Servo motor and automation system

Abstract

The present invention discloses a servo motor and an automation system. The winding joint (400) of the servo motor adopts a fastening type connector, wherein the fastening type connector comprises a tail clamp shell (2). The connector body (1) of the connector is fastened to the tail clamp shell (2). The tail clamp shell (2) specifically comprises an upper shell (21) and a lower shell (22) which are respectively located on the upper and lower sides of the connector body (1) and assembled together. After the upper shell (21) and the lower shell (22) are assembled, a cavity is formed in which the connector body (1) is fastened. The connector body (1) is fastened inside by the tail clamp shell (2), thereby reducing the radial degree of freedom of the connector body (1), thereby preventing the connector body (1) from being subjected to radial external force, resulting in pin withdrawal, female pin cracking, loosening or falling off of cable connection, etc., thereby improving the reliability and stability of the servo motor.

Description

Technical Field

[0001] The present invention relates to the field of motors, and in particular to a servo motor and an automation system. Background Art

[0002] The motor is a product widely used in industrial control and automated production, for example, in 3C automation, single-axis manipulators, logistics and other automated control industries. The servo motor is one of the motors that is widely used. When the servo motor is in use, an external power supply through a winding cable is required to provide power to the servo motor. One end of the winding cable is connected to the inside of the motor body, and the other end is connected to the external power supply through a connector. In the related art, the connector uses a DB connector (D-type data interface connector). This DB connector is large in size and inconvenient for customers to install it electrically, which leads to problems such as the terminals being easily loose and falling off, reducing the reliability of the product and customer experience satisfaction.

[0003] In order to solve the above problems, AMP connectors are gradually being used to replace DB connectors in servo motors. AMP connectors are becoming more and more widely used in the market due to their moderate size, low price and simple use. Figure 1 As shown, it includes a male connector body 02 and a female connector body 01. The cable connection end at the tail of the male connector body 02 and the cable connection end at the tail of the female connector body 01 are used to set terminals and connect cables respectively; after the cables and terminals (or pins) are connected, the male connector body 02 and the female connector body 01 are plugged together to achieve the corresponding electrical connection or communication connection. Figure 1 In the figure, the direction indicated by L is the axial direction, and the direction indicated by W is the radial direction.

[0004] See also Figure 1 As shown, the male connector body 02 and the female connector body 01 of the current AMP connector and the terminals (or pins) located in the male connector body 02 and the female connector body 01 have a large degree of freedom. During the use of the AMP connector, when the equipment vibrates or the cable is pulled by external force, the plug-in body of the AMP connector (including the male connector body 02 and the female connector body 01) is easily subjected to radial external force W, which in turn causes the external force to be transmitted to the terminals or pins in the connector body, resulting in the female pins in the female connector body 01 cracking and the pins in the male connector body 02 retreating after the male connector body 02 and the female connector body 01 are plugged in, which in turn causes poor contact, thereby affecting the use of the servo motor and reducing the reliability of the servo motor.

[0005] Also, see Figure 1As shown, the cable connection ends of the male connector body 02 and the female connector body 01 of the AMP connector are not provided with a device for reinforcing the cable connection, resulting in that when the equipment vibrates or the cable is pulled by an external force, the plug-in body of the AMP connector is subjected to a radial external force W, causing the cable connection to loosen or even fall off, thereby also causing poor contact, further reducing the reliability of the servo motor. Summary of the invention

[0006] The present invention provides a servo motor and an automation system, which solve the problem that the existing servo motor adopts an AMP connector, which is easy to be affected by radial external force due to the large freedom of the plug-in body, resulting in poor contact of the connector and reduced reliability of the servo motor.

[0007] In order to solve the above problems, the present invention provides a servo motor, including a motor body 100, a first outer side surface of the motor body 100 is provided with a first winding outlet hole, a winding wire pressing block 200 fixed above the first winding outlet hole and having a hollow structure, a second winding outlet hole is provided on the winding wire pressing block 200, and the servo motor further includes a winding cable 300, one end of the winding cable 300 is connected to the motor body 100, and the other end passes through the first winding outlet hole and is led out through the second winding outlet hole on the winding wire pressing block 200 and is connected to a winding connector 400;

[0008] The winding joint 400 is a fastening type connector, which includes a connector body 1 and a tail clip shell 2 for fastening the connector body 1. The tail clip shell 2 includes an upper shell 21 and a lower shell 22 which are respectively located on the upper and lower sides of the connector body 1 and assembled together. After the upper shell 21 and the lower shell 22 are assembled, a cavity is formed to fasten the connector body 1 therein; the cable connection end 12 of the connector body 1 connected to the cable is located in the cavity, and the plug-in end 11 of the connector body 1 is exposed outside the cavity to be plugged into the opposite end connector.

[0009] Optionally, a first upper connecting member and a second upper connecting member are respectively provided on the right side wall and the left side wall of the upper shell 21, and a first lower connecting member and a second lower connecting member are respectively provided on the right side wall and the left side wall of the lower shell 22;

[0010] The first upper connecting member cooperates with the first lower connecting member to form a first fixed connection, and the second upper connecting member cooperates with the second lower connecting member to form a second fixed connection.

[0011] Optionally, the first upper connecting member and the second upper connecting member are respectively a first clamping slot and a second clamping slot, the first lower connecting member and the second lower connecting member are respectively a first buckle and a second buckle, the first buckle and the first clamping slot are buckled to form the first fixed connection, and the second buckle and the second buckle are buckled to form the second fixed connection;

[0012] or,

[0013] The first upper connecting member is the third slot 211, and the first lower connecting member is the third buckle 221; the second upper connecting member is the fourth buckle 212, and the second lower connecting member is the fourth slot 222; the third buckle 221 and the third slot 211 are buckled together to form the first fixed connection, and the fourth buckle 212 and the fourth slot 222 are buckled together to form the second fixed connection.

[0014] Optionally, the third card slot 211 is a card slot extending outward from the inner side of the right side wall of the upper shell 21, and the fourth card slot 222 is a card slot extending outward from the inner side of the left side wall of the lower shell 22;

[0015] The end of the fourth buckle 212 slides downward from the inner side of the right side wall of the upper shell 21 and finally engages in the third buckle 211, and the end of the third buckle 221 slides downward from the inner side of the left side wall of the lower shell 22 and finally engages in the fourth buckle 222.

[0016] Optionally, two of the first upper connecting members and the second upper connecting members are respectively disposed on the right side wall and the left side wall of the upper shell 21 , and two of the first lower connecting members and the second lower connecting members are respectively disposed on the right side wall and the left side wall of the lower shell 22 .

[0017] Optionally, the upper shell 21 and the lower shell 22 are plastic shells.

[0018] Optionally, the tail of the upper shell 21 and the tail of the lower shell 22 are assembled into a wiring harness portion 23, and the wiring harness portion 23 has a through hole communicating with the cavity for cables to pass through, and the outer diameter of the front end of the wiring harness portion 23 is not less than the outer diameter of the rear end.

[0019] Optionally, the fastening assembly further comprises a wire pressing fastener which is sleeved on the wire bundling portion 23 and presses the wire bundling portion 23 and the cable in the through hole tightly together.

[0020] Optionally, the wire pressing fastener is a polygonal nut 3.

[0021] Optionally, the servo motor further includes a front end cover and a rear end cover respectively arranged at the front end and the rear end of the motor body 100, and an encoder body 500 fixed on the rear end cover;

[0022] A first encoder wire outlet hole is provided on a second side surface of the encoder body 500 which is located on the same side as the first outer side surface; the servo motor further comprises an encoder wire pressing block 600 which is fixed above the first encoder wire outlet hole and has a hollow structure, and a second encoder wire outlet hole is provided on the encoder wire pressing block 600;

[0023] The servo motor also includes an encoder cable 700, one end of which is connected to the encoder body 500, and the other end passes through the first encoder wire outlet hole, and is led out through the second encoder wire hole on the encoder wire pressing block 600 and connected to an encoder connector 800.

[0024] Optionally, the encoder connector 800 is the fastening type connector.

[0025] In order to solve the above problem, the present invention further provides an automation system, including a motor driver and the servo motor as described above, wherein the winding connector 400 of the servo motor is connected to the winding interface of the motor driver.

[0026] Beneficial effects of the present invention:

[0027] The present invention provides a servo motor and an automation system, wherein a winding joint 400 of the servo motor adopts a fastening type connector, wherein the fastening type connector comprises a tail clamp shell 2, and a connector body 1 of the connector is fastened to the tail clamp shell 2, wherein the tail clamp shell 2 specifically comprises an upper shell 21 and a lower shell 22 which are respectively located on the upper and lower sides of the connector body 1 and assembled together, and after the upper shell 21 and the lower shell 22 are assembled, a cavity is formed in which the connector body 1 is fastened, a cable connection end 12 of the connector body 1 is located in the cavity, and a plug-in end 11 of the connector body 1 is exposed outside the cavity for plug-in; the connector body 1 is fastened inside by the tail clamp shell 2, and the radial degree of freedom of the connector body 1 is reduced, thereby preventing the connector body 1 from being subjected to radial external force, resulting in pin withdrawal, female pin cracking, loosening or falling off of the cable (such as the winding cable) connection, etc., avoiding poor contact of the connector, improving the stability and reliability of the connector, and thus improving the reliability and stability of the servo motor.

[0028] Optionally, in some examples of the present invention, the tail of the upper shell 21 and the tail of the lower shell 22 of the tail clamp shell 2 can be assembled to form a wiring harness portion 23, and the wiring harness portion 23 has a through hole that communicates with the cavity for the cable to pass through, and the outer diameter of the front end of the wiring harness portion 23 is not less than the outer diameter of the rear end. For example, the outer diameter of the front end of the wiring harness portion 23 can be set to be larger than the outer diameter of the rear end to form a cone, which can be suitable for cables of different sizes and improve versatility, and can also play a certain binding and reinforcement role on the cables, which can further avoid the occurrence of loose connections or falling off of the cables.

[0029] Optionally, in some examples of the present invention, the fastening connector also includes a wire pressing fastener that is sleeved on the wire harness portion 23 to press the wire harness portion 23 tightly against the cable in the through hole, thereby further enhancing the fastening effect on the cable and preventing the cable from loosening or falling off due to external force. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of an existing AMP connector;

[0031] Figure 2 Schematic diagram of the servo motor provided in each embodiment of the present invention Figure 1 ;

[0032] Figure 3 A schematic diagram of a tail clip housing provided in various embodiments of the present invention;

[0033] Figure 4 A schematic diagram of an upper shell of a tail clip shell provided in various embodiments of the present invention;

[0034] Figure 5 A schematic diagram of assembling the upper shell of the tail clip shell and the connector body provided in each embodiment of the present invention;

[0035] Figure 6 Schematic diagram of the assembly of the tail clip shell and the connector body provided in various embodiments of the present invention Figure 1 ;

[0036] Figure 7 Schematic diagram of the assembly of the tail clip shell and the connector body provided in various embodiments of the present invention Figure 2 ;

[0037] Figure 8 A schematic diagram of assembling a tail clip shell, a wire pressing fastener and a connector body provided in various embodiments of the present invention;

[0038] Fig. 9 Schematic diagram of the assembly of the tail clip shell, the wire pressing fastener and the connector body provided in each embodiment of the present invention Figure 1 ;

[0039] Fig.10 Schematic diagram of the assembly of the tail clip shell, the wire pressing fastener and the connector body provided in each embodiment of the present invention Figure 2 ;

[0040] Fig.11 Schematic diagram of the assembly of the tail clip shell, the wire pressing fastener and the connector body provided in each embodiment of the present invention Figure 3 ;

[0041] Fig.12 Schematic diagram of the servo motor provided in each embodiment of the present invention Figure 2 ;

[0042] Fig.13 A schematic diagram of servo motor connection provided in various embodiments of the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] See also Figure 2 As shown, the servo motor provided in this embodiment includes a motor body 100, a first outer side surface of the motor body 100 is provided with a first winding outlet hole, a winding wire pressing block 200 fixed above the first winding outlet hole and having a hollow structure, a second winding outlet hole is provided on the winding wire pressing block 200, and the servo motor further includes a winding cable 300, one end of the winding cable 300 is connected to the motor body 100, and the other end passes through the first winding outlet hole and is led out through the second winding outlet hole on the winding wire pressing block 200 and is connected to a winding connector 400;

[0045] The winding joint 400 of the present embodiment is a fastening type connector, which includes a tail clamp shell. By fastening the connector body in the tail clamp shell, the radial freedom of the connector body is reduced, thereby preventing the connector body from being subjected to radial external forces, resulting in pin withdrawal, female pin cracking, loosening or falling off of cable connections, etc., thereby avoiding poor contact of the connector, improving the stability and reliability of the connector, and thereby improving the reliability of the servo motor.

[0046] For ease of understanding, this embodiment will be described below with reference to the accompanying drawings, taking a fastening type connector structure and a connector structure with the fastening type connector structure as examples.

[0047] See also Figures 3 to 11As shown, the fastening type connector provided in this embodiment includes: a tail clamp shell 2 for fastening the connector body 1, wherein the tail clamp shell 2 includes an upper shell 21 located on the upper side of the connector body 1 and a lower shell 22 located on the lower side of the connector body 1, and the upper shell 21 and the lower shell 22 can be assembled together by fixed connection to achieve the fastening of the connector body 1. Specifically, after the upper shell 21 and the lower shell 22 are assembled together, a cavity is formed to fasten the connector body 1; the shape and size of the cavity are compatible with the shape and size of the connector body 1 fastened therein, the cable connection end 12 of the connector body 1 for connecting the cable is located in the cavity, and the plug-in end 11 of the connector body 1 for plugging with the opposite end connector is exposed outside the cavity, so as to achieve the purpose of fastening the connector body 1. In this way, when the connector with this fastening type connector is in use, when the equipment vibrates or the cable is pulled by external force, the force will not be transmitted to the pins or female pins on the connector body 1 due to the limitation of the tail clip shell 2, thus avoiding the cracking of the female pin or the withdrawal of the pin, thereby ensuring the reliability of the use process.

[0048] It should be understood that the connector body 1 in this embodiment can be a male connector body with pins, or a female connector body with female pins. That is, for application scenarios where electrical connection is achieved by plugging a male connector and a female connector, the fastening connector provided in this embodiment can be added to only one of the male connector and the female connector, or the fastening connector provided in this embodiment can be added to both the male connector and the female connector to improve the reliability of the male connector body and / or the female connector body. Therefore, although Figure 5-Figure 11 The connector body 1 shown in the figure is a male connector body, and according to the above analysis, it can be known that the connector body 1 can also be a female connector body.

[0049] In this embodiment, the materials of the upper shell 21 and the lower shell 22 included in the tail clip shell 2 can also be flexibly set. For example, in some examples, the upper shell 21 and the lower shell 22 can be plastic shells, which have the advantages of insulation, good stability, low cost and easy manufacturing. Of course, in other examples, the upper shell 21 and the lower shell 22 can also be metal shells, or even wooden shells, ceramic shells (with the advantages of insulation, light material, high hardness, etc.). And it should be understood that in this embodiment, the upper shell 21 and the lower shell 2 can be shells of the same material or shells of different materials. For example, the upper shell 21 can be a plastic shell, and the lower shell 22 can be a metal shell, a ceramic shell, etc. Or the lower shell 22 is a plastic shell, and the upper shell is a metal shell, a ceramic shell, etc.

[0050] In this embodiment, the assembly method of the upper shell 21 and the lower shell 22 included in the tail clamp shell 2 (that is, the connection structure between the two) can also be flexibly set. The upper shell 21 and the lower shell 22 can be assembled in a detachable connection manner, so that the upper shell 21 and the lower shell 22 can be disassembled when necessary for subsequent inspection or maintenance. In other examples, the upper shell 21 and the lower shell 22 can also be assembled in a non-detachable connection manner, that is, once the upper shell 21 and the lower shell 22 are assembled, they cannot be disassembled without causing damage. This method can improve the reliability of the product. For ease of understanding, this example is explained below with several specific assembly structure examples.

[0051] In one example, an adhesive layer can be respectively set on the right side wall and the left side wall of the upper shell 21 and the mating surface of the lower shell 22, and an adhesive layer can be respectively set on the right side wall and the left side wall of the lower shell 22 and the mating surface of the upper shell 21, and then the upper shell 21 and the lower shell 22 are connected so that the adhesive layers on the upper shell 21 and the lower shell 22 are bonded, so that the upper shell 21 and the lower shell 22 are firmly bonded together to achieve assembly.

[0052] In another example, upper screw holes can be respectively provided on the right side wall and the left side wall of the upper shell 21, and lower screw holes can be respectively provided on the right side wall and the left side wall of the upper and lower shells 22, and the positions of the upper screw holes and the lower screw holes correspond to each other, and then the screws are passed through the corresponding upper screw holes and the lower screw holes, so as to fix the upper shell 21 and the lower shell 22 together for assembly. It should be understood that in some application scenarios, the upper screw holes can pass through the upper and lower ends of the right side wall and the left side wall of the upper shell 21, and at this time, the screws can be passed from the upper ends of the right side wall and the left side wall of the upper shell 21 downwards into the corresponding upper screw holes and the lower screw holes in sequence; and in this application scenario, the lower screw holes on the right side wall and the left side wall of the lower shell 22 can pass through the right side wall and the left side wall, or may not pass through the right side wall and the left side wall. In other application scenarios, lower screw holes can also be set to pass through the upper and lower ends of the right side wall and the left side wall of the lower shell 22. In this case, the screws can be inserted into the corresponding lower screw holes and upper screw holes in sequence from the upper ends of the right side wall and the left side wall of the lower shell 22; and in this application scenario, the upper screw holes on the right side wall and the left side wall of the upper shell 21 can be set to pass through the right side wall and the left side wall, or can be set not to pass through the right side wall and the left side wall, as long as a reliable connection with the screws can be achieved.

[0053] In other examples, the right side wall and the left side wall of the upper shell 21 included in the tail clamp shell 2 are respectively provided with a first upper connecting piece and a second upper connecting piece, and the right side wall and the left side wall of the lower shell 22 included in the tail clamp shell 2 are respectively provided with a first lower connecting piece and a second lower connecting piece; wherein the first upper connecting piece cooperates with the first lower connecting piece to form a first fixed connection, and the second upper connecting piece cooperates with the second lower connecting piece to form a second fixed connection, thereby assembling the upper shell 21 and the lower shell 22 together.

[0054] For example, in one application scenario, the first upper connecting member and the second upper connecting member provided on the right side wall and the left side wall of the upper shell 21 are respectively the first card slot and the second card slot, and the first lower connecting member and the second lower connecting member provided on the right side wall and the left side wall of the lower shell 22 are respectively the first buckle and the second buckle, the first buckle and the first card slot are buckled to form a first fixed connection, and the second buckle and the second buckle are buckled to form a second fixed connection; wherein, when the first buckle is buckled into the first card slot, the end of the first buckle can gradually slide downward from the outer side of the right side wall of the upper shell and enter the first card slot, and at this time, the first card slot at least passes through the outer side of the right side wall of the upper shell; of course, when the first buckle is buckled into the first card slot, the end of the first buckle can also gradually slide downward from the inner side of the right side wall of the upper shell and enter the first card slot, and at this time, the first card slot at least passes through the inner side of the right side wall of the upper shell. Of course, the matching method of the second card and the second card slot also refers to the matching method of the first buckle and the first card slot, which will not be repeated here. Correspondingly, in other application scenarios, the first upper connecting member and the second upper connecting member provided on the right side wall and the left side wall of the upper shell 21 are respectively the first clip and the second clip, and the first lower connecting member and the second lower connecting member provided on the right side wall and the left side wall of the lower shell 22 are respectively divided into the first clip slot and the second clip slot, and the first clip and the first clip slot are fastened to form a first fixed connection, and the second clip and the second clip are fastened to form a second fixed connection.

[0055] For another example, in order to improve the reliability of the assembly connection between the upper shell 21 and the lower shell 22, in some application scenarios, the upper shell 21 and the lower shell 22 of the tail clamp housing 2 can be staggered with slots and buckles. Figure 3-Figure 11 As shown. The first upper connecting member arranged on the right side wall of the upper shell 21 is the third card slot 211, and the first lower connecting member arranged on the right side wall of the lower shell 21 is the third card buckle 221; the second upper connecting member arranged on the left side wall of the upper shell 21 is the fourth card buckle 212, and the second lower connecting member arranged on the left side wall of the lower shell 21 is the fourth card slot 222; the third card buckle 221 and the third card slot 211 are fastened to form a first fixed connection, and the fourth card buckle 212 and the fourth card slot 222 are fastened to form a second fixed connection. In this way, the left and right side walls of the upper and lower shells are combined by the cross-arranged card buckle and card slot combination structure, which can improve the stability and reliability of the connection between the upper and lower shells.

[0056] For example, see Figure 5 and Figure 8 As shown, the third card slot 211 is a card slot extending outward from the inner side of the right side wall of the upper shell 21, and the fourth card slot 222 is a card slot extending outward from the inner side of the left side wall of the lower shell 22; the end of the fourth clip 212 slides downward from the inner side of the right side wall of the upper shell 21 and finally engages in the third card slot 211, and the end of the third clip 221 slides downward from the inner side of the left side wall of the lower shell 22 and finally engages in the fourth card slot 222; this method of engaging the side walls from the inner side to the outer side can further improve the stability and reliability of the connection between the upper and lower shells. Of course, it should be understood that in some application scenarios, the third card slot 211 can also be a card slot extending inward from the outer side of the right side wall of the upper shell 21, and the fourth card slot 222 is a card slot extending inward from the outer side of the left side wall of the lower shell 22; the end of the fourth clip 212 slides downward from the outer side of the right side wall of the upper shell 21 and finally engages in the third card slot 211, and the end of the third clip 221 slides downward from the outer side of the left side wall of the lower shell 22 and finally engages in the fourth card slot 222.

[0057] In one example, pin holes can be respectively set on the right side wall and the left side wall of the upper shell 21 and the mating surface of the lower shell 22 (in this case, the first upper connecting member and the second upper connecting member are both pin holes), and pins can be respectively set on the right side wall and the left side wall of the lower shell 22 and the mating surface of the upper shell 21 (in this case, the first lower connecting member and the second upper and lower connecting member are both pins), the positions and sizes of the pins and the pin holes correspond one by one, and then when the upper shell 21 and the lower shell 22 are buckled together, the pins enter the corresponding pin holes to realize the plug connection. Of course, in some application scenarios, pins may be respectively arranged on the mating surfaces of the right side wall and the left side wall of the upper shell 21 and the lower shell 22, and pin holes may be respectively arranged on the mating surfaces of the right side wall and the left side wall of the lower shell 22 and the upper shell 21; or a pin may be arranged on the mating surfaces of the right side wall of the upper shell 21 and the lower shell 22, a pin hole may be arranged on the mating surfaces of the left side wall of the upper shell 21 and the lower shell 22, a pin hole may be arranged on the mating surfaces of the right side wall of the lower shell 22 and the upper shell 21, and a pin may be arranged on the mating surfaces of the left side wall of the lower shell 22 and the upper shell 21, and a fixed connection between the upper shell 21 and the lower shell 22 may be achieved through this staggered arrangement.

[0058] It can be seen that the combined connection structure between the upper shell 21 and the lower shell 22 in this embodiment can be flexibly set and is not limited to the several structures in the above examples. In addition, in this embodiment, the number of connecting parts set on the left and right side walls of the upper shell 21 and the lower shell 22 can also be flexibly set according to needs. For example, see Figure 5 and Figure 8As shown, two first upper connecting members and two second upper connecting members are respectively arranged on the right side wall and the left side wall of the upper shell 21, and two first lower connecting members and two second lower connecting members are respectively arranged on the right side wall and the left side wall of the lower shell 22, so as to achieve a stable connection between the upper shell 21 and the lower shell 22. In addition, it should be understood that the position of the connecting member between the upper shell 21 and the lower shell 22 in this embodiment is not limited to the left and right side walls, as long as a stable connection between the upper shell 21 and the lower shell 22 can be achieved.

[0059] Optionally, in some examples of this embodiment, see Figures 3 to 11 As shown, the tail of the upper shell 21 of the tail clamp shell 2 and the tail of the lower shell 22 can form a wiring harness 23 after being assembled, and 24 in the figure is the front end of the tail clamp shell 2. The wiring harness 23 has a through hole that communicates with the cavity for the cable to pass through, and the cable can be connected to the female pin or plug pin on the connector body through the through hole. In this embodiment, the outer diameter of the front end of the wiring harness 23 (that is, the end close to the front end 24) is not less than the outer diameter of the rear end (that is, the end away from the front end 24). For example, in some application scenarios, the outer diameter of the front end of the wiring harness 23 can be set to be larger than the outer diameter of the rear end and thus form a cone. This structural setting allows the wiring harness 23 to be suitable for cables of different sizes, improve versatility, and play a certain role in binding and reinforcing its cables, which can further avoid the occurrence of loose or falling cable connections. Of course, in other application scenarios, the outer diameter of the front end of the wiring harness 23 can also be set to be equal to the outer diameter of the rear end.

[0060] In some application examples of this embodiment, see Figure 5 As shown, the fastening type connector may further include a cable fixing sleeve 4, which is located in the through hole formed by the cable harness portion 23, and the cable passes through the cable fixing sleeve 4 and enters the interior of the tail clamp housing 2 through the through hole. The provision of the cable fixing sleeve 4 can further fix and protect the cable, and prevent the cable from being loosened or falling off due to radial external force.

[0061] Optionally, in some examples of this embodiment, the fastening connector also includes a wire pressing fastener that is sleeved on the wire harness portion 23 to press the wire harness portion 23 and the cable in the through hole tightly together, thereby further enhancing the fastening effect on the cable and preventing the cable from loosening or falling off due to external force. Figures 8 to 11 As shown, the wire pressing fastener in this embodiment can be a polygonal nut 3; of course, it can also be a round nut. The wire pressing fastener using a polygonal nut 3 is not easy to slip during installation, thereby making the connection more stable; it is also easier to disassemble.

[0062] In this embodiment, in order to ensure the reliability of the axial L connection of the connector body and to ensure that the connector body will not become axially loose or disengaged when subjected to axial external force, an axial locking member is also provided on the connector body. The axial locking member can lock the two docked connector bodies in the axial direction.

[0063] In this embodiment, Figures 5 to 11 The connector shown is a male connector, and the connector body 1 is a male connector body. A male axial locking piece 13 is provided on the connector body 1, and the male axial locking piece 13 is a locking structure. In this example, a locking groove or protrusion corresponding to the locking piece is provided on the female connector body corresponding to the male connector body, and the locking piece cooperates with the locking groove or protrusion to realize axial locking.

[0064] In this embodiment, Figures 5 to 11 In the male connector shown, the connector body 1 is a male connector body provided with 9 pins, but it should be understood that the number of pins provided on the connector body and the corresponding female pins in this embodiment can be flexibly set according to specific needs and is not limited to Figures 5 to 11 The 9 shown can also be 4, 6, 8, etc., that is, 4pin, 6pin, 8pin, 9pin, etc.

[0065] Optionally, in some other examples of this embodiment, see Fig.12 As shown, the servo motor also includes a front end cover and a rear end cover respectively arranged at the front end and rear end of the motor body 100, and an encoder body 500 fixed on the rear end cover; a first encoder wire outlet hole is provided on the second side surface of the encoder body 500 located on the same side as the first outer side surface; the servo motor also includes an encoder wire pressing block 600 which is fixed above the first encoder wire outlet hole and has a hollow structure, and a second encoder wire outlet hole is provided on the encoder wire pressing block 600; the servo motor also includes an encoder cable 700, one end of which is connected to the encoder body 500, and the other end passes through the first encoder wire outlet hole, and is led out through the second encoder wire hole on the encoder wire pressing block 600 and is connected to an encoder connector 800.

[0066] The encoder connector 800 in this embodiment can be any type of connector that can realize encoder information transmission. In some examples of this embodiment, in order to improve the reliability of the encoder and avoid interruption or loss of encoder signal transmission, the encoder connector 800 in this embodiment can also be Figures 3 to 11 The fastening type connector shown in the figure can be a male connector or a female connector, which can be flexibly set according to the specific application scenario.

[0067] It should be understood that in this embodiment, the encoder body 500 and the motor body 100 do not have to be integrated together, but can also be independently arranged. When they are independently arranged, any one or both of the encoder connector 800 on the encoder body 500 and the winding connector 400 on the motor body 100 can adopt the above-mentioned Figures 3 to 11 Fastening type connector shown.

[0068] This embodiment also provides an automation system, including a motor driver and a servo motor as shown in the above embodiments, and may also include an actuator connected to the servo motor. The winding connector of the servo motor is connected to the winding interface of the motor driver, and when connected, in some application scenarios, a connector corresponding to the winding connector 400 can be directly set on the motor driver, and the servo motor is directly connected to the motor driver. In other examples, the servo motor can also be connected to the motor driver through an adapter cable. For example, see Fig.13 As shown, the winding connector connected to the winding cable 300 used in the motor body 100 adopts a fastening type connector, specifically a first male connector 400a, and one end of the winding adapter 300b also adopts a fastening type connector, specifically a first female connector 400b. The first male connector 400a and the first female connector 400b are connected by plugging, and the other end of the winding adapter 300b is connected to the winding interface on the motor driver. Of course, in some examples, the first female connector 400b can also be directly set on the motor driver.

[0069] See also Fig.13 As shown, in other application scenarios of this embodiment, when the servo motor further includes an encoder body 500 integrated with the motor body 100, the encoder connector connected to the encoder cable 700a is also a fastening type connector, and specifically a second male connector 800b, one end of the encoder adapter cable 700b also uses a fastening type connector, and specifically a second female connector 800b, the second male connector 800a and the second female connector 800b are connected by plugging, and the other end of the encoder adapter cable 700b is connected to the encoder interface on the motor driver. Of course, in some examples, the second female connector 800b can also be directly set on the motor driver.

[0070] The execution mechanism in this embodiment may include, but is not limited to, execution structures used to implement various fields such as engraving, medical device control, and robotic equipment.

[0071] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A servo motor, characterized in that: The servo motor comprises a motor body (100), wherein a first winding outlet hole is provided on a first outer side surface of the motor body (100), a winding wire pressing block (200) which is fixed above the first winding outlet hole and has a hollow structure, and a second winding outlet hole is provided on the winding wire pressing block (200); the servo motor further comprises a winding cable (300), wherein one end of the winding cable (300) is connected to the motor body (100), and the other end passes through the first winding outlet hole and is led out through the second winding outlet hole on the winding wire pressing block (200) and is connected to a winding connector (400); The winding joint (400) is a fastening type connector, comprising a connector body (1) and a tail clamp shell (2) for fastening the connector body (1), the tail clamp shell (2) comprising an upper shell (21) and a lower shell (22) respectively located on the upper and lower sides of the connector body (1) and assembled together, and after the upper shell (21) and the lower shell (22) are assembled, a cavity is formed in which the connector body (1) is fastened; The cable connection end (12) of the connector body (1) connected to the cable is located in the cavity, and the plug-in end (11) of the connector body (1) is exposed outside the cavity so as to be plugged into the opposite end connector.

2. The servo motor according to claim 1, characterized in that: A first upper connecting piece and a second upper connecting piece are respectively provided on the right side wall and the left side wall of the upper shell (21), and a first lower connecting piece and a second lower connecting piece are respectively provided on the right side wall and the left side wall of the lower shell (22); The first upper connecting member cooperates with the first lower connecting member to form a first fixed connection, and the second upper connecting member cooperates with the second lower connecting member to form a second fixed connection.

3. The servo motor according to claim 2, characterized in that: The first upper connecting member and the second upper connecting member are respectively a first clamping slot and a second clamping slot, the first lower connecting member and the second lower connecting member are respectively a first clamping buckle and a second clamping buckle, the first clamping buckle and the first clamping slot are buckled to form the first fixed connection, and the second clamping buckle and the second clamping buckle are buckled to form the second fixed connection; or, The first upper connecting member is a third clamping slot (211), and the first lower connecting member is a third clamping buckle (221); the second upper connecting member is a fourth clamping buckle (212), and the second lower connecting member is a fourth clamping slot (222); the third clamping buckle (221) and the third clamping slot (211) are buckled together to form the first fixed connection, and the fourth clamping buckle (212) and the fourth clamping slot (222) are buckled together to form the second fixed connection.

4. The servo motor according to claim 3, characterized in that: The third card slot (211) is a card slot extending outward from the inner side of the right side wall of the upper shell (21), and the fourth card slot (222) is a card slot extending outward from the inner side of the left side wall of the lower shell (22); The end of the fourth buckle (212) slides downward from the inner side of the right side wall of the upper shell (21) and finally engages in the third buckle slot (211), and the end of the third buckle (221) slides downward from the inner side of the left side wall of the lower shell (22) and finally engages in the fourth buckle slot (222).

5. The servo motor according to claim 2, characterized in that: Two of the first upper connecting members and the second upper connecting members are respectively arranged on the right side wall and the left side wall of the upper shell (21), and two of the first lower connecting members and the second lower connecting members are respectively arranged on the right side wall and the left side wall of the lower shell (22).

6. The servo motor according to claim 3, characterized in that: Two of the first upper connecting members and the second upper connecting members are respectively arranged on the right side wall and the left side wall of the upper shell (21), and two of the first lower connecting members and the second lower connecting members are respectively arranged on the right side wall and the left side wall of the lower shell (22).

7. The servo motor according to claim 4, characterized in that: Two of the first upper connecting members and the second upper connecting members are respectively arranged on the right side wall and the left side wall of the upper shell (21), and two of the first lower connecting members and the second lower connecting members are respectively arranged on the right side wall and the left side wall of the lower shell (22).

8. The servo motor according to any one of claims 1 to 7, characterized in that: The upper shell (21) and the lower shell (22) are plastic shells.

9. The servo motor according to any one of claims 1 to 7, characterized in that: The tail of the upper shell (21) and the tail of the lower shell (22) are assembled into a wiring harness portion (23), wherein the wiring harness portion (23) has a through hole communicating with the cavity for allowing the cable to pass through, and the outer diameter of the front end of the wiring harness portion (23) is not less than the outer diameter of the rear end.

10. The servo motor according to claim 9, characterized in that: The fastening type connector also includes a wire pressing fastener which is sleeved on the wire harness portion (23) and presses the wire harness portion (23) and the cable in the through hole tightly together.

11. The servo motor according to claim 10, characterized in that: The wire pressing fastener is a polygonal nut (3).

12. The servo motor according to any one of claims 1 to 7, characterized in that: The servo motor further comprises a front end cover and a rear end cover respectively arranged at the front end and the rear end of the motor body (100), and an encoder body (500) fixed on the rear end cover; A first encoder wire outlet hole is provided on a second side surface of the encoder body (500) located on the same side as the first outer side surface; the servo motor further comprises an encoder wire pressing block (600) fixed above the first encoder wire outlet hole and having a hollow structure, and a second encoder wire outlet hole is provided on the encoder wire pressing block (600); The servo motor further comprises an encoder cable (700), one end of the encoder cable (700) being connected to the encoder body (500), the other end of the encoder cable (700) passing through the first encoder wire outlet hole, and being led out through the second encoder wire hole on the encoder wire pressing block (600) and connected to an encoder connector (800).

13. The servo motor according to claim 12, characterized in that: The encoder connector (800) is the fastening type connector.

14. An automated system, characterized in that: It comprises a motor driver and a servo motor as claimed in any one of claims 1 to 13, wherein the winding connector (400) of the servo motor is connected to the winding interface of the motor driver.

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