CN113890421A

CN113890421A - Servo controller

Info

Publication number: CN113890421A
Application number: CN202111321818.XA
Authority: CN
Inventors: 张龙飞
Original assignee: Shanghai Xiangshi Intelligent Technology Co ltd
Current assignee: Shanghai Xiangshi Intelligent Technology Co ltd
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-01-04

Abstract

The invention provides a servo controller, which comprises an interface board, a control board, a power board and a heat dissipation board, wherein the upper surface of the interface board is provided with N paths of power output terminals and N paths of signal I/O terminals, each path of power output terminal and each path of signal I/O terminal correspond to a controlled servo object, and N is an integer greater than or equal to 2; the control board is arranged between the lower surface of the interface board and the upper surface of the power board and is fixedly connected with the interface board; the power board is arranged between the lower surface of the control board and the upper surface of the heat dissipation plate and is fixedly connected with the control board; and the heat dissipation plate is fixedly connected with the power plate. The servo controller can simultaneously control multiple paths of controlled servo objects, and has the advantages of small volume, convenience in maintenance and good heat dissipation performance.

Description

Servo controller

Technical Field

The invention mainly relates to the technical field of control, in particular to a servo controller capable of controlling multiple paths of servo objects.

Background

The servo controller is a controller for controlling a servo motor, belongs to a fixed part of a servo system, is also called as a servo driver and a servo amplifier, is an important component of modern motion control, and is widely applied to automation equipment such as industrial robots and numerical control machining centers. The servo controller acts on a common alternating current motor similarly to a frequency converter, generally controls a servo motor through three modes of position, speed and moment, and realizes high-precision positioning of a transmission system. The existing servo controller mostly adopts a one-to-one control mode, namely one servo controller is used for controlling one servo motor, if a plurality of servo motors are to be controlled, a plurality of servo controllers are needed to be respectively controlled, and the problems of large volume, complex installation, inconvenient maintenance and the like are brought to the whole servo control system.

Disclosure of Invention

The invention aims to provide a servo controller which has small volume and simple and convenient installation and is suitable for controlling a plurality of controlled servo objects.

In order to solve the technical problem, the invention provides a servo controller, which is characterized by comprising an interface board, a control board, a power board and a heat dissipation board, wherein the upper surface of the interface board is provided with N paths of power output terminals and N paths of signal I/O terminals, each path of power output terminal and each path of signal I/O terminal correspond to a controlled servo object, and N is an integer greater than or equal to 2; the control board is arranged between the lower surface of the interface board and the upper surface of the power board and is fixedly connected with the interface board; the power board is arranged between the lower surface of the control board and the upper surface of the heat dissipation plate and is fixedly connected with the control board; and the heat dissipation plate is fixedly connected with the power plate.

In an embodiment of the invention, the interface board includes a first side and a second side opposite to each other, the N power output terminals are disposed on the first side, and the N signal I/O terminals are disposed on the second side.

In an embodiment of the invention, the upper surface of the interface board is further provided with a power input terminal and an energy feedback output terminal, and the power input terminal and the energy feedback output terminal are disposed on the first side.

In an embodiment of the invention, the upper surface of the interface board is further provided with a communication terminal and an STO terminal, and the communication terminal and the STO terminal are arranged on the second side.

In an embodiment of the present invention, the upper surface of the interface board is further provided with N encoder terminals and N USB terminals.

In an embodiment of the invention, the upper surface of the heat dissipation plate is provided with at least one heat dissipation boss, and the heat dissipation boss is in contact with the lower surface of the power board.

In an embodiment of the invention, a flexible insulating heat conducting plate is disposed on a lower surface of the heat dissipation plate.

In an embodiment of the present invention, the electronic device further includes a housing, where the housing includes an upper housing covering the interface board, and the upper housing includes N first openings and N second openings, where the N first openings are used to expose the N power output terminals, and the N second openings are used to expose the N signal I/O terminals.

In an embodiment of the present invention, the USB connector further includes a housing, the housing includes an upper housing covering the interface board, the upper housing includes a power input opening, an energy feedback output opening, a communication terminal opening, an STO opening, N encoder openings, and N USB openings, the power input opening is configured to expose the power input terminal, the energy feedback output opening is configured to expose the energy feedback output terminal, the communication terminal opening is configured to expose the communication terminal, the STO opening is configured to expose the STO terminal, the N encoder openings are respectively configured to expose the N encoder terminals, and the N USB openings are respectively configured to expose the N USB terminals.

In an embodiment of the invention, the housing further includes a lower housing, the lower housing is disposed between the upper housing and the heat dissipation plate, and the interface board, the control board and the power board are accommodated in a space surrounded by the upper housing, the lower housing and the heat dissipation plate.

In an embodiment of the present invention, the interface board is provided with at least one first positioning element, the control board is provided with at least one second positioning element, and the first positioning element and the second positioning element are matched with each other to align and fixedly connect the interface board and the control board.

In an embodiment of the present invention, at least one third positioning element is disposed on the power board, and the third positioning element and the second positioning element are matched with each other to align and fixedly connect the power board and the control board.

In an embodiment of the invention, at least one fourth positioning element is disposed on the heat dissipation plate, and the fourth positioning element and the third positioning element are matched with each other to fixedly connect the heat dissipation plate and the power board.

The servo controller of the invention can simultaneously control a plurality of controlled servo objects by arranging N paths of power output terminals and N paths of signal I/O terminals on an interface board, wherein N is more than or equal to 2; and the interface board, the control board and the power board are arranged on the heat dissipation plate in a laminated mode, so that the heat dissipation plate has the advantages of compact structure, small volume, convenience in maintenance and good heat dissipation performance.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the principle of the invention. In the drawings:

FIG. 1 is a schematic structural diagram of a servo controller according to a first embodiment of the present invention;

FIG. 2 is an exploded view of the servo controller according to the first embodiment of FIG. 1;

FIG. 3 is a schematic structural diagram of a servo controller according to a second embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a servo controller according to a third embodiment of the present invention;

fig. 5 is an exploded view of the servo controller according to the third embodiment shown in fig. 4.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only examples or embodiments of the application, from which the application can also be applied to other similar scenarios without inventive effort for a person skilled in the art. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.

As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited. Further, although the terms used in the present application are selected from publicly known and used terms, some of the terms mentioned in the specification of the present application may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein. Further, it is required that the present application is understood not only by the actual terms used but also by the meaning of each term lying within.

Fig. 1 is a schematic structural diagram of a servo controller according to a first embodiment of the present invention. Fig. 2 is an exploded view of the servo controller according to the first embodiment shown in fig. 1. Since fig. 1 is a schematic product diagram of the servo controller 100 of this embodiment, which is compact, and some structures of which are hidden from view, the servo controller 100 will be described with reference to fig. 1 and 2. In fig. 1 and 2, like elements are designated with like reference numerals.

Referring to fig. 1 and 2, the servo controller 100 of this embodiment includes an interface board 110, a control board 120, a power board 130, and a heat dissipation board 140. The upper surface of the interface board 110 is provided with N power output terminals 111 and N signal I/O terminals 112, each power output terminal 111 and each signal I/O terminal 112 corresponds to a controlled servo object, where N is an integer greater than or equal to 2; the control board 120 is disposed between the lower surface of the interface board 110 and the upper surface of the power board 130, and the control board 120 is fixedly connected to the interface board 110; the power board 130 is arranged between the lower surface of the control board 120 and the upper surface of the heat dissipation plate 140, and the power board 130 is fixedly connected with the control board 120; the heat sink 140 is fixedly connected to the power board 130.

In some embodiments, the controlled servo object comprises a servo motor.

In the embodiment shown in fig. 1 and 2, the interface board 110, the control board 120, the power board 130, and the heat dissipation plate 140 are all plate-shaped structures and thus have upper and lower surfaces that are oppositely disposed. As shown in fig. 1 and 2, the interface board 110, the control board 120, the power board 130 and the heat dissipation board 140 are all substantially rectangular, and have opposite sides parallel to each other, and the joints between the adjacent sides may be rounded or perpendicular, so that the servo controller 100 is substantially rectangular as a whole. As shown in fig. 1, the direction in which the long sides of the rectangle extend is indicated by a first direction D1, and the direction in which the short sides of the rectangle extend is indicated by a second direction D2. The first direction D1 is perpendicular to the second direction D2.

Referring to fig. 1, the heat dissipation plate 140 has an area larger than the area of each of the interface board 110, the control board 120, and the power board 130, and the heat dissipation plate 140 can serve as the bottom of the servo controller 100.

The upper and lower surfaces referred to in the present invention are not intended to limit the orientation of the servo controller 100 in actual use. Taking the interface board 110 as an example, when the servo controller 100 is positioned as shown in fig. 1 and 2, the upper surface of the interface board 110 is located above and the lower surface of the interface board 110 is located below. When the servo controller 100 is turned by 90 degrees, for example, the long side 141 of the heat dissipation plate 140 is placed toward the ground, the interface board 110, the control board 120, the power board 130, and the heat dissipation plate 140 are perpendicular to the horizontal plane, and the upper surface and the lower surface of the interface board 110 face the left side and the right side of the interface board 110, respectively.

The illustrations of fig. 1 and 2 are merely examples, and are not intended to limit the shapes and sizes of the interface board 110, the control board 120, the power board 130, and the heat dissipation plate 140.

Referring to fig. 1 and 2, in this embodiment, a 3-way power output terminal 111 and a 3-way signal I/O terminal 112 are provided on the upper surface of the interface board 110, where N is 3. The power output terminal 111 is connected to a power input terminal of the controlled servo object through a cable, so that power is transmitted between the servo controller 100 and the controlled servo object; the signal I/O terminal 112 is used for connecting with a signal terminal of a controlled servo object through a cable, so as to transmit signals, especially digital signals, between the servo controller 100 and the controlled servo object. As shown in fig. 1, each power output terminal 111 includes four interfaces, three phases U, V, W respectively, and a ground terminal PE. The power output terminal 111 may be used to output a power signal to the servo motor to drive the motor, and control the voltage and current of the servo motor, thereby controlling the operation of the servo motor. The signal I/O terminal 112 is used for interactive transmission of digital signals between the servo controller and the servo motor, wherein the digital signals include but are not limited to control signals, switching signals, alarm signals, in-place signals, brake signals and the like.

Referring to fig. 1, in some embodiments, the interface board 110 includes first and second opposing

sides

101 and 102, with N power output terminals 111 disposed on the first side 101 and N signal I/O terminals 112 disposed on the second side 102. Since the interface board 110 in fig. 2 has a rectangular structure, the first side 101 can be one of the long sides, and the second side 102 can be the other long side opposite to the first side 101. The purpose of this arrangement is to separate the N power output terminals 111 and the N signal I/O terminals 112 with a certain distance therebetween to avoid mutual interference. N power output terminals 111 are arranged side by side on the first side 101 and are arranged in a straight line in the first direction D1; the N signal I/O terminals 112 are arranged side by side on the second side 112, in a row along the first direction D1. Adjacent power output terminals 111 have a first pitch therebetween, and adjacent signal I/O terminals 112 have a second pitch therebetween. In this embodiment, the second pitch is greater than the first pitch.

The illustrations in fig. 1 and 2 are merely examples, and are not intended to limit the number of power output terminals 111 and signal I/O terminals 112. The present invention does not limit the specific type, size, structure, and pitch of the power output terminal 111 and the signal I/O terminal 112.

In some embodiments, the upper surface of the interface board 110 is further provided with a power input terminal 113 and a feed output terminal 114(Bleeder), and the power input terminal 113 and the feed output terminal 114 are both disposed on the first side 101. In the embodiment shown in fig. 1 and 2, the power input terminal 113 and the energy feed output terminal 114 are arranged side by side on the upper surface of the interface board 110 and adjacent to the 3-way power output terminal 111 also located at the first side 101.

In this embodiment, the power input terminal 113 includes four interfaces, 1+, 2+, 1-, and 2-, respectively, where 1+ and 1-serve as one pair of power input terminals, and 2+ and 2-serve as the other pair of power input terminals. The power input terminal 113 is used for dc input. The energy feed input terminal 114 includes two interfaces, respectively representing a positive terminal and a negative terminal, for connection to an external circuit. The energy feed input terminal 114 may be used to bleed energy.

The present invention does not limit the number of interfaces between the power input terminal 113 and the energy feedback output terminal 114.

In some embodiments, the upper surface of the interface board 110 is further provided with a communication terminal 115 and an STO terminal 116, both the communication terminal 115 and the STO terminal 116 being disposed on the second side 102. As shown in fig. 1 and 2, the communication terminal 115 includes 2 interfaces, i.e.,

communication terminals

115a and 115b, one of which can be used as an input terminal and the other as an output terminal, for communicating with the host controller. An sto (safe Torque off) terminal 116 provides a safe Torque off function for the servo controller of the present invention, and when the frequency converter interrupts the power supply to the motor and the motor is stationary, the motor can be prevented from being started accidentally; when the motor moves, no torque is provided, so that the motor freely rotates to be static.

The present invention does not limit the number of interfaces of the communication terminal 115 and the STO terminal 116. The servo controller comprises at least 2 channels of communication terminals 115, one channel for output, one channel for input, and 1 channel of STO terminals.

Referring to fig. 1 and shown therein, in some embodiments, the upper surface of the interface board 110 is further provided with N encoder terminals 117 and N USB terminals 118. In this embodiment, N ═ 3. Each encoder terminal 117 may correspond to a servo motor for receiving input signals from the servo motor to feed back the current state of the servo motor. The USB terminal 118 serves as a debugging terminal, and the servo controller is debugged in cooperation with the servo motor. Each USB terminal 118 also corresponds to a servo motor. Further, an indicator light 119 is provided next to each USB terminal 118 for indicating the debug status.

In some embodiments, the upper surface of the interface board 110 is further provided with a plurality of capacitors 150, the plurality of capacitors 150 being provided at the first side 101. In the embodiment shown in fig. 1 and 2, the plurality of capacitors 150 are arranged in a line along the first direction D1.

The illustrations of fig. 1 and 2 are not intended to limit the number, size, and arrangement of capacitors 150. In other embodiments, the plurality of capacitors 150 may be arranged in a rectangular array, or in a staggered array.

In some embodiments, the upper surface of the heat dissipation plate 140 is provided with at least one heat dissipation boss 141, and the heat dissipation boss 141 is in contact with the lower surface of the power board 130. Referring to fig. 2, the heat dissipation plate 140 of this embodiment includes 3 heat dissipation bosses 141 distributed at intermediate positions of the heat dissipation plate 140 along the first direction D1. The heat dissipation boss 141 is rectangular and has a height h protruding from the upper surface of the heat dissipation plate 140. In the compact structure of the servo controller 100 shown in fig. 1, the heat dissipation boss 141 is in contact with the lower surface of the power board 130, so that heat from the power board 130 and the components above the power board can be effectively transferred to the heat dissipation plate 140, which is beneficial to further heat dissipation.

The illustration in fig. 2 is merely an example, and is not intended to limit the specific number, size, shape, distribution, etc. of the heat dissipation bosses 141. It can be understood that the larger the contact area of the heat dissipation boss 141 and the lower surface of the power board 130, the better the heat dissipation effect. In some embodiments, in order to adapt to the structures of the upper surface of the heat dissipation plate 140 and the lower surface of the power board 130, the heat dissipation bosses 141 may also be irregularly shaped to maximize the contact area with the lower surface of the power board 130.

In some embodiments, the lower surface of the heat dissipation plate 140 is provided with a flexible insulating and heat conductive plate 142. As shown in fig. 2, the flexible insulating thermal conductive plate 142 has a thinner thickness than the heat dissipation plate 140. In some embodiments, the flexible insulating and thermally conductive plate 142 is a flexible film. The material of the flexible insulating and heat conducting plate 142 includes flexible insulating and heat conducting materials commonly used in the art.

The present invention does not limit the specific connection manner between the flexible insulating heat conductive plate 142 and the lower surface of the heat dissipation plate 140. For example, the flexible insulating and heat conducting plate 142 may be disposed on the lower surface of the heat dissipating plate 140 by means of crimping, bonding, or the like, so that the flexible insulating and heat conducting plate 142 is tightly combined with the lower surface of the heat dissipating plate 140.

The flexible insulating and heat conducting plate 142 is disposed on the lower surface of the heat sink plate 140, which is beneficial to further heat dissipation of the servo controller 100, and since the heat sink plate 140 can serve as the bottom of the servo controller 100, the flexible insulating and heat conducting plate 142 is also beneficial to make the bottom of the heat sink plate 140 have insulating property.

According to the embodiment shown in fig. 1 and fig. 2, the servo controller of the present invention has the multi-path power output terminal 111 and the multi-path signal I/O terminal 112 on the interface board 110, and can use one servo controller 100 to simultaneously control a plurality of controlled servo objects, thereby implementing multi-axis control. In addition, the servo controller of the present invention arranges the interface board 110, the control board 120, and the power board 130 on the heat dissipation plate 140 in a stacked manner, and has the advantages of compact structure, small volume, convenient maintenance, and good heat dissipation performance.

Fig. 3 is a schematic structural diagram of a servo controller according to a second embodiment of the present invention. Referring to fig. 3, the servo controller 300 of this embodiment further includes a housing 310 on the basis of the servo controller 100 shown in fig. 1 and 2, the housing 310 includes an upper housing 320 covering the interface board 110, and the upper housing 320 includes N first openings 321 and N second openings 322, where the N first openings 321 are used for exposing the N power output terminals 111, and the N second openings 321 are used for exposing the N signal I/O terminals 112.

In fig. 3, the same reference numerals are used to designate the same elements or orientations as in the embodiment shown in fig. 1 and 2.

As will be understood from fig. 1 and 3, the orientation of the servo controller 300 shown in fig. 3 is different from the orientation of the servo controller 100 shown in fig. 1. In fig. 1, the first side 101 of the interface board 110 is located in front of the servo controller 100, while in fig. 3, the first side 101 of the interface board 110 is located behind the servo controller 300.

Referring to fig. 3, the shape, size and position of the N first openings 321 are matched with those of the N power output terminals 111, so as to facilitate connection of the N power output terminals 111 with an external element. The shape, size and position of the N second openings 322 are matched with those of the N signal I/O terminals 112, so as to facilitate the connection of the N signal I/O terminals 112 with external elements.

In the embodiment shown in fig. 3, 3 first openings 321 are provided on the top surface 323 of the upper case 320, and 3 second openings 322 are provided on the side surface 324 of the upper case 320.

In the embodiment shown in fig. 3, the upper housing 320 has a cross-section cut in the second direction D2 with a concave shape having a higher height at the first side 101 and the second side 102 and a lower height at the middle portion of the interface plate 110. The upper housing 320 has shape features that correspond to the height and position of the various components on the interface board 110. The 3 first openings 321 are disposed at the top surface 323 near the first side 101.

Fig. 3 is not intended to limit the specific shape of the upper housing 320 and the specific positions of the first and

second openings

321 and 322.

Referring to fig. 3, in some embodiments, the upper housing 320 further includes a power input opening (not shown), a power feed output opening (not shown), a communication terminal opening 325, an STO opening 326, N encoder openings 327, and N USB openings (not shown), wherein the power input opening is used for exposing the power input terminal 113, the power feed output opening is used for exposing the power feed output terminal 114, the communication terminal opening 325 is used for exposing the communication terminal 115, the STO opening 326 is used for exposing the STO terminal 116, the N encoder openings 327 are respectively used for exposing the N encoder terminals 117, and the N USB openings are used for exposing the N USB terminals 118. It will be appreciated that the shape and size of each opening is adapted to the terminal to be exposed.

The connection manner between the upper housing 320 and the interface board 110 is not limited by the present invention. Referring to fig. 3, in this embodiment, the upper housing 320 can be coupled to the interface plate 110 via at least one bolt structure 330.

The servo controller 300 shown in fig. 3 forms a semi-enclosed structure by housing the upper housing 320 above the interface board 110. This semi-enclosed structure can provide protection for the various components on the interface board 110 and interface with external components; on the other hand, since the lower part of the upper housing 320 is an open structure, the heat dissipation of the whole servo controller 300 is facilitated, and the maintenance and the overhaul are also facilitated.

Fig. 4 is a schematic structural diagram of a servo controller according to a third embodiment of the present invention. Referring to fig. 4, the servo controller 400 is based on the servo controller 300 shown in fig. 3, and the housing 310 includes a lower housing 410 in addition to the upper housing 320. The lower case 410 is disposed between the upper case 320 and the heat sink 140, and the interface board 110, the control board 120, and the power board 130 are accommodated in a space surrounded by the upper case 320, the lower case 410, and the heat sink 140.

Referring to fig. 4, the lower housing 410 is a wall structure, and forms a cover structure together with the upper housing 320, and the interface board 110, the control board 120 and the power board 130 are covered in the cover structure. The housing 310 forms a totally enclosed structure together with the heat sink 140.

The present invention does not limit the connection manner between the lower case 410 and the upper case 320. For example, the upper housing 410 and the upper housing 320 may be connected by means of bonding, clamping, bolt structures, and the like.

In some embodiments, the lower housing 410 and the upper housing 320 may be integrally formed.

In some embodiments, the housing 310 is removably coupled with the heat sink 140.

The placement of the servo controller 400 shown in fig. 4 is the same as that shown in fig. 1, as opposed to the servo controller 300 shown in fig. 3. Fig. 4 shows a power input opening 421 and a power feed output opening 422 on the upper housing 320, and the power input opening 421 and the power feed output opening 422 are both disposed on the side surface 420 of the upper housing 320. Referring to fig. 3 and 4, the side 420 is located on the first side 101 and the side 324 is located on the second side 102.

Referring to fig. 4, the top 323 of the upper housing 320 further includes N USB openings 423 near the second side 102 and N indicator light openings 424 for exposing the N indicator lights 119, respectively.

Fig. 5 is an exploded view of the servo controller according to the third embodiment shown in fig. 4. Comparing fig. 5 and fig. 2, it can be understood that the servo controller 400 according to the third embodiment of the present invention is different from the servo controller 100 according to the first embodiment only in that the housing 310 is additionally provided. In fig. 4 and 5, the same reference numerals are used to designate the same elements as in the embodiment shown in fig. 1-3.

Referring to fig. 5, the side 420 of the upper housing 320 has an opening 511. As shown in fig. 4 and fig. 5, the power input opening 421 and the energy feedback output opening 422 are both located in the hollow structure 511.

The servo controller 400 of the third embodiment adopts a fully enclosed structure formed by the housing 310 and the heat dissipation plate 140, and the interface board 110, the control board 120 and the power board 130 are accommodated in the fully enclosed structure, so as to achieve a better protection effect. Also, the housing 310 can be easily disassembled, facilitating maintenance and repair of the servo controller 400 when needed.

As shown in fig. 2 and 5, in some embodiments, at least one first positioning member 210 is disposed on the interface board 110, at least one second positioning member 220 is disposed on the control board 120, and the first positioning member 210 and the second positioning member 220 cooperate with each other to align and fixedly connect the interface board 110 and the control board 120. The same first positioning member 210 and second positioning member 220 are used in the embodiment shown in fig. 2 and 5. The explanation will be mainly given with reference to fig. 2.

Referring to fig. 2, the first positioning member 210 includes positioning holes, for example, a plurality of positioning holes are symmetrically disposed at two short sides and/or a middle portion of the interface board 110, respectively. The second positioning member 220 includes a positioning post. The shape, size and position of the positioning hole are matched with those of the positioning column, so that the positioning column can be inserted into the positioning hole and can be fixed, and the positioning column plays a role in fixedly connecting the interface board 110 and the control board 120.

Referring to fig. 2, in some embodiments, at least one third positioning member 230 is disposed on the power board 130, and the third positioning member 230 and the second positioning member 220 cooperate with each other to align and fixedly connect the power board 130 and the control board 120.

In the embodiment shown in fig. 2, the second positioning element 220 is divided into an upper half and a lower half through the control board 120, wherein the upper half includes a positioning column on the upper surface of the control board 120 for inserting the first positioning element 210, and the lower half includes a connecting structure on the lower surface of the control board 120 for connecting the third positioning element 230. The third positioning member 230 also has a similar structure to the second positioning member 220. The third positioning element 230 penetrates through the power board 130, the upper half portion includes a positioning column located on the upper surface of the power board 130 and capable of being connected to the lower half portion connecting structure of the second positioning element 220, and the lower half portion includes a connecting structure located on the lower surface of the power board 130 and capable of enabling the fourth positioning element 240 to be connected with the lower half portion in a matching manner. In some embodiments, the upper half portions of the second positioning member 220 and the third positioning member 230 may be hole structures having internal threads, and the lower half portions of the second positioning member 220 and the third positioning member 230 may be bolt structures having external threads.

Referring to fig. 2, in some embodiments, at least one fourth positioning member 240 is disposed on the heat dissipation plate, and the fourth positioning member 240 and the third positioning member 230 cooperate with each other to fixedly connect the heat dissipation plate 140 and the power board 130.

In the embodiment shown in fig. 2, the fourth positioning member 240 includes a positioning post capable of connecting with a connecting structure below the third positioning member 230. The positioning column may have an internal threaded hole structure, and the internal threaded hole structure is matched with a bolt structure having an external thread below the third positioning member 230, so that the power board 130 and the heat dissipation board 140 can be fixedly connected.

Fig. 2 and 5 do not limit the specific number, positions and sizes of the first positioning member 210, the second positioning member 220, the third positioning member 230 and the fourth positioning member 240.

The servo controller of the present invention has the advantages of compact structure and small volume by adopting the first positioning element 210, the second positioning element 220, the third positioning element 230 and the fourth positioning element 240 to position and fixedly connect between the interface board 110, the control board 120, the power board 130 and the heat dissipation plate 140. Also, the positioning and connecting structure is easy to install.

Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing disclosure is by way of example only, and is not intended to limit the present application. Various modifications, improvements and adaptations to the present application may occur to those skilled in the art, although not explicitly described herein. Such modifications, improvements and adaptations are proposed in the present application and thus fall within the spirit and scope of the exemplary embodiments of the present application.

Also, this application uses specific language to describe embodiments of the application. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the present application is included in at least one embodiment of the present application. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the present application may be combined as appropriate.

Aspects of the present application may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. The processor may be one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), digital signal processing devices (DAPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or a combination thereof. Furthermore, aspects of the present application may be represented as a computer product, including computer readable program code, embodied in one or more computer readable media. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disk, floppy disk, magnetic strips … …), optical disks (e.g., Compact Disk (CD), Digital Versatile Disk (DVD) … …), smart cards, and flash memory devices (e.g., card, stick, key drive … …).

The computer readable medium may comprise a propagated data signal with the computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, and the like, or any suitable combination. The computer readable medium can be any computer readable medium that can communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or device. Program code on a computer readable medium may be propagated over any suitable medium, including radio, electrical cable, fiber optic cable, radio frequency signals, or the like, or any combination of the preceding.

Similarly, it should be noted that in the preceding description of embodiments of the application, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to require more features than are expressly recited in the claims. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.

Numerals describing the number of components, attributes, etc. are used in some embodiments, it being understood that such numerals used in the description of the embodiments are modified in some instances by the use of the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows a variation of ± 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending upon the desired properties of the individual embodiments. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit preserving approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.

Although the present application has been described with reference to the present specific embodiments, it will be recognized by those skilled in the art that the foregoing embodiments are merely illustrative of the present application and that various changes and substitutions of equivalents may be made without departing from the spirit of the application, and therefore, it is intended that all changes and modifications to the above-described embodiments that come within the spirit of the application fall within the scope of the claims of the application.

Claims

1. A servo controller is characterized by comprising an interface board, a control board, a power board and a heat dissipation board, wherein the upper surface of the interface board is provided with N paths of power output terminals and N paths of signal I/O terminals, each path of power output terminal and each path of signal I/O terminal correspond to a controlled servo object, and N is an integer greater than or equal to 2;

the control board is arranged between the lower surface of the interface board and the upper surface of the power board and is fixedly connected with the interface board;

the power board is arranged between the lower surface of the control board and the upper surface of the heat dissipation plate and is fixedly connected with the control board; and

the heat dissipation plate is fixedly connected with the power plate.

2. The servo controller of claim 1 wherein the interface board comprises opposing first and second sides, the N power output terminals being disposed on the first side and the N signal I/O terminals being disposed on the second side.

3. The servo controller of claim 2, wherein the upper surface of the interface board is further provided with a power input terminal and a feed output terminal, the power input terminal and the feed output terminal being provided on the first side.

4. The servo controller of claim 3 wherein the upper surface of the interface board is further provided with a communication terminal and an STO terminal, the communication terminal and STO terminal being disposed on the second side.

5. The servo controller of claim 4, wherein the upper surface of the interface board is further provided with N encoder terminals and N USB terminals.

6. The servo controller of claim 1, wherein the upper surface of the heat dissipation plate is provided with at least one heat dissipation boss, and the heat dissipation boss is in contact with the lower surface of the power board.

7. The servo controller of claim 1 wherein the lower surface of the heat sink plate is provided with a flexible insulating thermally conductive plate.

8. The servo controller of claim 1, further comprising a housing, the housing comprising an upper housing covering the interface board, the upper housing comprising N first openings for exposing the N power output terminals and N second openings for exposing the N signal I/O terminals.

9. The servo controller of claim 5, further comprising a housing comprising an upper housing covering the interface board, the upper housing comprising a power input opening for exposing the power input terminal, a feed output opening for exposing the feed output terminal, a communication terminal opening for exposing the communication terminal, an STO opening for exposing the STO terminal, N encoder openings for exposing the N encoder terminals, and N USB openings for exposing the N USB terminals.

10. The servo controller according to claim 8 or 9, wherein the housing further comprises a lower housing disposed between the upper housing and the heat dissipation plate, and the interface board, the control board, and the power board are accommodated in a space surrounded by the upper housing, the lower housing, and the heat dissipation plate.

11. The servo controller of claim 1 wherein the interface board has at least one first positioning member and the control board has at least one second positioning member, the first and second positioning members cooperating to align and fixedly connect the interface board and the control board.

12. The servo controller as claimed in claim 11, wherein at least one third positioning member is disposed on the power board, and the third positioning member and the second positioning member cooperate with each other to align and fixedly connect the power board and the control board.

13. The servo controller as claimed in claim 12, wherein at least one fourth positioning element is disposed on the heat dissipation plate, and the fourth positioning element and the third positioning element cooperate with each other to fixedly connect the heat dissipation plate and the power board.