Direct-current high-voltage driver, robot joint module and robot

Abstract

The utility model provides a direct current high voltage driver, robot joint module and robot, direct current high voltage driver includes: aluminum substrate, power amplifier board and control panel that are laminated in proper order, the aluminum substrate is provided with inverter bridge unit, the power amplifier board is provided with step-down power supply unit and inverter bridge drive unit that are connected, the inverter bridge drive unit is provided with inverter bridge drive unit, and the inverter bridge drive unit is provided with inverter bridge drive unit. The inverter bridge driving unit is connected with the inverter bridge unit, the control panel is provided with a low-voltage isolation unit and a low-voltage control module, and the step-down power supply unit supplies power to the low-voltage control module through the low-voltage isolation unit. According to the direct-current high-voltage driver, wire harnesses can be simplified, the material cost is reduced, and the thermal reliability of a robot joint module is guaranteed; the use safety is guaranteed, the output requirement of the high-power working condition is met, and the load grade of the robot joint module is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a direct current high-voltage driver, a robot joint module and a robot. Background Art

[0002] Most traditional DC high-voltage drivers have problems such as large size, bloated structure, and long links. Moreover, the voltage level of DC high-voltage drivers is high, which is a dangerous voltage. Due to restrictions such as voltage level and heat dissipation, most drivers are placed in the control cabinet as a unit module and cannot be placed together with modules such as motors in the robot system. They require long motor phase cables and encoder cables, making assembly and debugging cumbersome and complicated, with a high failure rate. Utility Model Content

[0003] In order to solve the above-mentioned technical problems, the utility model provides a DC high-voltage driver, a robot joint module and a robot, which can simplify the wiring harness, reduce material costs, and ensure the thermal reliability of the robot joint module; ensure safe use, meet the output requirements of high-power working conditions, and improve the load level of the robot joint module.

[0004] The technical solution adopted by the utility model is as follows:

[0005] A DC high-voltage driver comprises: an aluminum substrate, a power board and a control board which are stacked and connected in sequence, wherein an inverter bridge unit is arranged on the aluminum substrate, a connected step-down power supply unit and an inverter bridge drive unit are arranged on the power board, the inverter bridge drive unit is connected to the inverter bridge unit, a low-voltage isolation unit and a low-voltage control module are arranged on the control board, and the step-down power supply unit supplies power to the low-voltage control module through the low-voltage isolation unit.

[0006] In addition, the DC high voltage driver proposed above according to the utility model may also have the following additional technical features:

[0007] According to an embodiment of the present utility model, a high-current connector is provided between the aluminum substrate and the power board, and the high-current connector is used to connect the inverter bridge unit and the inverter bridge drive unit.

[0008] According to an embodiment of the utility model, the power board is provided with a pin header and a plug-in type connector, the pin header is used for connecting power and signals between the power board and the control board, and the plug-in type connector is used for fixing the control board and the power board.

[0009] According to an embodiment of the utility model, the low-voltage control module includes a main control unit, and the control board also includes a CAN communication unit, and the CAN communication unit is used to receive instruction information sent by a host computer to the main control unit, and transmit the instruction information to the main control unit.

[0010] According to one embodiment of the utility model, a DC bus voltage sampling unit and a phase current sampling unit are also provided on the control board. The DC bus voltage sampling unit is used to collect DC bus voltage data and provide it to the main control unit. The phase current sampling unit is used to collect phase current data of the motor and provide it to the main control unit. The main control unit generates a control signal according to the DC bus voltage data and the phase current data, and transmits the control signal to the inverter bridge drive unit.

[0011] According to one embodiment of the utility model, the low-voltage control module also includes a slave control unit, which communicates with the main control unit in real time. The slave control unit is used to monitor the data transmitted by the DC bus voltage sampling unit, the phase current sampling unit and the CAN communication unit in real time, and to perform mutual verification with the main control unit.

[0012] According to an embodiment of the utility model, a brake control unit is further provided on the control panel, and the brake control unit is used to control the opening and closing of the brake according to the control signals of the main control unit and the slave control unit.

[0013] Preferably, the CAN communication unit is an isolated CAN communication unit, the DC bus voltage sampling unit is an isolated DC bus voltage sampling unit, the phase current sampling unit is an isolated phase current sampling unit, and the brake control unit is an isolated brake control unit.

[0014] In addition, to achieve the above-mentioned purpose, the utility model also proposes a robot joint module.

[0015] A robot joint module comprises a motor, an encoder and the DC high-voltage driver as described above.

[0016] In addition, to achieve the above purpose, the utility model also provides a robot.

[0017] A robot comprises at least one set of robot joint modules as described above.

[0018] Beneficial effects of the utility model:

[0019] The DC high-voltage driver of the utility model can simplify the wiring harness by arranging an aluminum substrate, a power board and a control board which are stacked and connected in sequence, and has a compact size and a simple structure, which is conducive to installation and maintenance and reduces material costs; by arranging a step-down power supply unit on the power board and a low-voltage isolation unit on the control board, the high-voltage area where the step-down power supply unit and the inverter bridge unit are located and the low-voltage area where the low-voltage control module is located can be isolated, thereby ensuring safe use, meeting the output requirements of high-power working conditions, and improving the load level of the robot joint module; the low-thermal-resistance aluminum substrate can be directly arranged in the robot joint module, which is conducive to the heat dissipation of the DC high-voltage driver and ensuring the thermal reliability of the robot joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A side view of a DC high voltage driver according to an embodiment of the utility model;

[0021] Figure 2 for Figure 1 A bottom view of the DC high voltage driver of the illustrated embodiment;

[0022] Figure 3 for Figure 1 A schematic diagram of an aluminum substrate of the illustrated embodiment;

[0023] Figure 4 for Figure 1 A schematic diagram of a power board of the illustrated embodiment;

[0024] Figure 5 for Figure 1 a schematic diagram of a control panel of the illustrated embodiment;

[0025] Figure 6 This is a schematic diagram of the connection relationship of a DC high voltage driver according to a specific embodiment of the utility model.

[0026] Figure markings: 100-aluminum substrate, 110-inverter bridge unit, 200-power board, 210-step-down power supply unit, 220-inverter bridge drive unit, 300-control board, 310-low voltage isolation unit, 320-low voltage control module, 321-master control unit, 322-slave control unit, 330-CAN communication unit, 340-DC bus voltage sampling unit, 350-phase current sampling unit, 360-brake control unit, 400-high current connector, 500-pin header, 600-plug-in type connector. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] like Figure 1-5 As shown, the DC high-voltage driver of an embodiment of the utility model includes an aluminum substrate 100, a power board 200 and a control board 300 which are stacked and connected in sequence, wherein an inverter bridge unit 110 is arranged on the aluminum substrate 100, and a connected step-down power supply unit 210 and an inverter bridge drive unit 220 are arranged on the power board 200, and the inverter bridge drive unit 220 is connected to the inverter bridge unit 110, and a low-voltage isolation unit 310 and a low-voltage control module 320 are arranged on the control board 300, and the step-down power supply unit 210 supplies power to the low-voltage control module 320 through the low-voltage isolation unit 310.

[0029] It should be noted that the DC high-voltage driver of the embodiment of the utility model includes an aluminum substrate 100, a power board 200 and a control board 300 which are stacked and connected in sequence. It has a compact size and a simple structure, which is convenient for installation and maintenance. Compared with traditional large drivers, it simplifies the wiring harness and reduces material costs.

[0030] By setting a step-down power supply unit 210 on the power board 200 and a low-voltage isolation unit 310 on the control board 300, the step-down power supply unit 210 can convert the high-voltage DC power inputted into the DC high-voltage driver into low-voltage DC power to supply power to the low-voltage isolation unit 310, and the low-voltage isolation unit 310 can convert the low-voltage DC power into a power supply with a lower voltage to supply power to the low-voltage control module 320, so that the high-voltage area where the step-down power supply unit 210 and the inverter bridge unit 110 are located and the low-voltage area where the low-voltage control module 320 is located are isolated, and the operator only needs to touch the low-voltage control module 320 when controlling the DC high-voltage driver, thereby ensuring safety in use. Compared with a DC driver using ordinary low voltage, the module of the DC high-voltage driver in the low-voltage area can be placed at a relatively safe voltage level when the DC bus voltage is increased, thereby increasing the output power of the DC high-voltage driver, meeting the output requirements of high-power working conditions, and improving the load level of the robot joint module.

[0031] The DC high-voltage driver of the embodiment of the utility model can be directly set in the robot joint module through the low thermal resistance aluminum substrate 100, so that the heat generated by the inverter bridge unit 110 can be quickly transferred to the structural metal parts for heat dissipation, and the ambient temperature of the joint can be quickly increased in a low-temperature environment, the grease can be softened, the friction coefficient can be reduced, and the thermal reliability of the robot joint module can be ensured.

[0032] In one embodiment of the present invention, the power board 200 can be a PCB (Printed Circuit Board) made of FR-4 material, and the control board 300 can also be a PCB made of FR-4 material. The PCB made of FR-4 material has high reliability and machinability, is easy to drill and cut, and is conducive to the stacking arrangement of the aluminum substrate 100, the power board 200 and the control board 300.

[0033] In one embodiment of the present invention, Figure 1 As shown, a high current connector 400 may be provided between the aluminum substrate 100 and the power board 200. The high current connector 400 is used to connect the inverter bridge unit 110 and the inverter bridge drive unit 220. The high current connector 400 may also be used to connect other components between the aluminum substrate 100 and the power board 200 to fix the relative positions of the aluminum substrate 100 and the power board 200.

[0034] In one embodiment of the present invention, Figure 1 As shown, the power board 200 may be provided with a pin header 500 for connecting power and signals between the power board 200 and the control board 300 , and the power board 200 may also be provided with a plug-in connector 600 (such as a plug-in nut) for fixing the control board 300 and the power board 200 .

[0035] In one embodiment of the present invention, Figure 5 As shown, the low-voltage control module 320 may include a main control unit 321, and the control board 300 also includes a CAN communication unit 330. The CAN communication unit 330 is used to receive command information sent by the host computer to the main control unit 321, and transmit the command information to the main control unit 321. The status information of the main control unit 321 can also be sent to the host computer through the CAN communication unit 330.

[0036] When the controlled object of the DC high-voltage driver is a robot joint module, the CAN communication unit 330 can transmit the received command information to the main control unit 321 to complete the position control of the joint, and simultaneously upload the current, speed, position, error and other information of the joint module to the host computer.

[0037] In one embodiment of the present invention, Figure 5The control board 300 shown may also be provided with a DC bus voltage sampling unit 340 and a phase current sampling unit 350. The DC bus voltage sampling unit 340 is used to collect DC bus voltage data and provide it to the main control unit 321. The phase current sampling unit 350 is used to collect phase current data of the motor and provide it to the main control unit 321. The main control unit 321 generates a control signal based on the DC bus voltage data and the phase current data, and transmits the control signal to the inverter bridge drive unit 220.

[0038] In one embodiment of the present invention, Figure 5 As shown, the low voltage control module 320 may also include a slave control unit 322, which communicates with the main control unit 321 in real time. The slave control unit 322 is used to monitor the data transmitted by the DC bus voltage sampling unit 340, the phase current sampling unit 350 and the CAN communication unit 330 in real time, and to perform mutual verification with the main control unit 321.

[0039] In one embodiment of the present invention, Figure 5 As shown, the control board 300 is also provided with a brake control unit 360, which is used to control the opening and closing of the brake according to the control signals of the main control unit 321 and the slave control unit 322. Before the motor runs, the main control unit 321 and the slave control unit 322 can output control signals to control the opening of the brake.

[0040] If an abnormality is found from the control unit 322, the safety protection mechanism can be activated to shut down the inverter bridge drive unit 220 and the brake control unit 360 to achieve safe monitoring of the DC high-voltage driver, improve the safety level of the controlled equipment, and ensure the safe operation of the controlled equipment.

[0041] In one embodiment of the utility model, the CAN communication unit 330 may be an isolated CAN communication unit, the DC bus voltage sampling unit 340 may be an isolated DC bus voltage sampling unit, the phase current sampling unit 350 may be an isolated phase current sampling unit, and the brake control unit 360 may be an isolated brake control unit to ensure the safe transmission of data between the high-voltage area where the inverter bridge unit 110 is located and the low-voltage area where the low-voltage control module 320 is located.

[0042] In this embodiment, the low-voltage direct current output by the step-down power supply unit 210 can be converted into direct current with the same voltage as the power supply, and is used to power the high-voltage side of the isolated CAN communication unit, the isolated DC bus voltage sampling unit, the isolated phase current sampling unit, and the isolated brake control unit, respectively. The low-voltage isolation unit 310 is used to power the isolated side of the isolated CAN communication unit, the isolated DC bus voltage sampling unit, the isolated phase current sampling unit, and the isolated brake control unit, respectively.

[0043] like Figure 6 As shown, in a specific embodiment of the utility model, the DC high voltage driver can be powered by a DC voltage of 60 to 200V. The inverter bridge unit 110 can convert the DC power provided by the DC bus into AC power and provide it to the motor. In this embodiment, the motor can be a PMSM (Permanent Magnet Synchronous Motor). The DC high voltage power of the DC bus is input into the step-down power supply unit 210 and converted into a 24V low voltage DC power to power the inverter bridge drive unit 220 and the low voltage isolation unit 310. The low voltage isolation unit 310 converts the 24V direct current that complies with the ISO (International Organization for Standardization) standard obtained from the step-down power supply unit 210 into a 5V power supply to power the modules in the low voltage area (the isolated CAN communication unit, the isolated DC bus voltage sampling unit, the isolated phase current sampling unit, the isolated side of the isolated brake control unit, the main control unit 321, the slave control unit 322, etc.), and the 5V direct current used by the high voltage side of the isolated CAN communication unit, the isolated DC bus voltage sampling unit, the isolated phase current sampling unit, and the isolated brake control unit is converted from the 24V low voltage direct current output by the step-down power supply unit 210. In the figure, the CAN communication unit 330 is an isolated CAN communication unit, the DC bus voltage sampling unit 340 is an isolated DC bus voltage sampling unit, the phase current sampling unit 350 is an isolated phase current sampling unit, and the brake control unit 360 is an isolated brake control unit. The modules in the light dotted line frame are in the low voltage area, and the modules in the dark dotted line frame are in the high voltage area.

[0044] In this embodiment, the main control unit 321 may be a MCU (Microcontroller Unit). Figure 6 In the figure, it is denoted as MCUA, and the slave control unit 322 may also be an MCU. Figure 6In the figure, it is denoted as MCUB. The master control unit 321 and the slave control unit 322 can communicate based on USART (Universal Synchronous / Asynchronous Receiver / Transmitter). The master control unit 321 and the slave control unit 322 can be respectively provided with an external crystal oscillator to ensure the normal operation of the microcontroller and the accurate processing of data. The CAN communication unit 330 can communicate with the master control unit through CANA1 according to the CAN protocol, and communicate with the slave control unit 322 through CANB1. An encoder is provided to support the motor control of the master control unit 321, and an absolute position encoder is provided to provide the position feedback of the motor to the master control unit 321. The master control unit 321 generates a PWM (Pulse Width Modulation) signal based on the data provided by the DC bus voltage sampling unit 340, the phase current sampling unit 350, and the slave control unit 322, and transmits it to the inverter bridge drive unit 220 through SWITCH (switch) for controlling the inverter bridge unit 110. Among them, the DC bus voltage sampling unit 340 can collect the DC bus voltage data of the motor from the circuit in which 96V DC power is supplied to the inverter bridge unit 110, the phase current sampling unit 350 can collect the phase current data of the motor from the circuit from the inverter bridge unit 110 to the motor, and the brake control unit 360 receives control signals from the main control unit and the slave control unit 322 to control the opening and closing of the brake, and the brake can obtain 24V low-voltage DC power from the step-down power supply unit 210.

[0045] According to the DC high-voltage driver of the utility model embodiment, by arranging an aluminum substrate, a power board and a control board which are stacked and connected in sequence, the wiring harness can be simplified, the size is compact, the structure is simple, installation and maintenance are facilitated, and the material cost is reduced; by arranging a step-down power supply unit on the power board and a low-voltage isolation unit on the control board, the high-voltage area where the step-down power supply unit and the inverter bridge unit are located and the low-voltage area where the low-voltage control module is located can be isolated, thereby ensuring safety in use, meeting the output requirements of high-power working conditions, and improving the load level of the robot joint module; the low-thermal-resistance aluminum substrate can be directly arranged in the robot joint module, which is beneficial to the heat dissipation of the DC high-voltage driver and ensuring the thermal reliability of the robot joint module.

[0046] In addition, to achieve the above-mentioned purpose, the utility model also proposes a robot joint module, including a motor, an encoder and a DC high-voltage driver as described above.

[0047] The robot joint module according to the embodiment of the utility model can simplify the wiring harness, reduce material costs, and ensure the thermal reliability of the robot joint module; meet the output requirements of high-power working conditions and improve the load level of the robot joint module.

[0048] In addition, to achieve the above-mentioned purpose, the utility model also proposes a robot, comprising at least one set of robot joint modules as described above.

[0049] The robot according to the embodiment of the utility model can simplify the wiring harness, reduce material costs, and ensure the thermal reliability of the robot joint module; meet the output requirements of high-power working conditions and improve the load level of the robot joint module.

[0050] In the description of the present utility model, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0053] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. 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 utility model. In this specification, 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. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0054] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A DC high voltage driver, characterized in that: include: An aluminum substrate, a power board and a control board are stacked and connected in sequence, wherein an inverter bridge unit is arranged on the aluminum substrate, a connected step-down power supply unit and an inverter bridge drive unit are arranged on the power board, the inverter bridge drive unit is connected to the inverter bridge unit, a low-voltage isolation unit and a low-voltage control module are arranged on the control board, and the step-down power supply unit supplies power to the low-voltage control module through the low-voltage isolation unit.

2. The DC high voltage driver according to claim 1, characterized in that: A high-current connector is provided between the aluminum substrate and the power board, and the high-current connector is used to connect the inverter bridge unit and the inverter bridge drive unit.

3. The DC high voltage driver according to claim 1, characterized in that: The power board is provided with a pin header and a plug-in type connector, the pin header is used for connecting the power supply and signal between the power board and the control board, and the plug-in type connector is used for fixing the control board and the power board.

4. The DC high voltage driver according to claim 1, characterized in that: The low-voltage control module includes a main control unit, and the control board also includes a CAN communication unit. The CAN communication unit is used to receive instruction information sent by a host computer to the main control unit, and transmit the instruction information to the main control unit.

5. The DC high voltage driver according to claim 4, characterized in that: A DC bus voltage sampling unit and a phase current sampling unit are also provided on the control board. The DC bus voltage sampling unit is used to collect DC bus voltage data and provide it to the main control unit. The phase current sampling unit is used to collect phase current data of the motor and provide it to the main control unit. The main control unit generates a control signal according to the DC bus voltage data and the phase current data, and transmits the control signal to the inverter bridge drive unit.

6. The DC high voltage driver according to claim 5, characterized in that: The low-voltage control module also includes a slave control unit, which communicates with the main control unit in real time. The slave control unit is used to monitor the data transmitted by the DC bus voltage sampling unit, the phase current sampling unit and the CAN communication unit in real time, and to perform mutual verification with the main control unit.

7. The DC high voltage driver according to claim 6, characterized in that: The control panel is also provided with a brake control unit, which is used to control the opening and closing of the brake according to the control signals of the main control unit and the slave control unit.

8. The DC high voltage driver according to claim 7, characterized in that: The CAN communication unit is an isolated CAN communication unit, the DC bus voltage sampling unit is an isolated DC bus voltage sampling unit, the phase current sampling unit is an isolated phase current sampling unit, and the brake control unit is an isolated brake control unit.

9. A robot joint module, characterized in that: The invention comprises a motor, an encoder and a DC high-voltage driver according to any one of claims 1 to 7.

10. A robot, characterized in that: Includes at least one set of robot joint modules as described in claim 9.

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