Distributed annular servo driver

Abstract

The utility model relates to a distributed annular servo driver, and the driver comprises an annular interface board which is provided with a central through hole, and is provided with a communication terminal, a power supply terminal, an input / output terminal, and an encoder terminal; the control panel is arranged on the first side of the annular interface board, a control element is arranged on the control panel, the control element is used for providing control signals, and the control signals are used for bus communication, encoder sensing and motor driving; the capacitor plate is arranged on the first side of the annular interface plate and is used for arranging a capacitor; the communication board is arranged on the first side of the annular interface board and is used for arranging a communication element; wherein the control board, the capacitor board and the communication board are arranged around the central through hole. The distributed annular servo driver can be arranged on a shaft of external equipment in a sleeving mode, the distance between the distributed annular servo driver and the external equipment is short, and the installation space is saved.

Description

Technical Field

[0001] This application relates to the field of servo drives, and more specifically to a distributed ring servo drive. Background Technology

[0002] Distributed servo drives utilize a distributed architecture, deploying multiple servo drives in different locations, with each drive independently controlling one motor axis. These drives interact and collaborate via a high-speed communication network. This model significantly reduces the computational burden on a single controller and improves control response speed. Because each drive is close to the controlled motor, signal transmission distance is reduced, lowering the risk of signal attenuation and interference. However, with the rapid development of industrial automation, conventional distributed servo drives cannot meet all application scenarios. Especially in confined spaces with limited installation space, servo drives cannot be easily installed on the drive unit, potentially requiring additional mounting structures to place them near the controlled motor. This results in wasted space and increased overall equipment size. Utility Model Content

[0003] This application addresses the aforementioned technical problems by providing a distributed ring servo drive that can be mounted on the axis of an external device, is close to the external device, and saves installation space.

[0004] The technical solution adopted in this application to solve the above-mentioned technical problems is a distributed ring servo driver, comprising: a ring interface board having a central through hole, wherein the ring interface board is provided with communication terminals, power terminals, input / output terminals and encoder terminals; a control board disposed on a first side of the ring interface board, wherein the control board is provided with control elements, the control elements being used to provide control signals, the control signals being used for bus communication, encoder sensing and motor driving; a capacitor board disposed on the first side of the ring interface board for providing capacitors; and a communication board disposed on the first side of the ring interface board for providing communication elements; wherein the control board, the capacitor board and the communication board surround the central through hole.

[0005] In one embodiment of this application, the capacitor plate has a first curved edge, the curvature of which is adapted to a portion of the curvature of the central through hole.

[0006] In one embodiment of this application, the capacitor plate further has a second curved edge, the curvature of which is adapted to the outer contour curvature of the annular interface plate, and the side length of the second curved edge is greater than the side length of the first curved edge.

[0007] In one embodiment of this application, the communication board has a third curved edge, the curvature of which is adapted to a portion of the curvature of the central through hole.

[0008] In one embodiment of this application, the communication board further has a fourth curved edge, the curvature of which is adapted to the outer contour curvature of the annular interface board, and the side length of the fourth curved edge is greater than the side length of the third curved edge.

[0009] In one embodiment of this application, the projections of the control board, the capacitor board, and the communication board along a first direction do not overlap, wherein the first direction is perpendicular to the surface of the annular interface board.

[0010] In one embodiment of this application, in the first direction, the control board is closer to the annular interface board than the capacitor board and the communication board.

[0011] In one embodiment of this application, the capacitor board and the communication board are on the same plane.

[0012] In one embodiment of this application, the communication terminal includes an input network port terminal and an output network port terminal, the power supply terminal includes a power input positive terminal, a power input negative terminal and a power output terminal that are independently arranged, and the encoder terminal is suitable for any one of serial communication protocol, CAN bus protocol and incremental encoder.

[0013] In one embodiment of this application, a cover is further included, having an internal accommodating space and a mounting portion. The cover is used to accommodate the annular interface board, the control board, the capacitor board, and the communication board in the internal accommodating space, and the mounting portion is used to fix the distributed annular servo driver to an external device.

[0014] The distributed ring servo drive of this application, by setting a ring interface board, allows the servo drive to be fitted onto the axis of an external device, enabling close-range installation with the external device, which greatly saves installation space, thereby further shortening the cable length, reducing the signal transmission distance, and reducing the risk of signal attenuation and interference. Attached Figure Description

[0015] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings, wherein:

[0016] Figure 1 This is a perspective view of a distributed ring servo driver according to an embodiment of this application;

[0017] Figure 2 yes Figure 1 An exploded view of the distributed ring servo driver of the embodiment shown;

[0018] Figure 3 yes Figure 1 A bottom view of the distributed ring servo driver of the embodiment shown.

[0019] Figure 4 yes Figure 1 A bottom view of the ring interface board of the distributed ring servo driver in the embodiment shown.

[0020] Figure 5 yes Figure 1 A side view of the distributed ring servo driver of the embodiment shown. Detailed Implementation

[0021] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein, and therefore this application is not limited to the specific embodiments disclosed below.

[0023] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0024] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0025] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0026] Hereinafter, embodiments of this application will be described based on the accompanying drawings. However, the embodiments shown below are examples of distributed ring servo drives used to embody the technical concept of this application, and the distributed ring servo drive of this application is not specifically defined as follows. Furthermore, in order to facilitate understanding of the scope of the claims, the components corresponding to the components shown in the embodiments are assigned numbers to the components shown in the "Claims" and "Utility Model Content" columns. However, the components shown in the claims are not intended to be specific to the components of the embodiments. In particular, the dimensions, materials, shapes, and relative arrangements of the constituent components described in the embodiments are not intended to limit the scope of this application unless specifically stated otherwise, but are merely illustrative examples.

[0027] However, the dimensions or positional relationships of the components shown in the accompanying drawings are sometimes exaggerated for clarity. Therefore, in the following description, detailed descriptions of the same names and symbols representing the same or homogeneous components are appropriately omitted. Furthermore, the elements constituting this application may be multiple elements composed of the same components, thus allowing one component to function as multiple elements; conversely, multiple components may share the function of one component. Additionally, the content described in some embodiments and implementations can be applied to other embodiments and implementations. Furthermore, in this specification, "upper" is not limited to the case of being formed in contact with an upper surface, but also includes the case of being formed separately on top, and also includes the meaning of an intermediate layer between layers.

[0028] The distributed ring servo drive of this application can be applied to various external devices with axes for controlling the movement of these devices. Preferably, the external device includes a motor with a shaft. This shaft can be the motor's rotating shaft or a shaft for other purposes. The distributed ring servo drive of this application can be mounted on the relevant shaft, achieving close-range, or even near-close-range, installation with the motor. This significantly saves installation space, further shortens cable length, reduces signal transmission distance, lowers signal attenuation and interference risks, and greatly improves the synchronous control accuracy during multi-axis linkage.

[0029] Figure 1 This is a three-dimensional schematic diagram of a distributed ring servo driver according to an embodiment of this application. Figure 2 yes Figure 1 An exploded view of the distributed ring servo driver of the embodiment shown. Figure 3 yes Figure 1 A bottom view schematic diagram of the distributed ring servo driver of the illustrated embodiment. (Combined with...) Figures 1-3 As shown, the distributed ring servo driver 100 (hereinafter referred to as "servo driver 100") of this embodiment includes a ring interface board 110, a control board 120, a capacitor board 130, and a communication board 140. The ring interface board 110 has a central through-hole 111 and is provided with communication terminals, power terminals, input / output terminals, and encoder terminals. The control board 120 is disposed on a first side 112 of the ring interface board 110 and is provided with control elements for providing control signals, which are used for bus communication, encoder sensing, and motor driving. The capacitor board 130 is disposed on the first side 112 of the ring interface board 110 and is used to house capacitors. The communication board 140 is disposed on the first side 112 of the ring interface board 110 and is used to house communication elements. The control board 120, capacitor board 130, and communication board 140 surround the central through-hole 111.

[0030] This application designs a ring-shaped interface board 110 with a central through-hole 111, and arranges the control board 120, capacitor board 130, and communication board 140 around the central through-hole 111. This allows the servo drive 100 to be mounted on the axis of an external device through the central through-hole 111, thus minimizing the distance between the servo drive 100 and the external device and reducing its space occupation. No additional mounting structures are required, reducing the overall size of the drive device. Due to the shortest distance, the cable length is also minimized, reducing signal transmission distance, signal attenuation, and interference risks, resulting in a significant improvement in synchronous control accuracy during multi-axis linkage.

[0031] The central through hole 111 is generally circular, but can also be other shapes. This application does not limit the specific size of the central through hole 111. The size of the central through hole 111 can be set according to the dimensions of the shaft of the external device, so that the central through hole 111 can match the shaft.

[0032] In some embodiments, the outer contour of the annular interface board 110 is approximately circular, and the center of the central through hole 111 is the center of this circular shape.

[0033] Combination Figure 2 and Figure 3 As shown, according to Figure 2As shown in the diagram, the first side 112 of the ring interface board 110, which is below the ring interface board 110, is where the capacitor board 130, control board 120, and communication board 140 are all located.

[0034] refer to Figure 3 As shown, in this embodiment, the capacitor plate 130, control board 120, and communication board 140 are sequentially arranged around the central through hole 111, with the capacitor plate 130 and communication board 140 facing each other, and the control board 120 located between the capacitor plate 130 and communication board 140. This arrangement effectively allows the capacitor plate 130, control board 120, and communication board 140 to be laid flat below the annular interface board 110, fully utilizing the space below the annular interface board 110, saving the height of the servo driver 100 in the first direction D1, reducing the height of the servo driver 100, and shrinking its size.

[0035] This application does not impose any restrictions on the shape or size of the capacitor board 130, the control board 120, and the communication board 140.

[0036] refer to Figure 3 As shown, in some embodiments, the capacitor plate 130 has a first curved edge 131, the curvature of which matches a portion of the curvature of the central through hole 111. According to these embodiments, the first curved edge 131 of the capacitor plate 130 is almost flush with a portion of the edge of the central through hole 111, so that the capacitor plate 130 has the longest possible length in the direction toward the central through hole 111.

[0037] refer to Figure 3 As shown, in some embodiments, the capacitor plate 130 further has a second curved edge 132, the curvature of which matches the outer contour curvature of the annular interface plate 110, and the side length of the second curved edge 132 is greater than the side length of the first curved edge 131. The second curved edge 132 also fits as closely as possible to the outer contour edge of the annular interface plate 110, so that the capacitor plate 130 has the longest possible length in the direction toward the outer edge of the annular interface plate 110. The side length of the second curved edge 132 is greater than the side length of the first curved edge 131, so that the area of ​​the capacitor plate 130 is as large as possible, thereby allowing for the placement of more capacitors. The capacitors are used for energy storage and can also effectively filter out ripple and noise in the power supply, thereby stabilizing the power supply voltage. According to these embodiments, the capacitor plate 130 is partially fan-shaped annular.

[0038] refer to Figure 3As shown, in some embodiments, the communication board 140 has a third curved edge 141, the curvature of which matches a portion of the curvature of the central through-hole 111. According to these embodiments, the third curved edge 141 of the communication board 140 is almost flush with a portion of the edge of the central through-hole 111, so that the communication board 140 has the longest possible length in the direction toward the central through-hole 111.

[0039] refer to Figure 3 As shown, in some embodiments, the communication board 140 further has a fourth curved edge 142, the curvature of which matches the outer contour curvature of the annular interface board 110, and the side length of the fourth curved edge 142 is greater than the side length of the third curved edge 141. The fourth curved edge 142 is also designed to fit as closely as possible to the outer contour edge of the annular interface board 110, so that the communication board 140 has the longest possible length in the direction toward the outer edge of the annular interface board 110. The greater side length of the fourth curved edge 142 compared to the third curved edge 141 maximizes the area of ​​the communication board 140, allowing for the placement of more electronic components and facilitating the installation of more different types of communication interfaces on the servo driver 100. According to these embodiments, the communication board 140 is partially fan-shaped annular.

[0040] exist Figure 3 In the illustrated embodiment, the capacitor board 130 and the communication board 140 are similar in shape and size. However, according to Figure 3 It can also be seen that, in order to accommodate the mounting structure, the capacitor board 130 has a recess 133 in the middle of its outer edge, thereby avoiding the mounting portion 102 on the cover 101; the communication board 140 has a recess 143 on its side, thereby avoiding the mounting portions 103 and 104 on the cover 101. The specific structure of the cover 101 will be explained later.

[0041] Please note, for reference only. Figure 3 As shown, mounting holes are provided on both the capacitor board 130 and the communication board 140, allowing the capacitor board 130 and the communication board 140 to be fixedly connected to the annular interface board 110, respectively. The specific mounting method can be screwing or soldering.

[0042] refer to Figure 3 As shown, the control panel 120 is roughly square. Figure 4 yes Figure 1 A bottom view of the ring interface board 110 of the distributed ring servo driver of the illustrated embodiment. The capacitor board 130 and communication board 140 are not shown. (See reference...) Figure 4As shown, the control board 120 is directly fixedly mounted on the first side 112 of the annular interface board 110. For example, the control board 120 can be soldered to the first side 112 of the annular interface board 110. The control board 120 is provided with control elements (not shown) for providing control signals. In some embodiments, the control elements include chips such as MCUs and electronic components.

[0043] In some embodiments, the ring interface board 110 has a projection along a first direction D1, within which the control board 120, capacitor board 130, and communication board 140 are all located. That is, the size of the ring interface board 110 determines the area of ​​the servo driver 100 in the horizontal plane. The control board 120, capacitor board 130, and communication board 140 do not increase this area. This configuration results in a compact structure and a small size for the servo driver 100.

[0044] In some embodiments, the projections of the control board 120, capacitor board 130, and communication board 140 along the first direction D1 do not overlap, wherein the first direction D1 is perpendicular to the surface of the annular interface board 110. Alternatively, the first direction D1 can be considered as the height direction of the servo driver 100. Figure 2 and Figure 3 As shown, in these embodiments, the projections of the control board 120, capacitor board 130, and communication board 140 along the first direction D1 do not overlap; that is, the control board 120, capacitor board 130, and communication board 140 do not obstruct each other and are spaced apart. This application does not limit the size of this space. The space is greater than or equal to 0. This arrangement helps reduce mutual interference between the boards and improves signal quality.

[0045] In some embodiments, in the first direction D1, the control board 120 is closer to the annular interface board 110 than the capacitor board 130 and the communication board 140. According to these embodiments, the control board 120, capacitor board 130, and communication board 140 are at different heights in the first direction D1. (See reference...) Figure 3 As shown, the communication board 140 is equipped with several communication components for connecting to various communication interfaces. Therefore, there is a certain gap between the communication board 140 and the ring interface board 110. The control board 120 is directly soldered to the first side 112 of the ring interface board 110, with no or very small gap between it and the ring interface board 110. (Reference) Figure 2 As shown, the first side 112 of the ring interface board 110 is also provided with several electronic components. Therefore, there is a certain distance between the capacitor board 130, the communication board 140 and the first side 112 of the ring interface board 110 to avoid or accommodate the electronic components.

[0046] This application does not impose any restrictions on whether the capacitor board 130 and the communication board 140 are on the same plane.

[0047] In some embodiments, the capacitor board 130 and the communication board 140 are on the same plane. In some embodiments, the bottom surfaces of the capacitor board 130 and the communication board 140 are coplanar, which makes the bottom surface of the servo driver 100 a single bottom surface, which is beneficial for it to fit against external devices through the bottom surface, thereby making it securely connected to the external devices.

[0048] refer to Figure 1 and Figure 2 As shown, the communication terminals on the ring interface board 110 of the servo driver 100 include an input network port terminal 211 and an output network port terminal 212. The power supply terminals include an independently configured positive power input terminal 221, a negative power input terminal 222, and a power output terminal. The encoder terminal 230 is suitable for any of the following protocols: serial communication protocol, CAN bus protocol, and incremental encoder. The ring interface board 110 also has input / output terminals 240, also known as I / O terminals, for signal or data input and output.

[0049] In some embodiments, the input / output terminal 240 includes a digital signal input terminal (DI) and a digital signal output terminal (DO).

[0050] In some embodiments, the input / output terminal 240 includes an analog signal input terminal (AI, Analog Input) and an analog signal output terminal (AO, Analog Output).

[0051] In some embodiments, the input / output terminal 240 includes DI, DO, AI, and AO simultaneously. The input / output terminal 240 may be implemented as a single terminal or multiple separate terminals.

[0052] In some embodiments, the input network port terminal 211 and the output network port terminal 212 are adapted to the EtherCAT bus protocol.

[0053] refer to Figure 1 and Figure 2 As shown, in some embodiments, the communication terminal also includes a USB terminal 213, which is disposed on the side of the output network port terminal 212.

[0054] In some embodiments, encoder terminal 230 is adapted to the Modbus protocol. Modbus is a serial communication protocol that typically uses an RS-485 interface. Encoder terminal 230 is also adapted to the RS-485 protocol.

[0055] In some embodiments, encoder terminal 230 is adapted to the CANopen bus protocol. The CANopen bus protocol is an application layer protocol based on the CAN bus.

[0056] refer to Figure 1 and Figure 2 As shown, in some embodiments, the power output terminal includes three independent terminals: a first power output terminal 223, a second power output terminal 224, and a third power output terminal 225. In some embodiments, the first power output terminal 223, the second power output terminal 224, and the third power output terminal 225 correspond to the U, V, and W terminals of a three-phase motor, respectively. Figure 1 As shown, the positive power input terminal 221, the negative power input terminal 222, the first power output terminal 223, the second power output terminal 224, and the third power output terminal 225 are all independent terminals with a certain distance between them. This arrangement can reduce mutual interference between terminals and is suitable for high-current and high-power applications.

[0057] refer to Figure 1 and Figure 2 As shown, the positive power input terminal 221, the negative power input terminal 222, the first power output terminal 223, the second power output terminal 224, and the third power output terminal 225 are all specifically implemented as a one-piece connector. This one-piece connector has an opening. Furthermore, the one-piece connector extends beyond the cover 101, and the opening is located outside the cover 101, allowing for convenient and quick connection of external cables to the one-piece connector. The connection method, for example, is soldering.

[0058] refer to Figure 1 As shown, in some embodiments, the servo driver 100 also includes a cover 101. Combined with Figure 1 and Figure 2 As shown, the cover 101 can be placed over the annular interface plate 110, control plate 120, capacitor plate 130, and communication plate 140 to form a housing. Correspondingly, the cover 101 also has a through hole 1011. This through hole 1011 is correspondingly provided with a central through hole 111, allowing a shaft to pass through both the through hole 1011 and the central through hole 111 simultaneously. By providing the cover 101, internal components can be protected, and it also serves an aesthetic purpose.

[0059] refer to Figure 2 As shown, the cover 101 has a top cover 1012 and a side cover 1013, and has an internal receiving space to accommodate the annular interface board 110, control board 120, capacitor board 130 and communication board 140. The side cover 1013 has a circular cross-sectional shape to fit the outer contour of the annular interface board 110.

[0060] refer to Figure 2 and Figure 3 As shown, the side cover 1013 is provided with several mounting portions, such as mounting portions 102, 103, and 104. The mounting portions are recessed relative to the top cover 1012. The user can fix the servo drive 100 to an external device by inserting screws into the mounting holes of the mounting portions from above.

[0061] Figure 5 yes Figure 1 A side view schematic diagram of the distributed ring servo driver of the illustrated embodiment. (In conjunction with...) Figure 1 and Figure 5 As shown, multiple openings are provided on the top cover 1012 to allow the terminals on the annular interface board 110 to extend out, so that the user can connect or disconnect the terminals above the cover 101.

[0062] In some embodiments, such as Figure 1 and Figure 2 As shown, the positive power input terminal 221 and the negative power input terminal 222 correspond to an opening on the top cover 1012, and the first power output terminal 223, the second power output terminal 224, and the third power output terminal 225 each correspond to an opening on the top cover 1012. Furthermore, the first power output terminal 223, the second power output terminal 224, and the third power output terminal 225 are arranged in the order UVW. This arrangement helps users accurately distinguish between the different terminals and avoid incorrect connection.

[0063] The servo driver 100 of this application can realize all the functions of a general servo driver and has the characteristics of compact structure and small size. By setting the ring interface board 110, the servo driver 100 can be sleeved on the shaft of an external device and can fit snugly with the external device, which greatly reduces the installation space, occupies little space, and is convenient to use.

[0064] While the foregoing disclosure has discussed various embodiments that are currently considered useful, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. Rather, the claims are intended to cover all modifications and equivalent combinations that conform to the spirit and scope of the embodiments of this application. For example, although the system components described above can be implemented by hardware devices, they can also be implemented solely by software solutions, such as installing the described system on existing servers or mobile devices.

[0065] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0066] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

Claims

1. A distributed ring servo driver, characterized in that, include: A ring-shaped interface board has a central through hole, and the ring-shaped interface board is provided with communication terminals, power terminals, input / output terminals and encoder terminals; A control board is disposed on the first side of the annular interface board. The control board is provided with control elements, which are used to provide control signals for bus communication, encoder sensing, and motor drive. A capacitor plate, disposed on the first side of the annular interface plate, is used to house capacitors; as well as A communication board, located on the first side of the annular interface board, is used to house communication elements; The control board, the capacitor board, and the communication board are arranged around the central through hole.

2. The distributed ring servo driver as described in claim 1, characterized in that, The capacitor plate has a first curved edge, the curvature of which matches the partial curvature of the central through hole.

3. The distributed ring servo driver as described in claim 2, characterized in that, The capacitor plate also has a second curved edge, the curvature of which matches the outer contour curvature of the annular interface plate, and the side length of the second curved edge is greater than the side length of the first curved edge.

4. The distributed ring servo driver as described in claim 1, characterized in that, The communication board has a third curved edge, the curvature of which matches the partial curvature of the central through hole.

5. The distributed ring servo driver as described in claim 4, characterized in that, The communication board also has a fourth curved edge, the curvature of which matches the outer contour curvature of the annular interface board, and the side length of the fourth curved edge is greater than the side length of the third curved edge.

6. The distributed ring servo driver as described in claim 1, characterized in that, The projections of the control board, the capacitor board, and the communication board along a first direction do not overlap, wherein the first direction is perpendicular to the surface of the annular interface board.

7. The distributed ring servo driver as described in claim 6, characterized in that, In the first direction, the control board is closer to the annular interface board than the capacitor board and the communication board.

8. The distributed ring servo driver as described in claim 1, characterized in that, The capacitor board and the communication board are on the same plane.

9. The distributed ring servo driver as described in claim 1, characterized in that, The communication terminals include an input network port terminal and an output network port terminal. The power supply terminals include a positive power input terminal, a negative power input terminal, and a power output terminal, which are independently configured. The encoder terminals are suitable for any of the following protocols: serial communication protocol, CAN bus protocol, and incremental encoder.

10. The distributed ring servo driver as described in claim 1, characterized in that, It also includes a cover having an internal accommodating space and a mounting part, the cover being used to accommodate the annular interface board, the control board, the capacitor board and the communication board in the internal accommodating space, and the mounting part being used to fix the distributed annular servo driver to an external device.

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