Boost power generation device, robot joint servo driver, and robot

Abstract

This utility model provides a bootstrap power generation device, a robot joint servo driver, and a robot, relating to the field of robot technology. The bootstrap power generation device includes a front-end power supply module, a drive control module, a power drive module, and a bootstrap power module. The front-end power supply module is connected to both the drive control module and the bootstrap power module, and is used to convert external power into input power for both the drive control module and the bootstrap power module. The drive control module is connected to the power drive module, which includes at least a first switching unit and a second switching unit. The power drive module adjusts the switching states of the first and second switching units according to the drive signal output by the drive control module, and the first and second switching units switch alternately at high frequency. The power drive module is connected to the bootstrap power module, which performs cyclic charging and discharging switching according to the switching states to generate a bootstrap voltage.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically to a bootstrap power generation device, a robot joint servo driver, and a robot. Background Technology

[0002] Robot joint servo actuators are the core components that enable robot motion capabilities, functioning similarly to human joint tissues, hence the name "joint actuators." In the hardware design of robot joint servo actuators, the high-voltage side power supply is a critical component, with applications spanning several important aspects, including the upper bridge drive circuit of the motor drive main circuit and phase current detection chips.

[0003] Currently, high-voltage power supplies primarily generate voltage using flyback transformer windings and bootstrap circuits integrated within the driver chip. However, flyback transformer windings are bulky, hindering overall structural optimization and increasing costs. The bootstrap power supply integrated within the driver chip can only be used for its own driver circuit design, and its constant voltage makes it unsuitable for externally powering other devices. Existing high-voltage power supplies struggle to meet the diverse power system requirements of robot joint servo drives under varying operating conditions, limiting the robot's application in a wider range of scenarios. Utility Model Content

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a bootstrap power generation device, a robot joint servo driver and a robot, which effectively solves the problem that the existing high-voltage side power supply cannot meet the diverse power system requirements of the robot joint servo driver under different working conditions.

[0005] In a first aspect, this utility model provides a bootstrap power generation device, which is applied to a servo driver. The servo driver is connected to a motor and a microcontroller. The bootstrap power generation device includes a front-end power supply module, a drive control module, a power drive module, and a bootstrap power module, wherein: The front-end power supply module is connected to the drive control module and the bootstrap power supply module respectively. The front-end power supply module is used to convert external power into input power for the drive control module and the bootstrap power supply module. The drive control module is connected to the power drive module. The power drive module includes at least a first switching unit and a second switching unit. The power drive module adjusts the switching states of the first switching unit and the second switching unit according to the drive signal output by the drive control module. The first switching unit and the second switching unit switch alternately at high frequency. The power drive module is connected to the bootstrap power module, and the bootstrap power module performs cyclic charging and discharging switching according to the switching state to generate a bootstrap voltage.

[0006] In an optional embodiment, the first switching unit includes a first matching subunit and a first switching transistor, and the second switching unit includes a second matching subunit and a second switching transistor, wherein: One end of the first matching subunit is connected to the drive control module, and the other end of the first matching subunit is connected to the first end of the first switching transistor. The first matching subunit adjusts the opening and closing of the first switching transistor according to the drive signal. The first and second ends of the first switching transistor are respectively connected to the power output terminal of the motor, and the third end of the first switching transistor is connected to the external power supply. One end of the second matching subunit is connected to the drive control module, and the other end of the second matching subunit is connected to the first end of the second switching transistor. The second matching subunit adjusts the opening and closing of the second switching transistor according to the drive signal. The first and second ends of the second switch are respectively connected to the ground wire, and the third end of the second switch is connected to the power output terminal of the motor.

[0007] In an optional implementation, the bootstrap power module includes a current limiting unit, a voltage regulating unit, and a charging / discharging unit, wherein: One end of the current limiting unit is connected to the front-end power supply module, and the other end of the current limiting unit is connected to one end of the voltage regulating unit; One end of the voltage regulator unit is connected to one end of the charging and discharging unit, and the other end of the voltage regulator unit is connected to the power output terminal of the motor and the other end of the charging and discharging unit, respectively. One end and the other end of the charging and discharging unit are respectively connected to the load element. If the first switching unit is turned off and the second switching unit is turned on, and the power output terminal of the motor is short-circuited to the ground wire, then the input power supply charges the charging and discharging unit through the current limiting unit, and the voltage stabilizing unit clamps the voltage to obtain the bootstrap voltage. If the first switching unit is turned on and the second switching unit is turned off, the reference ground of the charging and discharging unit changes from the ground wire to the power output terminal of the motor, and the charging and discharging unit discharges to output the bootstrap voltage.

[0008] In an optional embodiment, the charging and discharging unit includes a first bootstrap capacitor and a second bootstrap capacitor, wherein: One end of the first bootstrap capacitor is connected to one end of the voltage regulator unit and one end of the second bootstrap capacitor, one end of the second bootstrap capacitor is connected to one end of the load element, the other end of the first bootstrap capacitor is connected to the other end of the voltage regulator unit and the other end of the second bootstrap capacitor, and the other end of the second bootstrap capacitor is connected to the other end of the load element.

[0009] In an optional embodiment, the first switching unit further includes a first processing subunit, and the second switching unit further includes a second processing subunit, wherein: One end of the first processing subunit is connected to one end of the first matching subunit and the first end of the first switching transistor, and the other end of the first processing subunit is connected to the power output terminal of the motor. One end of the second processing subunit is connected to one end of the second matching subunit and the first end of the second switching transistor, and the other end of the second processing subunit is connected to the ground wire.

[0010] In an optional embodiment, the first switching unit further includes a first protection subunit, and the second switching unit further includes a second protection subunit, wherein: One end of the first protection subunit is connected to one end of the first matching subunit and one end of the first processing subunit, and the other end of the first protection subunit is connected to the other end of the first processing subunit and the power output terminal of the motor. One end of the second protection subunit is connected to one end of the second matching subunit and one end of the second processing subunit, and the other end of the second protection subunit is connected to the other end of the second processing subunit and the ground wire.

[0011] In an optional implementation, both the first switch and the second switch are MOSFET switches.

[0012] In an optional implementation, the drive control module is a drive control chip, which is connected to the microcontroller to receive the pulse width adjustment signal from the microcontroller and convert the pulse width adjustment signal into the drive signal.

[0013] In a second aspect, the present invention provides a robot joint servo driver, the robot joint servo driver including the bootstrap power generation device described in the first aspect of the present invention.

[0014] Thirdly, the present invention provides a robot, the robot including the robot joint servo driver described in the second aspect of the present invention.

[0015] This invention provides a bootstrap power generation device, a robot joint servo driver, and a robot. Utilizing a bootstrap power module in conjunction with the switching states of the switching units in the low-voltage power supply and power drive module, and employing a dynamic reference ground design, it efficiently generates a high-voltage side bootstrap power supply. The device boasts low hardware costs, requiring only a few basic components, significantly reducing material costs. It also simplifies the circuit structure, adapting to different spatial design requirements, greatly improving reliability, and reducing the probability of failure. Furthermore, the device offers design flexibility; by simply calculating and adjusting the parameters of relevant components in the bootstrap power module according to the power input requirements of the load components, a high-voltage side bootstrap power supply meeting specific needs can be obtained. This provides a stable and reliable energy supply for devices with low power consumption that require the high-voltage side of the motor line as a reference ground. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the bootstrap power generation device provided in this embodiment of the utility model; Figure 2 This is a circuit diagram of the front-end power supply module provided in an embodiment of this utility model; Figure 3 This is a circuit diagram of the drive control module provided in an embodiment of the present utility model; Figure 4 This is a circuit diagram of the power drive module provided in an embodiment of the present utility model; Figure 5 This is a circuit diagram of the bootstrap power supply module provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the robot joint servo driver provided in this embodiment of the utility model; Figure 7 This is a structural schematic diagram of the robot provided in an embodiment of the present invention.

[0018] Key component symbols: 100 - Bootstrap power generation device; 110 - Pre-stage power supply module; 120 - Drive control module; 130 - Power drive module; 140 - Bootstrap power module; 200 - Robot joint servo driver; 300 - Robot. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be further described clearly and completely below with reference to the accompanying drawings of the embodiments of this utility model. It should be noted that the described embodiments are only some embodiments of this utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] 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 belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] In the hardware design of robot joint servo actuators, the high-voltage side power supply is a critical component. Currently, there are two main methods for generating the high-voltage side power supply. One method uses a flyback transformer winding. While this method can generate power, it has significant drawbacks. The flyback transformer power supply design involves complex circuitry, requiring the selection and layout of numerous electronic components, demanding a high level of expertise from designers. Furthermore, its large size occupies considerable space in miniaturized and compact robot joint designs, hindering overall structural optimization. It also increases manufacturing costs and reduces market competitiveness. The other method utilizes the bootstrap circuit integrated within the driver chip to obtain the high-voltage side power supply. However, this bootstrap power supply can only be used for the driver chip's own drive circuit design and cannot power other devices, resulting in significant functional limitations. Moreover, its output voltage is constant and cannot be flexibly adjusted according to actual needs, making it difficult to meet the diverse power requirements of robot joint servo actuators under different operating conditions, thus limiting its application in a wider range of scenarios.

[0023] Example 1 This invention provides a bootstrap power generation device applied to a servo driver, which can be a robot joint servo driver, connected to a motor and a microcontroller. In this embodiment, the bootstrap power generation device is configured using the W phase of the motor as an example. Figure 1 This is a schematic diagram of the structure of the bootstrap power generation device provided in this embodiment of the utility model, as shown below. Figure 1 As shown, the bootstrap power generation device 100 includes a front-end power supply module 110, a drive control module 120, a power drive module 130, and a bootstrap power module 140.

[0024] The pre-amplifier power supply module 110 is connected to both the drive control module 120 and the bootstrap power supply module 140. This pre-amplifier power supply module 110 converts external power into input power for both the drive control module 120 and the bootstrap power supply module 140. Optionally, the pre-amplifier power supply module 110 can convert external power into input power using a DC-DC power conversion chip. Figure 2 This is a circuit diagram of the front-end power supply module 110 provided in an embodiment of this utility model, as shown below. Figure 2 As shown, the external power supply VIN_48V is converted into the input power supply VCC_12V by the DC-DC power converter chip U1. The converted and filtered 12V input power supply powers the subsequent drive control module 120 and bootstrap power supply module 140. In the input section, capacitors C1 and C2 are connected in parallel across the external power supply to filter out high-frequency noise and ripple, making the voltage input to the DC-DC power converter chip U1 more stable. In the output section, inductor L1, diode D1, capacitors C5 and C6 work with the BS and LX pins of the DC-DC power converter chip U1 to form the output circuit of the front-end power supply module 110. Inductor L1 stores and releases energy, diode D1 provides freewheeling, and capacitors C1 and C2 filter the input power supply VCC_12V, making the output voltage smoother and more stable. Capacitors C7, C8, and C9 are connected in parallel at the output of the input power supply VCC_12V to further filter out high-frequency noise and ripple, improving the input power quality. Resistors R3, R4, and R5 are used to implement voltage divider sampling.

[0025] In this embodiment of the utility model, the front-end power supply module 110 achieves efficient power conversion from 48V to 12V through the DC-DC power conversion chip U1, and through reasonable filtering and control design, ensures the stability and reliability of the input power supply, providing a stable power supply for subsequent modules.

[0026] The drive control module 120 is connected to the power drive module 130. The power drive module 130 includes at least a first switching unit and a second switching unit. The power drive module 130 adjusts the switching state of the first switching unit and the second switching unit according to the drive signal output by the drive control module 120. The first switching unit and the second switching unit switch alternately at high frequency.

[0027] In this embodiment of the present invention, the drive control module 120 can be a drive control chip, which is connected to a microcontroller to receive the pulse width adjustment signal from the microcontroller and convert the pulse width adjustment signal into a drive signal. Figure 3 This is a circuit diagram of the drive control module 120 provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the drive control chip U2 can be a three-phase brushless DC motor pre-drive chip FD6288Q, which converts the PWM control signal output by the microcontroller into a drive signal capable of turning off the switching transistors in the power drive module 130. The PWM signals output by the microcontroller, such as PWM_UP, PWM_UN, PWM_VP, PWM_VN, PWM_WP, and PWM_WN, are input to the FD6288Q chip. Based on parameters such as the duty cycle and phase of the input PWM signal, the FD6288Q chip generates corresponding drive signals according to its internal preset control algorithm and logic rules to determine when to turn on or off the corresponding switching transistors in the power drive module 130. For example, by analyzing the timing relationship of the PWM_WP and PWM_WN signals, drive signals capable of directly driving the switching transistors in the power drive module 130, such as GHW and GLW signals, are generated. These drive signals have sufficient voltage and current driving capabilities to ensure that the switching transistors can be turned on and off quickly and reliably.

[0028] The power drive module 130 is connected to the bootstrap power module 140. The bootstrap power module 140 performs cyclic charging and discharging switching according to the switching state to generate bootstrap voltage. Figure 4 This is a circuit diagram of the power drive module 130 provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the power drive module 130 includes at least a first switching unit and a second switching unit, wherein the first switching unit includes a first matching subunit and a first switching transistor Q1, and the second switching unit includes a second matching subunit and a second switching transistor Q2. Optionally, both the first switching transistor Q1 and the second switching transistor are MOSFET switching transistors.

[0029] In this embodiment of the invention, the first matching subunit includes a diode D2, a resistor R6, and a resistor R7. One end of diode D2 and one end of resistor R6 are connected to the GHW signal output terminal of the drive control module 120. The other end of diode D2 is connected to one end of resistor R7. The other end of resistor R7 and the other end of resistor R6 are connected to the gate of the first switching transistor Q1. Diode D2, resistor R6, and resistor R7 perform power matching according to the GHW signal to adjust the switching on and off of the first switching transistor Q1. The second matching subunit includes a diode D3, a resistor R9, and a resistor R10. One end of diode D3 and one end of resistor R9 are connected to the GLW signal output terminal of the drive control module 120. The other end of diode D3 is connected to one end of resistor R9. The other end of resistor R9 and the other end of resistor R10 are connected to the gate of the second switching transistor Q2. Diode D3, resistor R9, and resistor R10 perform power matching according to the GLW signal to adjust the switching on and off of the second switching transistor Q2.

[0030] Optionally, the first switching unit further includes a first processing subunit and a first protection subunit. The first processing subunit includes a pull-down resistor R8 and a filter capacitor C10. The first protection subunit can be a Zener diode D4. One end of the pull-down resistor R8 is connected to one end of the filter capacitor C10, and both are connected to the gate of the first switching transistor Q1. The other end of the pull-down resistor R8 is connected to the other end of the filter capacitor C10. The pull-down resistor R8 provides a stable pull-down capability to ensure the reliability of the first switching unit in the undriven state. The filter capacitor C10 suppresses high-frequency ringing in the drive signal, ensuring signal integrity and preventing false triggering or electromagnetic interference. One end of the Zener diode D4 is connected to one end of the pull-down resistor R8, and the other end of the Zener diode D4 is connected to the other end of the pull-down resistor R8, and both are connected to the power output terminal WP of the W phase of the motor. This Zener diode D4 prevents damage to the first switching transistor Q1 due to drive signal overshoot.

[0031] Similarly, the second switching unit also includes a second processing subunit and a second protection subunit. The first processing subunit includes a pull-down resistor R11 and a filter capacitor C11. The second protection subunit can be a Zener diode D5. One end of the pull-down resistor R11 is connected to one end of the filter capacitor C11, and both are connected to the gate of the second switching transistor Q1. The other end of the pull-down resistor R11 is connected to the other end of the filter capacitor C11. The pull-down resistor R11 provides a stable pull-down capability to ensure the reliability of the second switching unit in the undriven state. The filter capacitor C10 suppresses high-frequency ringing in the drive signal, ensuring signal integrity and avoiding false triggering or electromagnetic interference. One end of the Zener diode D5 is connected to one end of the pull-down resistor R11, and the other end of the Zener diode D5 is connected to the other end of the pull-down resistor R11, and both are connected to ground. This Zener diode D5 prevents damage to the second switching transistor Q2 due to drive signal overshoot.

[0032] The source of the first switching transistor Q1 and the drain of the second switching transistor Q2 are connected together to the power output terminal WP of the W phase of the motor. The drain of the first switching transistor Q1 is connected to the external power supply, and the source of the second switching transistor Q2 is connected to the ground wire.

[0033] In this embodiment of the present invention, the drive control module 120 receives the PWM control signal from the microcontroller, processes it through internal logic and drive circuit, and converts it into drive signals for the first switch Q1 and the second switch Q2 in the drive power drive module 130, thereby achieving efficient drive of the first switch Q1 and the second switch Q2, enabling them to work in a preset high-frequency alternating conduction mode.

[0034] The bootstrap power module 140 includes a current limiting unit, a voltage regulating unit, and a charging / discharging unit. One end of the current limiting unit is connected to the pre-amplifier power supply module 110, and the other end of the current limiting unit is connected to one end of the voltage regulating unit. One end of the voltage regulating unit is connected to one end of the charging / discharging unit, and the other end of the voltage regulating unit is connected to the power output terminal of the W phase of the motor and the other end of the charging / discharging unit, respectively. One end and the other end of the charging / discharging unit are connected to the load element, respectively.

[0035] Figure 5 This is a circuit diagram of the bootstrap power module 140 provided in an embodiment of the present invention, as shown below. Figure 5 As shown, the current limiting unit includes a current limiting resistor R12, the voltage regulating unit includes a Zener diode D6, and the charging / discharging unit includes a first bootstrap capacitor C12 and a second bootstrap capacitor C13. One end of the current limiting resistor R12 is connected to the input power supply VCC_12V output from the front-end power supply module 110. The other end of the current limiting resistor R12 is connected to one end of the Zener diode D6 and one end of the first bootstrap capacitor C12. The other end of the Zener diode D6 is connected to the other end of the first bootstrap capacitor C12 and together they are connected to the power output terminal of the W phase of the motor. One end of the first bootstrap capacitor C12 is connected to one end of the second bootstrap capacitor C13, and one end of the first bootstrap capacitor C12 is connected to the other end of the second bootstrap capacitor C13. One end and the other end of the second bootstrap capacitor C13 are respectively connected to a load element. In this embodiment of the present invention, the load element can be an isolated phase current detection chip U3.

[0036] In this embodiment of the utility model, the current limiting resistor R12, the Zener diode D6, the bootstrap capacitor C12, and the bootstrap capacitor C13 can be designed and selected according to parameters such as the input power supply size, the motor control carrier frequency, the bootstrap power supply voltage and current requirements, and the power consumption of the devices.

[0037] Specifically, the value of the current-limiting resistor R12 needs to be selected based on the input power supply voltage and the charging current requirements. If the input power supply is high, a larger current-limiting resistor may be needed to limit the charging current within a suitable range and avoid excessive current damaging the load components. The motor control carrier frequency determines the switching frequency of the first switching transistor Q1 and the second switching transistor Q2. High-frequency switching leads to frequent charging and discharging of the bootstrap capacitor. The higher the charging and discharging frequency, the smaller the capacitance value of the bootstrap capacitor can be selected. However, the load requirements must also be considered to ensure a stable power supply to the load components during the charging interval. Simultaneously, the motor control carrier frequency also affects the selection of the current-limiting resistor because the charging time is short under high-frequency switching, requiring a reasonable adjustment of the resistance value to ensure charging efficiency. The bootstrap power supply voltage and current requirements of the load components affect the capacitance value and discharge rate of the bootstrap capacitor. If the current requirement is large, the bootstrap capacitor needs a large capacitance value to store sufficient energy to meet the energy consumption of the device during discharge. The power consumption of each component is also an important factor to consider when selecting components. For example, the current-limiting resistor R12 consumes a certain amount of power during operation, so a resistor with appropriate power needs to be selected to prevent the resistor from overheating and being damaged. The power consumption of the Zener diode D6 also needs to be calculated based on its Zener current and voltage drop to ensure that it can work stably.

[0038] In this embodiment of the invention, if the first switch Q1 is turned off and the second switch Q2 is turned on, the power output terminal WP of the motor's W phase is short-circuited to ground PGND. At this time, the low-voltage input power supply VCC_12V charges the bootstrap capacitors C12 and C13 through the current-limiting resistor R12. The function of the current-limiting resistor R12 is to limit the charging current and prevent excessive current from impacting the capacitors and power supply. Simultaneously, the Zener diode D6 regulates the charging voltage, ensuring that the voltage across the bootstrap capacitors C12 and C13 remains stable at VISO_5V. During this process, electrical energy is transferred from the low-voltage input power supply VCC_12V to the bootstrap capacitors C12 and C13, providing energy reserves for subsequent high-voltage power supply.

[0039] If the first switch Q1 is turned on and the second switch Q2 is turned off, the bootstrap capacitors C12 and C13 will be cut off from charging. Then, the reference ground of the bootstrap voltage will change from ground line PGND to the power output terminal WP of the motor W phase. Since the voltage across the bootstrap capacitors C12 and C13 cannot change abruptly, the stored energy will allow the bootstrap capacitors C12 and C13 to maintain a VISO_5V bootstrap voltage output with the power output terminal WP of the motor W phase as the reference. The bootstrap capacitors C12 and C13 will continue to discharge to power the isolation phase current detection chip U3 at the back end.

[0040] In this embodiment of the invention, since the first switching transistor Q1 and the second switching transistor Q2 of the power drive module 130 are in a high-frequency switching state, the bootstrap capacitors C12 and C13 are in a continuous charging and discharging process. During the charging phase, the capacitors store electrical energy; during the discharging phase, the capacitors supply power to the downstream load devices. By reasonably selecting the capacitance value of the bootstrap capacitor and the resistance value of the current-limiting resistor, the charging and discharging processes achieve dynamic balance, and the bootstrap voltage VISO_5V can be maintained in a basically stable state.

[0041] It is understandable that the U-phase and V-phase of the motor can also obtain corresponding high-voltage side bootstrap power generation devices with the power output terminal UP of the motor U-phase and the power output terminal VP of the motor V-phase as reference ground planes through the implementation methods in the above embodiments, and supply power to load components such as the isolated phase current detection chip.

[0042] The bootstrap power generation device provided in this embodiment utilizes a bootstrap power module in conjunction with the switching states of the switching units in the low-voltage power supply and power drive module, employing a dynamic reference ground design to efficiently generate a high-voltage side bootstrap power supply. This device has low hardware costs, requiring only a few basic components, significantly reducing material costs. It also simplifies the circuit structure, adapting to different spatial design requirements, greatly improving reliability, and reducing the probability of failure. Furthermore, the device offers design flexibility; by simply calculating and adjusting the parameters of relevant components in the bootstrap power module according to the power input requirements of the load components, a high-voltage side bootstrap power supply meeting specific needs can be obtained. This provides a stable and reliable energy supply for devices with low power consumption that require the high-voltage side of the motor line as a reference ground.

[0043] Example 2 Based on the same technical concept as Embodiment 1 above, this utility model embodiment provides a robot joint servo driver. Figure 6 This is a schematic diagram of the structure of the robot joint servo driver provided in an embodiment of the present invention, as shown below. Figure 6 As shown, the robot joint servo driver 200 includes the bootstrap power generation device 100 provided in Embodiment 1.

[0044] The robot joint servo driver provided in this embodiment of the invention, through reasonable design and component selection, ensures the stability and reliability of the high-voltage side bootstrap power supply, which helps to improve the performance and stability of the entire robot joint.

[0045] It is understood that the implementation method of the bootstrap power generation device described in Embodiment 1 above is also applicable to this embodiment and can achieve the same technical effect, so it will not be described again here.

[0046] Example 3 Based on the same technical concept as Embodiment 2 above, this utility model embodiment provides a robot. Figure 7 This is a structural schematic diagram of the robot provided in an embodiment of the present invention, as shown below. Figure 7 As shown, the robot 300 includes the robot joint servo driver 200 of Embodiment 2.

[0047] The robot provided by this utility model embodiment can meet the diverse power system requirements under different working conditions, effectively expanding the application of the robot in a wider range of scenarios.

[0048] It is understood that the implementation method of the robot joint servo driver described in Embodiment 2 above is also applicable to this embodiment and can achieve the same technical effect, so it will not be described again here.

[0049] In summary, the bootstrap power generation device, robot joint servo driver, and robot provided in this embodiment of the invention utilize a bootstrap power module in conjunction with the switching states of the switching unit in the low-voltage power supply and power drive module, employing a dynamic reference ground design to efficiently generate a high-voltage side bootstrap power supply. This device has low hardware costs, requiring only a few basic components, significantly reducing material costs. It also simplifies the circuit structure, adapting to different spatial design requirements, greatly improving reliability, and reducing the probability of failure. Furthermore, the device offers design flexibility; by simply calculating and adjusting the parameters of relevant components in the bootstrap power module according to the power input requirements of the load components, a high-voltage side bootstrap power supply meeting specific needs can be obtained. This provides a stable and reliable energy supply for devices with low power consumption that require the high-voltage side of the motor line as a reference ground. Through reasonable design and component selection, the stability and reliability of the high-voltage side bootstrap power supply are ensured, contributing to improved performance and stability of the entire robot joint. It can meet the diverse power system requirements of robots under different working conditions, effectively expanding the application of robots in a wider range of scenarios.

[0050] 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.

[0051] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A bootstrap power generation device, characterized in that, The bootstrap power generation device is applied to a servo driver, which is connected to a motor and a microcontroller. The bootstrap power generation device includes a front-end power supply module, a drive control module, a power drive module, and a bootstrap power supply module, wherein: The front-end power supply module is connected to the drive control module and the bootstrap power supply module respectively. The front-end power supply module is used to convert external power into input power for the drive control module and the bootstrap power supply module. The drive control module is connected to the power drive module. The power drive module includes at least a first switching unit and a second switching unit. The power drive module adjusts the switching states of the first switching unit and the second switching unit according to the drive signal output by the drive control module. The first switching unit and the second switching unit switch alternately at high frequency. The power drive module is connected to the bootstrap power module, and the bootstrap power module performs cyclic charging and discharging switching according to the switching state to generate a bootstrap voltage.

2. The bootstrap power generation device according to claim 1, characterized in that, The first switching unit includes a first matching subunit and a first switching transistor, and the second switching unit includes a second matching subunit and a second switching transistor, wherein: One end of the first matching subunit is connected to the drive control module, and the other end of the first matching subunit is connected to the first end of the first switching transistor. The first matching subunit adjusts the opening and closing of the first switching transistor according to the drive signal. The first and second ends of the first switching transistor are respectively connected to the power output terminal of the motor, and the third end of the first switching transistor is connected to the external power supply. One end of the second matching subunit is connected to the drive control module, and the other end of the second matching subunit is connected to the first end of the second switching transistor. The second matching subunit adjusts the opening and closing of the second switching transistor according to the drive signal. The first and second ends of the second switch are respectively connected to the ground wire, and the third end of the second switch is connected to the power output terminal of the motor.

3. The bootstrap power generation device according to claim 2, characterized in that, The bootstrap power module includes a current limiting unit, a voltage regulating unit, and a charging / discharging unit, wherein: One end of the current limiting unit is connected to the front-end power supply module, and the other end of the current limiting unit is connected to one end of the voltage regulating unit; One end of the voltage regulator unit is connected to one end of the charging and discharging unit, and the other end of the voltage regulator unit is connected to the power output terminal of the motor and the other end of the charging and discharging unit, respectively. One end and the other end of the charging and discharging unit are respectively connected to the load element. If the first switching unit is turned off and the second switching unit is turned on, and the power output terminal of the motor is short-circuited to the ground wire, then the input power supply charges the charging and discharging unit through the current limiting unit, and the voltage stabilizing unit clamps the voltage to obtain the bootstrap voltage. If the first switching unit is turned on and the second switching unit is turned off, the reference ground of the charging and discharging unit changes from the ground wire to the power output terminal of the motor, and the charging and discharging unit discharges to output the bootstrap voltage.

4. The bootstrap power generation device according to claim 3, characterized in that, The charging and discharging unit includes a first bootstrap capacitor and a second bootstrap capacitor, wherein: One end of the first bootstrap capacitor is connected to one end of the voltage regulator unit and one end of the second bootstrap capacitor, one end of the second bootstrap capacitor is connected to one end of the load element, the other end of the first bootstrap capacitor is connected to the other end of the voltage regulator unit and the other end of the second bootstrap capacitor, and the other end of the second bootstrap capacitor is connected to the other end of the load element.

5. The bootstrap power generation device according to claim 2, characterized in that, The first switching unit further includes a first processing subunit, and the second switching unit further includes a second processing subunit, wherein: One end of the first processing subunit is connected to one end of the first matching subunit and the first end of the first switching transistor, and the other end of the first processing subunit is connected to the power output terminal of the motor. One end of the second processing subunit is connected to one end of the second matching subunit and the first end of the second switching transistor, and the other end of the second processing subunit is connected to the ground wire.

6. The bootstrap power generation device according to claim 5, characterized in that, The first switching unit further includes a first protection subunit, and the second switching unit further includes a second protection subunit, wherein: One end of the first protection subunit is connected to one end of the first matching subunit and one end of the first processing subunit, and the other end of the first protection subunit is connected to the other end of the first processing subunit and the power output terminal of the motor. One end of the second protection subunit is connected to one end of the second matching subunit and one end of the second processing subunit, and the other end of the second protection subunit is connected to the other end of the second processing subunit and the ground wire.

7. The bootstrap power generation device according to claim 2, characterized in that, Both the first and second switching transistors are MOSFET switching transistors.

8. The bootstrap power generation device according to claim 1, characterized in that, The drive control module is a drive control chip, which is connected to the microcontroller to receive the pulse width adjustment signal from the microcontroller and convert the pulse width adjustment signal into the drive signal.

9. A robot joint servo driver, characterized in that, The robot joint servo driver includes the bootstrap power generation device according to any one of claims 1-8.

10. A robot, characterized in that, The robot includes the robot joint servo driver as described in claim 9.

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