Servo driver and servo driving system

Abstract

The utility model discloses a servo driver and a servo driving system, and belongs to the technical field of drivers, the servo driver comprises a housing, a power supply module, a control module, a power module and a radiator, the power supply module, the control module, the power module and the radiator are arranged in a cavity and are connected with an installation support, the installation support comprises a first layer plate and a second layer plate which are arranged in a spaced mode, the power module and the control module are arranged on the side, opposite to the second layer plate, of the first layer plate in a spaced mode, and a power plate of the power module is arranged on the side, facing the first layer plate, of the second layer plate. The radiator and the bus capacitor of the power module are arranged on one side of the second layer plate back to the first layer plate, a three-layer structure is adopted for layout, the purpose of partitioning is achieved, when the servo driver is expanded and modified, modification iteration of products can be achieved only by adjusting plate body structures or devices of corresponding modules, adjustment and modification of components are reduced, and the cost is reduced. The modification cost is lower, the flexibility is higher, and the maintenance and the debugging are convenient.

Description

Technical Field

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

[0002] At present, most servo drives usually integrate devices such as power units and control units on a whole circuit board, which is not conducive to the expansion and modification of the model. Even small changes require modification of the entire printed circuit board assembly (PCBA), especially for high-power and high-voltage servo drives. The adjustment and modification of large components such as power devices are relatively large, the cost is high, and it is difficult to achieve rapid iteration of models. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a servo driver, which adopts a partition layout structure, can make expansion and modification more flexible, and is conducive to accelerating the iteration of machine models.

[0004] The utility model also provides a motor including the servo driver and a servo drive system.

[0005] According to the servo driver of the first embodiment of the utility model, it includes:

[0006] The housing is provided with a cavity, and a mounting bracket is provided in the cavity;

[0007] A power module, a control module, a power module and a heat sink are arranged in the cavity and connected to the mounting bracket, and the control module and the power module are electrically connected to the power module respectively;

[0008] Wherein, the mounting bracket comprises a first layer board and a second layer board which are spaced apart, the power module and the control module are spaced apart and connected to a side of the first layer board which faces away from the second layer board, the power module is connected to the second layer board, the power module comprises a power board and a bus capacitor, the power board is arranged on a side of the second layer board which faces toward the first layer board, and the bus capacitor and the heat sink are arranged on a side of the second layer board which faces away from the first layer board;

[0009] At least two cooling fans, at least one of which is disposed between the first layer board and the second layer board, and at least one of which is disposed on a side of the second layer board facing away from the power board.

[0010] The servo driver according to the embodiment of the utility model has at least the following beneficial effects:

[0011] The servo drive comprises a power module, a control module, a power module and a radiator, and the power module and the control module are spaced apart on the side of the first layer board facing away from the second layer board, the power board of the power module is arranged on the side of the second layer board facing the first layer board, and the bus capacitor of the radiator and the power module is arranged on the side of the second layer board facing away from the first layer board, so that the power module, the control module, the power module and the radiator are arranged in three layers to achieve the purpose of zoning, and the spatial layout is reasonable; and at least one cooling fan is used to dissipate the heat of the space between the first layer board and the second layer board, and at least one cooling fan is used to dissipate the heat of the space on the side of the second layer board facing away from the power board, so as to improve the heat dissipation efficiency of the power module and meet the heat dissipation requirements of the servo drive; when the servo drive is expanded and modified, it only needs to adjust the board structure or device of the corresponding module to realize the modification iteration of the product, reduce the adjustment and modification of the components, lower the modification cost, more flexible, and convenient for maintenance and debugging.

[0012] According to some embodiments of the utility model, the first layer of the plate is a sheet metal part and is fixedly connected to the outer shell, the first layer of the plate is bent to form a first segment and a second segment that are connected, the first segment and the second segment are spaced apart in the up and down directions, the power module is arranged in the first segment, and the control module is arranged in the second segment.

[0013] According to some embodiments of the utility model, the servo driver also includes a drive wiring module, which is electrically connected to the control module and the power module. The drive wiring module is arranged in the first segment and is arranged side by side with the power module.

[0014] According to some embodiments of the utility model, the servo drive also includes a power line terminal for connecting the motor, the power line terminal is electrically connected to the power module, and the first layer plate is also bent to form a third segment connected to the second segment; relative to the positions of the first segment and the second segment, the third segment is arranged closer to the second layer plate, and the power line terminal is arranged in the third segment.

[0015] According to some embodiments of the utility model, the second layer of board is a sheet metal part having a through hole, and the second layer of board is fixedly connected to the outer shell, the power board is provided with an insulated gate bipolar transistor, the heat dissipation surface of the insulated gate bipolar transistor is arranged toward the through hole, and the heat sink is attached to the heat dissipation surface.

[0016] According to some embodiments of the utility model, the bus capacitor is provided in plurality, the plurality of bus capacitors are arranged side by side and spaced apart from the radiator, and the side wall of the housing is provided with a ventilation grille opposite to the bus capacitor.

[0017] According to some embodiments of the utility model, the outer shell includes a bottom plate, a cover plate and a side plate, the bottom plate is connected to one end of the side plate, the cover plate is detachably connected to the other end of the side plate, the first layer plate and the second layer plate are arranged in sequence along the direction of the cover plate toward the bottom plate, and are respectively connected to the side plates.

[0018] According to some embodiments of the present invention, the cover plate is provided with a viewing window, and the inner side wall of the cover plate is provided with a display panel opposite to the viewing window, and the display panel is electrically connected to the control module.

[0019] According to some embodiments of the utility model, the side panel is provided with a first air outlet and a second air outlet, the first air outlet is located between the first layer plate and the second layer plate, the second air outlet is located between the second layer plate and the bottom plate, the cooling fan is provided on one side of the side panel, and the first air outlet and the second air outlet are provided on the other side of the side panel opposite to the cooling fan.

[0020] The servo drive system according to the second embodiment of the utility model includes the servo drive described in the first embodiment.

[0021] The servo drive system according to the embodiment of the utility model has at least the following beneficial effects:

[0022] The servo drive system adopts the servo drive of the embodiment for drive control. Since the power module, control module, power module and heat sink of the servo drive are arranged in a three-layer structure to achieve the purpose of partitioning, when the servo drive is expanded and modified, it is only necessary to adjust the board structure or devices of the corresponding module to achieve product modification and iteration, reduce the adjustment and modification of components, lower the modification cost, more flexible, and facilitate the maintenance and debugging of the servo drive system.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0025] Figure 1 This is an overall schematic diagram of a servo driver according to an embodiment of the utility model;

[0026] Figure 2 This is a schematic diagram of the exploded structure of a servo driver according to an embodiment of the present utility model (front view);

[0027] Figure 3 This is a schematic diagram of the exploded structure of a servo driver according to an embodiment of the utility model (from a rear perspective);

[0028] Figure 4 This is a schematic diagram of the assembly structure of the mounting bracket and the module assembly in one embodiment of the utility model;

[0029] Figure 5 for Figure 4 A schematic front view of the mounting bracket and module assembly shown;

[0030] Figure 6 for Figure 5 The enlarged schematic diagram of point A in the middle;

[0031] Figure 7 The figure is a schematic top view of the structure of a servo driver according to an embodiment of the utility model.

[0032] Figure Number:

[0033] Housing 100; cavity 101; cover plate 110; first plate 111; second plate 112; window 113; bottom plate 120; side plate 130; front side plate 131; ventilation grille 1311; rear side plate 132; left side plate 133; right side plate 134; line inlet 1341; first air outlet 1342; second air outlet 1343;

[0034] Mounting bracket 200; first layer board 210; first segment 211; second segment 212; third segment 213; first transition surface 214; second transition surface 215; second layer board 220; connecting column 230;

[0035] Power module 300; power board 310;

[0036] Control module 400; control board 410; signal line connection terminal 411; connection identification board 420;

[0037] Power module 500; power board 510; bus capacitor 520;

[0038] Driving wiring module 600; driving wiring board 610;

[0039] Power line terminal 700;

[0040] Radiator 800;

[0041] Cooling fan 900;

[0042] Servo drive 1000. DETAILED DESCRIPTION

[0043] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0044] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0045] In the description of the utility model, if there is a description of first and second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0046] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0047] Reference Figure 1 , Figure 2 and Figure 3 As shown, the servo driver 1000 of the embodiment of the utility model includes a housing 100 and a module assembly, a cavity 101 is provided in the housing 100, and the module assembly includes a power module 300, a control module 400 and a power module 500, and the power module 300, the control module 400 and the power module 500 are installed in the cavity 101, and the housing 100 can protect the module assembly. Among them, the control module 400 and the power module 500 are electrically connected to the power module 300 respectively, the power module 300 is used for external power supply, and provides power to the control module 400 and the power module 500, the power module 500 is used for output connection motor, and the control module 400 drives and controls the motor through the power module 500.

[0048] Reference Figure 2 and Figure 3As shown, a mounting bracket 200 is provided in the cavity 101, and the mounting bracket 200 includes a first layer board 210 and a second layer board 220. The first layer board 210 and the second layer board 220 are arranged in sequence from top to bottom, and the first layer board 210 and the second layer board 220 are spaced apart, and the first layer board 210 is located above the second layer board 220. In the embodiment, the first layer board 210 and the second layer board 220 are both plate structures. Since the power module 300, the control module 400 and the power module 500 are independent functional modules, the power module 300 and the control module 400 are installed on the first layer board 210, and the power module 500 is installed on the second layer board 220. In this way, the power module 300 and the control module 400 can be arranged in layers with the power module 500, and the power module 300 and the control module 400 are spaced apart on the first layer board 210, so that the installation positions of the above three functional modules can be separated, and the purpose of partitioned layout is achieved.

[0049] Specifically, the power module 300 includes a power board 310, the control module 400 includes a control board 410, and the power module 500 includes a power board 510. The power board 310, the control board 410, and the power board 510 each have a separate printed circuit board (PCB). By connecting the PCB boards of the power board 310, the control board 410, and the power board 510 to the mounting bracket 200, the purpose of fixing the power module 300, the control module 400, and the power module 500 is achieved. Taking the power module 300 and the control module 400 as an example, the components of the power module 300 are arranged on the PCB board of the power board 310, such as rectifiers, filters, and other components, and the components of the control module 400 are arranged on the PCB board of the control board 410, such as main control chips, and other components. By fixing the two PCB boards to the first layer board 210, the purpose of fixing and installing the power module 300 and the control module 400 is achieved.

[0050] Reference Figure 4 As shown, in the embodiment, the first layer board 210 is roughly rectangular, and the power board 310 and the control board 410 are arranged at intervals on the upper surface of the first layer board 210 along the length direction of the first layer board 210, that is, located on the side of the first layer board 210 facing away from the second layer board 220. The power board 310 and the control board 410 can be disassembled and assembled separately, which is convenient for replacement and adjustment. The PCB board bodies of the power board 310 and the control board 410 can be connected to the first layer board 210 by fasteners such as screws and bolts. Of course, the power board 310 and the control board 410 can also be arranged along the width direction of the first layer board 210, and are adjusted specifically according to the actual sizes of the power board 310 and the control board 410. In addition, the first layer board 210 is not limited to a rectangle, and can also be a square, a circle, and the like.

[0051] It is understandable that, by adopting the layered structure of the above embodiment, the power module 300 and the control module 400 are located on the upper layer of the mounting bracket 200, and the power module 500 is located on the lower layer of the mounting bracket 200. When the servo driver 1000 is expanded and modified, it only needs to adjust the board structure or components of the corresponding functional module to achieve product modification iteration, reduce the adjustment and modification of other module components, and the modification cost is lower and more flexible. For example, when it is necessary to modify the components of the control module 400, it is sufficient to replace the corresponding components on the control board 410 or replace the entire control board 410, without adjusting the power module 300 and the power module 500. Compared with the structure of the related art in which all components are assembled on the entire circuit board, the module layout of the servo driver 1000 of the utility model is more reasonable, the model modification cost is lower, and the model iteration is more flexible.

[0052] In addition, since the overall layout of the module components is stacked in a layered manner, the wiring position is more clearly divided and the wiring is more reasonable, which greatly facilitates the user's wiring, inspection, maintenance and debugging. It also facilitates the expansion and development of subsequent models, and facilitates disassembly, assembly, maintenance and testing.

[0053] It should be noted that the power module 500 in the embodiment adopts a high-voltage power module, and the power module 500 includes an insulated-gate bipolar transistor (IGBT). The IGBT is a power device. When working, due to the on-state voltage drop and switching loss of the IGBT itself, heat will be generated, and the heat will be transferred outward, which will easily cause the operating temperature of the power board 510 to increase. By adopting a layered layout structure for the power module 500, the power module 300 and the control module 400, it is beneficial to the heat dissipation of the power module 500, and at the same time, it also reduces the impact of the heat of the power module 500 on the power module 300 and the control module 400, ensuring that each functional module can operate stably.

[0054] Reference Figure 2 and Figure 3 As shown, the first layer 210 and the second layer 220 are both sheet metal parts, the outer shell 100 is a sheet metal shell, and the first layer 210 and the second layer 220 are respectively fixedly connected to the outer shell 100, specifically by screw connection, riveting, welding, etc. The overall structure is firm and reliable, and effectively protects the module components.

[0055] Specifically, in the embodiment, the housing 100 includes a cover plate 110, a bottom plate 120 and a side plate 130, the upper and lower ends of the side plate 130 are connected to the bottom plate 120 and the cover plate 110 respectively, and the side plate 130 includes a front side plate 131, a rear side plate 132, a left side plate 133 and a right side plate 134, wherein the front side plate 131 and the rear side plate 132 are connected to the bottom plate 120 and are integrally formed, and specifically, the bottom plate 120, the front side plate 131 and the rear side plate 132 can be formed by integrally bending a metal plate, the left side plate 133 and the right side plate 134 are respectively connected between the front side plate 131 and the rear side plate 132, and the front side plate 131, the rear side plate 132, the left side plate 133 and the right side plate 134 are surrounded to form the side plate 130. The first layer plate 210 and the second layer plate 220 are arranged in sequence from top to bottom, and the first layer plate 210 and the second layer plate 220 are respectively fixedly connected to the side plate 130.

[0056] Reference Figure 2 As shown, the first layer board 210 is used as an example for explanation, the left side of the first layer board 210 is fixedly connected to the left side board 133 by screws, and the right side of the first layer board 210 is fixedly connected to the right side board 134 by screws, so that the first layer board 210 is fixed, the structure is stable and reliable, and meets the requirements of assembling the power module 300 and the control module 400. Of course, the first layer board 210 is not limited to being connected to the housing 100 on the left and right sides, and the front and rear sides of the first layer board 210 can also be fixedly connected to the front side board 131 and the rear side board 132, and the four sides of the first layer board 210 can also be fixedly connected to the side boards 130 respectively.

[0057] Reference Figure 5 and Figure 6 As shown, in some embodiments, the first layer 210 is a sheet metal plate, and the first layer 210 is bent to form a first segment 211 and a second segment 212. The first segment 211 and the second segment 212 are connected and are distributed sequentially along the left and right directions of the shell 100. The first segment 211 and the second segment 212 are both straight plate structures. A first transition surface 214 is formed between the first segment 211 and the second segment 212 by bending, and the first transition surface 214 is stepped, thereby separating the first segment 211 and the second segment 212 along the height direction.

[0058] In the embodiment, the first segment 211 and the second segment 212 are parallel to each other, and along the height direction of the housing 100, the height of the second segment 212 is greater than the height of the first segment 211. The power module 300 is installed on the upper surface of the first segment 211, and the control module 400 is installed on the upper surface of the second segment 212, so that the power module 300 and the control module 400 are separated in different areas of the first layer board 210, and the functional modules on the first layer board 210 can be arranged more reasonably. Without increasing the number of layers, the partition layout of the power board 310 and the control board 410 can be realized. When the power board 310 needs to modify the board body or device, there is no need to modify the control board 410. Similarly, when the control board 410 needs to modify the board body or device, there is no need to modify the power board 310. The difficulty of modification is low, and the expansion and modification are more flexible.

[0059] Moreover, the power board 310 and the control board 410 are staggered in the height direction, and the wiring positions are clearly distinguished, which is not only convenient for wiring and maintenance, but also conducive to the heat dissipation of the power board 310 and the control board 410, ensuring that the power board 310 and the control board 410 can operate stably. The height difference between the first segment 211 and the second segment 212 can be set according to the height size of the power board 310 and the control board 410. For example, when the height of the power board 310 is relatively large, the height difference between the first segment 211 and the second segment 212 can be increased, so that after the power board 310 and the control board 410 are assembled in place, the heights of the two are close, which is convenient for the assembly of the overall structure.

[0060] It should be noted that the specific height difference range between the first segment 211 and the second segment 212 is selected according to the actual installation requirements of the power board 310 and the control board 410. In addition, the embodiment is not limited to the second segment 212 being higher than the first segment 211, and the first segment 211 can also be set higher than the second segment 212.

[0061] Reference Figure 6As shown, in some embodiments, the PCB bodies of the power board 310 and the control board 410 are roughly square, and the power board 310 and the control board 410 are connected to the first layer board 210 through a plurality of connecting columns 230. The four corners of the power board 310 and the control board 410 are respectively provided with connecting holes, the lower end of the connecting column 230 is provided with a stud, the upper end is provided with a screw hole, and the first segment 211 is provided with a screw hole corresponding to the stud, the connecting column 230 is threadedly connected to the first segment 211 through the stud, and then the screw is passed through the connecting hole of the power board 310 and connected to the screw hole at the upper end of the connecting column 230, and each corner is fixed by a connecting column 230, so that the power board 310 is fixedly connected to the first segment 211, and the structure is stable and firm. Similarly, the four corners of the control board 410 are also fixedly connected to the second segment 212 through the connecting columns 230, and the specific connection method refers to the connection structure between the power board 310 and the first segment 211.

[0062] It can be understood that since the connecting column 230 has a certain height, when the power board 310 and the control board 410 are respectively fixed by the connecting column 230, the power board 310 and the control board 410 can be supported by the connecting column 230. At the same time, the power board 310 is separated from the upper surface of the first segment 211, and the control board 410 is separated from the upper surface of the second segment 212. In other words, the power board 310 and the control board 410 are respectively separated from the first layer board 210 by a certain gap, which is beneficial to the heat dissipation of the power board 310 and the control board 410, ensuring that the power board 310 and the control board 410 can operate stably.

[0063] Reference Figure 4 and Figure 6 As shown, it should be noted that the control board 410 is provided with a signal line terminal 411 and a wiring identification plate 420. There are multiple signal line terminals 411, and multiple signal line terminals 411 are arranged side by side on one side of the control board 410. The wiring identification plate 420 is connected to the upper side of the control board 410, and the wiring identification plate 420 is provided with identifications corresponding to the signal line terminals 411. It can be understood that the number of identifications is the same as the number of signal line terminals 411, so that the identifications correspond to the signal line terminals 411 one by one. By adding the wiring identification plate 420, it is convenient for users to connect according to the identifications, which is conducive to improving assembly efficiency. The signal line terminal 411 is used for external signal lines such as network cables to receive control signals.

[0064] Reference Figure 4 and Figure 7As shown, in some embodiments, the module assembly also includes a drive wiring module 600, which is electrically connected to the control module 400 and the power module 500. The drive wiring module 600 includes a drive wiring board 610 and a wiring conversion unit. The wiring conversion unit is arranged on the drive wiring board 610 to convert signals between the control board 410 and the power board 510, thereby realizing signal transmission between the control board 410 and the power board 510.

[0065] Considering that the driving wiring module 600 generates less heat during operation, the driving wiring module 600 is connected to the upper surface of the first segment 211, and the driving wiring module 600 and the power module 300 are arranged side by side along the width direction of the first layer board 210, so that the heat generated by the driving wiring module 600 and the power module 300 has less mutual influence. It can be understood that the driving wiring module 600 has an independent PCB board body, so the driving wiring module 600 and the power module 300 are independently installed on the first segment 211. When one of the power module 300 and the driving wiring module 600 needs to modify the board body or device, there is no need to modify the other, the modification difficulty is relatively low, and the expansion and modification are more flexible.

[0066] Reference Figure 4 , Figure 5 and Figure 7 As shown, in some embodiments, the module assembly also includes a power line terminal 700, which is used for an external motor. A plurality of power line terminals 700 are provided, and the plurality of power line terminals 700 are electrically connected to the power module 500, respectively. The plurality of power line terminals can be connected to a plurality of motors, and the power module 500 can drive and control the plurality of motors at the same time.

[0067] Reference Figure 5 and Figure 6 As shown, in the embodiment, the first layer board 210 is further bent to form a third segment 213, and the third segment 213 is connected to the right end of the second segment 212. The third segment 213 is a straight plate structure, and a second transition surface 215 is formed between the second segment 212 and the third segment 213 by bending, and the second transition surface 215 is stepped, so that the second segment 212 and the third segment 213 are separated in the height direction. The power line terminal 700 is connected to the upper surface of the third segment 213, so that the power module 300, the control module 400 and the power line terminal 700 are distributed on the first layer board 210 from left to right in sequence, and the drive wiring module 600 and the power module 300 are arranged side by side on the first segment 211, so that the above-mentioned functional modules are arranged in zones on the first layer board 210.

[0068] Reference Figure 5As shown, it can be understood that, in order to facilitate the connection between the power line terminal 700 and the power board 510, the third segment 213 is closer to the second layer board 220 than the first segment 211 and the second segment 212, and the third segment 213 is close to the right side of the housing 100, which also facilitates the connection of the power line terminal 700 from the outside of the housing 100, thereby reducing the wiring length of the power line terminal 700. Figure 2 It can be understood that the right side plate 134 of the housing 100 is provided with a wire inlet 1341, and the wires pass through the wire inlet 1341 to enter the cavity 101 and are connected to the power line terminal 700. In addition, two or more wire inlets 1341 can be provided, and the wires of the signal line terminal 411 can also enter the cavity 101 from different wire inlets 1341 and be connected to the signal line terminal 411, which makes wiring more convenient.

[0069] Since the power connection terminals and the power board 510 are arranged in partitions, when the power board 510 needs to be modified and iterated, there is no need to adjust the power line connection terminals 700, so the modification cost is low and the flexibility is higher.

[0070] Combination Figure 7 As shown, it should be noted that, in the embodiment, the cover plate 110 and the side plate 130 are connected in a detachable manner. Since the power module 300, the drive wiring module 600, the control module 400 and the power line terminal 700 are all arranged on the first layer plate 210, when inspection and maintenance are required, it is only necessary to remove the cover plate 110 for repair and debugging. The power module 300, the drive wiring module 600, the control module 400 and the power line terminal 700 can all be repaired and disassembled and replaced separately, and the operation is more flexible and convenient.

[0071] Reference Figure 1 , Figure 2 and Figure 3 As shown, in the embodiment, the cover plate 110 is provided with a window 113, and the inner wall of the cover plate 110 is provided with a display panel (not shown in the drawings), the display panel is electrically connected to the control module 400, and an LED digital tube is provided on the display panel, the LED digital tube is arranged opposite to the window 113, and the LED digital tube is used to display the fault code of the servo driver 1000. In this way, when a fault occurs in the servo driver 1000, the control module 400 sends a signal to the display panel, and the corresponding fault code is displayed through the LED digital tube. The fault code can be observed through the window 113, thereby judging the fault condition of the servo driver 1000, which is convenient for debugging and maintenance.

[0072] Reference Figure 1As shown, in some embodiments, the cover plate 110 includes a first plate body 111 and a second plate body 112, and the first plate body 111 and the second plate body 112 are spliced ​​to form the cover plate 110. The first plate body 111 and the second plate body 112 are respectively detachably connected to the side plate 130. During wiring debugging and maintenance, it is only necessary to open the first plate body 111 or the second plate body 112 to perform the operation, which is more flexible and convenient.

[0073] Reference Figure 4 and Figure 5 As shown, the second layer board 220 is located below the first layer board 210, and there is a certain gap between the first layer board 210 and the second layer board 220. The cavity 101 is separated by the first layer board 210 and the second layer board 220 to form a three-layer installation space. The power board 510 is located between the first layer board 210 and the second layer board 220 and fixed on the upper surface of the second layer board 220, that is, the power board 510 is arranged on the side of the second layer board 220 facing the first layer board 210. Since the power board 510 has an IGBT, which generates a large amount of heat when working, in order to improve the heat dissipation effect, the servo driver 1000 in the embodiment also includes a heat sink 800. The second layer board 220 is provided with a through hole (not shown in the drawings), and the heat dissipation surface of the IGBT (not shown in the drawings) is arranged toward the through hole, so that the heat dissipation surface is exposed to the lower surface of the second layer board 220 through the through hole. The heat sink 800 is fixedly connected to the lower side of the second layer board 220, so that the heat sink 800 is attached to the heat dissipation surface. In this way, the heat generated by the IGBT can be quickly taken away through the heat sink 800, thereby improving the heat dissipation effect.

[0074] It should be noted that the IGBT adopts a packaging structure as a whole, and the heat dissipation surface of the IGBT is the outer surface of the heat dissipation layer inside the packaging structure. When working, the heat generated by the internal device is transferred to the heat dissipation surface, and then transferred from the heat dissipation surface to the heat sink 800, so that the IGBT can be effectively cooled. In addition, the size of the through hole can be set larger than the size of the heat dissipation surface, so that the heat sink 800 can fit the heat dissipation surface.

[0075] Combination Figure 2 and Figure 3 It can be understood that the heat sink 800 is a fin-type heat sink, and a plurality of fins are arranged at intervals on the side of the heat sink 800 away from the power board 510. The airflow flows through the gaps between the plurality of fins, thereby taking away the heat of the heat sink 800 and achieving the purpose of heat dissipation. Since the heat sink 800 has a certain volume, the heat sink 800 is installed in the space between the second layer board 220 and the bottom plate 120, which reduces the influence of the heat of the heat sink 800 on the functional devices on the first layer board 210, and is also conducive to the heat dissipation of the heat sink 800.

[0076] Reference Figure 3As shown, in the embodiment, the servo driver 1000 further includes three cooling fans 900, one of which is arranged between the first layer board 210 and the second layer board 220, and the other two cooling fans 900 are arranged on the lower side of the second layer board 220. It can be understood that since air ducts are formed between the first layer board 210 and the second layer board 220, and between the second layer board 220 and the bottom plate 120, respectively, the upper cooling fan 900 can generate convection in the upper air duct, thereby taking away the heat of the components on the upper side of the power board 510; the lower cooling fan 900 can generate convection in the lower air duct, thereby taking away the heat of the radiator 800, thereby greatly improving the heat dissipation efficiency of the power board 510 and improving the stability of the operation of the power board 510.

[0077] It is understandable that the number of the cooling fans 900 is not limited to three, and may be two or more, for example, two cooling fans are respectively arranged at the upper and lower sides of the air duct; or four cooling fans 900 may be arranged, and two cooling fans 900 are respectively arranged at the upper and lower sides of the air duct. The specific selection can be made according to the actual application requirements.

[0078] Reference Figure 4 and Figure 5 As shown, the power module 500 also includes a plurality of bus capacitors 520 electrically connected to the power board 510, the plurality of bus capacitors 520 are located on the lower side of the second layer 220, the plurality of bus capacitors 520 are arranged side by side close to the right side of the second layer 220, and the plurality of bus capacitors 520 are arranged at intervals from the radiator 800, and the bus capacitors 520 can adjust and balance the output voltage of the power board 510 by storing and releasing electric charge, and provide a stable power supply for the motor. The plurality of bus capacitors 520 and the radiator 800 are both located on the lower side of the second layer 220, and the radiator 800 and the bus capacitors 520 can be cooled simultaneously by the cooling fan 900, thereby further improving the stability of the operation of the power board 510. The number of bus capacitors 520 can be three, four or more, which can be set specifically according to the performance requirements of the servo drive 1000, and is not limited here.

[0079] It should be noted that the side wall of the housing 100 is provided with a ventilation grille 1311. Specifically, the ventilation grille 1311 is provided on the front side plate 131 and the rear side plate 132. The ventilation grille 1311 corresponds to the installation position of the bus capacitor 520. The cooling fan 900 generates airflow, and the airflow takes away the heat of the radiator 800 and the bus capacitor 520, and is discharged through the ventilation grille 1311, thereby achieving the purpose of dissipating heat from the bus capacitor 520 and improving the heat dissipation efficiency. The specific position of the ventilation grille 1311 can be adjusted according to the installation position of the bus capacitor 520 to ensure that the heat can be effectively discharged from the ventilation grille 1311.

[0080] In some embodiments, when the cooling fan 900 is working, air flow enters the cavity through the ventilation grille 1311, takes away the heat of the bus capacitor 520 and the radiator 800, and is discharged after passing through the cooling fan 900, which also has an effective heat dissipation effect.

[0081] Reference Figure 2 and Figure 3 As shown, it can be understood that in the embodiment of the utility model, the first layer board 210 and the second layer board 220 are arranged from top to bottom, the power module 300, the control module 400 and the drive wiring module 600 are arranged on the upper surface of the first layer board 210, the power board 510 is arranged on the upper surface of the second layer board 220, and the heat sink 800 and the bus capacitor 520 are arranged on the lower surface of the second layer board 220, so as to realize the three-layer layout structure, which is divided into the upper layer, the middle layer and the lower layer from top to bottom, wherein the power module 300, the control module 400 and the drive wiring module 600 are located in the space of the upper layer, the power board 510 is in the space of the middle layer, and the heat sink 800 and the bus capacitor 520 are located in the space of the lower layer, so as to realize the purpose of partitioning, and the spatial layout is more reasonable. When the servo drive 1000 is expanded and modified, it only needs to adjust the board structure or device of the corresponding module to realize the modification iteration of the product, reduce the adjustment and modification of the components, and the modification cost is lower and more flexible. The internal module adopts a three-layer layout structure, which is also convenient for maintenance and debugging.

[0082] Reference Figure 1 and Figure 2 As shown, the right side plate 134 of the housing 100 is provided with a first air outlet 1342 and a second air outlet 1343, and the first air outlet 1342 and the second air outlet 1343 are both connected to the cavity. Among them, the first air outlet 1342 is located between the first layer plate and the second layer plate, and the first air outlet 1342 is connected to the space of the middle layer; the second air outlet 1343 is located between the second layer plate and the bottom plate, and the second air outlet 1343 is connected to the space of the lower layer. Since the cooling fan 900 and the first air outlet 1342 and the second air outlet 1343 are located on opposite sides of the housing, a convection effect can be generated to improve the heat dissipation efficiency.

[0083] Specifically, when the cooling fan 900 at the middle position is working, air is sucked into the cavity 101 from one end of the outer shell 100, and the airflow takes away the heat of the power board and flows out from the first air outlet 1342; when the cooling fan 900 at the lower position is working, air is sucked into the cavity 101 from one end of the outer shell 100, and the airflow takes away the heat of the radiator 800 and the bus capacitor 520 and flows out from the second air outlet 1343, which has a better heat dissipation effect, avoids the power module 500 from operating at too high a temperature, and improves the operating stability of the servo driver 1000.

[0084] It should be noted that, in the embodiment, a plurality of first air outlets 1342 are provided, and the plurality of first air outlets 1342 are arranged at intervals to form a grille structure, which plays a role in heat dissipation and protection for the power board 510; the second air outlet 1343 is provided as an open structure, and has a sufficiently large size to meet the requirements of large air volume and heat dissipation. This is only an example, and the specific forms of the first air outlet 1342 and the second air outlet 1343 can be selected according to actual product requirements.

[0085] The second aspect of the utility model also provides a servo drive system, including a servo driver 1000 as in the above embodiment, which can be used to drive one or more motors (not shown in the drawings). Specifically, multiple motors are connected through power line terminals, and the control module 400 controls the power module 500, so that multiple motors can be driven and controlled simultaneously.

[0086] Since the servo drive system adopts the above-mentioned servo drive 1000, the servo drive system has all the beneficial effects of the servo drive 1000 in the above-mentioned embodiment.

[0087] The servo drive system can be a servo system of a robot or a servo system of an industrial device. The robot is a movable robot, such as a transport robot, and the servo drive 1000 can control the operation of the drive motor, thereby driving the robot to move. The robot can also be a mechanical arm, and motors for driving the mechanical arm to move are provided at each joint of the mechanical arm. The servo drive 1000 drives the mechanical arm to move by driving the motor.

[0088] The industrial equipment may be a production line, which is provided with an operating mechanism capable of multi-axis movement. The servo driver 1000 drives multiple motors to operate, thereby being able to drive the operating mechanism to move in multiple directions respectively.

[0089] Of course, the present invention is not limited to the above-mentioned embodiments, and technicians familiar with the field may make equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A servo drive, characterized in that: include: The housing is provided with a cavity, and a mounting bracket is provided in the cavity; A power module, a control module, a power module and a heat sink are arranged in the cavity and connected to the mounting bracket, and the control module and the power module are electrically connected to the power module respectively; Wherein, the mounting bracket comprises a first layer board and a second layer board which are spaced apart, the power module and the control module are spaced apart and connected to a side of the first layer board which faces away from the second layer board, the power module is connected to the second layer board, the power module comprises a power board and a bus capacitor, the power board is arranged on a side of the second layer board which faces toward the first layer board, and the bus capacitor and the heat sink are arranged on a side of the second layer board which faces away from the first layer board; At least two cooling fans, at least one of which is disposed between the first layer board and the second layer board, and at least one of which is disposed on a side of the second layer board facing away from the power board.

2. The servo driver according to claim 1, characterized in that: The first layer of the plate is a sheet metal part and is fixedly connected to the outer shell. The first layer of the plate is bent to form a first segment and a second segment that are connected. The first segment and the second segment are spaced apart in the up and down directions. The power module is arranged in the first segment, and the control module is arranged in the second segment.

3. The servo driver according to claim 2, characterized in that: The servo driver further comprises a drive wiring module, the drive wiring module is electrically connected to the control module and the power module, and the drive wiring module is arranged in the first segment and arranged side by side with the power module.

4. The servo driver according to claim 2, characterized in that: The servo drive also includes a power line terminal for connecting the motor, the power line terminal is electrically connected to the power module, and the first layer plate is also bent to form a third segment connected to the second segment; relative to the positions of the first segment and the second segment, the third segment is arranged close to the second layer plate, and the power line terminal is arranged in the third segment.

5. The servo driver according to claim 1, characterized in that: The second layer board is a sheet metal part with a through hole, and the second layer board is fixedly connected to the shell. The power board is provided with an insulated gate bipolar transistor, the heat dissipation surface of the insulated gate bipolar transistor is arranged toward the through hole, and the heat sink is attached to the heat dissipation surface.

6. The servo driver according to claim 1, characterized in that: The bus capacitors are provided in plurality, and the plurality of bus capacitors are arranged side by side and spaced apart from the radiator. The side wall of the housing is provided with a ventilation grille opposite to the bus capacitor.

7. The servo driver according to claim 1, characterized in that: The shell includes a bottom plate, a cover plate and a side plate, the bottom plate is connected to one end of the side plate, the cover plate is detachably connected to the other end of the side plate, the first layer plate and the second layer plate are arranged in sequence along the direction from the cover plate to the bottom plate, and are respectively connected to the side plates.

8. The servo driver according to claim 7, characterized in that: The cover plate is provided with a viewing window, and the inner side wall of the cover plate is provided with a display panel opposite to the viewing window, and the display panel is electrically connected to the control module.

9. The servo driver according to claim 7, characterized in that: The side panel is provided with a first air outlet and a second air outlet, the first air outlet is located between the first layer panel and the second layer panel, the second air outlet is located between the second layer panel and the bottom panel, the cooling fan is provided on one side of the side panel, and the first air outlet and the second air outlet are provided on the other side of the side panel opposite to the cooling fan.

10. A servo drive system, characterized in that: The servo drive comprises the servo drive as claimed in any one of claims 1 to 9.

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