Servo motor

Abstract

The invention relates to the technical field of motors, in particular to a servo motor. The servo motor comprises an end cover assembly, an outlet box, a power line and an encoder line. The end cover assembly comprises a front end cover and a rear end cover which are assembled with each other, and the front end cover and the rear end cover define a containing cavity with an opening. The outlet box is arranged on the end cover assembly and comprises a wire inlet and a wire outlet which are communicated with each other, and the wire inlet is communicated with the opening. One end of the power line is located in the accommodating cavity, and the other end goes out of the wire outlet through the opening and the wire inlet. One end of the encoder wire is located in the accommodating cavity, and the other end of the encoder wire passes through the opening and the wire inlet and goes out from the wire outlet. According to the servo motor, the power line and the encoder line are led out through the same outlet box, so that the overall size of the servo motor can be reduced, the compactness of the structure of the servo motor is improved, and assembly and use of the servo motor are facilitated.

Description

Technical Field

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

[0002] In recent years, with the rapid development of industrial production automation and intelligence, servo systems have been widely used in industrial production equipment due to their high control accuracy and fast response, and have gradually replaced the transmission control system of stepper drivers and stepper motors. In the servo system, the servo motor is the core component, the actuator and the controlled object of the servo system, and the servo motor directly affects the performance and control effect of the entire servo system.

[0003] The servo motor at least includes an encoder line and a power line, etc. However, the encoder line and the power line of the existing servo motor are respectively output from their corresponding outlets, resulting in a larger overall size of the servo motor. Summary of the invention

[0004] The invention provides a servo motor, which is used for outputting an encoder line and a power line through the same line outlet to reduce the overall volume of the servo motor.

[0005] The present invention provides a servo motor, comprising:

[0006] An end cover assembly, the end cover assembly comprising a front end cover and a rear end cover assembled with each other, the front end cover and the rear end cover enclose a receiving cavity with an opening;

[0007] An outlet box, the outlet box is arranged on the end cover assembly, the outlet box comprises a connected wire inlet and a wire outlet, the wire inlet is connected to the opening;

[0008] a power cord, one end of which is located in the accommodating cavity, and the other end of which is discharged from the outlet through the opening and the inlet; and

[0009] An encoder line, one end of which is located in the accommodating cavity, and the other end of which is connected to the line outlet through the opening and the line inlet.

[0010] In some embodiments, the wire outlet is configured to face the shaft tail of the rotating shaft.

[0011] In some embodiments, the rear end cover has a first surface and a second surface opposite to each other, the first surface faces the front end cover; the rear end cover is also provided with a first channel, the first channel runs through the first surface and the second surface; the servo motor further includes:

[0012] an encoder disposed on the second surface; and

[0013] A first connecting member is disposed in the first channel, one end of the first connecting member is electrically connected to the encoder, and the other end of the first connecting member is electrically connected to one end of the encoder line located in the accommodating cavity.

[0014] In some embodiments, the front end cover has a third surface facing the first surface, and the front end cover is provided with a second channel penetrating the third surface, the second channel is provided with a second connector, and the second connector is electrically connected to one end of the encoder line located in the accommodating cavity;

[0015] Wherein, the first connecting member forms a first contact on the first surface, and the second connecting member forms a second contact on the third surface. When the front end cover and the rear end cover are assembled, the third surface abuts against the first surface, and the first contact abuts against the second contact, so that the first connecting member is electrically connected to the second connecting member.

[0016] In some embodiments, the front end cover is used to enclose an inner wall of the accommodating cavity and is provided with a welding portion, the welding portion is electrically connected to the second connecting member, and the encoder line is located at one end of the accommodating cavity and is electrically connected to the welding portion.

[0017] In some embodiments, the number of the first channels and the number of the first connectors are both plural, and the multiple first connectors are arranged in a one-to-one correspondence to the multiple first channels; the number of the second channels and the number of the second connectors are both plural, and the multiple second connectors are arranged in a one-to-one correspondence to the multiple second channels; wherein the multiple first connectors are electrically connected to the multiple second connectors in a one-to-one correspondence.

[0018] In some embodiments, the first connector and the second connector are both copper bars.

[0019] In some embodiments, an encoder cover is further included, wherein the encoder cover is mounted on the second surface.

[0020] In some embodiments, the encoder cover has a fourth surface facing the second surface, and the encoder cover is provided with a third channel penetrating the fourth surface, the third channel is provided with a third connecting member, and the encoder is electrically connected to the third connecting member;

[0021] Among them, the first connecting member forms a third contact on the second surface, and the third connecting member forms a fourth contact on the fourth surface. When the encoder cover and the rear end cover are assembled, the second surface abuts against the fourth surface, and the second contact abuts against the fourth contact, so that the first connecting member is electrically connected to the third connecting member.

[0022] In some embodiments, the encoder cover is provided with an overcurrent protection circuit, the overcurrent protection circuit is electrically connected to the encoder, and the overcurrent protection circuit is electrically connected to the third connecting member.

[0023] In some embodiments, the encoder cover is further provided with two heat dissipation layers, and the overcurrent protection circuit is provided between the two heat dissipation layers.

[0024] In some embodiments, a brake line is further included, one end of the brake line is located in the accommodating cavity, and the other end of the brake line is discharged from the line outlet through the opening and the line inlet.

[0025] The present application provides a servo motor, which has at least the following beneficial effects compared with the prior art:

[0026] The present application can reduce the overall volume of the servo motor, improve the compactness of the servo motor structure, and facilitate the assembly and use of the servo motor by routing the power line and the encoder line through the same outlet box. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the accompanying drawings.

[0028] Figure 1 is a schematic diagram of the structure of a servo motor provided in an embodiment of the present application;

[0029] Figure 2 yes Figure 1 The enlarged view of point A in the middle;

[0030] Figure 3 yes Figure 2 Enlarged view of point C in the middle;

[0031] Figure 4 is a partial schematic diagram of a front end cover provided by an embodiment of the present application being perpendicular to the third surface;

[0032] Figure 5 is a partial schematic diagram of a rear end cover provided by an embodiment of the present application being perpendicular to the first surface;

[0033] Figure 6 yes Figure 1 The enlarged view of point B in the middle;

[0034] Figure 7 is a partial schematic diagram of a rear end cover provided by an embodiment of the present application being perpendicular to the second surface;

[0035] Figure 8 is a partial schematic diagram of an encoder cover provided by an embodiment of the present application being perpendicular to the fourth surface;

[0036] Fig. 9It is a schematic diagram of an overcurrent protection circuit provided in an embodiment of the present application.

[0037] Reference numerals:

[0038] 1. Servo motor;

[0039] 11. end cover assembly; 111. front end cover; 1111. third surface; 1112. second passage; 1113. welding portion; 112. rear end cover; 1121. first surface; 1122. second surface; 1123. first passage; 113. opening; 114. accommodating cavity;

[0040] 12. Outlet box; 121. Inlet; 122. Outlet; 123. Outlet sheath; 124. Sealing ring;

[0041] 13. Power cord;

[0042] 141, encoder line; 142, encoder; 143, encoder cover; 1431, fourth surface; 1432, third channel; 1433, heat dissipation layer;

[0043] 15. first connecting member; 151. first contact point; 152. third contact point;

[0044] 16. second connecting member; 161. second contact point;

[0045] 17. third connecting member; 171. fourth contact point;

[0046] 18. Overcurrent protection circuit;

[0047] 19. Brake cable;

[0048] 20, rotating shaft; 201, shaft head; 202, shaft tail. DETAILED DESCRIPTION

[0049] The present invention will be further described below in conjunction with the accompanying drawings.

[0050] Please also read Figure 1 and Figure 2The present invention provides a servo motor 1, comprising an end cover assembly 11, an outlet box 12, a power line 13 and an encoder line 141. The end cover assembly 11 comprises a front cover 111 and a rear cover 112 which are assembled with each other, and the front cover 111 and the rear cover 112 enclose a receiving cavity 114 having an opening 113. The outlet box 12 is arranged on the end cover assembly 11, and the outlet box 12 comprises a connected inlet 121 and an outlet 122, and the inlet 121 is connected to the opening 113. One end of the power line 13 is located in the receiving cavity 114, and the other end is connected to the outlet 122 through the opening 113 and the inlet 121. One end of the encoder line 141 is located in the receiving cavity 114, and the other end is connected to the outlet 122 through the opening 113 and the inlet 121.

[0051] When the front cover 111 and the rear cover 112 are in the assembled state, the accommodating cavity 114 can accommodate other components of the servo motor 1, such as the rotor and part of the rotating shaft 20, which will not be described in detail here. It should be noted that the shaft head 201 of the rotating shaft 20 is adjacent to the front cover 111, and the shaft tail 202 of the rotating shaft 20 is adjacent to the rear cover 112.

[0052] In this embodiment, the opening 113 can be provided on the front cover 111, and the outlet box 12 is at least partially provided on the front cover 111 to ensure that the inlet port 121 of the outlet box 12 can be connected to the opening 113. Of course, the opening 113 can also be provided on the rear cover 112, or a part of the opening 113 is provided on the front cover 111, and the other part is provided on the rear cover 112, which is not limited here.

[0053] A circuit board may be disposed in the portion of the accommodating cavity 114 enclosed by the front end cover 111 , and one end of the power line 13 located in the accommodating cavity 114 may be electrically connected to the circuit board.

[0054] When the power line 13 and the encoder line 141 are connected through the outlet 122 of the outlet box 12, the power line 13 and the encoder line 141 can be connected in the form of a twisted pair. The power line 13 is connected in the form of a twisted pair, which can prevent the external electromagnetic field from interfering with the current signal, ensure the stability and reliability of the power supply, and at the same time, the power line 13 can transmit electric energy more stably, reducing the problem of voltage instability caused by signal fluctuations. The encoder 142 is connected in the form of a twisted pair, so that the encoder 142 can have better anti-interference ability and transmission stability, ensure the accurate transmission of the encoder 142 signal, and reduce the impact of electromagnetic interference on the encoder 142, thereby ensuring the accuracy and reliability of the measurement results. In addition, the power line 13 and the encoder line 141 are connected in the form of a twisted pair, so that the power line 13 and the encoder line 141 are connected as one piece, thereby improving the regularity of the power line 13 and the encoder line 141.

[0055] Since the power line 13 generates a magnetic field, which may interfere with the signal transmitted by the encoder line 141, a ferrite ring may be provided on the encoder line 141 to absorb high-frequency interference signals, thereby ensuring that the encoder line 141 can communicate normally.

[0056] The wire outlet 122 of the wire outlet box 12 can be provided with a wire outlet sheath 123 and a sealing ring 124. The wire outlet sheath 123 can protect the power line 13 and the encoder line 141. At the same time, the wire outlet sheath 123 and the sealing ring 124 can improve the dustproof and waterproof capabilities of the wire outlet box 12 to prevent dust and other impurities from entering the accommodating cavity 114 through the wire outlet 122 of the wire outlet box 12, the wire inlet 121 of the wire outlet box 12, and the opening 113 in sequence, causing pollution to the components arranged in the accommodating cavity 114.

[0057] The present application arranges the power line 13 and the encoder line 141 to be routed out through the same outlet box 12 , thereby reducing the overall volume of the servo motor 1 , improving the compactness of the structure of the servo motor 1 , and facilitating the assembly and use of the servo motor 1 .

[0058] Please continue reading Figure 1 and Figure 2 In some embodiments, the wire outlet 122 is configured to face the shaft tail 202 of the rotating shaft 20 .

[0059] In the existing servo motor 1, the encoder line 141 and the power line 13 are respectively independently connected, wherein the connecting direction of the power line 13 is roughly parallel to the direction of the shaft tail 202 of the rotating shaft 20 pointing to the shaft head 201, and the rotating shaft 20 of the servo motor 1 is configured so that the shaft head 201 of the rotating shaft 20 extends out of the front end cover 111 and is assembled with other devices, that is, after the existing servo motor 1 is assembled with other devices, the other devices are located on the side of the front end cover 111 away from the rear end cover 112. Since the connecting direction of the power line 13 is roughly parallel to the direction of the shaft tail 202 of the rotating shaft 20 pointing to the shaft head 201, the distance between the connecting position of the power line 13 and the other devices assembled with the servo motor 1 is small, resulting in a small connecting space for the power line 13, so that the power line 13 may be interfered with by other devices assembled with the servo motor 1 when it is connected, and even the connecting line may squeeze and break the power line 13.

[0060] In order to solve this problem, in this embodiment, the direction of the wire outlet 122 is set to be roughly parallel to the direction from the shaft head 201 of the rotating shaft 20 to the shaft tail 202 of the rotating shaft 20, that is, the direction of the wire outlet 122 is roughly set to be the same as the direction from the front cover 111 to the rear cover 112, thereby providing a larger space for the power cord 13 and the encoder cord 141 when they are discharged through the wire outlet 122, avoiding the power cord 13 and the encoder cord 141 from being interfered with by other devices assembled with the servo motor 1 when they are discharged, thereby achieving the effect of protecting the power cord 13 and the encoder cord 141.

[0061] In some other embodiments, the direction of the wire outlet 122 may also be substantially perpendicular to the direction from the shaft head 201 to the shaft tail 202 of the rotating shaft 20 .

[0062] Please also read Figure 1 , Figure 2 and Figure 3 In some embodiments, the rear end cover 112 has a first surface 1121 and a second surface 1122 facing each other, and the first surface 1121 faces the front end cover 111. The rear end cover 112 is also provided with a first channel 1123, and the first channel 1123 runs through the first surface 1121 and the second surface 1122. The servo motor 1 also includes an encoder 142 and a first connecting member 15, the encoder 142 is provided on the second surface 1122, the first connecting member 15 is provided in the first channel 1123, and one end of the first connecting member 15 is electrically connected to the encoder 142, and the other end is electrically connected to one end of the encoder line 141 located in the accommodating cavity 114.

[0063] It is understandable that the encoder 142 of this embodiment is disposed on the second surface 1122 of the rear end cover 112, that is, the encoder 142 is not located in the accommodating cavity 114, and one end of the encoder line 141 in the embodiment of the present application is located in the accommodating cavity 114, so the encoder line 141 cannot be directly electrically connected to the encoder 142. In order to solve this problem, in this embodiment, a first channel 1123 is provided on the rear end cover 112 to penetrate the first surface 1121 and the second surface 1122, and a first connector 15 is provided in the first channel 1123, the encoder 142 is electrically connected to one end of the first connector 15 located on the second surface 1122, and the encoder line 141 is electrically connected to one end of the first connector 15 located on the first surface 1121, that is, the encoder 142 is electrically connected to the encoder line 141 through the first connector 15.

[0064] It can be understood that, in this embodiment, the encoding signal transmitted by the encoder 142 is transmitted to the encoder line 141 via the first connecting member 15 .

[0065] In addition, since the rear end cover 112 is generally made of metal, and the first connector 15 is also made of metal in order to transmit the coded signal, if the first connector 15 directly contacts the rear end cover 112 in the first channel 1123, the rear end cover 112 may leak electricity. In order to solve this problem, an insulating layer can be provided in the first channel 1123, and the insulating layer covers the first connector 15 in the first channel 1123, so that the first connector 15 is insulated from the rear end cover 112, thereby avoiding leakage of electricity in the rear end cover 112.

[0066] In this embodiment, the encoder 142 is electrically connected to the encoder line 141 through the first connecting member 15, so that when the encoder 142 is arranged on the surface of the rear end cover 112 away from the front end cover 111, it can be electrically connected to the end of the encoder line 141 located in the accommodating cavity 114, thereby achieving the requirement that the encoder line 141 and the power line 13 can be output through the same outlet box 12, thereby reducing the overall volume of the servo motor 1, improving the compactness of the servo motor 1 structure, and facilitating the assembly and use of the servo motor 1.

[0067] In some other embodiments, the encoder line 141 may be directly electrically connected to the encoder 142 via the first channel 1123 .

[0068] Please also read Figure 3 , Figure 4 and Figure 5 In some embodiments, the front end cover 111 has a third surface 1111 facing the first surface 1121, and the front end cover 111 is provided with a second channel 1112 penetrating the third surface 1111, and the second channel 1112 is provided with a second connector 16, and the second connector 16 is electrically connected to one end of the encoder line 141 located in the accommodating cavity 114. Among them, the first connector 15 forms a first contact 151 on the first surface 1121, and the second connector 16 forms a second contact 161 on the third surface 1111. When the front end cover 111 and the rear end cover 112 are assembled, the third surface 1111 abuts against the first surface 1121, and the first contact abuts against the second contact 161, so that the first connector 15 is electrically connected to the second connector 16.

[0069] When the rear end cover 112 and the front end cover 111 are assembled, the first surface 1121 of the rear end cover 112 and the third surface 1111 of the front end cover 111 abut against each other, that is, the first surface 1121 of the rear end cover 112 and the third surface 1111 of the front end cover 111 are the assembly surfaces when the rear end cover 112 and the front end cover 111 are assembled.

[0070] In this embodiment, when the rear end cover 112 and the front end cover 111 are assembled and the first surface 1121 of the rear end cover 112 and the third surface 1111 of the front end cover 111 abut against each other, the first channel 1123 and the second channel 1112 are at least partially opposite to each other, so that the first contact 151 formed by the first connecting member 15 on the first surface 1121 can abut against the second contact 161 formed by the second connecting member 16 on the third surface 1111, thereby realizing that the first connecting member 15 and the second connecting member 16 can be electrically connected.

[0071] It can be understood that, in this embodiment, the encoding signal transmitted by the encoder 142 is transmitted to the encoder line 141 via the first connecting member 15 and the second connecting member 16 in sequence.

[0072] In addition, since the front end cover 111 is generally made of metal, and the second connector 16 is also made of metal in order to transmit the coded signal, if the second connector 16 directly contacts the front end cover 111 in the second channel 1112, the front end cover 111 may leak electricity. In order to solve this problem, an insulating layer can be provided in the first channel 1123 to cover the first connector 15. In this embodiment, an insulating layer can be provided in the second channel 1112, and the insulating layer covers the second connector 16 in the second channel 1112, so that the second connector 16 is insulated from the front end cover 111, thereby avoiding leakage of the front end cover 111.

[0073] In this embodiment, the first connector 15 forms a first contact 151 on the first surface 1121, and the second connector 16 forms a second contact 161 on the third surface 1111. The first contact 151 of the first connector 15 and the second contact 161 of the second connector 16 are in direct contact, so that an electrical connection is formed between the first connector 15 and the second connector 16, which can avoid using an additional connection line between the first connector 15 and the second connector 16, simplify the assembly process, and reduce the failure rate of using an additional connection line between the first connector 15 and the second connector 16. In addition, while the first connector 15 and the second connector 16 form an electrical connection, the abutment between the first surface 1121 and the third surface 1111 is ensured, so that the width of the gap formed between the first surface 1121 and the second surface 1122 can be effectively reduced.

[0074] In some other embodiments, one end of the first connector 15 adjacent to the first surface 1121 can be located in the first channel 1123, and one end of the second connector 16 adjacent to the third surface 1111 can be located in the second channel 1112. An intermediate connector can be added between the first connector 15 and the second connector 16, with one end of the intermediate connector extending into the first channel 1123 and abutting against the first connector 15, and the other end of the intermediate connector extending into the second channel 1112 and abutting against the second connector 16.

[0075] Please refer again Figure 2 In some embodiments, the inner wall of the front end cover 111 used to enclose the accommodating cavity 114 is provided with a welding portion 1113 , the welding portion 1113 is electrically connected to the second connecting member 16 , and the encoder line 141 is located at one end of the accommodating cavity 114 and is electrically connected to the welding portion 1113 .

[0076] In this embodiment, the welding portion 1113 is arranged on the front end cover 111 to enclose the inner wall of the accommodating cavity 114, and the welding portion 1113 is electrically connected to the second connecting member 16, so that one end of the encoder line 141 located in the accommodating cavity 114 can be electrically connected to the welding portion 1113, thereby realizing that the encoder line 141 is located in the accommodating cavity 114. One end is electrically connected to the second connecting member 16.

[0077] It can be understood that, in this embodiment, the encoding signal transmitted by the encoder 142 is transmitted to the encoder line 141 via the first connecting member 15 , the second connecting member 16 and the welding portion 1113 in sequence.

[0078] In this embodiment, a welding portion 1113 electrically connected to the second connecting member 16 is provided on the inner wall of the front end cover 111 which is used to enclose the accommodating cavity 114, so that the encoder line 141 is electrically connected to the welding portion 1113 at one end of the accommodating cavity 114, and can be electrically connected to the encoder 142 through the second connecting member 16 and the first connecting member 15, thereby reducing the difficulty of electrically connecting the encoder line 141 at one end of the accommodating cavity 114 with the second connecting member 16, which is beneficial to the assembly of the servo motor 1.

[0079] In some other embodiments, the encoder line 141 may be directly electrically connected to an end of the second connecting member 16 that faces away from the first connecting member 15 .

[0080] Please also read Figure 4 and Figure 5 In some embodiments, the number of the first channels 1123 and the number of the first connectors 15 are both multiple, and the multiple first connectors 15 are disposed in a one-to-one correspondence to the multiple first channels 1123. The number of the second channels 1112 and the number of the second connectors 16 are both multiple, and the multiple second connectors 16 are disposed in a one-to-one correspondence to the multiple second channels 1112. The multiple first connectors 15 and the multiple second connectors 16 are electrically connected in a one-to-one correspondence.

[0081] In this embodiment, the number of the first channels 1123, the number of the first connectors 15, the number of the second channels 1112, and the number of the second connectors 16 are all the same. The multiple first connectors 15 are arranged in a one-to-one correspondence at the multiple first channels 1123, and the multiple first connectors 15 form a multiple first contact 151 on the first surface 1121; the multiple second connectors 16 are arranged in a one-to-one correspondence at the multiple second channels 1112, and the multiple second connectors 16 form a multiple second contact 161 on the third surface 1111. The multiple first channels 1123 correspond to the multiple second channels 1112 in a one-to-one correspondence, and when the first surface 1121 of the rear end cover 112 abuts against the third surface 1111 of the front end cover 111, the multiple first contacts 151 contact with the multiple second contacts 161 in a one-to-one correspondence, so that the multiple first connectors 15 and the multiple second connectors 16 can be electrically connected in a one-to-one correspondence.

[0082] Multiple first connectors 15 and multiple second connectors 16 can improve the transmission capability and anti-interference capability of the encoder 142 to transmit the encoded signal to the encoder line 141, effectively reduce the attenuation of the encoded signal, and ensure the quality of the encoded signal transmitted from the encoder 142 to the encoder line 141.

[0083] Exemplarily, the number of the first channels 1123, the number of the first connectors 15, the number of the second channels 1112, and the number of the second connectors 16 are all seven, the seven first channels 1123 are adjacent to the upper edge of the rear end cover 112, and the seven first channels 1123 are arranged at intervals from each other along the upper edge of the rear end cover 112. It is understandable that the arrangement of the second channels 1112 on the front end cover 111 is the same as the arrangement of the first channels 1123 on the rear end cover 112, and no further description is given here.

[0084] In some other embodiments, the number of the first channels 1123 , the number of the first connecting members 15 , the number of the second channels 1112 , and the number of the second connecting members 16 may all be one.

[0085] In some embodiments, the first connecting member 15 and the second connecting member 16 are both copper bars.

[0086] It can be understood that since copper has a lower resistivity, the voltage drop generated by the copper strip is smaller and the loss of the coded signal is smaller. At the same time, the low resistivity of the copper strip can also increase the speed of transmitting the coded signal.

[0087] In addition, since the copper bar has high strength and high ductility, it is not easy to break or deform, which indirectly improves the stability of the coding signal transmission.

[0088] In some other implementations, the first connecting member 15 and the second connecting member 16 may also be communication lines.

[0089] Please refer again Figure 1 In some embodiments, the servo motor 1 further includes an encoder cover 143 , and the encoder cover 143 is assembled on the second surface 1122 .

[0090] The encoder cover 143 is assembled on the second surface 1122 to protect the encoder 142 .

[0091] In some other implementations, a protective cover may also be provided on the surface of the encoder 142 .

[0092] Please also read Figure 6 , Figure 7 and Figure 8In some embodiments, the encoder cover 143 has a fourth surface 1431 facing the second surface 1122, and the encoder cover 143 is provided with a third channel 1432 penetrating the fourth surface 1431, and the third channel 1432 is provided with a third connector 17, and the encoder 142 is electrically connected to the third connector 17. The first connector 15 forms a third contact 152 on the second surface 1122, and the third connector 17 forms a fourth contact 171 on the fourth surface 1431. When the encoder cover 143 is assembled with the rear end cover 112, the second surface 1122 abuts against the fourth surface 1431, and the second contact 161 abuts against the fourth contact 171, so that the first connector 15 is electrically connected to the third connector 17.

[0093] When the encoder cover 143 and the rear end cover 112 are assembled, the fourth surface 1431 of the encoder cover 143 and the second surface 1122 of the rear end cover 112 abut against each other, that is, the fourth surface 1431 of the encoder cover 143 and the second surface 1122 of the rear end cover 112 are the assembly surfaces when the encoder cover 143 and the rear end cover 112 are assembled.

[0094] In this embodiment, when the encoder cover 143 and the rear end cover 112 are assembled and the fourth surface 1431 of the encoder cover 143 and the second surface 1122 of the rear end cover 112 abut against each other, the third channel 1432 and the first channel 1123 are at least partially opposite to each other, so that the third contact 152 formed by the first connecting member 15 on the second surface 1122 can abut against the fourth contact 171 formed by the third connecting member 17 on the fourth surface 1431, thereby realizing that the first connecting member 15 and the third connecting member 17 can be electrically connected.

[0095] It can be understood that, in this embodiment, the encoding signal transmitted by the encoder 142 is transmitted to the encoder line 141 via the third connecting member 17 and the first connecting member 15 in sequence.

[0096] In addition, the encoder cover 143 can be made of plastic, such as PBT (Poly (butylene terephthalate)). Since plastic generally does not have conductive properties, when the encoder cover 143 is made of plastic, the third connecting member 17 can directly contact the third channel 1432.

[0097] Of course, the encoder cover 143 can also be made of metal, and the third connector 17 is also made of metal to transmit the coded signal. Therefore, if the third connector 17 directly contacts the encoder cover 143 in the second channel 1112, the encoder cover 143 may leak electricity. In order to solve this problem, an insulating layer can be provided in the first channel 1123 to cover the first connector 15. In this example, an insulating layer can be provided in the third channel 1432, and the insulating layer covers the third connector 17 in the third channel 1432, so that the third connector 17 is insulated from the encoder cover 143, thereby avoiding leakage of the encoder cover 143.

[0098] In this embodiment, the third contact 152 is formed on the second surface 1122 by the first connector 15, and the fourth contact 171 is formed on the fourth surface 1431 by the third connector 17. The third contact 152 of the first connector 15 and the fourth contact 171 of the third connector 17 are in direct contact, so that an electrical connection is formed between the first connector 15 and the third connector 17, which can avoid using an additional connection line between the first connector 15 and the third connector 17, simplify the assembly process, and reduce the failure rate of using an additional connection line between the first connector 15 and the third connector 17. In addition, while the first connector 15 and the third connector 17 are electrically connected, the abutment between the second surface 1122 and the fourth surface 1431 is ensured, so that the width of the gap formed between the second surface 1122 and the fourth surface 1431 can be effectively reduced.

[0099] In some other embodiments, one end of the first connector 15 adjacent to the second surface 1122 can be located in the first channel 1123, and one end of the third connector 17 adjacent to the fourth surface 1431 can be located in the third channel 1432. An intermediate connector can be added between the first connector 15 and the third connector 17, with one end of the intermediate connector extending into the first channel 1123 and abutting against the first connector 15, and the other end of the intermediate connector extending into the third channel 1432 and abutting against the third connector 17.

[0100] See also Figure 1 In some embodiments, the encoder cover 143 is provided with an overcurrent protection circuit 18 , the overcurrent protection circuit 18 is electrically connected to the encoder 142 , and the overcurrent protection circuit 18 is electrically connected to the third connecting member 17 .

[0101] In this embodiment, an overcurrent protection circuit 18 is provided on the encoder cover 143, and the encoder 142 can be electrically connected to the overcurrent protection circuit 18 via a communication line, so as to prevent the encoder 142 from being burned out due to excessive voltage.

[0102] Among them, see Fig. 9, the overcurrent protection circuit 18 includes a power module, a control module, a protection module, and a filtering and acceleration module. Among them, in the power module, the input terminal is VCC, which provides a stable DC voltage, and GND is used as a ground terminal to ensure the safe return of the current. In the control module, the MOS tube Q1 is used as a core control element. When its gate voltage is greater than the threshold, it is turned on to allow current to pass; otherwise, it is turned off to prevent current from flowing. The encoder 142 is connected to the MOS tube Q1 to monitor the current change in real time. In the protection module, the sampling resistor R21 is used to accurately measure the current in the circuit. When the current is too large and the voltage across the sampling resistor R21 rises more than 0.7V, the transistor Q2 is triggered to turn on. The transistor Q2 is used as a protection element to control the MOS tube Q1 to turn off, thereby protecting the encoder 142 from overcurrent damage. The diode D21 and the diode D22 play a protective and stabilizing role in the circuit. When the load is inductive, after the MOS tube Q1 is turned off, the load current is released through the diode D21 to reduce the stress of the MOS tube. At the same time, diode D22 is connected in parallel with resistor R22 to form a filter circuit to stabilize the circuit voltage. In the filtering and acceleration module, capacitor C20 and capacitor C21 play a filtering and stabilizing role in the circuit. Capacitor C20 and resistor R22 form a positive feedback circuit to accelerate the shutdown process of MOS tube Q1, extend its shutdown time, and reduce switching loss. At the same time, capacitor C20 and resistor R22 also form a filter circuit to further stabilize the circuit voltage. Capacitor C21 is connected in parallel at both ends of resistor R22 and diode D22 to speed up the protection speed and ensure that the circuit can respond quickly when overcurrent occurs. In addition, in the overcurrent protection circuit 18, resistor R20 and resistor R22 play a role of current limiting and voltage dividing in the circuit to ensure the stable operation of the circuit.

[0103] Exemplarily, when the overcurrent circuit operates normally, the voltage across the MOS tube Ugs is greater than the threshold voltage, the MOS tube is turned on, and the encoder 142 operates normally; when the current has an overcurrent phenomenon, the voltage across the sampling resistor R21 rises to greater than 0.7V, so that the voltage between the base and the emitter of the transistor is greater than 0.7V, causing the transistor to be turned on, and the MOS tube is turned off due to the increased drain voltage, and the current flows through R20 and the transistor, thereby protecting the encoder 142 from burning due to overcurrent. The circuit mainly changes the flow direction of the current by forming negative feedback through the sampling resistor R21. Secondly, when the overcurrent occurs, the MOS tube will be turned off and on continuously, which will cause it to work in the linear region, act as a resistor, and cause it to heat up and burn severely. For this, the circuit introduces a positive feedback capacitor C20 to accelerate the closing of the MOS tube, extend the closing time, reduce the switching loss of the MOS tube, and prevent it from working in the linear region. At the same time, C20 and R22 form a filter circuit. For diode D21, when the load is inductive, the MOS tube protection is turned off, and the load current will be released through D21 to reduce the stress of the MOS tube; at the same time, in order to ensure the speed of the sampling resistor, C21 is connected in parallel between R22 and D22 to speed up the protection speed.

[0104] In some other implementations, the overcurrent protection circuit 18 may also be replaced by a plurality of resistors with larger resistance values.

[0105] Please refer again Figure 1 In some embodiments, the encoder cover 143 is further provided with two heat dissipation layers 1433 , and the overcurrent protection circuit 18 is provided between the two heat dissipation layers 1433 .

[0106] In this embodiment, the overcurrent protection circuit 18 is arranged between two heat dissipation layers 1433 , which can accelerate the heat dissipation of the overcurrent protection circuit 18 and prevent the overcurrent protection circuit 18 from being damaged due to the heat dissipation of the servo motor 1 .

[0107] The heat dissipation layer 1433 may be a graphene layer, or may be made of other materials, which is not limited here.

[0108] In some other implementations, the encoder 142 may also be provided with a single heat dissipation layer 1433 .

[0109] Please continue reading Figure 1 In some embodiments, the servo motor 1 further includes a brake line 19 , one end of the brake line 19 is located in the accommodating cavity 114 , and the other end of the brake line 19 is connected to the opening 113 and the line inlet 121 and exits from the line outlet 122 .

[0110] In this embodiment, one end of the brake line 19 is located in the accommodating cavity 114, and the other end is connected to the outlet 122 through the opening 113 and the inlet 121, that is, the power line 13, the encoder line 141 and the brake line 19 are connected to the same outlet box 12, which can reduce the overall volume of the servo motor 1, improve the compactness of the structure of the servo motor 1, and facilitate the assembly and use of the servo motor 1.

[0111] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A servo motor, characterized in that: include: An end cover assembly, the end cover assembly comprising a front end cover and a rear end cover assembled with each other, the front end cover and the rear end cover enclose a receiving cavity with an opening; An outlet box, the outlet box is arranged on the end cover assembly, the outlet box comprises a connected wire inlet and a wire outlet, the wire inlet is connected to the opening; A power cord, one end of which is located in the accommodating cavity, and the other end of which is discharged from the outlet through the opening and the inlet; as well as An encoder line, one end of which is located in the accommodating cavity, and the other end of which is connected to the line outlet through the opening and the line inlet.

2. The servo motor according to claim 1, characterized in that: The wire outlet is configured to face the shaft tail of the rotating shaft.

3. The servo motor according to claim 1, characterized in that: The rear end cover has a first surface and a second surface opposite to each other, the first surface faces the front end cover; the rear end cover is also provided with a first channel, the first channel runs through the first surface and the second surface; The servo motor also includes: an encoder, the encoder being disposed on the second surface; as well as A first connecting member is disposed in the first channel, one end of the first connecting member is electrically connected to the encoder, and the other end of the first connecting member is electrically connected to one end of the encoder line located in the accommodating cavity.

4. The servo motor according to claim 3, characterized in that: The front end cover has a third surface facing the first surface, and the front end cover is provided with a second channel penetrating the third surface, the second channel is provided with a second connecting piece, and the second connecting piece is electrically connected to one end of the encoder line located in the accommodating cavity; Wherein, the first connecting member forms a first contact on the first surface, and the second connecting member forms a second contact on the third surface. When the front end cover and the rear end cover are assembled, the third surface abuts against the first surface, and the first contact abuts against the second contact, so that the first connecting member is electrically connected to the second connecting member.

5. The servo motor according to claim 4, characterized in that: The front end cover is used to enclose the inner wall of the accommodating cavity and is provided with a welding portion, the welding portion is electrically connected to the second connecting member, and the encoder line is located at one end of the accommodating cavity and is electrically connected to the welding portion.

6. The servo motor according to claim 4, characterized in that: The number of the first channels and the number of the first connecting members are both multiple, and the multiple first connecting members are arranged in a one-to-one correspondence to the multiple first channels; the number of the second channels and the number of the second connecting members are both multiple, and the multiple second connecting members are arranged in a one-to-one correspondence to the multiple second channels; wherein the multiple first connecting members are electrically connected to the multiple second connecting members in a one-to-one correspondence.

7. The servo motor according to claim 4, characterized in that: The first connecting member and the second connecting member are both copper bars.

8. The servo motor according to claim 3, characterized in that: Also included is an encoder cover mounted on the second surface.

9. The servo motor according to claim 8, characterized in that: The encoder cover has a fourth surface facing the second surface, and the encoder cover is provided with a third channel penetrating the fourth surface, the third channel is provided with a third connecting member, and the encoder is electrically connected to the third connecting member; Among them, the first connecting member forms a third contact on the second surface, and the third connecting member forms a fourth contact on the fourth surface. When the encoder cover and the rear end cover are assembled, the second surface abuts against the fourth surface, and the second contact abuts against the fourth contact, so that the first connecting member is electrically connected to the third connecting member.

10. The servo motor according to claim 9, characterized in that: The encoder cover is provided with an overcurrent protection circuit, the overcurrent protection circuit is electrically connected to the encoder, and the overcurrent protection circuit is electrically connected to the third connecting member.

11. The servo motor according to claim 10, characterized in that: The encoder cover is also provided with two heat dissipation layers, and the overcurrent protection circuit is arranged between the two heat dissipation layers.

12. The servo motor according to any one of claims 1 to 11, characterized in that: It also includes a brake line, one end of which is located in the accommodating cavity, and the other end of which is discharged from the outlet through the opening and the inlet.

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