A servo drive and industrial robot control cabinet

Abstract

This application discloses a servo driver and an industrial robot control cabinet. The servo driver, applied to the industrial robot control cabinet, includes: a drive control module, communicatively connected to the industrial robot control cabinet, for receiving instructions from the industrial robot control cabinet and generating control signals based on those instructions; and a drive power module, connected to both the drive control module and a motor, for receiving the control signals and driving the motor based on them. The drive power module has a first interface, through which the DC bus module of the industrial robot control cabinet is connected to the drive power module. The drive power module obtains DC bus power to drive the motor. This approach reduces safety risks and lowers overall costs.

Description

Technical Field

[0001] This application relates to the field of servo drive technology, and in particular to a servo drive and an industrial robot control cabinet. Background Technology

[0002] In the field of industrial automation, industrial robots are widely used in various production processes due to their high efficiency, precision, and flexibility. Currently, industrial robots used for tasks such as handling and palletizing are mostly six-axis robots, and the corresponding control cabinets are six-axis robot control cabinets based on six-axis servo drives. However, in some specific application scenarios, such as welding, industrial robots need to have more axes to complete complex tasks. Therefore, it is necessary to expand the number of axes of industrial robots.

[0003] There are two common axis expansion schemes. The first scheme is to connect one or two single-axis servo drives to the six-axis robot control cabinet. The second scheme is to combine power drive boards that support two axes with a common DC bus and share a control board to realize four-axis, six-axis or eight-axis robot control cabinets through internal combination.

[0004] However, both solutions also have some drawbacks. First, in the first solution, the single-axis servo drive needs to be directly connected to AC power, providing power immediately upon startup and only able to be disconnected by shutting down, thus increasing safety risks. The single-axis servo drive requires an external regenerative braking resistor, but lacks mechanical support, making it impossible to install a cooling fan. This makes it difficult to solve the heat generation problem of the single-axis servo drive and the regenerative braking resistor. Furthermore, the need for external accessories such as rectifier filter circuits, soft-start circuits, or DC bus monitoring circuits increases the overall cost. Second, in the second solution, the combination of six-axis, four-axis, or two-axis robot control cabinets requires sharing an eight-axis control board, increasing costs. Additionally, the drive board lacks a power factor correction (PFC) boost voltage regulation design, resulting in lower bus voltage that is prone to significant fluctuations with load changes, thus affecting the power quality of the grid. Utility Model Content

[0005] This application mainly provides a servo drive and an industrial robot control cabinet to solve the problem of high overall cost of existing robot control cabinets when the number of axes is expanded.

[0006] This application provides a servo driver for use in an industrial robot control cabinet, the servo driver comprising:

[0007] The drive control module is communicatively connected to the industrial robot control cabinet and is used to receive instructions from the industrial robot control cabinet and generate control signals based on the instructions from the industrial robot control cabinet.

[0008] A drive power module is connected to both the drive control module and the motor, and is used to receive the control signal and drive the motor based on the control signal.

[0009] The drive power module is provided with a first interface, and the DC bus module of the industrial robot control cabinet is connected to the drive power module through the first interface. The drive power module is used to obtain DC bus power to drive the motor.

[0010] The drive power module is further provided with a second interface and a third interface. The drive power module is connected to the main control board module of the industrial robot control cabinet through the second interface. The drive power module is used to transmit authentication information to the main control board module through the second interface to enable the main control board module and the drive power module to perform communication security authentication. The drive power module is connected to the main control board module of the industrial robot control cabinet through the third interface. The drive power module is used to obtain the control voltage of the main control board module through the third interface.

[0011] The drive power module is further provided with a fourth interface, through which the brake power module of the industrial robot control cabinet is connected to the drive power module.

[0012] The drive power module is further provided with a fifth interface. The drive power module is connected to the motor brake control through the fifth interface. The drive power module is used to obtain the brake voltage of the brake power module through the fourth interface and to supply power to the motor brake control through the fifth interface.

[0013] The drive power module is further provided with a sixth interface, a seventh interface, and an eighth interface. The drive power module is connected to the drive control module through the sixth interface so that the drive power module supplies power to the drive control module and sends sampling signals and alarm signals to the drive control module. The drive power module is connected to the drive control module through the seventh interface to receive the control signals. The drive power module is connected to the motor through the eighth interface to drive the motor.

[0014] The drive power module includes a power conversion circuit and an intelligent power module. The power conversion circuit is connected to the intelligent power module. The drive power module obtains the DC bus power supply through the first interface and obtains the control signal through the seventh interface. Then, the power conversion circuit supplies power to the intelligent power module. The intelligent power module is used to drive the motor based on the DC bus power supply.

[0015] The drive power module further includes a brake control circuit. The drive power module obtains the brake voltage through the fourth interface, and the brake control circuit is used to control the motor brake based on the brake voltage.

[0016] The drive control module is connected to the encoder of the motor and is used to receive feedback signals from the encoder in order to control the motor.

[0017] The servo driver is installed on the industrial robot control cabinet to form a multi-axis industrial robot control cabinet.

[0018] This application also provides an industrial robot control cabinet, which includes a DC bus module, a brake power supply module, and a main control board module. The DC bus module, the brake power supply module, and the main control board module are all connected to the servo driver described above.

[0019] The beneficial effects of this application are as follows: The servo driver of this application includes a drive control module, which is communicatively connected to the industrial robot control cabinet and is used to receive instructions from the industrial robot control cabinet and generate control signals based on the instructions from the industrial robot control cabinet; and a drive power module, which is connected to both the drive control module and the motor, and is used to receive control signals and drive the motor based on the control signals; wherein, the drive power module is provided with a first interface, and the DC bus module of the industrial robot control cabinet is connected to the drive power module through the first interface, and the drive power module is used to obtain DC bus power to drive the motor. Compared with the existing first solution, the configuration of the drive control module communicating with the industrial robot control cabinet and the drive power module being directly connected to the DC bus module, allows the servo driver and the six-axis servo driver of the industrial robot control cabinet to share a DC bus, which can receive instructions from the industrial robot control cabinet and control the on / off of the DC bus power. If necessary, the power supply to the servo driver and the six-axis servo driver can be cut off simultaneously, reducing safety risks; since the DC bus is shared, the servo driver does not need external regenerative braking resistors, rectifier filter circuits, soft start circuits, or DC bus monitoring circuits, etc., reducing the overall cost. Compared to the existing second solution, the servo drive in this application shares a DC bus with the six-axis servo drive of the industrial robot control cabinet, which reduces costs. Furthermore, the servo drive can make full use of the PFC boost voltage regulation design of the six-axis servo drive, resulting in a higher and more stable bus voltage that is unaffected by load changes and reduces the impact on the power grid's power quality. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0021] Figure 1 This is a schematic diagram of the structure of one embodiment of the servo driver provided in this application;

[0022] Figure 2 yes Figure 1 A schematic diagram of an embodiment of the drive power module. Detailed Implementation

[0023] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0025] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary and secondary relationship of the indicated technical features.

[0026] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0028] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0029] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0030] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a connection between two components or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0031] There are two common axis expansion schemes. The first scheme is to connect one or two single-axis servo drives to the six-axis robot control cabinet. The second scheme is to combine power drive boards that support two axes with a common DC bus and share a control board to realize four-axis, six-axis or eight-axis robot control cabinets through internal combination.

[0032] However, both solutions also have some drawbacks. First, in the first solution, the single-axis servo drive needs to be directly connected to AC power, providing power immediately upon startup and only able to be disconnected by shutting down, thus increasing safety risks. The single-axis servo drive requires an external regenerative braking resistor, but lacks mechanical support, making it impossible to install a cooling fan. This makes it difficult to solve the heat generation problem of the single-axis servo drive and the regenerative braking resistor. Furthermore, the need for external accessories such as rectifier filter circuits, soft-start circuits, or DC bus monitoring circuits increases the overall cost. Second, in the second solution, the combination of six-axis, four-axis, or two-axis robot control cabinets requires sharing an eight-axis control board, increasing costs. Additionally, the drive board lacks a power factor correction (PFC) boost voltage regulation design, resulting in lower bus voltage that is prone to significant fluctuations with load changes, thus affecting the power quality of the grid.

[0033] This application provides a servo driver; please refer to [link / reference]. Figures 1-2 As shown, Figure 1 This is a schematic diagram of the structure of one embodiment of the servo driver provided in this application; Figure 2 yes Figure 1 A schematic diagram of the structure of an embodiment of the drive power module. The servo driver 10 in this embodiment includes a drive control module 11 and a drive power module 12.

[0034] The drive control module 11 is communicatively connected to the industrial robot control cabinet 20, and is used to receive instructions from the industrial robot control cabinet 20 and generate control signals based on the instructions from the industrial robot control cabinet 20.

[0035] In some embodiments, the drive control module 11 is also called the drive control board. The drive control module 11 of the servo driver 10 is connected to the industrial robot control cabinet 20 via an industrial Ethernet, so that the drive control module 11 receives instructions from the industrial robot control cabinet 20 and generates control signals based on the instructions from the industrial robot control cabinet 20.

[0036] For example, Figure 1 As shown, the drive control module 11 is connected to the industrial robot control cabinet 20 via an EtherCAT network cable. The drive control module 11 can act as an EtherCAT slave of the industrial robot control cabinet 20 to receive instructions from the industrial robot control cabinet 20.

[0037] The control signals include, but are not limited to, Space Vector Pulse Width Modulation (SVPWM) signals or Pulse Width Modulation (PWM) signals. For example, the drive control module 11 receives instructions from the industrial robot control cabinet 20 to control the robotic arm and generates corresponding SVPWM signals based on these instructions.

[0038] The drive power module 12 is connected to the drive control module 11 and the motor 30 respectively, and is used to receive control signals and drive the motor 30 based on the control signals.

[0039] In some embodiments, the drive power module 12 is also called the drive power board. The drive power module 12 of the servo driver 10 receives the control signal from the drive control module 11 to drive the motor 30 based on the control signal.

[0040] For example, such as Figure 1As shown, the drive power module 12 receives the SVPWM signal from the drive control module 11. The SVPWM signal is generated based on the command to control the robotic arm. The drive power module 12 drives the motor 30 to control the motor 30 of the robotic arm.

[0041] The drive power module 12 is provided with a first interface 121. The DC bus module 21 of the industrial robot control cabinet 20 is connected to the drive power module 12 through the first interface 121. The drive power module 12 is used to obtain DC bus power (DC377V) to drive the motor 30.

[0042] In some embodiments, the six-axis servo drive of the industrial robot control cabinet 20 obtains DC bus power (DC377V) through the DC bus module 21. The drive power module 12 of the servo drive 10 is connected to the DC bus module 21 through the first interface 121, so that the drive power module 12 obtains the DC bus power from the DC bus module 21 through the first interface 121, thereby outputting three-phase power U / V / W to drive the motor 30. At this time, the drive power module 12 of the servo drive 10 and the six-axis servo drive of the industrial robot control cabinet 20 share the DC bus. In this embodiment, the DC bus power supply DC377V is also called the bus voltage.

[0043] This embodiment uses a drive control module 11 to communicate with the industrial robot control cabinet 20, and a drive power module 12 to be directly connected to the DC bus module 21. Compared to the existing first solution, the servo drive 10 shares a DC bus with the six-axis servo drive of the industrial robot control cabinet 20. It can receive commands from the industrial robot control cabinet 20 to control the on / off state of the DC bus power supply. If necessary, it can simultaneously cut off the power supply to both the servo drive 10 and the six-axis servo drive, reducing safety risks. Because it shares a DC bus, the servo drive 10 does not require external regenerative braking resistors, rectifier filter circuits, soft-start circuits, or DC bus monitoring circuits, reducing overall cost. Compared to the existing second solution, the servo drive 10 in this application shares a DC bus with the six-axis servo drive of the industrial robot control cabinet 20, reducing cost. Furthermore, the servo drive 10 can fully utilize the PFC boost voltage regulation design of the six-axis servo drive, resulting in a higher and more stable bus voltage, unaffected by load changes, and reducing the impact on power grid quality.

[0044] According to some embodiments of this application, the drive power module 12 is further provided with a second interface 122 and a third interface 123. The drive power module 12 is connected to the main control board module 22 of the industrial robot control cabinet 20 through the second interface 122. The drive power module 12 is used to transmit authentication information to the main control board module 22 through the second interface 122 so that the main control board module 22 and the drive power module 12 can perform communication security authentication.

[0045] The authentication information includes, but is not limited to, power failure monitoring information, communication heartbeat detection information, alarm monitoring information, or safe torque shutdown information of the servo driver 10.

[0046] In some embodiments, there is an independent hardware security link SAFE IO between the drive power module 12 and the main control board module 22. The hardware security link SAFE IO is formed by the drive power module 12 connecting to the main control board module 22 of the industrial robot control cabinet 20 through the second interface 122. The drive power module 12 transmits authentication information to the main control board module 22 through the hardware security link SAFE IO so that the main control board module 22 and the drive power module 12 can perform communication security authentication.

[0047] The communication security certification of the main control board module 22 and the drive power module 12 refers to the certification of the industrial Ethernet connection between the drive control module 11 of the servo drive 10 and the industrial robot control cabinet 20, in order to avoid the risk of the servo drive 10 going out of control due to communication interruption.

[0048] The drive power module 12 is connected to the main control board module 22 of the industrial robot control cabinet 20 through the third interface 123. The drive power module 12 is used to obtain the control voltage (DC24V) of the main control board module 22 through the third interface 123.

[0049] In some embodiments, the drive power module 12 obtains the control voltage of the main control board module 22 through the third interface 123 to support the drive power module 12 in sampling the current and voltage of the motor 30.

[0050] The existing first-type axis expansion scheme connects the single-axis servo drive and the six-axis robot control cabinet only through an EtherCAT network cable, lacking other mechanical structural support. In actual integrated applications, unreliable factors such as EtherCAT connection interruption or external interference are prone to occur. When EtherCAT communication is interrupted, the single-axis servo drive is at risk of going out of control.

[0051] In this embodiment, the drive power module 12 is connected to the main control board module 22 of the industrial robot control cabinet 20 through the second interface 122, which can form a hardware security link SAFE IO. That is, in addition to the EtherCAT network cable connection, the servo drive 10 and the industrial robot control cabinet 20 also have an independent hardware security link SAFE IO. Communication security authentication can be performed through the hardware security link SAFE IO, effectively avoiding the risk of servo drive 10 losing control due to EtherCAT communication interruption.

[0052] According to some embodiments of this application, the drive power module 12 is further provided with a fourth interface 124, and the brake power module 23 of the industrial robot control cabinet 20 is connected to the drive power module 12 through the fourth interface 124.

[0053] In some embodiments, the six-axis servo drive of the industrial robot control cabinet 20 obtains the brake voltage (DC24V) through the brake power module 23, and the drive power module 12 of the servo drive 10 is connected to the brake power module 23 through the fourth interface 124 so that the servo drive 10 and the six-axis servo drive of the industrial robot control cabinet 20 share the brake voltage.

[0054] According to some embodiments of this application, the drive power module 12 is further provided with a fifth interface 125. The drive power module 12 is connected to the motor brake control 40 through the fifth interface 125. The drive power module 12 is used to obtain the brake voltage of the brake power module 23 through the fourth interface 124 and to supply power to the motor brake control 40 through the fifth interface 125.

[0055] Among them, the motor brake control 40 includes, but is not limited to, the motor brake device.

[0056] In some embodiments, the drive power module 12 obtains the brake voltage through the fourth interface 124 and supplies power to the motor brake control 40 through the fifth interface 125 to realize the brake control of the motor 30.

[0057] In this embodiment, the drive power module 12 is connected to the brake power module 23 of the industrial robot control cabinet 20 through the fourth interface 124, and can stably obtain the brake voltage provided by the brake power module 23. This connection method allows the servo drive 10 and the six-axis servo drive of the industrial robot control cabinet 20 to share the brake voltage, ensuring that the power supply required for the brake control of the motor 30 is not affected by other power fluctuations or interference, and improving the reliability of the brake control.

[0058] According to some embodiments of this application, the drive power module 12 is further provided with a sixth interface 126, a seventh interface 127 and an eighth interface 128.

[0059] The drive power module 12 is connected to the drive control module 11 via the sixth interface 126, enabling the drive power module 12 to supply power to the drive control module 11 and send sampling signals and alarm signals to the drive control module 11. The drive power module 12 is connected to the drive control module 11 via the seventh interface 127 to receive control signals. The drive power module 12 is connected to the motor 30 via the eighth interface 128 to drive the motor 30.

[0060] The sampling signals include, but are not limited to, current and voltage sampling signals; the alarm signals include, but are not limited to, overload alarms, power supply abnormality alarms, or communication alarms.

[0061] For example, Figure 1 and Figure 2 As shown, the drive power module 12 can provide a DC 5V voltage to the drive control module 11 through the sixth interface 126 to power the drive control module 11, and send AD / ALARM sampling signals and alarm signals to the drive control module 11 through the sixth interface 126; the drive power module 12 also receives SVPWM control signals through the seventh interface 127.

[0062] In this embodiment, the functions of receiving control signals are separated from power supply and driving motor 30, and implemented through three different interfaces: the sixth interface 126, the seventh interface 127, and the eighth interface 128. This helps to achieve signal isolation, prevent electrical interference, and protect the circuit safety of the drive control module 11 and the drive power module 12.

[0063] According to some embodiments of this application, the drive power module 12 includes a power conversion circuit 129 and an intelligent power module 130. The power conversion circuit 129 is connected to the intelligent power module 130. The drive power module 12 obtains DC bus power (DC377V) through the first interface 121 and obtains control signals through the seventh interface 127. Then, the power conversion circuit 129 supplies power to the intelligent power module 130. The intelligent power module 130 is used to drive the motor 30 based on the DC bus power.

[0064] In this embodiment, the power conversion circuit 129 is a DC-DC power conversion circuit, used to convert DC24V to DC15V so that the power conversion circuit 129 can power the intelligent power module 130; and to convert DC24V to DC5V so that the drive power module 12 can power the drive control module 11.

[0065] Optionally, the intelligent power module 130 includes a first intelligent power module IPM1 and a second intelligent power module IPM2, such as... Figure 2 As shown, the power conversion circuit 129 supplies power to the first intelligent power module IPM1 and the second intelligent power module IPM2.

[0066] In this embodiment, the control voltage (DC24V) is converted into a voltage and current suitable for use by the intelligent power module 130 through the power conversion circuit 129, so as to ensure that the intelligent power module 130 can obtain a stable and reliable power supply.

[0067] According to some embodiments of this application, the drive power module 12 further includes a brake control circuit 131. The drive power module 12 obtains the brake voltage (DC24V) through the fourth interface 124. The brake control circuit 131 is used to control the motor brake control 40 based on the brake voltage.

[0068] In some embodiments, after the drive power module 12 obtains the brake voltage through the fourth interface 124, the brake control circuit 131 of the drive power module 12 controls the motor brake control 40 through the brake voltage.

[0069] In some embodiments, the drive power module 12 further includes a manual control motor brake 132, which can be used to quickly brake the motor 30 in an emergency.

[0070] In this embodiment, the brake control circuit 131 can accurately control the opening and closing of the motor brake control 40 according to the brake voltage, providing reliable braking and thus improving the reliability of the servo driver 10.

[0071] According to some embodiments of this application, the drive control module 11 is connected to the encoder 50 of the motor 30 and is used to receive feedback signals from the encoder 50 to control the motor 30.

[0072] The feedback signals from the encoder 50 include, but are not limited to, the position information, speed information, and status information of the motor 30. In some embodiments, the encoder 50 sends feedback signals to the drive control module 11, so that the drive control module 11 controls the operation of the motor 30 based on the feedback signals.

[0073] In this embodiment, the drive control module 11 receives feedback signals from the encoder 50, enabling it to precisely control the motor 30 and thus the robotic arm.

[0074] According to some embodiments of this application, the servo driver 10 is mounted on the industrial robot control cabinet 20 to form a multi-axis industrial robot control cabinet 20.

[0075] In some embodiments, the servo drive 10 may be an optional accessory for the industrial robot control cabinet 20. The servo drive 10 may be installed on the tail of the industrial robot control cabinet 20 as needed to form a multi-axis industrial robot control cabinet 20.

[0076] For example, the servo drive 10 is a two-axis servo drive. By installing the servo drive 10 on the rear of a six-axis robot control cabinet, an eight-axis robot control cabinet can be formed.

[0077] In this embodiment, the servo driver 10 is installed on the industrial robot control cabinet 20. The servo driver 10 is designed with a mechanical structure that facilitates installation. As needed, the servo driver 10 can be installed at the rear of a six-axis robot control cabinet to form an eight-axis robot control cabinet, making production assembly and maintenance more flexible and convenient.

[0078] This application also provides an industrial robot control cabinet 20, which includes a DC bus module 21, a brake power module 23, and a main control board module 22. The DC bus module 21, the brake power module 23, and the main control board module 22 are all connected to the servo driver 10 as described in the above embodiment, and will not be described again here.

[0079] In summary, this application's configuration, which connects the drive control module 11 to the industrial robot control cabinet 20 and directly connects the drive power module 12 to the DC bus module 21, offers advantages over the existing first solution. The servo drive 10 shares a DC bus with the six-axis servo drive of the industrial robot control cabinet 20, allowing it to receive commands from the industrial robot control cabinet 20 and control the DC bus power supply. If necessary, the power supply to both the servo drive 10 and the six-axis servo drive can be simultaneously cut off, reducing safety risks. Because of the shared DC bus, the servo drive 10 eliminates the need for external regenerative braking resistors, rectifier filter circuits, soft-start circuits, or DC bus monitoring circuits, reducing overall cost. Compared to the existing second solution, this application's servo drive 10 shares a DC bus with the six-axis servo drive of the industrial robot control cabinet 20, reducing costs. Furthermore, the servo drive 10 can fully utilize the PFC boost voltage regulation design of the six-axis servo drive, resulting in a higher and more stable bus voltage, unaffected by load changes, and reducing the impact on power grid quality.

[0080] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A servo driver, characterized by, The servo driver, used in industrial robot control cabinets, includes: The drive control module is communicatively connected to the industrial robot control cabinet and is used to receive instructions from the industrial robot control cabinet and generate control signals based on the instructions from the industrial robot control cabinet. A drive power module is connected to both the drive control module and the motor, and is used to receive the control signal and drive the motor based on the control signal. The drive power module is provided with a first interface, and the DC bus module of the industrial robot control cabinet is connected to the drive power module through the first interface. The drive power module is used to obtain DC bus power to drive the motor.

2. The servo drive of claim 1, wherein, The drive power module is further provided with a second interface and a third interface. The drive power module is connected to the main control board module of the industrial robot control cabinet through the second interface. The drive power module is used to transmit authentication information to the main control board module through the second interface so that the main control board module and the drive power module can perform communication security authentication. The drive power module is connected to the main control board module of the industrial robot control cabinet through the third interface. The drive power module is used to obtain the control voltage of the main control board module through the third interface.

3. The servo drive of claim 1, wherein, The drive power module is also provided with a fourth interface, through which the brake power module of the industrial robot control cabinet is connected to the drive power module.

4. The servo drive of claim 3, wherein, The drive power module is also provided with a fifth interface. The drive power module is connected to the motor brake control through the fifth interface. The drive power module is used to obtain the brake voltage of the brake power module through the fourth interface and to supply power to the motor brake control through the fifth interface.

5. The servo drive of claim 1, wherein, The drive power module is further provided with a sixth interface, a seventh interface, and an eighth interface. The drive power module is connected to the drive control module through the sixth interface so that the drive power module supplies power to the drive control module and sends sampling signals and alarm signals to the drive control module. The drive power module is connected to the drive control module through the seventh interface to receive the control signals. The drive power module is connected to the motor through the eighth interface to drive the motor.

6. The servo drive of claim 5, wherein, The drive power module includes a power conversion circuit and an intelligent power module. The power conversion circuit is connected to the intelligent power module. The drive power module obtains the DC bus power supply through the first interface and obtains the control signal through the seventh interface. Then, the power conversion circuit supplies power to the intelligent power module. The intelligent power module is used to drive the motor based on the DC bus power supply.

7. The servo drive of claim 4, wherein, The drive power module also includes a brake control circuit. The drive power module obtains the brake voltage through the fourth interface, and the brake control circuit is used to control the motor brake based on the brake voltage.

8. The servo drive of claim 1, wherein, The drive control module is connected to the encoder of the motor and is used to receive feedback signals from the encoder in order to control the motor.

9. Servo drive according to any of claims 1 to 8, characterized in that The servo driver is installed on the industrial robot control cabinet to form a multi-axis industrial robot control cabinet.

10. An industrial robot control cabinet, characterized in that, The industrial robot control cabinet includes a DC bus module, a brake power supply module, and a main control board module. The DC bus module, the brake power supply module, and the main control board module are all connected to the servo driver as described in any one of claims 1-9.

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