CN209963869U - Novel mounting structure's servo motor, servo motor drive and system - Google Patents

Abstract

The embodiment of the application provides a servo motor with a novel mounting structure, a servo motor driving device and a servo motor driving system. The servo motor of the novel mounting structure comprises a motor body, a servo motor shaft and an encoder shell; the motor body comprises a rear end cover, a motor shell and a front end cover which are sequentially connected; the first connecting piece is fixed on the motor shell through the mounting through hole of the rear end cover so as to assemble and fix the rear end cover and the motor shell, and the first connecting piece is arranged inside the encoder shell; the encoder shell is provided with an encoder rear end face, four edges of the servo motor of the novel mounting structure are respectively provided with an assembly guide groove, and the assembly guide grooves extend along the direction parallel to the axis of the servo motor shaft; the fitting guide groove has a larger diameter in the recess than in the remaining portion of the portion adjacent to the front cover. The servo motor of the novel mounting structure provided by the embodiment of the application is convenient for mounting the gasket, can prevent the first connecting piece from rusting and being corroded, and is beneficial to prolonging the service life.

Description

Novel mounting structure's servo motor, servo motor drive and system

Technical Field

The application relates to the technical field of motion control products, in particular to a servo motor with a novel mounting structure, a servo motor driving device and a servo motor driving system.

Background

The servo motor is a motor used for controlling the operation of mechanical elements in a control system, and converts an input voltage control signal into an angular displacement and an angular speed output on a shaft so as to drive and control the mechanical elements. The servo motor generally comprises a motor body, an encoder, a winding wire and an encoder wire, and the arrangement of all components in the servo motor is related to the convenience of the use of the servo motor. In the related art, a connecting screw on the servo motor is easy to rust and corrode, so that devices inside the servo motor are easy to corrode, the machining process is complex, and the structure is not compact enough.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a servo motor of novel mounting structure, include servo motor drive of servo motor of novel mounting structure, and include servo motor drive's servo motor control system, wherein servo motor of novel mounting structure can alleviate the cable and roll over and decrease, and has better waterproof dustproof and noise reduction, in addition, can also prevent that first connecting piece from rustting and being corroded, helps prolonging servo motor's of novel mounting structure life.

In a first aspect, an embodiment of the present application provides a servo motor with a novel mounting structure. The servo motor of the novel mounting structure comprises a motor body, a servo motor shaft and an encoder shell; the motor body comprises a rear end cover, a motor shell and a front end cover which are sequentially connected, and the rear end cover is arranged between the motor shell and the encoder shell; the servo motor shaft extends out of the motor shell and penetrates through the front end cover; the rear end cover is provided with at least one mounting through hole, a first connecting piece is fixed on the motor shell through the mounting through hole of the rear end cover so as to assemble and fix the rear end cover and the motor shell, and the first connecting piece is arranged inside the encoder shell; the encoder shell is provided with an encoder rear end face, four edges of the servo motor of the novel mounting structure are respectively provided with an assembly guide groove, and the assembly guide grooves extend from the rear end face of the encoder to the front end cover along a direction parallel to the axis of the servo motor shaft; the recessed part of the assembly guide groove adjacent to the front end cover is larger than the diameter of the rest part, and a first mounting through hole is formed in the region of the front end cover corresponding to the assembly guide groove.

Wherein the fitting guide groove has a recess portion with a larger diameter in a direction adjacent to and closer to the front cover, and the recess portion of the remaining portion of the fitting guide groove has a constant diameter, or the recess portion of the fitting guide groove has a diameter gradually increasing in a direction from the encoder rear end surface to the front cover.

The servo motor with the novel mounting structure further comprises a winding wire pressing block, a winding wire, an encoder wire pressing block and an encoder wire; the winding wire pressing block is installed on the outer surface of the motor shell, the encoder wire pressing block is installed on the outer surface of the encoder shell, and the outer surface of the encoder shell, on which the encoder wire pressing block is installed, is coplanar with the outer surface of the motor shell, on which the winding wire pressing block is installed; the axis of the servo motor shaft is provided with a reference orthographic projection on the mounting surface of the winding wire pressing block; the winding wire pressing block is provided with a power wire outlet hole communicated with the inner cavity of the motor body, the axis of the power wire outlet hole is provided with a first orthographic projection on the mounting surface of the winding wire pressing block, the first orthographic projection and the reference orthographic projection form a first acute angle, and the winding wire is led out from the motor body and penetrates through the power wire outlet hole to the outside of the motor body; the encoder wire pressing block is provided with an encoder wire outlet hole communicated with the inner cavity of the encoder shell, the axis of the encoder wire outlet hole is provided with a second orthographic projection on the installation surface of the winding wire pressing block, the second orthographic projection and the reference orthographic projection form a second acute angle, and an encoder wire is led out from the interior of the encoder shell and passes through the encoder wire outlet hole to the exterior of the encoder shell.

Wherein the first acute angle is 15-45 degrees, and the second acute angle is 22.5-45 degrees; alternatively, the first acute angle is equal to the second acute angle.

The outer surface of the encoder shell is convexly provided with a connecting column, a first connecting hole is formed in the connecting column, and the first connecting hole is not communicated with the inner cavity of the encoder shell; a second mounting through hole is formed in the encoder wire pressing block, the connecting column penetrates through the second mounting through hole to enable the encoder wire pressing block to be matched with the encoder shell, and a second connecting piece is installed in the first connecting hole and the second mounting through hole to fix the encoder wire pressing block on the encoder shell.

The local surface of the rear end face of the encoder protrudes out of the encoder shell to form a convex part, and the convex part is in a frustum shape so as to increase the buffer space and enhance the protection performance.

The rear end face of the encoder is provided with an installation guide groove, the installation guide groove is positioned on one side of an assembly guide groove on the encoder shell, and the bottom surface of the installation guide groove is provided with at least one third installation through hole; the rear end cover is provided with at least one fourth mounting through hole corresponding to the third mounting through hole in position; the motor casing rear end face is provided with at least one positioning groove corresponding to the fourth mounting through hole in position, the positioning groove, the fourth mounting through hole and the third mounting through hole are fixedly connected with the encoder casing and the motor through a fourth connecting piece, and the groove diameter of the mounting guide groove is smaller than that of the assembly guide groove.

Wherein, the front end cover is convexly provided with a positioning flange; the novel mounting structure is characterized in that a plurality of positioning grooves are formed in the positioning flange, the positioning grooves surround the servo motor shaft and are distributed in an annular array mode, and the positioning grooves are used for dissipating heat of the servo motor with the novel mounting structure.

The servo motor with the novel mounting structure comprises a motor body, a servo motor shaft and an encoder shell; the motor body comprises a rear end cover, a motor shell and a front end cover which are sequentially connected, and the rear end cover is arranged between the motor shell and the encoder shell; the servo motor shaft extends out of the motor shell and penetrates through the front end cover; the rear end cover is provided with at least one mounting through hole, a first connecting piece is fixed on the motor shell through the mounting through hole of the rear end cover so as to assemble and fix the rear end cover and the motor shell, and the first connecting piece is arranged inside the encoder shell; the encoder shell is provided with an encoder rear end face, four edges of the servo motor of the novel mounting structure are respectively provided with an assembly guide groove, and the assembly guide grooves extend from the rear end face of the encoder to the front end cover along a direction parallel to the axis of the servo motor shaft; the recessed part of the assembly guide groove adjacent to the front end cover is larger than the diameter of the rest part, and a first mounting through hole is formed in the region of the front end cover corresponding to the assembly guide groove. The edges of four sides of the servo motor with the novel mounting structure are respectively provided with an assembly guide groove, and the assembly guide grooves extend from the rear end face of the encoder to the front end cover along the direction parallel to the axis of the servo motor shaft; the assembly guide groove is adjacent to the recessed part of the front end cover, the diameter of the recessed part of the front end cover is larger than that of the other parts, so that a gasket can be installed conveniently, a first installation through hole is formed in the area, corresponding to the assembly guide groove, of the front end cover, and the gasket and the first installation through hole are matched with each other and used for fixing the servo motor of the novel installation structure. In addition, will first connecting piece sets up the inside of encoder casing can prevent that first connecting piece from rustting and being corroded, helps prolonging novel mounting structure's servo motor's life.

In a second aspect, an embodiment of the present application further provides a servo motor driving apparatus, including a servo motor driver and a servo motor of the novel mounting structure provided in any of the above embodiments, where the servo motor driver is connected to the servo motor of the novel mounting structure.

In a third aspect, an embodiment of the present application further provides a servo motor control system, which includes a control device and the servo motor driving apparatus described in the above embodiment, where the control device is connected to the servo motor driving apparatus.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a first view angle of a servo motor according to an embodiment of the present disclosure.

Fig. 2 is a schematic structural diagram of a second view angle of the servo motor according to the embodiment of the present application.

Fig. 3 is a schematic structural diagram of a first servo motor according to an embodiment of the present application.

Fig. 4 is a schematic structural diagram of a second servo motor provided in an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a third servo motor provided in an embodiment of the present application.

Fig. 6 is a schematic structural diagram of a fourth servo motor provided in the embodiment of the present application.

Fig. 7 is a schematic structural diagram of a fifth servo motor according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of a sixth servo motor according to an embodiment of the present application.

Fig. 9 is a schematic structural diagram of a seventh servo motor according to an embodiment of the present application.

Fig. 10 is a block diagram of a first servo motor driving device according to an embodiment of the present application.

Fig. 11 is a block diagram of a first servo motor control system according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art without any inventive effort based on the embodiments in the present application are within the scope of protection of the present application.

Referring to fig. 1, 2, 3 and 4 together, a servo motor 10 of a novel mounting structure according to an embodiment of the present disclosure includes a motor body 100, a servo motor shaft 200 and an encoder housing 300; the motor body 100 comprises a rear end cover 110, a motor housing 120 and a front end cover 130 which are connected in sequence, wherein the rear end cover 110 is arranged between the motor housing 120 and the encoder housing 300; the servo motor shaft 200 extends out of the motor housing 120 and through the front end cap 130; the rear end cover 110 is provided with at least one mounting through hole 110a, a first connecting piece 350 is fixed on the motor housing 120 through the mounting through hole 110a of the rear end cover 110 so as to assemble and fix the rear end cover 110 and the motor housing 120, and the first connecting piece 350 is arranged inside the encoder housing 300; the servo motor 10 with the novel mounting structure further comprises a winding wire pressing block 400, a winding wire 410, an encoder wire pressing block 420 and an encoder wire 430; the winding wire compact 400 is mounted on the outer surface of the motor housing 120, the encoder wire compact 420 is mounted on the outer surface of the encoder housing 300, and the outer surface of the encoder housing 300 on which the encoder wire compact 420 is mounted is coplanar with the outer surface of the motor housing 120 on which the winding wire compact 400 is mounted; the axis of the servo motor shaft 200 has a reference orthographic projection on the mounting surface of the winding wire compact 400; the winding wire pressing block 400 is provided with a winding wire outlet hole 401 communicated with the inner cavity of the motor shell 120, the axis of the winding wire outlet hole 401 has a first orthographic projection on the mounting surface of the winding wire pressing block 400, the first orthographic projection and the reference orthographic projection form a first acute angle alpha 1, and the winding wire 410 is led out from the inside of the motor shell 120 and penetrates through the winding wire outlet hole 401 to the outside of the motor shell 120; the encoder wire pressing block 420 is provided with an encoder wire outlet hole 421 communicated with the inner cavity of the encoder housing 300, the axis of the encoder wire outlet hole 421 has a second orthographic projection on the mounting surface of the winding wire pressing block 400, the second orthographic projection and the reference orthographic projection form a second acute angle α 2, and the encoder wire 430 is led out from the encoder housing 300 and penetrates to the outside of the encoder housing 300 through the encoder wire outlet hole 421.

The motor body 100 is a part of the servo motor 10 having a novel mounting structure, which outputs power. The motor body 100 comprises a rear end cover 110, a motor shell 120 and a front end cover 130 which are sequentially connected, wherein the rear end cover 110 is a part connected between the motor shell 120 and the encoder shell 300, so that the connection between the motor shell 120 and the encoder shell 300 is tighter, and a sealing and waterproof function is further realized on the servo motor 10 with a novel installation structure. A stator, a rotor, windings, etc. are mounted within motor housing 120. The encoder housing 300, the encoder wire pressure block 420, and the encoder wire 430 may be components of an encoder. The encoder housing 300 is a split design that may include an encoder housing and a back cover. The encoder housing is matched with one surface of the rear end cover 110, which is far away from the motor housing 120, namely the encoder housing is assembled at the rear end of the rear end cover 110; the back cover is detachably mounted on a surface of the encoder housing facing away from the back cover 110 and perpendicular to the servo motor shaft 200, i.e., the back end of the encoder housing. The detachable connection mode of the rear cover comprises but is not limited to a threaded connection mode, a buckling connection mode, an interference fit mode and the like. It is understood that in other embodiments, the encoder housing 300 may be a unitary structure.

The encoder housing 300 may be made of engineering plastic. Engineering plastics refer to plastics that can be used as engineering materials and to replace metals for manufacturing machine parts and the like. The engineering plastic has excellent comprehensive performance, high rigidity, small creep, high mechanical strength, high heat resistance and high electric insulating property, may be used in harsh chemical and physical environment for long period, and may be used to replace metal as engineering structure material. The engineering plastics mainly include Polycarbonate (PC), Polyamide (nylon, Polyamide, PA), Polyoxymethylene (POM), Polyphenylene Oxide (PPO), polyester (PET, PBT), Polyphenylene Sulfide (PPS), polyarylate, and the like.

In one embodiment, the first acute angle α 1 is 15 ° to 45 °, and the second acute angle α 2 is 22.5 ° to 45 °.

Winding wire compacts 400 are used to secure winding wires 410 to motor housing 120, encoder wire compacts 420 are used to secure encoder wires 430 to encoder housing 300, winding wire compacts 400 have winding wire outlets 401, encoder wire compacts 420 have encoder wire outlets 421, winding wires 410 pass through winding wire outlets 401 to be electrically connected to the stator and rotor within motor housing 120, and encoder wires 430 pass through encoder wire outlets 421 to be electrically connected to control elements within the encoder. The winding wire pressure block 400 has a clamping function on the winding wire 410 to avoid the problem that the electrical connection between the winding wire 410 and the stator and the rotor inside the motor housing 120 is failed when the winding wire 410 is pulled by an external force. The encoder wire pressing block 420 has a clamping function on the encoder wire 430, so that the problem that the encoder wire 430 is electrically connected with a control element in the encoder shell 300 to be failed when the encoder wire 430 is pulled by external force is avoided.

In another embodiment, the first acute angle α 1 is equal to the second acute angle α 2.

Specifically, the axial direction of the winding wire outlet hole 401 is parallel to the axial direction of the encoder wire outlet hole 421, because the winding wire outlet hole 401 is used for accommodating the winding wire 410, and the encoder wire outlet hole 421 is used for accommodating the encoder wire 430, when the axial direction of the winding wire outlet hole 401 is parallel to the axial direction of the encoder wire outlet hole 421, on one hand, mutual scraping between the winding wire 410 and the encoder wire 430 can be reduced as much as possible, the mutual crosstalk between the winding wire 410 and the encoder wire 430 can be reduced, and a stable electrical connection relationship between the winding wire 410 and the encoder wire 430 and a servo motor 10 component with a novel installation structure can be ensured. On the other hand, winding wire 410 and encoder wire 430 are easily wound around the circumferential side of motor housing 120 to facilitate the arrangement of winding wire 410 and encoder wire 430.

The servo motor shaft 200 is received within the motor housing 120, and the servo motor shaft 200 extends out of the motor housing 120 and through the front end cap 130. One end of the servo motor shaft 200 received therein may be carried on the rear end cover 110. The rear end cover 110 can realize effective positioning and reliable bearing of the servo motor shaft 200 through structures such as reinforcing ribs, limiting sleeves and the like, and guarantee that the servo motor shaft 200 can stably rotate without instability. The servomotor shaft 200 is used to output torque. A winding wire compact 400 is mounted on the outer surface of the motor housing 120, the winding wire compact 400 having a winding wire outlet hole 401 communicating with the inner cavity of the motor housing 120, the axis of the winding wire outlet hole 401 having a first orthographic projection on the mounting surface of the winding wire compact 400 (i.e., the above outer surface of the motor housing 120). Accordingly, a reference orthographic projection of the servomotor shaft 200 on the mounting surface of the winding wire compact 400 can be defined. The first orthographic projection forms a first acute angle α 1 with the reference orthographic projection. The first acute angle α 1 may be set to a value as required, and may be, for example, 15 ° to 45 ° (inclusive). Thus, the axis of winding outlet hole 401 is inclined with respect to servo motor shaft 200. The axis of the winding outlet 401 is offset to the left of the servo motor shaft 200, which is an example and not a limitation.

Winding wire 410 is drawn out of motor housing 120 (winding wire 410 is connected to a component inside motor housing 120, such as a rotor), and is passed through winding wire outlet hole 401 of winding wire compact 400 to the outside of motor housing 120. The wire compacts 400 function to confine the winding wires 410, and the portions of the winding wires 410 that are restrained by the wire compacts 400 are substantially kept stationary, which is advantageous to stably connect the winding wires 410 with the components inside the motor case 120. In this embodiment, since the axis of the winding wire outlet 401 is inclined with respect to the servo motor shaft 200, the winding wire 410 is constrained and limited by the winding wire outlet 401 and passes through the motor body 100 along the direction inclined with respect to the servo motor shaft 200.

The encoder wire compact 420 is installed on the outer surface of the encoder case 300 and is coplanar with the winding wire compact 400, that is, the outer surface of the encoder case 300 on which the encoder wire compact 420 is installed is coplanar with the outer surface of the motor case 120 on which the winding wire compact 400 is installed. The encoder wire pressing block 420 has an encoder outlet hole 421 communicating with the inner cavity of the encoder housing 300, and an axis of the encoder outlet hole 421 has a second orthographic projection on the mounting surface of the encoder wire pressing block 420 (i.e., the outer surface of the encoder housing 300 above), which forms a second acute angle α 2 with the reference orthographic projection. The second acute angle α 2 may be set as desired, for example, the second acute angle α 2 is 22.5 ° to 45 ° (inclusive). In the present embodiment, the second acute angle α 2 may be different from or the same as the first acute angle α 1. Thus, the axis of the encoder outlet hole 421 is also inclined with respect to the servomotor shaft 200. The axis of the encoder outlet hole 421 is also biased to the left of the servo motor shaft 200, which is an example and not a limitation. For example, the axis of the encoder outlet hole 421 may be offset to the right of the servo motor shaft 200. The encoder wire 430 is led out from the encoder housing 300 and is threaded to the outside of the encoder housing 300 through the encoder outlet hole 421. Similarly, the encoder wire pressing block 420 serves to limit the encoder wire 430, and the portion of the encoder wire 430 that is constrained by the encoder wire pressing block 420 remains substantially stationary, which facilitates stable connection of the encoder wire 430 with the encoder components. In this embodiment, since the axis of the encoder wire outlet hole 421 of the encoder wire pressing block 420 is inclined with respect to the servo motor shaft 200, the encoder wire 430 is constrained and limited by the encoder wire outlet hole 421 and passes through the encoder housing 300 along the direction inclined with respect to the servo motor shaft 200. When the first acute angle α 1 is different from the second acute angle α 2, the winding wire 410 and the encoder wire 430 are different in the extending direction (in the case where the cable is naturally extended, regardless of the bending and twisting of the cable); when first acute angle α 1 is equal to second acute angle α 2, in the case where winding wire 410 and encoder wire 430 are drawn out from the same side of servo motor shaft 200, winding wire 410 may extend parallel to encoder wire 430 (it is understood that encoder wire compact 420 and winding wire compact 400 have a sufficient spacing such that the drawn-out winding wire 410 extends side-by-side with encoder wire 430 without interference, entanglement, or cutting of the wire).

When winding wire 410 and encoder wire 430 (hereinafter collectively referred to as a cable) are wound around the surface of servo motor 10 (the surface of motor housing 120 and/or encoder housing 300) of the novel mounting structure in the circumferential direction of servo motor shaft 200, the cable may be bent at the surface turn. In the embodiment of the present invention, the axis of winding wire outlet hole 401 and the axis of encoder wire outlet hole 421 are inclined with respect to servo motor shaft 200, so that both winding wire 410 passing through winding wire outlet hole 401 and encoder wire 430 passing through encoder wire outlet hole 421 pass through in the direction inclined with respect to servo motor shaft 200, and thus the bend angle formed by the cable portions on both sides of the cable bend is large (for example, obtuse angle), which can reduce cable fatigue and breakage due to an excessively small bend angle. On the contrary, if the axis of the winding outlet 401 and/or the axis of the encoder outlet 421 are perpendicular to or parallel to the servo motor shaft 200, when the cable is wound in the circumferential direction of the servo motor shaft 200, the bending angle formed by the cable portions at both sides of the cable bending portion is small (for example, a right angle or an acute angle), which is likely to cause cable fatigue, and cable breakage is likely to occur with time increase. Moreover, by designing the split type encoder housing 300, when the encoder needs to be maintained, only the rear cover needs to be opened, and the whole encoder housing 300 does not need to be disassembled, thereby simplifying the operation (on the contrary, the encoder housing 300 is designed to be integrated, and the whole encoder housing 300 needs to be disassembled when the encoder needs to be maintained, and the encoder housing 300 is very troublesome to disassemble because the encoder wire 430 passes through the encoder housing 300 and the encoder wire pressing block 420); through designing rear end cover 110, can carry out good location and support to servo motor shaft 200, guarantee servo motor shaft 200 and reliably rotate, and can carry out good sealed protection to motor body 100.

The opening of the encoder wire outlet hole 421 and the opening of the winding wire outlet hole 401 are located on the same side of the axis of the servo motor shaft 200, and the encoder wire 430 is spaced from the winding wire pressing block 400 while extending along the axis of the encoder wire outlet hole 421.

Specifically, the opening of the encoder outlet hole 421 deviates from the axial direction of the servo motor shaft 200, the opening of the winding outlet hole 401 also deviates from the axial direction of the servo motor shaft 200, and both the opening of the encoder outlet hole 421 and the opening of the winding outlet hole 401 are located on the same side of the axial direction of the servo motor shaft 200. And when the encoder wire 430 extends out of the encoder wire outlet hole 421, the encoder wire 430 avoids the winding wire compact 400, that is, the encoder wire 430 and the winding wire compact 400 are arranged at an interval, so that the interference of the winding wire compact 400 on the encoder wire 430 can be avoided.

With continued reference to fig. 5, in one embodiment, the encoder housing 300 has an encoder rear end face 300a, and the four side edges of the servo motor 10 of the novel mounting structure are respectively provided with an assembly guide groove 450, and the assembly guide groove 450 extends from the encoder rear end face 300a to the front end cover 130 along a direction parallel to the axis of the servo motor shaft 200; the fitting guide groove 450 has a recess 460 having a larger diameter than the remaining portion of the front cover 130, and the front cover 130 is provided with a first fitting through-hole 130a in a region corresponding to the fitting guide groove 450.

Specifically, the four side edges of the servo motor 10 of the novel mounting structure may be respectively provided with an assembly guide groove 450, and the assembly guide groove 450 may extend from the encoder rear end face 300a to the front end cover 130 along a direction parallel to the axis of the servo motor shaft 200 (that is, the assembly guide groove 450 reaches the front end cover 130, and does not partially or completely penetrate the front end cover 130). It should be understood that the fitting guide groove 450 is also formed as a recess on the rear cap 110. The groove wall surface of the fitting guide groove 450 may be a part of an ellipsoid or a part of a sphere (e.g., 1/4 sphere), but may be other suitable shapes. The recess 460 of the portion of the assembly guide groove 450 adjacent to the front cover 130 has a larger diameter than the rest of the assembly guide groove, that is, the opening of the portion of the assembly guide groove 450 close to the front cover 130 is larger than the opening of the rest of the assembly guide groove, the portion of the assembly guide groove 450 close to the front cover 130 defines a region on the front cover 130, which is the region of the front cover 130 corresponding to the assembly guide groove 450, the region is provided with a first installation through hole 130a, and a connecting member can be inserted into the first installation through hole 130a to install the servo motor 10 of the novel installation structure to other components through the connecting member. To achieve pre-tightening and anti-loosening, a gasket may be used between the connector and the front cover 130, and the connector is fitted into the first mounting through hole 130a through the gasket. Because the diameter of the part of the assembly guide groove 450 close to the front end cover 130 is larger, the exposed area on the front end cover 130 is larger, and sufficient installation space can be reserved for the gasket, so that the installation strength of the servo motor 10 with the novel installation structure is increased, and the assembly tool operation is convenient (for example, the operation space of a wrench is larger), so that the installation of the servo motor 10 with the novel installation structure is facilitated. In addition, the design can also increase the heat dissipation area, and is beneficial to cooling the servo motor 10 with a novel mounting structure.

In other embodiments, the fitting guide groove 450 and the size design are not necessary.

The fitting guide groove 450 has a recess 460 with a constant diameter, the larger the diameter of the recess 460 in a direction adjacent to the front cover 130 and closer to the front cover 130; alternatively, the diameter of the recess 460 of the fitting guide groove 450 gradually increases in the direction from the encoder rear end face 300a to the front end cover 130.

Specifically, in one embodiment, the larger the diameter of the recessed portion 460 in the direction adjacent to the front cover 130 and closer to the front cover 130, the larger the diameter of the recessed portion 460, and the constant the diameter of the recessed portion 460 of the remaining portion of the fitting guide groove 450, that is, only one end of the fitting guide groove 450 is gradually changed in diameter, and the remaining portion is not changed in diameter. The design is convenient for processing and has beautiful appearance. Alternatively, in other embodiments, the diameter of the recessed portion 460 of the fitting guide groove 450 may gradually increase along the direction from the encoder rear end face 300a to the front end cover 130, that is, the diameter of the entire fitting guide groove 450 gradually changes from end to end. The design also has a good appearance effect, and the difference competitiveness of the product is improved.

Referring to fig. 6, the encoder rear end face 300a is provided with an installation guide groove 470, the installation guide groove 470 is located at one side of the assembly guide groove 450 on the encoder housing 300, and the bottom surface of the installation guide groove 470 is provided with at least one third installation through hole 471; at least one fourth mounting through hole 472 corresponding to the third mounting through hole 471 in position is arranged on the rear end cover 110; at least one positioning groove 473 corresponding to the fourth mounting hole 472 is formed in the rear end surface of the motor housing 120, the positioning groove 473, the fourth mounting hole 472 and the third mounting hole 471 are fixedly connected to the encoder housing 300 and the motor via a second connector 360, and the groove diameter of the mounting guide groove 470 is smaller than that of the mounting guide groove 450.

Specifically, the encoder rear end face 300a may further include an installation guide groove 470, the installation guide groove 470 is located on one side of the assembly guide groove 450 (may be communicated with the assembly guide groove 450) of the encoder housing 300, and a groove diameter of the installation guide groove 470 is smaller than a groove diameter of the assembly guide groove 450. The bottom surface of the installation guide groove 470 may be provided with a third installation through hole 471, and the rear end cover 110 may be provided with a fourth installation through hole 472. The motor body 100 has a rear end surface (not shown) of the motor body 100 adjacent to the rear end cover 110, and a positioning groove 473 is formed on the rear end surface of the motor body 100. The positioning groove 473, the fourth installation through hole 472, and the third installation through hole 471 are aligned. Accordingly, the servo motor 10 of the novel mounting structure may further include a second connector 360 and a third connector 365, the second connector 360 sequentially passes through the third mounting through hole 471 and the fourth mounting through hole 472 and penetrates into the positioning groove 473, so as to assemble the encoder housing 300, the rear end cover 110 and the motor body 100 together, and the head of the second connector 360 is exposed in the mounting guide groove 470. The third connecting member 365 penetrates through the rear cover 110 and penetrates through the motor body 100 to assemble the rear cover 110 and the motor body 100 together, and the second connecting member 360 is covered by the encoder housing 300. Therefore, when the exposed second connecting piece 360 is disassembled, the encoder can be disassembled from the servo motor 10 with the new installation structure to be repaired; due to the third connecting piece 365, the rear end cover 110 is still assembled with the motor body 100, so that the motor body 100 is not affected by the maintenance of the encoder, and the defect that the dismounting and mounting of the encoder are caused by the fact that the whole servo motor 10 with the novel mounting structure needs to be dismounted and mounted is avoided, so that the maintainability of the servo motor 10 with the novel mounting structure is good, and the performance can be kept stable. Moreover, the installation guide groove 470 is formed to enable the second connecting piece 360 to be installed in a sinking manner, so that the second connecting piece is prevented from protruding to increase the size of the servo motor 10 with the novel installation structure, and the overall appearance aesthetic feeling of the servo motor 10 with the novel installation structure can also be increased. In other embodiments, such a design is not required.

In one embodiment, the fitting guide groove 450 is formed as a first concave surface on the encoder case 300 and a second concave surface on the rear cap 110, and the first concave surface and the second concave surface are both groove wall surfaces of the fitting guide groove 450. The concave surface formed by splicing the first concave surface and the second concave surface can be called as an appearance concave surface. Correspondingly, the second connecting piece 360 and the third connecting piece 365 respectively correspond to two opposite sides of the appearance concave surface, that is, the mounting positions of the second connecting piece 360 and the third connecting piece 365 are both on two boundaries of the appearance concave surface, and an area recessed in the appearance concave surface is between the second connecting piece 360 and the third connecting piece 365. Because the most easy atress in two borders departments of the concave surface of outward appearance is established second connecting piece 360 and third connecting piece 365 respectively here, can get up each part zonulae occludens better, promotes novel mounting structure's servo motor 10's packaging strength, makes novel mounting structure's servo motor 10 can adapt to application environment such as impact, vibration, ensures its stable performance. In other embodiments, such a design is not required, and the second connector 360 and the third connector 365 can be disposed at any suitable positions.

In one embodiment, each of the assembly guide groove 450 and the installation guide groove 470 may be several, for example, 4. One fitting guide groove 450 corresponds to one mounting guide groove 470, i.e., the above-mentioned concave surface of the appearance is also several (e.g., 4). Correspondingly, the number of the second connecting members 360 and the number of the third connecting members 365 are also several. The two opposite sides of each appearance concave surface are provided with a second connecting piece 360 and a third connecting piece 365, and in the arrangement formed by all the second connecting pieces 360 and all the third connecting pieces 365, the second connecting pieces 360 and the third connecting pieces 365 are arranged in a staggered manner, that is, the two sides of one second connecting piece 360 are both the third connecting pieces 365, and the two sides of one third connecting piece 365 are both the second connecting pieces 360. The design can enhance the assembly strength of the servo motor 10 with the novel mounting structure, and is favorable for ensuring the stable performance of the servo motor. In other embodiments, such a design is not necessary, and the relative positions of the second connector 360 and the third connector 365 can be designed arbitrarily.

With reference to fig. 7, a connection post 500 is protruded from an outer surface of the encoder housing 300, a first connection hole 510 is formed in the connection post 500, and the first connection hole 510 is not communicated with the inner cavity of the encoder housing 300; the encoder wire pressing block 420 is provided with a first mounting through hole 422, the connecting column 500 penetrates through the first mounting through hole 422 so that the encoder wire pressing block 420 is matched with the encoder shell 300, and a fourth connecting piece 490 is installed in the first connecting hole 510 and the first mounting through hole 422 so as to fix the encoder wire pressing block 420 on the encoder shell 300.

The fourth connecting member 490 may be a connecting screw, a rivet, or the like.

The encoder housing 300 is provided with a connecting column 500 protruding outwards, the connecting column 500 is provided with a first connecting hole 510, and the first connecting hole 510 is a blind hole. In other words, the first connection hole 510 does not penetrate through the encoder housing 300, so that the debris outside the encoder housing 300 can be prevented from entering the encoder housing 300, and the damage to the components inside the encoder housing 300 can be avoided.

Further, the encoder wire pressing block 420 is provided with a first mounting through hole 422 matched with the connecting column 500, and the connecting column 500 is accommodated in the first mounting through hole 422 so as to connect the encoder wire pressing block 420 with the encoder shell 300. The first mounting through hole 422 corresponds to the first connection hole 510, and a fourth connector 490 is provided in the first mounting through hole 422 and the first connection hole 510, so that the encoder case 300 and the encoder wire pressing block 420 can be fixedly connected through the fourth connector 490.

Specifically, the number of the connecting columns 500 can be designed according to the requirement, and is not limited to two. The connecting column 500 is provided with a first connecting hole 510 therein, and the axis of the first connecting hole 510 is along the extending direction of the connecting column 500. The first connection hole 510 is not connected to the inner cavity of the encoder housing 300, i.e. the first connection hole 510 is a blind hole and does not penetrate through the encoder housing 300.

Referring to fig. 8, in an embodiment, the encoder housing 300 has an encoder rear end surface 300a, a partial surface of the encoder rear end surface 300a protrudes outward from the encoder housing 300 to form a protrusion 300b, and the protrusion 300b is in a frustum shape to increase a buffer space and enhance a protection performance.

Because the outside protrusion setting in local surface of encoder rear end face 300a can play certain cushioning effect, helps forming the protection to the inner structure of novel mounting structure's servo motor 10, avoids the inner structure of novel mounting structure's servo motor 10 to suffer the striking and damage.

The partial surface of the encoder rear end face 300a forms a convex portion 300b protruding outward of the encoder housing 300, and the convex portion 300b may protrude substantially in the extending direction of the servo motor shaft 200 or may form an angle with the extending direction. The convex portion 300b may be substantially frustoconical (standard frustum, or near frustum). When the external force collides with the convex part 300b of the rear cover, the convex part 300b can increase the buffer space of the servo motor 10 with the novel mounting structure, and the protection performance of the servo motor 10 with the novel mounting structure is enhanced. In other embodiments, the design of the convex portion 300b is not necessary.

Referring to fig. 9, a positioning flange 550 is protruded from the front end cap 130; the positioning flange 550 is provided with a plurality of positioning grooves 560, the plurality of positioning grooves 560 surround the servo motor shaft 200 and are distributed in an annular array, and the positioning grooves 560 are used for dissipating heat of the servo motor 10 with the novel mounting structure.

Specifically, the positioning flange 550 protrudes from the motor body 100, the servo motor shaft 200 extends from the inside of the motor body 100, and meanwhile, the servo motor shaft 200 passes through the positioning flange 550, and the positioning flange 550 can support one end of the servo motor shaft 200. The positioning flange 550 has a rectangular contour, and the servo motor 10 of the novel mounting structure is provided with an assembly guide groove 450 at a position corresponding to four edges of the positioning flange 550, and the assembly guide groove 450 extends from the encoder rear end face 300a to the front end cover 130 in a direction parallel to the axis of the servo motor shaft 200. The recess 460 of the portion of the front cover 130 adjacent to the assembly guide groove 450 has a larger diameter than the rest of the portion, and a second mounting through hole 423 is formed in a region of the front cover 130 corresponding to the assembly guide groove 450, and the second mounting through hole 423 is used for fixing the servo motor 10 of the new mounting structure.

When the diameter of the recess 460 of the portion of the fitting guide groove 450 adjacent to the front end cover 130 is larger than that of the remaining portion, it is possible to facilitate the installation of the gasket at the recess 460 of the portion of the fitting guide groove 450 adjacent to the front end cover 130, and it is possible to completely accommodate the gasket in the recess 460, thereby preventing the gasket from being exposed to cause unnecessary interference.

Further, the cross section of the recessed portion 460 may be a semicircular arc shape, a V shape, or other shapes, and the specific shape of the cross section of the recessed portion 460 is not limited in this application.

In one embodiment, the fitting guide groove 450 has a larger diameter of the recess 460 in a direction adjacent to the front cover 130 and closer to the front cover 130, and the diameter of the recess 460 of the remaining portion of the fitting guide groove 450 is constant.

Specifically, the diameter of the concave part 460 is gradually increased in a direction adjacent to the front end cap 130 and closer to the front end cap 130 by the fitting guide groove 450, and the diameter of the concave part 460 is kept constant in a direction adjacent to the front end cap 130 and farther from the front end cap 130 by the fitting guide groove 450. Since the assembly guide groove 450 requires a gasket to be installed at a portion adjacent to the front end cover 130, when the diameter of the recess 460 at the portion is large, the gasket is conveniently installed, and the gasket can be accommodated in the recess 460, which does not cause an unnecessary interference problem.

The positioning groove 560 is used to dissipate heat of the servo motor 10 of the new mounting structure. Adjacent detents 560 may be separated by a rib. Since the servo motor shaft 200 moves to output torque, the amount of heat generated at the end of the servo motor shaft 200 is large. Through the design, the heat at the end part of the servo motor shaft 200 can be effectively dissipated, and the over-high temperature rise of the servo motor 10 with a novel mounting structure in the working process is avoided. In addition, the design of the reinforcing ribs can also improve the stress bearing capacity of the end part of the motor body 100, and ensure that the servo motor shaft 200 rotates stably without instability. In other embodiments, such a design is not required.

Further, a plurality of positioning grooves 560 are located on the same circle, the plurality of positioning grooves 560 are distributed around the servo motor shaft 200 in an annular array, and the positioning grooves 560 do not penetrate through the positioning flange 550. The positioning groove 560 is used for radiating the servo motor 10 with the novel mounting structure, and the components of the servo motor 10 with the novel mounting structure are prevented from being burnt out.

With reference to fig. 10, the embodiment of the present application further provides a servo motor driving apparatus 1, where the servo motor driving apparatus 1 includes a servo motor driver 20 and a servo motor 10 with a novel mounting structure provided in any of the above embodiments, and the servo motor driver 20 is connected to the servo motor 10 with the novel mounting structure.

With reference to fig. 11, the embodiment of the present application further provides a servo motor control system 2, where the servo motor control system 2 includes a control device 30 and a servo motor driving apparatus 1, and the control device 30 is connected to the servo motor driving apparatus 1.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (10)

1. The servo motor with the novel mounting structure is characterized by comprising a motor body, a servo motor shaft and an encoder shell;

the motor body comprises a rear end cover, a motor shell and a front end cover which are sequentially connected, and the rear end cover is arranged between the motor shell and the encoder shell; the servo motor shaft extends out of the motor shell and penetrates through the front end cover; the rear end cover is provided with at least one mounting through hole, a first connecting piece is fixed on the motor shell through the mounting through hole of the rear end cover so as to assemble and fix the rear end cover and the motor shell, and the first connecting piece is arranged inside the encoder shell;

the encoder shell is provided with an encoder rear end face, four edges of the servo motor of the novel mounting structure are respectively provided with an assembly guide groove, and the assembly guide grooves extend from the rear end face of the encoder to the front end cover along a direction parallel to the axis of the servo motor shaft; the recessed part of the assembly guide groove adjacent to the front end cover is larger than the diameter of the rest part, and a first mounting through hole is formed in the region of the front end cover corresponding to the assembly guide groove.

2. The servo motor of the new mounting structure as claimed in claim 1, wherein the assembly guide groove has a recess with a diameter which is larger in a direction adjacent to and closer to the front cover, and the recess of the remaining portion of the assembly guide groove has a constant diameter, or the recess of the assembly guide groove has a diameter which gradually increases in a direction from the encoder rear end surface to the front cover.

3. The servo motor of the novel mounting structure according to claim 1, wherein the servo motor of the novel mounting structure further comprises a winding wire pressing block, a winding wire, an encoder wire pressing block and an encoder wire; the winding wire pressing block is installed on the outer surface of the motor shell, the encoder wire pressing block is installed on the outer surface of the encoder shell, and the outer surface of the encoder shell, on which the encoder wire pressing block is installed, is coplanar with the outer surface of the motor shell, on which the winding wire pressing block is installed; the axis of the servo motor shaft is provided with a reference orthographic projection on the mounting surface of the winding wire pressing block; the winding wire pressing block is provided with a power wire outlet hole communicated with the inner cavity of the motor body, the axis of the power wire outlet hole is provided with a first orthographic projection on the mounting surface of the winding wire pressing block, the first orthographic projection and the reference orthographic projection form a first acute angle, and the winding wire is led out from the motor body and penetrates through the power wire outlet hole to the outside of the motor body; the encoder wire pressing block is provided with an encoder wire outlet hole communicated with the inner cavity of the encoder shell, the axis of the encoder wire outlet hole is provided with a second orthographic projection on the installation surface of the winding wire pressing block, the second orthographic projection and the reference orthographic projection form a second acute angle, and an encoder wire is led out from the interior of the encoder shell and passes through the encoder wire outlet hole to the exterior of the encoder shell.

4. The servo motor with the novel mounting structure according to claim 3, wherein the first acute angle is 15 ° to 45 °, and the second acute angle is 22.5 ° to 45 °; alternatively, the first acute angle is equal to the second acute angle.

5. The servo motor with the novel mounting structure as claimed in claim 3, wherein a connection column is convexly arranged on the outer surface of the encoder shell, a first connection hole is arranged in the connection column, and the first connection hole is not communicated with the inner cavity of the encoder shell; a second mounting through hole is formed in the encoder wire pressing block, the connecting column penetrates through the second mounting through hole to enable the encoder wire pressing block to be matched with the encoder shell, and a second connecting piece is installed in the first connecting hole and the second mounting through hole to fix the encoder wire pressing block on the encoder shell.

6. The servo motor with the novel installation structure as claimed in claim 1, wherein a part of the surface of the rear end face of the encoder protrudes out of the encoder housing to form a convex part, and the convex part is in a frustum shape to increase a buffer space and enhance protection performance.

7. The servo motor with a novel installation structure as claimed in claim 1, wherein the rear end face of the encoder is provided with an installation guide groove, the installation guide groove is positioned at one side of the assembly guide groove on the encoder shell, and the bottom surface of the installation guide groove is provided with at least one third installation through hole; the rear end cover is provided with at least one fourth mounting through hole corresponding to the third mounting through hole in position; the motor casing rear end face is provided with at least one positioning groove corresponding to the fourth mounting through hole in position, the positioning groove, the fourth mounting through hole and the third mounting through hole are fixedly connected with the encoder casing and the motor through a fourth connecting piece, and the groove diameter of the mounting guide groove is smaller than that of the assembly guide groove.

8. The servo motor with the novel mounting structure as claimed in any one of claims 1 to 7, wherein a positioning flange is convexly arranged on the front end cover; the novel mounting structure is characterized in that a plurality of positioning grooves are formed in the positioning flange, the positioning grooves surround the servo motor shaft and are distributed in an annular array mode, and the positioning grooves are used for dissipating heat of the servo motor with the novel mounting structure.

9. A servo motor driving device, comprising a servo motor driver and a servo motor of the new mounting structure of any one of claims 1 to 8, wherein the servo motor driver is connected to the servo motor of the new mounting structure.

10. A servo motor control system is characterized in that,

comprising a control device and a servomotor drive as claimed in claim 9, the control device being connected to the servomotor drive.

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