Electric robot, charger, and charging system

Abstract

Disclosed are an electric robot, a charger, and a charging system including: a battery that is charged through a first charging terminal; a first relay for determining whether to supply power to the battery; a first communication unit for communicating with the charger; and a first controller for blocking the first relay when a voltage abnormality signal on the charger side is received.

Description

Electric robots, chargers, and charging systems

[0001] The present invention relates to an electric robot, a charger, and a charging system that prevents power from being improperly supplied to a battery even when some power cut-off functions within the charging system do not operate normally.

[0002]

[0003] In general, batteries are at risk of catching fire or exploding if subjected to strong impact, high heat, or if overcharged or overdischarged.

[0004] To prevent the above risks, a battery management system (BMS) is connected to the battery to cut off the battery power in case of overcharge or overdischarge, or an abnormal voltage cut-off function is applied to the charger that supplies power to the battery.

[0005] When the battery management system or the charger's voltage cutoff function is functioning properly, battery explosions or fires caused by overcharging can be significantly prevented. In particular, when all of the above systems and functions are in place, battery explosions or fires can be prevented even if a malfunction occurs in any one of them.

[0006] However, if all of these systems and functions do not operate properly, the battery will not be protected from overcharging, etc.

[0007]

[0008] The matters described as background technology above are only intended to enhance understanding of the background of the present invention, and should not be taken as an acknowledgment that they correspond to prior art already known to those skilled in the art.

[0009]

[0010] An object of the present invention is to provide an electric robot, a charger, and a charging system that can prevent power from being improperly supplied to a battery even when some power cut-off functions within the charging system do not operate normally.

[0011]

[0012] The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

[0013]

[0014] According to one embodiment of the present invention for realizing the above-described task, an electric robot includes: a battery that is charged by receiving power from a charger through a first charging terminal; a first relay that is arranged at one end of the first charging terminal and selectively supplies power to the battery depending on a connection or disconnection state; a first communication device that performs communication with the charger; and a first controller that blocks the first relay when a signal exceeding the charger side voltage is received from the charger through the first communication device or when the voltage of the battery exceeds a preset voltage in a state where no charging request is generated.

[0015] For example, the first controller may block the first relay when an abnormal voltage signal is received from the charger side while power is being supplied to the battery through the first charging terminal.

[0016] For example, the first controller is provided in the charger, and when a second relay that determines whether to supply power to the first charging terminal according to a connection and disconnection state is connected and an abnormal voltage signal on the charger side is received through the first communication device, the first relay can be disconnected.

[0017] For example, the first controller may block the first relay when an abnormal voltage signal from the charger side is received through the first communicator while the power of the battery is not cut off.

[0018] For example, the first controller may output a battery side voltage abnormality signal through the first communicator when the voltage of the battery exceeds a preset voltage without a charging request occurring.

[0019] For example, the first controller may transmit a control signal to the charger through the first communicator to cause a second relay, which is provided in the charger and determines whether to supply power to the first charging terminal according to a connection and disconnection state, to be cut off when the voltage of the battery exceeds a preset voltage in a state where no charging request has occurred.

[0020] For example, an electric robot according to one embodiment of the present invention may further include a battery management device that is connected to the battery and cuts off power to the battery when the voltage of the battery exceeds a preset voltage in a state where no charging request has occurred or when an abnormal voltage signal is received from the charger side through the first communication device.

[0021] For example, the first controller can control the robot to stop operation when the voltage of the battery exceeds a preset voltage or an abnormal voltage signal is received from the charger side through the first communicator without a charging request being generated.

[0022] For example, the first relay may be placed between the battery and the first charging terminal.

[0023]

[0024] According to one embodiment of the present invention for realizing the above-described task, a charger is provided at one end of a second charging terminal for supplying power to an electric robot, the second relay having a first controller for controlling a connection or cut-off state of a first relay so that power supplied through a first charging terminal is selectively supplied to a battery, and the second relay determines whether to supply power to the electric robot according to the connection and cut-off state; a second communication device for performing communication with a first communication device provided in the electric robot; and a second controller for cutting off the second relay when an abnormal voltage signal is received from the electric robot through the second communication device or when an internal voltage exceeds a preset voltage.

[0025] For example, the second controller may block the second relay when an abnormal voltage signal is received from the electric robot side through the second communicator while power is being supplied to the electric robot.

[0026] For example, the second controller can block the second relay when an abnormal voltage signal from the electric robot side is received through the second communicator while the first relay is connected.

[0027] For example, the second controller can output a voltage abnormality signal to the charger side through the second communicator when the voltage inside the charger exceeds a preset voltage.

[0028] For example, the second controller can transmit a control signal to the electric robot through the second communicator to cause the first relay to be shut off when the voltage inside the charger exceeds a preset voltage.

[0029]

[0030] According to one embodiment of the present invention for realizing the above-described task, a charging system includes a battery that is charged by receiving power from a charger through a first charging terminal, and a first relay that is arranged at one end of the first charging terminal and determines whether to supply power to the battery according to a connection or disconnection state, and an electric robot that cuts off the first relay when a voltage abnormality signal is received from the charger or when the voltage of the battery exceeds a preset voltage in a state where no charging request is generated; and a second relay that is arranged at one end of a second charging terminal that supplies power to the electric robot and determines whether to supply power to the electric robot according to a connection or disconnection state, and a charger that cuts off the second relay when a voltage abnormality signal is received from the electric robot or when an internal voltage exceeds a preset voltage.

[0031]

[0032] According to various embodiments of the present invention as described above, even if some power cut-off functions within the charging system do not operate normally, it is possible to prevent power from being improperly supplied to the battery, thereby protecting the battery from explosion, fire, etc.

[0033]

[0034] The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention belongs from the description below.

[0035]

[0036] FIG. 1 is a drawing showing the configuration of a charging system according to one embodiment of the present invention.

[0037] FIG. 2 is a drawing for explaining a process in which an electric robot according to one embodiment of the present invention performs abnormal voltage cutoff control for battery protection.

[0038] FIG. 3 is a drawing for explaining a process in which a charger according to one embodiment of the present invention performs abnormal voltage cutoff control for battery protection.

[0039] FIG. 4 is a sequence diagram when the battery side voltage of the charging system according to one embodiment of the present invention is abnormal.

[0040] FIG. 5 is a sequence diagram when the charger side voltage of the charging system according to one embodiment of the present invention is abnormal.

[0041]

[0042] Specific structural and functional descriptions of the embodiments of the present invention disclosed in this specification or application are merely illustrative for the purpose of explaining the embodiments according to the present invention, and the embodiments according to the present invention may be implemented in various forms and should not be construed as limited to the embodiments described in this specification or application.

[0043] Since embodiments of the present invention can be modified in various ways and take various forms, specific embodiments are illustrated in the drawings and described in detail in this specification or application. However, this is not intended to limit embodiments of the present invention to specific disclosed forms, and it should be understood that all modifications, equivalents, and alternatives fall within the spirit and technical scope of the present invention.

[0044] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be construed in an idealized or overly formal sense unless explicitly defined herein.

[0045] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components are given the same reference numbers and redundant descriptions thereof will be omitted.

[0046] In the description of the following embodiments, the term "pre-set" means that when a parameter is used in a process or algorithm, the value of the parameter is predetermined. Depending on the embodiment, the value of the parameter may be set when the process or algorithm starts or may be set during the execution of the process or algorithm.

[0047] The suffixes "module" and "part" used for components in the following description are given or used interchangeably only for the convenience of writing specifications, and do not have distinct meanings or roles in themselves.

[0048] In describing the embodiments disclosed in this specification, detailed descriptions of related known technologies will be omitted if it is determined that such detailed descriptions may obscure the gist of the embodiments disclosed in this specification. In addition, the attached drawings are provided solely to facilitate understanding of the embodiments disclosed in this specification, and the technical concepts disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included within the spirit and technical scope of the present invention.

[0049] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0050] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0051] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0052] In this specification, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0053] In addition, the unit or control unit included in the names of motor control units (MCU) and hybrid control units (HCU) are terms widely used to name control devices (Controllers) that control vehicle-specific functions, and do not mean generic function units.

[0054] The controller may include a communication device that communicates with other controllers or sensors to control the function in charge, a memory that stores operating system or logic commands and input / output information, and one or more processors that perform judgments, calculations, decisions, etc. necessary for controlling the function in charge.

[0055]

[0056] A charging system according to one embodiment of the present invention proposes to effectively protect a battery from an abnormal voltage by enabling the connection between charging terminals to be released through communication between an electric robot and a charger even when both the voltage cut-off function of a battery and the voltage cut-off function of a charger do not operate normally in an abnormal voltage state.

[0057] Hereinafter, with reference to FIG. 1, a configuration of a charging system according to one embodiment of the present invention and an electric robot and charger constituting the same will first be described.

[0058]

[0059] FIG. 1 is a drawing showing the configuration of a charging system according to one embodiment of the present invention.

[0060] Referring to FIG. 1, a charging system (10) according to one embodiment of the present invention includes an electric robot (100) and a charger (200). However, FIG. 1 primarily illustrates components related to the description of one embodiment of the present invention, and it is understood that an actual charging system may be implemented with more or fewer components. Each component will be described in detail below.

[0061] First, the electric robot (100) may include a first charging terminal (110), a battery (120), a first relay (130), a first communicator (140), a first controller (150), and a battery management device (160).

[0062] The battery (120) can be charged by receiving power from the charger (200) through the first charging terminal (110), and the charged power can be supplied for the operation of the electric robot (100).

[0063] The first relay (130) is arranged at one end of the first charging terminal (110) and can selectively supply power to the battery (120) depending on the connection or disconnection status. More specifically, when the first relay (130) is connected, power output from the charger (200) can be supplied to the battery (120) through the first charging terminal (110), and when the first relay (130) is released, the supply of power output from the charger (200) can be cut off.

[0064] For this purpose, the first relay (130) can be placed between the battery (120) and the first charging terminal (110).

[0065] The first communication device (140) communicates with the charger (200) and can receive or transmit signals such as voltage abnormality signals and relay control signals.

[0066] The first controller (150) controls the first relay (130) and the first communicator (140), and more specifically, when a voltage abnormality signal is received from the charger (200) through the first communicator (140), the first relay (130) can be shut off.

[0067] In particular, the first controller (150) can block the first relay (130) when an abnormal voltage signal is received from the charger (200) while power is being supplied to the battery (120) through the first charging terminal (110), thereby preventing the battery (120) from being overcharged.

[0068] Furthermore, the first controller (150) is provided in the charger (200), and when a voltage abnormality signal is received from the charger (200) through the first communication device (140) in a connected state with the second relay (230) that determines whether to supply power to the first charging terminal (110) depending on the connection and disconnection status, the first relay (130) can be disconnected.

[0069] Through this, even if an abnormality occurs on the charger (200) side but the abnormal voltage blocking function of the charger (200) does not operate properly, it is possible to prevent an abnormal voltage from being applied to the battery (120).

[0070] In addition, the first controller (150) can block the first relay (130) when an abnormal voltage signal is received from the charger (200) through the first communicator (140) while the power of the battery (120) is not cut off.

[0071] Through this, even if an abnormality occurs on the charger (200) side but the power cut-off function of the battery (120) does not operate normally, it is possible to prevent an abnormal voltage from being applied to the battery (120).

[0072] In particular, according to one embodiment of the present invention, by preventing the power of the charger (200) from being supplied to the battery (120) by blocking the first relay (130), the battery (120) can be protected even when both the abnormal voltage blocking function of the charger (200) and the power blocking function of the battery (120) do not operate normally.

[0073] Meanwhile, the first controller (150) can block the first relay (130) not only when an abnormality occurs on the charger (200) side, but also when the voltage of the battery (120) exceeds a preset voltage without a charging request being generated.

[0074] In addition, when the voltage of the battery exceeds a preset voltage without a charging request occurring, the first controller (150) can output an abnormal voltage signal on the battery (120) side through the first communicator (140), and the output abnormal voltage signal can be transmitted to a control device (not shown) for controlling a charger (200) or an electric robot (100).

[0075] In particular, when the voltage of the battery (120) exceeds a preset voltage in a state where no charging request has been generated, the first controller (150) can transmit a control signal to the charger (200) through the first communicator (140) to block the second relay (230) provided in the charger (200) and which determines whether to supply power to the first charging terminal (110) according to the connection and disconnection status. The charger (200) that receives the above control signal can block the second relay (230) and thus block the power supply to the battery (120).

[0076] Meanwhile, the battery management device (160) is connected to the battery (120) and can perform a function of cutting off the power of the battery (120) when the voltage of the battery (120) exceeds a preset voltage in a state where no charging request has occurred or when an abnormal voltage signal is received from the charger (200) through the first communication device (140). Such a battery management device (160) may also be expressed as a BMS (Battery Management System). The overcharging of the battery (120) can be primarily prevented through the battery (120) power cut-off function of the battery management device (160), and according to one embodiment of the present invention, even when the power cut-off function of the battery management device (160) does not operate normally, the battery (120) can be protected through the cut-off of the first relay (130).

[0077] Meanwhile, the first controller (150) can control the electric robot (100) to stop operation when the voltage of the battery exceeds a preset voltage or an abnormal voltage signal is received from the charger through the first communicator without a charging request being generated, thereby preventing additional damage.

[0078]

[0079] Meanwhile, in one embodiment of the present invention, the charger (200) may include a second charging terminal (210), a second relay (230), a second communicator (240), and a second controller (250).

[0080] The charger (200) can supply power received from a power grid, etc. to the electric robot (100), and can perform power conversion, etc. for this purpose.

[0081] For this purpose, the second charging terminal (210) can be connected to the first charging terminal (110) of the electric robot (100) and can act as an output terminal of power.

[0082] The second relay (230) is arranged at one end of the second charging terminal (210) that supplies power to the electric robot (100), and can determine whether to supply power to the electric robot (100) depending on the connection and disconnection status. More specifically, when the second relay (230) is connected, power can be supplied to the electric robot (100), particularly the battery (120), through the second charging terminal (210), and when the second relay (230) is disconnected, power supply to the electric robot (100) can be cut off.

[0083] For example, the second relay (230) may be placed between the input terminal of the system power supply and the second charging terminal within the charger (200).

[0084] The second communication device (240) communicates with the electric robot (100), and in particular, can exchange voltage abnormality signals, control signals, etc. with the first communication device (140) of the electric robot (100).

[0085] The second controller (250) controls the second relay (230) and the second communicator (240), and more specifically, when an abnormal voltage signal is received from the electric robot (100) through the second communicator (240), the second relay (230) can be shut off.

[0086] The second controller (250) can also block the second relay (230) when the voltage inside the charger (200) exceeds a preset voltage.

[0087] In particular, the second controller (250) can block the second relay (230) when an abnormal voltage signal is received from the electric robot (100) through the second communication device (240) while power is being supplied to the electric robot (100), thereby preventing an abnormal voltage from being applied to the electric robot (100), particularly to the battery (120) of the electric robot (100).

[0088] Furthermore, the second controller (250) is provided in the electric robot (100), and when a voltage abnormality signal is received from the electric robot (100) through the second communication device (240) in a connected state with the first relay (130) that determines whether to supply power to the battery (120) in the electric robot (100) depending on the connection or disconnection state, the second relay (230) can be disconnected, and through this, even when control for blocking the voltage abnormality is not performed on the electric robot (100) side, the application of an abnormal voltage to the battery (120) of the electric robot (100) can be prevented.

[0089] In addition, the second controller (250) can output an abnormal voltage signal on the charger (200) side through the second communicator (240) when the voltage inside the charger (200) exceeds a preset voltage, and the output abnormal voltage signal can be transmitted to the electric robot (100) or a control device (not shown) for controlling the electric robot (100).

[0090] Furthermore, the second controller (250) can transmit a control signal to the electric robot (100) through the second communication unit (240) to block the first relay (130) that is provided in the electric robot (100) and determines whether to supply power to the battery (120) within the electric robot (100) depending on the connection or disconnection state when the voltage inside the charger (200) exceeds a preset voltage. The electric robot (100) that receives such a control signal can block the first relay (130) to prevent an abnormal voltage from being applied to the battery (120).

[0091] Hereinafter, with reference to FIG. 2, an abnormal voltage cutoff control process performed by an electric robot according to one embodiment of the present invention to protect a battery will be described.

[0092]

[0093] FIG. 2 is a drawing for explaining a process in which an electric robot according to one embodiment of the present invention performs abnormal voltage cutoff control for battery protection.

[0094] Referring to FIG. 2, when a charging request occurs (Yes in S201), the battery (120) is charged normally, but when a charging request does not occur (No in S201) and an abnormal voltage occurs on the battery (120) side, such as when the voltage of the battery (120) exceeds a preset voltage (Yes in S203), the battery management device (160) cuts off the power to the battery (120), and the first controller (150) cuts off the first relay (130) to prevent an abnormal voltage from being applied to the battery (120).

[0095] Additionally, in this case (Yes in S203), the first controller (150) can output an abnormal voltage signal on the battery (120) side through the first communicator (140) (S207).

[0096] Meanwhile, even if an abnormal voltage does not occur on the battery (120) side (No of S203), the first controller (150) can block the first relay (130) when it receives an abnormal voltage signal on the charger (200) side through the first communication device (140) (Yes of S204), thereby preventing an abnormal voltage from being applied to the battery (120) even when the abnormal voltage blocking function of the charger (200) and battery management device (160) does not operate normally.

[0097] Next, referring to FIG. 3, a process in which a charger (200) according to one embodiment of the present invention performs abnormal voltage blocking control to protect a battery will be described.

[0098]

[0099] FIG. 3 is a drawing for explaining a process in which a charger according to one embodiment of the present invention performs abnormal voltage cutoff control for battery protection.

[0100] Referring to FIG. 3, when an abnormal voltage occurs on the charger (200) side (Yes in S301), the second controller (250) can block the second relay (230) to prevent the abnormal voltage from being applied to the battery (120), and in particular, even when the abnormal voltage blocking function of the battery management device (160) and the first controller (150) does not operate normally, the abnormal voltage can be prevented from being applied to the battery (120).

[0101] Additionally, the second controller (250) can output an abnormal voltage signal on the charger (200) side in this case (Yes of S301) (S303).

[0102] Meanwhile, even when no abnormal voltage occurs on the charger (200) side (No of S301), the second controller (250) can block the second relay (230) when it receives an abnormal voltage signal on the battery (120) side through the second communication device (240), thereby preventing an abnormal voltage from being applied to the battery (120).

[0103] Hereinafter, with reference to FIGS. 4 and 5, the entire charging system that performs an abnormal voltage blocking function through an electric robot (100) and a charger (200) will be described.

[0104] First, FIG. 4 is a sequence diagram when the battery side voltage of the charging system according to one embodiment of the present invention is abnormal.

[0105] Referring to FIG. 4, the electric robot (100) can determine whether an abnormal voltage occurs on the battery (120) side through battery (120) sensing (S401), and when an abnormal voltage occurs on the battery (120) side, the first relay (130) can be blocked (S402) to protect the battery (120).

[0106] In this case, the electric robot (100) can transmit a battery side voltage abnormality signal to the charger (200) (S403), and the charger (200) that receives the signal can block the second relay (230). Through this, even when the function for battery protection in the electric robot (100) is not properly performed, such as when the first relay (130) is not blocked, the battery (120) can be protected through voltage blocking on the charger (200) side.

[0107]

[0108] Next, Fig. 5 is a sequence diagram when the charger side voltage of the charging system according to one embodiment of the present invention is abnormal.

[0109] Referring to FIG. 5, the charger (200) can determine whether an abnormal voltage occurs on the charger (200) side through its own voltage sensing (S501), and when an abnormal voltage occurs, the second relay (230) can be blocked to prevent an abnormal voltage from being applied to the battery (120).

[0110] In addition, the charger (200) can transmit an abnormal voltage signal on the charger (200) side to the electric robot (100), and the electric robot (100) that receives the signal can block the first relay (130) (S504). Through this, even when the function for battery protection in the charger (200) is not properly performed, such as when the second relay (230) is not blocked, the power supply to the battery (120) can be blocked, thereby protecting the battery (120).

[0111]

[0112] According to various embodiments of the present invention as described above, even if some power cut-off functions within the charging system do not operate normally, it is possible to prevent power from being improperly supplied to the battery, thereby protecting the battery from explosion, fire, etc.

[0113]

[0114] Although the present invention has been illustrated and described with respect to specific embodiments thereof as described above, it will be apparent to those skilled in the art that the present invention may be variously improved and modified without departing from the technical spirit of the present invention as defined by the following claims.

[0115]

[0116] [Explanation of symbols]

[0117] 10: Charging system

[0118] 100: Electric robot

[0119] 200: Charger

Claims

1. A battery that is charged by receiving power from a charger through the first charging terminal; A first relay arranged at one end of the first charging terminal and selectively supplying power to the battery depending on a connection or disconnection state; A first communication device that performs communication with the above charger; and An electric robot including a first controller that blocks the first relay when a voltage abnormality signal is received from the charger through the first communication device or when the voltage of the battery exceeds a preset voltage without a charging request occurring.

2. In claim 1, The above first controller, An electric robot characterized in that the first relay is cut off when an abnormal voltage signal is received from the charger side while power is being supplied to the battery through the first charging terminal.

3. In claim 1, The above first controller, An electric robot characterized in that the first relay is cut off when a voltage abnormality signal is received from the first communication device while the second relay, which is equipped on the charger and determines whether to supply power to the first charging terminal according to the connection and disconnection status, is connected.

4. In claim 1, The above first controller, An electric robot characterized in that the first relay is cut off when an abnormal voltage signal is received from the charger side through the first communicator while the power of the battery is not cut off.

5. In claim 1, The above first controller, An electric robot characterized in that, when the voltage of the battery exceeds a preset voltage in a state where no charging request is generated, a battery side voltage abnormality signal is output through the first communicator.

6. In claim 1, The above first controller, An electric robot characterized in that when the voltage of the battery exceeds a preset voltage in a state in which no charging request is generated, a control signal is transmitted to the charger through the first communicator so as to cause a second relay, which is provided in the charger and determines whether to supply power to the first charging terminal according to a connection and disconnection state, to be cut off.

7. In claim 1, An electric robot further comprising a battery management device connected to the battery and cutting off power to the battery when the voltage of the battery exceeds a preset voltage without a charging request occurring or when an abnormal voltage signal from the charger is received through the first communicator.

8. In claim 1, The above first controller, An electric robot characterized in that the robot is controlled to stop operation when the voltage of the battery exceeds a preset voltage or an abnormal voltage signal is received from the charger side through the first communicator in a state where no charging request has occurred.

9. In claim 1, The above first relay, An electric robot characterized by being disposed between the battery and the first charging terminal.

10. A second controller for controlling the connection or disconnection state of the first relay so that power supplied through the first charging terminal is selectively supplied to the battery, and is disposed at one end of a second charging terminal for supplying power to the electric robot, and a second relay for determining whether to supply power to the electric robot according to the connection and disconnection state; A second communication device that performs communication with the first communication device equipped in the above electric robot; and A charger including a second controller that blocks the second relay when an abnormal voltage signal is received from the electric robot through the second communication device or when the internal voltage exceeds a preset voltage.

11. In claim 10, The second controller above, A charger characterized in that the second relay is cut off when an abnormal voltage signal from the electric robot is received through the second communicator while power is being supplied to the electric robot.

12. In claim 10, The second controller above, A charger characterized in that the second relay is cut off when an abnormal voltage signal from the electric robot side is received through the second communicator while the first relay is connected.

13. In claim 10, The second controller above, A charger characterized in that when the voltage inside the charger exceeds a preset voltage, a voltage abnormality signal is output through the second communicator.

14. In claim 10, The second controller above, A charger characterized in that when the voltage inside the charger exceeds a preset voltage, a control signal for causing the first relay to be shut off is transmitted to the electric robot through the second communicator.

15. An electric robot including a battery that is charged by receiving power from a charger through a first charging terminal and a first relay that is arranged at one end of the first charging terminal and determines whether to supply power to the battery depending on a connection or disconnection state, and when a voltage abnormality signal is received from the charger or when the voltage of the battery exceeds a preset voltage in a state where no charging request is generated, the first relay is cut off; and A charging system including a second relay arranged at one end of a second charging terminal that supplies power to the electric robot and determines whether to supply power to the electric robot according to a connection and disconnection state, and a charger that blocks the second relay when an abnormal voltage signal is received from the electric robot or when the internal voltage exceeds a preset voltage.

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