Servo drive controller and robot

Abstract

The utility model provides a servo drive controller and a robot. The servo drive controller is used for controlling a motor, and comprises a brake resistor connected with the motor; the first end of the switch piece is connected with the power line bus, and the second end of the switch piece is connected with the brake resistor; and the switch driver is connected with the control end of the switch part, and the switch driver controls the switch part to be switched on under the condition that the switch driver receives the enable signal, so that the brake resistor discharges the power line bus. According to the servo drive controller, the brake resistor in the servo drive controller is multiplexed, an additional discharge circuit does not need to be arranged in the servo drive controller, the circuit complexity of the servo drive controller is reduced, and the cost of the servo drive controller is reduced while the discharge speed is ensured.

Description

Technical Field

[0001] The present application relates to the field of servo drive technology, and in particular to a servo drive controller and a robot. Background Art

[0002] The servo drive controller is used to drive and control the motor. Since the servo drive controller uses a large-capacity capacitor as a bus load, the discharge process is slow when it is shut down.

[0003] In the related art, an additional discharge circuit is provided in the servo drive controller to accelerate the discharge process of the servo drive controller. Although the discharge efficiency is improved, the circuit complexity and cost of the servo drive controller are correspondingly increased. Utility Model Content

[0004] The present application aims to solve one of the technical problems existing in the prior art or related technology.

[0005] To this end, a first aspect of the present application proposes a servo drive controller.

[0006] A second aspect of the present application provides a robot.

[0007] In view of this, according to the first aspect of the present application, a servo drive controller is proposed for controlling a motor, the servo drive controller comprising: a braking resistor connected to the motor; a switch element, a first end of the switch element connected to a power line bus, and a second end of the switch element connected to the braking resistor; a switch driver connected to a control end of the switch element, wherein the switch driver controls the switch element to be turned on when receiving an enable signal, so that the braking resistor discharges the power line bus.

[0008] In this technical solution, the servo drive controller is used to control the operation of the motor, and the servo drive controller includes a brake resistor, wherein the brake resistor is connected to the motor controlled by the servo drive controller, and the brake resistor can convert the regenerative electric energy generated by the motor when the motor stops quickly into heat energy. It should be noted that during the rapid stopping process of the motor, a large amount of regenerative electric energy will be generated due to inertia. If the generated regenerative electric energy is not consumed in time, the regenerative electric energy will directly act on the drive controller, causing the drive controller to malfunction.

[0009] In this technical solution, the servo drive controller also includes a switch element and a switch driver for controlling the on-off state of the switch element. The first end and the second end of the switch element are respectively connected to the power line bus and the brake resistor, that is, the on-off state of the switch element can adjust the on-off state between the power line bus and the brake resistor. When the switch element is in the on state, the brake resistor is connected to the power line bus to discharge the voltage on the power line bus. When the switch element is in the off state, the brake resistor will not discharge the power line bus. The switch driver is connected to the control end of the switch element, and the switch driver can control the on-off state of the switch element. After receiving the enable signal, the switch driver controls the switch element to turn on, so that the brake resistor is connected to the power line bus to discharge the power line bus.

[0010] In the technical solution of the present application, the braking resistor in the servo drive controller is used to discharge the brake of the motor. By reusing the braking resistor in the servo drive controller, there is no need to set up an additional discharge circuit in the servo drive controller, thereby reducing the circuit complexity of the servo drive controller. While ensuring the discharge speed, the cost of the servo drive controller is reduced.

[0011] In any of the above technical solutions, the servo drive controller also includes a power-off detection module and a main control chip.

[0012] Among them, the power-off detection module is connected to the AC power supply and is used to obtain the power-off detection signal, and the AC power supply is used to power the servo drive controller; the main control chip is connected to the power-off detection module and the switch driver and is used to delay the transmission of the enable signal to the switch driver for a preset period of time after receiving the power-off detection signal transmitted by the power-off detection module.

[0013] In this technical solution, a power-off detection module is used to detect whether the servo drive controller has a power outage. The power-off detection module is connected to the AC power supply connected to the servo drive controller. The power-off detection module can detect whether the AC power supply has a power outage on the servo drive controller.

[0014] The servo drive controller also includes a main control chip, which is the MCU (Microcontroller Unit) of the servo drive controller. The power-off detection module is connected to the main control chip. The power-off detection module can send the power-off detection signal to the main control chip when the power-off detection signal is obtained, so that the main control chip can promptly know that the servo drive controller is about to lose power. After the main control chip receives the power-off detection signal, it delays the preset time to send an enable signal to the switch driver, that is, after the main control chip receives the power-off detection signal, the delay control switch is turned on to delay the discharge of the power line bus, so that the servo drive controller has enough time to save the data.

[0015] Specifically, after the main control chip receives the power-off detection signal, it controls the servo drive controller to save the operating data within the preset delay time. After the preset delay time, the main control chip sends an enable signal to the switch driver to control the switch to turn on, thereby discharging the servo drive control.

[0016] In the technical solution of the present application, the power-off detection module in the servo drive controller is used to detect the loss of the AC power supply. By multiplexing the power-off detection module in the servo controller, the main control chip can delay the on and off state of the switch based on the power-off detection signal, so that the servo drive controller can have sufficient time to save the data.

[0017] In any of the above technical solutions, the preset time length ranges from 2 seconds to 4 seconds.

[0018] In this technical solution, the preset time is the delay time between the main control chip receiving the power failure detection signal and sending the enable signal to the switch driver. By setting the value range of the preset time to a minimum of 2 seconds and a maximum of 4 seconds, the servo drive controller has enough time to save the operating data and can complete the discharge within 5 seconds after the power failure occurs, which meets the requirements of fast discharge.

[0019] In the technical solution of the present application, by setting the preset time between the moment the main control chip receives the power-off detection signal and the moment it sends the enable signal to the switch driver to 2 seconds to 4 seconds, it is ensured that the servo drive controller has sufficient time to save the operating data while meeting the demand for rapid discharge.

[0020] In any of the above technical solutions, the power failure detection module includes:

[0021] A rectifier circuit, wherein the first end and the second end of the rectifier circuit are respectively connected to the live wire and the neutral wire of the AC power supply; an optocoupler, wherein the first end of the optocoupler is connected to the third end of the rectifier circuit, the second end of the optocoupler is connected to the fourth end of the rectifier circuit, the third end of the optocoupler is grounded, and the fourth end of the optocoupler is connected to the main control chip; a pull-up resistor, wherein the first end of the pull-up resistor is connected to the fourth end of the optocoupler, and the second end of the pull-up resistor is connected to the DC power supply; and a first capacitor, wherein the first end of the first capacitor is connected to the second end of the pull-up resistor, and the second end of the first capacitor is grounded.

[0022] In this technical solution, the power-off detection module includes a rectifier circuit, an optocoupler, a pull-up resistor and a first capacitor. The rectifier circuit is used to chop the AC signal to convert the AC signal into a DC signal. Specifically, the first and second ends of the rectifier circuit are connected to the live wire and the neutral wire of the AC power supply as the input ends of the rectifier circuit, and the third and fourth ends of the rectifier circuit are connected to the first and second ends of the optocoupler as the output ends of the rectifier circuit, that is, the AC signal is input to the rectifier circuit through the first and second ends of the rectifier circuit, and the third and fourth ends of the rectifier circuit output the converted DC signal to the first and second ends of the optocoupler.

[0023] The first and second ends of the optocoupler can receive the DC signal transmitted by the rectifier circuit, the fourth end of the optocoupler is connected to the DC power supply through a pull-up resistor, and the third end of the optocoupler is grounded. The first and second ends of the optocoupler are connected to the light source of the optocoupler, and the third and fourth ends of the optocoupler are connected to the light receiver of the optocoupler. When the AC power supply is in a non-power-off state, the rectifier circuit continuously transmits a DC signal from the first end to the second end of the optocoupler, the light source of the optocoupler emits light under the power supply of the DC signal, and the light receiver receives the light signal of the light source. At this time, the fourth end to the third end of the optocoupler is turned on, and the DC signal of the DC power supply is grounded through the fourth end and the third end of the optocoupler. When the AC power supply is in a power-off state, the DC signal transmitted by the rectifier circuit to the first and second ends of the optocoupler disappears, and the light source of the optocoupler loses power and stops emitting light, and the light receiver cannot receive the light signal of the light source, then the fourth end to the third end of the optocoupler is in a disconnected state, and the DC signal of the DC power supply is transmitted to the main control chip as a power-off detection signal.

[0024] In the technical solution of the present application, an optocoupler and a rectifier circuit are arranged in a power-off detection module, and the first end and the second end of the rectifier circuit are connected to an AC power supply. The rectifier circuit can convert the AC signal output by the AC power supply into a DC signal. When the AC power supply is powered off, the fourth end to the third end of the optocoupler are in a disconnected state. At this time, the DC signal of the DC power supply is transmitted to the main control chip as a power-off detection signal. Through the power-off detection module, whether the AC power supply is powered off can be accurately monitored.

[0025] In any of the above technical solutions, the rectifier circuit includes: a first diode, the first diode is unidirectionally conducted from the second end to the first end; a second diode, the first end of the second diode is connected to the second end of the first diode, and the second diode is unidirectionally conducted from the second end to the first end; a third diode, the first end of the third diode is connected to the first end of the first diode, and the third diode is unidirectionally conducted from the second end to the first end; a fourth diode, the first end of the fourth diode is connected to the second end of the third diode, the second end of the fourth diode is connected to the second end of the second diode, and the fourth diode is unidirectionally conducted from the second end to the first end; a first current limiting resistor, the first end of the first current limiting resistor is connected to the live wire of the AC power supply, and the second end of the first current limiting resistor is connected to the second end of the first diode; a second current limiting resistor, the first end of the second current limiting resistor is connected to the neutral wire of the AC power supply, and the second end of the second current limiting resistor is connected to the second end of the third diode.

[0026] In this technical solution, the rectifier circuit includes a first diode and a second diode connected in series, the conduction direction of the first diode and the second diode is the same, the conduction direction of the first diode and the second diode are both unidirectional from the second end to the first end, the second end of the first diode is connected to the first end of the second diode, and the second end of the first diode and the first end of the second diode are connected to the live wire of the AC power supply.

[0027] The rectifier circuit also includes a third diode and a fourth diode connected in series. The conduction directions of the third diode and the fourth diode are the same, and the conduction directions of the third diode and the fourth diode are both unidirectional from the second end to the first end. The second end of the third diode is connected to the first end of the fourth diode, and the second end of the third diode and the first end of the fourth diode are connected to the neutral line of the AC power supply.

[0028] In this technical solution, a first current-limiting resistor is connected between the live wire of the AC power supply and the second end of the first diode and the first end of the second diode, and a second current-limiting resistor is connected between the neutral wire of the AC power supply and the second end of the third diode and the first end of the fourth diode. The first current-limiting resistor can limit the current from the live wire of the AC power supply to the second end of the first diode and the first end of the second diode, thereby preventing excessive current from impacting the first diode and the second diode. The second current-limiting resistor can limit the current from the neutral wire of the AC power supply to the second end of the third diode and the first end of the fourth diode, thereby preventing excessive current from impacting the first diode and the second diode. By arranging the first current-limiting resistor and the second current-limiting resistor in the rectifier circuit, the stability of the rectifier circuit is improved.

[0029] In this technical solution, the first diode and the second diode connected in series are connected in parallel with the third diode and the fourth diode connected in series. Specifically, the first end of the first diode is connected to the first end of the third diode, and the second end of the second diode is connected to the second end of the fourth diode. The first end of the first diode and the first end of the third diode are connected to the first end of the optocoupler as the third end of the rectifier circuit, and the second end of the second diode and the second end of the fourth diode are connected to the second end of the optocoupler as the fourth end of the rectifier circuit.

[0030] Specifically, when the live wire and the neutral wire of the AC power supply output an AC signal, the AC signal is converted into a DC signal under the action of the unidirectional conduction of the first diode, the second diode, the third diode and the fourth diode, and the direction of the converted DC signal is unidirectional flow from the first end of the optocoupler to the second end of the optocoupler.

[0031] In the technical solution of the present application, a first diode and a second diode connected in series, and a third diode and a fourth diode connected in series are arranged in the rectifier circuit, and the first diode and the second diode are connected in parallel with the third diode and the fourth diode. Through the four diodes, the AC signal output by the AC power supply can be converted into a DC signal and transmitted to the optocoupler, thereby further improving the accuracy of the power-off detection module in detecting whether the AC power supply is in a power-off state.

[0032] In any of the above technical solutions, the rectifier circuit also includes: a filter resistor, a first end of the filter resistor is connected to the first end of the first diode; a Zener diode, a first end of the Zener diode is connected to the second end of the second diode, a second end of the Zener diode is connected to the second end of the optocoupler, and the Zener diode is used to stabilize the electrical signal transmitted to the optocoupler; a second capacitor, a first end of the second capacitor is connected to the second end of the filter resistor, and a second end of the second capacitor is connected to the second end of the Zener diode.

[0033] In this technical solution, a voltage regulator is provided in the rectifier circuit, and the first end of the voltage regulator is connected to the first end of the second diode and the first end of the fourth diode, and the voltage regulator is used to stabilize the DC signal transmitted to the optocoupler. Specifically, the voltage regulator is conducted from the first end to the second end, and when the voltage value from the second end to the first end of the voltage regulator is greater than the voltage threshold, the second end to the first end of the voltage regulator is conducted.

[0034] In this technical solution, the second capacitor is connected between the second end of the voltage regulator tube and the second end of the filter resistor. The second capacitor can filter the DC signal transmitted to the optocoupler, and the second capacitor and the filter resistor form an RC (resistance-capacitor) filter circuit to filter the DC signal transmitted to the optocoupler.

[0035] In the technical solution of the present application, a filter resistor and a second capacitor are arranged in the rectifier circuit so as to filter the DC signal output by the rectifier circuit, and a voltage regulator is arranged in the rectifier circuit to stabilize the DC signal output to the optocoupler, thereby improving the operating stability of the rectifier circuit and the optocoupler, and further improving the accuracy of the power-off detection module in detecting the power-off state of the AC power supply.

[0036] In any of the above technical solutions, the servo drive controller also includes: a first DC power supply, connected to the signal input end of the power-off detection module and the switch driver; a second DC power supply, connected to the signal output end of the switch driver; wherein the output voltage of the first DC power supply is less than the output voltage of the second DC power supply.

[0037] In this technical solution, the servo drive controller also includes a first DC power supply and a second DC power supply, wherein the first DC power supply supplies power to the switch driver and the power-off detection module, and the second DC power supply supplies power to the switch driver. Specifically, the first DC power supply is used to provide digital signals to the power-off detection module and the switch driver in the servo drive controller, and the second DC power supply is used to provide analog signals to the switch driver, and the output voltage of the second DC power supply is greater than the output voltage of the first DC power supply.

[0038] In the technical solution of the present application, by arranging a first DC power supply and a second DC power supply in the servo drive controller, the power failure detection module and the switch driver can be powered, thereby improving the stability of the servo drive controller in discharging through the braking resistor when the power fails.

[0039] In any of the above technical solutions, the servo drive controller further includes: a fifth diode and a sixth diode, wherein the first end of the fifth diode is connected to the first DC power supply, the second end of the fifth diode is connected to the power-off detection module and the signal input end of the switch driver, and the first end of the fifth diode is unidirectionally conductive to the second end. The first end of the sixth diode is connected to the second DC power supply, the second end of the sixth diode is connected to the signal output end of the switch driver, and the first end of the sixth diode is unidirectionally conductive to the second end.

[0040] In the technical solution of the present application, a fifth diode and a sixth diode are respectively arranged at the output ends of the first DC power supply and the second DC power supply, wherein the fifth diode can prevent the reverse current from impacting the first DC power supply, and the sixth diode can prevent the reverse current from impacting the second DC power supply, thereby further improving the operating stability of the servo drive controller.

[0041] In any of the above technical solutions, the servo drive controller also includes: a third capacitor and a fourth capacitor, the third capacitor is connected between the first DC power supply and the ground terminal, and the fourth capacitor is connected between the second DC power supply and the ground terminal.

[0042] In the technical solution of the present application, a decoupling function is achieved by arranging a third capacitor and a fourth capacitor in the servo drive controller, that is, the use of the third capacitor and the fourth capacitor can reduce circuit coupling interference.

[0043] In any of the above technical solutions, the resistance value of the braking resistor ranges from 20Ω to 40Ω; the capacitance value of the power line bus ranges from 3500μF to 4500μF.

[0044] In the technical solution of the present application, by limiting the value range of the resistance value of the braking resistor and the capacitance value of the power bus, it can be ensured that the braking resistor can reduce the voltage of the power line bus to below the safe voltage within 1 second, thereby improving the discharge efficiency and improving the operating safety and stability of the servo drive controller.

[0045] In any of the above technical solutions, the switch element includes at least one of the following: a triode, an insulated gate bipolar transistor, and a field effect transistor.

[0046] In the technical solution of the present application, the switch element can be selected as at least one of a triode, an insulated gate bipolar transistor, and a field effect transistor, that is, the switch element is selected as a controllable switch element, which can switch between the on and off states in response to an enable signal, thereby improving the controllability of whether the braking resistor is connected to the power line bus.

[0047] According to the second aspect of the present application, a robot is proposed, comprising: a motor; an action mechanism connected to the output end of the motor; and a servo drive controller connected to the motor. The servo drive controller is the servo drive controller in any of the above technical solutions, and thus has all the beneficial technical effects of the servo drive controller in any of the above technical solutions, which will not be described in detail here.

[0048] In some technical solutions, optionally, the action mechanism includes at least one of the following: a robotic arm, a traveling component, a telescopic component, and a grasping component.

[0049] Additional aspects and advantages of the present application will become apparent in the following description or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0051] Figure 1 A circuit diagram of a servo drive controller provided in some embodiments of the present application is shown;

[0052] Figure 2shows a voltage-time waveform diagram provided in some embodiments of the present application;

[0053] Figure 3 A circuit diagram of a power failure detection module provided in some embodiments of the present application is shown;

[0054] Figure 4 A structural block diagram of a robot provided in some embodiments of the present application is shown.

[0055] Figure 1 , Figure 3 and Figure 4 The reference numerals are as follows:

[0056] 100 servo drive controller, R1 brake resistor, 110 switch component, 120 switch driver, 130 power-off detection module, 132 rectifier circuit, 134 optocoupler, 140 main control chip, R2 pull-up resistor, C1 first capacitor, C2 second capacitor, C3 third capacitor, C4 fourth capacitor, D1 first diode, D2 second diode, D3 third diode, D4 ​​fourth diode, D6 fifth diode, D7 sixth diode, D5 voltage regulator, R3 first current limiting resistor, R4 second current limiting resistor, R5 filter resistor, VCC1 first DC power supply, VCC2 second DC power supply, AC AC power supply, AC_L live wire, AC_N neutral wire, bus power line bus;

[0057] 200 robot, 202 action mechanism, 204 motor. DETAILED DESCRIPTION

[0058] In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, in the absence of conflict, the present embodiment and the features in the embodiment can be combined with each other.

[0059] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0060] Refer to the following Figures 1 to 4 A servo drive controller and a robot according to some embodiments of the present application are described.

[0061] According to one embodiment of the present application, Figure 1 1 shows a circuit diagram of a servo drive controller provided in some embodiments of the present application, such as Figure 1 As shown, a servo drive controller 100 is proposed for controlling a motor 204. The servo drive controller 100 includes:

[0062] A braking resistor R1 is connected to the motor 204; a switch element 110, wherein a first end of the switch element 110 is connected to the power line bus bus, and a second end of the switch element 110 is connected to the braking resistor R1; a switch driver 120 is connected to a control end of the switch element 110, wherein the switch driver 120 controls the switch element 110 to be turned on when receiving an enable signal, so that the braking resistor R1 discharges the power line bus bus.

[0063] In this embodiment, the servo drive controller 100 is used to control the operation of the motor 204. The servo drive controller 100 includes a brake resistor R1, wherein the brake resistor R1 is connected to the motor 204 controlled by the servo drive controller 100. The brake resistor R1 can convert the regenerative electric energy generated by the motor 204 due to the rapid stop into heat energy when the motor 204 stops rapidly. It should be noted that during the rapid stop process of the motor 204, a large amount of regenerative electric energy will be generated due to the effect of inertia. If the generated regenerative electric energy is not consumed in time, the regenerative electric energy will directly act on the drive controller, causing the drive controller to malfunction.

[0064] In this embodiment, the servo drive controller 100 also includes a switch element 110 and a switch driver 120 for controlling the on-off state of the switch element 110. The first end and the second end of the switch element 110 are respectively connected to the power line bus bus and the brake resistor R1, that is, the on-off state of the switch element 110 can adjust the on-off state between the power line bus bus and the brake resistor R1. When the switch element 110 is in the on state, the brake resistor R1 is connected to the power line bus bus to discharge the voltage on the power line bus bus. When the switch element 110 is in the off state, the brake resistor R1 will not discharge the power line bus bus. The switch driver 120 is connected to the control end of the switch element 110, and the switch driver 120 can control the on-off state of the switch element 110. After receiving the enable signal, the switch driver 120 controls the switch element 110 to turn on, so that the brake resistor R1 is connected to the power line bus bus to discharge the power line bus bus.

[0065] Exemplarily, the switch element 110 may be an IGBT (Insulate-Gate Bipolar Transistor), and the switch driver 120 may be an IGBT gate driver. For example, when the power line bus is powered off, the power line bus needs to be discharged, and an enable signal is sent to the IGBT gate driver. After receiving the enable signal, the IGBT driver can control the IGBT to turn on, so that the brake resistor R1 is connected to the power line bus bus, and the remaining electric energy in the power line bus bus is dissipated through the brake resistor R1.

[0066] In the embodiment of the present application, the braking resistor R1 in the servo drive controller 100 is used to discharge the brake of the motor 204. By reusing the braking resistor R1 in the servo drive controller 100, there is no need to set up an additional discharge circuit in the servo drive controller 100, thereby reducing the circuit complexity of the servo drive controller 100. While ensuring the discharge speed, the cost of the servo drive controller 100 is reduced.

[0067] like Figure 1 As shown, in any of the above embodiments, the servo drive controller 100 further includes a power-off detection module 130 and a main control chip 140 .

[0068] Among them, the power-off detection module 130 is connected to the alternating current power supply AC and is used to obtain a power-off detection signal. The alternating current power supply AC is used to power the servo drive controller 100. The main control chip 140 is connected to the power-off detection module 130 and the switch driver 120 and is used to delay the transmission of an enable signal to the switch driver 120 for a preset period of time when receiving the power-off detection signal transmitted by the power-off detection module 130.

[0069] In this embodiment, the power-off detection module 130 is used to detect whether the servo drive controller 100 has a power outage. The power-off detection module 130 is connected to the alternating current power supply AC connected to the servo drive controller 100. Through the power-off detection module 130, it is possible to detect whether the alternating current power supply AC has a power outage on the servo drive controller 100.

[0070] The servo drive controller 100 also includes a main control chip 140, which is the MCU (Microcontroller Unit) of the servo drive controller 100. The power-off detection module 130 is connected to the main control chip 140. The power-off detection module 130 can send the power-off detection signal to the main control chip 140 when the power-off detection signal is obtained, so that the main control chip 140 can timely know that the servo drive controller 100 is about to be powered off. After the main control chip 140 receives the power-off detection signal, it delays the preset time to send an enable signal to the switch driver 120, that is, after the main control chip 140 receives the power-off detection signal, the delay control switch 110 is turned on to delay the discharge of the power line bus bus, so that the servo drive controller 100 has enough time to save the data.

[0071] Specifically, after receiving the power-off detection signal, the main control chip 140 controls the servo drive controller 100 to save the operating data within the preset delay time. After the preset delay time, the main control chip 140 sends an enable signal to the switch driver 120 to control the switch element 110 to turn on and discharge the servo drive control.

[0072] In the embodiment of the present application, the power-off detection module 130 in the servo drive controller 100 is used to detect the loss of the alternating current power supply AC. By multiplexing the power-off detection module 130 in the servo controller, the main control chip 140 can delay the on and off state of the switch element 110 based on the power-off detection signal, so that the servo drive controller 100 can have a sufficient time to save the data.

[0073] In any of the above embodiments, the preset duration ranges from 2 seconds to 4 seconds.

[0074] In this embodiment, the preset time length is the delay time length between the main control chip 140 receiving the power failure detection signal and sending the enable signal to the switch driver 120. By setting the value range of the preset time length to a minimum of 2 seconds and a maximum of 4 seconds, the servo drive controller 100 has enough time to save the operation data and can complete the discharge within 5 seconds after the power failure occurs, which meets the requirement of fast discharge.

[0075] Figure 2 2 shows a voltage-time waveform diagram provided in some embodiments of the present application, such as Figure 2 As shown, 4 seconds after the AC power source AC voltage is powered off, the switch driver 120 receives an enable signal, the switch driver 120 controls the switch element 110 to be turned on, and the brake resistor R1 discharges the power line bus voltage to below 60V within 1 second.

[0076] Exemplarily, the discharge duration is calculated by the following formula (1):

[0077]

[0078] Where t is the discharge time, R is the resistance value of the brake resistor R1, C is the capacitance value of the power line bus, V 1 is the target voltage, V 0 is the initial voltage, V t is the voltage at time t.

[0079] For example, the initial voltage of the power line bus bus is 311V, the resistance value of the brake resistor R1 is 30Ω, the capacitance value of the power line bus bus is 4100μF, and the target voltage of the discharge is 60V. The discharge time calculated by the above formula (1) is 0.202 seconds. At this time, the preset time value range can be set to 4 seconds. The total time required from obtaining the power-off detection signal to completing the discharge is 4.202 seconds, which can ensure that the servo drive controller 100 has enough time to save the data while meeting the demand for rapid discharge, further improving the safety of the servo drive controller 100.

[0080] In an embodiment of the present application, by setting the preset time length between the moment the main control chip 140 receives the power-off detection signal and the moment the enable signal is sent to the switch driver 120 to 2 seconds to 4 seconds, it is ensured that the servo drive controller 100 has sufficient time to save the operating data while meeting the demand for rapid discharge.

[0081] Figure 3 1 shows a circuit diagram of a power failure detection module 130 provided in some embodiments of the present application, such as Figure 3 As shown, in any of the above embodiments, the power failure detection module 130 includes:

[0082] A rectifier circuit 132, wherein the first end and the second end of the rectifier circuit 132 are respectively connected to the live wire AC_L and the neutral wire AC_N of the AC power supply AC; an optocoupler 134, wherein the first end of the optocoupler 134 is connected to the third end of the rectifier circuit 132, the second end of the optocoupler 134 is connected to the fourth end of the rectifier circuit 132, the third end of the optocoupler 134 is grounded, and the fourth end of the optocoupler 134 is connected to the main control chip 140; a pull-up resistor R2, wherein the first end of the pull-up resistor R2 is connected to the fourth end of the optocoupler 134, and the second end of the pull-up resistor R2 is connected to the DC power supply; and a first capacitor C1, wherein the first end of the first capacitor C1 is connected to the second end of the pull-up resistor R2, and the second end of the first capacitor C1 is grounded.

[0083] In this embodiment, the power-off detection module 130 includes a rectifier circuit 132, an optical coupler 134, a pull-up resistor R2, and a first capacitor C1. The rectifier circuit 132 is used to chop the AC signal to convert the AC signal into a DC signal. Specifically, the first and second ends of the rectifier circuit 132 are connected to the live wire AC_L and the neutral wire AC_N of the AC power source AC as the input ends of the rectifier circuit 132, respectively, and the third and fourth ends of the rectifier circuit 132 are connected to the first and second ends of the optical coupler 134 as the output ends of the rectifier circuit 132, respectively, that is, the AC signal is input to the rectifier circuit 132 through the first and second ends of the rectifier circuit 132, and the third and fourth ends of the rectifier circuit 132 output the converted DC signal to the first and second ends of the optical coupler 134.

[0084] The first and second ends of the optocoupler 134 can receive the DC signal transmitted by the rectifier circuit 132, the fourth end of the optocoupler 134 is connected to the DC power supply through the pull-up resistor R2, and the third end of the optocoupler 134 is grounded. The first and second ends of the optocoupler 134 are connected to the light source of the optocoupler 134, and the third and fourth ends of the optocoupler 134 are connected to the light receiver of the optocoupler 134. When the AC power supply AC is not powered off, the rectifier circuit 132 continuously transmits the DC signal from the first end to the second end of the optocoupler 134, the light source of the optocoupler 134 emits light under the power supply of the DC signal, and the light receiver receives the light signal of the light source. At this time, the fourth end to the third end of the optocoupler 134 is turned on, and the DC signal of the DC power supply is grounded through the fourth and third ends of the optocoupler 134. When the AC power supply is in a power-off state, the DC signal transmitted by the rectifier circuit 132 to the first and second ends of the optocoupler 134 disappears. At this time, the light source of the optocoupler 134 loses power and stops emitting light, and the light receiver cannot receive the light signal from the light source. The fourth end to the third end of the optocoupler 134 is in a disconnected state, and the DC signal of the DC power supply is transmitted to the main control chip 140 as a power-off detection signal.

[0085] Exemplarily, the DC power supply may be a 3V3 power supply. When the fourth terminal to the third terminal of the optical coupler 134 is in a disconnected state, the DC signal output by the DC power supply is transmitted to the main control chip 140 as a power-off detection signal.

[0086] In the embodiment of the present application, an optocoupler 134 and a rectifier circuit 132 are provided in the power-off detection module 130. The first end and the second end of the rectifier circuit 132 are connected to the alternating current power source AC. The rectifier circuit 132 can convert the alternating current signal output by the alternating current power source AC into a direct current signal. When the alternating current power source AC is powered off, the fourth end to the third end of the optocoupler 134 are in a disconnected state. At this time, the direct current signal of the direct current power source is transmitted to the main control chip 140 as a power-off detection signal. Through the power-off detection module 130, whether the alternating current power source AC is powered off can be accurately monitored.

[0087] like Figure 3 As shown, in any of the above embodiments, the rectifier circuit 132 includes:

[0088] a first diode D1, the first diode D1 is unidirectionally conducted from the second end to the first end; a second diode D2, the first end of the second diode D2 is connected to the second end of the first diode D1, and the second diode D2 is unidirectionally conducted from the second end to the first end; a third diode D3, the first end of the third diode D3 is connected to the first end of the first diode D1, and the third diode D3 is unidirectionally conducted from the second end to the first end; a fourth diode D4, the first end of the fourth diode D4 is connected to the second end of the third diode D3, the second end of the fourth diode D4 is connected to the second end of the second diode D2, and the fourth diode D4 is unidirectionally conducted from the second end to the first end; a first current limiting resistor R3, the first end of the first current limiting resistor R3 is connected to the live line AC_L of the alternating current power source AC, and the second end of the first current limiting resistor R3 is connected to the second end of the first diode D1; a second current limiting resistor R4, the first end of the second current limiting resistor R4 is connected to the neutral line AC_N of the alternating current power source AC, and the second end of the second current limiting resistor R4 is connected to the second end of the third diode D3.

[0089] In this embodiment, the rectifier circuit 132 includes a first diode D1 and a second diode D2 connected in series. The first diode D1 and the second diode D2 have the same conduction direction. The conduction direction of the first diode D1 and the second diode D2 are both unidirectional conduction from the second end to the first end. The second end of the first diode D1 is connected to the first end of the second diode D2, and the second end of the first diode D1 and the first end of the second diode D2 are connected to the live wire AC_L of the AC power source AC.

[0090] The rectifier circuit 132 also includes a third diode D3 and a fourth diode D4 connected in series. The conduction direction of the third diode D3 and the fourth diode D4 is the same. The conduction direction of the third diode D3 and the fourth diode D4 is unidirectional from the second end to the first end. The second end of the third diode D3 is connected to the first end of the fourth diode D4, and the second end of the third diode D3 and the first end of the fourth diode D4 are connected to the neutral line AC_N of the alternating current power source AC.

[0091] In this embodiment, a first current limiting resistor R3 is connected between the live line AC_L of the AC power source AC and the second end of the first diode D1 and the first end of the second diode D2, and a second current limiting resistor R4 is connected between the neutral line AC_N of the AC power source AC and the second end of the third diode D3 and the first end of the fourth diode D4. The first current limiting resistor R3 can limit the current from the live line AC_L of the AC power source AC to the second end of the first diode D1 and the first end of the second diode D2, so as to avoid the impact of excessive current on the first diode D1 and the second diode D2. The second current limiting resistor R4 can limit the current from the neutral line AC_N of the AC power source AC to the second end of the third diode D3 and the first end of the fourth diode D4, so as to avoid the impact of excessive current on the first diode D1 and the second diode D2. By providing the first current limiting resistor R3 and the second current limiting resistor R4 in the rectifier circuit 132, the stability of the rectifier circuit 132 is improved.

[0092] In this embodiment, the first diode D1 and the second diode D2 connected in series are connected in parallel with the third diode D3 and the fourth diode D4 connected in series. Specifically, the first end of the first diode D1 is connected to the first end of the third diode D3, and the second end of the second diode D2 is connected to the second end of the fourth diode D4. The first end of the first diode D1 and the first end of the third diode D3 are connected to the first end of the optical coupler 134 as the third end of the rectifier circuit 132, and the second end of the second diode D2 and the second end of the fourth diode D4 are connected to the second end of the optical coupler 134 as the fourth end of the rectifier circuit 132.

[0093] Specifically, when the live wire AC_L and the neutral wire AC_N of the AC power source AC output an AC signal, the AC signal is converted into a DC signal under the unidirectional conduction of the first diode D1, the second diode D2, the third diode D3 and the fourth diode D4, and the converted DC signal flows in a unidirectional direction from the first end of the optocoupler 134 to the second end of the optocoupler 134.

[0094] In the embodiment of the present application, a first diode D1 and a second diode D2 connected in series, and a third diode D3 and a fourth diode D4 connected in series are provided in the rectifier circuit 132, and the first diode D1 and the second diode D2 and the third diode D3 and the fourth diode D4 are connected in parallel to each other, and the AC signal output by the AC power supply AC can be converted into a DC signal through the four diodes and transmitted to the optocoupler 134, thereby further improving the accuracy of the power-off detection module 130 in detecting whether the AC power supply AC is in a power-off state.

[0095] like Figure 3 As shown, in any of the above embodiments, the rectifier circuit 132 further includes:

[0096] A filter resistor R5, wherein the first end of the filter resistor R5 is connected to the first end of the first diode D1; a voltage regulator D5, wherein the first end of the voltage regulator D5 is connected to the second end of the second diode D2, wherein the second end of the voltage regulator D5 is connected to the second end of the optocoupler 134, and the voltage regulator D5 is used to stabilize the voltage of the electrical signal transmitted to the optocoupler 134; a second capacitor C2, wherein the first end of the second capacitor C2 is connected to the second end of the filter resistor R5, wherein the second end of the second capacitor C2 is connected to the second end of the voltage regulator D5.

[0097] In this embodiment, a voltage regulator D5 is provided in the rectifier circuit 132, and a first end of the voltage regulator D5 is connected to a first end of the second diode D2 and a first end of the fourth diode D4, and the voltage regulator D5 is used to stabilize the DC signal transmitted to the optical coupler 134. Specifically, the voltage regulator D5 is conducted from the first end to the second end, and when the voltage value from the second end to the first end of the voltage regulator D5 is greater than a voltage threshold, the second end to the first end of the voltage regulator D5 is conducted.

[0098] Exemplarily, the voltage regulator D5 may be a Zener diode.

[0099] In this embodiment, the second capacitor C2 is connected between the second end of the voltage regulator tube D5 and the second end of the filter resistor R5. The second capacitor C2 can filter the DC signal transmitted to the optocoupler 134, and the second capacitor C2 and the filter resistor R5 form an RC (resistance-capacitance) filter circuit to filter the DC signal transmitted to the optocoupler 134.

[0100] In the embodiment of the present application, by setting a filter resistor R5 and a second capacitor C2 in the rectifier circuit 132, the DC signal output by the rectifier circuit 132 can be filtered, and a voltage regulator D5 is set in the rectifier circuit 132, so as to stabilize the DC signal output to the optocoupler 134, thereby improving the operating stability of the rectifier circuit 132 and the optocoupler 134, and further improving the accuracy of the power-off detection module 130 in detecting the power-off state of the AC power supply AC.

[0101] like Figure 1 As shown, in any of the above embodiments, the servo drive controller 100 also includes: a first DC power supply VCC1, connected to the signal input end of the power-off detection module 130 and the switch driver 120; a second DC power supply VCC2, connected to the signal output end of the switch driver 120; wherein the output voltage of the first DC power supply VCC1 is less than the output voltage of the second DC power supply VCC2.

[0102] In this embodiment, the servo drive controller 100 further includes a first DC power supply VCC1 and a second DC power supply VCC2, wherein the first DC power supply VCC1 supplies power to the switch driver 120 and the power-off detection module 130, and the second DC power supply VCC2 supplies power to the switch driver 120. Specifically, the first DC power supply VCC1 is used to provide digital signals to the power-off detection module 130 and the switch driver 120 in the servo drive controller 100, and the second DC power supply VCC2 is used to provide analog signals to the switch driver 120, and the output voltage of the second DC power supply VCC2 is greater than the output voltage of the first DC power supply VCC1.

[0103] Exemplarily, the first DC power supply VCC1 is a 3V3 power supply, and the first DC power supply VCC1 is connected to the fourth end of the optocoupler 134 in the power-off detection module 130, and transmits a power-off detection signal to the main control chip 140 when the fourth end and the third end of the optocoupler 134 are in the cut-off state. The first DC power supply VCC1 is also connected to the switch driver 120, and the first DC power supply VCC1 can transmit an enable signal to the switch driver 120, so that the switch driver 120 controls the switch element 110 to turn on in response to the enable signal. The DC power supply connected to the pull-up resistor R2 in the power-off detection module 130 is the first DC power supply VCC1.

[0104] Exemplarily, the second DC power supply VCC2 is a 16V power supply, the switch driver 120 is an IGBT gate driver, the switch element 110 is an IGBT, and the second DC power supply VCC2 supplies power to the IGBT gate driver so that the IGBT gate driver can control the IGBT to turn on when receiving an enable signal.

[0105] In the embodiment of the present application, by setting a first DC power supply VCC1 and a second DC power supply VCC2 in the servo drive controller 100, the power failure detection module 130 and the switch driver 120 can be powered, thereby improving the stability of the servo drive controller 100 discharging through the braking resistor R1 when the power is off.

[0106] like Figure 1As shown, in any of the above embodiments, the servo drive controller 100 further includes: a fifth diode D6 and a sixth diode D7, wherein the first end of the fifth diode D6 is connected to the first DC power supply VCC1, the second end of the fifth diode D6 is connected to the signal input end of the power-off detection module 130 and the switch driver 120, and the first end of the fifth diode D6 is unidirectionally conductive to the second end. The first end of the sixth diode D7 is connected to the second DC power supply VCC2, the second end of the sixth diode D7 is connected to the signal output end of the switch driver 120, and the first end of the sixth diode D7 is unidirectionally conductive to the second end.

[0107] In the embodiment of the present application, a fifth diode and a sixth diode are respectively provided at the output ends of the first DC power supply VCC1 and the second DC power supply VCC2, wherein the fifth diode can prevent the reverse current from impacting the first DC power supply VCC1, and the sixth diode can prevent the reverse current from impacting the second DC power supply VCC2, thereby further improving the operating stability of the servo drive controller 100.

[0108] like Figure 1 As shown, in any of the above embodiments, the servo drive controller 100 further includes: a third capacitor C3 and a fourth capacitor C4, the third capacitor C3 is connected between the first DC power supply VCC1 and the ground terminal, and the fourth capacitor C4 is connected between the second DC power supply VCC2 and the ground terminal.

[0109] In the embodiment of the present application, the third capacitor C3 and the fourth capacitor C4 are provided in the servo drive controller 100 to achieve a decoupling function, that is, the third capacitor C3 and the fourth capacitor C4 can reduce circuit coupling interference.

[0110] In any of the above embodiments, the resistance value of the braking resistor R1 ranges from 20Ω to 40Ω; the capacitance value of the power line bus bus ranges from 3500 μF to 4500 μF.

[0111] In the embodiment of the present application, by limiting the value range of the resistance value of the braking resistor R1 and the capacitance value of the power bus, it can be ensured that the braking resistor R1 can reduce the voltage of the power line bus bus to below the safe voltage within 1 second, thereby improving the discharge efficiency and improving the operating safety and stability of the servo drive controller 100.

[0112] In any of the above embodiments, the switch element 110 includes at least one of the following: a triode, an insulated gate bipolar transistor, and a field effect transistor.

[0113] In the embodiment of the present application, the switch element 110 can be selected as at least one of a triode, an insulated gate bipolar transistor, and a field effect transistor, that is, the switch element 110 is selected as a controllable switch element 110, which can switch between the on and off states in response to an enable signal, thereby improving the controllability of whether the braking resistor R1 is connected to the power line bus bus.

[0114] Figure 4 The structure diagram of the robot provided by some embodiments of the present application is shown as follows: Figure 4 As shown, according to one embodiment of the present application, a robot 200 is proposed, comprising: a motor 204; an action mechanism 202 connected to the output end of the motor 204; and a servo drive controller 100 connected to the motor 204. The servo drive controller 100 is the servo drive controller 100 in any of the above embodiments, and thus has all the beneficial technical effects of the servo drive controller 100 in any of the above embodiments, which will not be described in detail herein.

[0115] In some embodiments, optionally, the action mechanism 202 includes at least one of the following: a robotic arm, a traveling component, a telescopic component, and a grasping component.

[0116] It should be clarified that in the claims, specification and drawings of the present application, 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 application 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 application; 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 this application can be understood based on the specific circumstances of the above data.

[0117] In the claims, specification and drawings of the present application, 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 application. In the claims, specification and drawings of the present application, 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.

[0118] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A servo drive controller, characterized in that: For controlling the motor, the servo drive controller comprises: A braking resistor connected to the motor; A switch element, wherein a first end of the switch element is connected to the power line bus, and a second end of the switch element is connected to the brake resistor; The switch driver is connected to the control end of the switch element, wherein the switch driver controls the switch element to be turned on when receiving an enable signal, so that the brake resistor discharges the power line bus.

2. The servo drive controller according to claim 1, characterized in that: The servo drive controller also includes: A power failure detection module, connected to an AC power supply, for obtaining a power failure detection signal, wherein the AC power supply is used to supply power to the servo drive controller; The main control chip is connected to the power-off detection module and the switch driver, and is used for delaying the transmission of the enable signal to the switch driver for a preset time when receiving the power-off detection signal transmitted by the power-off detection module.

3. The servo drive controller according to claim 2, characterized in that: The preset duration ranges from 2 seconds to 4 seconds.

4. The servo drive controller according to claim 2, characterized in that: The power-off detection module comprises: A rectifier circuit, wherein a first end and a second end of the rectifier circuit are respectively connected to a live wire and a neutral wire of the AC power supply; An optical coupler, wherein a first end of the optical coupler is connected to a third end of the rectifier circuit, a second end of the optical coupler is connected to a fourth end of the rectifier circuit, a third end of the optical coupler is grounded, and a fourth end of the optical coupler is connected to the main control chip; A pull-up resistor, wherein a first end of the pull-up resistor is connected to the fourth end of the optical coupler, and a second end of the pull-up resistor is connected to a DC power supply; A first capacitor, wherein a first end of the first capacitor is connected to a second end of the pull-up resistor, and a second end of the first capacitor is grounded.

5. The servo drive controller according to claim 4, characterized in that: The rectifier circuit comprises: A first diode, the first diode is unidirectionally conductive from the second end to the first end; a second diode, wherein a first end of the second diode is connected to a second end of the first diode, and the second diode is unidirectionally conducted from the second end to the first end; a third diode, wherein a first end of the third diode is connected to a first end of the first diode, and the third diode is unidirectionally conducted from a second end to a first end; a fourth diode, wherein a first end of the fourth diode is connected to a second end of the third diode, a second end of the fourth diode is connected to a second end of the second diode, and the fourth diode is unidirectionally conducted from the second end to the first end; a first current limiting resistor, wherein a first end of the first current limiting resistor is connected to a live wire of the AC power supply, and a second end of the first current limiting resistor is connected to a second end of the first diode; A second current limiting resistor, wherein a first end of the second current limiting resistor is connected to a neutral line of the AC power supply, and a second end of the second current limiting resistor is connected to a second end of the third diode.

6. The servo drive controller according to claim 5, characterized in that: The rectifier circuit also includes: a filter resistor, a first end of the filter resistor being connected to a first end of the first diode; A voltage regulator tube, wherein a first end of the voltage regulator tube is connected to a second end of the second diode, a second end of the voltage regulator tube is connected to a second end of the optocoupler, and the voltage regulator tube is used to stabilize the voltage of the electrical signal transmitted to the optocoupler; A second capacitor, wherein a first end of the second capacitor is connected to a second end of the filter resistor, and a second end of the second capacitor is connected to a second end of the voltage regulator tube.

7. The servo drive controller according to any one of claims 2 to 4, characterized in that: Also includes: A first DC power supply connected to the power-off detection module and a signal input terminal of the switch driver; A second DC power supply connected to the signal output terminal of the switch driver; Wherein, the output voltage of the first DC power supply is less than the output voltage of the second DC power supply.

8. The servo drive controller according to any one of claims 1 to 4, characterized in that: The resistance value of the braking resistor ranges from 20Ω to 40Ω; The capacitance value of the power line bus ranges from 3500 μF to 4500 μF.

9. The servo drive controller according to any one of claims 1 to 4, characterized in that: The switch element includes at least one of the following: Triode, insulated gate bipolar transistor, field effect transistor.

10. A robot, characterized in that: include: Electric motor; An action mechanism connected to the output end of the motor; The servo drive controller according to any one of claims 1 to 9, connected to the motor.

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