Servo joint module and robot

Abstract

The utility model discloses a servo joint module and a robot. The servo joint module comprises a servo driver; the servo driver comprises a circuit board, an electronic device, a heat conduction part and a shell. The electronic device and the heat conduction component are arranged between the circuit board and the shell, and the heat conduction component covers at least part of the electronic device; the heat conduction coefficient of the heat conduction component is larger than that of air. According to the utility model, the heat conduction part with the heat conduction coefficient larger than that of air is arranged between the electronic device and the shell, so that heat generated by the electronic device can be quickly conducted to the shell and dissipated to the outside air through the shell, and the situation that the electronic device is damaged due to over-high temperature is avoided; the temperature protection of the electronic device in the servo joint module is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of servo, in particular to a servo joint module and a robot. Background Art

[0002] Currently, the demand for robots is increasing.

[0003] The servo joint modules of existing robots lack temperature protection, and are prone to damage due to overheating. Utility Model Content

[0004] The utility model provides a servo joint module and a robot to solve the problem that the servo joint module lacks temperature protection.

[0005] In a first aspect, an embodiment of the present utility model provides a servo joint module, the servo joint module including a servo driver;

[0006] The servo driver includes a circuit board, an electronic device, a heat-conducting component, and a housing; the electronic device and the heat-conducting component are both arranged between the circuit board and the housing, and the heat-conducting component covers at least a portion of the electronic device;

[0007] Wherein, the thermal conductivity of the heat-conducting component is greater than the thermal conductivity of air.

[0008] Optionally, the electronic device includes a main control chip and a driving element;

[0009] The servo driver further includes a first temperature sensor, which is used to detect temperature information of the driving element;

[0010] The first temperature sensor includes a first temperature output end, the main control chip includes a first temperature receiving end and a first control signal output end, and the driving element includes a first control signal receiving end; the first temperature output end is electrically connected to the first temperature receiving end, and is used to transmit the temperature information of the driving element to the first temperature receiving end; the first control signal output end is electrically connected to the first control signal receiving end, and is used to transmit a first driving adjustment signal to the driving element.

[0011] Optionally, the electronic device includes a main control chip and a servo control chip;

[0012] The servo joint module further includes a motor and a second temperature sensor, wherein the second temperature sensor is used to detect temperature information of the motor;

[0013] The second temperature sensor includes a second temperature output end, the main control chip includes a second temperature receiving end and a second control signal output end, the servo control chip includes a second control signal receiving end and a first drive signal output end, and the motor includes a first drive signal receiving end; the second temperature output end is electrically connected to the second temperature receiving end, for transmitting the temperature information of the motor to the second temperature receiving end; the second control signal output end is electrically connected to the second control signal receiving end, for transmitting the drive control adjustment signal to the servo control chip; the first drive signal output end is electrically connected to the first drive signal receiving end, for transmitting the second drive adjustment signal to the first drive signal receiving end.

[0014] Optionally, the electronic device includes a main control chip and a servo control chip;

[0015] The servo joint module further includes a motor and a torque sensor, wherein the torque sensor is used to detect the torque information of the motor;

[0016] The torque sensor includes a torque output end, the main control chip includes a torque receiving end and a third control signal output end, the servo control chip includes a third control signal receiving end and a second drive signal output end, and the motor includes a second drive signal receiving end; the torque output end is electrically connected to the torque receiving end, for transmitting the torque information of the motor to the torque receiving end; the third control signal output end is electrically connected to the third control signal receiving end, for transmitting a torque control adjustment signal to the servo control chip; the second drive signal output end is electrically connected to the second drive signal receiving end, for transmitting a third drive adjustment signal to the second drive signal receiving end.

[0017] Optionally, the servo joint module further includes a magnetic encoder and a motor;

[0018] The magnetic encoder includes a magnetic code disk and a magnetic encoder read head; the magnetic code disk is arranged on the motor, and the magnetic encoder read head is arranged on the circuit board;

[0019] The electronic device includes a main control chip and a servo control chip;

[0020] The magnetic code disk includes a magnetic field signal output end, the magnetic encoder read head includes a magnetic field signal receiving end and a position signal output end, the main control chip includes a position signal receiving end and a fourth control signal output end, the servo control chip includes a fourth control signal receiving end and a third drive signal output end, and the motor includes a third drive signal receiving end; the magnetic field signal output end is coupled to the magnetic field signal receiving end, and is used to transmit a magnetic field signal based on the position information of the motor to the magnetic field signal receiving end; the position signal output end is electrically connected to the position signal receiving end, and is used to transmit the position signal of the motor to the position signal receiving end; the fourth control signal output end is electrically connected to the fourth control signal receiving end, and is used to transmit a position control adjustment signal to the servo control chip; the third drive signal output end is electrically connected to the third drive signal receiving end, and is used to transmit a position adjustment signal to the third drive signal receiving end.

[0021] Optionally, the circuit board includes a first surface and a second surface that are arranged opposite to each other;

[0022] The electronic device is disposed on the first surface, and the magnetic encoder read head is disposed on the second surface.

[0023] Optionally, the distance D1 between the magnetic code disk and the magnetic encoder reading head satisfies 0.3 mm ≤ D1 ≤ 0.7 mm.

[0024] Optionally, the circuit board further includes a through hole passing through the circuit board; the servo joint module further includes a motor and a sensor;

[0025] At least one of the motor, the sensor and the main controller is electrically connected to the servo driver via a signal transmission line passing through the through hole.

[0026] Optionally, the sensor includes a second temperature sensor and a torque sensor;

[0027] The signal transmission line includes a second temperature signal transmission line, a torque signal transmission line, a first drive signal transmission line, a second drive signal transmission line, a third drive signal transmission line and a communication signal transmission line;

[0028] The electronic device includes a main control chip and a servo control chip;

[0029] The second temperature signal transmission line electrically connects the second temperature sensor and the main control chip, and the first drive signal transmission line electrically connects the servo control chip and the motor;

[0030] The torque signal transmission line electrically connects the torque sensor and the main control chip, and the second drive signal transmission line electrically connects the servo control chip and the motor;

[0031] A third drive signal transmission line electrically connects the servo control chip and the motor;

[0032] The communication signal transmission line electrically connects the main control chip and the master controller;

[0033] At least one of the second temperature signal transmission line, the torque signal transmission line, the first drive signal transmission line, the second drive signal transmission line, and the communication signal transmission line passes through the through hole.

[0034] In a second aspect, an embodiment of the present invention provides a robot comprising at least one servo joint module as described in the first aspect.

[0035] The technical solution of the embodiment of the present utility model, by arranging a heat-conducting component with a thermal conductivity coefficient greater than that of air between the electronic device and the shell, can enable the heat generated by the electronic device to be quickly conducted to the shell and dissipated to the external air through the shell, thereby avoiding damage to the electronic device due to excessive temperature, and realizing temperature protection of the electronic device in the servo joint module.

[0036] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 A schematic structural diagram of a servo joint module provided in an embodiment of the present utility model;

[0039] Figure 2 A cross-sectional view of a servo joint module provided by an embodiment of the present utility model;

[0040] Figure 3 A three-dimensional assembly diagram of a servo joint module provided by an embodiment of the present utility model;

[0041] Figure 4 A schematic diagram of the front structure of a servo driver provided by an embodiment of the present utility model;

[0042] Figure 5A schematic diagram of the back structure of a servo driver provided by an embodiment of the present utility model;

[0043] Figure 6 A schematic diagram of a servo joint module provided by an embodiment of the present utility model; DETAILED DESCRIPTION

[0044] In order to help those skilled in the art better understand the present invention, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The directions or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. are based on the directions or positional relationships shown in the drawings and are only used to illustrate the relative positional relationships between the various components or components, and do not particularly limit the specific installation directions of the various components or components.

[0046] Figure 1 A schematic structural diagram of a servo joint module provided by an embodiment of the present utility model is shown in FIG. Figure 2 A cross-sectional view of a servo joint module provided by an embodiment of the present utility model. Figure 3 A three-dimensional assembly diagram of a servo joint module provided by an embodiment of the utility model, Figure 4 This is a front structural diagram of a servo driver provided by an embodiment of the utility model. Figure 5 This is a schematic diagram of the back structure of a servo driver provided by an embodiment of the utility model, with reference to Figure 1-5The servo joint module in the embodiment of the present invention includes a servo driver 10. The servo driver 10 includes a circuit board 11, an electronic device 12, a heat-conducting component 13, and a housing 14. The electronic device 12 and the heat-conducting component 13 are both disposed between the circuit board 11 and the housing 14, and the heat-conducting component 13 covers at least a portion of the electronic device 12. The thermal conductivity of the heat-conducting component 13 is greater than that of air.

[0047] Exemplarily, the electronic device 12 may be a main control chip (MCU), MOS tube, servo control chip, gate driver or other heat-sensitive components arranged on the circuit board 11. These heat-sensitive components generate a lot of heat and are easily damaged. They need to be heat-dissipated to control their temperature below their rated temperature. It should be noted that the rated temperature refers to the highest temperature at which the equipment or product can operate safely under normal operating conditions.

[0048] For example, the heat generated by the electronic device 12 can be conducted to the housing 14 by providing a heat-conducting component 13 between the electronic device 12 and the housing 14, thereby controlling the temperature of the electronic device 12 to be below its rated temperature. It can be understood that the larger the contact area between the heat-conducting component 13 and the electronic device 12, the higher the heat-conducting efficiency of the heat-conducting component 13. Therefore, the heat-conducting efficiency of the heat-conducting component 13 can be improved by providing the heat-conducting component 13 to completely cover the electronic device 12.

[0049] For example, the heat-conducting component 13 can be made of heat-dissipating silicone grease, which has a thermal conductivity greater than that of air. Compared to existing technologies that rely solely on air for heat dissipation, the present embodiment uses a heat-conducting component 13 with a thermal conductivity greater than that of air to conduct heat generated by the electronic device 12. This not only allows the heat generated by the heating element to be more efficiently transferred to the housing 14, thereby improving the heat dissipation efficiency of the housing 14, but also minimizes the heat generated by the heating element from being transferred to other areas of the circuit board 11.

[0050] For example, the housing 14 can be made of metal, which has better heat dissipation than housings made of other materials such as plastic and ceramic. An aluminum housing is preferred, as it not only has better heat dissipation but also has the advantages of being lightweight and low cost.

[0051] The technical solution of the embodiment of the present utility model, by arranging a heat-conducting component with a thermal conductivity coefficient greater than that of air between the electronic device and the shell, can enable the heat generated by the electronic device to be quickly conducted to the shell and dissipated to the external air through the shell, thereby avoiding damage to the electronic device due to excessive temperature, and realizing temperature protection of the electronic device in the servo joint module.

[0052] Figure 6A schematic diagram of a servo joint module provided by an embodiment of the present invention, with reference to 4 and Figure 6 The electronic device 12 includes a main control chip 121 and a driving element 122. The servo driver 10 also includes a first temperature sensor 15, which is used to detect the temperature information of the driving element 122. The first temperature sensor 15 includes a first temperature output terminal, the main control chip 121 includes a first temperature receiving terminal and a first control signal output terminal, and the driving element 122 includes a first control signal receiving terminal. The first temperature output terminal is electrically connected to the first temperature receiving terminal and is used to transmit the temperature information of the driving element 122 to the first temperature receiving terminal. The first control signal output terminal is electrically connected to the first control signal receiving terminal and is used to transmit a first drive adjustment signal to the driving element 122.

[0053] Exemplary, reference Figure 4 The driving element 122 in the embodiment of the present invention may include a gate driver 1221, and the first temperature sensor 15 may be an internal temperature sensor built into the gate driver 1221. Figure 6 The first temperature sensor 15 can transmit the detected temperature information of the gate driver 1221 to the first temperature receiving terminal of the main control chip 121 via its first temperature output terminal. The main control chip 121 can then control its first control signal output terminal to output a corresponding first drive adjustment signal to the first control signal receiving terminal of the gate driver 1221 based on the received temperature information of the gate driver 1221, thereby adjusting the operating state of the gate driver 1221. For example, when the temperature information of the gate driver 1221 exceeds its rated temperature, the main control chip 121 can respond to the gate driver 1221 by activating an alarm, outputting a low power state, or stopping operation, according to program settings, to prevent the gate driver 1221 from operating in an environment exceeding its rated temperature.

[0054] Exemplary, reference Figure 4 In the embodiment of the present invention, the driving element 122 may include a MOS tube 1222, and the first temperature sensor 15 may be an internal temperature sensor built into the MOS tube 1222. Figure 6The first temperature sensor 15 can transmit the temperature information of the MOS transistor 1222 detected by it to the first temperature receiving end of the main control chip 121 through its first temperature output end. The main control chip 121 can control its first control signal output end to output a corresponding first drive adjustment signal to the first control signal receiving end of the MOS transistor 1222 based on the received temperature information of the MOS transistor 1222, thereby adjusting the operating state of the MOS transistor 1222. For example, when the temperature information of the MOS transistor 1222 exceeds its rated temperature, the main control chip 121 can respond to the MOS transistor 1222 by activating an alarm, outputting a low power state, stopping operation, etc. according to program settings, so as to prevent the MOS transistor 1222 from operating in an environment exceeding its rated temperature.

[0055] It should be noted that the main control chip 121 also has a built-in internal temperature sensor for detecting the temperature information of the main control chip 121. The main control chip 121 can directly obtain the temperature information detected by the internal sensor and adjust the operating state of the main control chip based on the temperature information. For example, when the temperature information of the main control chip 121 exceeds its rated temperature, the main control chip 121 can, according to program settings, initiate an alarm, output a low power state, or stop operation for the main control chip 121 and other devices controlled by the main control chip 121 to prevent the main control chip 121 from operating in an environment exceeding its rated temperature.

[0056] refer to Figure 4 and Figure 6 , the electronic device 12 includes a main control chip 121 and a servo control chip 123. The servo joint module also includes a motor 20 and a second temperature sensor 30, and the second temperature sensor 30 is used to detect the temperature information of the motor 20. The second temperature sensor 30 includes a second temperature output end, the main control chip 121 includes a second temperature receiving end and a second control signal output end, the servo control chip 123 includes a second control signal receiving end and a first drive signal output end, and the motor 20 includes a first drive signal receiving end. The second temperature output end is electrically connected to the second temperature receiving end for transmitting the temperature information of the motor 20 to the second temperature receiving end. The second control signal output end is electrically connected to the second control signal receiving end for transmitting a drive control adjustment signal to the servo control chip 123. The first drive signal output end is electrically connected to the first drive signal receiving end for transmitting a second drive adjustment signal to the first drive signal receiving end.

[0057] For example, the second temperature sensor 30 may be provided in the winding of the motor 20 and may detect the temperature information of the motor 20. Figure 6The second temperature sensor 30 can transmit the detected temperature information of the motor 20 to the second temperature receiving terminal of the main control chip 121 through its second temperature output terminal. The main control chip 121 can control its second control signal output terminal to output a corresponding drive control adjustment signal to the second control signal receiving terminal of the servo control chip 123 based on the received temperature information of the motor 20. The servo control chip 123 can control its first drive signal output terminal to output a corresponding second drive adjustment signal to the first drive signal receiving terminal of the motor 20 based on the received drive control adjustment signal, thereby adjusting the working state of the motor 20. For example, when the temperature information of the motor 20 exceeds its rated temperature, the main control chip 121 can respond to the motor 20 by activating an alarm, outputting a low power state, stopping operation, etc. according to program settings to prevent the motor 20 from operating in an environment exceeding its rated temperature.

[0058] refer to Figure 4 and Figure 6 , the electronic device 12 includes a main control chip 121 and a servo control chip 123. The servo joint module also includes a motor 20 and a torque sensor 40, and the torque sensor 40 is used to detect the torque information of the motor 20. The torque sensor 40 includes a torque output end, the main control chip 121 includes a torque receiving end and a third control signal output end, the servo control chip 123 includes a third control signal receiving end and a second drive signal output end, and the motor 20 includes a second drive signal receiving end. The torque output end is electrically connected to the torque receiving end for transmitting the torque information of the motor 20 to the torque receiving end. The third control signal output end is electrically connected to the third control signal receiving end for transmitting a torque control adjustment signal to the servo control chip 123. The second drive signal output end is electrically connected to the second drive signal receiving end for transmitting a third drive adjustment signal to the second drive signal receiving end.

[0059] For example, the torque sensor 40 can be provided on the output flange of the motor 20 to detect the torque information of the motor 20. Figure 6The torque sensor 40 can transmit the torque information of the motor 20 detected by it to the torque receiving end of the main control chip 121 through its torque output end. The main control chip 121 can control its third control signal output end to output a corresponding torque control adjustment signal to the third control signal receiving end of the servo control chip 123 based on the received torque information of the motor 20. The servo control chip 123 can control its second drive signal output end to output a corresponding third drive adjustment signal to the second drive signal receiving end of the motor 20 based on the received torque control adjustment signal, thereby adjusting the working state of the motor 20. For example, when the torque information of the motor 20 exceeds the preset torque, the main control chip 121 can respond to the motor 20 by activating an alarm, outputting a low power state, stopping the operation, etc. according to the program settings to prevent the torque information of the motor 20 from exceeding the preset torque. It should be noted that the above-mentioned preset torque can be the rated torque. The rated torque refers to the torque that the motor can continuously output under normal working conditions. It is usually the torque of the optimal operating state measured under rated power and speed conditions. Torque exceeding the rated torque will cause the motor to overload and may even cause motor damage or other failures.

[0060] refer to Figure 2 、 Figure 3 、 Figure 5 and Figure 6 The servo joint module also includes a magnetic encoder 50 and a motor 20. The magnetic encoder 50 includes a magnetic code disk 51 and a magnetic encoder reader 52. The magnetic code disk 51 is mounted on the motor 20, and the magnetic encoder reader 52 is mounted on the circuit board 11. The electronic device 12 includes a main control chip 121 and a servo control chip 123. The magnetic code disk 51 includes a magnetic field signal output terminal, the magnetic encoder reader 52 includes a magnetic field signal receiving terminal and a position signal output terminal, the main control chip 121 includes a position signal receiving terminal and a fourth control signal output terminal, the servo control chip 123 includes a fourth control signal receiving terminal and a third drive signal output terminal, and the motor 20 includes a third drive signal receiving terminal. The magnetic field signal output terminal is coupled to the magnetic field signal receiving terminal and is configured to transmit a magnetic field signal based on the position information of the motor 20 to the magnetic field signal receiving terminal. The position signal output terminal is electrically connected to the position signal receiving terminal and is configured to transmit the position signal of the motor 20 to the position signal receiving terminal. The fourth control signal output terminal is electrically connected to the fourth control signal receiving terminal and is configured to transmit a position control adjustment signal to the servo control chip 123. The third driving signal output end is electrically connected to the third driving signal receiving end, and is used to transmit a position adjustment signal to the third driving signal receiving end.

[0061] For example, the magnetic encoder read head 52 is adapted to the magnetic code disk 51 and can support multi-turn counting. Figure 6The magnetic code disk 51 fixed on the rotor of the electrode 20 can transmit the magnetic field signal based on the position information of the motor 20 sensed by it to the magnetic field signal receiving end of the magnetic encoder reader 52 through its magnetic field signal output end. Specifically, the magnetic code disk 51 is usually made of ferromagnetic material and has a series of magnetic poles. These magnetic poles are arranged in a specific pattern, which can be a periodic magnetic pole array or a continuous magnetic strip. When the magnetic code disk rotates or moves, the magnetic poles on it will change their positions accordingly, thereby changing the surrounding magnetic field distribution. The magnetic encoder reader 52 is fixed on the circuit board 11 and is relatively closely aligned with the magnetic code disk 51. It is responsible for capturing the magnetic field changes around the magnetic code disk 51, that is, the magnetic field signal based on the position information of the motor 20.

[0062] The magnetic encoder reader 52 can control its position signal output terminal to output the corresponding position information to the position signal receiving terminal of the main control chip 121 based on the received magnetic field signal based on the position information of the motor 20. The main control chip 121 can control its fourth control signal output terminal to output the corresponding position control adjustment signal to the fourth control signal receiving terminal of the servo control chip 123 based on the received position information. The servo control chip 123 can control its third drive signal output terminal to output the corresponding position adjustment signal to the third drive signal receiving terminal of the motor 20 based on the received position control adjustment signal, thereby adjusting the operating state of the motor 20. For example, when the position information of the motor 20 exceeds a preset position, the main control chip 121 can respond to the motor 20 by activating an alarm, outputting a low power state, or stopping the motor 20 according to program settings to prevent the position information of the motor 20 from exceeding the preset position.

[0063] refer to Figure 4 and Figure 5 The circuit board 11 includes a first surface 111 and a second surface 112 that are opposite to each other. The electronic device 12 is disposed on the first surface 111 , and the magnetic encoder read head 52 is disposed on the second surface 112 .

[0064] Exemplary, reference Figure 4 and Figure 5Heat-sensitive components such as the main control chip 121, gate driver 1221, MOS transistor 1222, and servo control chip 123 are all disposed on the first surface 111. The main control chip 121 is connected to the housing 14 via a first heat-conducting component 131, the gate driver 1221 is connected to the housing 14 via a second heat-conducting component 132, the MOS transistor 1222 is connected to the housing 14 via a third heat-conducting component 133, and the servo control chip 123 is connected to the housing 14 via a fourth heat-conducting component 134. The magnetic encoder head 52 is disposed on the second surface 112, away from the heat-sensitive components. Most of the heat generated by these components is conducted to the housing 14 via the heat-conducting component 13. Therefore, the heat generated by these components is substantially not conducted to the magnetic encoder head 52, thus preventing data drift caused by overheating of the magnetic encoder head 52. This helps to improve the signal acquisition accuracy of the magnetic encoder head 52 and its operational stability in high-temperature environments.

[0065] refer to Figure 5 The second surface 112 of the circuit board 11 is also equipped with other components. It should be noted that compared to heat-sensitive components such as the main control chip 121, gate driver 1221, MOS transistor 1222, and servo control chip 123, the components on the second surface 112 are not heat-sensitive and can be cooled normally through air. To maintain the magnetic encoder read head 52 within the optimal operating temperature range, the present embodiment places these components as far away from the magnetic encoder read head 52 as possible.

[0066] Optionally, the distance D1 between the magnetic code disk 51 and the magnetic encoder reading head 52 satisfies 0.3 mm ≤ D1 ≤ 0.7 mm.

[0067] It is understandable that the distance D1 between the magnetic code disk 51 and the magnetic encoder reader 52 will affect the detection accuracy of the magnetic encoder 50. By setting the distance D1 between the magnetic code disk 51 and the magnetic encoder reader 52 to satisfy 0.3mm≤D1≤0.7mm, the magnetic field changes around the magnetic code disk 51 can be sensed by the magnetic encoder reader 52 and converted into accurate position information.

[0068] refer to Figure 4-6 The circuit board 11 further includes a through hole 113 extending through the circuit board 11. The servo joint module further includes a motor 20 and a sensor. At least one of the motor 20, the sensor, and the master controller is electrically connected to the servo driver 10 via a signal transmission line S1 extending through the through hole 113.

[0069] In the prior art, the wiring between the servo driver and the motor, sensor, and headquarters controller is routed sideways, which increases the difficulty of wiring. In this embodiment, a through hole 113 is provided on the circuit board 11, which penetrates the circuit board 11. The signal transmission line S1 connecting the servo driver and the motor, sensor, and headquarters controller can pass through the through hole 113, replacing the existing side wiring and helping to reduce the difficulty of wiring.

[0070] refer to Figure 6 The sensor includes a second temperature sensor 30 and a torque sensor 40. The signal transmission line S1 includes a second temperature signal transmission line S11, a torque signal transmission line S12, a first drive signal transmission line S13, a second drive signal transmission line S14, a third drive signal transmission line S15, and a communication signal transmission line S16. The electronic device 12 includes a main control chip 121 and a servo control chip 123. The second temperature signal transmission line S11 electrically connects the second temperature sensor 30 and the main control chip 121, and the first drive signal transmission line S13 electrically connects the servo control chip 123 and the motor 20. The torque signal transmission line S12 electrically connects the torque sensor 40 and the main control chip 121, and the second drive signal transmission line S14 electrically connects the servo control chip 123 and the motor 20. The third drive signal transmission line S15 electrically connects the servo control chip 123 and the motor 20. The communication signal transmission line S16 electrically connects the main control chip 121 and the main controller. At least one of the second temperature signal transmission line S11 , the torque signal transmission line S12 , the first driving signal transmission line S13 , the second driving signal transmission line S14 , the third driving signal transmission line S15 and the communication signal transmission line S15 passes through the through hole 113 .

[0071] Exemplary, reference Figure 4 and Figure 6 In the embodiment of the present invention, the electronic device 12 disposed on the circuit board 11 further includes a temperature sampling interface 124, a torque sensor interface 125, and a bus communication control interface 126. The temperature sampling interface 124 is connected between the second temperature sensor 30 and the main control chip 121, the torque sensor interface 125 is connected between the torque sensor 40 and the main control chip 121, and the bus communication control interface 126 is connected between the master control and the main control chip 121. The provision of reserved functional ports such as the temperature sampling interface 124, the torque sensor interface 125, and the bus communication control interface 126 facilitates user functionality expansion and facilitates customer selection based on actual application scenarios.

[0072] Exemplary, reference Figure 4 and Figure 6One end of the second temperature signal transmission line S11 is electrically connected to the second temperature sensor 30, and the other end of the second temperature signal transmission line S11 passes through the through-hole 113 and is electrically connected to the main control chip 121 through the temperature sampling interface 124. The second temperature signal transmission line S11 can transmit the temperature information of the motor 20 output from the second temperature output end of the second temperature sensor 30 to the second temperature receiving end of the main control chip 121. One end of the first drive signal transmission line S13 is electrically connected to the servo control chip 123, and the other end of the first drive signal transmission line S13 passes through the through-hole 113 and is electrically connected to the motor 20. The first drive signal transmission line S13 can transmit the second drive adjustment signal output from the first drive signal output end of the servo control chip 123 to the first drive signal receiving end of the motor 20.

[0073] Exemplary, reference Figure 4 and Figure 6 One end of the torque signal transmission line S12 is electrically connected to the torque sensor 40, and the other end of the torque signal transmission line S12 passes through the through-hole 113 and is electrically connected to the main control chip 121 through the torque sensor interface 125. The torque signal transmission line S12 can transmit the torque information of the motor 20 output from the torque output end of the torque sensor 40 to the torque receiving end of the main control chip 121. One end of the second drive signal transmission line S14 is electrically connected to the servo control chip 123, and the other end of the second drive signal transmission line S14 passes through the through-hole 113 and is electrically connected to the motor 20. The second drive signal transmission line S14 can transmit the third drive adjustment signal output from the second drive signal output end of the servo control chip 123 to the second drive signal receiving end of the motor 20.

[0074] Exemplary, reference Figure 4 and Figure 6 One end of the third drive signal transmission line S15 is electrically connected to the servo control chip 123, and the other end of the third drive signal transmission line S15 is electrically connected to the through hole 113 and the motor 20. The third drive signal transmission line S15 transmits the position adjustment signal output from the third drive signal output end of the servo control chip 123 to the third drive signal receiving end of the motor 20.

[0075] Exemplary, reference Figure 4 and Figure 6 One end of the communication signal transmission line S16 is electrically connected to the communication terminal of the main control chip 121, and the other end of the communication signal transmission line S16 is electrically connected to the communication terminal of the master controller through the through hole 113. The communication signal transmission line S16 can transmit the signal output from the communication terminal of the main control chip 121 to the communication terminal of the master controller, and can also transmit the signal output from the communication terminal of the master controller to the communication terminal of the main control chip 121.

[0076] Based on the same concept, the present invention also provides a robot comprising at least one servo joint module as described in any of the above embodiments. Therefore, the robot includes the technical features and benefits of the servo joint module, and similarities may be referred to above.

[0077] The above specific embodiments do not limit the scope of protection of this utility model. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model shall be included within the scope of protection of this utility model.

Claims

1. A servo joint module, characterized in that: Including servo drive; The servo driver includes a circuit board, an electronic device, a heat-conducting component, and a housing; the electronic device and the heat-conducting component are both arranged between the circuit board and the housing, and the heat-conducting component covers at least a portion of the electronic device; Wherein, the thermal conductivity of the heat-conducting component is greater than the thermal conductivity of air.

2. The servo joint module according to claim 1, characterized in that: The electronic device includes a main control chip and a driving element; The servo driver further includes a first temperature sensor, which is used to detect temperature information of the driving element; The first temperature sensor includes a first temperature output terminal, the main control chip includes a first temperature receiving terminal and a first control signal output terminal, and the driving element includes a first control signal receiving terminal; the first temperature output terminal is electrically connected to the first temperature receiving terminal, and is used to transmit temperature information of the driving element to the first temperature receiving terminal; The first control signal output terminal is electrically connected to the first control signal receiving terminal, and is used to transmit a first driving adjustment signal to the driving element.

3. The servo joint module according to claim 1, characterized in that: The electronic device includes a main control chip and a servo control chip; The servo joint module further includes a motor and a second temperature sensor, wherein the second temperature sensor is used to detect temperature information of the motor; The second temperature sensor includes a second temperature output end, the main control chip includes a second temperature receiving end and a second control signal output end, the servo control chip includes a second control signal receiving end and a first drive signal output end, and the motor includes a first drive signal receiving end; the second temperature output end is electrically connected to the second temperature receiving end, for transmitting the temperature information of the motor to the second temperature receiving end; the second control signal output end is electrically connected to the second control signal receiving end, for transmitting the drive control adjustment signal to the servo control chip; the first drive signal output end is electrically connected to the first drive signal receiving end, for transmitting the second drive adjustment signal to the first drive signal receiving end.

4. The servo joint module according to claim 1, characterized in that: The electronic device includes a main control chip and a servo control chip; The servo joint module further includes a motor and a torque sensor, wherein the torque sensor is used to detect the torque information of the motor; The torque sensor includes a torque output end, the main control chip includes a torque receiving end and a third control signal output end, the servo control chip includes a third control signal receiving end and a second drive signal output end, and the motor includes a second drive signal receiving end; the torque output end is electrically connected to the torque receiving end, for transmitting the torque information of the motor to the torque receiving end; the third control signal output end is electrically connected to the third control signal receiving end, for transmitting a torque control adjustment signal to the servo control chip; the second drive signal output end is electrically connected to the second drive signal receiving end, for transmitting a third drive adjustment signal to the second drive signal receiving end.

5. The servo joint module according to claim 1, characterized in that: The servo joint module also includes a magnetic encoder and a motor; The magnetic encoder includes a magnetic code disk and a magnetic encoder read head; the magnetic code disk is arranged on the motor, and the magnetic encoder read head is arranged on the circuit board; The electronic device includes a main control chip and a servo control chip; The magnetic code disk includes a magnetic field signal output end, the magnetic encoder read head includes a magnetic field signal receiving end and a position signal output end, the main control chip includes a position signal receiving end and a fourth control signal output end, the servo control chip includes a fourth control signal receiving end and a third drive signal output end, and the motor includes a third drive signal receiving end; the magnetic field signal output end is coupled to the magnetic field signal receiving end, and is used to transmit a magnetic field signal based on the position information of the motor to the magnetic field signal receiving end; the position signal output end is electrically connected to the position signal receiving end, and is used to transmit the position signal of the motor to the position signal receiving end; the fourth control signal output end is electrically connected to the fourth control signal receiving end, and is used to transmit a position control adjustment signal to the servo control chip; the third drive signal output end is electrically connected to the third drive signal receiving end, and is used to transmit a position adjustment signal to the third drive signal receiving end.

6. The servo joint module according to claim 5, characterized in that: The circuit board includes a first surface and a second surface arranged opposite to each other; The electronic device is disposed on the first surface, and the magnetic encoder read head is disposed on the second surface.

7. The servo joint module according to claim 5, characterized in that: The distance D1 between the magnetic code disk and the magnetic encoder reading head satisfies 0.3 mm ≤ D1 ≤ 0.7 mm.

8. The servo joint module according to claim 1, characterized in that: The circuit board further includes a through hole passing through the circuit board; the servo joint module further includes a motor and a sensor; At least one of the motor, the sensor and the main controller is electrically connected to the servo driver via a signal transmission line passing through the through hole.

9. The servo joint module according to claim 8, characterized in that: The sensors include a second temperature sensor and a torque sensor; The signal transmission line includes a second temperature signal transmission line, a torque signal transmission line, a first drive signal transmission line, a second drive signal transmission line, a third drive signal transmission line and a communication signal transmission line; The electronic device includes a main control chip and a servo control chip; The second temperature signal transmission line electrically connects the second temperature sensor and the main control chip, and the first drive signal transmission line electrically connects the servo control chip and the motor; The torque signal transmission line electrically connects the torque sensor and the main control chip, and the second drive signal transmission line electrically connects the servo control chip and the motor; A third drive signal transmission line electrically connects the servo control chip and the motor; The communication signal transmission line electrically connects the main control chip and the master controller; At least one of the second temperature signal transmission line, the torque signal transmission line, the first drive signal transmission line, the second drive signal transmission line, and the communication signal transmission line passes through the through hole.

10. A robot, characterized in that: It comprises at least one servo joint module according to any one of claims 1 to 9.

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