Servo driver and servo control system

Abstract

The utility model provides a servo driver and a servo control system, and relates to the technical field of motors, and the servo driver comprises a circuit board which is provided with a gap which divides the circuit board into a first plate and a second plate; the control device is connected with the first plate and used for converting the control instruction into a control signal; the power device is connected with the second plate and is used for driving the motor to work according to the control signal; and the isolation device is arranged across the gap, is connected with the first plate and the second plate, and is used for isolating signals of the control device and the power device. According to the utility model, the technical defects of poor stability, poor reliability and large potential safety hazard in the prior art are solved, and the technical effects of optimizing the structure of the servo driver, improving the practicability of the servo driver, reducing the failure rate of the servo driver and ensuring the safety of users are realized.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, in particular to a servo driver and a servo control system. Background Art

[0002] With the continuous development of science and technology, the miniaturization and low cost of servo drives have become the trend of the future.

[0003] In the related technology, the single-board servo drive can better adapt to the space requirements and improve the overall performance of the system, but the strong and weak currents on the single-board servo drive are not effectively separated, resulting in mutual interference between the strong and weak current parts, affecting the stability and reliability of the single-board servo drive and creating safety hazards.

[0004] Therefore, how to overcome the above-mentioned technical defects has become a technical problem that needs to be solved urgently. Utility Model Content

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, a first aspect of the utility model provides a servo driver.

[0007] A second aspect of the utility model provides a servo control system.

[0008] In view of this, the servo driver provided in the first aspect of the utility model includes: a circuit board, which is provided with a gap, and the gap separates the circuit board into a first plate and a second plate; a control device, which is connected to the first plate, and the control device is used to convert a control instruction into a control signal; a power device, which is connected to the second plate, and the power device is used to drive the motor to work according to the control signal; an isolation device, which is arranged across the gap and connected to the first plate and the second plate, and the isolation device is used to isolate the signals of the control device and the power device.

[0009] In this technical solution, a servo driver is defined, which is connected to a servo motor and is used to control the working state of the servo motor to ensure that the working state of the servo motor matches the working condition requirements.

[0010] Specifically, the servo driver includes a single circuit board, on which a control device and a power device are arranged. The control device is responsible for receiving control instructions from a controller, and the control device can convert the control instructions into PWM (Pulse width modulation) signals that can control the operation of the servo motor. The power device is connected to the servo motor, and the power device is responsible for amplifying the PWM signal and driving the servo motor to operate according to the PWM signal so that the operating state of the servo motor matches the control instruction.

[0011] Compared with power devices, control devices are connected to weak current, while power devices are connected to strong current. During operation, signal interference between strong and weak current will occur between control devices and power devices, affecting the reliability of the servo drive. In addition, control devices connected to weak current belong to the user's operating area. If control devices carry strong current due to their proximity to power devices, safety hazards will arise.

[0012] In this regard, a gap is provided on the circuit board in the technical solution, and the gap separates the circuit board into a first plate and a second plate. The first plate and the second plate are laid on the same plane, and the first plate and the second plate are divided by the gap. The control device is connected to the first plate, and a weak current area is formed on the first plate. The power device is connected to the second plate, and a strong current area is formed on the second plate.

[0013] Among them, the gap between the first plate and the second plate can play the role of dividing the strong current area and the weak current area, and the gap can block the transmission of electrical signals between the first plate and the second plate, on the one hand, avoiding signal interference between the control device and the power device, thereby improving the stability and reliability of the servo drive. On the other hand, the gap separating the circuit boards can prevent the control device from carrying strong electricity, avoiding electric shock to the user when touching the control device, thereby improving the safety of the servo drive.

[0014] It can be seen that the technical solution solves the technical defects of poor stability, poor reliability and great safety hazards in the related art by setting a gap to separate the circuit boards and arranging the power devices and control devices on the separated first and second boards respectively. It also achieves the technical effect of optimizing the servo drive structure, improving the practicality of the servo drive, reducing the failure rate of the servo drive and ensuring the safety of users.

[0015] Specifically, an insulating layer may be filled in the gap to ensure the electrical signal isolation effect between the first plate and the second plate through the insulating layer.

[0016] In this technical solution, the servo drive further includes an isolation device, which spans the gap, and one end of the isolation device is connected to the first plate, and the other end of the isolation device is connected to the second plate. The isolation device can transmit PWM signals between the first plate and the second plate while maintaining the electrical signal isolation requirement between the control device and the power device.

[0017] Specifically, during the working process, the first end of the isolation device first converts the first electrical signal corresponding to the PWM signal into other signals different from the electrical signal, and sends the other signal to the second end of the isolation device. After receiving the other signal, the second end of the isolation device converts it back into a second electrical signal corresponding to the PWM signal, and sends the second electrical signal to the power device, so that the power device can drive the servo motor to operate based on the second electrical signal.

[0018] It can be seen that by setting up an isolation device, the electrical signal isolation requirements of the first plate and the second plate, as well as the signal transmission requirements between the power device and the control device can be taken into account, ensuring that the servo drive can effectively control the operation of the servo motor and achieve the technical effect of improving the reliability and practicality of the servo drive.

[0019] In addition, the servo driver provided by the present invention may also have the following additional technical features:

[0020] In some technical solutions of the utility model, optionally, the circuit board is rectangular, and the circuit board includes a first side and a second side, and the first side and the second side are opposite to each other; the gap extends from the first side to the second side, and the gap includes a first straight line segment intersecting the first side perpendicularly, a second straight line segment intersecting the second side perpendicularly, and a broken line segment connected between the first straight line segment and the second straight line segment.

[0021] In this technical solution, when observing the circuit board from the front, the outer contour of the circuit board is rectangular, and the rectangular circuit board includes a first side and a second side opposite to each other, and a gap extends from the first side to the second side on the opposite side to separate the circuit board into a first plate member and a second plate member.

[0022] Specifically, taking the first side and the second side as the left and right sides of the circuit board as an example, the gap extends from the first side on the left side of the circuit board to the second side on the right side of the circuit board, thereby separating the circuit board into a first plate and a second plate from top to bottom.

[0023] By setting a gap extending between two opposite sides, the circuit board can be divided into two parts through a single gap, and on this basis, the area ratio between the first plate and the second plate can be allocated by slightly adjusting the shape and position of the gap, thereby correspondingly adjusting the allocation ratio of the high-current area and the low-current area, thereby achieving the technical effect of optimizing the circuit board structure layout and providing convenient conditions for circuit board design.

[0024] On this basis, the gap includes at least one straight line segment and at least one broken line segment, wherein the straight line segment is perpendicular to and intersects the first side and the second side, the broken line segment is connected to the straight line segment or the broken line segment intersects with one of the first side and the second side, and when the two ends of the gap include the first straight line segment and the second straight line segment, the broken line segment is connected between the first straight line segment and the second straight line segment.

[0025] By setting a first straight line segment, a folded line segment and a second straight line segment connected in sequence, the gap can be extended obliquely between the first side and the second side, thereby dividing the space for arranging control devices and power devices on both sides of the folded line segment. Compared with the solution of dividing the circuit board by a single straight line gap, the maximum size of the device that can be accommodated in the space separated by the inclined gap is larger, which makes it convenient to arrange large-sized electrical devices on the first plate and the second plate.

[0026] In some technical solutions of the present invention, optionally, at least part of the isolation device is arranged on the fold line segment, the control device includes a main control chip, and the main control chip and at least part of the power device are relatively arranged on both sides of the fold line segment.

[0027] In this technical solution, the control device and the power device are arranged on both sides of the broken line segment.

[0028] Specifically, the space separated by the two sides of the broken line segment is relatively large. On the one hand, it is convenient to arrange large-sized control devices and power devices, reducing the difficulty of circuit board layout. On the other hand, it can increase the interval between power devices and other devices to reduce the possibility of mutual interference or even contact short circuit between devices, thereby achieving the technical effect of optimizing the circuit board structure layout and improving the safety and reliability of the circuit board.

[0029] On this basis, among the multiple isolation devices spanning the gap, at least some of the isolation devices are set on the fold line segment. When the power device and the control device are distributed on both sides of the fold line segment, most of the electrical signals between the two need to be transmitted across the fold line segment. To this end, by placing at least some of the isolation devices across the fold line segment, the electrical signals between the power device and the control device can be effectively isolated by these isolation devices, thereby avoiding mutual interference between the power device and the control device, thereby achieving the technical effect of improving the working reliability of the power device and the control device.

[0030] In some technical solutions of the present utility model, optionally, the isolation device includes: one or a combination of a photoelectric isolation device, an electromagnetic isolation device, and a capacitive isolation device.

[0031] In this technical solution, different types and numbers of isolation devices can be selected according to the number and type of isolated signals.

[0032] Specifically, the isolation device may include one or a combination of an optoelectronic isolation device, an electromagnetic isolation device, and a capacitive isolation device. In this regard, the technical solution does not impose a rigid limit on the type and number of isolation devices, and it only needs to be able to meet the signal transmission requirements between the power device and the control device.

[0033] In some technical solutions of the present invention, optionally, the circuit board is rectangular, and the circuit board includes a first side and a second side, and the first side and the second side are opposite to each other; and the gap extends from the first side to the second side.

[0034] In some technical solutions of the present invention, optionally, the control device includes multiple interfaces, some of the multiple interfaces are facing the first side of the circuit board, and other interfaces are facing the second side of the circuit board; the power device includes terminals, and the terminals are facing the third side of the circuit board.

[0035] In this technical solution, the outgoing line direction of the circuit board is limited.

[0036] The control device outputs wires through the interface, the interface outputs wires on both sides, there are multiple interfaces, some of the multiple interfaces face the first side of the rectangular circuit board, and the other interfaces face the second side of the circuit board. Specifically, the first side and the second side are opposite.

[0037] The terminal faces a third side of the circuit board, and the third side is opposite to the first side or the third side is opposite to the second side.

[0038] It can be seen that by limiting the orientation of the above terminals and interfaces, the circuit board can be wired from three sides. Specifically, the terminals on the strong current side are designed under the rectangular circuit board to facilitate the configuration of external cables. The two-way interface of the weak current part provides more external connection methods, which makes it more convenient for users to use and improves the flexibility and scalability of the product. This achieves the technical effect of optimizing the wiring structure of the circuit board, improving the practicality of the circuit board, and reducing the complexity of the wiring of the circuit board.

[0039] Specifically, the multiple interfaces include: a gantry synchronization interface, an STO (Safe Torque Off) interface, a debugging interface, a communication interface, an external IO (Input / Output) interface and an encoder interface.

[0040] Among them, the gantry synchronization interface and STO interface are facing the upper side of the circuit board, and the debugging interface, communication interface, external IO interface and encoder interface are facing the left or right side of the circuit board.

[0041] In some technical solutions of the present invention, optionally, the control device includes: a button, which is arranged on the first board; and at least one main control chip, which is arranged on the first board and connected to the button and the interface.

[0042] In this technical solution, the control device also includes a button and a main control chip. The button is electrically connected to the main control chip. The user can issue a corresponding control instruction by touching the button. The main control chip can then generate a corresponding PWM signal based on the control instruction to drive the servo motor to operate through the PWM signal.

[0043] It can be seen that by setting buttons in conjunction with the main control chip, the touch function of the servo driver can be realized, providing convenient conditions for users to control the servo motor, thereby achieving the technical effect of improving the practicality of the servo driver and enhancing the user experience.

[0044] Specifically, when the changes in the weak current area are small, the model of the main control chip can be replaced or multiple main control chips can be placed according to different software load requirements.

[0045] In some technical solutions of the present utility model, optionally, the servo driver further includes: a heat dissipation component connected to the circuit board, and the heat dissipation component is used to dissipate heat from the control device and / or the power device.

[0046] In this technical solution, the servo drive also includes a heat dissipation component, which is connected to the circuit board, and the heat sink is arranged relative to the control device and / or the power device. During operation, the heat dissipation component can provide heat dissipation for the control device and / or the power device, so that the control device and / or the power device can operate at a lower temperature, avoiding high-temperature damage to the control device and / or the power device, thereby achieving the technical effect of optimizing the servo drive structure, reducing the failure rate of the servo drive, and improving the safety of the servo drive.

[0047] Specifically, the heat dissipation component is formed by metal material, and a plurality of fins are arranged on the heat dissipation component. The fins can increase the heat exchange area between the heat dissipation component and the air, so as to improve the heat dissipation effect.

[0048] In some technical solutions of the present utility model, optionally, the first plate includes a first area, the power device is at least partially arranged in the first area; and the heat dissipation component covers the first area.

[0049] In this technical solution, the first plate includes a first area, and the area on the first plate other than the first area is the second area.

[0050] Among them, the first area corresponds to the high temperature area, and the second area corresponds to the low temperature area. After assembly, the heat dissipation component covers the first area on the top of the circuit board to centrally dissipate heat in the first area. On this basis, the power device is at least partially arranged in the first area. The power device is connected to strong electricity, and the heat generated during the working process is relatively large. By arranging the power device at least partially in the first area, the heat dissipation effect of the heat dissipation component on the power device can be guaranteed, and the failure rate of the power device can be reduced, thereby optimizing the thermal design of the circuit board and improving the stability and reliability of the servo drive.

[0051] In some technical solutions of the utility model, optionally, the power device includes: a brake switch, arranged in the first area; a rectifier bridge, arranged in the first area; and an intelligent power module, arranged in the first area; wherein the heat dissipation component is in contact with the brake switch, the rectifier bridge and the intelligent power module.

[0052] In this technical solution, the power devices include a brake switch, a rectifier bridge and an intelligent power module. The power devices include the brake switch, the rectifier bridge and the intelligent power module are all arranged in the first area. After assembly, the power devices include the brake switch, the rectifier bridge and the intelligent power module are clamped between the second plate and the heat dissipation component. The heat dissipation component realizes heat transfer by contacting the power devices include the brake switch, the rectifier bridge and the intelligent power module to reduce the operating temperature of the power devices include the brake switch, the rectifier bridge and the intelligent power module.

[0053] During operation, the heat in the power device is concentrated on the power device including the brake switch, the rectifier bridge and the intelligent power module. By arranging the power device including the brake switch, the rectifier bridge and the intelligent power module in the first area, the stability and reliability of the power device can be ensured without increasing the size of the heat dissipation components, so as to achieve targeted heat dissipation of the power device.

[0054] Specifically, the power devices also include: a brake relay, a high-voltage terminal, an EMC (Electromagnetic Compatibility) filter circuit, a soft-start circuit, a bus capacitor and an auxiliary power supply. The brake relay, the high-voltage terminal, the EMC filter circuit, the soft-start circuit, the bus capacitor and the auxiliary power supply are all arranged in the second area outside the first area.

[0055] A second aspect of the utility model provides a servo control system, which includes: a servo driver as in any of the above technical solutions; and a servo motor connected to a power device.

[0056] In this technical solution, a servo control system provided with the servo driver in any of the above technical solutions is defined. Therefore, the servo control system has the advantages of the servo driver in any of the above technical solutions, and can achieve the technical effects that can be achieved by the servo driver in any of the above technical solutions. To avoid repetition, it will not be repeated here.

[0057] On this basis, the servo control system also includes a servo motor, which is connected to a power device on a servo driver. The power device drives the servo motor based on control instructions to ensure that the working state of the servo motor matches the working conditions.

[0058] Additional aspects and advantages of the present invention will become apparent in the following description or will be understood through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0060] Figure 1 A schematic structural diagram of a servo driver according to an embodiment of the utility model is shown;

[0061] Figure 2 A schematic structural diagram of a servo driver according to an embodiment of the utility model is shown;

[0062] Figure 3 A schematic structural diagram of a servo driver according to an embodiment of the utility model is shown;

[0063] Figure 4 A schematic structural diagram of a servo driver according to an embodiment of the utility model is shown;

[0064] Figure 5 The figure shows a structural block diagram of a servo control system according to an embodiment of the utility model.

[0065] in, Figures 1 to 5 The corresponding relationship between the reference numerals and component names in the figure is:

[0066] 100 servo drive, 110 circuit board, 1102 gap, 1104 first side, 1106 second side, 1107 first straight segment, 1108 second straight segment, 1109 broken line segment, 112 first plate, 1122 first area, 114 second plate, 120 control device, 122 interface, 1222 gantry synchronization interface, 1224 STO interface, 1226 debugging interface, 1227 communication interface, 1228 external IO interface, 1229 encoder interface, 124 button, 126 main control chip, 130 power device, 131 terminal, 132 brake switch, 133 rectifier bridge, 134 intelligent power module, 135 brake relay, 136 EMC filter circuit, 137 soft start circuit, 138 bus capacitor, 139 auxiliary power supply, 140 isolation device, 150 heat dissipation component, 200 servo control system, 210 servo motor. DETAILED DESCRIPTION

[0067] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0068] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0069] Refer to the following Figures 1 to 5 A servo drive and a servo control system according to some embodiments of the present invention are described.

[0070] like Figure 1 and Figure 2 As shown, an embodiment of the utility model proposes a servo driver 100, which includes: a circuit board 110, provided with a gap 1102, the gap 1102 separates the circuit board 110 into a first plate 112 and a second plate 114; a control device 120, connected to the first plate 112, the control device 120 is used to convert a control instruction into a control signal; a power device 130, connected to the second plate 114, the power device 130 is used to drive the motor to work according to the control signal.

[0071] Figure 1 , arrow a shows a first side of the circuit board 110 , arrow b shows a second side of the circuit board 110 , and arrow c shows a third side of the circuit board 110 .

[0072] In this embodiment, a servo driver 100 is defined. The servo driver 100 is connected to the servo motor 210 and is used to control the working state of the servo motor 210 to ensure that the working state of the servo motor 210 matches the working condition requirements.

[0073] Specifically, the servo driver 100 includes a single circuit board 110, on which a control device 120 and a power device 130 are arranged. The control device 120 is responsible for receiving control instructions from a controller, and the control device 120 can convert the control instructions into a PWM signal that can control the operation of the servo motor 210. The power device 130 is connected to the servo motor 210, and the power device 130 is responsible for amplifying the PWM signal and driving the servo motor 210 to operate according to the PWM signal so that the operating state of the servo motor 210 matches the control instruction.

[0074] Among them, compared with the power device 130, the control device 120 is connected to weak electricity, and the power device 130 is connected to strong electricity. During the operation, signal interference between the strong and weak electricity will occur between the control device 120 and the power device 130, affecting the reliability of the servo driver 100. In addition, the control device 120 connected to weak electricity belongs to the user's operating area. If the control device 120 carries strong electricity due to its proximity to the power device 130, it will cause safety hazards.

[0075] In this regard, a gap 1102 is provided on the circuit board 110 in this embodiment, and the gap 1102 separates the circuit board 110 into a first plate 112 and a second plate 114. The first plate 112 and the second plate 114 are laid on the same plane, and the first plate 112 and the second plate 114 are separated by the gap 1102. The control device 120 is connected to the first plate 112, corresponding to forming a weak current area on the first plate 112, and the power device 130 is connected to the second plate 114, corresponding to forming a strong current area on the second plate 114.

[0076] Among them, the gap 1102 between the first plate 112 and the second plate 114 can play the role of dividing the strong current area and the weak current area. The gap 1102 can block the transmission of electrical signals between the first plate 112 and the second plate 114, on the one hand, avoiding signal interference between the control device 120 and the power device 130, thereby improving the stability and reliability of the servo driver 100. On the other hand, the gap 1102 that divides the circuit board 110 can prevent the control device 120 from carrying strong electricity, avoiding electric shock when the user touches the control device 120, thereby improving the safety of the servo driver 100.

[0077] It can be seen that this embodiment solves the technical defects of poor stability, poor reliability and great safety hazards existing in the related art by setting the gap 1102 separating the circuit board 110 and arranging the power device 130 and the control device 120 on the separated first plate 112 and the second plate 114, respectively. This achieves the technical effect of optimizing the structure of the servo drive 100, improving the practicality of the servo drive 100, reducing the failure rate of the servo drive 100 and ensuring the safety of users.

[0078] Specifically, an insulating layer may be filled in the gap 1102 to ensure the electrical signal isolation effect between the first plate 112 and the second plate 114 through the insulating layer.

[0079] like Figure 1 and Figure 2 As shown, in some embodiments of the present invention, optionally, the servo driver 100 also includes: an isolation device 140, which is arranged across the gap 1102 and connected to the first plate 112 and the second plate 114, and the isolation device 140 is used to isolate the signals of the control device 120 and the power device 130.

[0080] In this embodiment, the servo drive 100 further includes an isolation device 140, one end of which is connected to the first plate 112, and the other end of which is connected to the second plate 114. The isolation device 140 can transmit PWM signals between the first plate 112 and the second plate 114 while maintaining the requirement of electrical signal isolation between the first plate 112 and the second plate 114.

[0081] Specifically, during the operation, the first end of the isolation device 140 first converts the first electrical signal corresponding to the PWM signal into other signals different from the electrical signal, and sends the other signal to the second end of the isolation device 140. After receiving the other signal, the second end of the isolation device 140 converts it back into a second electrical signal corresponding to the PWM signal, and sends the second electrical signal to the power device 130, so that the power device 130 can drive the servo motor 210 to operate based on the second electrical signal.

[0082] It can be seen that by setting the isolation device 140, the electrical signal isolation requirements of the first plate 112 and the second plate 114, as well as the signal transmission requirements between the power device 130 and the control device 120 can be taken into account, ensuring that the servo driver 100 can effectively control the operation of the servo motor 210, thereby achieving the technical effect of improving the reliability and practicality of the servo driver 100.

[0083] In some embodiments of the present invention, optionally, the isolation device 140 includes: one or a combination of a photoelectric isolation device, an electromagnetic isolation device, and a capacitive isolation device.

[0084] In this embodiment, different types and numbers of isolation devices 140 may be selected according to the number and type of signals to be isolated.

[0085] Specifically, the isolation device 140 may include one or a combination of an optoelectronic isolation device, an electromagnetic isolation device, and a capacitive isolation device. In this regard, this embodiment does not impose a rigid limit on the type and number of the isolation device 140, and it only needs to meet the signal transmission requirements between the power device 130 and the control device 120.

[0086] like Figure 1 As shown, in some embodiments of the present invention, optionally, the circuit board 110 is rectangular, and the circuit board 110 includes a first side 1104 and a second side 1106 , and the first side 1104 and the second side 1106 are opposite to each other; the gap 1102 extends from the first side 1104 to the second side 1106 .

[0087] In this embodiment, when observing the circuit board 110 from the front, the outer contour of the circuit board 110 is rectangular, and the rectangular circuit board 110 includes a first side 1104 and a second side 1106 opposite to each other, and the gap 1102 extends from the first side 1104 to the second side 1106 on the opposite side to separate the circuit board 110 into a first plate 112 and a second plate 114.

[0088] Specifically, taking the first side 1104 and the second side 1106 as the left and right sides of the circuit board 110 as an example, the gap 1102 extends from the first side 1104 on the left side of the circuit board 110 to the second side 1106 on the right side of the circuit board 110, thereby separating the circuit board 110 into a first plate 112 and a second plate 114 from top to bottom.

[0089] By setting a gap 1102 extending between two opposite sides, the circuit board 110 can be separated into two parts by a single gap 1102, and on this basis, the area ratio between the first plate 112 and the second plate 114 can be allocated by slightly adjusting the shape and position of the gap 1102, thereby correspondingly adjusting the allocation ratio of the high-current area and the low-current area, thereby achieving the technical effect of optimizing the structural layout of the circuit board 110 and providing convenient conditions for the design of the circuit board 110.

[0090] Specifically, the gap 1102 extends obliquely between the first side 1104 and the second side 1106 to facilitate arrangement of large-sized electrical components on the first plate 112 and the second plate 114 .

[0091] Specifically, the gap 1102 includes a first straight line segment 1107 perpendicularly intersecting the first side 1104 , a second straight line segment 1108 perpendicularly intersecting the second side 1106 , and a broken line segment 1109 connecting the first straight line segment 1107 and the second straight line segment 1108 .

[0092] The gap 1102 includes at least one straight line segment and at least one broken line segment 1109, wherein the straight line segment is perpendicular to and intersects the first side 1104 and the second side 1106, the broken line segment 1109 is connected to the straight line segment or the broken line segment 1109 intersects with one of the first side 1104 and the second side 1106, and when the two ends of the gap 1102 include the first straight line segment 1107 and the second straight line segment 1108, the broken line segment 1109 is connected between the first straight line segment 1107 and the second straight line segment 1108.

[0093] By setting a first straight line segment 1107, a folded line segment 1109 and a second straight line segment 1108 which are connected in sequence, the gap 1102 can be extended obliquely between the first side 1104 and the second side 1106, thereby dividing a space for arranging the control device 120 and the power device 130 on both sides of the folded line segment 1109. Compared with the solution of dividing the circuit board 110 by a single straight line gap 1102, the maximum size of the device that can be accommodated in the space separated by the inclined gap 1102 is larger, thereby facilitating the arrangement of large-sized electrical devices on the first plate 112 and the second plate 114.

[0094] like Figure 1 and Figure 3As shown, in some embodiments of the present invention, optionally, at least part of the isolation device is arranged on the fold line segment 1109 , the control device 120 includes a main control chip, and the main control chip and at least part of the power device 130 are relatively arranged on both sides of the fold line segment 1109 .

[0095] In this technical solution, the control device 120 and the power device 130 are arranged on both sides of the broken line segment 1109 .

[0096] Specifically, the space separated by the two sides of the broken line segment 1109 is relatively large. On the one hand, it can facilitate the arrangement of large-sized control devices 120 and power devices 130, reducing the difficulty of layout of the circuit board 110. On the other hand, it can increase the interval between the power device 130 and other devices to reduce the possibility of mutual interference or even contact short circuit between the devices, thereby achieving the technical effect of optimizing the structural layout of the circuit board 110 and improving the safety and reliability of the circuit board 110.

[0097] On this basis, among the multiple isolation devices spanning the gap 1102, at least some of the isolation devices are set on the folded line segment 1109. When the power device 130 and the control device 120 are distributed on both sides of the folded line segment 1109, most of the electrical signals between the two need to be transmitted across the folded line segment 1109. In this regard, by placing at least some of the isolation devices across the folded line segment 1109, the electrical signals between the power device 130 and the control device 120 can be effectively isolated by these isolation devices, avoiding mutual interference between the power device 130 and the control device 120, thereby achieving the technical effect of improving the working reliability of the power device 130 and the control device 120. Figure 1 and Figure 3 As shown, in some embodiments of the present invention, optionally, the control device 120 includes a plurality of interfaces 122, a portion of the plurality of interfaces 122 faces the first side of the circuit board 110, and another portion of the interfaces 122 faces the second side of the circuit board 110; the power device 130 includes a terminal 131, and the terminal 131 faces the third side of the circuit board 110.

[0098] Figure 3 In the figure, arrow d shows the installation positions of the gantry synchronization interface 1222 and the STO interface 1224. The user can install at least one of the two according to the needs. Without installing the gantry synchronization interface 1222 and the STO interface 1224, the other interfaces 122 can be adjusted to the area where these two installation positions are located.

[0099] In this embodiment, the line outlet direction of the circuit board 110 is limited.

[0100] The control device 120 outputs wires through the interface 122. The interface 122 outputs wires on both sides. There are multiple interfaces 122. Some of the multiple interfaces 122 face the first side of the rectangular circuit board 110, and the other interfaces 122 face the second side of the circuit board 110. Specifically, the first side and the second side are opposite.

[0101] The terminal 131 faces a third side of the circuit board 110 , and the third side is opposite to the first side or the third side is opposite to the second side.

[0102] It can be seen that by limiting the orientation of the above-mentioned terminals 131 and interfaces 122, the three-sided wiring of the circuit board 110 is realized. Specifically, the terminals 131 on the strong current side are designed below the rectangular circuit board 110 to facilitate the configuration of external cables. The two-way interface 122 of the weak current part provides more abundant external connection methods, which makes it more convenient for users to use and also improves the flexibility and scalability of the product. In this way, the technical effect of optimizing the wiring structure of the circuit board 110, improving the practicality of the circuit board 110, and reducing the wiring complexity of the circuit board 110 is achieved.

[0103] Specifically, the plurality of interfaces 122 include: a gantry synchronization interface 1222 , an STO interface 1224 , a debugging interface 1226 , a communication interface 1227 , an external IO interface 1228 and an encoder interface 1229 .

[0104] Among them, the gantry synchronization interface 1222 and the STO interface 1224 face the upper side of the circuit board 110 , and the debugging interface 1226 , the communication interface 1227 , the external IO interface 1228 and the encoder interface 1229 face the left side or the right side of the circuit board 110 .

[0105] like Figure 1 and Figure 2 As shown, in some embodiments of the present invention, optionally, the control device 120 includes: a button 124 disposed on the first board 112 ; at least one main control chip 126 disposed on the first board 112 and connected to the button 124 and the interface 122 .

[0106] In this embodiment, the control device 120 also includes a button 124 and a main control chip 126. The button 124 is electrically connected to the main control chip 126. The user can issue a corresponding control instruction by touching the button 124. The main control chip 126 can then generate a corresponding PWM signal based on the control instruction to drive the servo motor 210 to operate through the PWM signal.

[0107] It can be seen that by setting the button 124 in conjunction with the main control chip 126, the touch function of the servo driver 100 can be realized, providing convenient conditions for the user to control the servo motor 210, thereby achieving the technical effect of improving the practicality of the servo driver 100 and enhancing the user experience.

[0108] Specifically, when the change in the weak current area is small, the model of the main control chip 126 can be replaced or multiple main control chips 126 can be placed according to different software load requirements.

[0109] like Figure 3 and Figure 4 As shown, in some embodiments of the present invention, optionally, the servo driver 100 further includes: a heat dissipation component 150 connected to the circuit board 110 , and the heat dissipation component 150 is used to dissipate heat for the control device 120 and / or the power device 130 .

[0110] In this embodiment, the servo driver 100 also includes a heat dissipation component 150, which is connected to the circuit board 110, and the heat sink is arranged relative to the control device 120 and / or the power device 130. During operation, the heat dissipation component 150 can provide heat dissipation for the control device 120 and / or the power device 130, so that the control device 120 and / or the power device 130 can operate at a lower temperature, thereby avoiding high-temperature damage to the control device 120 and / or the power device 130, thereby achieving the technical effect of optimizing the structure of the servo driver 100, reducing the failure rate of the servo driver 100, and improving the safety of the servo driver 100.

[0111] Specifically, the heat dissipation component 150 is formed by metal material, and a plurality of fins are arranged on the heat dissipation component 150. The fins can increase the heat exchange area between the heat dissipation component 150 and the air, so as to improve the heat dissipation effect.

[0112] like Figure 3 and Figure 4 As shown, in some embodiments of the present invention, optionally, the first plate 112 includes a first area 1122 , and the power device 130 is at least partially disposed in the first area 1122 ; the heat dissipation component 150 covers the first area 1122 .

[0113] In this embodiment, the first plate 112 includes a first area 1122 , and the area on the first plate 112 other than the first area 1122 is the second area.

[0114] Among them, the first area 1122 corresponds to the high temperature area, and the second area corresponds to the low temperature area. After the assembly is completed, the heat dissipation component 150 covers the first area 1122 on the top of the circuit board 110 to centrally dissipate heat in the first area 1122. On this basis, the power device 130 is at least partially arranged in the first area 1122. The power device 130 is connected to strong electricity, and the heat generated during the working process is relatively large. By arranging the power device 130 at least partially in the first area 1122, the heat dissipation effect of the heat dissipation component 150 on the power device 130 can be guaranteed, and the failure rate of the power device 130 can be reduced, thereby optimizing the thermal design of the circuit board 110 and improving the stability and reliability of the servo driver 100.

[0115] like Figure 3 and Figure 4 As shown, in some embodiments of the present invention, optionally, the power device 130 includes: a brake switch 132, arranged in the first area 1122; a rectifier bridge 133, arranged in the first area 1122; and an intelligent power module 134, arranged in the first area 1122; wherein the heat dissipation component 150 is in contact with the brake switch 132, the rectifier bridge 133 and the intelligent power module 134.

[0116] In this embodiment, the power device 130 includes a brake switch 132, a rectifier bridge 133 and an intelligent power module 134. The power device 130 including the brake switch 132, the rectifier bridge 133 and the intelligent power module 134 are all arranged in the first area 1122. After assembly is completed, the power device 130 including the brake switch 132, the rectifier bridge 133 and the intelligent power module 134 are clamped between the second plate 114 and the heat dissipation component 150. The heat dissipation component 150 realizes heat transfer by contacting the power device 130 including the brake switch 132, the rectifier bridge 133 and the intelligent power module 134 to reduce the operating temperature of the power device 130 including the brake switch 132, the rectifier bridge 133 and the intelligent power module 134.

[0117] During operation, the heat in the power device 130 is concentrated on the power device 130 including the brake switch 132, the rectifier bridge 133 and the intelligent power module 134. By arranging the power device 130 including the brake switch 132, the rectifier bridge 133 and the intelligent power module 134 in the first area 1122, the stability and reliability of the power device 130 can be ensured without increasing the size of the heat dissipation component 150, so as to achieve targeted heat dissipation of the power device 130.

[0118] Specifically, the power device 130 also includes: a brake relay 135, a high-voltage terminal 131, an EMC filter circuit 136, a soft-start circuit 137, a bus capacitor 138 and an auxiliary power supply 139. The brake relay 135, the high-voltage terminal 131, the EMC filter circuit 136, the soft-start circuit 137, the bus capacitor 138 and the auxiliary power supply 139 are all arranged in a second area outside the first area 1122.

[0119] like Figure 5 As shown, the second aspect of the present invention provides a servo control system 200 , which includes: a servo driver 100 as in any of the above embodiments; and a servo motor 210 connected to a power device 130 .

[0120] In this embodiment, a servo control system 200 provided with the servo driver 100 in any of the above embodiments is defined. Therefore, the servo control system 200 has the advantages of the servo driver 100 in any of the above embodiments, and can achieve the technical effects that can be achieved by the servo driver 100 in any of the above embodiments, and will not be described here in detail to avoid repetition.

[0121] On this basis, the servo control system 200 also includes a servo motor 210, which is connected to a power device 130 on the servo driver 100. The power device 130 drives the servo motor 210 to operate based on control instructions to ensure that the working state of the servo motor 210 matches the working condition requirements.

[0122] It should be clarified that in the claims, specification and drawings of the present invention, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or position relationship indicated by the terms "upper" and "lower" is based on the orientation or position relationship shown in the drawings, which is only for the purpose of more conveniently describing the present invention and making the description process easier, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limitations on the present invention; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood based on the specific circumstances of the above data.

[0123] In the claims, specification and drawings of the present invention, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the claims, specification and drawings of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0124] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A servo drive, characterized in that: include: A circuit board having a gap, wherein the gap separates the circuit board into a first plate member and a second plate member; A control device connected to the first board, the control device is used to convert the control instruction into a control signal; A power device connected to the second board, the power device being used to drive the motor to work according to the control signal; An isolation device is arranged across the gap and connected to the first plate and the second plate, and is used to isolate signals of the control device and the power device.

2. The servo driver according to claim 1, characterized in that: The circuit board is rectangular, and includes a first side and a second side, wherein the first side and the second side are opposite to each other; The gap extends from the first side to the second side, and the gap includes a first straight line segment perpendicularly intersecting the first side, a second straight line segment perpendicularly intersecting the second side, and a broken line segment connected between the first straight line segment and the second straight line segment.

3. The servo driver according to claim 2, characterized in that: At least part of the isolation device is arranged on the fold line segment, the control device includes a main control chip, and the main control chip and at least part of the power device are arranged on two sides of the fold line segment relatively.

4. The servo driver according to claim 1, characterized in that: The isolation device includes: a photoelectric isolation device, an electromagnetic isolation device, a capacitive isolation device or a combination thereof.

5. The servo driver according to claim 1, characterized in that: The control device comprises a plurality of interfaces, a part of the interfaces of the plurality of interfaces are oriented toward the first side of the circuit board, and another part of the interfaces are oriented toward the second side of the circuit board; The power device includes a terminal, and the terminal faces the third side of the circuit board.

6. The servo driver according to claim 5, characterized in that: The control device comprises: A button, provided on the first plate; At least one main control chip is disposed on the first board and connected to the button and the interface.

7. The servo drive according to any one of claims 1 to 6, characterized in that: Also includes: A heat dissipation component is connected to the circuit board, and is used to dissipate heat for the control device and / or the power device.

8. The servo driver according to claim 7, characterized in that: The first plate comprises a first region, and the power device is at least partially disposed in the first region; The heat dissipation component covers the first area.

9. The servo driver according to claim 8, characterized in that: The power device comprises: a brake switch, disposed in the first area; A rectifier bridge, arranged in the first area; An intelligent power module, arranged in the first area; Wherein, the heat dissipation component is in contact with the brake switch, the rectifier bridge and the intelligent power module.

10. A servo control system, characterized in that: include: The servo drive according to any one of claims 1 to 9; A servo motor is connected to the power device.

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