servo drive

Abstract

The application provides a servo driver, which is characterized in that: terminals of a terminal insertion surface are divided into three groups, bus communication terminals with large horizontal and vertical width values are separately taken as a third terminal group, and other terminals are divided into a first terminal group and a second terminal group; since the other terminals have small horizontal or vertical width values, the other terminals can be arranged in two parallel terminal groups in a way that the terminal groups have the smallest width values; and bus communication terminals are arranged on the sides of the two parallel terminal groups; under the premise that all the terminals are arranged on the same terminal insertion surface, the width area of the terminal insertion surface can be reduced to the maximum, the height area of the terminal insertion surface is fully utilized, and thus the terminal arrangement is compact and the area utilization rate of the same terminal insertion surface is improved.

Description

Technical Field

[0001] This application belongs to the field of servo driver technology, and more specifically relates to a servo driver. Background Technology

[0002] In industrial automation applications, servo drives often need to be installed side-by-side as many as possible within a limited space to improve space utilization and reduce user costs, leading to miniaturization. On the other hand, as servo drives become more integrated and multifunctional, they require the integration of more and more different types and quantities of terminals, all located on the same terminal block to meet user needs for functionality and ease of wiring maintenance. Currently, servo drive terminal blocks are typically rectangular, with a narrow width and a much larger height than width. This places demands on the terminal block layout, but existing technologies often result in insufficient compactness and low utilization of the same terminal block area, failing to meet market demands for miniaturization, multifunctionality, and high-density integration of servo drives. Utility Model Content

[0003] This application provides a servo driver to solve the technical problem that the terminal plug-in surface layout of existing servo drivers is not compact enough.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: A servo driver, comprising: A housing having a first terminal insertion surface; The first terminal plug-in surface is provided with a first terminal group, a second terminal group and a third terminal group; The first terminal group and the second terminal group are arranged in parallel to each other, and both the first terminal group and the second terminal group are located on the same side of the third terminal group. The first terminal group includes at least a power supply terminal; the second terminal group includes at least an I / O terminal, a fully closed-loop terminal, a brake terminal, and a motor encoder terminal; and the third terminal group includes a bus communication terminal.

[0005] As a further improvement to the above technical solution: Optionally, the first terminal group includes an input power supply and a brake resistor terminal and an output power supply terminal arranged sequentially along a first direction; the second terminal group includes an I / O terminal, a fully closed-loop terminal, a brake terminal and a motor encoder terminal arranged sequentially along the first direction; the third terminal group includes a bus communication input terminal and a bus communication output terminal arranged sequentially along a second direction, wherein the first direction intersects with the second direction.

[0006] Optionally, the bus communication input terminal and the bus communication output terminal are connected in opposite directions.

[0007] Optionally, the input power supply and braking resistor terminals are configured as 8-pin plug-in terminals; The output power terminal is configured as a 3-pin plug-in terminal; The bus communication input terminal and bus communication output terminal are RJ45 network ports; The I / O terminals are standard 44-pin plug-in terminals; The fully closed-loop terminal is configured as a standard 15-pin D-sub terminal, a 15-pin D-sub terminal, or a 14-pin SCSI terminal; The motor encoder terminal is configured as a 6-pin USB-1394 terminal or a 14-pin SCSI terminal.

[0008] Optionally, the first terminal plug-in surface is further provided with a grounding terminal, which is located on the side of the output power terminal away from the input power and braking resistor terminals.

[0009] Optionally, the first terminal plug-in surface is further provided with an adjustment terminal, which is located on the side of the third terminal group away from the first terminal group and the second terminal group.

[0010] Optionally, all terminals of the third terminal group are configured as vertical plug-in terminals, and the debugging terminals are configured as horizontal plug-in terminals.

[0011] Optionally, the housing is provided with a drive circuit board and a control circuit board, the first terminal group is disposed on the drive circuit board, and the second terminal group and the third terminal group are disposed on the control circuit board; the first terminal group, the second terminal group and the third terminal group extend from the inside of the housing and are fixed on the first terminal plug-in surface.

[0012] Optionally, the housing also has a second terminal plug-in surface, on which a programming port functional terminal is provided. The programming port functional terminal is disposed on the control circuit board and extends out from inside the housing and is fixed to the second terminal plug-in surface.

[0013] Optionally, the first terminal plug-in surface is further provided with a human-machine interaction component, which is disposed on the side of the third terminal group away from the first terminal group and the second terminal group.

[0014] Optionally, the human-computer interaction component includes a display panel, buttons, and a button circuit module. The display panel is disposed on the first terminal plug-in surface, the buttons are disposed on the display panel, and the button circuit module is disposed on the side of the display panel near the inside of the housing.

[0015] Optionally, the housing includes a main housing, which includes a back plate, a first support arm, and a second support arm. The back plate is disposed opposite to the first terminal insertion surface, and the first support arm and the second support arm extend from the back plate toward the first terminal insertion surface, and are disposed opposite to each other along a first direction.

[0016] Optionally, the housing further includes an interaction surface housing, the first terminal insertion surface is disposed on the interaction surface housing, one of the main housing and the interaction surface housing is provided with a snap-fit ​​protrusion, and the other of the main housing and the interaction surface housing is provided with a snap-fit ​​groove that engages with the snap-fit ​​protrusion.

[0017] The beneficial effects of the servo driver provided in this application are as follows: The servo driver provided in this application divides the terminals on the terminal plug-in surface into three groups. The bus communication terminals, which occupy a large width both horizontally and vertically, are set up as a third terminal group. The other terminals are divided into a first terminal group and a second terminal group. Since the other terminals occupy either a small width horizontally or a small width vertically, they can be arranged in two parallel terminal layouts with the minimum width occupied. After the two parallel terminal groups are arranged, the bus communication terminals are arranged on their sides. In this way, while arranging all terminals on the same terminal plug-in surface, the width area occupied by the terminal plug-in surface can be minimized, and the height area of ​​the terminal plug-in surface can be fully utilized. This makes the terminal layout compact and improves the area utilization rate of the same terminal plug-in surface.

[0018] In addition, by including at least power terminals in the first terminal group and at least I / O terminals, closed-loop terminals, brake terminals, and motor encoder terminals in the second terminal group, all terminals of the first terminal group can be mounted on the drive board of the servo drive, and all terminals of the second terminal group can be mounted on the control board of the servo drive. This grouping is beneficial to the installation layout of the drive board and control board inside the servo drive, thereby facilitating the miniaturization of the servo drive. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A three-dimensional structural diagram of the servo driver provided in this application; Figure 2 This is a schematic diagram of the main structure of the servo driver provided in this application; Figure 3 This is a partially enlarged structural diagram of the servo driver provided in this application; Figure 4 A three-dimensional structural schematic diagram of the drive circuit assembly of the servo driver provided in this application; Figure 5 A three-dimensional structural diagram of the control circuit assembly of the servo driver provided in this application.

[0021] The following are the labeling elements in the figure: 1. Housing; 101. First terminal plug-in surface; 102. Second terminal plug-in surface; 103. Main housing; 1031. Back plate; 1032. First support arm; 104. Interaction surface housing; 105. Snap-fit ​​protrusion; 106. Slot; 2. Drive circuit board; 3. Control circuit board; 4. Human-machine interface components; 41. Display panel; 42. Buttons; 43. Button circuit module; 5. First terminal group; 51. Input power and brake resistor terminals; 52. Output power terminals; 6. Second terminal group; 61. I / O terminals; 62. Full closed-loop terminals; 63. Brake terminals; 64. Motor encoder terminals; 7. Third terminal group; 71. Bus communication input terminals; 72. Bus communication output terminals; 8. STO function terminals; 9. Programming port function terminals; 10. Indicator light; 11. Debugging terminals; 12. Grounding terminals. Detailed Implementation

[0022] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0023] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, 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 application.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0025] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0026] In this application, unless otherwise expressly 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 being 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 being 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.

[0027] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of this application.

[0028] In the following description, suffixes such as "circuit," "component," "assembly," or "unit" are used only for the purpose of illustrative purposes and have no specific meaning in themselves. Therefore, they can be used interchangeably.

[0029] The present application will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0030] like Figures 1 to 3 As shown, this application provides a servo driver, including a housing 1, a first terminal group 5, a second terminal group 6, and a third terminal group 7.

[0031] The housing 1 has a first terminal insertion surface 101. A first terminal group 5, a second terminal group 6, and a third terminal group 7 are disposed on the first terminal insertion surface 101. The first terminal group 5 and the second terminal group 6 are arranged parallel to each other, and both the first terminal group 5 and the second terminal group 6 are disposed on the same side of the third terminal group 7; the first terminal group 5 includes at least a power terminal, the second terminal group 6 includes at least an I / O terminal 61, a fully closed-loop terminal 62, a brake terminal 63, and a motor encoder terminal 64; the third terminal group 7 includes a bus communication terminal.

[0032] By dividing the terminals of the first terminal plug-in surface 101 into three groups, the bus communication terminals, which occupy a large width both horizontally and vertically, are set up as the third terminal group. The other terminals are divided into the first terminal group and the second terminal group. Since the other terminals occupy either a small width horizontally or a small width vertically, they can be arranged in two parallel terminal layouts according to the principle of minimizing the width occupied. After the two parallel terminal groups are arranged, the bus communication terminals are then arranged on their sides. In this way, while arranging all terminals on the same terminal plug-in surface, the width area occupied by the terminal plug-in surface can be minimized, and the height area of ​​the terminal plug-in surface can be fully utilized. This makes the wiring terminal layout compact and improves the area utilization rate of the same terminal plug-in surface.

[0033] In addition, by including at least power terminals in the first terminal group and at least I / O terminals, closed-loop terminals, brake terminals, and motor encoder terminals in the second terminal group, all terminals of the first terminal group can be mounted on the drive board of the servo drive, and all terminals of the second terminal group can be mounted on the control board of the servo drive. This grouping is beneficial to the installation layout of the drive board and control board inside the servo drive, thereby facilitating the miniaturization of the servo drive.

[0034] like Figure 4 As shown, in a specific embodiment of this application, the first terminal group 5 includes an input power supply and braking resistor terminal 51 and an output power supply terminal 52 arranged sequentially along a first direction; as Figure 5As shown, the second terminal group 6 includes an I / O terminal 61, a fully closed-loop terminal 62, a brake terminal 63, and a motor encoder terminal 64 arranged sequentially along the first direction; the third terminal group 7 includes a bus communication input terminal 71 and a bus communication output terminal 72 arranged sequentially along the second direction, wherein the first direction intersects the second direction.

[0035] like Figures 1 to 3 As shown, in one specific embodiment of this application, the insertion directions of the bus communication input terminal 71 and the bus communication output terminal 72 are opposite, for example, as Figure 1 As shown, the bus communication input terminal 71 and the bus communication output terminal 72 are arranged horizontally side by side, and both the bus communication input terminal 71 and the bus communication output terminal 72 are set as vertical plug-in terminals. At the same time, the bus communication input terminal 71 is inserted with its left side facing the side, and the bus communication output terminal 72 is inserted with its right side facing the side. This arrangement can make the plug-in height of the third terminal group 7 as small as possible while ensuring that the plug-in width is within the total width of the first terminal group 5 and the second terminal group 6, thereby maximizing the utilization of the first terminal plug-in surface 101.

[0036] In one specific embodiment of this application, the input power and brake resistor terminal 51 is configured as an 8-pin plug-in terminal; the output power terminal 52 is configured as a 3-pin plug-in terminal; the bus communication input terminal 71 and the bus communication output terminal 72 are RJ45 network ports; the I / O terminal 61 is a standard 44-pin plug-in terminal; the full closed-loop terminal 62 is configured as a standard 15-pin D-sub terminal or a 15-pin D-sub terminal or a 14-pin SCSI terminal; and the motor encoder terminal 64 is configured as a 6-pin USB-1394 terminal or a 14-pin SCSI terminal.

[0037] like Figures 1 to 3 As shown, in one specific embodiment of this application, the first terminal plug-in surface 101 is further provided with a grounding terminal 12. The grounding terminal 12 is located on the side of the output power terminal 52 away from the input power and braking resistor terminal 51, thereby being offset from the second terminal group 6. The two grounding screw positions on the grounding terminal 12 are arranged diagonally to maximize the utilization of the area of ​​the first terminal plug-in surface 101.

[0038] like Figures 1 to 3 As shown, in a specific embodiment of this application, the first terminal plug-in surface 101 is further provided with an adjustment terminal 11, which is located on the side of the third terminal group 7 away from the first terminal group 5 and the second terminal group 6.

[0039] like Figures 1 to 3 As shown, in a specific embodiment of this application, all terminals of the third terminal group 7 are configured as vertical plug-in terminals, and the debugging terminal 11 is configured as a horizontal plug-in terminal.

[0040] like Figures 1 to 3 As shown, in a specific embodiment of this application, a drive circuit board 2 and a control circuit board 3 are provided inside the housing. A first terminal group 5 is provided on the drive circuit board 2, and a second terminal group 6 and a third terminal group 7 are provided on the control circuit board 3. The first terminal group 5, the second terminal group 6 and the third terminal group 7 extend out from inside the housing and are fixed on the first terminal insertion surface 101.

[0041] The drive circuit board 2 mainly includes power switching devices, gate drive circuits, and current detection circuits, responsible for converting the DC bus voltage into three-phase AC power output to the servo motor. The power switching devices typically use IGBT or MOSFET modules, achieving power conversion through PWM modulation; the gate drive circuit provides drive signals for the power devices; and the current detection circuit monitors the motor phase current in real time and feeds it back to the control circuit board 3. The control circuit board 3 includes a main control chip, encoder interface circuit, and communication interface circuit, undertaking the core functions of system control. The main control chip executes a three-loop control algorithm consisting of a position loop, a speed loop, and a current loop; the encoder interface circuit receives encoder feedback signals from the servo motor; and the communication interface circuit enables data interaction with the host computer or other drivers. The control circuit board 3, by acquiring current, voltage, and position signals in real time, calculates and generates PWM control commands and transmits them to the drive circuit board 2, forming a complete closed-loop control system. The two circuit boards interact via a high-speed data bus, ensuring the synchronization and accuracy of control commands and power output.

[0042] like Figures 1 to 3 As shown, in one specific embodiment of this application, the housing also has a second terminal insertion surface 102. The second terminal insertion surface 102 is provided with an STO function terminal 8 and a programming port function terminal 9. Both the STO function terminal 8 and the programming port function terminal 9 are disposed on the control circuit board 3, and extend from inside the housing and are fixed to the second terminal insertion surface 102. Since the STO function terminal 8 and the programming port function terminal 9 are function interfaces with relatively low user operation frequency, arranging them on the second terminal insertion surface 102 instead of the first terminal insertion surface 101 conforms to the operating habit of prioritizing high-frequency terminals in the human-machine interaction area, and avoids the occupation of space on the first terminal insertion surface 101 by infrequently operated terminals. While ensuring the compact layout of the terminals on the first terminal insertion surface 101, it is also unnecessary to increase the surface area of ​​the housing 1 to add function terminals.

[0043] like Figures 1 to 3 As shown, in a specific embodiment of this application, the first terminal plug-in surface 101 is further provided with a human-computer interaction component 4, which is disposed on the side of the third terminal group 7 away from the first terminal group 5 and the second terminal group 6.

[0044] like Figures 1 to 3As shown, in one specific embodiment of this application, the human-computer interaction component 4 includes a display panel 41, a button 42, and a button circuit module 43. The display panel 41 is disposed on the first terminal plug-in surface 101, the button 42 is disposed on the display panel 41, and the button circuit module 43 is disposed on the side of the display panel 41 near the inside of the housing.

[0045] The button circuit module 43 includes a button circuit board arranged parallel to the display panel 41. The front side of the button circuit module 43 is provided with a power button and an LED digital display, wherein the LED digital display is connected via two... A 7-pin connector is connected to the button circuit board and maintains a fixed height. Simultaneously, the right back of the LED digital tube overlaps and is perpendicular to the control circuit board 3, providing support and ensuring the LED digital tube is fixed in place. The right end of the button circuit module 43 is vertically inserted into the control circuit board 3 and connected to it via soldered pins. The back of the button circuit module 43 overlaps with the driver circuit board 2 and is placed perpendicular to both the driver circuit board 2 and the control circuit board 3, thus securing the button circuit module 43. This layout reduces the installation size of the human-machine interface component 4 and effectively improves the dimensional utilization rate of the housing 1 in the width direction.

[0046] In one specific embodiment of this application, the projected area of ​​the housing 1 along the insertion direction of the first terminal group 5, the second terminal group 6, or the third terminal group 7 (i.e., the depth direction of the servo driver) is smaller than the projected area of ​​the housing 1 along the direction perpendicular to the first direction (i.e., the width direction of the servo driver). The projected area of ​​the housing 1 along the depth direction of the servo driver corresponds to the actual area occupied by the servo driver on the mounting base. By setting the larger area along the width direction of the servo driver and the smaller area in the actual area occupied by the mounting base, the installation area is minimized, effectively solving the problem of traditional servo drivers occupying too much installation space.

[0047] like Figure 2 and Figure 4 As shown, in one specific embodiment of this application, the servo driver further includes an indicator light 10 disposed on the first terminal plug-in surface 101. The indicator light 10 is connected to the drive circuit board 2 or the control circuit board 3 and is located between the human-machine interface component 4 and the third terminal group 7. The user can observe the signal of the indicator light 10 simultaneously when observing the human-machine interface component 4. The debugging terminal 11 and the indicator light 10 are arranged along the second direction, which effectively avoids the stacking arrangement along the height direction, reduces the space occupation of the first terminal plug-in surface 101 in the height direction, not only improves the overall space utilization of the first terminal plug-in surface 101, but also ensures clear logical partitioning of each functional area.

[0048] like Figure 1As shown, in a specific embodiment of this application, the main housing 103 includes a back plate portion 1031, a first support arm portion 1032, and a second support arm portion (not shown). The back plate portion 1031 is disposed opposite to the first terminal insertion surface 101. The first support arm portion 1032 and the second support arm portion extend from the back plate portion 1031 toward the first terminal insertion surface 101, and the first support arm portion 1032 and the second support arm portion are disposed opposite to each other along a first direction. The back plate portion 1031, the first support arm portion 1032, and the second support arm portion are integrally formed, which ensures mechanical strength while creating a foundation for the installation of the drive circuit board 2 and the control circuit board 3.

[0049] like Figure 1 and Figure 3 As shown, in a specific embodiment of this application, the housing 1 further includes an interaction surface housing 104, on which a first terminal insertion surface 101 is disposed. One of the main housing 103 and the interaction surface housing 104 is provided with a snap-fit ​​protrusion 105, and the other of the main housing 103 and the interaction surface housing 104 is provided with a slot 106 that engages with the snap-fit ​​protrusion 105. The connection between the main housing 103 and the interaction surface housing 104 is achieved through the mutual snap-fit ​​engagement of the snap-fit ​​protrusion 105 and the slot 106.

[0050] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A servo driver, characterized in that, include: Housing (1), the housing having a first terminal plug-in surface (101); The first terminal plug-in surface (101) is provided with a first terminal group (5), a second terminal group (6) and a third terminal group (7); The first terminal group (5) and the second terminal group (6) are arranged in parallel to each other, and the first terminal group (5) and the second terminal group (6) are both located on the same side of the third terminal group (7); The first terminal group (5) includes at least a power supply terminal, the second terminal group (6) includes at least an I / O terminal (61), a fully closed-loop terminal (62), a brake terminal (63), and a motor encoder terminal (64); the third terminal group (7) includes a bus communication terminal.

2. The servo driver as described in claim 1, characterized in that, The first terminal group (5) includes an input power supply and brake resistor terminal (51) and an output power supply terminal (52) arranged sequentially along the first direction; the second terminal group (6) includes an I / O terminal (61), a full closed-loop terminal (62), a brake terminal (63) and a motor encoder terminal (64) arranged sequentially along the first direction; the third terminal group (7) includes a bus communication input terminal (71) and a bus communication output terminal (72) arranged sequentially along the second direction, wherein the first direction intersects with the second direction.

3. The servo driver as described in claim 2, characterized in that, The bus communication input terminal (71) and the bus communication output terminal (72) are connected in opposite directions.

4. The servo driver as described in claim 2, characterized in that, The input power supply and brake resistor terminal (51) is configured as an 8-pin plug-in terminal; The output power terminal (52) is configured as a 3-pin plug-in terminal; The bus communication input terminal (71) and bus communication output terminal (72) are RJ45 network ports; The I / O terminal (61) is a standard 44-pin plug-in terminal; The fully closed-loop terminal (62) is configured as a standard 15-pin D-sub terminal or a 15-pin D-sub terminal or a 14-pin SCSI terminal; The motor encoder terminal (64) is configured as a 6-pin USB-1394 terminal or a 14-pin SCSI terminal.

5. The servo driver as described in claim 2, characterized in that, The first terminal plug-in surface (101) is also provided with a grounding terminal (12), which is located on the side of the output power terminal (52) away from the input power and brake resistor terminal (51).

6. The servo driver as described in claim 1, characterized in that, The first terminal plug-in surface (101) is also provided with an adjustment terminal (11), which is located on the side of the third terminal group (7) away from the first terminal group (5) and the second terminal group (6); The terminals of the third terminal group (7) are all configured as vertical plug-in terminals, and the debugging terminal (11) is configured as a horizontal plug-in terminal.

7. The servo driver as described in any one of claims 1 to 6, characterized in that, The housing contains a drive circuit board (2) and a control circuit board (3). The first terminal group (5) is disposed on the drive circuit board (2), and the second terminal group (6) and the third terminal group (7) are disposed on the control circuit board (3). The first terminal group (5), the second terminal group (6) and the third terminal group (7) extend from the inside of the housing and are fixed on the first terminal plug-in surface (101).

8. The servo driver as described in claim 7, characterized in that, The housing also has a second terminal plug-in surface (102), on which STO function terminal (8) and programming port function terminal (9) are provided. The STO function terminal (8) and programming port function terminal (9) are both located on the control circuit board (3) and extend from inside the housing and are fixed to the second terminal plug-in surface (102).

9. The servo driver as described in claim 1, characterized in that, The first terminal plug-in surface (101) is also provided with a human-computer interaction component (4), which is located on the side of the third terminal group (7) away from the first terminal group (5) and the second terminal group (6); The human-computer interaction component (4) includes a display panel (41), a button (42) and a button circuit module (43). The display panel (41) is disposed on the first terminal plug-in surface (101), the button (42) is disposed on the display panel (41), and the button circuit module (43) is disposed on the side of the display panel (41) near the inside of the housing.

10. The servo driver as claimed in claim 1, characterized in that, The housing (1) includes a main housing (103), which includes a back plate portion (1031), a first support arm portion (1032), and a second support arm portion. The back plate portion (1031) is disposed opposite to the first terminal insertion surface (101). The first support arm portion (1032) and the second support arm portion extend from the back plate portion (1031) toward the first terminal insertion surface (101), and the first support arm portion (1032) and the second support arm portion are disposed opposite to each other along a first direction.

11. The servo driver as claimed in claim 10, characterized in that, The housing (1) further includes an interaction surface housing (104), the first terminal plug-in surface (101) is disposed on the interaction surface housing (104), one of the main housing (103) and the interaction surface housing (104) is provided with a snap-fit ​​protrusion (105), and the other of the main housing (103) and the interaction surface housing (104) is provided with a slot (106) that engages with the snap-fit ​​protrusion.

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