KR20200080863A - Drive device - Google Patents

Abstract

The present invention relates to a drive device capable of capacity diversification. The drive device comprises: a base formed with at least one of a converter unit and an inverter unit providing drive power of a motor; and a sensing unit sensing at least one of the motor, the converter unit, the inverter unit, and the drive power. The sensing unit can be detachably formed on the base.

Description

Drive unit equipped with sensing unit {DRIVE DEVICE}

The present invention relates to a multi-axis drive used for multi-axis control.

Servo (servo) refers to the automatic control to the most suitable by comparing the state of a certain device with the reference, and feedback in a stable direction. For example, in order to make the rotation speed of the motor constant, when the servo is applied, the rotation of the motor is detected by a rotary encoder or the like and compared with the reference rotation speed.

If the number of revolutions is changed by this standard and the number of revolutions of the vehicle, a stable rotation equal to the reference revolution is always obtained. Let's suppose that this operation is performed automatically by an electronic circuit.

A drive represents an electric device that provides electric power to an electric motor or a servo mechanism in electronic engineering.

In Korean Patent Registration No. 0746644, the wiring between the main controller and the servo drive is connected by the SERCOS method through the optical fiber transmission between the main controller's motion interface board and the servo drive in industrial machinery including a robot using a multi-axis servo drive system. A technology that is simplified with the 2-wire fiber option cable is shown.

Korean Registered Patent Publication No. 0746644

It is to provide a drive device capable of diversifying the capacity of the present invention.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description. Will be able to.

The drive device of the present invention includes a base formed with at least one of a converter unit and an inverter unit providing driving power of a motor; And a sensing unit that senses at least one of the motor, the converter unit, the inverter unit, and the driving power. The sensing unit may be detachably formed on the base.

According to the drive device of the present invention, a sensing unit for monitoring a motor, a converter unit, an inverter unit, driving power, and the like can be detached from the base.

In order to quickly and accurately control the multi-axis, the operation of the motor and the like need to be fed back. The feedback at this time may be performed by a sensing unit that senses each electrical element such as a motor, converter, and inverter, and a circuit pattern. Various sensors forming the sensing unit may have a rated capacity capable of operating normally.

It is necessary to input a sensor having a proper rated capacity in accordance with the rated power of the motor. At this time, if the sensing unit is integrally formed with the converter unit, the inverter unit, etc., the converter unit or the inverter unit must also be replaced to replace the sensing unit.

In the drive device of the present invention, since the sensing unit is detachably formed with respect to the base on which the converter unit, the inverter unit, etc. are installed, it is free to replace the sensing unit having an appropriate rated capacity according to the motor.

In addition, in the present invention, the drive device may be formed to be detachably attached to one or more inverter units to a common single converter unit. At this time, the sensing unit may be detachably formed in each inverter unit.

According to the present invention, the complexity and congestion of the wired cable connecting the drive device and the main controller can be improved.

In addition, according to the present invention, it is easy to replace the sensing unit having various capacities. As a result, the openness of the drive device is improved, while the risk of malicious inventory can be lowered.

The present invention can take the form of a standalone having one body when the installation of the converter unit, the inverter unit, and the sensing unit to the base is completed. Therefore, it is very easy to downsize and simplify the wired cable.

1 is a block diagram showing a drive device of the present invention.
2 is a schematic diagram showing a drive device according to an embodiment of the present invention.
3 is a schematic view showing a drive device according to another embodiment of the present invention.
4 is a schematic view showing the appearance of a drive device according to an embodiment of the present invention.
5 is a schematic view showing the appearance of a drive device according to another embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. In this process, the size or shape of the components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms specifically defined in consideration of the configuration and operation of the present invention may vary depending on the intention or custom of the user or operator. Definitions of these terms should be made based on the contents throughout this specification.

1 is a block diagram showing a drive device 100 of the present invention. 2 is a schematic diagram showing a drive device 100 according to an embodiment of the present invention. 3 is a schematic diagram showing a drive device 100 according to another embodiment of the present invention. 4 is a schematic view showing an external shape of a drive device 100 according to an embodiment of the present invention. 5 is a schematic view showing an external shape of a drive device 100 according to another embodiment of the present invention.

In order to move the motor 50 according to a control value, a drive device 100 such as a servo drive may include a converter unit 110 and an inverter unit 130 in a circuit manner.

The servo motor 50 refers to an electric motor that is used to convert a voltage input to a rotation angle in an automatic control structure or an automatic balance instrument. A two-phase AC servo motor 50 or a DC servo motor 50 is used, and the one made in a small size is called a micromotor 50.

The converter 110 may convert direct current and alternating current. For example, the converter 110 may convert DC electricity (power) into AC electricity (power) for driving the two-phase AC servo motor 50. For example, the converter 110 may convert AC electricity (power) into DC electricity (power) for driving the DC servo motor 50. The converter 110 may be provided with a noise filter for removing noise, a rectifier for converting AC to DC.

The inverter unit 130 may convert AC/DC electricity (power) into AC/DC electricity (power) of a different frequency. An inverter element 133 such as an insulated gate bipolar transistor (IGBT) may be provided in the inverter unit 130.

The converter unit 110, the inverter unit 130, and various sensors are generally installed together in one board or case. Therefore, in the case of the existing servo drive system, the converter unit 110 and the inverter unit 130 take a standalone or integral structure that cannot be separated from each other.

In order to control the multi-degree-of-freedom robot, a plurality of motors 50 corresponding to each of the degrees of freedom axes formed in the robot may be provided. In order to drive a plurality of motors 50 required for multi-axis control of a robot, as shown in FIG. 1, a plurality of drive devices 100 in which the converter unit 110 and the inverter unit 130 correspond to 1:1 is required.

The drive device 100 is used by connecting a plurality of servo drives in parallel to the main controller 30 based on the industrial PC.

However, the configuration shown in FIG. 1 has a disadvantage in that the amount and complexity of wiring between the main controller 30 and the servo drive increases as the number of axes increases. That is, when an industrial mechanical device such as a robot to be driven and controlled needs to be located remotely from a special environment such as a vacuum or an operator, the main controller 30 and the individual servo drives must be connected by cables including a plurality of wires, respectively. There is this long and complicated problem.

On the other hand, in order to solve disadvantages such as wiring problems, a configuration in which the main controller 30 and the servo drives are connected in a wireless network manner may be used. In this case, since the servo drive supporting the network protocol of the main controller 30 must be employed, there is a problem in that a limiting factor occurs in the selection of the servo drive and the motor 50. In addition, since it is difficult to flexibly use servo drive products of various companies, there is a problem acting as an obstacle to constructing an open controller and control system that can use various drive products. That is, since it is possible to include a network function in the servo drive, there is no choice but to limit the selection of the servo drive and the motor 50, which can act as a factor that makes it difficult to construct an open control system.

According to the drive device 100 illustrated in FIG. 2, a plurality of inverter units 130 are connected to one converter unit 110. Each inverter unit 130 may include one or more inverter elements 133.

When one inverter element 133 is provided, the inverter unit 130 may be formed in plural according to the number of motors 50. On the other hand, one single converter unit 110 may be commonly used for a plurality of inverter elements 133 or a plurality of inverter units 130. In addition, the control unit 150 provided with a control board may also be commonly used for the plurality of inverter units 130. In some cases, a SMPS 170 (Switched Mode Power Supply) may be installed between the single converter unit 110 and the control unit 150.

The control unit 150 may communicate with the main controller 30 and control the converter unit 110 and the inverter unit 130.

The SMPS 170 may convert AC power into DC power using a switching control method using a switching transistor or the like.

According to this embodiment in which one converter unit 110 is commonly used for a plurality of inverter units 130, one main controller 30 is externally electrically connected to a single converter unit 110 or It is sufficient to communicate with a single converter unit 110 by wire or wireless.

The drive device 100 may have a 1:n structure in which a plurality of inverter units 130 or a plurality of inverter elements 133 are connected to one converter unit 110 internally. Accordingly, a large number of wired cables may be complicatedly connected between the converter unit 110 and the plurality of inverter units. The plurality of wired cables may be supported or obscured by the base 109. Since a plurality of wired cables are simply arranged in the form of a board on which a pattern for conducting electricity is formed or a cable in which patterns are engraved, there is little possibility of problems such as complexity between the converter unit 110 and the inverter unit 130.

Therefore, according to the embodiment of FIG. 2, the wiring amount and complexity between the main controller 30 and the drive device 100 may be improved as a whole. However, there is a problem in that it is difficult to use the products of various companies. In addition to this, due to the standalone form in which the inverter unit 130 having a set capacity is fixedly installed with respect to a single converter unit 110, there is a problem in that it is difficult to apply variously the capacity of the motor 50. This means that it is difficult to use a standalone type of existing drive device when entering a field where a motor of a different type from the existing motor is applied.

In order to quickly and accurately control the multi-axis, the operation of the motor and the like need to be fed back. The feedback at this time may be performed by a sensor sensing each electrical element, circuit pattern, such as a motor, converter, and inverter. Various sensors may have a rated capacity capable of operating normally, for example, 100W, 200W, 400W, and the like.

It is necessary to input a sensor having a proper rated capacity in accordance with the rated power of the motor. At this time, if the sensor is integrally formed with the converter unit, the inverter unit, etc., the converter unit or the inverter unit must also be replaced to replace the sensor.

The embodiment of FIG. 3 may be applied to improve wiring amount and complexity, and improve openness applicable to various motors 50.

The drive device 100 illustrated in FIG. 3 may include a base 109 and a sensing unit 108.

At least one of a converter unit 110 and an inverter unit 130 providing driving power of the motor 50 may be formed in the base 109. Base 109 is a support function for supporting the converter unit 110 or the inverter unit 130, the converter 110 or the inverter unit 130 and the isolation function blocking the outside, the converter unit 110 or the inverter unit ( It may include a pedestal, cover, case, etc. to perform a protective function to protect the 130) from the outside. When the converter 110 or the inverter 130 is formed on a specific board, the base 109 may support the specific board.

In order to accommodate the converter 110 or the inverter 130, a receiving space of the converter 110 may be formed in the base 109. The converter unit 110 or the inverter unit 130 may be fastened to the inner surface of the base 109 to be disposed in a corresponding accommodation space.

The sensing unit 108 may be provided with a current sensor 135 that measures a driving current provided to the motor 50 or an output current of the inverter element 133. The current sensor 135 may measure the current flowing through the input terminal of the motor 50.

The sensing unit 108 may include various types of sensors that sense at least one of the driving power of the motor 50, the converter 110, the inverter 130, and the motor 50.

The sensing unit 108 may be detachably formed on the base 109.

A detachable portion 104 that is electrically connected to the output terminal of the inverter unit 130 through which driving power is output may be provided in the base 109.

The sensing unit 108 may have a connecting structure detachably attached to the detachable portion 104. When the sensing unit 108 is mounted on the detachable part 104, the driving power output from the inverter part 130 may be sensed.

The detachable unit 104 may be electrically connected to the control unit 150 or main controller 30 that controls at least one of the converter unit 110 and the inverter unit 130. Some of the terminals provided in the sensing unit 108 may be electrically connected to the output terminal of the inverter 130 when mounted on the detachable portion 104. The other terminal provided in the sensing unit 108 may be electrically connected to the control unit 150 or the main controller 30 when mounted on the detachable unit 104. The sensing value of the sensing unit 108 may be transmitted to the control unit 150 or the main controller 30 through the detachable unit 104.

The sensing unit 108 may be provided with a current sensor 135 that senses the current size of the driving power. When the sensing unit 108 is mounted on the base 109, the current sensor 135 is electrically connected to the output terminal of the inverter unit 130 and senses the current intensity (magnitude) of the driving power output from the inverter unit 130. Or you can measure it.

The driving power may be variable according to the rated power of the motor 50. Specifically, the rated capacity of the inverter unit 130 facing the motor 50 may be variable or may be formed according to the motor 50. It is necessary to connect the current sensor 135 suitable for the driving power depending on the type of the motor 50 between the inverter unit 130 and the motor 50. According to the present invention, since the sensing unit 108 detachable to the base 109 is provided, various sensors having various rated capacities can be freely selected and replaced with respect to the base 109. That is, a specific sensing unit having a rated capacity capable of sensing the current driving power may be selected and mounted on the base 109.

The base 109 may be provided with a receiving unit 102 in which the sensing unit 108 is accommodated. For example, the receiving unit 102 may include a groove into which the sensing unit 108 is inserted. The receiving unit 102 may support the inserted sensing unit 108. A detachable portion 104 electrically connected to the sensing unit 108 may be provided on one surface of the receiving portion 102 facing the sensing unit 108. The sensing unit 108 may be formed with connecting terminals electrically connected to various pre-loaded sensors. The connecting terminal may be detachable from the detachable portion 104.

When the sensing unit 108 is accommodated in the receiving unit 102, and the connecting terminal is mounted on the detachable unit 104, the current sensor 135, etc. provided on the sensing unit 108, through the connecting terminal, the detachable unit motor 50 , It may be electrically connected to the converter 110, the inverter 130, and the like.

In order to protect the sensing unit 108 and the detachable portion 104 from external foreign matter, external impact, and the like, a panel 106 covering the receiving unit 102 in which the sensing unit 108 is accommodated and mounted may be provided. The sensing unit 108 accommodated in the receiving portion 102 may be isolated from the outside by the panel 106.

In the case of a standalone type in which a converter part, an inverter part, and a sensor are fixedly fastened in one frame as shown in FIG. 4, the rated capacity, for example, 100W, 200W, 400W (watt), etc., cannot be changed due to the characteristics of the product design. The drive device 100 can be manufactured. Therefore, if the product is changed to a specific capacity after manufacturing or the capacity is changed at the request of the customer, there is a problem of high inventory risk.

The drive device 100 of the present invention takes a hybrid form in which a sensing unit 108 including a sensor is detachable with respect to a base 109 on which the converter unit 110 and the inverter unit 130 are installed. Therefore, the sensing unit 108 can be planned and produced in various capacities while the converter unit 110 and the inverter unit 130 having a predetermined capacity are determined. For example, the sensing unit 108 developed with a capacity of 100W, 200W, 400W, etc. can be freely adopted at the request of the customer and can perform a complete function as long as it is mounted on the base 109 according to the capacity. That is, a separate sensing unit 108 is mounted and assembled to the main module including a base suitable for the customer's request, so that it can be shipped quickly and a drive device 100 with a low risk of unused inventory can be provided. . In particular, the drive device 100 of the present invention is advantageous for industrial machines to which a large number of small batches is applied.

Meanwhile, a plurality of inverter units 130 may be formed according to the number of motors 50. The converter unit 110 may be formed in a single unit for a plurality of inverter units 130 in common. At this time, the sensing unit is provided with more than the number of the inverter unit 130, it may be electrically connected to the output terminal of each inverter unit 130.

For the maintenance of the inverter unit 130 and the rated capacity of the inverter unit 130 according to the motor change, the inverter unit 130 may be detachably formed in the converter unit 110.

For example, a module detachable from the base 109 may be provided. At this time, the inverter unit 130 may be formed in the module. In order to obtain the current value of the driving power provided to the motor, the sensing unit 108 may be detachably formed on the module.

The module may include a frame supporting the inverter unit 130.

When the module is mounted on the base 109, the converter 110 and the inverter 130 may be electrically connected. The driving power of the motor 50 may be output by the converter unit 110 and the inverter unit 130 electrically connected to each other.

The base 109 may be provided with an installation unit in which modules are installed. At this time, a plurality of installation units may be formed for one converter unit 110. A first connector electrically connected to the converter 110 may be provided in each installation unit. A second connector detachable from the first connector may be provided in the module.

As an example, the installation unit may include a groove into which the module is inserted. A rail for guiding the sliding of the module may be formed in the installation unit.

A first connector may be provided at a position facing the end of the rail from the base 109. The first connector may be electrically connected to the output terminal of the converter unit 110.

A second connector may be provided at a position facing the first connector in the module. An external connector connected to the motor 50 may be provided on one surface of the module.

The second connector may be electrically connected to the input terminal of the inverter unit 130.

The second connector may be formed to be mounted to the first connector when the module slides to the end of the rail. When the second connector is mounted on the first connector, the converter unit 110 and the inverter unit 130 may be electrically connected to each other.

When the module is removed from the installation portion, the electrical connection between the first connector and the second connector can be naturally released.

The inverter element 133 provided in the inverter unit 130 may convert the input current to a current of a different frequency. As an example, the IGBT is a switching device having a structure of a power metal oxide semi-conductor field effect transistor (FET) and a bipolar transistor. IGBT can convert the input electricity to electricity of different frequency by using the characteristics of small driving power, high-speed switching, high withstand voltage and small driving power, high-speed switching, high withstand voltage, and high current density.

The current sensor 135 provided in the sensing unit 130 may measure the amount of current provided from the inverter element 133 to the motor 50. The measured value of the current sensor can be used to control the motor 50.

According to this embodiment, it is possible to freely connect and disconnect the inverter unit 130 to the common single converter unit 110. In addition, it is possible to freely connect and disconnect the sensing unit 108 to the inverter unit 130. Therefore, there is an advantage that the inverter unit 130 and the sensing unit 108 having various capacities previously manufactured can be freely applied to the common converter unit 110. Therefore, a multi-axis drive system with improved openness can be provided.

Meanwhile, in order to improve the openness of the converter unit 110, the converter unit 110 may also be detachably formed on the base 109.

Converting installation means may be provided on the plurality of installation parts formed on the base 109. The converting installation means may be formed so that the converter 110 is detachable. For example, a rail for guiding the sliding of the converter unit 110 may be formed in the converting installation means.

The converting installation means may be provided with a first connection terminal.

A second connection terminal connected to the first connection terminal may be provided on one surface of the converter unit 110 facing the first connection terminal. The second connection terminal may be electrically connected to the output terminal of the converter unit 110.

The converter 110 may be installed in the converting installation means along a direction in which the second connection terminal moves toward the first connection terminal. When the installation of the converter unit 110 to the converting installation means is completed, the second connection terminal may be naturally connected to the first connection terminal while moving toward the first connection terminal.

The base 109 may be provided with a plurality of installation units in which modules may be installed. Each installation part may be provided with a first connector. At this time, the first connector provided in each installation unit may be electrically connected to the first connection terminal.

When the second connection terminal provided in the converter 110 is connected to the first connection terminal and the second connector provided in the module is connected to the first connector, the second connector, the first connector, the first connection terminal, and the second connection terminal Through the converter 110 and the inverter 130 may be electrically connected.

The drive device 100 of the present invention can be seen as a mixture of a stand-alone onboard structure and a module form. A hybrid that combines the advantages of a stand-alone type on-board of a multi-axis drive with the advantages of a module-type capacity selection configuration, and inserts a module into a stand-alone type, and combines the two types to form a product by selecting the required capacity. ) Can take the form of a structure.

Although the embodiments according to the present invention have been described above, they are merely exemplary, and those skilled in the art will understand that various modifications and equivalent ranges of the embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be defined by the following claims.

30...Main controller 50...Motor
100...drive unit 102...receptor
104...Removable part 106...Panel
108...sensing unit 109...base
110...Converter section 130...Inverter section
133...inverter element 135...current sensor
150...control unit 170...SMPS

Claims (9)

A base on which at least one of a converter unit and an inverter unit providing driving power of a motor is formed;
Includes; a sensing unit for sensing at least one of the motor, the converter unit, the inverter unit, the driving power;
The sensing unit is a drive device formed detachably on the base.
According to claim 1,
The driving power is variable according to the rated power of the motor,
A drive device in which a specific sensing unit having a rated capacity capable of sensing current driving power is selected and mounted on the base.
According to claim 1,
A detachable portion electrically connected to an output terminal of the inverter portion where the driving power is output is provided on the base,
The sensing unit is detachable to the detachable portion,
When the sensing unit is mounted on the detachable part, a drive device that senses the driving power output from the inverter part.
According to claim 3,
The detachable part is electrically connected to a control part controlling at least one of the converter part and the inverter part,
The sensing value of the sensing unit is transmitted to the control unit through the detachable unit.
According to claim 1,
The sensing unit is provided with a current sensor for sensing the current size of the driving power,
When the sensing unit is mounted on the base, the current sensor is electrically connected to the output terminal of the inverter unit and detects the current intensity of the driving power output from the inverter unit.
According to claim 1,
A noise filter and a rectifier are provided in the converter part,
The inverter unit is provided with an IGBT (Insulated Gate Bipolar Transistor),
The sensing unit is provided with a current sensor for measuring the current of the input terminal of the motor drive device.
According to claim 1,
The inverter unit is formed in a plurality according to the number of the motor,
The converter unit is formed of a single common to a plurality of the inverter unit,
The sensing unit is provided with more than the number of the inverter unit, the drive device is electrically connected to the output terminal of each inverter unit.
According to claim 1,
The base is provided with a receiving portion for receiving the sensing unit,
A drive device is provided with a panel covering the accommodation portion in which the sensing unit is accommodated and mounted.
According to claim 1,
A detachable module is provided on the base,
The inverter unit is formed on the module,
The sensing unit is a drive device formed detachably to the module.

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