Servo drives and robots

Abstract

This invention provides a servo driver and a robot. The servo driver includes a power supply unit (1), a power unit (4), a capacitor voltage regulator and energy storage unit (3), a signal conversion unit (2), a control unit (6), and a structural unit. The power supply unit (1), power unit (4), capacitor voltage regulator and energy storage unit (3), signal conversion unit (2), control unit (6), and structural unit are all modularly designed. The power supply unit (1), power unit (4), capacitor voltage regulator and energy storage unit (3), signal conversion unit (2), and control unit (6) are housed within the structural unit. According to the servo driver of this invention, the development cycle of servo driver products with different power ranges can be shortened, and design costs can be reduced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a servo drive and a robot. Background Technology

[0002] Joint robots, due to their flexible structure, wide range of motion, and high operational precision, have become one of the core pieces of equipment in modern industrial automation. They play a crucial role in various fields such as automobile manufacturing, electronics assembly, medical surgery, food packaging, logistics handling, and aerospace, greatly improving production efficiency and automation levels. With the advancement of intelligent manufacturing, the market has placed higher demands on the performance improvement, functional expansion, and cost optimization of joint robots, especially the need for servo drives.

[0003] Traditional servo drives for articulated robots are typically designed with fixed specifications and lack modularity. This necessitates a complete redesign of the drive to address motor control requirements with varying power demands. This approach not only prolongs product development cycles but also increases production costs, limiting the rapid deployment and efficient application of articulated robots in diverse scenarios. Furthermore, traditional servo drives often have a large size due to their illogical internal component distribution, hindering compact robot design and flexible deployment. In terms of maintenance and debugging, their high integration means that a single component failure often necessitates replacing the entire drive, increasing maintenance costs and downtime.

[0004] With the wider application of multi-joint robots, the market demands more diversified servo drives. In addition to the fundamental characteristics of high reliability, high precision, and high response speed, servo drives are also required to be scalable, rapidly customizable, and cost-effective. This includes modular design of the drives, enabling rapid combination and adjustment according to different power requirements and application scenarios; miniaturization of the drives to adapt to the increasingly compact structural requirements of robots; and efficient production and maintenance of the drives to reduce overall manufacturing and operating costs.

[0005] In existing technologies, the power board and power inverter board of servo drives adopt a combined design, that is, multiple power modules and inverter circuits are integrated on the same PCB board. This design simplifies the manufacturing process of servo drives to some extent, but due to the integration of power modules and inverter circuits, it not only prolongs the product development cycle, but also increases the design cost. Summary of the Invention

[0006] The main objective of this invention is to provide a servo drive and robot that can shorten the development cycle of servo drive products with different power ranges and reduce design costs.

[0007] To achieve the above objectives, according to one aspect of the present invention, a servo driver is provided, including a power supply unit, a power unit, a capacitor voltage regulator and energy storage unit, a signal conversion unit, a control unit, and a structural unit. The power supply unit, power unit, capacitor voltage regulator and energy storage unit, signal conversion unit, control unit, and structural unit are all modularly designed, and the power supply unit, power unit, capacitor voltage regulator and energy storage unit, signal conversion unit, and control unit are disposed within the structural unit.

[0008] Furthermore, the capacitor voltage regulator and energy storage unit and the signal switching unit can be combined with the power supply unit in any way.

[0009] Furthermore, the structural unit includes a heat sink unit and an electrical box cover unit. The heat sink unit and the electrical box cover unit adopt a modular design. The electrical box cover unit is set on the heat sink unit and forms an installation space with the heat sink unit. The power supply unit, power unit, capacitor voltage regulator and energy storage unit, signal conversion unit, and control unit are set in the installation space.

[0010] Furthermore, the power supply unit, power unit, capacitor voltage regulator and energy storage unit, and control unit are stacked in a direction away from the heat sink unit. The power supply unit and power unit are located in the first layer to form a power inverter layer, the capacitor voltage regulator and energy storage unit is located in the second layer to form a capacitor voltage regulator and energy storage layer, and the control unit is located in the third layer to form a control layer.

[0011] Furthermore, the heat sink unit is provided with a first connecting post, the power unit is provided with a third connecting post and a second connecting post, the height of the second connecting post is higher than the height of the third connecting post, the power inverter layer is located on top of the first connecting post, the control layer is located on top of the second connecting post, and the capacitor voltage regulator and energy storage layer is located on top of the third connecting post.

[0012] Furthermore, the first connecting post, the second connecting post, and the third connecting post are all copper studs; and / or, the power inverter layer is detachably connected to the first connecting post, the third connecting post is welded and fixed to the upper surface of the power unit, and the control layer is detachably connected to the second connecting post.

[0013] Furthermore, a heat sink pad is provided on the side of the heat sink unit facing the power supply unit.

[0014] Furthermore, the signal conversion unit is vertically arranged relative to the power unit. The signal conversion unit includes a circuit board, and the power supply unit, power unit and control unit are provided with pin headers. The signal conversion unit is connected to the power supply unit, power unit and control unit through the connector and pin headers on the circuit board.

[0015] Furthermore, the capacitor voltage regulator energy storage unit is an independent unit, while the power supply unit, power unit, and control unit are general-purpose units.

[0016] Furthermore, there are at least two capacitor voltage-regulated energy storage units, the signal switching unit is vertically arranged relative to the power unit, and the at least two capacitor voltage-regulated energy storage units are respectively arranged on both sides of the signal switching unit.

[0017] According to another aspect of the present invention, a robot is provided, including a servo drive, which is the servo drive described above.

[0018] Furthermore, the robot is a multi-joint robot, which includes multiple servo drives, the control units of the multiple servo drives share a single main control chip; and / or, the power units of the multiple servo drives can be freely combined.

[0019] According to the technical solution of this invention, the servo driver includes a power supply unit, a power unit, a capacitor voltage regulator and energy storage unit, a signal conversion unit, a control unit, and a structural unit. All of these units are modularly designed and housed within the structural unit. This servo driver, comprising a power supply unit, a power unit, a capacitor voltage regulator and energy storage unit, a signal conversion unit, a control unit, and a structural unit, utilizes a modular design to form modules. When developing servo drivers for different power ranges, only some or all of the power units need to be recombined according to the power range of the servo driver. Simple adjustments to the capacitor voltage regulator and energy storage unit, the signal conversion unit, and the structural unit are then made based on the selected power unit combination. This avoids the cumbersome process of redesigning the entire circuit required by traditional drivers, significantly shortening the development cycle of servo driver products for different power ranges. Due to the high degree of overlap in the constituent units of servo driver products for different power ranges, the efficiency of mass production of servo drivers is improved, and production costs are reduced. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0021] Figure 1 An exploded view of a servo driver according to an embodiment of the present invention is shown;

[0022] Figure 2 This diagram shows the internal structure of the servo driver according to an embodiment of the present invention after removing the electrical box cover unit and the control unit;

[0023] Figure 3 A perspective structural diagram of the heat dissipation unit of the servo driver according to an embodiment of the present invention is shown;

[0024] Figure 4 It shows Figure 1 An enlarged structural diagram at point A;

[0025] Figure 5 It shows Figure 1 An enlarged structural diagram at point B; and

[0026] Figure 6 It shows Figure 1 A magnified structural diagram at point C.

[0027] The above figures include the following reference numerals:

[0028] 1. Power supply unit; 11. AC input terminal; 12. DC input terminal; 2. Signal conversion unit; 21. Circuit board; 22. Connector; 3. Capacitor voltage regulator and energy storage unit; 31. Third connecting post; 32. Capacitor; 4. Power unit; 41. Motor terminal; 42. Pin header; 5. Heat sink unit; 51. Heat sink pad; 6. Control unit; 7. Electrical box cover unit; 81. First connecting post; 82. Second connecting post. Detailed Implementation

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] See also Figures 1 to 6 As shown, according to an embodiment of the present invention, the servo driver includes a power supply unit 1, a power unit 4, a capacitor voltage regulator and energy storage unit 3, a signal conversion unit 2, a control unit 6, and a structural unit. The power supply unit 1, the power unit 4, the capacitor voltage regulator and energy storage unit 3, the signal conversion unit 2, the control unit 6, and the structural unit are all modularly designed. The power supply unit 1, the power unit 4, the capacitor voltage regulator and energy storage unit 3, the signal conversion unit 2, and the control unit 6 are disposed within the structural unit.

[0031] In related technologies, the integration of power modules and inverter circuits means that servo drivers with different power ranges require different power modules and inverter circuits. If a combined design is adopted, the entire PCB board must be redesigned every time a new power range servo driver is developed. This not only extends the product development cycle but also increases the design cost.

[0032] The servo driver of this invention includes a power supply unit, a power unit, a capacitor voltage regulator and energy storage unit, a signal conversion unit, a control unit, and a structural unit. These units are all modularly designed. When developing servo drivers with different power ranges, it is only necessary to recombine some or all of the power units according to the power range of the servo driver, and make simple adjustments to the capacitor voltage regulator and energy storage unit, the signal conversion unit, and the structural unit according to the selected power unit combination. There is no need to redesign the entire PCB board, thus avoiding the tedious process of redesigning the entire circuit required by traditional drivers. This significantly shortens the development cycle of servo driver products with different power ranges. Since the component units of servo driver products with different power ranges have a high degree of overlap, the efficiency of mass production of servo drivers is improved and the production cost is reduced.

[0033] Furthermore, since the structure of the servo drive is realized through internal modular design, the structural design of each unit is flexible and convenient, and there are many options for structural arrangement, which helps to improve production efficiency, reduce production costs, and facilitates miniaturization through flexible design and arrangement of each unit. During debugging and maintenance, only the problematic unit can be repaired and replaced individually without repairing or replacing other units, making debugging and maintenance more convenient and reducing maintenance costs.

[0034] This design is particularly suitable for applications requiring rapid replacement or upgrades of specific components, such as automated equipment in industrial production lines, enabling quick response and flexible adjustments. The power supply unit 1, power unit 4, capacitor voltage regulator and energy storage unit 3, signal conversion unit 2, and control unit 6 are housed within the structural unit, resulting in a compact structure that saves space. This makes it suitable for space-constrained robots or small automated equipment. Its compact design effectively saves space, ensuring the equipment's portability and flexibility. Due to its highly efficient maintenance and production characteristics, it significantly reduces production line downtime and improves production efficiency.

[0035] In one embodiment, the capacitor voltage regulator energy storage unit 3 and the signal switching unit 2 can be arbitrarily combined with the power supply unit 1.

[0036] In this embodiment, the signal conversion unit 2 consists of only one PCB board and several circuit boards 21, and the capacitor voltage regulator and energy storage unit 3 consists of only two PCB boards and several capacitors 32. The composition is simple, easy to modify, and has low production cost and fast production speed. When developing servo drive products with different power ranges, power units corresponding to the motor drives of each joint will be developed to address different robot loads. Different power units can be grouped into a component library, from which several can be freely combined according to requirements. Due to different selected power units 4, the position of the circuit board 21 of the signal conversion unit 2 and the number of capacitors in the capacitor voltage regulator and energy storage unit 3 may change. Design adjustments are needed based on these changes to ensure the transmission of electrical signals. When the above changes, the heat sink unit 5 and the electrical box cover unit 7, as structural units, will also change accordingly to ensure proper assembly of the internal PCBA. The electrical box cover unit 7, which mainly forms the installation space for the above units, will also change accordingly. The structure of the heat sink unit 5 can be adjusted as needed.

[0037] This flexible combination allows the servo drive to adapt to different working environments and load requirements. For example, in industrial robot applications with high load and high power requirements, the stability and response speed of the system can be improved by increasing the number of capacitor voltage regulator energy storage units 3. In applications with high signal transmission requirements, such as in precision control automation equipment, the signal transmission quality and control accuracy can be improved by increasing the complexity of the signal conversion unit 2.

[0038] The signal conversion unit 2 and the capacitor voltage regulator and energy storage unit 3 are simple in composition, easy to modify in design, and have low production cost and fast production speed. When developing servo driver products with different power ranges, at most only the signal conversion unit 2, capacitor voltage regulator and energy storage unit 3, heat sink unit 5, and electrical box cover unit 7 need to be modified to achieve rapid development of servo driver products with different power ranges.

[0039] In one embodiment, power unit 4 consists of multiple power modules, each containing an inverter circuit and a drive circuit to convert DC power into AC power to drive the servo motor. This modular design allows individual power modules to operate independently to accommodate servo motors with different power requirements. The modular design not only simplifies the design and manufacturing process of individual power units but also enables power unit 4 to easily adapt to servo drives of various power levels without requiring a complete redesign of the servo drive.

[0040] In one embodiment, the structural unit includes a heat sink unit 5 and an electrical box cover unit 7. The heat sink unit 5 and the electrical box cover unit 7 adopt a modular design. The electrical box cover unit 7 is disposed on the heat sink unit 5 and forms an installation space with the heat sink unit 5. The power supply unit 1, the power unit 4, the capacitor voltage regulator and energy storage unit 3, the signal conversion unit 2, and the control unit 6 are disposed in the installation space.

[0041] The radiator unit 5 and the electrical enclosure unit 7 adopt a modular design, which not only facilitates production and maintenance but also allows for the selection of different specifications of radiator unit 5 and electrical enclosure unit 7 according to actual needs, to meet the design requirements of servo drives with different power ranges. For automated equipment operating in high-temperature environments, radiator unit 5 with stronger heat dissipation performance is also selected. The electrical enclosure unit 7 is mounted on the radiator unit 5 and forms an installation space with it. The power supply unit 1, power unit 4, capacitor voltage regulator and energy storage unit 3, signal conversion unit 2, and control unit 6 are all housed within the installation space. This design helps protect the internal units from the influence of the external environment, improving the stability and reliability of the system.

[0042] In one embodiment, the power supply unit 1, the power unit 4, the capacitor voltage regulator and energy storage unit 3, and the control unit 6 are stacked in a direction away from the heat sink unit 5. The power supply unit 1 and the power unit 4 are located in the first layer to form a power inverter layer, the capacitor voltage regulator and energy storage unit 3 is located in the second layer to form a capacitor voltage regulator and energy storage layer, and the control unit 6 is located in the third layer to form a control layer.

[0043] In this embodiment, power supply unit 1 and power unit 4 are located on the first layer, serving as the input and output layers for high-voltage power. Capacitor voltage regulator and energy storage unit 3 is located on the second layer, acting as a bridge for high-voltage power transmission. Control unit 6 is located on the third layer, serving as the input and output layer for low-voltage power. This embodiment arranges the units in layers according to their characteristics, which not only satisfies the separation of high and low voltage power, improving the safety of circuit design, but also facilitates the miniaturization of the servo driver by enabling layered configuration between units.

[0044] In one embodiment, the power supply unit 1 of the servo driver includes an AC input rectification area and a DC input chopper area, and the power supply unit 1 is provided with an AC input terminal 11 and a DC input terminal 12.

[0045] The AC input terminal 11 of the power supply unit 1 mainly realizes the AC to DC conversion through the AC rectification area, and then provides high power to each power unit 4 through the capacitor voltage regulation and energy storage unit; the DC input terminal 12 realizes the DC 24V to 15V and 5V conversion through the DC chopper area, and then provides low power to each power unit 4 and control unit 6 through the signal conversion unit 2, realizing the separation of high and low power of the servo driver.

[0046] The power supply unit 1, power unit 4, capacitor voltage regulator and energy storage unit 3, and control unit 6 are stacked in a direction away from the heat sink unit 5, forming a high-density integrated design that optimizes the performance, reliability, and production efficiency of the servo drive. This design functionally layers the key components of the servo drive, with each layer undertaking specific electrical and thermal management responsibilities. This facilitates efficient heat dissipation and electrical isolation of the servo drive, while reducing the overall size and improving the product's compactness and flexibility.

[0047] The power inverter layer, consisting of power supply unit 1 and power unit 4, is located on the layer closest to heat sink unit 5. The power supply unit and power unit are the main heat sources in the servo drive, and this layout fully utilizes the cooling capacity of the heat sink. Power supply unit 1 is responsible for drawing AC power from the external power grid and converting it to DC power, while power unit 4 inverts this DC power into adjustable AC power required by the servo motor. By placing both on the same layer, not only are the circuit paths shortened and the risk of electromagnetic interference reduced, but also the concentrated dissipation of heat is facilitated, improving the efficiency of thermal management.

[0048] The capacitor-regulated energy storage layer, or second layer, consists of capacitor-regulated energy storage units 3. This layer incorporates numerous voltage-regulating capacitors 32, which buffer and stabilize power supply fluctuations and the instantaneous high power demands of the motor. The capacitor-regulated energy storage units 3 are tightly connected to the power supply unit 1 and the power unit 4 via the third connecting post 31, acting as a bridge for high-voltage transmission and ensuring stable and efficient energy transfer between the power supply and the motor. The independent design of the capacitor units allows for flexible adjustment of the number and specifications of capacitors as needed during product development across different power ranges, without affecting other structures of the servo drive, greatly simplifying the design and manufacturing process.

[0049] The control layer is occupied by control unit 6, located at the top of the stacked structure. Control unit 6 is responsible for receiving external control signals, processing the motor control logic, and communicating with power unit 4 and power supply unit 1 through signal conversion unit 2. This layout helps reduce the impact of strong electrical interference on weak electrical signals, ensuring the accuracy of control signals and the overall operational stability of the servo drive. Simultaneously, the independent design and optimization of control unit 6 allows it to handle the control logic of multiple motors simultaneously, improving signal coordination, reducing the number of control chips, and lowering costs.

[0050] The electrical box cover unit 7 and the heat sink unit 5 serve as the protective shell and thermal management core, respectively, and their design is closely related to the layout of the aforementioned functional layers. The electrical box cover unit not only provides physical protection but also enhances the human-machine interface by transmitting the operating status of the servo driver through light guide pillars. The heat sink pad 51 in the heat sink unit 5 solves the heat dissipation problem for heat-generating devices at different heights, while the first connecting post 81 and the second connecting post 82 fix each layer, ensuring structural stability and safe distances between electrical components.

[0051] This stacked layout design, by functionally partitioning and stacking the servo drive components, not only solves the problems of large size, long development cycle and high production cost of traditional servo drives, but also improves the thermal management capability, signal processing efficiency and the versatility and flexibility of the servo drive.

[0052] In one embodiment, the power unit 4 includes a motor terminal 41. The power unit 4 of the servo driver realizes DC power inversion through a power module and then outputs it to the motor terminal 41 to drive the servo motor.

[0053] In one embodiment, the heat sink unit 5 is a finned heat sink, and the power modules and rectifier modules included in the power supply unit 1 and the power unit 4 are all placed on the bottom layer of the corresponding PCB board so as to achieve good contact with the upper surface of the heat sink unit 5 and facilitate heat dissipation.

[0054] In one embodiment, a heat sink pad 51 is provided on the side of the heat sink unit 5 facing the power supply unit 1.

[0055] The heat sink pad 51 is fixed to the upper surface of the heat sink with screws. It is used to solve the problem of inconsistent height of heat-generating devices such as power modules and rectifier modules contained in the power unit 1 and power unit 4, so as to achieve good heat dissipation of heat-generating devices, and at the same time improve the production efficiency of the heat sink and reduce the production cost of the heat sink.

[0056] In one embodiment, the heat sink unit 5 is provided with a first connecting post 81, the power unit 4 is provided with a third connecting post 31 and a second connecting post 82, the height of the second connecting post 82 is higher than the height of the third connecting post 31, the power inverter layer is provided on top of the first connecting post 81, the control layer is provided on top of the second connecting post 82, and the capacitor voltage regulator energy storage layer is provided on top of the third connecting post 31.

[0057] This design allows for a stable connection between the various units via connecting posts. Simultaneously, the use of connecting posts of varying heights enables effective layering between units, improving space utilization and achieving miniaturization of the servo drive while ensuring electrical safety distances between the control unit 6, the capacitor voltage regulator / energy storage unit 3, and the power unit 4. The power inverter layer is positioned on top of the first connecting post 81, the second connecting post 82 passes through the power inverter layer, the control layer is positioned on top of the second connecting post 82, and the capacitor voltage regulator / energy storage layer is positioned on top of the third connecting post 31. This arrangement not only ensures stable connections between units but also optimizes signal transmission paths, reduces signal interference, and improves control accuracy and response speed. In high-speed industrial robot arm control, this optimized signal transmission path significantly improves signal processing speed, enabling the robot to execute actions faster and more accurately, thus improving production efficiency and product quality. Furthermore, stable unit connections ensure the reliability of the servo drive during high-speed movement, reducing the failure rate.

[0058] In one embodiment, the second connecting post 82 is disposed corresponding to the first connecting post 81 and is fixedly connected to the first connecting post 81 at the power unit 4 by welding, bonding, or screwing. The second connecting post 82, being disposed corresponding to the first connecting post 81, allows the first connecting post 81 to support the second connecting post 82. This effectively avoids the problem of the second connecting post 82 and its components being bonded to the plate of the power unit 4, which could easily cause deformation of the power unit 4, thus improving the structural stability and reliability of the power unit 4.

[0059] In one embodiment, the capacitor voltage regulator energy storage unit 3 is equipped with multiple capacitors 32 to achieve voltage regulation and energy storage. It is fixed to the power supply unit 1 and the power unit 4 by a third connecting post 31. The third connecting post 31 also serves as a bridge for high-voltage power transmission, enabling power transmission from the power supply unit 1 to the power unit 4.

[0060] In one embodiment, the first connecting post 81, the second connecting post 82, and the third connecting post 31 are all copper studs.

[0061] Copper studs possess excellent electrical and thermal conductivity, effectively reducing connection resistance and improving connection stability and heat dissipation efficiency, making them suitable for high-power, high-frequency servo drive applications. In high-power applications, the high electrical and thermal conductivity of copper studs ensures stable operation under high current and high frequency, reducing heat accumulation and preventing equipment damage due to overheating.

[0062] In one embodiment, the power inverter layer is detachably connected to the first connecting post 81, the third connecting post 31 is welded and fixed to the upper surface of the power unit 4, and the control layer is detachably connected to the second connecting post 82.

[0063] This connection method not only ensures a stable connection between units but also facilitates unit replacement and upgrades, improving system flexibility and maintainability. The detachable connection design means that in the event of a servo drive failure, the entire servo drive does not need to be disassembled; only the faulty unit needs to be replaced or upgraded, significantly shortening maintenance time and reducing maintenance costs.

[0064] In one embodiment, the signal conversion unit 2 is vertically arranged relative to the power unit 4. The signal conversion unit 2 includes a circuit board 21. The power unit 1, the power unit 4, and the control unit 6 are provided with pin headers 42. The signal conversion unit 2 is connected to the power unit 1, the power unit 4, and the control unit 6 through the connector 22 on the circuit board 21 and the pin headers 42.

[0065] This connection method not only simplifies the signal transmission path, but also improves the stability and reliability of signal transmission. It can facilitate the transmission of control signals and low-voltage power between power supply unit 1, power unit 4 and control unit 6. The signal transfer unit 2 is set vertically and occupies a small horizontal area, thus making the overall structure of the servo driver more compact, making fuller use of space, and making it easier to miniaturize the servo driver.

[0066] In one embodiment, the electrical box cover unit 7 is detachably fixed to the upper side of the heat sink unit 5 to protect the power supply unit 1, signal conversion unit 2, capacitor voltage regulator and energy storage unit 3, power unit 4, and control unit 6 inside, and to transmit the working status of the servo driver through the installed light guide column.

[0067] In one embodiment, the capacitor voltage regulator energy storage unit 3 is an independent unit, while the power supply unit 1, power unit 4, and control unit 6 are general-purpose units.

[0068] This design allows the capacitor voltage regulator energy storage unit 3 to be independently replaced or upgraded according to actual needs without affecting the normal operation of other units, thus improving the system's flexibility and scalability. The power supply unit 1, power unit 4, and control unit 6 become common components of servo drive products with different power ranges, improving production efficiency and reducing production costs.

[0069] Since the number of voltage-regulating energy storage capacitors required for servo drives of different power ranges varies, if all capacitors 32 of the capacitor-regulated energy storage unit 3 are located on the power supply unit 1, it will increase the size of the servo drive and require redesigning the schematics and PCBs for servo drives of different power ranges, which is not conducive to shortening the development cycle and mass production. The capacitor-regulated energy storage unit 3 is an independent unit, the purpose of which is to make the power supply unit 1 a common component of servo drive products of different power ranges.

[0070] The servo driver uses a unitized and modular design, making the power supply unit 1, signal conversion unit 2, control unit 6, etc., common parts of products with different power ranges. This means that the production line can stock a large number of these common units, reducing inventory pressure. At the same time, due to the high degree of overlap between units, mass production can be achieved, thereby improving production efficiency and reducing overall production costs.

[0071] In one embodiment, there are at least two capacitor voltage-stabilized energy storage units 3, the signal switching unit 2 is vertically arranged relative to the power unit 4, and at least two capacitor voltage-stabilized energy storage units 3 are respectively arranged on both sides of the signal switching unit 2.

[0072] This design not only increases the total capacity of the capacitor voltage regulator energy storage unit 3, improving the system's stability and response speed, but also optimizes the system's heat distribution by distributing the capacitor voltage regulator energy storage unit 3, avoiding local overheating and improving heat dissipation efficiency.

[0073] In one embodiment, the control unit 6 can be made into an integrated board, or it can be made into a core board plus a peripheral connection board.

[0074] According to an embodiment of the present invention, the robot includes a servo drive, which is the servo drive described above.

[0075] The high efficiency, stability, and flexibility of servo drives provide robots with powerful power control and signal processing capabilities. Robots using these servo drives can perform high-precision automated operations in various complex industrial environments, such as quickly and accurately assembling parts on automotive assembly lines, rapidly transporting goods in logistics warehouses, or performing micron-level machining in precision instrument manufacturing. This not only improves robot efficiency but also saves users significant operating costs and enhances economic benefits due to its low maintenance costs and long service life.

[0076] In one embodiment, the robot is a multi-joint robot, which includes multiple servo drives, and the control unit 6 of the multiple servo drives shares a single main control chip.

[0077] In this embodiment, the control units 6 of multiple servo drives share a single main control chip, enabling the control unit 6 to process the control logic of multiple motors simultaneously, thus achieving good signal coordination.

[0078] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0079] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0080] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A servo driver, characterized in that, The system includes a power supply unit (1), a power unit (4), a capacitor voltage regulator and energy storage unit (3), a signal conversion unit (2), a control unit (6), and a structural unit. All of these components are modularly designed. The power supply unit (1), power unit (4), capacitor voltage regulator and energy storage unit (3), signal conversion unit (2), control unit (6), and structural unit are housed within the structural unit. The structural unit includes a heat sink unit (5) and an electrical box cover unit (7). The power supply unit (1), power unit (4), capacitor voltage regulator and energy storage unit (3), and control unit (6) are arranged along a path away from each other. The heat sink unit (5) is arranged in a stacked manner. The power supply unit (1) and the power unit (4) are located in the first layer to form a power inverter layer. The capacitor voltage regulator and energy storage unit (3) is located in the second layer to form a capacitor voltage regulator and energy storage layer. The control unit (6) is located in the third layer to form a control layer. The heat sink unit (5) is provided with a first connecting post (81). The power unit (4) is provided with a third connecting post (31) and a second connecting post (82). The height of the second connecting post (82) is higher than the height of the third connecting post (31). The power inverter layer is located on the top of the first connecting post (81). The control layer is located on the top of the second connecting post (82). The capacitor voltage regulator and energy storage layer is located on the top of the third connecting post (31).

2. The servo driver according to claim 1, characterized in that, The capacitor voltage regulator energy storage unit (3) and the signal transfer unit (2) can be arbitrarily combined with the power supply unit (1).

3. The servo driver according to claim 1, characterized in that, The radiator unit (5) and the electrical box cover unit (7) adopt a modular design. The electrical box cover unit (7) is set on the radiator unit (5) and forms an installation space with the radiator unit (5). The power supply unit (1), the power unit (4), the capacitor voltage regulator energy storage unit (3), the signal conversion unit (2), and the control unit (6) are set in the installation space.

4. The servo driver according to claim 1, characterized in that, The first connecting post (81), the second connecting post (82) and the third connecting post (31) are all copper studs; and / or, the power inverter layer is detachably connected to the first connecting post (81), the third connecting post (31) is welded and fixed to the upper surface of the power unit (4), and the control layer is detachably connected to the second connecting post (82).

5. The servo driver according to claim 1, characterized in that, The heat sink unit (5) has a heat sink pad (51) on the side facing the power supply unit (1).

6. The servo driver according to claim 1, characterized in that, The signal conversion unit (2) is vertically arranged relative to the power unit (4). The signal conversion unit (2) includes a circuit board (21). The power supply unit (1), the power unit (4) and the control unit (6) are provided with pin headers (42). The signal conversion unit (2) is connected to the power supply unit (1), the power unit (4) and the control unit (6) respectively through the connector (22) on the circuit board (21) and the pin headers (42).

7. The servo driver according to any one of claims 1 to 6, characterized in that, The capacitor voltage regulator energy storage unit (3) is an independent unit, while the power supply unit (1), the power unit (4), and the control unit (6) are general-purpose units.

8. The servo driver according to claim 1, characterized in that, There are at least two capacitor voltage regulator energy storage units (3), the signal transfer unit (2) is vertically arranged relative to the power unit (4), and at least two capacitor voltage regulator energy storage units (3) are respectively arranged on both sides of the signal transfer unit (2).

9. A robot, comprising a servo drive, characterized in that, The servo driver is the servo driver according to any one of claims 1 to 8.

10. The robot according to claim 9, characterized in that, The robot is a multi-joint robot, which includes multiple servo drives, and the control units of the multiple servo drives share a main control chip; and / or, the power units (4) of the multiple servo drives can be freely combined.

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