Robot with controller protected from grid failure

摘要

The invention relates to a robot comprising an actuator driven element (105) and requiring a desired operating voltage UB and / or a desired operating current IB for operation. This robot is applied with a primary voltage UP and a primary current IP. During normal operation, the primary interface UP is equal to the desired primary voltage UP, desired, and the input interface (107) the primary current IP is equal to the desired primary current IP, desired. And a voltage current source (101) having an actual voltage Uactual and an actual current Iactual, and an output interface (108) with Uactual = UB and Iactual = IB during normal operation, and a voltage / current source (101) Energy storage (102) that maintains the operating voltage UB and the operating current IB for a predefined period of time Δt after power failure or reduction of the primary voltage / primary current, and is applied to the input interface (107). Monitoring the primary voltage UP Unit (103) and (103) configured to generate a stop signal as soon as the applied primary voltage UP deviates from the desired primary voltage UP, desired by a predefined amount ΔU. A control (104) connected and designed to control the robot and the actuator-driven element (105) of the robot, wherein upon receipt of the stop signal, the robot having the element (105) of the robot is predefined. A control unit (104) configured to control to a safe state. [Selected figure] Figure 1