COMPACT STACKED STRUCTURE DRIVEN AND CONTROLLED BY MULTIPLE SHAFTS

摘要

The present invention provides a compact stacked structure driven and controlled by multiple shafts. The structure consists of a central control board, a front-end board, and multiple amplifier modules. The central control board and the front-end board are both polygonal, are stacked parallel to each other, are fixed by means of structural members, and transmit an electrical signal by means of a connector. The amplifier modules form an integrated element, and are sequentially fixed to an edge of the polygonal central control board and an edge of the polygonal front-end board by means of structural members. The amplifier modules are electrically connected, by means of a bus communication interface, to the central control board located at an upper region, and are electrically connected, by means of a power interface, to the front-end board located at a lower region. The connections at the two interfaces are both rigid connections. Each amplifier module receives control information from the central control board, drives one or multiple motors to operate, and implements, according to requirements, part of control functions of the one or multiple motors originally implemented by the central control board. The compact stacked structure driven and controlled by multiple shafts is modularly designed, facilitates configuration and maintenance, has high power density, and simplifies wiring to be performed by the user.