Servo motor, hub assembly and robot

Abstract

The utility model provides a servo motor, which comprises a motor body, the motor body comprises a casing assembly, the casing assembly comprises a shell, the side wall of the shell is provided with a wire outlet hole, and the wire outlet hole is used for enabling a connecting wire harness of the servo motor to penetrate out from the side direction of the shell after the servo motor is installed. The utility model further discloses a hub assembly comprising the servo motor and a robot. According to the utility model, the compactness of the servo motor structure can be improved, and the layout of a power line is facilitated when a whole vehicle is assembled.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, in particular to a servo motor and a wheel hub assembly and a robot equipped with the servo motor. Background Art

[0002] In the fields of electric vehicles and robots, servo power components are often used, wherein the servo power components generally include servo motors, drivers, and reducers.

[0003] When the servo power assembly is actually used, the power lines of the servo motor and the driver generally need to pass through the wheel hub to connect to the main control system of the electric vehicle or robot. The outlet position of the power line of the existing servo power assembly ( Figure 5 The wire outlet is located at the top of the servo motor, which will increase the height of the vehicle. This will easily cause the servo power harness to interfere with other components of the vehicle during assembly, making it inconvenient to layout the power lines. Utility Model Content

[0004] The present invention aims to solve one of the technical problems in the related art to a certain extent. To this end, the present invention provides a servo motor, a wheel hub assembly and a robot, which improve the compactness of the servo motor structure and facilitate the layout of the power line during vehicle assembly.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present invention discloses a servo motor, including a motor body, the motor body including a casing assembly, the casing assembly including a shell, and a wire outlet hole is provided on the side wall of the shell. The wire outlet hole is used to allow the connecting wire harness of the servo motor to pass through the side of the shell after the servo motor is installed.

[0006] In this technical solution, when the servo motor is in use, the connecting wiring harness of the servo motor passes through the side of the shell, avoiding the problem of increasing the height of the vehicle due to passing through the top or bottom of the shell, thereby interfering with other components of the vehicle, and facilitating the layout of the power line.

[0007] Furthermore, the casing assembly also includes a first mounting block arranged on the outer side wall of the shell, the first mounting block includes a mounting block body, and connecting blocks protruding from the mounting block body on both sides along the axial direction of the motor body, a first mounting hole for connecting to the body of the robot is formed on the connecting block, a cavity is formed in the mounting block body, and a wire outlet hole is formed on the mounting block body.

[0008] In this technical solution, by centrally arranging the wire outlet position and the first mounting block at the same part of the housing assembly, the compactness of the structure is improved, and the wire outlet position of the servo motor can fall within the size range of the motor body in the height direction, without increasing the overall height of the servo motor, avoiding interference with other components of the vehicle during vehicle assembly, and facilitating the layout of the power lines.

[0009] Furthermore, the mounting block body includes a main body portion and a wire pressing plate, wherein the cavity is formed in the main body portion, a first end of the main body portion is connected to the housing, and the wire pressing plate is provided at the second end of the main body portion and covers the cavity, and the wire outlet hole is formed on the wire pressing plate. By providing the wire pressing plate, the power line can be better guided, ensuring the stability of the wire outlet direction and avoiding the problem of the wire outlet direction being tilted due to the elasticity of the wiring harness itself.

[0010] Furthermore, the shell further includes a second mounting block arranged on the outer side wall of the shell and opposite to the first mounting block, and a second mounting hole is provided on the second mounting block.

[0011] Furthermore, the motor body also includes a motor shaft, the output end of the motor shaft extends out of the housing assembly, and the housing assembly includes a first end cover arranged at the first end of the housing assembly, and the first end cover and the output end of the motor shaft are located at the same end.

[0012] Furthermore, the servo motor also includes a second end cover, a servo driver module and a driver cover, the second end cover is detachably connected to the second end of the casing assembly, the servo driver module is installed on the end surface of the second end cover facing away from the casing assembly, the driver cover includes a cover body with an open structure at one end and an accommodating cavity formed in the cover body, the open end of the driver cover is detachably connected to the end surface of the second end cover facing away from the casing assembly, and the servo driver module is placed in the accommodating cavity, and a second heat dissipation fin group is provided on the outer wall of the cover body.

[0013] Furthermore, the housing assembly includes a first heat dissipation fin group arranged on the outer side wall of the shell.

[0014] Furthermore, the servo drive module includes a first circuit board and a second circuit board, the first circuit board and the second circuit board are fixedly connected by an isolation column, one of the first circuit board and the second circuit board is provided with a male connector, and the other is provided with a female connector that cooperates with the male connector, and the first circuit board and the second circuit board communicate by plugging the male connector and the female connector, and the second circuit board includes wiring terminals for communication connection between the motor body and the main control module of the robot.

[0015] Furthermore, the end surface of the second end cap is provided with a threading hole for passing the connection harness of the servo driver module. The second end cap includes a boss protruding from the end surface of the second end cap. The boss is provided on one side of the threading hole. The boss is used to block the connection harness of the servo driver module passing through the threading hole and keep the harness away from the rotating head of the servo motor. By providing the boss, the connection harness of the servo driver module can be kept away from the rotating head of the servo motor, reducing the risk of the harness being damaged by rotational vibration.

[0016] The second aspect of the present invention discloses a wheel hub assembly, comprising a wheel hub component and the servo motor of the first aspect, wherein the output end of the servo motor is connected to the power input end of the wheel hub component and provides driving force to the wheel hub component.

[0017] Furthermore, the hub assembly includes a hub body and a reducer assembly mounted on the hub body. The reducer assembly includes a reducer end cap. The housing assembly includes a first end cap mounted on the housing assembly. The first end cap is located at the same end as the output end of the motor shaft, and the reducer end cap and the first end cap are detachably connected. By providing end caps on the servo motor and the hub reducer assembly, assembly is facilitated, and the servo motor can operate independently of the hub reducer, improving versatility and maintainability.

[0018] The third aspect of the present utility model discloses a robot, comprising a body, a main control module and at least one wheel hub assembly of the second aspect, wherein the wheel hub assembly is arranged at the bottom of the body, and the wheel hub assembly is detachably connected to the body through a first mounting hole on a first mounting block, and the connection harness between the servo motor and the main control module passes through the wire outlet hole.

[0019] Furthermore, the bottom of the body is provided with two hub assemblies, one on each side of the body, and the outlet holes of the two hub assemblies are located on the same side, which makes layout design and subsequent maintenance easier.

[0020] These features and advantages of the present invention will be detailed in the following detailed description and accompanying drawings. The preferred embodiments or means of the present invention will be fully illustrated in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of the present invention. Furthermore, although multiple features, elements, and components may be present and are labeled with different symbols or numbers for convenience, they all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings:

[0022] Figure 1 This is a structural diagram of the motor body of one embodiment of the present utility model (the dotted line indicates the direction of the wire outlet);

[0023] Figure 2 This is a structural diagram of the motor body of one embodiment of the present utility model (excluding the motor shaft and wire pressing plate);

[0024] Figure 3 This is an exploded view of the overall structure of one embodiment of the present utility model;

[0025] Figure 4 This is a structural diagram of the assembly of one embodiment of the present utility model with a wheel hub reducer;

[0026] Figure 5 It is a structural diagram of an existing servo motor;

[0027] Figure 6 This is a schematic diagram of a boss structure provided on the second end cover of one embodiment of the present utility model;

[0028] Figure 7 This is an overall structural diagram of a servo motor according to one embodiment of the present invention.

[0029] Among them, 11, motor shaft; 12, housing assembly; 121, first heat dissipation fin group; 122, housing; 123, first end cover; 1231, hub connection hole; 14, wire pressing plate; 141, wire outlet hole; 15, first mounting block; 151, mounting block body; 152, connecting block; 153, first mounting hole; 154, cavity; 16, second mounting block; 161, second mounting hole;

[0030] 20. Second end cap; 21. Threading hole; 22. Boss;

[0031] 30. Driver module; 31. First circuit board; 32. Connection terminal; 33. Second circuit board;

[0032] 40. Driver cover; 41. Second heat dissipation fin group;

[0033] 50. Hub reducer; 51. Reducer end cover. DETAILED DESCRIPTION

[0034] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to explain the present invention and are not to be construed as limiting the present invention.

[0035] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0036] See attached Figure 1 One embodiment of the present invention discloses a servo motor, including a motor body, wherein the motor body includes a housing assembly 12, and the housing assembly 12 includes a shell 122. A wire outlet hole 141 is provided on the side wall of the shell 122. The wire outlet hole 141 is used to allow the connection harness of the servo motor to pass through the side of the shell 122 after the servo motor is installed.

[0037] A servo motor generally has a mounting portion and a wire outlet portion. The mounting portion determines the usage posture of the servo motor when the servo motor is installed. By reasonably arranging the relative positions of the wire outlet portion and the mounting portion, the wire outlet portion is located on the side of the servo motor after assembly, rather than at the top or bottom of the servo motor housing as mentioned in the background technology. In this way, the connecting wire harness of the servo motor passes through the side of the housing 122, avoiding the problem of an increase in the height of the entire vehicle caused by passing through the top or bottom of the housing 122, thereby interfering with other components of the entire vehicle, and facilitating the layout of the power line.

[0038] The outlet position of the power line of the existing servo hub power assembly ( Figure 5 A in the middle) is usually connected to the servo motor and the body ( Figure 5 When the whole vehicle is assembled, not only will the positions of the components be scattered, but the wire outlet hole 141 will be arranged on the top of the servo motor. The wire outlet position is set on the top of the servo motor, which will increase the height of the whole vehicle. It is easy to cause the servo power harness to interfere with other components of the whole vehicle during the assembly of the whole vehicle, which is inconvenient for the layout of the power line.

[0039] Based on this, the casing assembly 12 of one embodiment of the present invention includes a first mounting block 15 arranged on the outer side wall of the shell 122, the first mounting block 15 includes a mounting block body 151, and connecting blocks 152 protruding from the mounting block body 151 on both sides along the axial direction of the motor body, a first mounting hole 153 for connecting to the body of the robot is formed on the connecting block 152, a cavity 154 is formed in the mounting block body 151, and a wire outlet hole 141 is formed on the mounting block body 151.

[0040] In this embodiment, the first mounting blocks 15 distributed on the opposite sides of the outer side walls of the casing assembly 12 are fixedly connected to the body of the robot through the first mounting holes 153 during assembly, and the wire outlet plate is arranged on the first mounting block 15. When the first mounting block 15 is connected to the body of the robot, the two first mounting blocks 15 are generally on the same horizontal plane and are fixedly connected to the horizontal mounting plate on the body. In this way, when the first mounting block 15 and the body are horizontally connected, the position of the first mounting block 15 after the assembly of the entire vehicle is in the middle of the servo motor. In this embodiment, a wire pressing plate 14 is provided on one of the first mounting blocks 15, and a wire outlet hole 141 is provided on the wire pressing plate 14. In this way, the position of the wire outlet hole 141 is also in the middle of the servo motor. See the attached figure. Figure 1 、 2 Moreover, since the position of the outlet hole 141 is within the height range of the motor body, when wiring, the wire harness passes through the middle position of the motor body, so the outlet structure of the utility model will not have additional Figure 5 It solves the problem of increasing the height of the whole machine, avoids interference with other parts of the vehicle during vehicle assembly, and facilitates the layout of the power line.

[0041] In addition, this embodiment improves the compactness of the structure by centrally arranging the outlet hole 141 and the first mounting block 15 at the same position of the housing assembly 12, avoiding the problem of inconvenient maintenance and increased volume caused by excessive dispersion of various components on the housing assembly 12.

[0042] In one embodiment of the present invention, the housing 122 further includes a second mounting block 16 disposed on the outer side wall of the housing 122 and opposite to the first mounting block 15. The second mounting block 16 is provided with a second mounting hole 161. Figure 3 The first mounting block 15 and the second mounting block 16 can be fixed to the shell 122 of the housing assembly 12 by welding or other connection methods.

[0043] See attached Figure 1 、 2In this embodiment, the first mounting block 15 includes a mounting block body 151, connecting blocks 152 protruding from the mounting block body 151 on both sides along the axial direction of the motor body, and a first mounting hole 153 provided on the connecting block 152. The first mounting block 15 is connected to the body of the robot through the first mounting hole 153. The wire outlet hole includes a wire pressing plate 14 provided on the end surface of the mounting block body 151 away from the housing assembly 12. The wire pressing plate 14 is fixed to the mounting block body 151 through a connecting member. The wire outlet hole 141 also includes a wire outlet hole 141 provided on one side of the wire pressing plate 14. The wire pressing plate 14 in this embodiment can be detachably connected to the mounting block body 151 by screws. During the design, a countersunk hole can be provided on the wire pressing plate 14, and the nut end of the screw can be hidden in the countersunk hole during installation to prevent the protruding structure of the screw from affecting the installation of other components. Since the power line of the servo motor itself has a certain elasticity, it will generate a certain reverse force when it is bent. By providing the wire pressing plate 14, the wire pressing plate 14 can better guide and fix the power line, ensure the stability of the output direction, and avoid the problem of the output direction being tilted or the wire harness being unreliably fixed due to the elasticity of the wiring harness itself.

[0044] From the attached Figure 1 As can be seen from the figure, the first mounting block 15 of this embodiment has a certain thickness, and the connection portion between the first mounting block 15 and the housing assembly 12 has a smooth transition. Of course, it is conceivable that the first mounting block 15 of this embodiment can be configured as a structure integral with the housing assembly 12 (can be fixed to the housing 122 by welding or other means), and of course it can also be configured as a structure in which the first mounting block 15 is assembled and connected to the housing assembly 12. The length of the first mounting block 15 in the axial direction of the motor in this embodiment can cover the axial length of the entire motor body. In this way, after the servo motor is installed on the body, the contact area between the servo motor and the body can be increased, thereby improving the stability of the installation.

[0045] See attached Figure 3 In one embodiment of the present invention, the housing assembly 12 includes a first end cap 123 disposed at a first end of the housing assembly 12. The first end cap 123 forms an integral structure with the housing assembly 12 and is located at the output end of the servo motor. The motor body includes a motor shaft 11 extending from the housing assembly 12 at the output end. In this embodiment, the first end cap 123 is provided on the housing assembly 12. The first end cap 123 is part of the servo motor and enables the servo motor to be independent of the wheel hub reducer 50, facilitating maintenance and repair during vehicle assembly and use.

[0046] See also Figure 3The servo motor of the present invention also includes a second end cover 20, a servo driver module 30 and a driver cover 40. The second end cover 20 is detachably connected to the second end of the casing assembly 12. It can be seen that the first end cover 123 and the second end cover 20 are respectively located at the two ends of the servo motor. The cooperation between the two can well make the servo motor form an independent module. The servo driver module 30 is installed on the end face of the second end cover 20 away from the casing assembly 12. The driver cover 40 includes a cover body with an open structure at one end and an accommodating cavity formed in the cover body. The open end of the driver cover 40 is detachably connected to the end face of the second end cover 20 away from the casing assembly 12, and the servo driver module 30 is placed in the accommodating cavity. In this embodiment, a built-in driver is built into the servo motor, which can further improve the overall compactness of the servo motor. A second heat dissipation fin group 41 is provided on the outer wall of the cover body.

[0047] See attached Figure 3 In one embodiment of the present invention, the servo driver module includes a first circuit board 31 and a second circuit board 33. The first circuit board 31 and the second circuit board 33 are fixedly connected by a spacer. One of the first circuit board 31 and the second circuit board 33 is provided with a male connector, and the other is provided with a female connector that mates with the male connector. The first circuit board 31 and the second circuit board 33 communicate by plugging the male connector into the female connector. The second circuit board 33 includes a terminal block for communicating with the motor body and the robot's main control module. As can be seen, in this embodiment, the first circuit board 31 and the second circuit board 33 of the servo driver module 30 are structurally fixedly connected by the spacer, which can improve the overall compactness of the servo driver module 30 and facilitate installation and maintenance. In addition, the second circuit board 33 is provided with a terminal block 32. During installation, the second circuit board 33 is connected to the power line of the motor body and the robot's main control module through the terminal block 32, thereby achieving servo control. In addition, the first circuit board 31 serves as a signal encoder processing module, which is communicated with the second circuit board 33 via the male connector and the female connector. Compared with the welded driver harness in the prior art, the servo driver module 30 in this embodiment has the advantages of being easy to disassemble and assemble and easy to maintain.

[0048] See attached Figure 6 、 7In one embodiment of the present invention, a threading hole 21 for passing the connection wiring harness of the servo driver module 30 is provided on the end face of the second end cover 20. The second end cover 20 includes a boss 22 protruding from the end face of the second end of the second end cover 20. The boss 22 is provided on one side of the threading hole 21. The boss 22 is used to block the wiring harness connected to the servo driver module 30 that passes through the threading hole 21 and keep the wiring harness away from the rotating head of the servo motor. By providing the boss 22, the connection wiring harness of the servo driver module 30 can be placed on one side of the boss 22 during assembly. The boss 22 blocks and guides the connection wiring harness of the servo driver module 30. Under the blocking and guiding action of the boss 22, the connection wiring harness of the servo driver module 30 is kept away from the rotating head of the servo motor, thereby reducing the risk of scratches caused by the contact between the wiring harness and the rotating head due to vibration during the operation of the servo motor.

[0049] The housing assembly 12 of the present invention includes a first heat dissipation fin group 121 disposed on the outer side wall of the housing 122 , for improving the heat dissipation performance of the servo motor during use.

[0050] The connection between the second end cover 20 and the housing assembly 12 in the present invention can be connected by screws or bolts, and the connection between the driver cover 40 and the second end cover 20 can also be connected by screws or bolts.

[0051] See attached Figure 4 One embodiment of the present invention discloses a wheel hub assembly, comprising a wheel hub assembly and a servo motor of the first aspect, wherein the output end of the servo motor is connected to the power input end of the wheel hub assembly and provides driving force to the wheel hub assembly.

[0052] As one of the embodiments of the present invention, the hub assembly includes a hub body and a reducer assembly disposed on the hub body, the reducer assembly including a reducer end cover 51, the housing assembly 12 including a first end cover 123 disposed on the housing 121, the first end cover 123 being located at the same end as the output end of the motor shaft 11, and the reducer end cover 51 and the first end cover 123 being detachably connected. The servo hub of the present invention is provided with a first end cover 123 and a reducer end cover 51 on the servo motor and the hub reducer 50 assembly, respectively, wherein a hub connection hole 1231 is provided on the first end cover 123, and an end cover connection hole is opened on the reducer end cover 51. When the servo motor and the hub assembly are assembled, they are directly connected by screws passing through the hub connection hole 1231 on the first end cover 123 and the end cover connection hole of the reducer end cover 51, which can improve the stability of the assembly and facilitate assembly.

[0053] In addition, compared with the assembly structure in the prior art in which the servo motor and the hub reducer 50 share an end cover, when a reducer or servo motor fails, it is easy to need to disassemble and maintain the entire servo wheel module and take a series of measures such as re-zeroing the servo motor encoder. The servo motor proposed in this embodiment can work independently of the hub reducer 50, and has better versatility and maintainability.

[0054] One of the embodiments of the present application discloses a robot, comprising a body, a main control module, and at least one wheel hub assembly disclosed in the above embodiments, wherein the wheel hub assembly is placed at the bottom of the body, and the wheel hub assembly is detachably connected to the body through the first mounting hole 153 on the first mounting block 15 and the second mounting hole 161 on the second mounting block 16. During specific installation, the servo motor can be fixed to the mounting plate of the body by bolts and other connectors. During installation, the connection wire harness between the servo motor and the main control module passes through the outlet hole 141, and the outlet direction of the outlet hole 141 is distributed along the horizontal direction of the body. Such an outlet direction can reduce the risk of interference with other components of the vehicle and facilitate layout. The outlet direction in this embodiment can be found in the attached Figure 1 In the direction shown by the dotted line, of course, other directions in the horizontal plane can also be used. In addition, since the outlet hole 141 is arranged on the first mounting block 15, the outlet position is within the body range of the servo motor, and the whole machine height can not be increased extra, making wiring more convenient.

[0055] The bottom of the body of one embodiment of the robot of the present invention is provided with two hub assemblies respectively distributed on both sides of the body, and the wire outlet holes 141 of the two hub assemblies are located on the same side. In actual design, the positional relationship of the two hub assemblies can be set to be axisymmetric mirror installation. In this case, the wire outlet holes 141 of the two hub assemblies are located on the same side, which is more convenient for layout design and later maintenance. Of course, the positional relationship of the two hub assemblies can also be set to be centrally symmetrical installation. In this way, when actually wiring, the wire outlet holes 141 of the two hub assemblies are located on opposite sides of the hub assembly.

[0056] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are included within the scope of the claims.

Claims

1. A servo motor, comprising a motor body, wherein the motor body comprises a housing assembly (12), wherein the housing assembly (12) comprises a shell (122), wherein: A wire outlet hole (141) is provided on the side wall of the housing (122). The wire outlet hole (141) is used to allow the connection wire harness of the servo motor to pass through the side of the housing (122) after the servo motor is installed.

2. The servo motor according to claim 1, wherein: The housing assembly (12) further includes a first mounting block (15) disposed on an outer side wall of the housing (122), the first mounting block (15) including a mounting block body (151) and connecting blocks (152) protruding from the mounting block body (151) on both sides along the axial direction of the motor body, the connecting block (152) being used to connect to the body of the robot, a cavity (154) being formed in the mounting block body (151), and a wire outlet hole (141) being formed on the mounting block body (151), the wire outlet hole (141) being in communication with the cavity (154).

3. The servo motor according to claim 2, wherein: The mounting block body (151) comprises a main body and a wire pressing plate (14), wherein the cavity (154) is formed in the main body, a first end of the main body is connected to the housing (122), the wire pressing plate (14) is arranged at the second end of the main body and covers the cavity (154), and the wire outlet hole (141) is formed on the wire pressing plate (14).

4. The servo motor according to claim 2, wherein: The housing (122) further includes a second mounting block (16) arranged on the outer side wall of the housing (122) and opposite to the first mounting block (15), and the second mounting block (16) is used to be connected to the body of the robot.

5. The servo motor according to any one of claims 1 to 4, characterized in that: The motor body further comprises a motor shaft (11), an output end of the motor shaft (11) extending out of the housing assembly (12), and the housing assembly (12) comprises a first end cover (123) arranged at a first end of the housing assembly (12), wherein the first end cover (123) and the output end of the motor shaft (11) are located at the same end.

6. The servo motor according to claim 5, wherein: The servo motor further comprises a second end cover (20), a servo driver module (30) and a driver cover (40), wherein the second end cover (20) is detachably connected to the second end of the housing assembly (12), and the servo driver module (30) is mounted on the end face of the second end cover (20) facing away from the housing assembly (12), and the driver cover (40) comprises a cover body with an open structure at one end and an accommodating cavity formed in the cover body, wherein the open end of the driver cover (40) is detachably connected to the end face of the second end cover (20) facing away from the housing assembly (12), and the servo driver module (30) is placed in the accommodating cavity, and a second heat dissipation fin group (41) is provided on the outer wall of the cover body.

7. The servo motor according to claim 6, wherein: The servo drive module (30) includes a first circuit board (31) and a second circuit board (33), wherein the first circuit board (31) and the second circuit board (33) are fixedly connected via an isolation column, one of the first circuit board (31) and the second circuit board (33) is provided with a male connector, and the other is provided with a female connector that matches the male connector, and the first circuit board (31) and the second circuit board (33) communicate by plugging the male connector and the female connector, and the second circuit board (33) includes a wiring terminal (32) for communication connection with a motor body and a main control module of the robot.

8. The servo motor according to claim 6 or 7, characterized in that: A threading hole (21) for passing a connection wire harness of the servo driver module (30) is provided on the end surface of the second end cover (20), and the second end cover (20) includes a boss (22) protruding from the end surface of the second end of the second end cover (20), and the boss (22) is arranged on one side of the threading hole (21). The boss (22) is used to block the wire harness connected to the servo driver module (30) passing through the threading hole (21) and keep the wire harness away from the rotating magnetic head of the servo motor.

9. A wheel hub assembly, characterized in that: The invention comprises a wheel hub assembly and a servo motor according to any one of claims 1 to 8, wherein the output end of the servo motor is connected to the power input end of the wheel hub assembly and provides driving force to the wheel hub assembly.

10. The wheel hub assembly according to claim 9, wherein: The hub assembly comprises a hub body and a reducer assembly arranged on the hub body, the reducer assembly comprises a reducer end cover (51), the housing assembly (12) comprises a first end cover (123) arranged on the housing assembly (12), the first end cover (123) and the output end of the servo motor are located at the same end, and the reducer end cover (51) and the first end cover (123) are detachably connected.

11. A robot, characterized in that: It comprises a machine body, a main control module and at least one wheel hub assembly according to claim 9 or 10, wherein the wheel hub assembly is arranged at the bottom of the machine body, and the connection harness between the servo motor and the main control module passes through the outlet hole (141).

12. The robot according to claim 11, wherein: The hub assemblies are respectively provided on both sides of the bottom of the machine body, and the wire outlet holes (141) of the hub assemblies on both sides are located on the same side.

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