A dual circuit board structure of a joint motor module

Abstract

The utility model relates to a dual circuit board structure of a joint motor module, including a motor end cover, a first circuit board, a second circuit board and a support fixing rod, the outer edge of the second circuit board is provided with a plurality of positioning notches at intervals, the lower parts of the plurality of support fixing rods are respectively clamped in the corresponding positioning notches and fixed to the motor end cover, the first circuit board is arranged on the top of the support fixing rod and fixed by bolts, the first circuit board is a communication board, the second circuit board is a control board, and the communication board and the control board are plug-in connected by a board-to-board connector. The utility model adopts a support fixing rod to connect the two circuit boards and fix the lower circuit board to the motor end cover, the structure is simple and easy to install, and a gap is left between the two circuit boards to ensure heat dissipation space; in addition, the control board of the utility model is fixed on the motor end cover close to the motor side, and the shorter length of the motor line reduces the loss and improves the efficiency of the whole machine.

Description

Technical Field

[0001] The utility model belongs to the technical field of joint motor structures, and in particular relates to a double circuit board structure of a joint motor module. Background Art

[0002] The rapid development of robotics has revolutionized many fields, from manufacturing to healthcare to daily life. In the motion control of robots, joint motor modules play a key role, providing power and precise motion control for the robot's joints.

[0003] The joint motor control of the robot is an advanced technology that relies on motor drivers and control algorithms to achieve precise current and speed control to adjust the movement of the motor to ensure the required position, speed and torque. The joint motor module generally includes a reducer, a motor and a drive circuit board. The drive circuit board is the core control component for achieving precise movement of the joint motor module. The existing drive circuit board contains many electronic components and is large in size, which is not conducive to the miniaturization design of the joint motor module. In addition, the large number of stator components gathered together generate a large amount of heat, which affects the stability of the electronic components. In addition, when the drive circuit board is installed on the motor end cover, it is easy to cause damage to the dense electronic components, affecting normal use. Utility Model Content

[0004] In order to solve the above technical problems, the purpose of the utility model is to provide a dual circuit board structure of a joint motor module, which is easy to install as a whole and has better performance.

[0005] In order to achieve the above-mentioned utility model purpose, the utility model adopts the following technical solutions:

[0006] A dual circuit board structure of a joint motor module includes a motor end cover, a first circuit board, a second circuit board and a supporting fixing rod. The outer edge of the second circuit board is provided with a plurality of positioning notches at intervals. The lower portions of the plurality of supporting fixing rods are respectively clamped in the corresponding positioning notches and fixed to the motor end cover. The first circuit board is arranged on the top of the supporting fixing rod and fixed by bolts. The first circuit board is a communication board, and the second circuit board is a control board. The communication board and the control board are plug-in connected by a board-to-board connector.

[0007] As a preferred solution: the lower part of the supporting fixing rod is a screw rod, and the upper part is a long rod, and the outer diameter of the long rod is larger than the outer diameter of the screw rod. The screw rod is clamped in the positioning notch and fixed to the motor end cover, and the bottom of the long rod is pressed onto the second circuit board.

[0008] As a preferred solution: the horizontal cross-section of the long rod is hexagonal, and a threaded hole is provided on the top of the long rod.

[0009] As a preferred solution: a controller cover for shielding the first circuit board and the second circuit board is also buckled on the motor end cover, the top surface of the controller cover is at least partially concave to form a heat dissipation contact surface, a fan-shaped notch is provided on the first circuit board, and the heat dissipation contact surface passes through the fan-shaped notch and contacts with components on the second circuit board.

[0010] As a preferred solution: a plurality of heat dissipation fins are arranged at intervals in the concave portion of the top surface of the controller cover.

[0011] As a preferred solution: a plurality of support columns for supporting the second circuit board are provided at intervals on the outer edge of the motor end cover.

[0012] The utility model adopts a supporting fixing rod to connect the two circuit boards and fix the lower circuit board to the motor end cover. The structure is simple and the installation is convenient. At the same time, a gap is left between the two circuit boards to ensure the heat dissipation space. In addition, the two circuit boards adopt a plug-in design, which is convenient for connection. The two circuit boards have a small diameter and a compact structure, which is conducive to the integrated miniaturization design of the product. In addition, the control board of the utility model is fixed on the motor end cover close to the motor side, and the length of the motor line is shorter, which reduces the loss and improves the efficiency of the whole machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0014] Figure 1 It is a structural schematic diagram of two circuit boards and a motor end cover of the utility model;

[0015] Figure 2 and Figure 3 It is a schematic diagram of the disassembled structure of each component of the utility model at two different angles.

[0016] The figures are marked as follows: 1. controller cover; 13. heat dissipation fins; 14. heat dissipation contact surface; 2. first circuit board; 20. fan-shaped notch; 3. second circuit board; 31. support fixing rod; 32. positioning notch; 4. motor end cover; 41. support column. DETAILED DESCRIPTION

[0017] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0018] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0019] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0020] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "plurality" means two or more, unless otherwise clearly defined.

[0021] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0023] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0024] like Figures 1 to 3 The dual circuit board structure of a joint motor module shown includes a motor end cover 4, a first circuit board 2, a second circuit board 3 and a supporting fixing rod 31. The outer edge of the second circuit board 3 is provided with a plurality of positioning notches 32 at intervals. The lower parts of the plurality of supporting fixing rods 31 are respectively clamped in the corresponding positioning notches 32 and fixed to the motor end cover 4. The first circuit board 2 is arranged on the top of the supporting fixing rod 31 and fixed by bolts.

[0025] The lower part of the support fixing rod 31 is a screw rod, and the upper part is a long rod, and the outer diameter of the long rod is larger than the outer diameter of the screw rod. The screw rod is clamped in the positioning notch 32 and fixed to the motor end cover 4. The bottom of the long rod is pressed on the second circuit board 3. The horizontal cross-section of the long rod is hexagonal, and a threaded hole is provided on the top of the long rod.

[0026] The first circuit board 2 is a communication board, the second circuit board 3 is a control board, and the communication board and the control board are connected by a board-to-board connector. The utility model adopts a dual PCB board structure, and the control components and the communication components are separately arranged on two boards, which can reduce the radial volume of the assembly and improve the product integration; at the same time, the control board uses a high-performance MCU and high-precision devices to meet the requirements of motor drive and external signal processing, and the communication board uses an Ethernet ESC chip and a port protection chip to meet the Ethernet communication between the master station and each slave station, and the external interface signal connectors are all on the communication board, and the communication board and the control board are connected by a board-to-board connector; the connection is convenient.

[0027] The motor end cover 4 is also buckled with a controller cover 1 for shielding the first circuit board 2 and the second circuit board 3. The top surface of the controller cover 1 is at least partially concave to form a heat dissipation contact surface 14. The first circuit board 2 is provided with a fan-shaped notch 20. The heat dissipation contact surface 14 passes through the fan-shaped notch 20 and contacts with the components on the second circuit board 3. A plurality of heat dissipation fins 13 are also arranged at intervals at the concave portion of the top surface of the controller cover 1.

[0028] The structure allows the control board with high heat generation to be in direct contact with the controller cover, and thermal conductive silicone can be directly applied to the electronic components with high heat generation and the controller cover to further improve the heat dissipation efficiency.

[0029] Some electronic components related to the motor control of the utility model are all on the control board, and only a single board is needed to open-loop drag the motor to calibrate the encoder, which is convenient for detecting whether the assembly is in place and adjusting the convenience of assembly.

[0030] The outer edge of the motor end cover 4 is provided with a plurality of support columns 41 for supporting the second circuit board 3. The motor end cover 4 is also provided with a long wire hole to facilitate the connection of the internal circuits of the motor, especially the three-phase wires of the motor and the resolver, with the first circuit board and / or the second circuit board.

[0031] The utility model adopts a supporting fixing rod to connect the two circuit boards and fix the lower circuit board to the motor end cover. The structure is simple and the installation is convenient. At the same time, a gap is left between the two circuit boards to ensure the heat dissipation space. In addition, the two circuit boards adopt a plug-in design, which is convenient for connection. The two circuit boards have a small diameter and a compact structure, which is conducive to the integrated miniaturization design of the product. In addition, the control board of the utility model is fixed on the motor end cover close to the motor side, and the length of the motor line is shorter, which reduces the loss and improves the efficiency of the whole machine.

[0032] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" 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 this specification, the schematic representation of the above terms does 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.

[0033] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A dual circuit board structure of a joint motor module, characterized in that: The invention comprises a motor end cover (4), a first circuit board (2), a second circuit board (3) and a supporting and fixing rod (31); a plurality of positioning notches (32) are arranged at intervals on the outer edge of the second circuit board (3); the lower parts of the plurality of supporting and fixing rods (31) are respectively clamped in the corresponding positioning notches (32) and fixed to the motor end cover (4); the first circuit board (2) is arranged on the top of the supporting and fixing rod (31) and fixed by bolts; the first circuit board (2) is a communication board, the second circuit board (3) is a control board, and the communication board and the control board are plug-in connected by a board-to-board connector.

2. The dual circuit board structure of a joint motor module according to claim 1, characterized in that: The lower part of the supporting fixing rod (31) is a screw rod, and the upper part is a long rod, and the outer diameter of the long rod is larger than the outer diameter of the screw rod. The screw rod is clamped in the positioning notch (32) and fixed to the motor end cover (4), and the bottom of the long rod is pressed onto the second circuit board (3).

3. The dual circuit board structure of a joint motor module according to claim 2, characterized in that: The horizontal cross section of the long rod is hexagonal, and a threaded hole is arranged on the top of the long rod.

4. The dual circuit board structure of a joint motor module according to claim 1, characterized in that: The motor end cover (4) is also provided with a controller cover (1) for shielding the first circuit board (2) and the second circuit board (3); the top surface of the controller cover (1) is at least partially concave to form a heat dissipation contact surface (14); the first circuit board (2) is provided with a fan-shaped notch (20); the heat dissipation contact surface (14) penetrates the fan-shaped notch (20) and contacts components on the second circuit board (3).

5. The dual circuit board structure of a joint motor module according to claim 4, characterized in that: A plurality of heat dissipation fins (13) are also arranged at intervals in the concave portion of the top surface of the controller cover (1).

6. The dual circuit board structure of a joint motor module according to claim 1, characterized in that: A plurality of support columns (41) for supporting the second circuit board (3) are provided at intervals on the outer edge of the motor end cover (4).

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