CN210380675U - Driver and robot - Google Patents

Abstract

The utility model provides a driver, robot. One of them driver, including the power inverter board, the power inverter board has a power input terminal and two at least motor connecting terminals, be provided with rectifier module, IPM power module on the power inverter board, rectifier module is used for right the input current of power input terminal carries out transmission after the rectification extremely IPM power module, the quantity of IPM power module with motor connecting terminal phase-match, just the current output of IPM power module is corresponding to motor connecting terminal. The utility model discloses a driver, robot only need power input all the way, through two at least motors of a driver control, have reduced the quantity that sets up of driver, the structure of driver is more reasonable, compact, also does benefit to the further optimization of robot structure.

Description

Driver and robot

Technical Field

The utility model belongs to the technical field of the robot is made, concretely relates to driver, robot.

Background

With the development of industrial 4.0 and control technologies, a large number of industrial intelligent equipment products such as SCARA robots and multi-joint robots are emerging on the market, and all the multi-joint robots need a plurality of servo motors to work cooperatively, and meanwhile, each servo motor needs to be equipped with a corresponding servo driver, specifically, for example, if one robot has 6 motors in total to be controlled, 6 servo drivers are correspondingly configured to be controlled correspondingly, which results in that the overall size of the drivers is large, and the robot is not compact and compact enough in structure.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model is to provide a driver, robot, only need power input all the way, through two at least motors of a driver control, reduced the quantity that sets up of driver, the structure of driver is more reasonable, compact, also does benefit to the further optimization of robot structure.

In order to solve the problem, the utility model provides a driver, including the power inverter board, the power inverter board has a power input terminal and two at least motor connecting terminals, be provided with rectifier module, IPM power module on the power inverter board, rectifier module is used for right the input current of power input terminal carries out transmission extremely after the rectification IPM power module, IPM power module's quantity with motor connecting terminal phase-match, just IPM power module's current output corresponds to motor connecting terminal.

Preferably, the driver further comprises a main control board, and a control signal of the main control board is electrically connected with the IPM power module through a connector between PCBs to control on/off of the IPM power module.

Preferably, the actuator further comprises a support member having a mating plate with support plates disposed on opposite sides thereof.

Preferably, the support piece is formed by bending a metal plate; and/or the main control board is connected with the matching board through a supporting column; and/or, the matching plate is provided with a positioning convex column which can be inserted into the corresponding through hole of the main control plate.

Preferably, the rectifier module and the IPM power module are located on a first side of the power inverter board, the power input terminal and the motor connection terminal are located on a second side of the power inverter board, and the first side is opposite to the second side.

Preferably, the main control board is at the second side; and/or, the power inverter board further comprises a heat radiator, and the heat radiator is connected to the first side of the power inverter board and is thermally coupled with the rectifier module and/or the IPM power module.

Preferably, the radiator comprises a radiator substrate, a connecting stud is arranged on the radiator substrate, and the radiator is connected with the power supply inverter board through the connecting stud.

Preferably, the radiator substrate is further provided with a positioning stud, and the positioning stud is inserted into a corresponding through hole on the power supply inverter board; and/or the main control board is connected to the matching board and is connected with the radiator substrate through the supporting board.

Preferably, a rectifier module receding groove is formed in one side, facing the power supply inverter board, of the radiator substrate.

Preferably, the driver further comprises a capacitor plate electrically connected between the rectifier module and the IPM power module.

Preferably, the driver further includes a conductive plate, the conductive plate is connected between the capacitor plate and the second side of the power inverter plate in a supporting manner, and the capacitor plate is electrically connected to the rectifier module and the IPM power module through the conductive plate.

Preferably, the driver further comprises a cover body detachably connected to the second side of the power inverter board.

Preferably, the cover body is a sheet metal part.

The utility model also provides a robot, including motor drive, motor drive is foretell driver.

The utility model provides a pair of driver, robot, power contravariant board has a power input terminal and two at least motor connecting terminal to the realization has reduced the quantity that sets up of driver through two at least motors of a driver simultaneous drive, and the structure of driver is more reasonable, compact, also does benefit to the further optimization of robot structure.

Drawings

Fig. 1 is an exploded schematic view of a driver according to an embodiment of the present invention;

FIG. 2 is a schematic view of the actuator of FIG. 1 with the cover removed;

fig. 3 is a schematic structural diagram (second side) of the power inverter board in fig. 1;

FIG. 4 is a side view of FIG. 3;

FIG. 5 is a schematic structural view of the support member of FIG. 1;

fig. 6 is a schematic structural diagram of the heat sink in fig. 1.

The reference numerals are represented as:

1. a power supply inverter board; 11. a power input terminal; 12. a motor connection terminal; 13. a rectification module; 14. an IPM power module; 15. a strong current indicator light; 2. a main control board; 21. a connector between the PCBs; 3. a support member; 31. a mating plate; 32. a support plate; 33. a support pillar; 34. positioning the convex column; 35. a signal terminal; 36. an operating status indicator light; 4. a heat sink; 41. a heat sink substrate; 42. connecting a stud; 43. positioning the stud; 44. a rectifier module abdicating groove; 45. a heat sink fin; 5. a capacitive plate; 51. a conductive sheet; 52. resistive load; 53. a capacitor; 6. a cover body.

Detailed Description

With reference to fig. 1 to fig. 6, according to the embodiment of the present invention, a driver is provided, including power inverter board 1, power inverter board 1 has a power input terminal 11 and at least two motor connecting terminals 12, be provided with rectifier module 13, IPM power module 14 on the power inverter board 1, rectifier module 13 is used for right the alternating current of the input of power input terminal 11 carries out transmission after the rectification to follow-up control circuits such as IPM power module 14, the quantity of IPM power module 14 with motor connecting terminals 12 phase-match, IPM power module 14 then is used for with the low-voltage direct current of rectifier module 13 rectification carries out the contravariant of chopping and outputs the current after the contravariant of chopping to motor connecting terminals 12 to realize the drive control to the motor. Specifically, use 6 motors as an example, adopt the technical scheme of the utility model afterwards, only need a power input terminal 11, a rectifier module 13, 6 IPM power module 14 that correspond motor connecting terminal 12 respectively, and can understand, still include main control board 2, in order to control IPM power module's switch break-make, and then guarantee each motor action harmony each other, as a preferred mode, only set up a main control chip on main control board 2, main control chip is configured to become can be to the switch chronogenesis of a plurality of IPM power module 14 (for example, 6 of aforementioned specific embodiment) to can make the control logic of each motor and go up the electric chronogenesis can be unified better. In the technical scheme, the power supply inversion board 1 is provided with the power supply input terminal 11 and at least two motor connecting terminals 12, so that at least two motors are driven by one driver at the same time, the number of the drivers is reduced, the structure of the drivers is more reasonable and compact, and the further optimization of the robot structure is facilitated. And as publicly known, construct corresponding rectifier circuit, inverter circuit and corresponding indicating component such as forceful electric power pilot lamp 15 (be used for warning charged state) etc. on the power contravariant board 1, the utility model discloses do not do the perusal any more.

Furthermore, the control signal of the main control board 2 is electrically connected with the IPM power module 14 through a connector 21 between PCBs, and the connector 21 between PCBs is a commercially available component, and because it is not connected by a flexible wire (flexible cable), the problems of large signal interference and poor signal transmission quality caused by the flexible wire are avoided.

Further, main control panel 2 with connect through support piece 3 between the power contravariant board 1, it is concrete, support piece 3 has cooperation board 31, the relative both sides of cooperation board 31 respectively are equipped with backup pad 32, main control panel 2 connect in on the cooperation board 31 and can pass through backup pad 32 with the power contravariant board 1 is connected, backup pad 32 can also keep in the support the main control panel 2 with the electrical safety distance between the power contravariant board 1, also promptly support piece 3 presents the crane span structure in the appearance, wherein cooperation board 31 with main control panel 2 forms effective support, prevents when main control panel 2 is too big, adopt traditional spliced pole to need a plurality of structures that lead to power contravariant board 1 to cause the damage. Furthermore, the support member 3 is preferably formed by bending a metal plate to form an electromagnetic shielding effect on the component located above the support member. Further, the method is carried out. The edge of the matching plate 31 is also configured with a flange extending towards one side of the main control plate 2 to improve the structural strength of the supporting member 3 and the deformation resistance of the supporting member 3.

The main control board 2 is connected with the matching board 31 through a supporting column 33; and/or, the matching plate 31 is provided with a positioning convex column 34, and the positioning convex column 34 can be inserted into a corresponding through hole of the main control plate 2, so that the main control plate 2 is aligned when the main control plate 2 is assembled, and the assembling process is facilitated.

The rectifier module 13 and the IPM power module 14 are disposed on a first side of the power inverter board 1, the power input terminal 11 and the motor connection terminal 12 are disposed on a second side of the power inverter board 1, and the first side is opposite to the second side, so that a main heat source of the power inverter board 1 can be concentrated on the first side and subjected to concentrated heat treatment.

Preferably, the main control board 2 is at the second side; and/or, the power inverter board further comprises a heat radiator 4, and the heat radiator 4 is connected to the first side of the power inverter board 1 and is thermally coupled with the rectifier module 13 and/or the IPM power module 14, so that main heat generating components in the driver, such as the rectifier module 13 and the IPM power module, are located on a side away from other components, and can be more conveniently thermally coupled with the heat radiator 4, and the structure is more reasonable and compact.

Preferably, the heat sink 4 comprises a heat sink base plate 41 and a heat sink fin 45 at a side of the heat sink base plate 41 far away from the power inverter board 1, the heat sink substrate 41 is provided with a connecting stud 42, the heat sink 4 is connected to the power inverter board 1 through the connecting stud 42, and further, the heat sink substrate 41 is further provided with a positioning stud 43, the positioning stud 43 is inserted into a corresponding through hole on the power inverter board 1, in this way, several connecting studs 42 can be provided for the connecting function, while several positioning studs 43 are used for the positioning of the plate elements, so that while the relative position of the power inverter board 1 and the heat sink 4 is ensured to be reliable, without excessive bolt screwing work, greatly improving the assembly efficiency, as can be understood, the connecting stud 42 has corresponding external or internal threads for a screw connection. A corresponding thermal coupling enhancement layer is preferably disposed between the heat sink substrate 41 and the power inverter board 1, for example, an EVA single-sided foam adhesive layer is laid on the heat sink substrate 41, so as to achieve shock absorption and noise reduction. Preferably, a rectifier module receding groove 44 is formed on a side of the heat sink substrate 41 facing the power inverter board 1, which is based on the principle of firstly ensuring heat dissipation of the IPM power module 14, and is compatible with the situation that the height of the rectifier module 13 is higher than that of the IPM power module 14, for example, when the height of the rectifier module 13 is higher than that of the IPM power module 14, the raised portion of the rectifier module 13 is located in the rectifier module receding groove 44 and attached to the heat sink substrate 41 to achieve effective heat dissipation. The main control board 2 may be connected to the mating board 31 and may be connected to the heat sink substrate 41 through the supporting board 32, so that heat generated in the main control board 2 may be transferred to the heat sink substrate 41 through the mating board 31 and the supporting board 32 to dissipate heat.

Preferably, the driver further includes a capacitor plate 5, and the capacitor plate 5 is electrically connected between the rectifier module 13 and the IPM power module 14, so as to effectively suppress voltage fluctuation (voltage stabilization) and energy storage between the rectifier module 13 and the IPM power module 14. It can be understood that the capacitor 53 and the resistive load 52 are disposed on the capacitor plate 5 to form a corresponding voltage stabilizing circuit, wherein the capacitor 53 is used for stabilizing voltage and storing energy, and the resistive load 52 can release the electric energy stored in the capacitor 53 after the circuit is powered off, which is not described herein. Furthermore, the driver further includes a conductive sheet 51, the conductive sheet 51 is supported and connected between the capacitor plate 5 and the second side of the power inverter board 1, the capacitor plate 5 is electrically connected to the rectifier module 13 and the IPM power module 14 through the conductive sheet 51, the conductive sheet 51 is implemented by, for example, a copper cylinder or a copper sheet, and the conductive sheet serves to connect the capacitor plate 5 to the rectifier module 13 and the IPM power module 14 while supporting the capacitor plate 5.

Preferably, the driver still includes lid 6, lid 6 can dismantle connect in the second side of power contravariant board 1, best, lid 6 is the sheet metal component, thereby it is right when the driver realizes the physical isolation, can also play electromagnetic shield's effect.

According to the technical scheme, the driver is only provided with the power supply inverter board 1, the capacitor board 5 and the main control board 2, so that the number of the boards in a single driver is greatly reduced, and the structure of the driver is simpler, more reasonable and more compact. And the control chip on the main control board 2 is adopted to realize the control of a plurality of motors (at least two), and the control is more orderly in signal coordination, namely control logic.

Generally speaking, the utility model discloses a driver includes that three of PCB plate are power contravariant board 1, main control board 2, electric capacity board 5 respectively altogether, includes that three of structure spare are support piece 3, radiator 4, lid 6 respectively altogether, makes its structure especially retrench.

Still be equipped with signal terminal 35, running state pilot lamp 36 etc. on the main control board 2, signal terminal 35 can be used for connecting external equipment such as encoder, scram switch, upper controller.

According to the utility model discloses an embodiment still provides a robot, including motor drive, motor drive is foretell driver.

It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention. The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (14)

1. The utility model provides a driver, its characterized in that, includes power inverter board (1), power inverter board (1) has a power input terminal (11) and two at least motor connecting terminal (12), be provided with rectifier module (13), IPM power module (14) on power inverter board (1), rectifier module (13) are used for right the input current of power input terminal (11) carries out transmission after the rectification extremely IPM power module (14), the quantity of IPM power module (14) with motor connecting terminal (12) phase-match, just the current output of IPM power module (14) is corresponding to motor connecting terminal (12).

2. The driver of claim 1, further comprising a main control board (2), wherein the control signal of the main control board (2) is electrically connected to the IPM power module (14) through a PCB inter-board connector (21) to control the on/off of the IPM power module (14).

3. An actuator according to claim 2, further comprising a support member (3), the support member (3) having a mating plate (31), the mating plate (31) being provided with support plates (32) on opposite sides thereof.

4. The drive according to claim 3, characterized in that the support (3) is formed as a sheet metal fold; and/or the main control board (2) is connected with the matching board (31) through a supporting column (33); and/or, the matching plate (31) is provided with a positioning convex column (34), and the positioning convex column (34) can be inserted into the corresponding through hole of the main control plate (2).

5. A driver according to claim 3, wherein the rectifier module (13), IPM power module (14) are on a first side of the power inverter board (1), the power input terminal (11), motor connection terminal (12) are on a second side of the power inverter board (1), the first side being opposite to the second side.

6. Driver according to claim 5, characterized in that the main control board (2) is at the second side; and/or, the power inverter board further comprises a heat radiator (4), wherein the heat radiator (4) is connected to the first side of the power inverter board (1) and is thermally coupled with the rectifier module (13) and/or the IPM power module (14).

7. The driver of claim 6, wherein the heat sink (4) comprises a heat sink substrate (41), the heat sink substrate (41) is provided with a connecting stud (42), and the heat sink (4) is connected with the power inverter board (1) through the connecting stud (42).

8. The driver according to claim 7, wherein the heat sink base plate (41) is further provided with a positioning stud (43), and the positioning stud (43) is inserted into a corresponding through hole on the power inverter board (1); and/or the main control board (2) is connected to the matching board (31) and is connected with the radiator substrate (41) through the supporting board (32).

9. The driver according to claim 7, characterized in that the side of the heat sink substrate (41) facing the power inverter board (1) is configured with a rectifier module relief groove (44).

10. The driver of claim 1, further comprising a capacitive plate (5), wherein the capacitive plate (5) is electrically connected between the rectifier module (13) and the IPM power module (14).

11. The driver of claim 10, further comprising a conductive sheet (51), wherein the conductive sheet (51) is supported and connected between the capacitor plate (5) and the second side of the power inverter board (1), and the capacitor plate (5) is electrically connected to the rectifier module (13) and the IPM power module (14) through the conductive sheet (51).

12. The driver of claim 1, further comprising a cover (6), wherein the cover (6) is detachably connected to the second side of the power inverter board (1).

13. A drive according to claim 12, characterized in that the cover (6) is sheet metal.

14. A robot comprising a motor drive, characterized in that the motor drive is a drive according to any one of claims 1 to 13.

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