Servo driver and servo system

Abstract

The invention provides a servo driver and a servo system, and the servo driver comprises a seat body which comprises a first body and a supporting part, and the supporting part is connected with the first body; the shell assembly is connected with the supporting part, and a containing cavity is defined by the shell assembly and the first body; the circuit board is arranged on the supporting part and located in the containing cavity; the encoder terminal is arranged on the circuit board; the cover body is connected with the shell assembly and located on the side, away from the first body, of the containing cavity, the cover body comprises a first wall, a battery bin and a channel, a first opening is formed in the first wall, the battery bin is connected with the first wall and opposite to the first opening, the channel is formed in the side, close to the shell assembly, of the first wall, and the first end of the channel communicates with the battery bin; the second end of the channel extends to the end part of the cover body; the battery is arranged in the battery compartment; and the wire harness is arranged in the channel, the first end of the wire harness is connected with the battery, and the second end of the wire harness can be connected with the encoder terminal.

Description

Technical Field

[0001] The invention relates to the field of electromechanical technology, and specifically proposes a servo driver and a servo system. Background Art

[0002] At present, in the relevant technology, the battery and encoder of the servo drive are connected through a wiring harness. If the wiring harness passes directly through the front of the cover, it will have a great impact on the appearance. At the same time, the swing of the wiring harness during the installation process will have a certain impact on other plugs, which may cause poor contact of the connector. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first aspect of the present invention provides a servo drive.

[0005] A second aspect of the present invention provides a servo system.

[0006] In view of this, the first aspect of the present invention provides a servo driver, which includes a seat, a shell assembly, a circuit board, an encoder terminal, a cover body and a wiring harness. The seat includes a first body and a support portion, the support portion is connected to the first body; the shell assembly is connected to the support portion, and the shell assembly and the first body enclose a receiving cavity; the circuit board is arranged on the support portion and is located in the receiving cavity; the encoder terminal is arranged on the circuit board; the cover body is connected to the shell assembly and is located on the side of the receiving cavity away from the first body, the cover body includes a first wall, a battery compartment and a channel, the first wall is provided with a first opening, the battery compartment is connected to the first wall and is opposite to the first opening, the channel is arranged on the side of the first wall close to the shell assembly, the first end of the channel is connected to the battery compartment, and the second end of the channel extends to the end of the cover body; the battery is arranged in the battery compartment; the wiring harness is arranged in the channel, the first end of the wiring harness is connected to the battery, and the second end of the wiring harness can be connected to the encoder terminal.

[0007] The servo driver proposed in the present invention includes a seat body, a shell assembly, a circuit board, an encoder terminal, a cover body, a battery and a wiring harness. The seat body includes a first body and a support part. The first body is the main structural part of the seat body. The support part is connected to the first body, and the support part can play a supporting and connecting role.

[0008] The shell component is connected to the support part, so that the shell component and the first body are indirectly connected together. The shell component and the first body surround a receiving cavity, and the support part makes it easier to combine the shell component and the seat body.

[0009] The circuit board is arranged on the support part and is located in the accommodating cavity. The arrangement of the support part provides a position for the circuit board to be installed. The circuit board can realize functions such as signal transmission, power management, signal processing, control and logic, data and conversion, and current protection.

[0010] The encoder terminal is set on the circuit board. The encoder is a signal encoder used to convert motion or position, and the encoder terminal is the interface for the encoder to receive power supply. The encoder terminal is set on the circuit board and is used in combination with the circuit board to convert physical motion into digital signals, thereby realizing the measurement and control of the original motion signal.

[0011] The cover is connected to the shell assembly and is located on the side of the accommodating cavity away from the first body. The cover includes a first wall, a battery compartment and a passage. The first wall is provided with a first opening, and the battery compartment is connected to the first wall and is opposite to the first opening. The cover is a component located on the upper side of the external structure of the entire servo drive. The battery compartment is used to accommodate batteries, and the first opening can be used for batteries to enter or move out of the battery compartment.

[0012] The battery of the servo drive is a component used to provide electrical energy. The battery is set in the battery compartment, so that the battery is accommodated and integrated into the servo drive, avoiding the battery from occupying the space outside the servo drive and reducing the impact of the battery on the external structure of the servo drive, such as the setting of the grounding bolt used for installation.

[0013] The battery can be connected to the encoder terminal to realize the transmission and supply of electric energy, which can ensure that the multi-turn encoding signal of the encoder is not lost in the event of a sudden power outage.

[0014] The servo drive also includes a wiring harness, and the channel of the cover body is used for passing the wiring harness. Specifically, the channel is arranged on a side of the first wall close to the shell assembly, the first end of the channel is connected to the battery compartment, and the second end of the channel extends to the end of the cover body. The channel constitutes a transmission path from the battery compartment to the end of the cover body.

[0015] The wiring harness is arranged in the channel, the first end of the wiring harness is connected to the battery, and the second end of the wiring harness can be connected to the encoder terminal. The wiring harness is used to transmit electrical energy to the encoder terminal for use by the encoder.

[0016] The present invention arranges a channel in the cover body, and the battery is inserted through the wiring harness and the encoder terminal at the bottom. The wiring harness is almost invisible, so that the wiring harness passes through the hidden channel and comes out from the battery wiring port. At this time, the connector of the battery wiring harness can form an aerial connection with the line part of the encoder terminal, thereby reducing the interference of the battery wiring harness on the wiring terminal on the front side of the cover body.

[0017] In addition, the servo driver in the above technical solution provided by the present invention may also have the following additional technical features:

[0018] In some technical solutions of the present invention, optionally, the servo driver further includes: a first terminal, the first terminal is arranged at the second end of the channel, connected to the second end of the wiring harness, and the first terminal can be connected to the encoder terminal.

[0019] In this technical solution, the servo driver further includes a first terminal, which is arranged at the second end of the channel, that is, the first terminal is arranged at the end of the channel away from the battery compartment. The first terminal is connected to the second end of the wiring harness, and the first terminal can be connected to the encoder terminal, that is, the second end of the wiring harness is connected to the encoder terminal through the first terminal.

[0020] By setting the first terminal and the encoder terminal to be connected, the encoder component can be powered by the battery, thereby achieving accurate motion control. At the same time, the setting of connecting the external battery to the encoder terminal also effectively ensures that the multi-turn encoder can collect information in any emergency situation, and can obtain higher resolution and larger measurement range.

[0021] In some technical solutions of the present invention, optionally, the servo driver further includes: a battery cover, which is disposed at the first opening and is rotatably connected to the first wall to open or close the battery compartment.

[0022] In this technical solution, the battery cover is arranged at the first opening and is rotatably connected to the first wall. By applying force to the battery cover, the battery compartment can be opened or closed relatively easily, so as to operate the battery in the battery compartment. The flip-type design improves the convenience of replacing the battery. In addition, the setting of the battery cover allows the battery to be covered after being set in the battery compartment, thereby reducing the impact on the neatness of the appearance of the servo drive, making the appearance of the servo drive more beautiful.

[0023] In some technical solutions of the present invention, optionally, a groove is provided on the first wall, the groove has a second opening, the second opening faces the side of the first wall away from the shell assembly, the groove is located on the side of the channel and the battery compartment, the area opposite to the battery compartment is connected to the battery compartment, and the area opposite to the groove and the channel is connected to the channel.

[0024] In this technical solution, the first wall is provided with a groove having a second opening, and in the orientation of the second opening, the second opening faces a side of the first wall away from the shell assembly, that is, the second opening is an opening pointing outward.

[0025] The groove is located on the side of the channel and the battery compartment, and the area where the groove is opposite to the battery compartment is connected to the battery compartment, which is convenient for operating the battery compartment to place or remove the battery. The area where the groove is opposite to the channel is connected to the channel, which makes it easy to adjust the wiring harness.

[0026] In some technical solutions of the present invention, optionally, a side of the battery cover away from the groove is rotatably connected to the first wall, and a side of the battery cover close to the groove can be close to or away from the battery compartment.

[0027] In this technical solution, the side of the battery cover away from the groove is rotatably connected to the first wall, and the side of the battery cover away from the groove forms a structure that functions as a rotating shaft.

[0028] The side of the battery cover close to the groove can be close to or away from the battery compartment. Specifically, when using the servo driver proposed in the present invention, when the battery cover is buckled at the first opening and the battery compartment is closed, if the battery compartment needs to be opened, a lifting force is applied to the battery cover, and the side of the battery cover away from the groove rotates relative to the first wall, and the side of the battery cover close to the groove moves in the direction away from the battery compartment, thereby realizing convenient opening of the battery compartment.

[0029] When the battery compartment needs to be closed, a downward force is applied to the battery cover, the side of the battery cover away from the groove rotates relative to the first wall, and the side of the battery cover close to the groove moves toward the battery compartment, and finally the battery cover closes the battery compartment.

[0030] The present invention arranges the side of the battery cover away from the groove to be rotatably connected to the first wall, and the side of the battery cover close to the groove can be close to or away from the battery compartment, forming a structure for flipping and opening the battery compartment, thereby facilitating the process of opening the battery compartment.

[0031] In some technical solutions of the present invention, optionally, the cross-section of the area where the groove is opposite to the battery compartment is trapezoidal; the cross-section of the area where the groove is opposite to the channel is V-shaped.

[0032] In this technical solution, the cross section of the area where the groove faces the battery compartment is trapezoidal, which makes it easier for the user to open the battery cover by operating the groove. The cross section of the area where the groove faces the channel is V-shaped, which makes it easier to arrange the wiring harness and can also make the wiring harness more hidden.

[0033] In some technical solutions of the present invention, optionally, the servo drive also includes: a first rib, which is connected to the battery cover, located on the side of the battery cover close to the battery compartment, and protrudes from the surface of the battery cover on the side close to the battery compartment; wherein, when the battery cover closes the battery compartment, the first rib is in contact with the battery.

[0034] In this technical solution, the servo drive also includes a first rib, which is connected to the battery cover, located on the side of the battery cover close to the battery compartment, and protrudes from the surface of the battery cover close to the battery compartment, that is, the first rib is arranged on the surface opposite to the battery cover and the battery compartment.

[0035] When the battery cover closes the battery compartment, the first rib contacts the battery, and the first rib squeezes the battery, so that the battery is clamped, thereby fully fixing the battery in the battery compartment.

[0036] In some technical solutions of the present invention, optionally, a connecting hole is provided on the first wall, and the connecting hole extends along the rotation axis of the battery cover. The battery cover includes a second body and a connecting shaft. The second body is buckled in the battery compartment and adapted to the first opening; the connecting shaft is connected to the second body and inserted into the connecting hole.

[0037] In this technical solution, the first wall is provided with a connection hole, and the connection hole extends along the rotation axis of the battery cover, that is, the connection hole is a hole structure opened along the direction of the rotation axis of the battery cover.

[0038] The battery cover comprises a second body, which is buckled on the battery compartment and matched with the first opening, and is used for closing and opening the battery compartment.

[0039] The battery cover also includes a connecting shaft, which is connected to the second body and inserted into the connecting hole.

[0040] When the servo driver proposed by the present invention is used, when the second body is buckled at the first opening and the battery compartment is closed, if the battery compartment needs to be opened, a lifting force is applied to the second body, and the connecting shaft rotates with the second body in the connecting hole, thereby conveniently opening the battery compartment. Thereafter, when the battery compartment needs to be closed, a downward force is applied to the second body, and the connecting shaft rotates with the second body in the connecting hole, and finally the battery cover closes the battery compartment.

[0041] The flip cover structure of the battery cover greatly simplifies the opening and installation process, makes the appearance of the servo drive simple, and reduces the manufacturing cost of the servo drive.

[0042] In the technical solution of the present invention, a third opening is provided on the first wall, the encoder terminal is opposite to the third opening, and the opening of the encoder terminal faces the outside of the first wall.

[0043] In this technical solution, a third opening is provided on the first wall, and the encoder terminal is opposite to the third opening. The encoder terminal is exposed to the outside of the first wall through the third opening, and the opening of the encoder terminal faces the outside of the first wall, thereby facilitating the user to connect the encoder terminal and improving the user's operating convenience.

[0044] A second aspect of the present invention provides a servo system, comprising a servo driver as in any of the above technical solutions.

[0045] The servo system proposed in the second aspect of the present invention includes a servo driver as in any of the above technical solutions, and therefore has all the beneficial effects as in any of the above technical solutions.

[0046] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0048] Figure 1 It shows one of the structural schematic diagrams of a servo driver according to one embodiment of the present invention;

[0049] Figure 2 A second structural schematic diagram of a servo driver according to an embodiment of the present invention is shown;

[0050] Figure 3 A third structural schematic diagram of a servo driver according to an embodiment of the present invention is shown;

[0051] Figure 4 A fourth structural schematic diagram of a servo driver according to an embodiment of the present invention is shown;

[0052] Figure 5 A fifth structural schematic diagram of a servo driver according to an embodiment of the present invention is shown;

[0053] Figure 6 A sixth structural schematic diagram of a servo driver according to an embodiment of the present invention is shown;

[0054] Figure 7 A seventh structural schematic diagram of a servo driver according to an embodiment of the present invention is shown;

[0055] Figure 8 FIG8 shows an eighth structural schematic diagram of a servo driver according to an embodiment of the present invention.

[0056] in, Figures 1 to 8 The corresponding relationship between the reference numerals and component names in the figure is:

[0057] 100 servo driver, 110 seat, 112 first body, 114 support portion, 120 shell assembly, 130 accommodating cavity, 140 circuit board, 150 encoder terminal, 152 opening, 160 cover, 161 first wall, 162 first opening, 163 battery compartment, 164 second wall, 165 notch, 166 channel, 167 wiring harness, 168 groove, 169 second opening, 170 third opening, 171 connecting hole, 180 elastic member, 182 connecting arm, 184 protrusion, 190 battery, 200 battery cover, 202 second body, 204 connecting shaft, 210 first terminal, 220 first rib. DETAILED DESCRIPTION

[0058] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0059] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0060] Refer to the following Figures 1 to 8 A servo drive 100 and a servo system according to some embodiments of the present invention are described.

[0061] like Figure 1 , Figure 2 , Figure 4 and Figure 8 As shown, in one embodiment of the present invention, a servo driver 100 is proposed, which includes a base 110, a shell assembly 120, a circuit board 140, an encoder terminal 150, a cover 160, an elastic member 180, a battery 190 and a battery cover 200. The base 110 includes a first body 112 and a support portion 114. The first body 112 is the main structural member of the base 110, and the support portion 114 is connected to the first body 112, and the support portion 114 can play a role of supporting connection.

[0062] The shell assembly 120 is connected to the support portion 114 , thereby indirectly connecting the shell assembly 120 and the first body 112 . The shell assembly 120 and the first body 112 enclose a receiving cavity 130 . The support portion 114 makes it easier to combine the shell assembly 120 and the base 110 .

[0063] The circuit board 140 is disposed on the support portion 114 and is located in the accommodating cavity 130. The arrangement of the support portion 114 provides a location for the circuit board 140 to be installed. The circuit board 140 can realize functions such as signal transmission, power management, signal processing, control and logic, data and conversion, and current protection.

[0064] The encoder terminal 150 is disposed on the circuit board 140. The encoder is a signal encoder for converting motion or position, and the encoder terminal 150 is an interface for the encoder to receive power supply. The encoder terminal 150 is disposed on the circuit board 140 and is used in combination with the circuit board 140 to convert physical motion into digital signals, thereby realizing the measurement and control of the original motion signal.

[0065] The cover 160 is connected to the shell assembly 120 and is located on the side of the accommodating cavity 130 away from the first body 112. The cover 160 includes a first wall 161 and a battery compartment 163. The first wall 161 is provided with a first opening 162, and the battery compartment 163 is connected to the first wall 161 and is opposite to the first opening 162. The cover 160 is the uppermost component in the external structure of the entire servo driver 100 along the gravity direction. The battery compartment 163 is used to accommodate the battery 190, and the first opening 162 can be used for the battery 190 to enter or move out of the battery compartment 163.

[0066] The battery 190 of the servo driver 100 is a component for providing electric energy. The battery 190 is arranged in the battery compartment 163, so that the battery 190 is accommodated, and the battery 190 is integrated into the servo driver 100, so as to avoid the battery occupying the space outside the servo driver 100, and reduce the influence of the battery 190 on the external structure of the servo driver 100, such as the grounding bolt used for installation. The battery 190 can be connected to the encoder terminal 150 to realize the transmission and supply of electric energy, and can ensure that the multi-turn encoding signal of the encoder is not lost in the event of a sudden power failure.

[0067] The servo drive 100 also includes a wiring harness 167, and a channel 166 is used for passing the wiring harness 167. Specifically, the channel 166 is arranged on a side of the first wall 161 close to the shell assembly 120. The first end of the channel 166 is connected to the battery compartment 163, and the second end of the channel 166 extends to the end of the cover body 160. The channel 166 constitutes a transmission path from the battery compartment 163 to the end of the cover body 160.

[0068] The wiring harness 167 is arranged in the channel 166. The first end of the wiring harness 167 is connected to the battery 190, and the second end of the wiring harness 167 can be connected to the encoder terminal 150. The wiring harness 167 can transmit electrical energy to the encoder terminal 150 and then be used by the encoder.

[0069] If the wire harness 167 passes directly through the front of the cover body 160, it will have a great impact on the appearance. At the same time, the swing of the wire harness 167 during the installation process will have a certain impact on other plugs, which may cause poor contact of the connector.

[0070] The present invention arranges a channel 166 in the cover body 160, and the battery 190 is inserted at the bottom through the wiring harness 167 and the encoder terminal 150. The wiring harness 167 is almost invisible, so that the wiring harness 167 passes through the hidden channel 166 and comes out from the end connected to the battery 190. At this time, the connector of the wiring harness 167 can form an aerial connection with the line part of the encoder terminal 150, thereby reducing the interference of the wiring harness 167 on the wiring terminals on the front side of the cover body 160.

[0071] Specifically, the wiring harness 167 is connected to the positive and negative poles of the battery 190 by welding.

[0072] like Figure 1 , Figure 4 and Figure 5 As shown, in some embodiments of the present invention, optionally, the servo driver 100 also includes: a first terminal 210, which is arranged at the second end of the channel 166 and connected to the second end of the wiring harness 167, and the first terminal 210 can be connected to the encoder terminal 150.

[0073] In this embodiment, the servo driver 100 further includes a first terminal 210, which is disposed at the second end of the channel 166, that is, the first terminal 210 is disposed at an end of the channel 166 away from the battery compartment 163. The first terminal 210 is connected to the second end of the wiring harness 167, and the first terminal 210 can be connected to the encoder terminal 150, that is, the second end of the wiring harness 167 is connected to the encoder terminal 150 through the first terminal 210.

[0074] By setting the first terminal 210 and the encoder terminal 150 to be connected and connected, the encoder component is powered by the battery 190, thereby achieving accurate motion control. At the same time, the setting of connecting the external battery 190 to the encoder terminal 150 also effectively ensures that the multi-turn encoder can obtain information in any emergency situation, and can obtain higher resolution and a larger measurement range.

[0075] like Figure 2 , Figure 4 and Figure 5 As shown, in some embodiments of the present invention, optionally, the servo driver 100 further includes: a battery cover 200 , which is disposed at the first opening 162 and is rotatably connected to the first wall 161 to open or close the battery compartment 163 .

[0076] In this embodiment, the battery cover 200 is arranged at the first opening 162 and is rotatably connected to the first wall 161. By applying force to the battery cover 200, the battery compartment 163 can be opened or closed relatively easily, so as to facilitate operation of the battery 190 in the battery compartment 163. The flip-type design improves the convenience of replacing the battery 190. In addition, the setting of the battery cover 200 allows the battery 190 to be covered after being set in the battery compartment 163, thereby reducing the impact on the neatness of the appearance of the servo drive 100, making the appearance of the servo drive 100 more beautiful and avoiding the servo drive 100 from appearing bloated.

[0077] Specifically, the battery cover 200 is disposed on the right side below the front side of the servo driver 100 .

[0078] like Figure 4 , Figure 5 and Figure 7 As shown, in some embodiments of the present invention, optionally, the first wall 161 is provided with a groove 168, the groove 168 has a second opening 169, the second opening 169 is toward the side of the first wall 161 away from the shell assembly 120, the groove 168 is located on the side of the channel 166 and the battery compartment 163, the area where the groove 168 is opposite to the battery compartment 163 is connected to the battery compartment 163, and the area where the groove 168 is opposite to the channel 166 is connected to the channel 166.

[0079] In this embodiment, the first wall 161 is provided with a groove 168 having a second opening 169 , and the second opening 169 is oriented toward a side of the first wall 161 away from the shell assembly 120 , that is, the second opening 169 is an opening pointing outward.

[0080] The groove 168 is located on the side of the channel 166 and the battery compartment 163. The area where the groove 168 faces the battery compartment 163 is connected to the battery compartment 163, which facilitates the operation of the battery compartment 163 to place or remove the battery 190. The area where the groove 168 faces the channel 166 is connected to the channel 166, which facilitates the adjustment of the wiring harness 167.

[0081] like Figure 4 and Figure 5 As shown, in some embodiments of the present invention, optionally, the side of the battery cover 200 away from the groove 168 is rotatably connected to the first wall 161, and the side of the battery cover 200 close to the groove 168 can be close to or away from the battery compartment 163.

[0082] In this embodiment, the side of the battery cover 200 away from the groove 168 is rotatably connected to the first wall 161 , and the side of the battery cover 200 away from the groove 168 forms a structure that functions as a rotating shaft.

[0083] The side of the battery cover 200 close to the groove 168 can be close to or away from the battery compartment 163. Specifically, when using the servo driver 100 proposed in the present invention, when the battery cover 200 is buckled at the first opening 162 and the battery compartment 163 is closed, if the battery compartment 163 needs to be opened, a lifting force is applied to the battery cover 200, and the side of the battery cover 200 away from the groove 168 rotates relative to the first wall 161, and the side of the battery cover 200 close to the groove 168 moves in a direction away from the battery compartment 163, thereby realizing convenient opening of the battery compartment 163.

[0084] When the battery compartment 163 needs to be closed, a downward force is applied to the battery cover 200, and the side of the battery cover 200 away from the groove 168 rotates relative to the first wall 161, and the side of the battery cover 200 close to the groove 168 moves toward the battery compartment 163, and finally the battery cover 200 closes the battery compartment 163.

[0085] The present invention arranges the side of the battery cover 200 away from the groove 168 to be rotatably connected to the first wall 161, and the side of the battery cover 200 close to the groove 168 can be close to or away from the battery compartment 163, forming a structure for flipping open the battery compartment 163, thereby facilitating the process of opening the battery compartment 163.

[0086] like Figure 4 , Figure 5 and Figure 7 As shown, in some embodiments of the present invention, optionally, the cross-section of the area where the groove 168 is opposite to the battery compartment 163 is trapezoidal; the cross-section of the area where the groove 168 is opposite to the channel 166 is V-shaped.

[0087] In this embodiment, the cross section of the area where the groove 168 faces the battery compartment 163 is trapezoidal, which makes it easier for the user to operate the groove 168 to open the battery cover 200. The cross section of the area where the groove 168 faces the channel 166 is V-shaped, which makes it easier to arrange the wire harness 167 and also makes it easier to hide the wire harness 167.

[0088] like Figure 5 As shown, in some embodiments of the present invention, optionally, the servo driver 100 also includes: a first rib 220, the first rib 220 is connected to the battery cover 200, is located on the side of the battery cover 200 close to the battery compartment 163, and protrudes from the surface of the battery cover 200 on the side close to the battery compartment 163; wherein, when the battery cover 200 closes the battery compartment 163, the first rib 220 is in contact with the battery.

[0089] In this embodiment, the servo driver 100 also includes a first rib 220, which is connected to the battery cover 200, located on the side of the battery cover 200 close to the battery compartment 163, and protrudes from the surface of the battery cover 200 close to the battery compartment 163, that is, the first rib 220 is arranged on the surface of the battery cover 200 opposite to the battery compartment 163.

[0090] When the battery cover 200 closes the battery compartment 163 , the first rib 220 contacts the battery 190 , and the first rib 220 squeezes the battery 190 , so that the battery 190 is clamped, thereby fully fixing the battery 190 in the battery compartment 163 .

[0091] like Figure 2As shown, in some embodiments of the present invention, optionally, the servo driver 100 further includes: an elastic member 180, which is connected to the battery compartment 163; a battery 190 is disposed in the battery compartment 163, and a side of the battery 190 away from the first opening 162 is in contact with the elastic member 180, and the battery 190 can be connected to the encoder terminal 150; a battery cover 200 is disposed at the first opening 162, and is rotatably connected to the first wall 161 to open or close the battery compartment 163; wherein, when the battery cover 200 closes the battery compartment 163, the battery 190 squeezes the elastic member 180, and the elastic member 180 is deformed.

[0092] In this embodiment, the elastic member 180 of the servo driver 100 is connected to the battery compartment 163 . The elastic member 180 is disposed in the battery compartment 163 . The elastic member 180 can be deformed by force to generate a reaction force.

[0093] The side of the battery 190 away from the first opening 162 contacts the elastic member 180, and when the battery cover 200 closes the battery compartment 163, the battery 190 squeezes the elastic member 180, causing the elastic member 180 to deform. The elastic member 180 generates a force after deformation, and this force is limited by the battery 190 and cannot be released after the battery cover 200 closes the battery compartment 163.

[0094] When the battery cover 200 opens the battery compartment 163, the battery cover 200 no longer applies force to the battery 190, and the battery 190 no longer squeezes the elastic member 180. The elastic member 180 begins to release force to the battery 190 due to restoring its shape, thereby pushing at least part of the battery 190 to pop out of the battery compartment 163, making it easier for the user to take the battery 190 and improving the convenience of repairing and replacing the battery 190.

[0095] The servo driver 100 proposed by the present invention has a battery cover 200 designed as a rotating flip cover structure. When repairing and replacing the battery 190, the battery compartment 163 can be opened by simply rotating the flip cover. In addition, an elastic member 180 is designed inside the battery box to ensure that when the flip cover is opened, the elastic member 180 automatically pops out the battery 190. When taking out the battery 190, the battery 190 can be easily taken out without additional tools, which improves the convenience of the operator, reduces the size of the servo driver 100, greatly reduces the cost of setting the battery 190 in the servo driver 100, and makes the appearance of the servo driver 100 more beautiful.

[0096] In addition, the user can replace the battery 190 by operating the battery cover 200 on the cover body 160 of the servo driver 100, thereby operating the battery 190 on the top surface of the servo driver 100, thereby making it convenient for the user to observe the condition of the battery 190 and perform operations.

[0097] like Figure 2 As shown, in some embodiments of the present invention, optionally, the side wall of the battery compartment 163 away from the first opening 162 is a second wall 164, and the second wall 164 is provided with a notch 165 passing through the second wall 164, and the elastic member 180 includes a connecting arm 182 and a protrusion 184, the connecting arm 182 is arranged in the notch 165, the first end of the connecting arm 182 is connected to the second wall 164, and the second end of the connecting arm 182 is a free end; the protrusion 184 is arranged on the side of the connecting arm 182 close to the battery 190, located at the second end of the connecting arm 182, and protruding from the surface of the second wall 164 on the side close to the battery 190.

[0098] In this embodiment, the side wall of the battery compartment 163 away from the first side of the first opening 162 is the second wall 164 , and a notch 165 penetrating the second wall 164 is disposed on the second wall 164 .

[0099] The elastic member 180 includes a connecting arm 182 and a protrusion 184, wherein the connecting arm 182 is disposed in the notch 165, and a first end of the connecting arm 182 is connected to the second wall 164, that is, one end of the connecting arm 182 is connected to a side wall of the battery compartment 163 away from the first opening 162. The second end of the connecting arm 182 is a free end, that is, the second end of the connecting arm 182 is an end without a restraining support.

[0100] The protrusion 184 of the elastic member 180 is disposed on a side of the connecting arm 182 close to the battery 190 . The protrusion 184 is located at the second end of the connecting arm 182 and protrudes from a surface of the second wall 164 close to the battery 190 .

[0101] By setting the elastic member 180 including the connecting arm 182 and the protrusion 184, a cantilever beam structure is formed in the battery compartment 163, which can ensure that when the battery cover 200 is opened, the force generated by the connecting arm 182 and the protrusion 184 restoring their shapes acts on the battery 190 to automatically pop out the battery 190, and the battery 190 can be easily taken out without additional tools.

[0102] Specifically, there are two connecting arms 182 , which are disposed opposite to each other. There are two protrusions 184 , which are disposed on the second end of one connecting arm 182 .

[0103] When the battery cover 200 closes the battery compartment 163, the first rib 220 contacts the battery 190 and squeezes the battery 190. At this time, the protrusion 184 is deformed under force. The first rib 220 and the protrusion 184 on the battery cover 200 just have a compression effect when the battery cover 200 is closed. The battery 190 is clamped, and the battery 190 is fully fixed in the battery compartment 163.

[0104] Specifically, the servo driver 100 also includes a second rib, which is connected to the battery cover 200 and is spaced apart from the first rib 220 and is arranged on the side of the battery cover 200 close to the battery compartment 163 and protrudes from the surface of the side of the battery cover 200 close to the battery compartment 163, so as to better squeeze the battery 190 and make the left and right ends of the battery 190 evenly stressed.

[0105] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments of the present invention, optionally, the first wall 161 is provided with a connecting hole 171, and the connecting hole 171 extends along the rotation axis of the battery cover 200. The battery cover 200 includes: a second body 202, the second body 202 is buckled in the battery compartment 163 and adapted to the first opening 162; and a connecting shaft 204, the connecting shaft 204 is connected to the second body 202 and inserted into the connecting hole 171.

[0106] In this embodiment, the first wall 161 is provided with a connection hole 171 , and the connection hole 171 extends along the rotation axis of the battery cover 200 , that is, the connection hole 171 is a hole structure opened along the direction of the rotation axis of the battery cover 200 .

[0107] The battery cover 200 includes a second body 202 . The second body 202 is buckled in the battery compartment 163 and matched with the first opening 162 . The second body 202 is used to close and open the battery compartment 163 .

[0108] The battery cover 200 further includes a connecting shaft 204 , which is connected to the second body 202 and inserted into the connecting hole 171 .

[0109] The servo driver 100 proposed in the present invention has a battery compartment 163 disposed inside the cover body 160, in which the battery 190 is placed, and a wiring harness 167 extends outward from one end connected to the battery 190 along a channel 166, and a battery cover 200 is mounted on the cover body 160 via a connecting shaft 204, specifically, the connecting shaft 204 is a rotating shaft.

[0110] When the servo driver 100 of the present invention is used, when the second body 202 is buckled at the first opening 162 and the battery compartment 163 is closed, if the battery compartment 163 needs to be opened, a lifting force is applied to the second body 202, and the connecting shaft 204 rotates with the second body 202 in the connecting hole 171, thereby conveniently opening the battery compartment 163. When the battery compartment 163 needs to be closed, a downward force is applied to the second body 202, and the connecting shaft 204 rotates with the second body 202 in the connecting hole 171, and finally the battery cover 200 closes the battery compartment 163.

[0111] The flip cover structure of the battery cover 200 greatly simplifies the opening and installation process, makes the appearance of the servo driver 100 simple, and reduces the manufacturing cost of the servo driver 100.

[0112] like Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments of the present invention, the first wall 161 is provided with a third opening 170 , the encoder terminal 150 is opposite to the third opening 170 , and the opening 152 of the encoder terminal 150 faces the outside of the first wall 161 .

[0113] In this embodiment, the first wall 161 is provided with a third opening 170, and the encoder terminal 150 is opposite to the third opening 170. The encoder terminal 150 is exposed to the first wall 161 through the third opening 170, and the opening 152 of the encoder terminal 150 faces the outside of the first wall 161, thereby facilitating the user to connect the encoder terminal 150 and improving the user's operating convenience.

[0114] Specifically, the servo driver 100 also includes a burning interface, a debugging port, an IO interface and a motor interface, and the above interfaces are all arranged on the cover body 160, which is convenient for operators to use and also enables the servo driver 100 to have complete drive control functions.

[0115] A second aspect of the present invention provides a servo system, comprising a servo driver 100 as in any of the above technical solutions.

[0116] In one embodiment of the present invention, a servo system is provided, comprising the servo driver 100 as in any of the above embodiments.

[0117] In this embodiment, the servo system proposed by the present invention includes the servo driver 100 as in any of the above embodiments, and thus has all the beneficial effects of any of the above technical solutions.

[0118] like Figure 7 As shown, external interfaces, including the burning port, debugging port, IO interface and motor interface are all placed on the cover 160. When the servo driver 100 is installed in the electrical frame of the servo system, the front is the easiest for operators to operate, so the battery 190 is placed on the cover 160 to facilitate operation of the battery 190.

[0119] Specifically, Figure 2 As shown, the present invention designs a built-in battery compartment 163 structure inside the cover body 160, and places the battery 190 therein. The positive and negative poles of the battery 190 are welded together through a wiring harness 167, and a first terminal 210 is crimped on the second end of the wiring harness 167 to form a docking connection with the encoder terminal 150.

[0120] When the wiring harness 167 passes through the front, if it passes directly through the front of the cover body 160, it will have a greater impact on the appearance. At the same time, the swing of the wiring harness 167 during the installation process will have a certain impact on other plugs, which may cause poor contact of the connector. The present invention fully utilizes the characteristics of the V-shaped groove 168 in the cross-section of the area opposite to the channel 166 to allow the wiring harness 167 to pass through the hidden channel 166 and come out of the channel 166. At this time, the first terminal 210 can be connected with the encoder terminal 150 to form an aerial docking.

[0121] like Figure 1 As shown, the present invention designs the elastic member 180 into a cantilever beam structure in the battery compartment 163, and sets a protrusion 184 on the second end of the connecting arm 182. When the battery 190 is placed in the battery compartment 163, the battery 190 is in full contact with the protrusion 184. At this time, the battery cover 200 and the cover body 160 are designed as a rotating shaft pin structure, and the battery cover 200 is fixed on the cover body 160 to form a flip cover structure, which not only reduces the space of the battery 190 structure, but also makes the opening method simpler.

[0122] like Figure 3 As shown, when the battery cover 200 is closed, the first rib 220 plays a role in squeezing the battery 190 . At this time, the protrusion 184 is deformed by force, and the battery 190 is clamped, ensuring that the battery 190 is fully fixed in the battery compartment 163 .

[0123] When the operator opens the battery cover 200 to replace the battery 190, the structural feature of the groove 168 with a trapezoidal cross-section in the area opposite to the battery compartment 163 is fully utilized. When the battery cover 200 is flipped open, the first rib 220 releases the squeeze on the battery 190. At this time, the protrusion 184 allows the battery 190 to rebound, and the battery 190 is not subjected to stress. The battery 190 can be easily taken out for operation and maintenance, which is more convenient.

[0124] In summary, the present invention not only solves the problem of multi-turn encoder information loss by integrating the battery 190 and hiding it in the servo driver 100, but also makes the servo driver 100 more compact and newer in structure, and the operator has more operating space. The operator can easily install and replace it from the front, which greatly improves the user experience. The flip cover structure of the battery cover 200 greatly simplifies the installation process, has a simple appearance, and reduces costs. The interaction between the protrusion 184 of the elastic member 180 of the battery compartment 163 and the first rib 220 makes the installation of the battery 190 more stable. At the same time, when the V-groove buckle structure opens the battery cover 200, the battery 190 will release the elastic force and automatically pop out the battery 190 without the need for any tool assistance, thereby ensuring the normal use of the battery 190 and the normal operation of the servo driver 100. The setting of this battery 190 not only makes the servo driver 100 more compact, reduces costs, simplifies installation, and has a more beautiful appearance, but also this external battery 190 effectively ensures the information collection of the multi-turn encoder under any emergency situation, and can obtain higher resolution and a larger measurement range, thereby ensuring the normal operation of the entire servo system.

[0125] In the claims, specification and drawings of the present invention, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the drawings, which is only for the purpose of more conveniently describing the present invention and making the description process simpler, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limiting the present invention; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood based on the specific circumstances of the above data.

[0126] In the claims, specification and drawings of the present invention, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the claims, specification and drawings of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0127] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A servo drive, characterized in that: include: A seat body, the seat body comprising a first body and a support portion, the support portion being connected to the first body; A shell component, wherein the shell component is connected to the support portion, and the shell component and the first body enclose a receiving cavity; A circuit board, the circuit board is arranged on the supporting portion and is located in the accommodating cavity; An encoder terminal, wherein the encoder terminal is arranged on the circuit board; a cover body, the cover body being connected to the shell assembly and being located at a side of the accommodating cavity away from the first body, the cover body comprising a first wall, a battery compartment and a channel, the first wall being provided with a first opening, the battery compartment being connected to the first wall and being opposite to the first opening, the channel being arranged at a side of the first wall close to the shell assembly, the first end of the channel being communicated with the battery compartment, and the second end of the channel extending to an end of the cover body; A battery, wherein the battery is disposed in the battery compartment; A wire harness is arranged in the channel, a first end of the wire harness is connected to the battery, and a second end of the wire harness can be connected to the encoder terminal.

2. The servo driver according to claim 1, characterized in that: Also includes: A first terminal is disposed at a second end of the channel and connected to a second end of the wiring harness, and the first terminal can be connected to the encoder terminal.

3. The servo driver according to claim 1, characterized in that: Also includes: A battery cover is disposed at the first opening and is rotatably connected to the first wall to open or close the battery compartment.

4. The servo driver according to claim 3, characterized in that: The first wall is provided with a groove, and the groove has a second opening, and the second opening faces the side of the first wall away from the shell assembly. The groove is located on the side of the channel and the battery compartment, and the area where the groove is opposite to the battery compartment is connected to the battery compartment, and the area where the groove is opposite to the channel is connected to the channel.

5. The servo driver according to claim 4, characterized in that: The side of the battery cover away from the groove is rotatably connected to the first wall, and the side of the battery cover close to the groove can be close to or away from the battery compartment.

6. The servo driver according to claim 4, characterized in that: The cross section of the groove and the area opposite to the battery compartment is trapezoidal; A cross section of a region of the groove opposite to the channel is V-shaped.

7. The servo driver according to claim 3, characterized in that: Also includes: A first rib connected to the battery cover, located on a side of the battery cover close to the battery compartment, and protruding from a surface of the battery cover close to the battery compartment; Wherein, when the battery cover closes the battery compartment, the first rib is in contact with the battery.

8. The servo driver according to claim 3, characterized in that: The first wall is provided with a connection hole, and the connection hole extends along the rotation axis of the battery cover, and the battery cover comprises: A second body, the second body is buckled in the battery compartment and adapted to the first opening; A connecting shaft is connected to the second body and inserted into the connecting hole.

9. The servo drive according to any one of claims 1 to 8, characterized in that: The first wall is provided with a third opening, the encoder terminal is opposite to the third opening, and the opening of the encoder terminal faces the outside of the first wall.

10. A servo system, characterized in that: The invention comprises a servo drive as claimed in any one of claims 1 to 9.

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