A servo wheel module

Abstract

This application discloses a servo wheel module, including a reduction module, a motor module, and a drive control module. One side of the motor module is connected to one side of the reduction module via a first seal, and the motor module drives the reduction module to rotate. One side of the drive control module is connected to the other side of the motor module via a second seal, and the drive control module outputs control signals to the motor module. The connection between the motor module and the reduction module via the first seal, and the connection between the drive control module and the motor module via the second seal, prevents moisture and other impurities from penetrating the servo wheel module, further preventing short circuits in internal electronic components due to moisture, and effectively extending the product's lifespan.

Description

Technical Field

[0001] This application relates to the field of servo drive technology, specifically to a servo wheel module. Background Technology

[0002] With the rapid development of industrial automation, robots and autonomous guided vehicles are increasingly widely used in manufacturing, warehousing and logistics. These devices are driven by servo wheel modules. These devices usually need to work in harsh conditions such as high humidity and dust. Moisture and other impurities can easily enter the interior of the servo wheel module, affecting the performance of its internal electronic components. Therefore, the performance of the servo wheel module is easily affected. Utility Model Content

[0003] This application aims to provide a servo wheel module that can prevent moisture and other impurities from penetrating into its interior, further preventing short circuits caused by moisture affecting internal electronic components, thereby effectively extending the product's service life.

[0004] This application provides a servo wheel module, including:

[0005] Deceleration module;

[0006] A motor module, one side of which is connected to one side of the reduction module via a first sealing element, the motor module being used to drive the reduction module to move;

[0007] A drive control module, one side of which is connected to the other side of the motor module via a second seal.

[0008] In some embodiments, one side of the servo wheel module is provided with an annular mounting groove, and the first seal is disposed in the annular mounting groove.

[0009] In some embodiments, the deceleration module includes a deceleration wheel and a deceleration transmission assembly, the deceleration transmission assembly being drivenly connected to the deceleration wheel and connected to one side of the motor module; the annular mounting groove is disposed on one side of the deceleration transmission assembly.

[0010] In some embodiments, the speed reduction transmission assembly includes a bracket, a planetary gear reducer set, an end cap, and a gear ring. The bracket has a first mounting port and a second mounting port at its two axial ends. A first speed reduction seal is provided between the end cap and the first mounting port. The planetary gear reducer set is mounted on the bracket, and the gear ring is fitted onto the bracket and is drive-connected to the planetary gear reducer set. The gear reducer is fitted onto the outer circumference of the gear ring. A side edge protrudes circumferentially outward from one end of the bracket where the second mounting port is located. A second speed reduction seal is provided between the side edge and the gear ring. The motor module is drive-connected to the planetary gear reducer set through the second mounting port. An annular mounting groove is located on the side of the bracket where the second mounting port is located.

[0011] In some embodiments, the motor module includes a motor housing and a motor unit, the motor unit being installed inside the motor housing; an annular limiting groove is provided on the outer periphery of the other side of the motor housing; the drive control module includes a driver housing and a driver unit, the driver unit being installed inside the driver housing; an opening is provided on one side of the driver housing, the opening cooperating with the annular limiting groove for limiting, and the second seal is disposed in the annular limiting groove.

[0012] In some embodiments,

[0013] The motor module also includes multiple electrical connection terminals and multiple control terminals, all of which protrude from the other side of the motor housing and are electrically connected to the motor unit.

[0014] The drive control module also includes multiple electrical connection ports and multiple control ports. One side of the driver housing is provided with an opening, and the multiple electrical connection ports and multiple control ports are all located in the driver unit and exposed through the opening.

[0015] The other side of the motor housing is connected to one side of the driver housing, the electrical connection terminal is inserted into the electrical connection socket, and the control terminal is inserted into the control socket.

[0016] In some embodiments, the servo wheel module further includes a magnetic induction component, which includes an induction magnet, a main signal acquisition unit, and a secondary signal acquisition unit. The induction magnet is coaxially connected to the shaft of the motor unit. The main signal acquisition unit and the secondary signal acquisition unit are both disposed in the driver unit and are electrically connected to the control socket.

[0017] In some embodiments, the drive control module further includes a signal output socket and a power socket. The signal output socket is connected to the main signal acquisition unit and the auxiliary signal acquisition unit, and the power socket is connected to the electrical connection port and installed on the outer wall of the driver housing.

[0018] In some embodiments, the drive control module further includes a sealant disposed inside the driver housing and encapsulating the driver unit, with the electrical connection port and the control port exposed outside the sealant.

[0019] In some embodiments, the outer wall of the driver housing is further provided with a heat dissipation structure.

[0020] According to the servo wheel module of the above embodiment, one side of the motor module is connected to one side of the reduction module through a first sealing member, and one side of the drive control module is connected to the other side of the motor module through a second sealing member. In this way, the servo wheel module composed of the reduction module, the motor module and the drive control module can avoid moisture and other impurities from penetrating into its interior, further preventing short circuits caused by moisture affecting the internal electronic components, and effectively extending the product's service life. Attached Figure Description

[0021] Figure 1 The 3D servo wheel module provided in this application Figure 1 ;

[0022] Figure 2 The 3D servo wheel module provided in this application Figure 2 ;

[0023] Figure 3 An exploded view of the servo wheel module provided in this application;

[0024] Figure 4 This is a side view of the servo wheel module provided in this application;

[0025] Figure 5 for Figure 4 Cross-sectional view along the AA direction;

[0026] Figure 6 for Figure 5 A magnified view of a portion of point B in the middle;

[0027] Figure 7 A side view of the deceleration module in the servo wheel module provided in this application;

[0028] Figure 8 for Figure 7 Cross-sectional view along the CC direction;

[0029] Figure 9 for Figure 8A magnified view of a portion of point D in the middle;

[0030] Figure 10 A side view of the motor module in the servo wheel module provided in this application;

[0031] Figure 11 for Figure 10 Cross-sectional view along the EE direction;

[0032] Figure 12 This is a side view of the drive control module in the servo wheel module provided in this application;

[0033] Figure 13 for Figure 12 Cross-sectional view along the FF direction;

[0034] Figure 14 A schematic diagram of the external cable for the servo wheel module provided in this application. Figure 1 ;

[0035] Figure 15 A schematic diagram of the external cable for the servo wheel module provided in this application. Figure 2 .

[0036] Figure label:

[0037] The components include: a reduction module 10, a reduction wheel 11, a limiting groove 111, an annular mounting groove 112, a reduction transmission assembly 12, a through hole 121, a first screw hole 122, a bracket 123, a first mounting port 1231, a second mounting port 1232, a first reduction seal 1233, a second reduction seal 1234, an end cap 124, a side edge 125, a planetary reduction gear set 126, a gear ring 127, and a rubber wheel 14.

[0038] Motor module 20, motor housing 21, annular limiting groove 211, limiting protrusion 212, second screw hole 213, first mounting hole 214, second mounting hole 215, motor housing body 216, first through hole 2161, mounting opening 2162, motor housing seal 2163, shaft seal 2164, motor housing end cover 217, second through hole 2171, motor unit 22, stator assembly 221, rotor assembly 222, electrical connection terminal 23, electrical connection base 231, control terminal 24, control base 241, first bolt 25;

[0039] Drive control module 30, driver housing 31, opening 311, heat dissipation structure 312, driver unit 32, electrical connection socket 33, control socket 34, second bolt 35, signal lead-out socket 36, signal transmission cable 361, power socket 37, power transmission cable 371.

[0040] Magnetic induction component 40, induction magnet 41, main signal acquisition unit 42, auxiliary signal acquisition unit 43;

[0041] First sealing element 50;

[0042] Second seal 60. Detailed Implementation

[0043] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0044] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments, and the operational steps involved in each embodiment can also be rearranged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for clearly describing a particular embodiment and do not imply that they represent the necessary components and / or order.

[0045] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0046] In related technologies, servo wheel modules often need to work in high humidity and dusty environments. Moisture and other impurities can easily penetrate into the interior of the servo wheel module, which in severe cases can cause short circuits in its internal electronic components, affecting the performance of the product.

[0047] See Figures 1-13As shown, the servo wheel module provided in this embodiment includes a reduction module 10, a motor module 20, and a drive control module 30. These modules are relatively independent and are sequentially and detachably connected, facilitating assembly and disassembly of the servo wheel module for maintenance of any damaged or malfunctioning components. The reduction module 10 outputs rotational motion, the motor module 20 drives the reduction module 10 to rotate, providing power for its rotation, and the drive control module 30 outputs control signals to the motor module 20 to control its speed, torque, and other parameters. This servo wheel module can be applied to robots, AGVs (Automated Guided Vehicles), and other similar equipment.

[0048] See Figure 5 As shown, one side of the motor module 20 is detachably connected to one side of the reduction module 10 via a first sealing member 50, and one side of the drive control module 30 is detachably connected to the other side of the motor module 20 via a second sealing member 60. In this way, the servo wheel module composed of the reduction module 10, the motor module 20 and the drive control module 30 can avoid moisture and other impurities from penetrating into its interior, further preventing short circuits caused by moisture affecting the internal electronic components, and effectively extending the product's service life.

[0049] See Figure 3 , Figure 5 , Figure 7 and Figure 8 As shown, a ring-shaped mounting groove 112 is provided on one side of the reduction module 10, and a first sealing element 50 is disposed in the ring-shaped mounting groove 112. The first sealing element 50 can be a sealing ring, and its radial dimension should be greater than the depth of the ring-shaped mounting groove 112. After one side of the reduction module 10 is connected to one side of the motor module 20, the portion of the first sealing element 50 protruding from the ring-shaped mounting groove 112 can undergo elastic deformation, thereby sealing the gap between the two components.

[0050] See Figure 8 and Figure 9 As shown, the reduction module 10 includes a reduction wheel 11 and a reduction transmission assembly 12. The reduction transmission assembly 12 is connected to the reduction wheel 11, and a rubber wheel 14 is also sleeved on the reduction wheel 11. One side of the reduction transmission assembly 12 is connected to one side of the motor module 20, and the annular mounting groove 112 is provided on one side of the reduction transmission assembly 12.

[0051] See Figure 8 and Figure 9As shown, the reduction transmission assembly 12 includes a bracket 123, a planetary reduction gear set 126, an end cap 124, and a gear ring 127. The bracket 123 has a first mounting port 1231 and a second mounting port 1232 at its two ends in the axial direction. The end cap 124 is mounted on the first mounting port 1231, and a first reduction seal 1233 is provided between the end cap 124 and the first mounting port 1231. The planetary reduction gear set 126 is mounted on the bracket 123, the gear ring 127 is sleeved on the bracket 123 and is drive-connected to the planetary reduction gear set 126, and the reduction gear 11 is sleeved on the outer circumference of the gear ring 127 and is drive-connected to the gear ring 127. The bracket 123 has a side edge 125 protruding outward from one end of the second mounting port 1232. A second deceleration seal 1234 is provided between the side edge 125 and the gear ring 127. The motor module 20 is connected to the planetary reduction gear set 126 through the second mounting port 1232. The annular mounting groove 112 is provided on the side of the bracket 123 where the second mounting port 1232 is located.

[0052] The motor module 20 includes a motor housing 21 and a motor unit 22. The motor unit 22 is installed inside the motor housing 21. An annular limiting groove 211 is provided on the outer periphery of the other side of the motor housing 21. The drive control module 30 includes a driver housing 31 and a driver unit 32. One side of the driver housing 31 has an opening 311, which cooperates with the annular limiting groove 211 for limiting. A second seal 60 is disposed in the annular limiting groove 211.

[0053] The motor module 20 also includes multiple electrical connection terminals 23 and multiple control terminals 24, all of which protrude from the other side of the motor housing 21 and are electrically connected to the motor unit 22. The electrical connection terminals 23 connect the motor unit 22 to a power source, such as a rechargeable power module from a robot or AGV (Automated Guided Vehicle), to provide power to the motor unit 22. The control terminals 24 control the operation of the temperature controller and / or brake of the motor unit 22 to monitor the temperature of the motor unit 22 during operation, or to control the deceleration of the motor unit 22 via the brake. The drive control module 30 also includes multiple electrical connection ports 33 and multiple control ports 34, all of which are located in the drive unit 32 and exposed from the opening 311, i.e., the multiple electrical connection ports 33 and multiple control ports 34 face the opening 311.

[0054] During product assembly, one side of the motor housing 21 is detachably connected to the reduction module 10, so that the rotating shaft of the motor unit 22 is connected to the reduction module 10 for transmission, and the reduction module 10 can be driven to rotate by the motor unit 22. The other side of the motor housing 21 is detachably connected to one side of the driver housing 31. The electrical connection terminal 23 is plugged into the electrical connection socket 33, and the control terminal 24 is plugged into the control socket 34, which facilitates rapid product assembly and improves assembly efficiency.

[0055] In one embodiment of this application, see Figure 5 , Figures 10-13 As shown, the annular limiting groove 211 is in a limiting fit with the opening 311 of the driver housing 31. The annular limiting groove 211 and the opening 311 of the driver housing 31 form a fit similar to a convex stop and a concave stop, ensuring that after the other side of the motor housing 21 is connected to one side of the driver housing 31, the electrical connection terminal 23 can be inserted into the electrical connection socket 33, and the control terminal 24 can be inserted into the control socket 34.

[0056] In one embodiment, a foolproof protrusion can be provided on the groove wall of the annular limiting groove 211, and a foolproof groove can be provided on the outer wall of the driver housing 31 located at the opening 311. When the annular limiting groove 211 and the opening 311 are in a limiting engagement, the other side of the motor housing 21 and one side of the driver housing 31 can be accurately aligned in such a way that the foolproof protrusion is positioned in the foolproof groove, ensuring that the electrical connection terminal 23 is plugged into the electrical connection socket 33 and the control terminal 23 is plugged into the control socket 34.

[0057] See Figure 11 As shown, the motor module 20 also includes multiple electrical connection seats 231 and multiple control seats 241. On the other side of the motor housing 21, multiple first mounting holes 214 and multiple second mounting holes 215 are provided. Multiple electrical connection terminals 23 are respectively installed on multiple electrical connection seats 231. Multiple electrical connection seats 231 are respectively sealed and fixed to multiple first mounting holes 214. Multiple control terminals 24 are respectively installed on multiple control seats 241. Multiple control seats 241 are respectively sealed and fixed to multiple second mounting holes 215.

[0058] Electrical connector 231 and control connector 241 support electrical connector 23 and control connector 24 respectively. Electrical connector 231 is sealed in the first mounting hole 214 and control connector 241 is sealed in the second mounting hole 215. For example, sealant or sealing material can be provided between the connector and the mounting hole to prevent water and other impurities from entering the interior of the motor housing 21.

[0059] In this embodiment, the motor unit 22 includes a stator assembly 221 and a rotor assembly 222, wherein the stator assembly 221 and the rotor assembly 222 are both installed inside the motor housing 21, and the stator assembly 221 surrounds the rotor assembly 222, and the shaft of the rotor assembly 222 extends to the outside of one side of the motor housing 21.

[0060] The electrical connection terminal 23 can provide electrical energy to the stator assembly 221. Under the action of electrical energy, the stator assembly 221 can generate an alternating magnetic field, and the rotor assembly 222 can rotate by cutting magnetic field lines under the action of the alternating magnetic field.

[0061] In some embodiments, a heat dissipation structure 312 is also provided on the outer surface of the closed end of the driver housing 31. The driver unit 32 generates a large amount of heat when it is working, and the heat dissipation structure 312 can dissipate the heat generated by the driver unit 32.

[0062] The closed end of the driver housing 31 is the end opposite to its open end 311. The driver unit 32 is attached to this closed end, which can quickly conduct heat generated by the driver unit 32 during operation. The heat dissipation structure 312 is a heat dissipation fin provided on the outer surface of the closed end of the driver housing 31, which can increase the contact area with the air, so as to dissipate the heat conducted by the driver unit 32 through heat exchange with the air.

[0063] In some embodiments, after the driver unit 32 is installed inside the driver housing 31, thermally conductive silicone can be filled into the driver housing 31 to form a sealant. This sealant encapsulates the driver unit 32 and adheres to the closed end of the driver housing 31, allowing the heat generated by the driver unit 32 to be quickly and effectively conducted to the heat dissipation structure 312 via the thermally conductive silicone. The electrical connection port 33 and the control port 34 are both exposed outside the sealant.

[0064] See Figure 5 , Figure 7 , Figure 8 as well as Figure 11 As shown, a limiting protrusion 212 is also provided on one side of the motor housing 21, and a limiting groove 111 is also provided on one side of the reduction module 10. The limiting protrusion 212 and the limiting groove 111 cooperate to limit the movement, so as to limit the movement when one side of the motor housing 21 is detachably connected to one side of the reduction module 10, so as to ensure that the rotating shaft of the motor unit 22 can be connected to the reduction module 10 for transmission.

[0065] like Figure 3 As shown, the deceleration module 10 has multiple first screw holes 122 on one side, and the motor housing 21 has a through first bolt hole (not shown in the figure), as... Figures 1-4 as well as Figure 10 , Figure 14 and Figure 15 As shown, the motor housing 21 and the reduction module 10 are detachably connected by means of a first bolt 25 passing through the first bolt hole and being screwed into the first screw hole 122, which means that the motor housing 21 and the reduction module 10 can be quickly assembled by means of the first bolt 25 passing through the first bolt hole and being screwed into the first screw hole 122.

[0066] In this embodiment, a plurality of first screw holes 122 are arranged in a circumferentially divided manner on one side of the deceleration module 10. Correspondingly, a plurality of first bolt holes are provided through the motor housing 21, and each first bolt hole corresponds to each first screw hole 122 to ensure the firmness of the connection between the motor housing 21 and the deceleration module 10.

[0067] See also Figure 3 As shown, the other side of the motor housing 21 is provided with a second screw hole 213, and the driver housing 31 is provided with a second bolt hole (not shown in the figure). The other side of the motor housing 21 and one side of the driver housing 31 are quickly assembled by means of a second bolt 35 passing through the second bolt hole and screwed into the second screw hole 213.

[0068] Similarly, multiple second screw holes 213 are provided on the other side of the motor housing 21, and multiple second bolt holes are provided through the driver housing 31, with each second bolt hole corresponding to each second screw hole 213.

[0069] The motor unit 21 generates high-speed rotational motion during operation. For easy monitoring of parameters such as its rotational speed, please refer to [reference needed]. Figure 5 and Figure 6 As shown, the integrated servo wheel provided in this embodiment also includes a magnetic induction component 40. The magnetic induction component 40 includes an induction magnet 41, a main signal acquisition unit 42, and a secondary signal acquisition unit 43. The induction magnet 41 is coaxially connected to the shaft of the rotor assembly 222 in the motor unit 22. The main signal acquisition unit 42 and the secondary signal acquisition unit 43 are both installed in the driver unit 32 to save installation space and achieve integrated miniaturization.

[0070] The induction magnet 41 generates a magnetic field signal as it rotates coaxially with the shaft of the rotor assembly 222. One of the main signal acquisition unit 42 and the auxiliary signal acquisition unit 43 can acquire the magnetic field signal to obtain information such as the rotational speed and rotation angle of the rotor assembly 222. The main signal acquisition unit 42 and the auxiliary signal acquisition unit 43 can form a redundant structure, so that when one of the signal acquisition modules fails, the other signal acquisition module can be used.

[0071] To facilitate the output of information acquired by the main signal acquisition unit 42 or the secondary signal acquisition unit 43, please refer to... Figures 1-3 , Figure 5 , Figures 12-15As shown, the drive control module 30 also includes a signal output socket 36, which is detachably mounted on the outer surface of the driver housing 31. The signal output socket 36 is electrically connected to the main signal acquisition unit 42 and the auxiliary signal acquisition unit 43, so as to output the information acquired by the main signal acquisition unit 42 and the auxiliary signal acquisition unit 43 by means of an external signal transmission cable connected to the signal output socket 36.

[0072] In this application, for the convenience of connecting the electrical connection socket 33 to the power supply, see further details. Figures 1-3 , Figure 5 , Figures 12-15 As shown, the drive control module 30 also includes a power socket 37, which is detachably mounted on the outer surface of the driver housing 31 and is electrically connected to the electrical connection port 33.

[0073] See Figure 14 and Figure 15 As shown, the signal outlet socket 36 is also externally connected to a signal transmission cable 361, and the power socket 37 is also externally connected to a power transmission cable 371. The signal transmission cable 361 can be plugged into the signal outlet socket 36 through a plug at its end, and the power transmission cable 371 can be plugged into the power socket 37 through a plug at its end. Figure 14 As shown, both the signal transmission cable 361 and the power transmission cable 371 point towards the front end of this integrated servo wheel, as... Figure 15 As shown, both the signal transmission cable 361 and the power transmission cable 371 face the rear end of this integrated servo wheel. The installation direction of the signal transmission cable 361 and the power transmission cable 371 can be adjusted by changing the direction of the signal outlet socket 36 and the power socket 37 to adapt to different working conditions.

[0074] It should be noted that the installation directions of the signal transmission cable 361 and the power transmission cable 371 can also be reversed, depending on actual needs.

[0075] See Figure 11As shown, the motor housing 21 includes a motor housing body 216 and a motor housing end cover 217. One side of the motor housing body 216 has a first through hole 2161, and the other side has a mounting opening 2162. The motor housing end cover 217 is fixed to the mounting opening 2162 to form a mounting cavity with the motor housing body 216. The motor unit 22 is mounted in the mounting cavity. The motor housing end cover 217 has a second through hole 2171, and both ends of the motor unit 22's shaft pass through the first through hole 2161 and the second through hole 2171, respectively. The aforementioned first mounting hole 214 and second mounting hole 215 are both located on the motor housing end cover 217. A motor housing seal 2163 is provided between the motor housing end cover 217 and the mounting opening 2162, and a shaft seal 2164 is provided between one end of the motor unit 22's shaft and the first through hole 2161. The motor housing seal 2163 can be an O-ring, and the shaft seal 2164 can be an oil seal.

[0076] In summary, in the servo wheel module provided in this application, one side of the motor module and one side of the reduction module are detachably connected through a first seal, and one side of the drive control module and the other side of the motor module are detachably connected through a second seal. In this way, the servo wheel module composed of the reduction module, the motor module and the drive control module can avoid moisture and other impurities from penetrating into its interior, further preventing short circuits caused by moisture affecting the internal electronic components, and effectively extending the product's service life.

[0077] The above-described specific examples are for illustrative purposes only and are not intended to limit the scope of this invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the concept of this invention.

Claims

1. A servo wheel module, characterized in that, include: Deceleration module; A motor module, one side of which is connected to one side of the reduction module via a first sealing element, the motor module being used to drive the reduction module to move; A drive control module, one side of which is connected to the other side of the motor module via a second seal.

2. The servo wheel module of claim 1, wherein The deceleration module has an annular mounting groove on one side, and the first sealing element is disposed in the annular mounting groove.

3. The servo wheel module as described in claim 2, characterized in that, The deceleration module includes a deceleration wheel and a deceleration transmission assembly. The deceleration transmission assembly is connected to the deceleration wheel and is located on one side of the motor module. The annular mounting groove is located on one side of the deceleration transmission assembly.

4. The servo wheel module as described in claim 3, characterized in that, The speed reduction transmission assembly includes a bracket, a planetary gear reducer set, an end cap, and a gear ring. The bracket has a first mounting port and a second mounting port at its two axial ends. A first speed reduction seal is provided between the end cap and the first mounting port. The planetary gear reducer set is mounted on the bracket, and the gear ring is fitted onto the bracket and is drive-connected to the planetary gear reducer set. The gear reducer is fitted onto the outer circumference of the gear ring. A side edge protrudes circumferentially outward from one end of the bracket where the second mounting port is located. A second speed reduction seal is provided between the side edge and the gear ring. The motor module is drive-connected to the planetary gear reducer set through the second mounting port. An annular mounting groove is located on the side of the bracket where the second mounting port is located.

5. The servo wheel module as described in claim 1, characterized in that, The motor module includes a motor housing and a motor unit, the motor unit being installed inside the motor housing, and an annular limiting groove being provided on the outer periphery of the other side of the motor housing; the drive control module includes a driver housing and a driver unit, the driver unit being installed inside the driver housing; one side of the driver housing is provided with an opening, the opening cooperating with the annular limiting groove for limiting, and the second seal being disposed in the annular limiting groove.

6. The servo wheel module as described in claim 5, characterized in that, The motor module also includes multiple electrical connection terminals and multiple control terminals, all of which protrude from the other side of the motor housing and are electrically connected to the motor unit. The drive control module also includes multiple electrical connection ports and multiple control ports. One side of the driver housing is provided with an opening, and the multiple electrical connection ports and multiple control ports are all located in the driver unit and exposed through the opening. The other side of the motor housing is connected to one side of the driver housing, the electrical connection terminal is inserted into the electrical connection socket, and the control terminal is inserted into the control socket.

7. The servo wheel module as described in claim 6, characterized in that, The servo wheel module also includes a magnetic induction component, which includes an induction magnet, a main signal acquisition unit, and a secondary signal acquisition unit. The induction magnet is connected to the shaft of the motor unit. The main signal acquisition unit and the secondary signal acquisition unit are both located in the driver unit and are electrically connected to the control port.

8. The servo wheel module as described in claim 7, characterized in that, The drive control module also includes a signal output socket and a power socket. The signal output socket is connected to the main signal acquisition unit and the auxiliary signal acquisition unit, and the power socket is connected to the electrical connection port and installed on the outer wall of the driver housing.

9. The servo wheel module as described in claim 8, characterized in that, The drive control module also includes a sealant, which is disposed inside the drive housing and wraps around the drive unit, with the electrical connection port and the control port exposed outside the sealant.

10. The servo wheel module as described in claim 9, characterized in that, The outer wall of the driver housing is also provided with a heat dissipation structure.

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