Servo driver and servo system

Abstract

The present application provides a servo driver and a servo system. The servo driver comprises: a seat comprising a first body and a supporting part, the supporting part being connected to the first body; a housing connected to the supporting part, the housing and the first body defining an accommodating cavity; a circuit board provided on the supporting part and located in the accommodating cavity; an encoder terminal, the encoder terminal being provided on the circuit board; a cover, the cover being connected to the housing and located on the side of the accommodating cavity away from the first body, the cover comprising a first wall, a battery compartment, and a channel, a first opening being formed in the first wall, the battery compartment being connected to the first wall and opposite to the first opening, the channel being arranged on the side of the first wall close to the housing, a first end of the channel being communicated with the battery compartment, and a second end of the channel extending to an end portion of the cover; a battery provided in the battery compartment; and a wire harness, the wire harness being arranged in the channel, a first end of the wire harness being connected to the battery, and a second end of the wire harness being connected the encoder terminal.

Description

Servo drives and servo systems

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 18, 2023, with application number "202311202984.7" and application name "Servo Drive and Servo System", the entire contents of which are incorporated by reference into this application.

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on September 18, 2023, with application number "202322532606.7" and application name "Servo Drive and Servo System", the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of electromechanical technology, and specifically proposes a servo drive and a servo system. Background Art

[0004] At present, in the relevant technology, the battery of the servo drive and the encoder are connected through a wiring harness. If the wiring harness passes directly through the front of the cover, it will have a great impact on the appearance. At the same time, the swing of the wiring harness during the installation process will have a certain impact on other plugs, which may cause poor contact of the connector. Technical Solutions

[0005] This application aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] To this end, a first aspect of the present application provides a servo drive.

[0007] A second aspect of the present application provides a servo drive.

[0008] A third aspect of the present application provides a servo system.

[0009] In view of this, the first aspect of the present application provides a servo driver, which includes a base, a shell, a circuit board, an encoder terminal cover, and a wiring harness. The base includes a first body and a support portion, the support portion being connected to the first body; the shell being connected to the support portion, the shell and the first body forming a housing cavity; the circuit board being disposed on the support portion and located within the housing cavity; the encoder terminal being disposed on the circuit board; the cover being connected to the shell and located on a side of the housing cavity away from the first body; the cover including a first wall, a battery compartment, and a channel, the first wall being provided with a first opening, the battery compartment being connected to the first wall and opposite to the first opening, the channel being disposed on a side of the first wall close to the shell, the first end of the channel being connected to the battery compartment, and the second end of the channel extending to the end of the cover; the battery being disposed within the battery compartment; and the wiring harness being disposed within the channel, the first end of the wiring harness being connected to the battery, and the second end of the wiring harness being capable of being connected to the encoder terminal.

[0010] This application arranges a channel inside the cover body, and the battery is inserted at the bottom through the wiring harness and the encoder terminal. The wiring harness is almost invisible, so that the wiring harness passes through the hidden channel and comes out from the battery wiring port. At this time, the connector of the battery wiring harness can form an aerial docking with the circuit part of the encoder terminal, thereby reducing the interference of the battery wiring harness on the wiring terminal on the front of the cover body.

[0011] In addition, the servo drive in the above technical solution provided by this application may also have the following additional technical features:

[0012] In some technical solutions of the present application, optionally, the servo driver further includes: a first terminal, the first terminal is arranged at the second end of the channel, connected to the second end of the wiring harness, and the first terminal can be connected to the encoder terminal.

[0013] In some technical solutions of the present application, optionally, the servo drive further includes: a battery cover, which is arranged at the first opening and is rotatably connected to the first wall to open or close the battery compartment.

[0014] In some technical solutions of the present application, optionally, a groove is provided on the first wall, the groove has a second opening, the second opening faces the side of the first wall away from the shell, the groove is located on the side of the channel and the battery compartment, the area opposite to the battery compartment is connected to the battery compartment, and the area opposite to the channel is connected to the channel.

[0015] In some technical solutions of the present application, optionally, a side of the battery cover away from the groove is rotatably connected to the first wall, and a side of the battery cover close to the groove can be close to or away from the battery compartment.

[0016] In some technical solutions of the present application, optionally, the cross-section of the area where the groove is opposite to the battery compartment is trapezoidal; the cross-section of the area where the groove is opposite to the channel is V-shaped.

[0017] In some technical solutions of the present application, optionally, the servo drive also includes: a first rib, the first rib is connected to the battery cover, is located on the side of the battery cover close to the battery compartment, and protrudes from the surface of the battery cover on the side close to the battery compartment; wherein, when the battery cover closes the battery compartment, the first rib is in contact with the battery.

[0018] In some technical solutions of the present application, optionally, a connecting hole is provided on the first wall, and the connecting hole extends along the rotation axis of the battery cover. The battery cover includes a second body and a connecting shaft. The second body is buckled in the battery compartment and adapted to the first opening; the connecting shaft is connected to the second body and inserted into the connecting hole.

[0019] In some technical solutions of the present application, optionally, a third opening is provided on the first wall, the encoder terminal is opposite to the third opening, and the opening of the encoder terminal faces the outside of the first wall.

[0020] The second aspect of the present application provides a servo drive, comprising: a shell assembly, an elastic member, a battery and a battery cover, wherein the elastic member is connected to the battery compartment; the battery is arranged in the battery compartment, and the side of the battery away from the first opening is in contact with the elastic member, and the battery can be connected to the encoder terminal; the battery cover is arranged at the first opening and is rotatably connected to the shell assembly to open or close the battery compartment; wherein, when the battery cover closes the battery compartment, the battery squeezes the elastic member, causing the elastic member to deform.

[0021] The servo drive proposed in this application has a battery compartment formed inside for accommodating the battery, thereby integrating the battery into the servo drive and supplying power through the encoder terminal, thereby separating the battery from the encoder line and simplifying the production of the encoder line. At the same time, it can ensure that the multi-turn encoding signal of the encoder is not lost in the event of a sudden power outage, and higher resolution and a larger measurement range can be obtained to ensure the normal operation of the entire servo drive.

[0022] The battery cover is designed as a rotating flip-top structure. When servicing or replacing the battery, simply twist the flip-top to open the battery compartment. In addition, an elastic member is designed inside the battery compartment to ensure that when the flip-top is opened, the elastic member automatically ejects the battery. The battery can be easily removed without additional tools, making it easier to remove the battery, improving operator convenience, and thus improving the ease of use of the servo drive.

[0023] In addition, the servo drive in the above technical solution provided by this application may also have the following additional technical features:

[0024] In some technical solutions of the present application, optionally, the side wall of the battery compartment away from the first opening is the second wall, the second wall is provided with a notch passing through the second wall, the elastic member includes a connecting arm and a protrusion, the connecting arm is provided in the notch, the first end of the connecting arm is connected to the second wall, and the second end of the connecting arm is a free end; the protrusion is provided on the side of the connecting arm close to the battery, located at the second end of the connecting arm, and protruding from the surface of the second wall close to the battery.

[0025] In some technical solutions of the present application, the housing assembly optionally includes a base, a shell, a circuit board, and a cover. The base includes a first body and a support portion, the support portion being connected to the first body; the shell being connected to the support portion, the shell and the first body defining a housing cavity; the circuit board being disposed on the support portion and located within the housing cavity, and the encoder terminals being disposed on the circuit board; the cover being connected to the shell and located on a side of the housing cavity away from the first body, the cover including a first wall and a battery compartment, the first wall being provided with a first opening, the battery compartment being connected to the first wall and opposite the first opening.

[0026] In some technical solutions of the present application, optionally, the cover body further includes a channel and a wiring harness, the channel is arranged on the side of the first wall close to the shell, the first end of the channel is connected to the battery compartment, and the second end of the channel extends to the end of the cover body; the wiring harness is arranged in the channel, the first end of the wiring harness is connected to the battery, and the second end of the wiring harness can be connected to the encoder terminal.

[0027] In some technical solutions of the present application, optionally, the servo driver further includes: a first terminal, the first terminal is arranged at the second end of the channel, connected to the second end of the wiring harness, and the first terminal can be connected to the encoder terminal.

[0028] In some technical solutions of the present application, optionally, a groove is provided on the first wall, the groove has a second opening, the second opening faces the side of the first wall away from the shell, the groove is located on the side of the channel and the battery compartment, the area opposite to the battery compartment is connected to the battery compartment, and the area opposite to the channel is connected to the channel.

[0029] In some technical solutions of the present application, optionally, a side of the battery cover away from the groove is rotatably connected to the first wall, and a side of the battery cover close to the groove can be close to or away from the battery compartment.

[0030] In some technical solutions of the present application, optionally, the cross-section of the area where the groove is opposite to the battery compartment is trapezoidal; the cross-section of the area where the groove is opposite to the channel is V-shaped.

[0031] In some technical solutions of the present application, optionally, the servo drive also includes: a first rib, the first rib is connected to the battery cover, is located on the side of the battery cover close to the battery compartment, and protrudes from the surface of the battery cover on the side close to the battery compartment; wherein, when the battery cover closes the battery compartment, the first rib is in contact with the battery.

[0032] In some technical solutions of the present application, optionally, a connecting hole is provided on the first wall, and the connecting hole extends along the rotation axis of the battery cover. The battery cover includes: a second body, the second body is buckled in the battery compartment and adapted to the first opening; a connecting shaft, the connecting shaft is connected to the second body and inserted into the connecting hole.

[0033] In some technical solutions of the present application, optionally, the first wall is provided with a third opening, the encoder terminal is opposite to the third opening, and the opening of the encoder terminal faces the outside of the first wall.

[0034] A third aspect of the present application provides a servo system, comprising a servo driver as in any of the above technical solutions.

[0035] Since the servo system includes the servo driver as in any of the above technical solutions, it has all the beneficial effects as in any of the above technical solutions.

[0036] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0038] FIG1 shows one structural schematic diagram of a servo driver according to an embodiment of the present application;

[0039] FIG2 shows a second structural schematic diagram of a servo driver according to an embodiment of the present application;

[0040] FIG3 shows a third structural diagram of a servo driver according to an embodiment of the present application;

[0041] FIG4 shows a fourth structural diagram of a servo driver according to an embodiment of the present application;

[0042] FIG5 shows a fifth structural diagram of a servo driver according to an embodiment of the present application;

[0043] FIG6 shows a sixth structural diagram of a servo driver according to an embodiment of the present application;

[0044] FIG7 shows a seventh structural diagram of a servo driver according to an embodiment of the present application;

[0045] FIG8 shows an eighth structural schematic diagram of a servo driver according to an embodiment of the present application.

[0046] The corresponding relationship between the reference numerals and component names in Figures 1 to 8 is as follows:

[0047] 100 servo driver, 102 shell assembly, 110 base, 112 first body, 114 support portion, 120 shell, 130 accommodating cavity, 140 circuit board, 150 encoder terminal, 152 opening, 160 cover, 161 first wall, 162 first opening, 163 battery compartment, 164 second wall, 165 notch, 166 channel, 167 wiring harness, 168 groove, 169 second opening, 170 third opening, 171 connecting hole, 180 elastic member, 182 connecting arm, 184 protrusion, 190 battery, 200 battery cover, 202 second body, 204 connecting shaft, 210 first terminal, 220 first rib. Modes for Carrying Out the Invention

[0048] In order to more clearly understand the above-mentioned objects, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other in the absence of conflict.

[0049] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0050] The following describes a servo driver 100 and a servo system according to some embodiments of the present application with reference to FIG. 1 to FIG. 8 .

[0051] As shown in Figures 1 and 2, in one embodiment of the present application, a servo driver 100 is proposed. The servo driver 100 includes a base 110, a shell 120, a circuit board 140, an encoder terminal 150, a cover 160, an elastic member 180, a battery 190 and a battery cover 200. The base 110 includes a first body 112 and a support portion 114. The first body 112 is the main structural component of the base 110. The support portion 114 is connected to the first body 112, and the support portion 114 can play a supporting and connecting role.

[0052] The shell 120 is connected to the support portion 114 , thereby indirectly connecting the shell 120 and the first body 112 . The shell 120 and the first body 112 define a receiving cavity 130 . The support portion 114 facilitates the assembly of the shell 120 and the base 110 .

[0053] The circuit board 140 is mounted on the support portion 114 and located within the housing cavity 130. The support portion 114 provides a suitable mounting location for the circuit board 140. The circuit board 140 can perform functions such as signal transmission, power management, signal processing, control and logic, data conversion, and current protection.

[0054] Encoder terminals 150 are located on circuit board 140. An encoder is a signal encoder used to convert motion or position. Encoder terminals 150 serve as the interface for the encoder to receive power. Encoder terminals 150 are located on circuit board 140 and work in conjunction with circuit board 140 to convert physical motion into digital signals, enabling measurement and control of the original motion signal.

[0055] The cover 160 is connected to the housing 120 and is located on the side of the accommodating cavity 130 away from the first body 112. The cover 160 includes a first wall 161 and a battery compartment 163. The first wall 161 is provided with a first opening 162, and the battery compartment 163 is connected to the first wall 161 and opposite the first opening 162. The cover 160 is the uppermost component of the servo drive 100 in the direction of gravity. The battery compartment 163 is used to accommodate the battery 190, and the first opening 162 is used to allow the battery 190 to enter and exit the battery compartment 163.

[0056] Servo driver 100's battery 190 is a component used to provide electrical energy. Battery 190 is housed within battery compartment 163, effectively integrating battery 190 within servo driver 100. This prevents the battery from occupying space outside servo driver 100 and reduces its impact on external structures of servo driver 100, such as the grounding bolts used for installation. Battery 190 can be connected to encoder terminal 150 to transmit and supply electrical energy, ensuring that the encoder's multi-turn encoder signal is not lost in the event of a sudden power outage.

[0057] The servo drive 100 also includes a wiring harness 167, and a channel 166 is used for passing the wiring harness 167. Specifically, the channel 166 is arranged on the side of the first wall 161 close to the shell 120. The first end of the channel 166 is connected to the battery compartment 163, and the second end of the channel 166 extends to the end of the cover body 160. The channel 166 constitutes a transmission path from the battery compartment 163 to the end of the cover body 160.

[0058] The wiring harness 167 is arranged in the channel 166. The first end of the wiring harness 167 is connected to the battery 190, and the second end of the wiring harness 167 can be connected to the encoder terminal 150. The wiring harness 167 can transmit electrical energy to the encoder terminal 150 and then be used by the encoder.

[0059] If the harness 167 passes directly through the front of the cover 160, it will have a great impact on the appearance. At the same time, the swing of the harness 167 during installation will have a certain impact on other plugs, which may cause poor contact of the connector.

[0060] The present application arranges a channel 166 in the cover body 160, and the battery 190 is inserted at the bottom through the wiring harness 167 and the encoder terminal 150. The wiring harness 167 is almost invisible, so that the wiring harness 167 passes through the hidden channel 166 and comes out from the end connected to the battery 190. At this time, the connector of the wiring harness 167 can form an aerial docking with the circuit part of the encoder terminal 150, thereby reducing the interference of the wiring harness 167 on the wiring terminals on the front of the cover body 160.

[0061] Specifically, the wiring harness 167 is connected to the positive and negative poles of the battery 190 by welding.

[0062] As shown in Figures 1, 4 and 5, in some embodiments of the present application, optionally, the servo drive 100 also includes: a first terminal 210, which is arranged at the second end of the channel 166 and connected to the second end of the wiring harness 167, and the first terminal 210 can be connected to the encoder terminal 150.

[0063] In this embodiment, the servo driver 100 further includes a first terminal 210, which is disposed at the second end of the channel 166, that is, the first terminal 210 is disposed at the end of the channel 166 away from the battery compartment 163. The first terminal 210 is connected to the second end of the wiring harness 167. The first terminal 210 can be connected to the encoder terminal 150, that is, the second end of the wiring harness 167 is connected to the encoder terminal 150 via the first terminal 210.

[0064] By connecting first terminal 210 to encoder terminal 150, battery 190 powers the encoder components, enabling accurate motion control. Furthermore, the connection between external battery 190 and encoder terminal 150 effectively ensures the multi-turn encoder can capture information regardless of any unexpected circumstances, achieving higher resolution and a larger measurement range.

[0065] As shown in Figures 2, 4 and 5, in some embodiments of the present application, optionally, the servo driver 100 also includes: a battery cover 200, which is arranged at the first opening 162 and is rotatably connected to the first wall 161 to open or close the battery compartment 163.

[0066] In this embodiment, the battery cover 200 is arranged at the first opening 162 and is rotatably connected to the first wall 161. By applying force to the battery cover 200, the battery compartment 163 can be opened or closed relatively easily, so as to facilitate operation of the battery 190 in the battery compartment 163. The flip-top design improves the convenience of replacing the battery 190. In addition, the setting of the battery cover 200 allows the battery 190 to be covered after being set in the battery compartment 163, thereby reducing the impact on the neatness of the appearance of the servo drive 100, making the appearance of the servo drive 100 more beautiful and avoiding the servo drive 100 from appearing bloated.

[0067] Specifically, the battery cover 200 is located on the right side below the front of the servo driver 100 .

[0068] As shown in Figures 4, 5 and 7, in some embodiments of the present application, optionally, the first wall 161 is provided with a groove 168, the groove 168 has a second opening 169, the second opening 169 is toward the side of the first wall 161 away from the shell 120, the groove 168 is located on the side of the channel 166 and the battery compartment 163, the area where the groove 168 is opposite to the battery compartment 163 is connected to the battery compartment 163, and the area where the groove 168 is opposite to the channel 166 is connected to the channel 166.

[0069] In this embodiment, the first wall 161 is provided with a groove 168 having a second opening 169 . The second opening 169 faces the side of the first wall 161 away from the housing 120 , that is, the second opening 169 is an opening pointing outward.

[0070] The groove 168 is located to the side of the channel 166 and the battery compartment 163. The area where the groove 168 faces the battery compartment 163 is connected to the battery compartment 163, making it easy to operate the battery compartment 163 to place or remove the battery 190. The area where the groove 168 faces the channel 166 is connected to the channel 166, thereby facilitating the adjustment of the wiring harness 167.

[0071] As shown in Figures 4 and 5, in some embodiments of the present application, optionally, the side of the battery cover 200 away from the groove 168 is rotatably connected to the first wall 161, and the side of the battery cover 200 close to the groove 168 can be close to or away from the battery compartment 163.

[0072] In this embodiment, the side of the battery cover 200 away from the groove 168 is rotatably connected to the first wall 161 , and the side of the battery cover 200 away from the groove 168 forms a structure that functions as a rotation axis.

[0073] The side of the battery cover 200 close to the groove 168 can be close to or away from the battery compartment 163. Specifically, when using the servo driver 100 proposed in this application, when the battery cover 200 is buckled at the first opening 162 and the battery compartment 163 is closed, if the battery compartment 163 needs to be opened, a lifting force is applied to the battery cover 200, and the side of the battery cover 200 away from the groove 168 rotates relative to the first wall 161, and the side of the battery cover 200 close to the groove 168 moves in the direction away from the battery compartment 163, thereby realizing convenient opening of the battery compartment 163.

[0074] When the battery compartment 163 needs to be closed, a downward force is applied to the battery cover 200, and the side of the battery cover 200 away from the groove 168 rotates relative to the first wall 161, and the side of the battery cover 200 close to the groove 168 moves toward the battery compartment 163, and finally the battery cover 200 closes the battery compartment 163.

[0075] In this application, the side of the battery cover 200 away from the groove 168 is rotatably connected to the first wall 161, and the side of the battery cover 200 close to the groove 168 can be close to or away from the battery compartment 163, forming a structure for flipping open the battery compartment 163, thereby making the process of opening the battery compartment 163 convenient.

[0076] As shown in Figures 4, 5 and 7, in some embodiments of the present application, optionally, the cross-section of the area where the groove 168 is opposite to the battery compartment 163 is trapezoidal; the cross-section of the area where the groove 168 is opposite to the channel 166 is V-shaped.

[0077] In this embodiment, the cross-section of the area where the groove 168 faces the battery compartment 163 is trapezoidal, making it easier for the user to manipulate the groove 168 to open the battery cover 200. The cross-section of the area where the groove 168 faces the channel 166 is V-shaped, further facilitating the arrangement of the wiring harness 167 and further enhancing its concealment.

[0078] As shown in Figure 5, in some embodiments of the present application, optionally, the servo driver 100 further includes: a first rib 220, the first rib 220 is connected to the battery cover 200, is located on the side of the battery cover 200 close to the battery compartment 163, and protrudes from the surface of the battery cover 200 on the side close to the battery compartment 163; wherein, when the battery cover 200 closes the battery compartment 163, the first rib 220 is in contact with the battery.

[0079] In this embodiment, the servo driver 100 also includes a first rib 220, which is connected to the battery cover 200, located on the side of the battery cover 200 close to the battery compartment 163, and protrudes from the surface of the battery cover 200 close to the battery compartment 163, that is, the first rib 220 is arranged on the surface opposite to the battery cover 200 and the battery compartment 163.

[0080] When the battery cover 200 closes the battery compartment 163 , the first rib 220 contacts the battery 190 , and the first rib 220 squeezes the battery 190 , clamping the battery 190 so that the battery 190 is fully fixed in the battery compartment 163 .

[0081] As shown in Figure 2, in some embodiments of the present application, optionally, the servo driver 100 further includes: an elastic member 180, which is connected to the battery compartment 163; a battery 190 is arranged in the battery compartment 163, and the side of the battery 190 away from the first opening 162 is in contact with the elastic member 180, and the battery 190 can be connected to the encoder terminal 150; a battery cover 200 is arranged at the first opening 162 and is rotatably connected to the first wall 161 to open or close the battery compartment 163; wherein, when the battery cover 200 closes the battery compartment 163, the battery 190 squeezes the elastic member 180, and the elastic member 180 is deformed.

[0082] In this embodiment, the elastic member 180 of the servo driver 100 is connected to the battery compartment 163 . The elastic member 180 is disposed in the battery compartment 163 . The elastic member 180 can be deformed by a force to generate a reaction force.

[0083] The side of the battery 190 away from the first opening 162 contacts the elastic member 180. When the battery cover 200 closes the battery compartment 163, the battery 190 presses against the elastic member 180, causing the elastic member 180 to deform. This deformation of the elastic member 180 generates a force, which is restrained by the battery 190 and cannot be released after the battery cover 200 closes the battery compartment 163.

[0084] When the battery cover 200 opens the battery compartment 163, the battery cover 200 no longer applies force to the battery 190, and the battery 190 no longer squeezes the elastic member 180. The elastic member 180 begins to release force to the battery 190 due to its restored shape, thereby pushing at least part of the battery 190 to pop out of the battery compartment 163, making it easier for the user to take the battery 190 and improving the convenience of repairing and replacing the battery 190.

[0085] The servo driver 100 proposed in this application has a battery cover 200 designed as a rotating flip-up structure. When repairing or replacing the battery 190, the battery compartment 163 can be opened by simply rotating the flip-up cover. In addition, an elastic member 180 is designed inside the battery compartment to ensure that the elastic member 180 automatically ejects the battery 190 when the flip-up cover is opened. When removing the battery 190, no additional tools are required. This improves the operator's convenience, reduces the size of the servo driver 100, greatly reduces the cost of installing the battery 190 in the servo driver 100, and improves the appearance of the servo driver 100.

[0086] In addition, the user can replace the battery 190 by operating the battery cover 200 on the cover 160 of the servo driver 100, thereby operating the battery 190 on the top surface of the servo driver 100, which makes it easier for the user to observe the condition of the battery 190 and perform operations.

[0087] As shown in Figure 2, in some embodiments of the present application, optionally, the side wall of the battery compartment 163 away from the first opening 162 is a second wall 164, and the second wall 164 is provided with a notch 165 passing through the second wall 164. The elastic member 180 includes a connecting arm 182 and a protrusion 184. The connecting arm 182 is arranged in the notch 165, the first end of the connecting arm 182 is connected to the second wall 164, and the second end of the connecting arm 182 is a free end; the protrusion 184 is arranged on the side of the connecting arm 182 close to the battery 190, located at the second end of the connecting arm 182, and protruding from the surface of the second wall 164 on the side close to the battery 190.

[0088] In this embodiment, the side wall of the battery compartment 163 away from the first opening 162 is a second wall 164 . A notch 165 is provided on the second wall 164 and passes through the second wall 164 .

[0089] The elastic member 180 includes a connecting arm 182 and a protrusion 184. The connecting arm 182 is disposed within the notch 165. The first end of the connecting arm 182 is connected to the second wall 164. That is, one end of the connecting arm 182 is connected to the side wall of the battery compartment 163 away from the first opening 162. The second end of the connecting arm 182 is a free end, that is, the second end of the connecting arm 182 is the end without any restraining support.

[0090] The protrusion 184 of the elastic member 180 is disposed on a side of the connecting arm 182 close to the battery 190 . The protrusion 184 is located at the second end of the connecting arm 182 and protrudes from a surface of the second wall 164 close to the battery 190 .

[0091] By setting the elastic member 180 including the connecting arm 182 and the protrusion 184, a cantilever beam structure is formed in the battery compartment 163, which can ensure that when the battery cover 200 is opened, the force generated by the connecting arm 182 and the protrusion 184 restoring their shape acts on the battery 190 to automatically pop out the battery 190. When removing the battery 190, the battery 190 can be easily taken out without additional tools.

[0092] Specifically, there are two connecting arms 182 , which are disposed back to back. There are two protrusions 184 , with one protrusion 184 disposed on the second end of one connecting arm 182 .

[0093] When the battery cover 200 closes the battery compartment 163, the first rib 220 contacts the battery 190 and squeezes the battery 190. At this time, the protrusion 184 is deformed under the force. The first rib 220 and the protrusion 184 on the battery cover 200 just have a compression effect when the battery cover 200 is closed. The battery 190 is clamped, and the battery 190 is fully fixed in the battery compartment 163.

[0094] Specifically, the servo driver 100 also includes a second rib, which is connected to the battery cover 200 and is spaced apart from the first rib 220 and is arranged on the side of the battery cover 200 close to the battery compartment 163 and protrudes from the surface of the side of the battery cover 200 close to the battery compartment 163, so as to better achieve the squeezing of the battery 190 and make the left and right ends of the battery 190 evenly stressed.

[0095] As shown in Figures 2, 3, 4 and 5, in some embodiments of the present application, optionally, the first wall 161 is provided with a connecting hole 171, and the connecting hole 171 extends along the rotation axis of the battery cover 200. The battery cover 200 includes: a second body 202, the second body 202 is buckled in the battery compartment 163, and is adapted to the first opening 162; a connecting shaft 204, the connecting shaft 204 is connected to the second body 202, and is inserted into the connecting hole 171.

[0096] In this embodiment, the first wall 161 is provided with a connection hole 171 , which extends along the rotation axis of the battery cover 200 . That is, the connection hole 171 is a hole structure opened along the rotation axis of the battery cover 200 .

[0097] The battery cover 200 includes a second body 202 . The second body 202 is buckled in the battery compartment 163 and matched with the first opening 162 . The second body 202 is used to close and open the battery compartment 163 .

[0098] The battery cover 200 further includes a connecting shaft 204 . The connecting shaft 204 is connected to the second body 202 and inserted into the connecting hole 171 .

[0099] The servo driver 100 proposed in this application has a battery compartment 163 provided inside the cover body 160, and the battery 190 is placed in the battery compartment 163. The wiring harness 167 extends outward from the end connected to the battery 190 along the channel 166, and the battery cover 200 is installed on the cover body 160 through the connecting shaft 204. Specifically, the connecting shaft 204 is a rotating shaft.

[0100] When using the servo driver 100 proposed in this application, when the second body 202 is buckled at the first opening 162 and the battery compartment 163 is closed, if the battery compartment 163 needs to be opened, a lifting force is applied to the second body 202, and the connecting shaft 204 rotates with the second body 202 within the connecting hole 171, thereby conveniently opening the battery compartment 163. Thereafter, when the battery compartment 163 needs to be closed, a downward force is applied to the second body 202, and the connecting shaft 204 rotates with the second body 202 within the connecting hole 171, ultimately closing the battery compartment 163 with the battery cover 200.

[0101] The flip cover structure of the battery cover 200 greatly simplifies the opening and installation process, makes the appearance of the servo driver 100 simple, and reduces the manufacturing cost of the servo driver 100.

[0102] As shown in FIG. 4 , FIG. 5 and FIG. 6 , in some embodiments of the present application, the first wall 161 is provided with a third opening 170 , the encoder terminal 150 is opposite to the third opening 170 , and the opening 152 of the encoder terminal 150 faces the outside of the first wall 161 .

[0103] In this embodiment, the first wall 161 is provided with a third opening 170, and the encoder terminal 150 is opposite to the third opening 170. The encoder terminal 150 is exposed to the outside of the first wall 161 through the third opening 170, and the opening 152 of the encoder terminal 150 is facing the outside of the first wall 161, which makes it convenient for the user to connect the encoder terminal 150, thereby improving the user's operational convenience.

[0104] Specifically, the servo driver 100 further includes a burning interface, a debugging port, an IO interface and a motor interface, all of which are arranged on the cover 160 for easy use by operators and also enable the servo driver 100 to have complete drive control functions.

[0105] In one embodiment of the present application, a servo system is provided, comprising the servo driver 100 as described in any of the above embodiments.

[0106] In this embodiment, the servo system proposed in the present application includes the servo driver 100 as in any of the above embodiments, and therefore has all the beneficial effects of any of the above technical solutions.

[0107] As shown in Figure 7, external interfaces, including the programming port, debug port, IO port, and motor port, are all located on the cover 160. When the servo driver 100 is installed in the electrical box of the servo system, the front is the easiest for the operator to access, so the battery 190 is placed on the cover 160 for easy access.

[0108] Specifically, as shown in Figure 2, the present application designs a built-in battery compartment 163 structure inside the cover body 160, and places the battery 190 therein. The positive and negative poles of the battery 190 are welded together through a wiring harness 167, and the second end of the wiring harness 167 is crimped with a first terminal 210 to form a docking connection with the encoder terminal 150.

[0109] When the wiring harness 167 passes through the front, if it passes directly through the front of the cover body 160, it will have a greater impact on the appearance. At the same time, since the swing of the wiring harness 167 during the installation process will have a certain impact on other plugs, it may cause poor contact of the connector. The present application fully utilizes the characteristics of the V-shaped groove 168 in the cross-section of the area opposite to the channel 166 to allow the wiring harness 167 to pass through the hidden channel 166 and come out of the channel 166. At this time, the first terminal 210 can be connected with the encoder terminal 150 to form an aerial docking.

[0110] As shown in Figure 1, the present application designs the elastic member 180 in the battery compartment 163 as a cantilever beam structure, and sets a protrusion 184 on the second end of the connecting arm 182. When the battery 190 is placed in the battery compartment 163, the battery 190 is in full contact with the protrusion 184. At this time, the battery cover 200 and the cover body 160 are designed as a rotating shaft pin structure, and the battery cover 200 is fixed on the cover body 160 to form a flip cover structure, which not only reduces the space of the battery 190 structure, but also makes the opening method simpler.

[0111] As shown in FIG. 3 , when the battery cover 200 is closed, the first rib 220 squeezes the battery 190 . The protrusion 184 is deformed by force, and the battery 190 is clamped, ensuring that the battery 190 is fully fixed in the battery compartment 163 .

[0112] When the operator opens the battery cover 200 to replace the battery 190, the structural feature of the trapezoidal groove 168 in the area opposite to the battery compartment 163 is fully utilized. When the battery cover 200 is flipped open, the first rib 220 releases the squeeze on the battery 190. At this time, the protrusion 184 allows the battery 190 to rebound, and the battery 190 is not subjected to force. The battery 190 can be easily taken out for operation and maintenance, which is more convenient.

[0113] In summary, the present application not only solves the problem of multi-turn encoder information loss by integrating the battery 190 and hiding it in the servo driver 100, but also makes the servo driver 100 more compact and updated in structure, and the operator has more operating space. The operator can easily install and replace it from the front, which greatly improves the user experience. The flip-top structure of the battery cover 200 greatly simplifies the installation process, has a simple appearance, and reduces costs. The interaction between the protrusion 184 of the elastic member 180 of the battery compartment 163 and the first rib 220 makes the installation of the battery 190 more stable. At the same time, when the V-groove buckle structure opens the battery cover 200, the battery 190 will release the elastic force and automatically pop out the battery 190 without the need for any tool assistance, thereby ensuring the normal use of the battery 190 and the normal operation of the servo driver 100. The setting of this battery 190 not only makes the servo drive 100 structure more compact, reduces costs, simplifies installation, and has a more beautiful appearance, but also the external battery 190 effectively ensures that the multi-turn encoder can collect information in any emergency situation, and can obtain higher resolution and a larger measurement range, thereby ensuring the normal operation of the entire servo system.

[0114] As shown in Figures 2, 4 and 8, in one embodiment of the present application, a servo driver 100 is proposed, wherein the servo driver 100 includes a shell assembly 102, an elastic member 180, a battery 190 and a battery cover 200, the shell assembly 102 includes a battery compartment 163, and the battery compartment 163 is provided with a first opening 162; the elastic member 180 is connected to the battery compartment 163; the battery 190 is arranged in the battery compartment 163, and the side of the battery 190 away from the first opening 162 is in contact with the elastic member 180, and the battery 190 can be connected to the encoder terminal 150; the battery cover 200 is arranged at the first opening 162 and is rotatably connected to the first wall 161 to open or close the battery compartment 163; wherein, when the battery cover 200 closes the battery compartment 163, the battery 190 squeezes the elastic member 180, and the elastic member 180 is deformed.

[0115] In this embodiment, the servo driver 100 proposed in this application includes a shell assembly 102, an elastic member 180, a battery 190 and a battery cover 200. The shell assembly 102 includes a battery compartment 163, and the battery compartment 163 is provided with a first opening 162. The battery compartment 163 is used to accommodate the battery 190. The battery 190 can be placed in the battery compartment 163 through the first opening 162, and the battery 190 can also be taken out of the battery compartment 163.

[0116] The elastic member 180 of the servo driver 100 is connected to the battery compartment 163 . The elastic member 180 is disposed in the battery compartment 163 . The elastic member 180 can be deformed by a force to generate a reaction force.

[0117] The battery 190 of the servo driver 100 is a component for providing electrical energy. The battery 190 is arranged in the battery compartment 163, so that the battery 190 is accommodated and integrated into the servo driver 100, avoiding the battery occupying the space outside the servo driver 100 and reducing the impact of the battery 190 on the external structure of the servo driver 100, such as the setting of the grounding bolt used for installation.

[0118] The battery 190 can be connected to the encoder terminal 150 to realize the transmission and supply of electric energy, and can ensure that the multi-turn encoding signal of the encoder is not lost in the event of a sudden power outage.

[0119] The battery cover 200 is arranged at the first opening 162 and is rotatably connected to the first wall 161. By applying force to the battery cover 200, the battery compartment 163 can be opened or closed relatively easily, so as to facilitate operation of the battery 190 in the battery compartment 163. The flip-top design improves the convenience of replacing the battery 190. In addition, the setting of the battery cover 200 allows the battery 190 to be covered after being set in the battery compartment 163, thereby reducing the impact on the neatness of the appearance of the servo drive 100, making the appearance of the servo drive 100 more beautiful and preventing the servo drive 100 from appearing bloated.

[0120] Specifically, the battery cover 200 is located on the right side below the front of the servo driver 100 .

[0121] The side of the battery 190 away from the first opening 162 contacts the elastic member 180. When the battery cover 200 closes the battery compartment 163, the battery 190 presses against the elastic member 180, causing the elastic member 180 to deform. This deformation of the elastic member 180 generates a force, which is restrained by the battery 190 and cannot be released after the battery cover 200 closes the battery compartment 163.

[0122] When the battery cover 200 opens the battery compartment 163, the battery cover 200 no longer applies force to the battery 190, and the battery 190 no longer squeezes the elastic member 180. The elastic member 180 begins to release force to the battery 190 due to its restored shape, thereby pushing at least part of the battery 190 to pop out of the battery compartment 163, making it easier for the user to take the battery 190 and improving the convenience of repairing and replacing the battery 190.

[0123] To sum up, the servo driver 100 proposed in the present application has a battery compartment 163 formed inside for accommodating the battery 190, thereby integrating the battery 190 into the servo driver 100, supplying power through the encoder terminal 150, separating the battery 190 from the encoder line, simplifying the production of the encoder line, and at the same time, the separate location of the battery 190 also effectively ensures that the multi-turn encoding signal of the encoder is not lost in the event of a sudden power outage, etc., so that higher resolution and a larger measurement range can be obtained, thereby ensuring the normal operation of the entire servo driver 100.

[0124] The battery cover 200 is designed as a rotating flip-up structure. When servicing or replacing the battery 190, the battery compartment 163 can be opened by simply rotating the flip-up cover. In addition, an elastic member 180 is designed inside the battery compartment to ensure that the battery 190 is automatically ejected when the flip-up cover is opened. When removing the battery 190, no additional tools are required, which improves the operator's convenience and thus improves the ease of use of the servo drive 100.

[0125] As shown in Figure 2, in some embodiments of the present application, optionally, the side wall of the battery compartment 163 away from the first opening 162 is a second wall 164, and the second wall 164 is provided with a notch 165 passing through the second wall 164. The elastic member 180 includes a connecting arm 182 and a protrusion 184. The connecting arm 182 is arranged in the notch 165, the first end of the connecting arm 182 is connected to the second wall 164, and the second end of the connecting arm 182 is a free end; the protrusion 184 is arranged on the side of the connecting arm 182 close to the battery 190, located at the second end of the connecting arm 182, and protruding from the surface of the second wall 164 on the side close to the battery 190.

[0126] In this embodiment, the side wall of the battery compartment 163 away from the first opening 162 is a second wall 164 . A notch 165 is provided on the second wall 164 and passes through the second wall 164 .

[0127] The elastic member 180 includes a connecting arm 182 and a protrusion 184. The connecting arm 182 is disposed within the notch 165. The first end of the connecting arm 182 is connected to the second wall 164. That is, one end of the connecting arm 182 is connected to the side wall of the battery compartment 163 away from the first opening 162. The second end of the connecting arm 182 is a free end, that is, the second end of the connecting arm 182 is the end without any restraining support.

[0128] The protrusion 184 of the elastic member 180 is disposed on a side of the connecting arm 182 close to the battery 190 . The protrusion 184 is located at the second end of the connecting arm 182 and protrudes from a surface of the second wall 164 close to the battery 190 .

[0129] By setting the elastic member 180 including the connecting arm 182 and the protrusion 184, a cantilever beam structure is formed in the battery compartment 163, which can ensure that when the battery cover 200 is opened, the force generated by the connecting arm 182 and the protrusion 184 restoring their shape acts on the battery 190 to automatically pop out the battery 190. When removing the battery 190, the battery 190 can be easily taken out without additional tools.

[0130] Specifically, there are two connecting arms 182 , which are disposed back to back. There are two protrusions 184 , with one protrusion 184 disposed on the second end of one connecting arm 182 .

[0131] As shown in Figures 2, 4 and 8, in some embodiments of the present application, optionally, the shell assembly 102 includes a base 110, a shell, a circuit board 140 and a cover 160, the base 110 includes a first body 112 and a support portion 114, the support portion 114 is connected to the first body 112; the shell 120 is connected to the support portion 114, and the shell 120 and the first body 112 enclose a accommodating cavity 130; the circuit board 140 is arranged on the support portion 114 and is located in the accommodating cavity 130; the encoder terminal 150 is arranged on the circuit board 140; the cover 160 is connected to the shell 120 and is located on the side of the accommodating cavity 130 away from the first body 112, the cover 160 includes a first wall 161 and a battery compartment 163, the first wall 161 is provided with a first opening 162, the battery compartment 163 is connected to the first wall 161 and is opposite to the first opening 162.

[0132] In this embodiment, the shell assembly 102 includes a base 110, a shell 120, a circuit board 140, an encoder terminal 150, a cover 160, an elastic member 180, a battery 190 and a battery cover 200. The base 110 includes a first body 112 and a support portion 114. The first body 112 is the main structural component of the base 110. The support portion 114 is connected to the first body 112, and the support portion 114 can play a supporting and connecting role.

[0133] The shell 120 is connected to the support portion 114 , thereby indirectly connecting the shell 120 and the first body 112 . The shell 120 and the first body 112 define a receiving cavity 130 . The support portion 114 facilitates the assembly of the shell 120 and the base 110 .

[0134] The circuit board 140 is mounted on the support portion 114 and located within the housing cavity 130. The support portion 114 provides a suitable mounting location for the circuit board 140. The circuit board 140 can perform functions such as signal transmission, power management, signal processing, control and logic, data conversion, and current protection.

[0135] Encoder terminals 150 are located on circuit board 140. An encoder is a signal encoder used to convert motion or position. Encoder terminals 150 serve as the interface for the encoder to receive power. Encoder terminals 150 are located on circuit board 140 and work in conjunction with circuit board 140 to convert physical motion into digital signals, enabling measurement and control of the original motion signal.

[0136] The cover 160 is connected to the housing 120 and is located on the side of the accommodating cavity 130 away from the first body 112. The cover 160 includes a first wall 161 and a battery compartment 163. The first wall 161 is provided with a first opening 162, and the battery compartment 163 is connected to the first wall 161 and opposite the first opening 162. The cover 160 is the uppermost component of the servo drive 100 in the direction of gravity. The battery compartment 163 is used to accommodate the battery 190, and the first opening 162 is used to allow the battery 190 to enter and exit the battery compartment 163.

[0137] The battery cover 200 is designed as a rotating flip-up structure. When servicing or replacing the battery 190, the battery compartment 163 can be opened by simply rotating the flip-up cover. In addition, an elastic member 180 is designed inside the battery compartment to ensure that the battery 190 is automatically ejected when the flip-up cover is opened. When removing the battery 190, no additional tools are required, which improves the operator's convenience and thus improves the ease of use of the servo drive 100.

[0138] In addition, the user can replace the battery 190 by operating the battery cover 200 on the cover 160 of the servo driver 100, thereby operating the battery 190 on the top surface of the servo driver 100, which makes it easier for the user to observe the condition of the battery 190 and perform operations.

[0139] Specifically, a first connection portion is provided on the circumferential side of the cover 160 , and a second connection portion is provided on the housing 120 . The first connection portion and the second connection portion are engaged with each other to achieve the connection between the cover 160 and the housing 120 .

[0140] As shown in Figure 1, in some embodiments of the present application, optionally, the cover body 160 also includes a channel 166 and a wiring harness 167, the channel 166 is arranged on the side of the first wall 161 close to the shell 120, the first end of the channel 166 is connected to the battery compartment 163, and the second end of the channel 166 extends to the end of the cover body 160; the wiring harness 167 is arranged in the channel 166, the first end of the wiring harness 167 is connected to the battery 190, and the second end of the wiring harness 167 can be connected to the encoder terminal 150.

[0141] In this embodiment, the cover body 160 also includes a channel 166 and a wiring harness 167. The channel 166 is used for the wiring harness 167 to pass through. Specifically, the channel 166 is arranged on the side of the first wall 161 close to the shell 120. The first end of the channel 166 is connected to the battery compartment 163, and the second end of the channel 166 extends to the end of the cover body 160. The channel 166 constitutes a transmission path from the battery compartment 163 to the end of the cover body 160.

[0142] The wiring harness 167 is arranged in the channel 166. The first end of the wiring harness 167 is connected to the battery 190, and the second end of the wiring harness 167 can be connected to the encoder terminal 150. The wiring harness 167 can transmit electrical energy to the encoder terminal 150 and then be used by the encoder.

[0143] If the wiring harness 167 were to pass directly through the front of the cover 160, it would significantly affect the appearance. Furthermore, the swinging of the wiring harness 167 during installation would affect other plugs to a certain extent, potentially causing poor contact between the connectors. The present application arranges a channel 166 within the cover 160, allowing the battery 190 to be inserted at the bottom through the wiring harness 167 and the encoder terminal 150, making the wiring harness 167 virtually invisible. This allows the wiring harness 167 to pass through the hidden channel 166 and exit from the end connected to the battery 190. At this point, the connector of the wiring harness 167 can form an aerial connection with the circuit portion of the encoder terminal 150, thereby reducing interference from the wiring harness 167 with the wiring terminals on the front of the cover 160.

[0144] Specifically, the wiring harness 167 is connected to the positive and negative poles of the battery 190 by welding.

[0145] As shown in Figures 1, 4 and 5, in some embodiments of the present application, optionally, the servo drive 100 also includes: a first terminal 210, which is arranged at the second end of the channel 166 and connected to the second end of the wiring harness 167, and the first terminal 210 can be connected to the encoder terminal 150.

[0146] In this embodiment, the servo driver 100 further includes a first terminal 210, which is disposed at the second end of the channel 166, that is, the first terminal 210 is disposed at the end of the channel 166 away from the battery compartment 163. The first terminal 210 is connected to the second end of the wiring harness 167. The first terminal 210 can be connected to the encoder terminal 150, that is, the second end of the wiring harness 167 is connected to the encoder terminal 150 via the first terminal 210.

[0147] By connecting first terminal 210 to encoder terminal 150, battery 190 powers the encoder components, enabling accurate motion control. Furthermore, the connection between external battery 190 and encoder terminal 150 effectively ensures the multi-turn encoder can capture information regardless of any unexpected circumstances, achieving higher resolution and a larger measurement range.

[0148] As shown in Figures 4, 5 and 7, in some embodiments of the present application, optionally, the first wall 161 is provided with a groove 168, the groove 168 has a second opening 169, the second opening 169 is toward the side of the first wall 161 away from the shell 120, the groove 168 is located on the side of the channel 166 and the battery compartment 163, the area where the groove 168 is opposite to the battery compartment 163 is connected to the battery compartment 163, and the area where the groove 168 is opposite to the channel 166 is connected to the channel 166.

[0149] In this embodiment, the first wall 161 is provided with a groove 168 having a second opening 169 . The second opening 169 faces the side of the first wall 161 away from the housing 120 , that is, the second opening 169 is an opening pointing outward.

[0150] The groove 168 is located to the side of the channel 166 and the battery compartment 163. The area where the groove 168 faces the battery compartment 163 is connected to the battery compartment 163, making it easy to operate the battery compartment 163 to place or remove the battery 190. The area where the groove 168 faces the channel 166 is connected to the channel 166, thereby facilitating the adjustment of the wiring harness 167.

[0151] As shown in Figures 4 and 5, in some embodiments of the present application, optionally, the side of the battery cover 200 away from the groove 168 is rotatably connected to the first wall 161, and the side of the battery cover 200 close to the groove 168 can be close to or away from the battery compartment 163.

[0152] In this embodiment, the side of the battery cover 200 away from the groove 168 is rotatably connected to the first wall 161 , and the side of the battery cover 200 away from the groove 168 forms a structure that functions as a rotation axis.

[0153] The side of the battery cover 200 close to the groove 168 can be close to or away from the battery compartment 163. Specifically, when using the servo driver 100 proposed in this application, when the battery cover 200 is buckled at the first opening 162 and the battery compartment 163 is closed, if the battery compartment 163 needs to be opened, a lifting force is applied to the battery cover 200, and the side of the battery cover 200 away from the groove 168 rotates relative to the first wall 161, and the side of the battery cover 200 close to the groove 168 moves in the direction away from the battery compartment 163, thereby realizing convenient opening of the battery compartment 163.

[0154] When the battery compartment 163 needs to be closed, a downward force is applied to the battery cover 200, and the side of the battery cover 200 away from the groove 168 rotates relative to the first wall 161, and the side of the battery cover 200 close to the groove 168 moves toward the battery compartment 163, and finally the battery cover 200 closes the battery compartment 163.

[0155] In this application, the side of the battery cover 200 away from the groove 168 is rotatably connected to the first wall 161, and the side of the battery cover 200 close to the groove 168 can be close to or away from the battery compartment 163, forming a structure for flipping open the battery compartment 163, thereby making the process of opening the battery compartment 163 convenient.

[0156] As shown in Figures 4, 5 and 7, in some embodiments of the present application, optionally, the cross-section of the area where the groove 168 is opposite to the battery compartment 163 is trapezoidal; the cross-section of the area where the groove 168 is opposite to the channel 166 is V-shaped.

[0157] In this embodiment, the cross-section of the area where the groove 168 faces the battery compartment 163 is trapezoidal, which facilitates the user to open the battery cover 200. The cross-section of the area where the groove 168 faces the channel 166 is V-shaped, which facilitates the arrangement of the wiring harness 167 and also makes the wiring harness 167 more concealed.

[0158] As shown in Figure 5, in some embodiments of the present application, optionally, the servo driver 100 further includes: a first rib 220, the first rib 220 is connected to the battery cover 200, is located on the side of the battery cover 200 close to the battery compartment 163, and protrudes from the surface of the battery cover 200 on the side close to the battery compartment 163; wherein, when the battery cover 200 closes the battery compartment 163, the first rib 220 is in contact with the battery.

[0159] In this embodiment, the servo driver 100 also includes a first rib 220, which is connected to the battery cover 200, located on the side of the battery cover 200 close to the battery compartment 163, and protrudes from the surface of the battery cover 200 close to the battery compartment 163, that is, the first rib 220 is arranged on the surface opposite to the battery cover 200 and the battery compartment 163.

[0160] When the battery cover 200 closes the battery compartment 163, the first rib 220 contacts the battery 190 and squeezes the battery 190. At this time, the elastic member 180 is deformed by force and the battery 190 is clamped, thereby fully fixing the battery 190 in the battery compartment 163.

[0161] Specifically, the side wall of the battery compartment 163 away from the first opening 162 is the second wall 164, and the second wall 164 is provided with a notch 165 passing through the second wall 164. The elastic member 180 includes a connecting arm 182 and a protrusion 184. The connecting arm 182 is arranged in the notch 165, the first end of the connecting arm 182 is connected to the second wall 164, and the second end of the connecting arm 182 is a free end; the protrusion 184 is arranged on the side of the connecting arm 182 close to the battery 190, located at the second end of the connecting arm 182, and protruding from the surface of the second wall 164 on the side close to the battery 190.

[0162] When the battery cover 200 closes the battery compartment 163, the first rib 220 contacts the battery 190 and squeezes the battery 190. At this time, the protrusion 184 is deformed under the force. The first rib 220 and the protrusion 184 on the battery cover 200 just have a compression effect when the battery cover 200 is closed. The battery 190 is clamped, and the battery 190 is fully fixed in the battery compartment 163.

[0163] Specifically, the servo driver 100 also includes a second rib, which is connected to the battery cover 200 and is spaced apart from the first rib 220 and is arranged on the side of the battery cover 200 close to the battery compartment 163 and protrudes from the surface of the side of the battery cover 200 close to the battery compartment 163, so as to better achieve the squeezing of the battery 190 and make the left and right ends of the battery 190 evenly stressed.

[0164] As shown in Figures 1, 3, 4 and 5, in some embodiments of the present application, optionally, the first wall 161 is provided with a connecting hole 171, and the connecting hole 171 extends along the rotation axis of the battery cover 200. The battery cover 200 includes: a second body 202, the second body 202 is buckled in the battery compartment 163 and adapted to the first opening 162; and a connecting shaft 204, the connecting shaft 204 is connected to the second body 202 and inserted into the connecting hole 171.

[0165] In this embodiment, the first wall 161 is provided with a connection hole 171 , which extends along the rotation axis of the battery cover 200 . That is, the connection hole 171 is a hole structure opened along the rotation axis of the battery cover 200 .

[0166] The battery cover 200 includes a second body 202 . The second body 202 is buckled in the battery compartment 163 and matched with the first opening 162 . The second body 202 is used to close and open the battery compartment 163 .

[0167] The battery cover 200 further includes a connecting shaft 204 . The connecting shaft 204 is connected to the second body 202 and inserted into the connecting hole 171 .

[0168] The servo driver 100 proposed in this application has a battery compartment 163 provided inside the cover body 160, and the battery 190 is placed in the battery compartment 163. The wiring harness 167 extends outward from the end connected to the battery 190 along the channel 166, and the battery cover 200 is installed on the cover body 160 through the connecting shaft 204. Specifically, the connecting shaft 204 is a rotating shaft.

[0169] When using the servo driver 100 proposed in this application, when the second body 202 is buckled at the first opening 162 and the battery compartment 163 is closed, if the battery compartment 163 needs to be opened, a lifting force is applied to the second body 202, and the connecting shaft 204 rotates with the second body 202 within the connecting hole 171, thereby conveniently opening the battery compartment 163. Thereafter, when the battery compartment 163 needs to be closed, a downward force is applied to the second body 202, and the connecting shaft 204 rotates with the second body 202 within the connecting hole 171, ultimately closing the battery compartment 163 with the battery cover 200.

[0170] The flip cover structure of the battery cover 200 greatly simplifies the opening and installation process, makes the appearance of the servo driver 100 simple, and reduces the manufacturing cost of the servo driver 100.

[0171] As shown in Figures 4, 5 and 6, in some embodiments of the present application, optionally, the first wall 161 is provided with a third opening 170, the encoder terminal 150 is opposite to the third opening 170, and the opening 152 of the encoder terminal 150 faces the outside of the first wall 161.

[0172] In this embodiment, the first wall 161 is provided with a third opening 170, and the encoder terminal 150 is opposite to the third opening 170. The encoder terminal 150 is exposed to the outside of the first wall 161 through the third opening 170, and the opening 152 of the encoder terminal 150 is facing the outside of the first wall 161, which makes it convenient for the user to connect the encoder terminal 150, thereby improving the user's operational convenience.

[0173] Specifically, the servo driver 100 further includes a burning interface, a debugging port, an IO interface and a motor interface, all of which are arranged on the cover 160 for easy use by operators and also enable the servo driver 100 to have complete drive control functions.

[0174] In one embodiment of the present application, a servo system is provided, comprising the servo driver 100 as described in any of the above embodiments.

[0175] In this embodiment, the servo system proposed in the present application includes the servo driver 100 as in any of the above embodiments, and therefore has all the beneficial effects of any of the above technical solutions.

[0176] As shown in Figure 7, external interfaces, including the programming port, debug port, IO port, and motor port, are all located on the cover 160. When the servo driver 100 is installed in the electrical box of the servo system, the front is the easiest for the operator to access, so the battery 190 is placed on the cover 160 for easy access.

[0177] Specifically, as shown in Figure 1, the present application designs a built-in battery compartment 163 structure inside the cover body 160, and places the battery 190 therein. The positive and negative poles of the battery 190 are welded together through a wiring harness 167, and the second end of the wiring harness 167 is crimped with a first terminal 210 to form a docking connection with the encoder terminal 150.

[0178] When the wiring harness 167 passes through the front, if it passes directly through the front of the cover body 160, it will have a greater impact on the appearance. At the same time, since the swing of the wiring harness 167 during the installation process will have a certain impact on other plugs, it may cause poor contact of the connector. The present application fully utilizes the characteristics of the V-shaped groove 168 in the cross-section of the area opposite to the channel 166 to allow the wiring harness 167 to pass through the hidden channel 166 and come out of the channel 166. At this time, the first terminal 210 can be connected with the encoder terminal 150 to form an aerial docking.

[0179] As shown in Figure 2, the present application designs the elastic member 180 in the battery compartment 163 as a cantilever beam structure, and sets a protrusion 184 on the second end of the connecting arm 182. When the battery 190 is placed in the battery compartment 163, the battery 190 is in full contact with the protrusion 184. At this time, the battery cover 200 and the cover body 160 are designed as a rotating shaft pin structure, and the battery cover 200 is fixed on the cover body 160 to form a flip cover structure, which not only reduces the space of the battery 190 structure, but also makes the opening method simpler.

[0180] As shown in FIG. 3 , when the battery cover 200 is closed, the first rib 220 squeezes the battery 190 . The protrusion 184 is deformed by force, and the battery 190 is clamped, ensuring that the battery 190 is fully fixed in the battery compartment 163 .

[0181] When the operator opens the battery cover 200 to replace the battery 190, the structural feature of the trapezoidal groove 168 in the area opposite to the battery compartment 163 is fully utilized. When the battery cover 200 is flipped open, the first rib 220 releases the squeeze on the battery 190. At this time, the protrusion 184 allows the battery 190 to rebound, and the battery 190 is not subjected to force. The battery 190 can be easily taken out for operation and maintenance, which is more convenient.

[0182] In summary, the present application not only solves the problem of multi-turn encoder information loss by integrating the battery 190 and hiding it in the servo driver 100, but also makes the servo driver 100 more compact and updated in structure, and the operator has more operating space. The operator can easily install and replace it from the front, which greatly improves the user experience. The flip-top structure of the battery cover 200 greatly simplifies the installation process, has a simple appearance, and reduces costs. The interaction between the protrusion 184 of the elastic member 180 of the battery compartment 163 and the first rib 220 makes the installation of the battery 190 more stable. At the same time, when the V-groove buckle structure opens the battery cover 200, the battery 190 will release the elastic force and automatically pop out the battery 190 without the need for any tool assistance, thereby ensuring the normal use of the battery 190 and the normal operation of the servo driver 100. The setting of this battery 190 not only makes the servo drive 100 structure more compact, reduces costs, simplifies installation, and has a more beautiful appearance, but also the external battery 190 effectively ensures that the multi-turn encoder can collect information in any emergency situation, and can obtain higher resolution and a larger measurement range, thereby ensuring the normal operation of the entire servo system.

[0183] Specifically, the servo driver 100 with the battery compartment 163 structure proposed in the present application can be expanded to be applied to two-axis servo systems in addition to single-axis servo systems.

[0184] In the claims, specification and drawings of this application, the term "plurality" refers to two or more. Unless otherwise expressly defined, the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. They are intended only to more conveniently describe this application and simplify the description process, and are not intended to indicate or imply that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation. Therefore, these descriptions should not be understood as limiting this application. The terms "connect," "install," and "fix" should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood based on the specific circumstances of the above data.

[0185] In the claims, specification, and drawings of this application, the terms "one embodiment," "some embodiments," "a specific embodiment," and the like mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of this application. In the claims, specification, and drawings of this application, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0186] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A servo drive, wherein: include: A seat body, the seat body comprising a first body and a support portion, the support portion being connected to the first body; A shell, the shell is connected to the support portion, and the shell and the first body enclose a receiving cavity; A circuit board, the circuit board is arranged on the supporting portion and is located in the accommodating cavity; An encoder terminal, wherein the encoder terminal is arranged on the circuit board; a cover body, the cover body being connected to the shell and being located at a side of the accommodating cavity away from the first body, the cover body comprising a first wall, a battery compartment and a channel, the first wall being provided with a first opening, the battery compartment being connected to the first wall and opposite to the first opening, the channel being arranged at a side of the first wall close to the shell, the first end of the channel being communicated with the battery compartment, and the second end of the channel extending to an end of the cover body; A battery, wherein the battery is disposed in the battery compartment; A wire harness is arranged in the channel, a first end of the wire harness is connected to the battery, and a second end of the wire harness can be connected to the encoder terminal.

2. The servo drive according to claim 1, wherein: Also includes: A first terminal is disposed at a second end of the channel and connected to a second end of the wiring harness, and the first terminal can be connected to the encoder terminal.

3. The servo drive according to claim 1, wherein: Also includes: A battery cover is disposed at the first opening and is rotatably connected to the first wall to open or close the battery compartment.

4. The servo driver according to claim 3, wherein: The first wall is provided with a groove, and the groove has a second opening, the second opening is toward the side of the first wall away from the shell, the groove is located on the side of the channel and the battery compartment, the area where the groove is opposite to the battery compartment is connected to the battery compartment, and the area where the groove is opposite to the channel is connected to the channel.

5. The servo driver according to claim 4, wherein: The side of the battery cover away from the groove is rotatably connected to the first wall, and the side of the battery cover close to the groove can be close to or away from the battery compartment.

6. The servo driver according to claim 4, wherein: The cross section of the groove and the area opposite to the battery compartment is trapezoidal; A cross section of a region of the groove opposite to the channel is V-shaped.

7. The servo driver according to claim 3, wherein: Also includes: A first rib connected to the battery cover, located on a side of the battery cover close to the battery compartment, and protruding from a surface of the battery cover close to the battery compartment; Wherein, when the battery cover closes the battery compartment, the first rib is in contact with the battery.

8. The servo driver according to claim 3, wherein: The first wall is provided with a connection hole, and the connection hole extends along the rotation axis of the battery cover, and the battery cover comprises: A second body, the second body is buckled in the battery compartment and adapted to the first opening; A connecting shaft is connected to the second body and inserted into the connecting hole.

9. The servo drive according to any one of claims 1 to 8, wherein: The first wall is provided with a third opening, the encoder terminal is opposite to the third opening, and the opening of the encoder terminal faces the outside of the first wall.

10. A servo drive, wherein: include: A shell assembly, the shell assembly comprising a battery compartment, the battery compartment being provided with a first opening; An elastic member connected to the battery compartment; A battery, wherein the battery is disposed in the battery compartment, a side of the battery away from the first opening is in contact with the elastic member, and the battery can be connected to an encoder terminal; A battery cover, which is disposed at the first opening and is rotatably connected to the shell assembly to open or close the battery compartment; Wherein, when the battery cover closes the battery compartment, the battery presses the elastic member, causing the elastic member to deform.

11. The servo driver according to claim 10, wherein: The side wall of the battery compartment away from the first opening is a second wall, the second wall is provided with a notch penetrating the second wall, and the elastic member includes: A connecting arm, wherein the connecting arm is disposed in the notch, a first end of the connecting arm is connected to the second wall, and a second end of the connecting arm is a free end; A protrusion is arranged on a side of the connecting arm close to the battery, is located at the second end of the connecting arm, and protrudes from a surface of the second wall close to the battery.

12. The servo driver according to claim 11, wherein: The shell assembly comprises: A seat body, the seat body comprising a first body and a support portion, the support portion being connected to the first body; A shell, the shell is connected to the support portion, and the shell and the first body enclose a receiving cavity; A circuit board, the circuit board is arranged on the supporting portion and is located in the accommodating cavity; The encoder terminal is arranged on the circuit board; A cover body, which is connected to the shell and is located on a side of the accommodating cavity away from the first body. The cover body includes a first wall and a battery compartment, the first wall is provided with the first opening, and the battery compartment is connected to the first wall and opposite to the first opening.

13. The servo driver according to claim 12, wherein: The cover body also includes: A channel, wherein the channel is arranged on a side of the first wall close to the housing, a first end of the channel is communicated with the battery compartment, and a second end of the channel extends to an end of the cover; A wire harness is arranged in the channel, a first end of the wire harness is connected to the battery, and a second end of the wire harness can be connected to the encoder terminal.

14. The servo driver according to claim 13, wherein: Also includes: A first terminal is disposed at a second end of the channel and connected to a second end of the wiring harness, and the first terminal can be connected to the encoder terminal.

15. The servo driver according to claim 13, wherein: The first wall is provided with a groove, and the groove has a second opening, the second opening is toward the side of the first wall away from the shell, the groove is located on the side of the channel and the battery compartment, the area where the groove is opposite to the battery compartment is connected to the battery compartment, and the area where the groove is opposite to the channel is connected to the channel.

16. The servo driver according to claim 15, wherein: The side of the battery cover away from the groove is rotatably connected to the first wall, and the side of the battery cover close to the groove can be close to or away from the battery compartment.

17. The servo driver according to claim 15, wherein: The cross section of the groove and the area opposite to the battery compartment is trapezoidal; A cross section of a region of the groove opposite to the channel is V-shaped.

18. The servo driver according to claim 12, wherein: Also includes: A first rib connected to the battery cover, located on a side of the battery cover close to the battery compartment, and protruding from a surface of the battery cover close to the battery compartment; Wherein, when the battery cover closes the battery compartment, the first rib is in contact with the battery.

19. The servo driver according to claim 12, wherein: The first wall is provided with a connection hole, and the connection hole extends along the rotation axis of the battery cover, and the battery cover comprises: A second body, the second body is buckled in the battery compartment and adapted to the first opening; A connecting shaft is connected to the second body and inserted into the connecting hole.

20. The servo drive according to any one of claims 12 to 19, wherein: The first wall is provided with a third opening, the encoder terminal is opposite to the third opening, and the opening of the encoder terminal faces the outside of the first wall.

21. A servo system, wherein: Comprising the servo drive according to any one of claims 1 to 20.

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