuit after receiving the AC input power failure detection signal. As shown in Figure 3 In the control circuit of the controller, MCUs 1 and 2 are arranged. The AC input power failure detection circuit outputs a tms high-level signal to the input end of the MCU 1, and the first output end of the MCU 1 outputs a flag signal to the input end of the MCU 2. The MCU 2 outputs a controlled planning signal to the robot, and the robot is controlled to stop based on the controlled planning signal, that is, the robot stops working based on the controlled planning signal. The second output end of the MCU 1 outputs a monitoring signal to the robot to monitor whether the robot is controlled to stop.

[0048] In Figure 3 , the reason why MCUs 1 and 2 are arranged is that in the controller, a single MCU cannot complete all function processing, and there will be function division, such as servo drive control module, operation control module, etc. In the scheme of the present application, MCU 1 refers to FPGA, and MCU 2 refers to ARM. MCU 1 is used for alarm detection, and MCU 2 is used for controlled planning.

[0049] As shown in Figure 3 , when the AC input power fails, the AC input power failure protection circuit outputs an abnormal signal, such as a continuous high-level signal. When the MCU 1 detects a continuous tms (t millisecond) high-level signal, it immediately sends a flag to the MCU 2. The MCU 2 plans an optimal stopping trajectory for the robot according to the current motion state of the robot, and sends the controlled planning program corresponding to the optimal stopping trajectory to the robot. Finally, the robot gradually reduces the speed according to the planned program (i.e. the controlled planning program) and finally completely stops. Before the MCU 2 completes the controlled planning and starts the controlled stopping, the MCU 1 starts to monitor the controlled stopping process. If the robot has not completed the stopping state within the set time threshold t0, the MCU 1 will quickly control the robot to perform a brake lock operation at t0 to ensure the safety of the robot.

[0050] Wherein, tms, for example, is generally a case that meets the AC power caused by power fluctuations less than one cycle (20ms) without false alarm can be increased by about 10ms (10ms only reference value, can be changed according to the controller itself demand) on the basis of a cycle 20ms. MCU2 according to the current motion state of the robot, for the robot planning an optimal stopping trajectory, specifically: from the current speed planning stop with the maximum deceleration, different load maximum deceleration is different, for example, the greater the load, the smaller the maximum deceleration; the smaller the load, the greater the maximum deceleration. MCU1 starts to monitor the process of controlled stop, specifically: MCU1 can be through the encoder real-time feedback motor speed. MCU1 can directly control the robot to perform brake operation, which is to control when the robot does not stop under the control of MCU2, which can avoid the structure damage caused by high speed brake and prolong the service life of the equipment.

[0051] The unit of t0 is ms, which is different in 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, the maximum controllable time at full load and full speed when power failure is 100ms, and the detection time is 30ms, so the controlled stopping time t0 is generally about 20ms.

[0052] The scheme of the application provides an AC input power failure protection circuit and a control system thereof, which can directly detect power abnormalities at the AC input end, send power abnormal signals to the control chip (such as the control chip of a robot controller) in time, make the system immediately stop and brake under control, effectively avoid the problem of accidental falling of the robot end caused by power interruption, and improve the overall safety of the system.

[0053] 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, and further comprises: from tc to 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: determines whether the robot stops working within a second set time; from tc to td after the second set time, if the first control unit determines that the robot does not stop working within the second set time, it directly controls the robot to perform brake operation at td.

[0054] Figure 4 The timing diagram of the AC input power failure protection circuit and the control system thereof, wherein (a) is the timing Figure 1 , (b) is the timing Figure 2 . Figure 4In the figure, the horizontal axis represents time, and the vertical axis represents two signals: the power abnormality control signal and the 24V power failure signal. Figure 4 In the figure, the brake signal 1 represents the brake open state, and 0 represents the brake holding state. The red font indicates that the high level of 1 represents the brake open state, and the low level of 0 represents the brake holding state. The robot is in the deceleration state at t0, and the robot brake signal is always 1. Figure 3 In the figure, t represents that the AC detection circuit detects a high level for tms. Figure 4 In the figure, t represents that the AC detection circuit detects a high level for tms.

[0055] Figure 4 The figure is a timing diagram of the AC input power failure protection circuit and its control system. Figure 4 In the figure, the AC input power failure occurs at ta, and the MCU1 detects a high level of the power abnormality control signal for tms at tb. At this time, the MCU1 sends a flag bit to the MCU2, and the rising edge is valid. After the MCU2 receives the flag bit, it starts to plan the optimal stopping trajectory of the robot. At tc, the MCU2 completes the controlled planning and starts the controlled stopping. At tc, the MCU1 starts to monitor the controlled stopping process of the robot. When the robot does not completely stop at t0, the MCU1 quickly controls the robot brake holding at td to ensure the safety of the robot.

[0056] Figure 5 The figure 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 represents two signals: the power abnormality control signal and the 24V power failure signal. Figure 5 The figure is a timing diagram of the power abnormality control signal and the 24V power failure control signal output by the AC input power failure protection circuit when the AC input power failure occurs (24V is the power supply of the control circuit). Figure 5 In the figure, before the detection of the 24V power failure at te, the controller and the robot are in a controllable state. After the detection of the 24V power failure at te, the controller and the robot are in an uncontrollable state. Figure 5 In the figure, the AC input power failure occurs at ta. When the control chip detects a high level of the power abnormality control signal for t, the system immediately performs controlled stopping to ensure that the system quickly responds at the power failure time and improve the overall safety of the system. If a 24V power failure detection circuit is used, the power failure can only be detected at te, which has a delay of te-tb. The system cannot immediately detect and respond, the brake cannot be closed in time, and the robot end may accidentally fall, which may cause safety hazards. Figure 5 In the figure, the period of the power abnormality control signal is t T . t T10ms, tb-ta=t (two moments, the difference is t, 30ms can be selected), tc-tb is the time when the chip receives the flag bit and performs controlled planning, which is related to the chip's data processing capability and cannot be given, td-tc=t0: controlled stop time, 20ms can be selected, te-ta: the time from the actual power failure to the 24V power supply detecting the power failure, which is related to the circuit design: 240ms. te-tb, that is, te minus tb, gives a time, referring to the delay te minus tb time.

[0057] Depend on Figure 5 As can be seen, before the 24V power supply detects a power failure, the AC input power failure protection circuit and its control system of the present invention can detect the power abnormality and perform controlled stop braking, 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.

[0058] In the solution of the present invention, t T The detection time is one cycle of the power supply abnormality control signal from the AC input detection circuit. The specific time can be adjusted according to the actual application to prevent false alarms due to power grid fluctuations. For example, if the controller and robot can still operate normally for 10 cycles after the AC input is disconnected, but their state becomes uncontrollable after that, then a detection period of 1.5 cycles (30ms) can be set. The specific time can be adjusted according to the actual application. Upon detecting a power failure, the system immediately performs a controlled stop, ensuring the robot completes a controlled stop within the normal operating time. If it can operate normally for 15 cycles, a longer detection cycle can be set, such as 3 cycles. Since the 220V AC output from the power grid is not a completely stable 50Hz AC, there may be instances where a cycle is missing. If the detection cycle is too short, false alarms will occur during power grid fluctuations. Therefore, adjustments need to be made based on the actual situation of the controller and robot.

[0059] In some embodiments, the detection unit includes an AC input power failure detection circuit.

[0060] Figure 6 This is a schematic diagram of an AC input power failure detection circuit. The structure of the AC input power failure detection circuit is as follows: Figure 6 As shown. Figure 6As shown, the AC input power failure detection circuit includes: resistors R1, R2, R3, and R4; a rectifier bridge; capacitors C1 and R5; a Zener diode D1; an optocoupler; capacitors C2 and C3; a resistor R6; and a level conversion chip. R1, R2, R3, and R4 act as voltage dividers and current limiters; D1 provides rectification; R5 divides the voltage; the Zener diode increases the optocoupler's forward voltage; R6 is a pull-up resistor for the output signal; and C1 and C2 act as filters. The detection is performed directly at the AC input. The input AC power (L and N lines) is divided by the voltage dividers to obtain low-voltage AC. This low-voltage AC is then rectified by the rectifier circuit to obtain low-voltage DC. Resistor R5, Zener diode D1, and the optocoupler are connected in series to form a voltage sampling circuit. This circuit samples the rectified and filtered low-voltage DC to obtain the optocoupler output signal. The optocoupler output signal is then converted to the final power failure control signal by the level conversion chip. In the AC input power-down detection circuit, the rectifier bridge steps down the voltage and then rectifies it to obtain 10V DC, which is only used in the detection circuit. Using the DC obtained after rectifying the AC input for detection: This refers to directly rectifying the 220V AC power to obtain 310V DC, which is used to power the controller. The level conversion chip is used for safe conversion between different voltage logic levels. For example, if the detection circuit outputs a 5V signal, but the MCU pin can only accept 3.3V signals, the 5V signal needs to be converted to 3.3V by the level conversion chip before being sent to the MCU.

[0061] The AC live wire L is connected to the first input terminal of the rectifier bridge via resistors R1 and R2. The AC neutral wire N is connected to the second input terminal of the rectifier bridge via resistors R3 and R4. The first output terminal of the rectifier bridge is connected to the second output terminal of the rectifier bridge via capacitor C1. The first output terminal of the rectifier bridge is connected to the cathode of Zener diode D1 via resistor R5. The anode of Zener diode D1 is connected to the first input terminal of the optocoupler. The second output terminal of the rectifier bridge is connected to the second input terminal of the optocoupler. The first output terminal of the optocoupler is connected to the second output terminal of the optocoupler via capacitor C3, and the second output terminal of the optocoupler is grounded. The DC power supply VCC1 is connected to the first output terminal of the optocoupler via resistor R6, and grounded via capacitor C2. The first output terminal of the optocoupler is connected to the input terminal A of the level conversion chip. The output terminal B of the level conversion chip can output a signal indicating whether the AC power is abnormal. When the AC input power fails, the AC input power failure protection circuit will output an abnormal signal, such as a continuous high-level signal.

[0062] In some schemes, a power failure detection device is provided, including an input circuit, a comparator, a reference power supply and an output circuit. The scheme detects the DC obtained after the rectification of the AC input, and the safety and reliability are not high; for example, when the power failure is detected, the controller and the robot may have been in an uncontrollable state, such as the occurrence of a silk rod falling.

[0063] In some schemes, a power failure protection circuit and a robot control system are provided, which detect the power failure of a DC power supply. The absolute value difference between the AC input voltage and the rectified DC voltage is compared with a threshold voltage, and if the difference is greater than the threshold voltage and the duration T is greater than the threshold voltage, the AC power failure is determined. The scheme needs to detect the AC input and the rectified DC voltage, and both need to pass through a sampling circuit to the control circuit, which may have the following problems:

[0064] Redundancy problem: the rectified DC voltage has small fluctuations due to the presence of energy storage capacitor, and theoretically does not need to be detected separately, which may increase the risk of misjudgment;

[0065] Hardware cost and complexity: two independent sampling circuits (for AC input and DC output) are needed, which increases the hardware cost and requires higher PCB layout and wiring requirements for signal interference, filtering design, etc.

[0066] Feasibility limitations: double sampling logic is complex, which may increase the difficulty of system debugging and maintenance, and in actual application, the charging and discharging characteristics of the energy storage capacitor may cause detection delay, affecting the response speed.

[0067] The scheme of the present application detects the AC input. Compared with the voltage detection by the comparator, the scheme of the present application can directly detect the power failure of the AC input, and can take action immediately when the AC input is detected abnormally, ensuring that the robot can quickly enter a safe state, which not only improves the reliability and stability of the system, but also provides a safer operating environment for industrial automation.

[0068] In some other schemes, the AC input voltage is detected, and the voltage obtained after rectification and voltage division is compared with a reference voltage, and whether the power supply is powered off is determined according to the output result of the voltage comparator to control the on-off state of the switching circuit; that is, the final result is output as a high level or a low level, and the reference voltage is constant, that is, subsequent adjustment cannot be made according to the actual situation. The scheme of the present application can adjust the detection condition through software in the later stage to cope with different working conditions (such as different power motors, etc.). Among them, the detection condition can be adjusted according to the actual working state and working environment of the client robot and the working demand. For example, if high-precision detection is required, the detection time can be slightly reduced, such as 15ms~20ms, but the voltage may be misreported in the case of power grid fluctuation and voltage drop to zero; if the precision requirement is general, it can be normally set to about 30ms~40ms according to the actual situation.

[0069] By adopting the technical scheme of the present application, the AC input power failure detection circuit is used to detect whether the AC power of the input side of the controller is abnormal, when the AC input power fails, the AC input power failure protection circuit outputs an abnormal signal (such as a continuous high level signal) to the MCU1, the MCU1 outputs a flag bit of AC input power failure to the MCU2, and when the MCU2 receives the flag bit and generates a controlled planning program for controlling the robot to stop, the robot starts to stop under control according to the controlled planning program, and the MCU1 starts to monitor the controlled stopping process of the robot, if the MCU1 monitors that the robot has not completely stopped within a set time, the MCU1 controls the robot brake to be engaged at the set time; thus, when the AC input power failure of the robot controller is detected, the controller quickly responds and the robot is controlled to stop under control and engaged in time, so as to avoid abnormal operation or even damage of the robot, and improve the safety of the robot.

[0070] According to the embodiment of the present application, a robot corresponding to the protection device of the robot is also provided. The robot can include the above-mentioned protection device of the robot. Among them, the protection device of the robot includes a detection unit, such as an AC input power failure detection circuit.

[0071] Among them, the detection unit is arranged between the externally input AC power and the controller, specifically arranged between the externally input AC power and the first control unit, for detecting whether the externally input AC power is abnormal at the input end of the externally input AC power, so as to output a power abnormal signal for a first set time in the case of detecting that the externally input AC power is abnormal; wherein the first set time is tms, and the power abnormal signal is output as a high level signal for tms.

[0072] The controller is arranged between the external input AC power and the robot and connected with the detection unit, and is configured to control the robot to stop working when the detection unit continuously outputs the power abnormal signal for a first set time; wherein the controller has an MCU1 and an MCU2; when the AC input power is off, the AC input power off protection circuit outputs an abnormal signal to the MCU1, the MCU1 outputs a flag bit of the AC input power off to the MCU2, and when the MCU2 receives the flag bit and generates a controlled planning program for controlling the robot to stop, the robot starts controlled stopping according to the controlled planning program, and the MCU1 starts monitoring the controlled stopping process of the robot, and if the MCU1 monitors that the robot does not completely stop within a set time, the MCU1 controls the robot brake to be engaged when the set time arrives.

[0073] As shown in Figure 2 , the AC power supplies power to the controller, and the controller controls the robot to act. In the controller, there are: an AC input module, a rectification and filtering module, a strong current circuit, and a control circuit connected in sequence, an AC input power off detection circuit detects the input power from the AC input module, and when detecting that the input power is abnormal, directly sends a power abnormal control signal to a control chip of the control circuit, and the control circuit can control the robot to act to avoid the robot end to fall. As shown in Figure 2 , the input power is directly detected at the AC input end, and when detecting that the input power is abnormal, a power abnormal control signal is directly sent to the control chip, so that the system is timely controlled to stop and engage, which can effectively avoid the problem of the robot end falling due to power interruption, and improves the overall safety of the system.

[0074] In some embodiments, the controller has a first control unit and a second control unit, the first control unit is an MCU1, and the second control unit is an MCU2.

[0075] The controller controls the robot to stop working when the detection unit continuously outputs the power abnormal signal for a first set time, including: controlling the process of the robot stopping working by the first control unit and the second control unit, specifically as follows:

[0076] The first control unit is arranged between the detection unit and the second control unit, and is connected with a control end of the robot, and is configured to output a flag bit signal of the external input AC power abnormality to the second control unit when the detection unit continuously outputs the power abnormal signal for a first set time.

[0077] The second control unit is arranged between the first control unit and the control end of the robot, and is used for planning a stop working track of the robot, generating a controlled planning program for controlling the robot to stop working, and starting to control the robot to stop working according to the controlled planning program to control the robot to stop working when a flag signal of an external input alternating current abnormality is received.

[0078] The scheme of the present application aims to solve the end falling problem of the industrial robot in the case of accidental power failure, that is, in the case of input power failure, 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 the case of accidental power failure, and there is a serious safety hazard. The alternating current input power failure protection circuit and the control system thereof proposed by the scheme of the present application can detect the power abnormality at the alternating current power input end, send the power abnormality signal 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 system safety.

[0079] In some embodiments, the controller controls the timing of stopping the robot from working in the case that the detection unit outputs the power abnormality signal for a first set time, including: in any time outside the normal time jump between ta time and tb time, the external input alternating current is abnormal, the detection unit outputs the power abnormality 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.

[0080] The alternating current input power failure protection circuit and the control system thereof proposed by the scheme of the present application can detect the power abnormality at the alternating current power input end, so as to realize quick response and timely controlled stop of the brake, which can effectively avoid the problem of accidental falling of the robot end caused by power interruption, ensure that the robot quickly enters a safe state, and significantly improve the overall operation safety.

[0081] In some embodiments, the controller controls the robot to stop working in the case that the detection unit outputs the power abnormality signal for a first set time, and further includes: controlling the process of stopping the robot from working by the first control unit, specifically as follows:

[0082] The first control unit is further configured to start monitoring the process of stopping the robot according to the controlled planning program while the second control unit starts controlling the robot to stop working according to the controlled planning program, and determine whether the robot stops working within a second set time.

[0083] The first control unit is further configured to end the monitoring process of stopping the robot according to the controlled planning program if it is determined that the robot has stopped working within the second set time.

[0084] The first control unit is further configured to directly control the robot to perform a brake holding operation at the time t0 to control the robot to stop working if it is determined that the robot has not stopped working within the second set time.

[0085] As shown in Figure 3 When the AC input power fails, the AC input power failure protection circuit outputs an abnormal signal, for example, a continuous high-level signal. When the MCU1 detects the continuous high-level signal for tms (t milliseconds), it immediately sends a flag bit to the MCU2. The MCU2 plans an optimal stopping trajectory for the robot according to the current motion state of the robot, and sends the controlled planning program corresponding to the optimal stopping trajectory to the robot. Finally, the robot gradually reduces the speed according to the planned program (i.e., the controlled planning program) and finally completely stops. Before the MCU2 completes the controlled planning and starts the controlled stopping, the MCU1 starts monitoring the process of controlled stopping. If the robot has not completed the stopping state within the set time threshold t0, the MCU1 will quickly control the robot to perform a brake holding operation at the time t0 to ensure the safety of the robot.

[0086] The AC input power failure protection circuit and the control system thereof provided by the scheme of the application can directly detect the power supply abnormality at the AC input end, send the power supply abnormal signal to the control chip (such as the control chip of the robot controller) in time, and make the system immediately perform a controlled stopping holding operation, thereby effectively avoiding the problem of accidental falling of the end of the robot caused by power supply interruption and improving the overall safety of the system.

[0087] In some embodiments, the timing of the controller controlling the robot to stop working when it receives the power abnormality signal output by the detection unit for a first set time further includes: from time tc to time td, while 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; 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, it directly controls the robot to perform a braking operation at time td.

[0088] like Figure 4 As shown in the diagram, the AC input loses power at time ta. At time tb, MCU1 detects a power abnormality and outputs a high-level control signal for a continuous tms. At this time, MCU1 sends a flag bit to MCU2, valid on the rising edge. Upon receiving the flag bit, MCU2 begins planning the optimal stopping trajectory for the robot. At time tc, MCU2 completes the controlled planning and begins controlled stopping. At time tc, MCU1 begins monitoring the robot's controlled stopping process. If the robot has not completely stopped within time t0, i.e., at time td, MCU1 quickly controls the robot to apply the brakes to ensure robot safety.

[0089] Figure 5 If the AC input fails at time ta, and the control chip detects the power failure and the control signal remains high for time t, the system will immediately stop under controlled conditions, ensuring a rapid response and improving overall system safety. However, if a 24V power failure detection circuit is used, the power failure can only be detected at time te, resulting in a te-tb time delay. The system cannot detect and react immediately, and the brakes may not close in time, potentially causing the robot's end effector to fall unexpectedly, posing a safety hazard.

[0090] Depend on Figure 5 As can be seen, before the 24V power supply detects a power failure, the AC input power failure protection circuit and its control system of the present invention can detect the power abnormality and perform controlled stop braking, 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.

[0091] In some embodiments, the detection unit includes an AC input power failure detection circuit.

[0092] like Figure 6As shown, the AC input power failure detection circuit comprises: resistors R1, R2, R3, R4, a rectifier bridge, a capacitor C1, a resistor R5, a voltage stabilizing diode D1, an optocoupler, capacitors C2, C3, a resistor R6 and a level conversion chip.

[0093] The firewire L of the AC power is connected to the first connection end of the input end of the rectifier bridge through resistors R1 and R2, the neutral wire N of the AC power is connected to the second connection end of the input end of the rectifier bridge through resistors R3 and R4, and the first connection end of the output end of the rectifier bridge is connected to the second connection end of the output end of the rectifier bridge through the capacitor C1. The first connection end of the output end of the rectifier bridge is connected to the cathode of the voltage stabilizing diode D1 through the resistor R5, the anode of the voltage stabilizing diode D1 is connected to the first connection end of the input end of the optocoupler, the second connection end of the output end of the rectifier bridge is connected to the second connection end of the input end of the optocoupler, the first connection end of the output end of the optocoupler is connected to the second connection end of the output end of the optocoupler through the capacitor C3, and the second connection end of the output end of the optocoupler is grounded. The DC power supply VCC1 is connected to the first connection end of the output end of the optocoupler through the resistor R6, and the DC power supply VCC1 is grounded through the capacitor C2. The first connection end of the output end of the optocoupler is connected to the input end A of the level conversion chip, and the output end B of the level conversion chip can output a signal indicating whether the AC power is abnormal. When the AC input power fails, the AC input power failure protection circuit outputs an abnormal signal, for example, a continuous high-level signal.

[0094] The scheme of the present application is to detect at the AC input end. Compared with voltage detection by a comparator, the scheme of the present application can directly detect the power failure of the AC input, can take action immediately when detecting the abnormality of the AC input, and can ensure that the robot can quickly enter a safe state, which not only improves the reliability and stability of the system, but also provides a safer operating environment for industrial automation.

[0095] Since the processing and functions realized by the robot of the present embodiment are basically corresponding to the embodiments, principles and examples of the device, the description of the present embodiment will not be described in detail, and the related descriptions in the foregoing embodiments can be referred to, which will not be described herein.

[0096] According to the embodiments of the present application, a robot protection method corresponding to the robot is also provided, which can include steps S110 to S120. Figure 7 As shown in the flowchart of an embodiment of the method of the present application. The robot protection method can include steps S110 to S120.

[0097] At step S110, at the input end of the externally input alternating current, it is detected whether the externally input alternating current is abnormal, so as to continuously output a power abnormality signal for a first set time in the case where it is detected that the externally input alternating current is abnormal; wherein the first set time is, for example, tms, and the power abnormality signal is continuously output for the first set time, for example, a high-level signal is output for tms.

[0098] At step S120, in the case where the power abnormality signal output by the detection unit for the first set time is received, the robot is controlled to stop working.

[0099] In the scheme of the present application, the input power is directly detected at the alternating current input end, and when the input power is detected to be abnormal, a power abnormality control signal is directly sent to a control chip, so that the system is timely controlled to stop and brake, which can effectively avoid the problem of robot end falling due to power interruption, and improve the overall safety of the system. By directly detecting the power abnormality at the alternating current input end, and timely sending a power abnormality signal to a control chip (such as a control chip of a robot controller), the system is immediately controlled to stop and brake, which effectively avoids the problem of robot end falling due to power interruption, and improves the overall safety of the system.

[0100] In some embodiments, in the case where the power abnormality signal output by the detection unit for the first set time is received in step S120, the robot is controlled to stop working, which includes the process of controlling the robot to stop working by the first control unit and the second control unit.

[0101] The specific process of controlling the robot to stop working by the first control unit and the second control unit in step S120 will be further described below with reference to the embodiment flowchart of the method of the present application shown in Figure 8 The specific process of controlling the robot to stop working by the first control unit and the second control unit in step S120 will be further described below with reference to the embodiment flowchart of the method of the present application shown in

[0102] At step S210, the first control unit outputs a flag signal of externally input alternating current abnormality to the second control unit in the case where the power abnormality signal output by the detection unit for the first set time is received.

[0103] At step S220, the second control unit plans a trajectory for the robot to stop working in the case where the flag signal of externally input alternating current abnormality is received, generates a controlled planning program for controlling the robot to stop working, and starts to control the robot to stop working according to the controlled planning program, so as to control the robot to stop working.

[0104] The present invention provides an AC input power-off protection circuit and its control system. For example... Figure 2 As shown, the input power is directly detected at the AC input terminal. When an abnormality is detected, a power abnormality control signal is sent directly to the control chip, enabling the system to promptly stop the brake in a controlled manner. This effectively avoids the problem of the robot's end effector falling due to power interruption and improves the overall safety of the system.

[0105] In some embodiments, step S120, which involves controlling the robot to stop working when the power abnormality signal is received from the detection unit for a first set time, further includes: controlling the robot to stop working through the first control unit.

[0106] The following is combined Figure 9 The flowchart shown is a schematic diagram of an embodiment of the method of the present invention in which the robot is controlled to stop working by the first control unit. The specific process of controlling the robot to stop working by the first control unit in step S120 is further explained, including steps S310 to S330.

[0107] Step S310: Through the first control unit, while the second control unit begins to control the robot to stop working according to the controlled planning program, the process of the robot stopping working according to the controlled planning program is monitored: determining whether the robot stops working within a second set time. And,

[0108] 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 ends.

[0109] Step S330: If it is determined that the robot has not stopped working within the second set time, then at time td, the robot is directly controlled to perform a braking operation to stop the robot from working.

[0110] like Figure 3As shown, when the AC input is powered off, the AC input power-off protection circuit outputs an abnormal signal, for example, a continuous high-level signal. When MCU1 detects a continuous high-level signal for tms (t milliseconds), it immediately sends a flag bit to MCU2, which plans an optimal stopping trajectory for the robot according to the current motion state of the robot, and sends the corresponding controlled planning program to the robot; finally, the robot gradually reduces the speed according to the planned program (i.e., the controlled planning program) and finally completely stops. Before MCU2 completes the controlled planning and starts the controlled stopping, MCU1 starts to monitor the controlled stopping process. If the robot has not completed the stopping state within the set time threshold t0, MCU1 will quickly control the robot to perform the brake holding operation at t0, ensuring the safety of the robot.

[0111] The scheme of the present application proposes an AC input power-off protection circuit and its control system, which can directly detect power abnormalities at the AC input end, and send power abnormal signals to the control chip (such as the control chip of the robot controller) in time, so that the system can immediately stop and hold the brake, effectively avoiding the problem of accidental falling of the robot end caused by power interruption, and improving the overall safety of the system.

[0112] Since the processing and functions realized by the method of the present embodiment are basically corresponding to the above-mentioned embodiments, principles and examples of the robot, the description of the present embodiment will not be described in detail, and the related description in the above-mentioned embodiments can be referred to, which will not be repeated here.

[0113] In summary, those skilled in the art can easily understand that the above-mentioned advantageous modes can be freely combined and superimposed without conflict.

[0114] The above only describes the embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of claims of the present application.

Claims

1. A protective device for a robot, characterized in that, The robot's controller controls the robot's movements based on externally input AC power. The robot's protective device includes: a detection unit; wherein, The detection unit is used to detect whether the externally input AC power is abnormal at the input terminal of the externally input AC power, so as to continuously output a power abnormality signal for a first set time when an abnormality of the externally input AC power is detected. The controller is configured to control the robot to stop working when it receives the power abnormality signal output by the detection unit for a first set time. The controller includes MCU1 and MCU2. When the AC input power fails, the AC input power failure protection circuit outputs an abnormal signal to MCU1. MCU1 outputs an AC input power failure flag to MCU2. After receiving the flag, MCU2 generates a controlled planning program to control the robot to stop. The robot starts to stop in a controlled manner according to the controlled planning program, and MCU1 starts to monitor the robot's controlled stopping process. If MCU1 detects that the robot has not completely stopped within a set time, MCU1 controls the robot to brake at the set time. At time ta, the AC input power fails. At time tb, MCU1 detects the power abnormality and outputs a high-level control signal for a duration of t. At this time, MCU1 sends a flag bit to MCU2, which is valid on the rising edge. After receiving the flag bit, MCU2 starts planning the optimal stopping trajectory for the robot. At time tc, MCU2 completes the controlled planning and begins controlled stopping. At time tc, MCU1 starts monitoring the robot's controlled stopping process. If the robot does not stop completely within time t0, i.e., at time td, MCU1 quickly controls the robot to apply the brakes to ensure robot safety. At time ta, the AC input power fails. When the control chip detects the power abnormality control signal for a duration of t, the system immediately performs controlled stopping to ensure a rapid response from the system in the event of a power failure.

2. The robot protection device according to claim 1, characterized in that, The controller has a first control unit and a second control unit; The controller, upon receiving a power abnormality signal continuously 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 an externally input AC power abnormality flag signal to the second control unit when it receives the power abnormality signal output by the detection unit for a first set time. The second control unit is used to plan the trajectory for the robot to stop working when it receives an external input AC power abnormality flag signal, and generate a controlled planning program for controlling the robot to stop working; And begin to control the robot to stop working according to the controlled planning program, so as to control the robot to stop working.

3. The robot protection device according to claim 2, characterized in that, The controller, upon receiving the abnormal power signal continuously output by the detection unit for a first set time, controls the robot to stop working in a specific sequence, including: If an external AC power abnormality occurs at any time between time ta and time tb, which is a preset normal jump time, the detection unit will continuously output a power abnormality signal for a first preset time from time ta to time tb after the first preset 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, it starts controlling 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, upon receiving a power abnormality signal continuously output by the detection unit for a first set time, controls the robot to stop working, further includes: The first control unit is further configured to, simultaneously with the second control unit beginning to control the robot to stop working according to the controlled planning program, begin monitoring the process of the robot stopping working according to the controlled planning program: determining whether the robot stops working within a second preset time; and, 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 procedure ends. If it is determined that the robot has not stopped working within the second set time, then at time td, the robot is directly controlled to perform a braking operation to stop the robot from working.

5. The robot protection device according to claim 4, characterized in that, The controller, upon receiving the power abnormality signal continuously output by the detection unit for a first set time, further includes controlling the robot to stop working in a specific sequence: From time tc to time td, while the second control unit begins to control the robot to stop working according to the controlled planning program, the first control unit begins 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, it directly controls the robot to perform a braking operation at time td.

6. The protective device for a robot according to any one of claims 1 to 5, characterized in that, The detection unit includes an AC input power failure detection circuit.

7. A robot, characterized in that, include: The protective device for the robot as described in any one of claims 1 to 6.

8. A method for protecting a robot as described in claim 7, characterized in that, include: At the input terminal of the externally input AC power, it is detected whether the externally input AC power is abnormal, so that if an abnormality is detected in the externally input AC power, a power abnormality signal is continuously output for a first set time. If the power supply abnormality signal is received from the detection unit for a first set time, the robot is controlled to stop working. The controller includes MCU1 and MCU2. When the AC input power fails, the AC input power failure protection circuit outputs an abnormal signal to MCU1. MCU1 outputs an AC input power failure flag to MCU2. After receiving the flag, MCU2 generates a controlled planning program to control the robot to stop. The robot starts to stop in a controlled manner according to the controlled planning program, and MCU1 starts to monitor the robot's controlled stopping process. If MCU1 detects that the robot has not completely stopped within a set time, MCU1 controls the robot to brake at the set time.

9. The robot protection method according to claim 8, characterized in that, Upon receiving the power abnormality signal continuously output by the detection unit for a first set time, the robot is controlled to stop working, including: Upon receiving the power supply abnormality signal continuously output by the detection unit for a first set time, the first control unit outputs an externally input AC power abnormality flag signal to the second control unit. Upon receiving an externally input AC power abnormality flag signal, the second control unit plans the trajectory for the robot to stop working, generates a controlled planning program to control the robot to stop working, and begins to control the robot to stop working according to the controlled planning program.

10. The robot protection method according to claim 9, characterized in that, Upon receiving the power abnormality signal continuously output by the detection unit for a first set time, controlling the robot to stop working further includes: Through the first control unit, simultaneously with the second control unit starting to control the robot to stop working according to the controlled planning program, the process of the robot stopping working according to the controlled planning program is monitored: 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 the process of monitoring the robot to stop working according to the controlled planning procedure ends. If it is determined that the robot has not stopped working within the second set time, then at time td, the robot is directly controlled to perform a braking operation to stop the robot from working.

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