# US 11,444,531 B2 · Voltage converter > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,444,531 B2 - Document ID: US11444531B2 - Status: Granted - Kind: B2 - Application number: 17/267,346 - Filed: 2019-07-19 - Published: 2021-08-26 - Granted: 2022-09-13 - Earliest claimed: 2018-08-09 - Assignees: KUKA Deutschland GmbH - Applicants: KUKA Deutschland GmbH - Inventors: Sebastian Zehetbauer; Gerhard Werner; Matthias Zimmermann; Roberto Scibilia - Web page: https://patentgrep.com/patent/US11444531B2 ## CPC - H02M 3/156: with automatic control of output voltage or current, e.g. switching regulators - B25J 9/161: {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor} - H02M 1/0074: {Plural converter units whose inputs are connected in series} - H02M 1/0077: {Plural converter units whose outputs are connected in series} - H02M 1/32: Means for protecting converters other than automatic disconnection - H02M 3/155: using semiconductor devices only - H02M 1/0009: {Devices or circuits for detecting current in a converter} - H02M 1/0064: {Magnetic structures combining different functions, e.g. storage, filtering or transformation} - H02M: APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF (transformers H01F; dynamo-electric converters H02K47/00; controlling transformers, reactors or choke coils, control or regulation of electric motors, generators or dynamo-electric converters H02P) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A voltage converter, which is configured as a step-down converter for reducing an input direct voltage to an output direct voltage lower than the input direct voltage, includes a first step-down converter circuit arrangement, having a first semiconductor switching element with a first control input, a first coupled choke having a first freewheeling diode, and a first input capacitor and a first output capacitor. A second step-down converter circuit arrangement, includes a second semiconductor switching element having a second control input, a second coupled choke having a second freewheeling diode, and a second input capacitor and a second output capacitor. An associated control device controls the voltage converter. ## Claims ### Claim 1 A voltage converter, configured as a step-down converter, for reducing an input direct voltage into an output direct voltage that is lower than the input direct voltage, the voltage converter comprising: a first step-down converter circuit arrangement, comprising: a first semiconductor switching element having a first control input, a first coupled choke having a first freewheeling diode, and a first input capacitor, and a first output capacitor; and a second step-down converter circuit arrangement, comprising: a second semiconductor switching element having a second control input, a second coupled choke having a second freewheeling diode, and a second input capacitor and a second output capacitor: wherein the first input capacitor of the first step-down converter circuit arrangement and the second input capacitor of the second step-down converter circuit arrangement are arranged in series in order to share the input voltage; wherein the first semiconductor switching element and the first freewheeling diode, as well as the second semiconductor switching element and the second freewheeling diode, are arranged in series, and the first freewheeling diode and the second freewheeling diode are configured to at least one of: protect the respective circuit from at least one of an overvoltage of the first coupled choke and the second coupled choke, or a current flow when the respectively assigned semiconductor switching element is open, or enable the flow of current of the first coupled choke and the second coupled choke during a reduction of a magnetic flux of the first coupled choke and the second coupled choke; wherein the first coupled choke and the second coupled choke are coupled to one another in a transformer; wherein the first output capacitor and the second output capacitor are arranged in series and form a voltage divider; wherein the first step-down converter circuit arrangement and the second step-down converter circuit arrangement have a common feedback voltage divider which has a first resistor and a second resistor; wherein the first coupled choke and the second coupled choke have a common magnetic core, the magnetic core having at least one auxiliary winding having at least one tap for at least one of: at least one measurement signal, or the control voltage supply; and wherein the voltage converter is operated in a freely oscillating operating mode, which lies in a transition range between an intermittent operation and a continuous operation, such that there is a wait before a start of each new magnetization phase until an energy in the chokes has been completely reduced. ### Claim 2 (depends on 1) The voltage converter of claim 1, further comprising: a first non-coupled choke and a second non-coupled choke which are arranged in series with the first and the second coupled chokes. ### Claim 3 (depends on 2) The voltage converter of claim 2, further comprising: a measuring resistor arranged in series with at least one of the first or second non-coupled chokes or one of the freewheeling diodes or one of the semiconductor switching elements; the measuring resistor having a first connection configured to tap a first measurement voltage, and having a second connection connected to at least one of the first non-coupled choke or the second non-coupled choke, and connected to a ground of a control voltage. ### Claim 4 (depends on 3) The voltage converter of claim 3, wherein at least one of: the second connection of the measuring resistor is connected to the first and second non-coupled chokes; or the ground of the control voltage is provided on a secondary side of the voltage converter. ### Claim 5 (depends on 1) The voltage converter of claim 1, wherein the voltage converter is configured for reducing at least one of: a rectified input direct voltage from a single-phase network; a rectified input direct voltage from a three-phase network; or an input direct voltage from an intermediate circuit. ### Claim 6 (depends on 1) A control device for a voltage converter, wherein: the control device is configured to control the voltage converter according to claim 1 by: controlling the first semiconductor switching element of the voltage converter at the first control input; and controlling the second semiconductor switching element of the voltage converter at the second control input. ### Claim 7 (depends on 6) The control device of claim 6, wherein the control device is configured to receive at least one of: at least one measurement signal, in particular a first measurement voltage; a second measurement voltage; or at least a first measurement signal of at least one auxiliary winding of the voltage converter. ### Claim 8 (depends on 6) The control device of claim 6, wherein the control device is configured to control the first semiconductor switching element and the second semiconductor switching element with respect to at least one of a variable switch-on time or a variable switch-off time, such that a switching frequency of the voltage converter is limited by at least one of a minimum switch-on time or a minimum switch-off time. ### Claim 9 (depends on 7) The control device of claim 7, further configured to: measure or process the profile or the instantaneous value of the first measurement voltage, the profile or the instantaneous value of the second measuring voltage, and the profile or the instantaneous value of the at least first measurement signal of the at least one auxiliary winding of the voltage converter; and use the measurements of the profiles or instantaneous values of the first and second measurement voltages, and the at least first measurement signal of the at least one auxiliary winding for the switching control of the first semiconductor switching element and the second semiconductor switching element. ### Claim 10 (depends on 9) The control device of claim 9, wherein the control device controls switching of the first and second semiconductor switching elements by at least one of pulse width modulation or frequency modulation. ### Claim 11 (depends on 7) The control device of claim 7, further configured to: measure the profile of the first measuring voltage, the profile of the second measuring voltage, and the profile of the first measuring signal of the at least one auxiliary winding; compare the measurements of the profiles of the first measurement voltage, the second measurement voltage, and the first measurement signal with respect to at least one set threshold value; and switch the first semiconductor switching element and the second semiconductor switching element when the respective threshold value is reached.