Servo joint module
By introducing heat dissipation end caps and circuit board groove structures into the servo joint module, combined with heat-conducting components and temperature detectors, the problems of heat dissipation difficulties and operation status monitoring are solved, enabling stable operation and real-time status display in high-temperature environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GUANGZHOU KEYI PRECISION MACHINERY EQUIPMENT CO LTD
- Filing Date
- 2025-07-15
- Publication Date
- 2026-07-31
AI Technical Summary
Existing servo joint modules suffer from poor heat dissipation due to their enclosed structure, resulting in increased internal temperature that affects normal operation and makes it impossible to obtain real-time operating status.
The design includes a heat dissipation end cap and a circuit board recess structure. The circuit components dissipate heat through the heat dissipation end cap. Combined with a temperature detector and indicator lights, the operating status is monitored in real time. Thermal conductive components and a magnetic encoder are used to improve heat dissipation efficiency and data accuracy.
Maintaining the rated temperature of circuit components in high-temperature environments enables real-time monitoring of the servo joint module's operating status, preventing malfunctions and improving operational stability.
Smart Images
Figure CN224575707U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of servo joint module technology, and in particular to servo joint modules. Background Technology
[0002] Servo joint modules are an important component of robots, and different specifications of servo joint modules can be used to build different robot configurations as needed. The joint module housing of a collaborative robot contains components such as reducers, motors, brakes, encoders, and drivers, which generate heat during operation. The main heat source among these power components is the motor.
[0003] The housing of a joint module is typically designed as a sealed structure to meet high protection levels, but this also affects the heat dissipation of components. If the heat generated by the components cannot be dissipated quickly, causing the internal temperature of the joint module housing to rise continuously, it will affect the normal operation of the joint module. Furthermore, it is impossible to obtain the real-time operating status of the device.
[0004] Therefore, there is an urgent need for a servo joint module to solve the above problems. Utility Model Content
[0005] The purpose of this invention is to provide a servo joint module in which the circuit components can still operate at the rated temperature even in high-temperature environments, and to obtain the basic real-time operating status of the servo joint module.
[0006] To address the aforementioned problems in the existing technology, this utility model adopts the following technical solution:
[0007] Servo joint module, including:
[0008] case;
[0009] A driver body, wherein the driver body is disposed within the housing;
[0010] A heat dissipation end cap is disposed on the housing;
[0011] The circuit assembly includes a circuit board and circuit elements. The circuit board is disposed between the heat dissipation end cap and the housing. The circuit board has a groove, and the circuit elements are disposed in the groove. The circuit elements conduct their own heat away under the action of the heat dissipation end cap.
[0012] Indicator lights are mounted on the housing and are used to display the real-time operating status of the servo joint module.
[0013] Preferably, the servo joint module further includes a heat-conducting component, which fills the groove and covers the circuit element.
[0014] Preferably, the thermal conductive component is thermal grease.
[0015] Preferably, the servo joint module further includes a temperature detector, which is integrated into the housing. There are multiple temperature detectors, which are used to detect the real-time temperature of heat-prone and heat-averse components such as the MCU and MOSFET, as well as the motor.
[0016] Preferably, the servo joint module further includes a magnetic component, which includes a magnetic encoder reader and a code disk. The magnetic encoder reader and the code disk are integrated within the housing. The magnetic encoder reader is adapted to the code disk, and the magnetic encoder reader is spaced apart from the circuit elements and used for multi-turn counting.
[0017] Preferably, the servo joint module further includes a torque sensor interface, which is integrated into the housing and connected to the driver body via a signal line.
[0018] Preferably, the servo joint module further includes a bus communication control interface, which is integrated into the housing and connected to the driver body via a signal line.
[0019] Preferably, the servo joint module further includes a brake control interface, which is integrated into the housing and is used to control the permanent magnet brake.
[0020] Preferably, the servo joint module further includes a harmonic reducer, which is detachably connected to the housing.
[0021] Preferably, the heat dissipation end cap is detachably connected to the housing.
[0022] The beneficial effects of this utility model are as follows:
[0023] The servo joint module provided by this utility model has a driver body housed within a housing, and a heat dissipation end cap mounted on the housing. The circuit assembly includes a circuit board and circuit components. The circuit board is positioned between the heat dissipation end cap and the housing, and has a groove within it. The circuit components are housed within the groove, and the heat dissipation end cap conducts heat away from the circuit components. This allows the circuit components to operate at their rated temperature even in high-temperature environments, preventing malfunctions caused by heat generated by the circuit components themselves. An indicator light is located on the housing and is used to display the real-time operating status of the servo joint module. Attached Figure Description
[0024] Figure 1This is a schematic diagram of the structure of the servo joint module provided in an embodiment of the present invention;
[0025] Figure 2 An exploded view of the servo joint module provided in an embodiment of this utility model.
[0026] Figure label:
[0027] 1. Housing; 2. Driver body; 3. Heat dissipation end cover; 4. Circuit board; 5. Circuit components; 6. Magnetic encoder read head; 7. Code disk. Detailed Implementation
[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.
[0029] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0030] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0031] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.
[0032] like Figures 1-2 As shown, in this embodiment, the servo joint module includes a housing 1, a driver body 2, a heat dissipation cover 3, circuit components, and indicator lights. The driver body 2 is disposed within the housing 1, and the heat dissipation cover 3 is disposed on the housing 1. The circuit components include a circuit board 4 and circuit elements 5. The circuit board 4 is disposed between the heat dissipation cover 3 and the housing 1, and has a recess. The circuit elements 5 are disposed within the recess, and the heat dissipation cover 3 conducts heat away from the circuit elements. Indicator lights are disposed on the housing 1 and are used to display the real-time operating status of the servo joint module. The heat dissipation cover 3 is made of metal. The circuit components are mounted on the driver body 2 and located within the housing 1, with a heat dissipation cover plate covering the circuit components. The circuit board 4 has a recess, and circuit elements 5, such as the main control chip, MOSFET, servo control chip, bus communication chip, and gate driver, are embedded in the corresponding recess. The heat dissipated by the circuit elements 5 is conducted away through the heat dissipation cover 3, allowing the circuit elements 5 to maintain their rated temperature even in high-temperature environments, preventing malfunctions caused by heat generated by the circuit components themselves. Indicator lights are mounted on housing 1 and are used to obtain the basic real-time operating status of the servo joint module.
[0033] Reference Figure 2 The servo joint module also includes a heat-conducting component, which fills the groove and covers the circuit element 5. The heat-conducting component is made of thermal grease. The main control chip, MOSFET, servo control chip, bus communication chip, and gate driver, etc., are embedded in the corresponding grooves of the circuit board 4 and filled by the heat-conducting component. This allows the heat generated by the circuit element 5 to be better conducted to the heat dissipation end cap 3 through the heat-conducting component. Furthermore, under the heat conduction effect of the heat-conducting component, the heat will not be evenly distributed to the non-circuit element 5 areas of the circuit board 4.
[0034] The servo joint module also includes temperature detectors, which are integrated into the housing 1. Multiple temperature detectors are used to monitor the real-time temperatures of heat-sensitive and heat-sensitive components such as the MCU and MOSFETs, as well as the motor, preventing these components from operating beyond their rated temperatures. If the device's temperature reaches or exceeds the rated temperature, the main control chip will respond according to the program settings by activating alarms, outputting low-power status, or stopping operation. Heat-sensitive and heat-sensitive components such as the MCU and MOSFETs all have internal temperature sensors that can be directly read by the MCU. Optionally, a temperature detector is also included within the motor windings, with its wires connected to the temperature sampling interface on the circuit board 4 via a hollow area.
[0035] The servo joint module also includes a magnetic component, comprising a magnetic encoder reader 6 and a code disk 7. The magnetic encoder reader 6 and code disk 7 are integrated within the housing 1. The magnetic encoder reader 6 is compatible with the code disk 7, and is spaced apart from the circuit components 5 for multi-turn counting. A certain distance exists between the magnetic encoder reader 6 and the code disk 7, with a height difference maintained at approximately 0.4m, to prevent data drift due to excessive temperature, ensuring data acquisition accuracy and operational stability in high-temperature environments. Using a single-channel or dual-channel magnetic encoder reader 6, compared to a photoelectric encoder, results in a flatter structure, easier deployment, a shorter overall height, greater space saving, and stronger resistance to environmental interference. Preferably, the main control chip, MOSFETs, and other heat-prone components are distributed on the front of the circuit board 4, connected to the heat dissipation cover 3 via heat-conducting components. Only a small number of components are retained on the back of the circuit board 4, and the remaining non-heat-prone chips are distributed as far away from the magnetic encoder reader 6 as possible, maintaining them within the optimal operating temperature range.
[0036] The servo joint module also includes a torque sensor interface, a bus communication control interface, and a brake control interface. These interfaces are all integrated within the housing 1. The torque sensor interface and bus communication control interface are connected to the driver body 2 via signal lines. The brake control interface controls the permanent magnet brake. Permanent magnet brakes are characterized by low noise, small size, and excellent braking performance. A wealth of reserved functional interfaces facilitate user expansion and selection based on specific application scenarios. The servo joint module also includes a harmonic reducer, which is detachably connected to the housing 1. The harmonic reducer and the external rotor brushless DC motor form a nested structure, offering higher precision and greater output torque compared to RV reducers and planetary reducers.
[0037] Continue to refer to Figure 2 The heat dissipation end cover 3 is detachably connected to the housing 1. The heat dissipation end cover 3 is detachably connected to the mounting holes of the housing 1 through several bolts, which facilitates the maintenance and inspection of the internal parts of the servo joint module.
[0038] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.
Claims
1. Servo joint module, characterized in that, include: Shell (1); The driver body (2) is disposed within the housing (1); Heat dissipation end cap (3), the heat dissipation end cap (3) is disposed on the housing (1); The circuit assembly includes a circuit board (4) and a circuit element (5). The circuit board (4) is disposed between the heat dissipation end cap (3) and the housing (1). The circuit board (4) has a groove, and the circuit element (5) is disposed in the groove. The circuit element (5) conducts its own heat away under the action of the heat dissipation end cap (3). Indicator lights are provided on the housing (1) and are used to display the real-time operating status of the servo joint module.
2. The servo joint module of claim 1, wherein, The servo joint module also includes a heat-conducting component, which fills the groove and covers the circuit element (5).
3. The servo joint module of claim 2, wherein, The thermal conductive component is configured as thermal grease.
4. The servo joint module of claim 1, wherein, The servo joint module also includes a temperature detector, which is integrated into the housing (1). There are multiple temperature detectors, which are used to detect the real-time temperature of the MCU, the MOS transistor (two heat-sensitive and heat-averse components), and the motor.
5. The servo joint module of claim 1, wherein, The servo joint module also includes a magnetic component, which includes a magnetic encoder head (6) and a code disk (7). The magnetic encoder head (6) and the code disk (7) are integrated in the housing (1). The magnetic encoder head (6) is adapted to the code disk (7), and the magnetic encoder head (6) is spaced apart from the circuit element (5) and used for multi-turn counting.
6. The servo joint module of claim 1, wherein, The servo joint module also includes a torque sensor interface, which is integrated into the housing (1) and connected to the driver body (2) via a signal line.
7. The servo joint module of claim 1, wherein, The servo joint module also includes a bus communication control interface, which is integrated into the housing (1) and connected to the driver body (2) via a signal line.
8. The servo joint module of claim 1, wherein, The servo joint module also includes a brake control interface, which is integrated into the housing (1) and is used to control the permanent magnet brake.
9. The servo joint module of claim 1, wherein, The servo joint module also includes a harmonic reducer, which is detachably connected to the housing (1).
10. The servo joint module of claim 1, wherein, The heat dissipation end cap (3) is detachably connected to the housing (1).