Drive control integrated plate and control system

Abstract

The present application provides an integrated drive control board, a control system, and a robot, in which the integrated drive control board comprises a control module (1), a drive module (2), and a first substrate (3), the control module (1) and the drive module (2) are mounted on the first substrate (3), and the control module (1) is electrically connected to the drive module (2).

Description

[Technical Field]

[0001] This application claims priority from a Chinese patent application bearing application number 202011562541.5, filed with the China Patent Office on December 25, 2020, the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of robot control, and relates to, for example, a drive control integrated plate, a control system, and a robot. [Background technology]

[0003] Robots are interdisciplinary technological products that combine mechanical, electrical, electronic information, and other fields. Robots can replace humans in carrying out tasks such as transportation, assembly, loading and unloading, palletizing, welding, and spray coating. The main components of these robots include at least a mechanical body, a reducer, a motor, a driver, and a controller. The controllers and drivers of common robots on the market are separate and must be installed separately, occupying a large amount of space, requiring many installation aids to be consumed, and requiring complex signal transmission connections. Furthermore, such separate designs make it difficult to meet the needs of use in small spaces. Summary of the Invention

[0004] The present application provides an integrated drive and control board, a control system, and a robot that realize integration of drive and control functions and make the overall drive and control structure more compact.

[0005] An integrated drive and control board is provided, comprising a control module, a drive module, and a first substrate, the control module and the drive module being mounted on the first substrate, and the control module being electrically connected to the drive module.

[0006] In a preferred embodiment, the drive and control integrated board further comprises an isolation device provided between the drive module and the control module.

[0007] Preferably, the isolation device is provided on the first substrate.

[0008] Preferably, the isolation device covers the drive module and / or the control module.

[0009] Preferably, the isolation device is one or a combination of two or more of a magnetic coupler, an optical coupler, and a capacitive isolator.

[0010] In a preferred embodiment, the first substrate has an isolation open slot located between the drive module and the control module.

[0011] In a preferred embodiment, a plurality of the isolating open slots are provided between the drive module and the control module, or a plurality of spacing plates are provided in the isolating open slot.

[0012] Preferably, all said separating open slots are arranged in parallel.

[0013] Preferably, all of the spacing plates are arranged in parallel.

[0014] In a preferred embodiment, the drive module is provided adjacent to an edge at a first end of the first substrate, and the control module is provided adjacent to an edge at a second end of the first substrate.

[0015] In a preferred embodiment, the control module and the drive module are provided on the same side of the first substrate, or the control module is provided on a first surface of the first substrate and the drive module is provided on a second surface of the first substrate, or the control module has a first control portion and a second control portion, the first control portion is provided on the first surface of the first substrate, and the second control portion and the drive module are provided on the second surface of the first substrate, or the drive module has a first drive portion and a second drive portion, the first drive portion is provided on the first surface of the first substrate, and the second drive portion and the control module are provided on the second surface of the first substrate.

[0016] Preferably, the first control portion and the second control portion are electrically connected, and the first control portion and / or the second control portion are electrically connected to the drive module.

[0017] Preferably, the first drive portion and the second drive portion are electrically connected, and the first drive portion and / or the second drive portion are electrically connected to the control module.

[0018] In a preferred embodiment, the integrated drive control board further includes a first low-voltage power supply and a first high-voltage power supply provided on the first substrate, and the control module, the first low-voltage power supply, the first high-voltage power supply, and the drive module are arranged adjacent to each other in sequence, or the control module, the first low-voltage power supply, the drive module, and the first high-voltage power supply are arranged adjacent to each other in sequence.

[0019] In a preferred embodiment, the drive control integrated board further includes an input / output (I / O) interface electrically connected to the control module.

[0020] In a preferred embodiment, the I / O interface is provided on one side of the control module away from the drive module, or on one side of the control module close to the drive module, or on one side of the first low-voltage power supply close to the drive module.

[0021] Preferably, the isolation device is located between the first low voltage power supply and the first high voltage power supply.

[0022] Preferably, the isolated open slot is located between the first low voltage power supply and the first high voltage power supply.

[0023] In a preferred embodiment, the drive module is configured to be connected to an external high-voltage power source.

[0024] In a preferred embodiment, the integrated drive control board further includes a first communication module that is provided on the first substrate and electrically connected to the control module.

[0025] Preferably, the first communication module is provided on a first surface or a second surface of the first substrate.

[0026] Preferably, the first communication module is located between the control module and the drive module. Preferably, the first communication module is provided in the vicinity of the control module.

[0027] Preferably, the first communication module is located between the first low voltage power supply and the first high voltage power supply.

[0028] Preferably, the first communication module is located on one side of the isolation device or the isolation open slot, close to the control module.

[0029] In a preferred embodiment, the first communication module is configured to be connected to a network bus.

[0030] In a preferred embodiment, the integrated drive control board is provided on the first substrate and further includes two heat dissipation assemblies, one located on one side of the control module away from the drive module and the other located on one side of the drive module away from the control module.

[0031] In a preferred embodiment, the integrated drive and control board further comprises at least one heat dissipation assembly provided on the first substrate.

[0032] In a preferred embodiment, the heat dissipation assembly includes a heat dissipation base plate attached to the first substrate, and a plurality of heat dissipation fins attached to the heat dissipation base plate.

[0033] Preferably, the heat dissipating base plate and the plurality of heat dissipating fins are provided between the driving module and the control module.

[0034] In a preferred embodiment, the heat dissipating base plate abuts against the drive module and / or the control module.

[0035] In a preferred embodiment, the heat dissipating base plate is connected to the control module and / or the drive module by heat conductive silicone rubber.

[0036] In a preferred embodiment, the heat dissipation assembly further includes a first fan attached to one side of the plurality of heat dissipation fins and capable of driving a gas flow in an area where the plurality of heat dissipation fins are located.

[0037] In a preferred embodiment, the heat dissipation assembly includes a second fan mounted on an edge of the first substrate.

[0038] In a preferred embodiment, the integrated drive control board further includes a heat dissipation assembly provided on the first substrate.

[0039] In a preferred embodiment, the heat dissipation assembly includes a heat dissipation base plate attached to the first substrate, and a plurality of heat dissipation fins attached to the heat dissipation base plate.

[0040] In a preferred embodiment, the heat dissipation base plate abuts against the drive module and / or the control module and / or the first communication module.

[0041] In a preferred embodiment, the heat dissipating base plate is connected to the control module and / or the drive module and / or the first communication module by heat conductive silicone rubber.

[0042] In a preferred embodiment, the heat dissipation assembly further includes a first fan attached to one side of the plurality of heat dissipation fins and capable of driving a gas flow in an area where the plurality of heat dissipation fins are located.

[0043] In a preferred embodiment, the heat dissipation assembly includes a second fan mounted on an edge of the first substrate.

[0044] In a preferred embodiment, the integrated drive control board further includes a safety circuit module that is provided on the first substrate and electrically connected to the control module and / or the drive module.

[0045] Preferably, the safety circuit module is electrically connected to the first communication module.

[0046] In a preferred embodiment, the integrated drive and control board further includes a heat insulating material provided between the drive module and the control module.

[0047] Preferably, the heat insulating material is a hollow structural material.

[0048] Preferably, the heat insulating material is located between the first low voltage power supply and the first high voltage power supply.

[0049] Preferably, the thermal insulation and the isolation device are the same structural material.

[0050] Preferably, the insulating material is provided within the separating open slots.

[0051] Preferably, the first communication module is located on one side of the thermal insulation material adjacent to the control module.

[0052] In a preferred embodiment, the drive module is attached to the first substrate, the first communication module is attached to one side of the drive module away from the first substrate, and the control module is attached to one side of the first communication module away from the first substrate.

[0053] In a preferred embodiment, the control module is attached to the first substrate, and the drive module is arranged in parallel to the control module and attached to the first substrate, or the control module is attached to the first substrate and the drive module is attached to one side of the control module away from the first substrate, or the drive module is attached to the first substrate and the control module is attached to one side of the drive module away from the first substrate.

[0054] An integrated drive control board is disclosed that includes a first substrate serving as a control function board and a second substrate serving as a drive function board, which are integrally provided and electrically connected.

[0055] In a preferred embodiment, the second substrate is provided so as to overlap the first substrate.

[0056] In a preferred embodiment, the second substrate is attached to the first substrate and connected by a daisy chain.

[0057] In a preferred embodiment, the integrated drive control board further comprises an isolation device provided between the second substrate and the first substrate.

[0058] In a preferred embodiment, the integrated drive control board further includes a first low-voltage power supply and a first high-voltage power supply, and the first substrate, the first low-voltage power supply, the first high-voltage power supply, and the second substrate are arranged adjacent to each other in sequence, or the first substrate, the first low-voltage power supply, the second substrate, and the first high-voltage power supply are arranged adjacent to each other in sequence.

[0059] In a preferred embodiment, the integrated drive control board further includes an I / O interface electrically connected to the first board.

[0060] In a preferred embodiment, the I / O interface is provided on one side of the first board away from the second board, or on one side of the first board close to the second board, or on one side of the first low-voltage power supply close to the second board.

[0061] In a preferred embodiment, the second substrate is configured to be connected to an external high-voltage power source.

[0062] In a preferred embodiment, the integrated drive control board further includes a communication module electrically connected to the first board.

[0063] In a preferred embodiment, the communication module is configured to be connected to a network bus.

[0064] In a preferred embodiment, the integrated drive control board further comprises at least one heat dissipation assembly configured to dissipate heat from the first substrate and / or the second substrate.

[0065] In a preferred embodiment, the heat dissipation assemblies are two in number, one of which is located on one side of the first substrate away from the second substrate, and the other is located on one side of the second substrate away from the first substrate.

[0066] In a preferred embodiment, the heat dissipation assembly is one in number and is provided between the second substrate and the first substrate, or abuts on the first substrate, or abuts on the second substrate.

[0067] In a preferred embodiment, the heat dissipation assembly comprises a heat dissipation base plate attached to one of the second substrate and the first substrate, and a plurality of heat dissipation fins attached to the heat dissipation base plate and to which the other of the second substrate and the first substrate is attached.

[0068] In a preferred embodiment, the heat dissipating base plate is connected to the first or second substrate by heat conductive silicone rubber.

[0069] In a preferred embodiment, the heat dissipation assembly further includes a heat dissipation fan attached to one side of the plurality of heat dissipation fins and capable of driving a gas flow in an area where the plurality of heat dissipation fins are located.

[0070] In a preferred embodiment, the integrated drive control board further includes a heat insulating material provided between the second substrate and the first substrate.

[0071] In a preferred embodiment, the number of the first substrates is equal to the number of the second substrates, and the first substrates are electrically connected to the second substrates in one-to-one correspondence, or the number of the first substrates is smaller than the number of the second substrates, and at least one of the first substrates is electrically connected to two or more of the second substrates.

[0072] A control system including the above-mentioned integrated drive control board is provided.

[0073] In a preferred embodiment, the control system further includes a signal relay board, a second low-voltage power supply, and a second high-voltage power supply, the number of the drive control integrated boards is two, and one of the drive control integrated boards, the signal relay board, the second low-voltage power supply, the second high-voltage power supply, and the other of the drive control integrated boards are stacked in sequence.

[0074] Preferably, the integrated drive control plate adjacent to the signal relay plate is merely for realizing the control function and may be replaced with a normal stand-alone control plate, and the integrated drive control plate adjacent to the second high-voltage power supply is merely for realizing the drive function and may be replaced with a normal stand-alone drive plate.

[0075] In a preferred embodiment, the control system further includes two heat sinks, one located on one side of one of the integrated drive control boards away from the signal relay board, and the other located on one side of the other integrated drive control board away from the second high-voltage power supply.

[0076] In a preferred embodiment, the number of the drive control integrated plates is two or more, and all of them are distributed so as to overlap with a space between them along one row and are cascaded in series, or all of them are distributed so as to overlap with a space between them along two rows and are cascaded in series.

[0077] In a preferred embodiment, any one of the integrated drive control boards can be used as a main control board and is configured to control the signals of all of the integrated drive control boards and to be connected to external devices, or all of the integrated drive control boards are configured to be connected to a cloud controller that controls the signals of all of the integrated drive control boards and to be connected to external devices.

[0078] In a preferred embodiment, the control system further includes a connection plate arranged so as to overlap the drive control integrated plate at a distance, the connection plate including a third control portion and a third board, the third control portion being provided on the third board, all of the drive control integrated plates being cascaded in sequence, and the third control portion being electrically connected to at least one of the drive control integrated plates.

[0079] Preferably, the connection plate is provided on one side of all of the drive control integrated plates arranged in one row so as to be connected to an external controller.

[0080] In a preferred embodiment, the connection plate further includes a second communication module provided on the third substrate and electrically connected to the third control portion.

[0081] In a preferred embodiment, the control system further comprises a connection seat into which the drive control integrated plate is inserted and which is provided with two or more first cascade sockets, all of which are equally spaced along one row and cascaded in series, or which are spaced apart and overlapped along two rows and cascaded in series.

[0082] In a preferred embodiment, the control system further comprises two or more first cascade sockets into which the drive control integrated plate is inserted, all of which are equally spaced along one row and cascaded in series, or which are spaced apart and overlapped along two rows and cascaded in series, and a connection seat into which the connection plate is inserted and which is provided with one second cascade socket electrically connected to at least one of the first cascade sockets.

[0083] Preferably, the second cascade socket is provided on one side of the entire row of the first cascade sockets so as to be connected to an external controller.

[0084] In a preferred embodiment, the second cascade socket is electrically connected to the first cascade socket adjacent to the second cascade socket.

[0085] In a preferred embodiment, the control system further comprises a connection seat to which the drive control integrated plate is inserted, and which is provided with two or more first cascade sockets, all of which are equally spaced along one row and cascaded in series, or which are spaced apart and overlapped along two rows and cascaded in series, and to which the connection plate, which is electrically connected to at least one of the first cascade sockets, is welded or pasted.

[0086] Preferably, the connection plate is provided on one side of all of the first cascade sockets in one row so as to connect to an external controller.

[0087] In a preferred embodiment, the connection plate is electrically connected to the first cascade socket adjacent to the connection plate.

[0088] In a preferred embodiment, the device further comprises a main board to which all of the integrated drive and control plates are welded or attached.

[0089] In a preferred embodiment, the device further comprises a main board to which the connection plate and / or all of the integrated drive and control plates are welded or attached.

[0090] In a preferred embodiment, the control system further comprises a temperature controller capable of providing high temperature protection to the drive and control integrated plate.

[0091] Another control system is provided, which includes a control function board, a drive function board, a signal relay board, a second low-voltage power supply, and a second high-voltage power supply, which are connected using a daisy chain.

[0092] In a preferred embodiment, the number of the control function boards is one, the number of the drive function boards is one, and the control function board, the signal relay board, the second low-voltage power supply, the second high-voltage power supply, and the drive function board are stacked in sequence, or the control function board, the signal relay board, the second low-voltage power supply, the drive function board, and the second high-voltage power supply are stacked in sequence.

[0093] In a preferred embodiment, the control system further comprises two heat sinks, one located on one side of one of the control function boards away from the drive function board, and the other located on one side of the drive function board away from the control function board.

[0094] In a preferred embodiment, the control function plate and / or the drive function plate employ the above-mentioned drive control integrated plate.

[0095] A robot including the above control system is provided. [Brief explanation of the drawings]

[0096] The present invention will be described below with reference to the drawings and examples.

[0097] [Figure 1] 1 is a schematic diagram of a first structure of the integrated drive control plate described in the first embodiment. FIG. [Figure 2] FIG. 10 is a schematic diagram of a second structure of the integrated drive control plate described in the first embodiment. [Figure 3] FIG. 10 is a schematic diagram of a third structure of the integrated drive control plate described in the first embodiment. [Figure 4] FIG. 10 is a schematic diagram of a fourth structure of the integrated drive control plate described in the first embodiment. [Figure 5] FIG. 10 is a schematic diagram of the fifth structure of the integrated drive control plate described in the first embodiment. [Figure 6] FIG. 10 is a schematic diagram of the sixth structure of the integrated drive control plate described in the first embodiment. [Figure 7] FIG. 10 is a schematic diagram of the seventh structure of the integrated drive control plate described in the first embodiment. [Figure 8] 10 is a structural schematic diagram of the drive control integrated plate described in Example 2. FIG. [Figure 9] FIG. 10 is a structural schematic diagram of the drive control integrated plate described in Example 3. [Figure 10] FIG. 10 is a structural schematic diagram of the control system described in Example 7. [Figure 11] FIG. 10 is a structural schematic diagram of the control system described in Example 9. [Figure 12] FIG. 10 is a structural schematic diagram of the drive control integrated plate described in Example 6. [Figure 13] FIG. 1 is a schematic diagram of one structure of a robot described in the examples. [Figure 14] FIG. 10 is a schematic diagram of another structure of the robot described in the embodiment. [Figure 15] FIG. 1 is a schematic diagram of a further configuration of a robot according to the examples. [Figure 16]FIG. 16 is a structural schematic diagram of the control system described in Example 12. DETAILED DESCRIPTION OF THE INVENTION

[0098] Hereinafter, technical aspects of the embodiments of the present application will be described with reference to the drawings. It is clear that the described embodiments are only some of the embodiments of the present application and do not include all of the embodiments.

[0099] In the description of this application, unless otherwise clearly specified or limited, the terms "connected," "coupled," and "fixed" should be understood in a broad sense, and may refer to, for example, a fixed connection, a detachable connection, or integration, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, internal communication between two elements, or an interaction between two elements. Those skilled in the art will be able to understand the specific meanings of the above terms in the present application according to specific circumstances.

[0100] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include direct contact between the first and second features, or may include contact between the first and second features through another feature between them, rather than direct contact. Furthermore, a first feature being "above," "above," and "on the upper surface" of a second feature may include the first feature being directly above and diagonally above the second feature, or may simply indicate that the horizontal height of the first feature is higher than that of the second feature. A first feature being "below," "below," and "on the lower surface" of a second feature may include the first feature being directly below and diagonally below the second feature, or may simply indicate that the horizontal height of the first feature is smaller than that of the second feature.

[0101] Hereinafter, technical aspects of the present application will be described through specific embodiments with reference to the drawings.

[0102] Example 1 1, the integrated drive control board comprises a control module 1, a drive module 2, and a first substrate 3, with the control module 1 and drive module 2 mounted on the first substrate 3, and the control module 1 being electrically connected to the drive module 2. By mounting the control module 1 and drive module 2 on the same substrate, the overall structure of the control module 1 and drive module 2 can be made more compact, which is advantageous for miniaturizing devices to which the control module 1 and drive module 2 are applied.

[0103] Preferably, the control module 1 is configured to send a control signal to the drive module 2, and the drive module 2 is configured to drive the movement of a driven part in response to said control signal, for example the driven part is a robot arm.

[0104] In this embodiment, the control module 1 is attached to the first substrate 3, and the driving module 2 is arranged in parallel with the control module 1 and attached to the first substrate 3. In other embodiments, the control module may be attached to the first substrate, and the driving module may be attached to one side of the control module remote from the first substrate, or the driving module may be attached to the first substrate, and the control module may be attached to one side of the driving module remote from the first substrate.

[0105] 2, the drive control integrated board 100 preferably further includes an isolation device 41, which is provided between the drive module 2 and the control module 1. The isolation device 41 is configured to isolate the drive module 2 from the control module 1 so as to avoid interference between strong and weak currents and increase the reliability of the operation of each of the drive module 2 and the control module 1. The isolation device 41 is provided on the first substrate 3. In other embodiments, the isolation device 41 may cover the drive module 2 and / or the control module 1.

[0106] Preferably, the isolation device 41 is one or a combination of two or more of a magnetic coupler, an optical coupler, and a capacitive isolator.

[0107] Preferably, the drive module 2 is provided close to the edge of the first end of the first substrate 3, and the control module 1 is provided close to the edge of the second end of the first substrate 3. Providing the drive module 2 and the control module 1 at opposite ends that are relatively far apart contributes to reducing interference between them.

[0108] Preferably, the control module 1 and the driving module 2 are provided on the same side of the first substrate 3. In other embodiments, as shown in Fig. 3, the control module 1 may be provided on the first surface of the first substrate 3, and the driving module 2 may be provided on the second surface of the first substrate 3; or as shown in Fig. 4, the control module 1 comprises a first control portion 11 and a second control portion 12, the first control portion 11 is provided on the first surface of the first substrate 3, and the second control portion 12 and the driving module 2 are provided on the second surface of the first substrate 3, and the first control portion 11 and the second control portion 12 are electrically connected, and the first control portion 11 and / or Alternatively, as shown in FIG. 5 , the drive module 2 may include a first drive portion 21 and a second drive portion 22, the first drive portion 21 being provided on a first surface of the first substrate 3, the second drive portion 22 and the control module 1 being provided on a second surface of the first substrate 3, the first drive portion 21 and the second drive portion 22 being electrically connected, and the first drive portion 21 and / or the second drive portion 22 being electrically connected to the control module 1. The control module 1 and the drive module 2 are heat sources, and dividing the control module 1 into two portions or the drive module 2 into two portions can better distribute the heat source, avoid local overheating, and further contribute to effectively improving the reliability of the operation of the integrated drive and control board 100.

[0109] Preferably, the drive module 2 can be directly connected to an external high-power power source, so as to increase the flexibility of connection and use of the drive control board 100 .

[0110] 6, the integrated drive and control board 100 preferably further includes at least one heat dissipation assembly 5, which is provided on the first substrate 3. The heat dissipation assembly 5 can dissipate heat from the control module 1 and the drive module 2, thereby ensuring the reliable operation of the control module 1 and the drive module 2 and extending their service life.

[0111] Preferably, the heat dissipation assembly 5 includes a heat dissipation base plate 51 and a plurality of heat dissipation fins 52, the heat dissipation base plate 51 being attached to the first substrate 3, and the heat dissipation fins 52 being attached to the heat dissipation base plate 51. As shown in FIG. 6, the heat dissipation base plate 51 and the heat dissipation fins 52 are disposed between the driving module 2 and the control module 1. Alternatively, as shown in FIG. 7, the heat dissipation base plate 51 may be designed to abut against the driving module 2 and / or the control module 1 and be connected to the control module 1 and / or the driving module 2 by heat conductive silicone rubber, thereby improving the heat dissipation effect. The heat dissipation assembly is directly thermally connected to the control module and / or the driving module, thereby improving the heat dissipation effect.

[0112] Preferably, the heat dissipation assembly 5 further includes a first fan 6, which is attached to one side of the heat dissipation fins 52 and can drive the flow of gas in the area where the heat dissipation fins 52 are located.

[0113] Preferably, the heat dissipation assembly 5 includes a second fan, which is mounted on the edge of the first substrate 3. Mounting the second fan on the edge simplifies the overall design and manufacturing process of the integrated drive and control board 100, which is beneficial to the widespread use and application of the integrated drive and control board 100.

[0114] Preferably, the integrated drive and control board 100 further includes a safety circuit module, which is provided on the first substrate 3 and electrically connected to the control module 1 and / or the drive module 2. By providing the safety circuit module to protect the control module 1 and / or the drive module 2, it is possible to increase the reliability of the operation of the control module 1 and / or the drive module 2. On the premise that the first communication module is provided, the safety circuit module is electrically connected to the first communication module, and the safety circuit module protects the first communication module.

[0115] Preferably, the drive and control integrated board 100 further includes a heat insulating material, which is provided between the drive module 2 and the control module 1. The heat insulating material can reduce the heat transfer between the drive module 2 and the control module 1, thereby ensuring the reliability of the independent operation of each of the two modules.

[0116] Preferably, the insulating material is a hollow structural material.

[0117] Preferably, the insulation and the isolation device 41 are of the same construction.

[0118] Example 2 The difference between this embodiment and the first embodiment is that instead of the isolation device 41 in the first embodiment, an isolation open slot 42 is opened on the first substrate 3 and located between the driving module 2 and the control module 1, as shown in Fig. 8. The isolation open slot 42 forms an air isolation between the driving module 2 and the control module 1, so that the interference signal is transmitted in a switched manner between two different media, solid and gas, and forms an obstruction to the interference signal, which contributes to reducing the mutual interference between the driving module 2 and the control module 1.

[0119] Preferably, a plurality of isolating open slots 42 are provided between the driving module 2 and the control module 1, and all of the isolating open slots 42 are arranged in parallel, or a plurality of spacing plates are provided within the isolating open slot 42, and all of the spacing plates are arranged in parallel. By providing a plurality of isolating open slots 42 or a plurality of spacing plates, the interference signal can be repeatedly switched between the solid medium and the gas medium multiple times, thereby improving the isolation effect against the interference signal.

[0120] Preferably, the heat insulating material in the first embodiment may be provided in the isolated open slots 42 .

[0121] Example 3 9, the present embodiment is distinguished from embodiment 1 or embodiment 2 in that the integrated drive control board 100 further includes an I / O interface 7, a first low-voltage power supply 8, and a first high-voltage power supply 9 provided on the first substrate 3, and the control module 1, the I / O interface 7, the first low-voltage power supply 8, the first high-voltage power supply 9, and the drive module 2 are sequentially arranged adjacent to each other. By sequentially arranging the control module 1, the I / O interface 7, the first low-voltage power supply 8, the first high-voltage power supply 9, and the drive module 2 adjacent to each other, on the one hand, it is possible to shorten the connection distance between the control module 1 and the I / O interface 7, and on the other hand, it is possible to fully utilize the space between the control module 1 and the drive module 2, and by arranging the first low-voltage power supply 8 close to the control module 1 and the first high-voltage power supply 9 close to the drive module 2, it is possible to more efficiently and reliably supply power to the control module 1 and the drive module 2. In other embodiments, the I / O interface may be designed to be provided on one side of the control module away from the driving module, or the I / O interface may be designed to be provided on one side of the first low-voltage power supply close to the driving module.

[0122] Preferably, the first low-voltage power supply 8 is electrically connected to the control module 1 and configured to supply power to the control module 1, and the first high-voltage power supply 9 is electrically connected to the drive module 2 and configured to supply power to the drive module 2.

[0123] Preferably, the isolation device 41 or the isolation open slot 42 is located between the first low voltage power supply 8 and the first high voltage power supply 9 .

[0124] Preferably, the integrated drive and control board 100 further includes two heat dissipation assemblies 5, which are mounted on the first substrate 3, one of which is located on one side of the control module 1 remote from the drive module 2, and the other is located on one side of the drive module 2 remote from the control module 1. Providing the two heat dissipation assemblies 5 on the outside of both ends, adjacent to the control module 1 and the drive module 2, respectively, is advantageous in improving the heat dissipation effect.

[0125] Example 4 The difference between this embodiment and embodiments 1, 2, or 3 is that the integrated drive and control board further includes a first communication module mounted on the first substrate 3, and the first communication module is electrically connected to the control module 1. By providing the first communication module, remote connection between the control module 1 and external devices can be achieved, thereby increasing the flexibility and range of application of the integrated drive and control board 100.

[0126] Preferably, the first communication module is provided on the first surface or the second surface of the first substrate 3.

[0127] Preferably, the first communication module is located between the control module 1 and the drive module 2. The first communication module is provided in the vicinity of the control module 1.

[0128] Preferably, the first communication module is located between the first low voltage power supply 8 and the first high voltage power supply 9 .

[0129] Preferably, the first communication module is located on one side of the isolation device 41 or the isolation open slot 42 close to the control module 1 .

[0130] Preferably, the first communication module is configured to be connected to a network bus.

[0131] Preferably, the driving module 2 is attached to the first substrate 3, the first communication module is attached to one side of the driving module 2 away from the first substrate 3, and the control module 1 is attached to one side of the first communication module away from the first substrate 3.

[0132] Preferably, the integrated drive and control board 100 further includes a heat dissipation assembly 5, which is mounted on the first substrate 3. The heat dissipation assembly 5 can dissipate heat from the control module 1 and the drive module 2, thereby ensuring the reliable operation of the control module 1 and the drive module 2 and extending their service life.

[0133] Preferably, the heat dissipation assembly 5 includes a heat dissipation base plate 51 and a plurality of heat dissipation fins 52, the heat dissipation base plate 51 is attached to the first substrate 3, and the heat dissipation fins 52 are attached to the heat dissipation base plate 51. The heat dissipation base plate 51 and the heat dissipation fins 52 are provided between the driving module 2 and the control module 1. The heat dissipation base plate 51 may be designed to abut against the driving module 2 and / or the control module 1 and / or the first communication module and to be connected to the control module 1 and / or the driving module 2 and / or the first communication module by heat conductive silicone rubber, thereby improving the heat dissipation effect.

[0134] Example 5 This embodiment is distinguished from Embodiment 1 or Embodiment 2 in that the integrated drive control board further includes an I / O interface, a first low-voltage power supply, and a first high-voltage power supply mounted on the first substrate, the control module and the drive module are mounted in parallel on the first substrate, the I / O interface is mounted on one side of the control module remote from the first substrate, the first low-voltage power supply is mounted on one side of the I / O interface remote from the first substrate, and the first high-voltage power supply is mounted on one side of the drive module remote from the first substrate. By arranging the control module, the I / O interface, and the first low-voltage power supply adjacent to each other, the connection distance between the control module and the I / O interface can be shortened, and by arranging the first low-voltage power supply close to the control module and the first high-voltage power supply close to the drive module, power can be supplied to the control module and the drive module more efficiently and reliably.

[0135] Preferably, the integrated drive and control board further includes two heat dissipation assemblies, the heat dissipation assemblies being mounted on the first board, one of which is located on one side of the control module away from the drive module, and the other of which is located on one side of the drive module away from the control module. Providing the two heat dissipation assemblies on the outside of both ends and adjacent to the control module and the drive module, respectively, is advantageous in improving the heat dissipation effect.

[0136] Example 6 As shown in Figure 12, the integrated drive control board comprises a first substrate 10 and a second substrate 20 which are arranged in an integrated manner, the first substrate 10 being a control function board and the second substrate 20 being a drive function board, and the first substrate 10 and the second substrate 20 being electrically connected.

[0137] Preferably, the second substrate 20 is provided so as to overlap the first substrate 10. The second substrate 20 is attached to the first substrate 10 and connected by a daisy chain.

[0138] Preferably, the first substrate 10 is configured to transmit a control signal to the second substrate 20, and the second substrate 20 is configured to drive the movement of a driven component in response to the control signal, for example, the driven component is a robot arm.

[0139] Preferably, the drive control integrated board further includes an isolation device, which is provided between the second substrate 20 and the first substrate 10. The isolation device is configured to isolate the first substrate 10 and the second substrate 20 so as to avoid interference between strong and weak currents and increase the reliability of the operation of each of the first substrate 10 and the second substrate 20.

[0140] Preferably, the integrated drive control board further comprises a first low-voltage power supply 30 and a first high-voltage power supply 40, and the first substrate 10, the first low-voltage power supply 30, the first high-voltage power supply 40 and the second substrate 20 are sequentially arranged adjacent to each other, or the first substrate 10, the first low-voltage power supply 30, the second substrate 20 and the first high-voltage power supply 40 are sequentially arranged adjacent to each other. The integrated drive control board further comprises an I / O interface, which is electrically connected to the first substrate 10. The I / O interface is provided on one side of the first substrate 10 remote from the second substrate 20, or the I / O interface is provided on the first substrate 10 Alternatively, the I / O interface may be provided on one side of the first low-voltage power supply 30 that is close to the second board 20 .

[0141] Preferably, the first low-voltage power supply 30 is electrically connected to the first substrate 10 and configured to supply power to the first substrate 10, and the first high-voltage power supply 40 is electrically connected to the second substrate 20 and configured to supply power to the second substrate 20.

[0142] Preferably, the second substrate 20 is configured to be connected to an external high-voltage power source.

[0143] Preferably, the integrated drive control board further includes a communication module, which is electrically connected to the first board 10. The communication module is configured to be connected to a network bus.

[0144] Preferably, the integrated drive and control board further includes at least one heat dissipation assembly 5, and the at least one heat dissipation assembly 5 is configured to dissipate heat from the first substrate 10 and / or the second substrate 20.

[0145] Preferably, the number of heat dissipation assemblies 5 of the drive and control integrated board is two, and one of the two heat dissipation assemblies 5 is connected to the first board. 10 The heat dissipation assembly 5 is located on one side of the second substrate 20, away from the first substrate 20. 10 Located on one side away from

[0146] Preferably, the number of heat dissipation assemblies 5 of the integrated drive and control board is one, and the heat dissipation assembly 5 is connected to the second board. 20 and the first substrate 10, or the heat dissipation assembly 5 abuts on the first substrate 10, or the heat dissipation assembly 5 abuts on the second substrate 20.

[0147] Preferably, the heat dissipation assembly 5 comprises a heat dissipation base plate and a plurality of heat dissipation fins, and the heat dissipation base plate is connected to the second substrate 20 and the first substrate 21. 10 the heat dissipation fins are attached to the heat dissipation base plate, and the second substrate 20 and the first substrate 10 The other is attached to the heat dissipation fins.

[0148] Preferably, the heat dissipating base plate is connected to the first substrate 10 or the second substrate 20 by heat conductive silicone rubber.

[0149] Preferably, the heat dissipation assembly 5 further includes a heat dissipation fan, which is attached to one side of the heat dissipation fins and can drive the gas flow in the area where the heat dissipation fins are located.

[0150] Preferably, the integrated drive control board further includes a heat insulating material, which is provided between the second substrate 20 and the first substrate 10.

[0151] Preferably, the number of first substrates 10 is equal to the number of second substrates 20, and the first substrates 10 are electrically connected to the second substrates 20 in one-to-one correspondence, or the number of first substrates 10 is smaller than the number of second substrates 20, and at least one first substrate 10 is electrically connected to two or more second substrates 20.

[0152] Example 7 A control system is provided that includes the drive control integrated board 100 described in any one of Examples 1 to 5. A control system that employs the drive control integrated board 100 can make the overall structure of the system more compact, providing a larger design space for the execution components, reducing the difficulty of the overall design of the equipment and being advantageous for miniaturizing the equipment.

[0153] 10, the control system preferably further includes a signal relay board 200, a second low-voltage power supply 300, and a second high-voltage power supply 400, and the number of integrated drive control boards 100 is two, with one integrated drive control board 100, the signal relay board 200, the second low-voltage power supply 300, the second high-voltage power supply 400, and another integrated drive control board 100 being stacked in sequence. The signal relay board 200 is configured to realize signal transmission between the integrated drive control board 100 and external devices. By arranging the drive control integrated plate 100, signal relay plate 200, second low-voltage power supply 300, second high-voltage power supply 400 and another drive control integrated plate 100 adjacent to each other in sequence, on the one hand, the connection distance between one drive control integrated plate 100 and the signal relay plate 200 can be shortened, and on the other hand, by arranging the second low-voltage power supply 300 close to one drive control integrated plate 100 and the second high-voltage power supply 400 close to the other drive control integrated plate 100, power can be supplied to the two drive control integrated plates 100 more efficiently and reliably.Furthermore, on the other hand, the two drive control integrated plates 100 can be isolated by using structures such as the second low-voltage power supply 300 and the second high-voltage power supply 400, thereby reducing mutual interference between the two drive control integrated plates 100 and ensuring the reliable operation of each of the two drive control integrated plates 100.

[0154] Preferably, the integrated drive control board 100 adjacent to the signal relay board 200 is merely for realizing the control function and may be replaced with a normal stand-alone control board, and the integrated drive control board 100 adjacent to the second high-voltage power supply 400 is merely for realizing the drive function and may be replaced with a normal stand-alone drive board.

[0155] Preferably, the signal relay board 200 is electrically connected to the two drive control integrated boards 100 and is configured to convert signals from the drive control integrated boards 100 and transmit the converted signals to an external device, or convert signals from an external device and transmit the converted signals to the drive control integrated board 100, the second low-voltage power supply 300 is electrically connected to the drive control integrated board 100 close to the signal relay board 200 and is configured to supply power to the drive control integrated board 100 close to the signal relay board 200, and the second high-voltage power supply 400 is electrically connected to the drive control integrated board 100 close to the second high-voltage power supply 400 and is configured to supply power to the drive control integrated board 100 close to the second high-voltage power supply 400.

[0156] Preferably, when the integrated drive control board 100 is provided with a first low-voltage power supply and a first high-voltage power supply, for the integrated drive control board 100 adjacent to the signal relay board 200, the second low-voltage power supply or the first low-voltage power supply of the integrated drive control board 100 adjacent to the signal relay board 200 can be selected to supply power to the integrated drive control board 100 adjacent to the signal relay board 200. For example, by providing a selection switch at the output end of the first low-voltage power supply and the output end of the second low-voltage power supply, the low-voltage power supply to be supplied to the integrated drive control board 100 can be selected by the selection switch. power supply Similarly, for the drive control integrated board 100 adjacent to the second high voltage power supply 400, the second high voltage power supply or the first drive control integrated board 100 adjacent to the second high voltage power supply 400 is determined. 1 high By selecting to use a voltage power source, power can be supplied to the drive control integrated board 100 adjacent to the second high voltage power source 400.

[0157] Preferably, the control system further includes two heat sinks, one of which is located on one side of one integrated drive and control board 100 away from the signal relay board 200, and the other is located on one side of the other integrated drive and control board 100 away from the second high-voltage power supply 400. Providing two heat sinks on the outside of both ends of the control system, each adjacent to one integrated drive and control board 100, is advantageous in improving the heat dissipation effect.

[0158] This embodiment further provides a robot equipped with the above-mentioned control system, and as shown in Fig. 13, the robot is a 6-axis robot, and the control system is applicable to 6-axis robots of various shapes, structures, and model numbers. The robot may further be any one of a 2-axis robot, a 3-axis robot, a 4-axis robot, a 5-axis robot, a multi-axis robot, a Selective Compliance Assembly Robot Arm (SCARA) robot, and a Delta robot, and the control system is applicable to 2-axis robots, a 3-axis robot, a 4-axis robot, a 5-axis robot, a multi-axis robot, a SCARA robot, and a Delta robot of various shapes, structures, and model numbers.

[0159] Example 8 A control system is provided that includes the drive control integrated plate described in any one of Examples 1 to 5. A control system that uses the drive control integrated plate can make the overall structure of the system more compact, providing a larger design space for the execution components, reducing the difficulty of the overall design of the equipment and being advantageous for miniaturizing the equipment.

[0160] Preferably, the control system further comprises a connection seat, a signal relay board, a second low-voltage power supply, and a second high-voltage power supply, the number of integrated drive control plates is two, and the two integrated drive control plates are arranged in parallel on the connection seat, the signal relay board is attached to one side of one integrated drive control plate remote from the connection seat, the second low-voltage power supply is attached to one side of the signal relay board remote from the connection seat, and the second high-voltage power supply is attached to one side of the other integrated drive control plate remote from the connection seat. The signal relay board is configured to realize signal transmission between the integrated drive control plates and external devices. By arranging one drive control integrated plate, signal relay plate, and second low-voltage power supply adjacent to each other in sequence, and by arranging another drive control integrated plate adjacent to the second high-voltage power supply, on the one hand, it is possible to shorten the connection distance between one drive control integrated plate and the signal relay plate, and on the other hand, by arranging the second low-voltage power supply close to one drive control integrated plate and the second high-voltage power supply close to the other drive control integrated plate, it is possible to more efficiently and reliably supply power to the two drive control integrated plates.

[0161] Preferably, the integrated drive control plate adjacent to the signal relay plate is merely for realizing the control function and may be replaced with a normal stand-alone control plate, and the integrated drive control plate adjacent to the second high-voltage power supply is merely for realizing the drive function and may be replaced with a normal stand-alone drive plate.

[0162] Preferably, the signal relay board is connected to the two integrated drive control boards and configured to convert signals from the integrated drive control board and transmit the converted signals to an external device, or convert signals from an external device and transmit the converted signals to the integrated drive control board, the second low-voltage power supply is electrically connected to the integrated drive control board close to the signal relay board and configured to supply power to the integrated drive control board close to the signal relay board, and the second high-voltage power supply is electrically connected to the integrated drive control board close to the second high-voltage power supply and configured to supply power to the integrated drive control board close to the second high-voltage power supply.

[0163] Preferably, the control system further includes two heat sinks, one of which is located on one side of one integrated drive and control plate away from the other integrated drive and control plate, i.e., the two heat sinks are located on the outside of the two integrated drive and control plates arranged in parallel. By providing the two heat sinks on the outside of both ends of the control system, and by providing one heat sink adjacent to one integrated drive and control plate, it is advantageous to improve the heat dissipation effect.

[0164] This embodiment further provides a robot equipped with the above-mentioned control system, and as shown in Fig. 14, the robot is a Delta robot, and the control system is applicable to Delta robots of various shapes, structures, and model numbers. The robot may be any one of a two-axis robot, a three-axis robot, a four-axis robot, a five-axis robot, a six-axis robot, a multi-axis robot, and a SCARA robot, and the control system is applicable to two-axis robots, three-axis robots, four-axis robots, five-axis robots, six-axis robots, multi-axis robots, and SCARA robots of various shapes, structures, and model numbers.

[0165] Example 9 A control system is provided that includes the drive control integrated board 100 described in any one of Examples 1 to 5. A control system that employs the drive control integrated board 100 can make the overall structure of the system more compact, providing a larger design space for the execution components, reducing the difficulty of the overall design of the equipment and being advantageous for miniaturizing the equipment.

[0166] Preferably, as shown in Figure 11, the number of integrated drive control boards 100 is two or more, and all of the integrated drive control boards 100 are distributed in a row, overlapping with a gap between them, and connected in a sequential cascade. Each integrated drive control board 100 can control one execution component. This stacking arrangement makes the control system more compact, centralizes the drive control structures corresponding to all execution components, and further facilitates later maintenance. Specifically, all of the integrated drive control boards 100 are distributed in a row, overlapping with a gap between them, forming a distribution structure similar to the number three.

[0167] Preferably, any one of the integrated drive control boards 100 can be used as a main control board, and can be configured to control the signals of all the integrated drive control boards 100 and be connected to external devices, or all the integrated drive control boards 100 can be connected to a cloud controller, and the cloud controller can control the signals of all the integrated drive control boards 100 and be connected to external devices. The above design allows the integrated drive control boards 100 to realize external connections and realize coordination between different robots.

[0168] Preferably, the control system further includes a connection seat 600, which has two or more first cascade sockets 601 into which the integrated drive control board 100 is inserted, and all of the first cascade sockets 601 are distributed at equal intervals along one row and cascaded sequentially, or all of the first cascade sockets 601 are distributed at intervals along two rows so as to overlap and be cascaded sequentially. The provision of the connection seat 600 with the first cascade sockets 601 increases the reliability of the installation of the integrated drive control board, and also facilitates quick attachment and detachment of the integrated drive control board 100 and the connection seat 600, thereby increasing the convenience and flexibility of combining and using different integrated drive control boards.

[0169] Preferably, the control system further includes a connection plate 500 arranged so as to overlap the integrated drive control board 100 at a distance, the connection plate 500 including a third control section 501 and a third board 502, the third control section 501 being mounted on the third board 502, the multiple integrated drive control boards 100 being sequentially cascaded, and the third control section 501 being electrically connected to at least one integrated drive control board 100. By providing the third control section 501 electrically connected to the integrated drive control boards 100, it is possible to realize integrated control over all the integrated drive control boards 100 and coordinate signal interactions between different integrated drive control boards 100, so that the control system can provide comprehensive and reliable control over the execution components.

[0170] Preferably, the connection plate 500 is provided on one side of all the drive control integrated plates 100 arranged in one row so as to be connected to an external controller.

[0171] Preferably, the connection board 500 further includes a second communication module 503, which is provided on the third substrate 502, and the third control part 501 is electrically connected to the second communication module 503. The second communication module 503 enables the third control part 501 to remotely interact with external devices, thereby improving the efficiency of interconnection between the control system and external devices.

[0172] Preferably, the control system further includes a connection seat 600, which includes two or more first cascade sockets 601 into which the integrated drive control plates 100 are inserted and one second cascade socket 602 into which the connecting plate 500 is inserted, all of the first cascade sockets 601 being evenly spaced along a row and connected in cascade in sequence, and each second cascade socket 602 being electrically connected to at least one first cascade socket 601. The provision of the connection seat 600 with the first cascade sockets 601 and second cascade sockets 602 not only improves the reliability of the installation of the integrated drive control plates 100 and the connecting plate 500 but also facilitates quick attachment and detachment of the integrated drive control plates and the connecting plate 500 from the connection seat 600, thereby increasing the convenience and flexibility of combining different integrated drive control plates 100 and the connecting plates 500.

[0173] Preferably, the second cascade socket 602 is provided on one side of the entire row of first cascade sockets 601 so as to connect with an external controller.

[0174] Preferably, the second cascade socket 602 is electrically connected to the first cascade socket 601 adjacent to the second cascade socket 602 .

[0175] Preferably, the control system further includes a temperature controller, which can provide high temperature protection for the drive control integrated board 100. The provision of a temperature controller can prevent the control system from operating in an overheated state, thereby effectively extending the service life of the control system.

[0176] This embodiment further provides a robot equipped with the above-mentioned control system, and as shown in Fig. 15, the robot is a SCARA robot, and the control system is applicable to SCARA robots of various shapes, structures, and model numbers. The robot may further be any one of a 2-axis robot, a 3-axis robot, a 4-axis robot, a 5-axis robot, a 6-axis robot, a multi-axis robot, and a Delta robot, and the control system is applicable to 2-axis robots, a 3-axis robot, a 4-axis robot, a 5-axis robot, a 6-axis robot, a multi-axis robot, and a Delta robot of various shapes, structures, and model numbers.

[0177] Example 10 The difference between this embodiment and embodiment 9 is that the control system further includes a connection seat 600, which includes two or more first cascade sockets 601 into which the integrated drive control plate 100 is inserted, and all of the first cascade sockets 601 are distributed equally spaced along one row and cascaded sequentially, or all of the first cascade sockets 601 are distributed spaced apart and overlapped along two rows and cascaded sequentially, and a connection plate 500 is welded or glued to the connection seat 600, and the connection plate 500 is electrically connected to at least one first cascade socket 601. Welding or gluing the connection plate 500 to the connection seat 600 increases the reliability of the connection between the connection plate 500 and the connection seat 600, thereby improving the reliability of the operation of the entire control system.

[0178] Preferably, the connection plate 500 is provided on one side of all the first cascade sockets 601 in one row, for connection with an external controller.

[0179] Preferably, the connection plate 500 is electrically connected to a first cascade socket 601 adjacent to the connection plate 500 .

[0180] Example 11 The difference between this embodiment and embodiment 9 is that, instead of the connecting seat 600, the control system further includes a main board to which the connecting plate 500 and / or all of the integrated drive and control boards 100 are welded or glued. Welding or gluing the integrated drive and control boards 100 to the main board increases the reliability of the connection between the integrated drive and control boards 100 and the main board, thereby increasing the reliability of the operation of the entire control system.

[0181] Example 12 Referring to Figure 16, the present application provides a control system comprising a control function board 1', a driving function board 2', a signal relay board 3', a second low-voltage power supply 4', and a second high-voltage power supply 5', where the control function board 1', driving function board 2', signal relay board 3', second low-voltage power supply 4', and second high-voltage power supply 5' are connected using a daisy chain. Using a daisy chain to connect devices such as the control function board 1' and driving function board 2' allows the control function board 1', driving function board 2', etc. to form a single, highly-efficiently interconnected driving and control integrated system, which is advantageous for achieving a compact control system. The signal relay board 3' is configured to connect signals between the control function board 1' and driving function board 2' and external devices and input and output signals.

[0182] Preferably, the number of control function boards 1' is one, the number of drive function boards 2' is one, and the control function board 1', signal relay board 3', second low-voltage power supply 4', second high-voltage power supply 5', and drive function board 2' are sequentially stacked. The sequentially stacked structure described above shortens the connection distance between the control function board 1' and the signal relay board 3', isolates the control function board 1' and the drive function board 2', reduces mutual interference between the control function board 1' and the drive function board 3', and ensures the reliability of their operation. Furthermore, by locating the second low-voltage power supply 4' close to the control function board and the second high-voltage power supply 5' close to the drive function board 2', power can be supplied to the control function board 1' and the drive function board 2' more efficiently and reliably.

[0183] Preferably, the signal relay board 3' is electrically connected to the control function board 1' and the drive function board 2', and is configured to convert signals from the control function board 1' and transmit the converted signals to an external device, or convert signals from an external device and transmit the converted signals to the control function board 1', and to convert signals from the drive function board 2' and transmit the converted signals to an external device, or convert signals from the external device and transmit the converted signals to the drive function board 2'. The second low-voltage power supply 4' is electrically connected to the control function board 1' and is configured to supply power to the control function board 1', and the second high-voltage power supply 5' is electrically connected to the drive function board 2' and is configured to supply power to the drive function board 2'.

[0184] Preferably, the control system further includes two heat sinks, one of which is located on one side of the control function board away from the signal relay board, and the other is located on one side of the driving function board away from the second high-voltage power supply. The two heat sinks are located on the outside of both ends of the control system, adjacent to the control function board and the driving function board, respectively, which is advantageous in improving the heat dissipation effect.

[0185] Preferably, the control function plate and / or the drive function plate employs the drive control integrated plate in the above-mentioned first, second, third, fourth or fifth embodiment.

[0186] Example 13 The difference between this embodiment and Example 9 is that there are two or more integrated drive control plates, and all of the integrated drive control plates are distributed in two rows with a gap between them and cascaded. Each integrated drive control plate can control one execution component. This stacked arrangement makes the control system more compact, centralizes the drive control structures corresponding to all execution components, and further improves the convenience of later maintenance. All of the integrated drive control plates are distributed in two rows with a gap between them, forming a distribution structure similar to the character "non."

[0187] Preferably, the control system further includes a connection seat, which includes two or more first cascade sockets into which the drive control integrated plate is inserted and one second cascade socket into which the connection plate is inserted, all of the first cascade sockets are distributed so as to overlap at intervals along two rows and are cascaded sequentially, and the second cascade socket is electrically connected to at least one first cascade socket.

[0188] In the description of this specification, the terms "upper," "lower," "left," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are merely used to facilitate description and simplify operation. They should not be understood as indicating or implying that such devices or elements must have a specific orientation, be configured in a specific orientation, and be operated in that orientation, and therefore should not be understood as limiting the present application. Furthermore, the terms "first" and "second" are merely used to distinguish between elements in the description and do not have any special meaning.

[0189] In the description herein, the reference to "one embodiment," "example," or the like means that the specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In the description herein, schematic expressions for the above terms do not necessarily refer to the same embodiment or example. [Explanation of symbols]

[0190] In Figures 1 to 15, 100···Drive control integrated plate, 1···Control module, 11···First control part, 12···Second control part, 2···Drive module, 21···First drive part, 22···Second drive part, 3···First board, 41···Isolation device, 42···Isolation open slot, 5···Heat dissipation assembly, 51···Heat dissipation base plate, 52···Heat dissipation fin, 6···First fan, 7···I / O interface, 8···First low-voltage power supply, 9···First high-voltage power supply 200...signal relay board, 300...second low-voltage power supply, 400...second high-voltage power supply, 500...connection board, 501...third control part, 502...third board, 503...second communication module, 600...connection seat, 601...first cascade socket, 602...second cascade socket. In Figure 12, 10...first board, 20...second board, 30...first low voltage power supply, 40...second 1 high Piezoelectric power supply, 5···heat dissipation assembly. In Figure 16, 1'···Control function board, 2'···Drive function board, 3'···Signal relay board, 4'···Second low voltage power supply, 5'···Second high voltage power supply.

Claims

1. a control module, a drive module, and a first substrate; the control module and the drive module are provided on the first substrate, and the control module is electrically connected to the drive module; an isolation device disposed between the drive module and the control module; further comprising at least one heat dissipation assembly disposed on the first substrate; Each heat dissipation assembly includes a heat dissipation base plate attached to the first substrate and a plurality of heat dissipation fins attached to the heat dissipation base plate; the heat dissipation base plate abuts against at least one of the driving module and the control module; the heat dissipation base plate is connected to at least one of the control module and the driving module by a heat conductive silicone rubber; Integrated drive control board.

2. a heat insulating material provided between the drive module and the control module; a safety circuit module provided on the first substrate and electrically connected to at least one of the control module and the drive module; a first communication module provided on the first board, electrically connected to the control module, and configured to be connected to a network bus; The drive control integrated plate according to claim 1 .

3. the isolation device comprises an isolation open slot located between the drive module and the control module; The drive control integrated plate according to claim 1 .

4. a plurality of the isolating open slots are provided between the driving module and the control module; Alternatively, a plurality of spacing plates are provided in the isolation open slot. The drive control integrated plate according to claim 3.

5. The heat insulating material is a hollow structural material, or the insulation material and the isolation device are the same structural material; The drive control integrated plate according to claim 2 .

6. the drive module is provided adjacent to an edge of a first end of the first substrate, and the control module is provided adjacent to an edge of a second end of the first substrate; Alternatively, the driving module is configured to be connected to an external high-voltage power source. The drive control integrated plate according to claim 1 .

7. the control module and the drive module are provided on the same side of the first substrate; Alternatively, the control module is provided on a first surface of the first substrate, and the drive module is provided on a second surface of the first substrate, Alternatively, the control module comprises a first control portion and a second control portion, the first control portion is provided on a first surface of the first substrate, the second control portion and the drive module are provided on a second surface of the first substrate, the first control portion and the second control portion are electrically connected, and at least one of the first control portion and the second control portion is connected to the drive module; Alternatively, the drive module includes a first drive portion and a second drive portion, the first drive portion is provided on a first surface of the first substrate, the second drive portion and the control module are provided on a second surface of the first substrate, the first drive portion and the second drive portion are electrically connected, and at least one of the first drive portion and the second drive portion is connected to the control module. The drive control integrated plate according to claim 1 .

8. The device further includes a first low-voltage power supply and a first high-voltage power supply provided on the first substrate, and the control module, the first low-voltage power supply, the first high-voltage power supply, and the drive module are sequentially arranged adjacent to each other, or the control module, the first low-voltage power supply, the drive module, and the first high-voltage power supply are sequentially arranged adjacent to each other; an I / O interface electrically connected to the control module; The I / O interface is provided on one side of the control module away from the driving module, or on one side of the control module close to the driving module, or on one side of the first low-voltage power supply close to the driving module; The drive control integrated plate according to claim 1 .

9. and two heat dissipation assemblies provided on the first substrate, one of which is located on one side of the control module away from the driving module, and the other of which is located on one side of the driving module away from the control module. The drive control integrated plate according to claim 8.

10. the driving module is attached to the first substrate, the first communication module is attached to one side of the driving module away from the first substrate, and the control module is attached to one side of the first communication module away from the first substrate; The drive control integrated plate according to claim 2 .

11. the control module is bonded to the first substrate, and the drive module is provided in parallel with the control module and bonded to the first substrate; Alternatively, the control module is attached to the first substrate, and the driving module is attached to one side of the control module away from the first substrate; Alternatively, the driving module is attached to the first substrate, and the control module is attached to one side of the driving module away from the first substrate. The drive control integrated plate according to claim 1 .

12. The drive control integrated plate according to any one of claims 1 to 11 is provided. Control system.

13. further comprising a signal relay board, a second low-voltage power supply, and a second high-voltage power supply; the number of the integrated drive control plates is two, and one integrated drive control plate, the signal relay plate, the second low-voltage power supply, the second high-voltage power supply, and the other integrated drive control plate are stacked in order; two heat sinks, one located on one side of one of the integrated drive control boards away from the signal relay board and the other located on one side of the other integrated drive control board away from the second high voltage power supply; 13. The control system of claim 12.

14. The drive control integrated plates are at least two in number, and are all distributed along one row so as to overlap with a space therebetween and are cascaded in series, or are all distributed along two rows so as to overlap with a space therebetween and are cascaded in series; Any one of the integrated drive control boards may be a main control board, and is configured to control signals of all the integrated drive control boards and to be connected to external devices; Alternatively, all of the drive control integrated boards are configured to be connected to a cloud controller that controls the signals of all of the drive control integrated boards and is configured to be connected to an external device.

13. The control system of claim 12.

15. a connecting plate disposed so as to overlap the drive control integrated plate with a gap therebetween; the connecting plate includes a third control portion and a third substrate, the third control portion is provided on the third substrate, the at least two drive control integrated plates are sequentially cascaded, and the third control portion is electrically connected to at least one of the drive control integrated plates; the connection plate further includes a second communication module provided on the third substrate and electrically connected to the third control unit; 15. The control system of claim 14.

16. The drive control unit further includes a connection seat having at least two first cascade sockets, into which the at least two integrated drive control plates are inserted, the first cascade sockets being distributed at equal intervals along one row and connected in cascade in sequence, or the first cascade sockets being distributed so as to overlap at intervals along two rows and connected in cascade in sequence.

15. The control system of claim 14.

17. The at least two drive control integrated plates are inserted into at least two first cascade sockets, all of which are distributed at equal intervals along one row and are cascaded in series, or which are distributed along two rows so as to overlap at intervals and are cascaded in series, and a connection base is provided with one second cascade socket, into which the connection plate is inserted and which is electrically connected to at least one of the first cascade sockets; The second cascade socket is electrically connected to the first cascade socket adjacent to the second cascade socket.

16. The control system of claim 15.

18. At least two first cascade sockets are provided, into which the at least two drive control integrated plates are inserted, all of which are distributed at equal intervals along one row and are cascaded in sequence, or distributed so as to overlap at intervals along two rows and are cascaded in sequence, and the drive control integrated plates further include a connection seat to which the connection plate electrically connected to at least one of the first cascade sockets is welded or pasted, the connection plate is electrically connected to the first cascade socket adjacent to the connection plate; 16. The control system of claim 15.

19. a main board to which all of the drive control integrated plates are welded or attached; and a temperature controller configured to provide high temperature protection for the drive-control integrated plate.

15. The control system of claim 14.

20. The device includes a control function board, a drive function board, a signal relay board, a second low voltage power supply, and a second high voltage power supply, which are connected in a daisy chain; At least one of the control function plate and the drive function plate employs the drive control integrated plate according to any one of claims 1 to 11. Control system.

21. the number of the control function board is one, the number of the drive function board is one, and the control function board, the signal relay board, the second low-voltage power supply, the second high-voltage power supply and the drive function board are sequentially stacked, or the control function board, the signal relay board, the second low-voltage power supply, the drive function board and the second high-voltage power supply are sequentially stacked, The circuit further includes two heat sinks, one of which is located on one side of one of the control function boards away from the drive function board, and the other of which is located on one side of the drive function board away from the control function board.

21. The control system of claim 20.

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