CN211456884U - Servo motor and automatic system - Google Patents

Abstract

The utility model discloses a servo motor and an automatic system, wherein a winding joint (400) of the servo motor adopts a fastening plug connector, wherein the fastening type plug connector comprises a tail clamping shell (2), a plug connector main body (1) of the plug connector is fastened on the tail clamping shell (2), the tail clamping shell (2) specifically comprises an upper shell (21) and a lower shell (22) which are respectively positioned at the upper side and the lower side of the plug connector main body (1) and assembled together, after the upper shell (21) and the lower shell (22) are assembled, a cavity for fastening the plug connector main body (1) is formed, the plug connector main body (1) is fastened in through the tail clamping shell (2), the degree of freedom of the plug connector main body (1) in the radial direction is reduced, thereby avoid plug connector main part (1) to receive radial external force and lead to withdrawing the needle, female needle fracture, cable connection not hard up or the circumstances such as drop to take place, and then promote servo motor reliability and stability of work.

Description

Servo motor and automatic system

Technical Field

The utility model relates to a motor field especially relates to a servo motor and automatic system.

Background

The motor is a product widely applied to industrial control and automatic production, and is applied to various automatic control industries such as 3C automation, single-shaft mechanical arm, logistics and the like. The servo motor is one of motors used in a wide range. When the servo motor is used, the winding cable is required to be externally connected with a power supply to provide electric energy for the servo motor. One end of the winding cable is connected into the motor body, and the other end of the winding cable is connected with an external power supply through a connector. In the related art, the connector adopts a DB connector (D-type data interface connector), which has the problems of large size, inconvenience in electrical installation for customers, easy looseness and falling of terminals, and the like, and reduces the reliability of products and the satisfaction degree of customer experience.

In response to the above problems, the servo motor is also gradually replaced with an AMP connector instead of a DB connector. AMP plug-ins are becoming more and more widely used in the market due to their advantages of moderate size, low cost, and simplicity of use. One such AMP connector is shown in FIG. 1 and includes a male connector body 02 and a female connector body 01. The cable connecting end at the tail of the male plug connector body 02 and the cable connecting end at the tail of the female plug connector body 01 are respectively used for arranging a terminal and connecting a cable; after the cables and the terminals (or the pins) are connected, the male plug connector body 02 and the plug end of the female plug connector body 01 are matched and plugged, and corresponding electric connection or communication connection is realized. In fig. 1, the direction indicated by L is the axial direction, and the direction indicated by W is the radial direction.

Referring to fig. 1, the male and female connector bodies 02 and 01 and the terminals (or pins) in the male and female connector bodies 02 and 01 of the conventional AMP connector have a large degree of freedom. In AMP plug connector use, when equipment vibration or cable receive external force to draw and drag, the plug-in components main part of AMP plug connector (including public plug connector main part 02 and female plug connector main part 01) receives radial W's external force easily, and then make on external force transmits terminal or the contact pin in the plug connector main part, lead to public plug connector main part 02 and female plug connector main part 01 to the back of inserting, female needle fracture in the female plug connector main part 01, the contact pin in the public plug connector main part 02 moves back the needle, and then lead to contact failure, thereby influence servo motor's use, servo motor's reliability has been reduced.

In addition, as shown in fig. 1, the cable connection end of the male plug body 02 and the female plug body 01 of the AMP plug is not provided with a device for reinforcing the cable connection, so that when the device vibrates or the cable is pulled by an external force, the cable connection is loosened or even falls off when the plug body of the AMP plug is subjected to the external force in the radial direction W, which also causes poor contact, and further reduces the reliability of the servo motor.

SUMMERY OF THE UTILITY MODEL

The utility model provides a servo motor and automatic system solves current servo motor and adopts the AMP plug connector, because of the plug-in components main part degree of freedom is great, receives radial external force and then leads to the plug connector contact failure easily, has reduced the problem of servo motor reliability.

In order to solve the above problem, the utility model provides a servo motor, including motor body 100, be equipped with first winding wire hole on the first lateral surface of motor body 100, be fixed in winding wire hole top and hollow structure's winding line ball 200, be provided with the second winding wire hole on the winding line ball 200, servo motor still includes winding cable 300, winding cable 300 one end inserts in motor body 100, and the other end wears out the first winding wire hole and draws forth and is connected with winding joint 400 through the second winding wire hole on winding line ball 200;

the winding joint 400 is a fastening type plug connector, the fastening type plug connector comprises a plug connector main body 1 and a tail clamping shell 2 used for fastening the plug connector main body 1, the tail clamping shell 2 comprises an upper shell 21 and a lower shell 22 which are respectively positioned at the upper side and the lower side of the plug connector main body 1 and assembled together, and after the upper shell 21 and the lower shell 22 are assembled, a cavity for fastening the plug connector main body 1 is formed; the cable connecting end 12 of the connector main body 1 connected with the cable is located in the cavity, and the plugging end 11 of the connector main body 1 is exposed out of the cavity to be plugged with an opposite connector.

Optionally, a right side wall and a left side wall of the upper housing 21 are respectively provided with a first upper connecting member and a second upper connecting member, and a right side wall and a left side wall of the lower housing 22 are respectively provided with a first lower connecting member and a second lower connecting member;

the first upper connecting piece and the first lower connecting piece are matched to form a first fixed connection, and the second upper connecting piece and the second lower connecting piece are matched to form a second fixed connection.

Optionally, the first upper connecting piece and the second upper connecting piece are respectively a first clamping groove and a second clamping groove, the first lower connecting piece and the second lower connecting piece are respectively divided into a first buckle and a second buckle, the first buckle and the first clamping groove are buckled to form the first fixed connection, and the second buckle are buckled to form the second fixed connection;

or the like, or, alternatively,

the first upper connecting piece is a third clamping groove 211, and the first lower connecting piece is a third clamping buckle 221; the second upper connecting piece is a fourth buckle 212, and the second lower connecting piece is a fourth clamping groove 222; the third buckle 221 and the third buckle groove 211 are buckled to form the first fixed connection, and the fourth buckle 212 and the fourth buckle groove 222 are buckled to form the second fixed connection.

Optionally, the third card slot 211 is a card slot extending outward from the inner side of the right side wall of the upper housing 21, and the fourth card slot 222 is a card slot extending outward from the inner side of the left side wall of the lower housing 22;

the end of the fourth clip 212 slides downward from the inner side of the right side wall of the upper housing 21 and is finally engaged with the third slot 211, and the end of the third clip 221 slides downward from the inner side of the left side wall of the lower housing 22 and is finally engaged with the fourth slot 222.

Optionally, the right side wall and the left side wall of the upper housing 21 are respectively provided with two first upper connecting members and two second upper connecting members, and the right side wall and the left side wall of the lower housing 22 are respectively provided with two first lower connecting members and two second lower connecting members.

Optionally, the upper casing 21 and the lower casing 22 are rubber casings.

Optionally, the tail part of the upper shell 21 and the tail part of the lower shell 22 are assembled into a binding part 23, the binding part 23 is provided with a through hole communicated with the cavity for the cable to pass through, and the outer diameter of the front end of the binding part 23 is not smaller than that of the rear end.

Optionally, the fastening assembly further includes a wire pressing fastener sleeved on the wire tying part 23 and pressing and attaching the wire tying part 23 and the cable in the through hole.

Optionally, the crimp fastener is a polygonal nut 3.

Optionally, the servo motor further includes a front end cover and a rear end cover respectively disposed at the front end and the rear end of the motor body 100, and an encoder body 500 fixed to the rear end cover;

a first encoder wire outlet hole is formed in a second side face, which is located on the same side of the encoder body 500 as the first side face; the servo motor further comprises an encoder wire pressing block 600 which is fixed above the first encoder wire outlet and is of a hollow structure, and a second encoder wire outlet is formed in the encoder wire pressing block 600;

the servo motor further comprises an encoder cable 700, one end of the encoder cable 700 is connected into the encoder body 500, the other end of the encoder cable 700 penetrates out of the first encoder wire hole, and the encoder cable is led out of the second encoder wire hole in the encoder wire pressing block 600 and connected with an encoder connector 800.

Optionally, the encoder connector 800 is the fastening type connector.

In order to solve the above problem, the utility model also provides an automatic system, including motor drive and as above servo motor, servo motor the winding connect 400 with motor drive's winding interface connection.

The utility model has the advantages that:

the utility model provides a servo motor and automatic system, servo motor's winding joint 400 adopts fastening type plug connector, wherein fastening type plug connector includes tail double-layered shell 2, the plug connector main part 1 of plug connector is fastened in tail double-layered shell 2, wherein, tail double-layered shell 2 specifically includes the last casing 21 and the lower casing 22 that are located plug connector main part 1 upper and lower both sides respectively, and assemble together, after last casing 21 and lower casing 22 assemble, form the cavity including fastening plug connector main part 1, cable link 12 of plug connector main part 1 is located the cavity, plug connector main part 1's grafting end 11 exposes outside the cavity for the grafting; including through tail press from both sides shell 2 with plug connector main part 1 fastening, reduce plug connector main part 1 at radial degree of freedom to avoid plug connector main part 1 to receive radial external force and lead to moving back the needle, female needle fracture, cable (for example winding cable) connect the condition emergence such as not hard up or drop and avoid the plug connector contact failure, promote the stability and the reliability of plug connector, and then promote the reliability and the stability of servo motor work.

Optionally, in some examples of the present invention, the rear portion of the upper housing 21 and the rear portion of the lower housing 22 of the tail clip housing 2 can be assembled to form the beam portion 23, the beam portion 23 has a through hole communicating with the cavity for the cable to penetrate, the outer diameter of the front end of the beam portion 23 is not smaller than the outer diameter of the rear end, for example, the outer diameter of the front end of the beam portion 23 can be set to be larger than the outer diameter of the rear end to be tapered, which can not only be suitable for cables with different sizes, but also can play a certain binding and reinforcing role for the cable, and can further avoid the cable from loosening or falling off.

Optionally, in some examples of the utility model, fastening type plug connector is still including cup jointing on beam portion 23, the line ball fastener of hugging closely the cable pressfitting in beam portion 23 and the through-hole to further promote and play the fastening to the cable, avoid the cable to receive external force not hard up or drop.

Drawings

FIG. 1 is a schematic diagram of a conventional AMP connector;

fig. 2 is a schematic view of a servo motor according to various embodiments of the present invention;

fig. 3 is a schematic view of a tail clamp according to various embodiments of the present invention;

fig. 4 is a schematic view of an upper housing of the tail clamp housing according to various embodiments of the present invention;

fig. 5 is a schematic view illustrating an assembly of the upper housing and the plug connector main body of the tail clamp housing according to various embodiments of the present invention;

fig. 6 is a first schematic view of the assembled tail clamp and plug connector main body according to various embodiments of the present invention;

fig. 7 is a schematic view of the assembled tail clamp and plug connector main body according to various embodiments of the present invention;

FIG. 8 is a schematic view of the assembly of the tail clamp, the crimping fastener and the connector body according to various embodiments of the present invention;

fig. 9 is a first schematic view of the assembled tail clamp, crimping fastener and connector body according to various embodiments of the present invention;

fig. 10 is a schematic view of the assembled tail clamp shell, crimping fastener and connector body according to various embodiments of the present invention;

fig. 11 is a third schematic view of the assembled tail clamp shell, crimping fastener and connector body according to various embodiments of the present invention;

fig. 12 is a schematic view of a servo motor according to various embodiments of the present invention;

fig. 13 is a schematic connection diagram of a servo motor according to various embodiments of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments, not all embodiments, in the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 2, the servo motor provided in this embodiment includes a motor body 100, a first winding wire outlet hole is disposed on a first outer side surface of the motor body 100, a winding wire pressing block 200 fixed above the first winding wire outlet hole and having a hollow structure, a second winding wire outlet hole is disposed on the winding wire pressing block 200, the servo motor further includes a winding cable 300, one end of the winding cable 300 is connected into the motor body 100, and the other end of the winding cable 300 penetrates through the first winding wire outlet hole and is led out through the second winding wire outlet hole on the winding wire pressing block 200 and connected to a winding connector 400;

the winding connector 400 of the embodiment is a fastening type connector, the fastening type connector comprises a tail clamping shell, and the radial degree of freedom of the connector main body is reduced by fastening the connector main body in the tail clamping shell, so that the situations of needle withdrawing, female needle cracking, cable connection loosening or falling and the like caused by radial external force on the connector main body are avoided, poor contact of the connector is avoided, and the stability and reliability of the connector are improved; thereby improving the reliability of the servo motor.

For the convenience of understanding, the fastening type connector structure and the connector structure with the fastening type connector structure are respectively described below by taking the drawings as examples.

Referring to fig. 3 to 11, the fastening type connector according to the present embodiment includes: the tail clamping shell 2 is used for fastening the plug connector main body 1, wherein the tail clamping shell 2 comprises an upper shell 21 and a lower shell 22, the upper shell 21 and the lower shell 22 are respectively located on the upper side of the plug connector main body 1, the lower side of the plug connector main body 1 is located on the lower side of the plug connector main body, the upper shell 21 and the lower shell 22 can be assembled together through fixed connection, and fastening of the plug connector main body 1 is achieved. Specifically, after the upper case 21 and the lower case 22 are assembled together, a cavity is formed to fasten the plug connector main body 1 therein; the shape and the size of the cavity are matched with those of the plug connector main body 1 fastened in the cavity, the cable connecting end 12 of the plug connector main body 1, which is used for connecting a cable, is located in the cavity, and the plugging end 11, which is used for plugging the plug connector at the opposite end, of the plug connector main body 1 is exposed out of the cavity so as to fasten the plug connector main body 1. Like this when the plug connector that has this fastening type plug connector in the use, receive external force when equipment vibration or cable draw, receive tail press from both sides the restriction of shell 2, on the power can not transmit contact pin or the female needle on plug connector main part 1, avoid the condition emergence that female needle fracture or contact pin moved back the needle, ensured the reliability of use.

It should be understood that the connector body 1 of the present embodiment may be a male connector body provided with a male pin, or may be a female connector body provided with a female pin. That is, for the application scenario in which the male connector and the female connector are connected to each other through plugging, the fastening connector provided in the present embodiment may be added only for one of the male connector and the female connector, or both the fastening connectors provided in the present embodiment may be added for both the male connector and the female connector, so as to improve the reliability of the male connector body and/or the female connector body. Therefore, although the plug body 1 shown in fig. 5 to 11 is a male plug body, it can be understood from the above analysis that the plug body 1 may be a female plug body.

In this embodiment, the material of the upper shell 21 and the lower shell 22 included in the tail pod 2 can also be flexibly set. For example, in some examples, the upper housing 21 and the lower housing 22 may be rubber housings, which have the advantages of insulation, good stability, low cost, and easy manufacturing. Of course, in other examples, the upper casing 21 and the lower casing 22 may be metal casings, even wooden casings, ceramic casings (having the advantages of insulation, light weight, high hardness, etc.), and the like. It should be understood that the upper housing 21 and the lower housing 2 in this embodiment may be made of the same material, or may be made of different materials. For example, the upper case 21 may be a rubber case, and the lower case 22 may be a metal case, a ceramic case, or the like. Or the lower shell 22 is a rubber shell and the upper shell is a metal shell, a ceramic shell, etc.

In the present embodiment, the assembly manner of the upper housing 21 and the lower housing 22 included in the tail pod 2 (i.e., the connection structure therebetween) can also be flexibly set. The upper casing 21 and the lower casing 22 can be assembled by adopting a detachable connection mode, so that the upper casing 21 and the lower casing 22 can be detached when needed for subsequent inspection or maintenance and the like. In other examples, the upper housing 21 and the lower housing 22 may also be assembled together in a non-detachable manner, that is, once the upper housing 21 and the lower housing 22 are assembled together, they can not be detached without causing damage, which may improve the reliability of the product. To facilitate understanding, the present example is described below in terms of several specific assembly structure examples.

In one example, adhesive layers may be respectively provided on the mating surfaces of the right and left side walls of the upper case 21 and the lower case 22, and on the mating surfaces of the right and left side walls of the lower case 22 and the upper case 21, respectively, and then the upper case 21 and the lower case 22 are butted so that the adhesive layers on the upper case 21 and the lower case 22 are bonded, so that the upper case 21 and the lower case 22 are firmly bonded together to realize assembly.

In another example, upper screw holes may be respectively provided on the right side wall and the left side wall of the upper case 21, and lower screw holes may be respectively provided on the right side wall and the left side wall of the upper case 22, the positions of the upper screw holes and the lower screw holes are in one-to-one correspondence, and then the upper case 21 and the lower case 22 are fixedly connected to one another to achieve assembly by passing screws through the corresponding upper screw holes and the corresponding lower screw holes. It should be understood that, in some application scenarios, the upper screw holes may penetrate through the upper and lower ends of the right side wall and the left side wall of the upper housing 21, and at this time, screws may sequentially penetrate through the corresponding upper screw holes and lower screw holes from the upper ends of the right side wall and the left side wall of the upper housing 21 downward; in the application scenario, the lower screw holes on the right side wall and the left side wall of the lower housing 22 may or may not penetrate through the right side wall and the left side wall. In other application scenarios, a lower screw hole may also be provided to penetrate through the upper and lower ends of the right side wall and the left side wall of the lower shell 22, and at this time, a screw may sequentially penetrate through the corresponding lower screw hole and the corresponding upper screw hole from the upper ends of the right side wall and the left side wall of the lower shell 22 downward; in the application scenario, the upper screw holes on the right side wall and the left side wall of the upper housing 21 may be set to penetrate through the right side wall and the left side wall, or may be set not to penetrate through the right side wall and the left side wall, as long as reliable connection with the screws can be achieved.

In other examples, the tail pod 2 includes an upper housing 21 having a right side wall and a left side wall on which a first upper connector and a second upper connector are respectively disposed, and a lower housing 22 having a right side wall and a left side wall on which a first lower connector and a second lower connector are respectively disposed; wherein the first upper connecting member and the first lower connecting member cooperate to form a first fixed connection, and the second upper connecting member and the second lower connecting member cooperate to form a second fixed connection, thereby assembling the upper housing 21 and the lower housing 22 together.

For example, in an application scenario, the first upper connecting member and the second upper connecting member disposed on the right side wall and the left side wall of the upper housing 21 are a first clamping slot and a second clamping slot, respectively, the first lower connecting member and the second lower connecting member disposed on the right side wall and the left side wall of the lower housing 22 are divided into a first buckle and a second buckle, the first buckle and the first clamping slot are buckled to form a first fixed connection, and the second buckle are buckled to form a second fixed connection; when the first buckle is buckled into the first clamping groove, the tail end of the first buckle can gradually slide downwards from the outer side of the right side wall of the upper shell and enter the first clamping groove, and the first clamping groove at the moment at least penetrates through the outer side of the right side wall of the upper shell; certainly, when the first buckle is buckled into the first clamping groove, the tail end of the first buckle can also slide downwards gradually from the inner side of the right side wall of the upper shell and enter the first clamping groove, and the first clamping groove at the moment at least penetrates through the inner side of the right side wall of the upper shell. Of course, the matching manner of the second card and the second card slot also refers to the matching manner of the first buckle and the first card slot, and is not described herein again. Correspondingly, in other application scenarios, the first upper connecting piece and the second upper connecting piece arranged on the right side wall and the left side wall of the upper shell 21 are respectively a first buckle and a second buckle, the first lower connecting piece and the second lower connecting piece arranged on the right side wall and the left side wall of the lower shell 22 are respectively a first clamping groove and a second clamping groove, the first buckle and the first clamping groove are buckled to form a first fixed connection, and the second buckle are buckled to form a second fixed connection.

For another example, in order to improve the reliability of the assembly connection between the upper housing 21 and the lower housing 22, in some application scenarios, the upper housing 21 and the lower housing 22 included in the tail clamp housing 2 may be provided with a plurality of slots and a plurality of buckles in a staggered manner. See, for example, fig. 3-11. The first upper connecting piece arranged on the right side wall of the upper shell 21 is a third clamping groove 211, and the first lower connecting piece arranged on the right side wall of the lower shell 21 is a third clamping buckle 221; the second upper connecting piece arranged on the left side wall of the upper shell 21 is a fourth buckle 212, and the second lower connecting piece arranged on the left side wall of the lower shell 21 is a fourth clamping groove 222; the third buckle 221 and the third slot 211 are fastened to form a first fixed connection, and the fourth buckle 212 and the fourth slot 222 are fastened to form a second fixed connection. The combination of the buckle and the clamping groove combined structure which are arranged in a crossed manner is realized between the left side wall and the right side wall of the upper shell and the lower shell, so that the stability and the reliability of the connection of the upper shell and the lower shell can be improved.

For example, referring to fig. 5 and 8, the third card slot 211 is a card slot extending outward from the inner side of the right side wall of the upper housing 21, and the fourth card slot 222 is a card slot extending outward from the inner side of the left side wall of the lower housing 22; the end of the fourth buckle 212 slides downward from the inner side of the right side wall of the upper housing 21 and is finally clamped in the third clamping groove 211, and the end of the third buckle 221 slides downward from the inner side of the left side wall of the lower housing 22 and is finally clamped in the fourth clamping groove 222; the mode of buckling the inner side of the side wall to the outer side can further improve the connection stability and reliability of the upper shell and the lower shell. Of course, it should be understood that in some application scenarios, the third card slot 211 may also be a card slot extending inward from the outer side of the right side wall of the upper housing 21, and the fourth card slot 222 is a card slot extending inward from the outer side of the left side wall of the lower housing 22; the end of the fourth buckle 212 slides downward from the outer side of the right side wall of the upper housing 21 and is finally engaged with the third slot 211, and the end of the third buckle 221 slides downward from the outer side of the left side wall of the lower housing 22 and is finally engaged with the fourth slot 222.

In an example, pin holes may be respectively formed in the mating surfaces of the right side wall and the left side wall of the upper case 21 and the lower case 22 (at this time, the first upper connecting member and the second upper connecting member are both pin holes), pins may be respectively formed in the mating surfaces of the right side wall and the left side wall of the lower case 22 and the upper case 21 (at this time, the first lower connecting member and the second upper connecting member are both pin holes), the pins and the pin holes may be in one-to-one correspondence in position and size, and then, when the upper case 21 and the lower case 22 are fastened, the pins enter the corresponding pin holes to realize the plug-pin connection. Of course, in some application scenarios, pins may be respectively disposed on the matching surfaces of the right side wall and the left side wall of the upper housing 21 and the lower housing 22, and pin holes may be respectively disposed on the matching surfaces of the right side wall and the left side wall of the lower housing 22 and the upper housing 21; or a pin is arranged on the matching surface of the right side wall of the upper shell 21 and the lower shell 22, a pin hole is arranged on the matching surface of the left side wall of the upper shell 21 and the lower shell 22, a pin hole is arranged on the matching surface of the right side wall of the lower shell 22 and the upper shell 21, and a pin is arranged on the matching surface of the left side wall of the lower shell 22 and the upper shell 21, so that the upper shell 21 and the lower shell 22 are fixedly connected in a staggered arrangement mode.

It can be seen that the combined connecting structure between the upper housing 21 and the lower housing 22 in the present embodiment can be flexibly set, and is not limited to the several structures exemplified above. In this embodiment, the number of the connecting members disposed on the left and right side walls of the upper and lower cases 21 and 22 can also be flexibly set according to the requirement. For example, referring to fig. 5 and 8, two first upper connection members and two second upper connection members are respectively disposed on the right side wall and the left side wall of the upper case 21, and two first lower connection members and two second lower connection members are respectively disposed on the right side wall and the left side wall of the lower case 22, thereby achieving stable connection between the upper case 21 and the lower case 22. In addition, it should be understood that the positions where the connecting members between the upper case 21 and the lower case 22 are provided are not limited to the left and right side walls in the present embodiment, as long as the stable connection between the upper case 21 and the lower case 22 can be achieved.

Alternatively, in some examples of the present embodiment, please refer to fig. 3 to 11, a binding portion 23 may be formed after the tail portion of the upper shell 21 and the tail portion of the lower shell 22 of the tail clamp shell 2 are assembled, and fig. 24 is a front end portion of the tail clamp shell 2. The binding part 23 has a through hole communicated with the cavity for the cable to pass through, and the cable can be connected with the female pin or the contact pin on the connector body through the through hole. In the embodiment, the outer diameter of the front end (i.e., the end close to the front end portion 24) of the cable portion 23 is not smaller than the outer diameter of the rear end (i.e., the end far from the front end portion 24), for example, in some application scenarios, the outer diameter of the front end of the cable portion 23 may be set to be larger than the outer diameter of the rear end and further to be tapered, and the arrangement of such a structure enables the cable portion 23 to be suitable for cables with different sizes, improves the universality, and plays a certain role in binding and reinforcing the cables, thereby further avoiding the occurrence of cable connection looseness or falling off. Of course, in other application scenarios, the outer diameter of the front end of the beam portion 23 may be equal to the outer diameter of the rear end.

In some application examples of the embodiment, please refer to fig. 5, the fastening type plug connector may further include a cable sheath 4, the cable sheath 4 is located in a through hole formed by the bunching part 23, and the cable passes through the cable sheath 4 and enters the inside of the tail clamp shell 2 through the through hole. The arrangement of the cable fixing sleeve 4 can further fix and protect the cable, and the situation that the cable is connected loosely or falls off due to the fact that the cable is subjected to radial external force is avoided.

Optionally, in some examples of this embodiment, the fastening type connector further includes a wire pressing fastener sleeved on the wire bundling portion 23 and pressing and attaching the wire bundling portion 23 and the cable in the through hole, so as to further promote the fastening effect on the cable, and prevent the cable from loosening or falling off due to an external force. Referring to fig. 8 to 11, the pressing line fastener in the present embodiment may be a polygonal nut 3; of course, a round nut is also possible. The wire pressing fastener adopts the polygonal nut 3 and adopts the round nut relatively, so that the wire pressing fastener is not easy to slip during installation, and the connection is more stable; and also more convenient to disassemble.

In this embodiment, in order to ensure the reliability of the axial connection L of the connector main body and ensure that the connector main body does not loosen and disengage in the axial direction when subjected to an external axial force, an axial locking member is further provided on the connector main body, and the axial locking member can lock the two butted connector main bodies in the axial direction.

In this embodiment, the plug connector shown in fig. 5 to 11 is a male plug connector, the plug connector main body 1 is a male plug connector main body, a male axial locking member 13 is disposed on the plug connector main body 1, the male axial locking member 13 is a locking structure, in this example, a locking groove or a protrusion corresponding to the lock catch is disposed on a female plug connector main body correspondingly plugged with the male plug connector main body, and the lock catch is matched with the locking groove or the protrusion to achieve axial locking.

In the present embodiment, in the male connector shown in fig. 5 to 11, the connector main body 1 is a male connector main body provided with 9 pins, but it should be understood that the number of the pins and the corresponding female pins provided on the connector main body in the present embodiment can be flexibly set according to specific requirements, and is not limited to 9 pins shown in fig. 5 to 11, but may also be 4 pins, 6 pins, 8 pins, etc., that is, 4 pins, 6 pins, 8 pins, 9 pins, etc.

Optionally, in another example of the present embodiment, please refer to fig. 12, the servo motor further includes a front end cover and a rear end cover respectively disposed at the front end and the rear end of the motor body 100, and an encoder body 500 fixed on the rear end cover; a first encoder wire outlet hole is formed in a second side face, which is located on the same side of the encoder body 500 as the first side face; the servo motor further comprises an encoder wire pressing block 600 which is fixed above the first encoder wire outlet and is of a hollow structure, and a second encoder wire outlet is formed in the encoder wire pressing block 600; the servo motor further comprises an encoder cable 700, one end of the encoder cable 700 is connected into the self-encoder body 500, the other end of the encoder cable 700 penetrates out of the first encoder wire hole, and the encoder cable 700 is led out of the second encoder wire hole in the encoder wire pressing block 600 and connected with an encoder connector 800.

The encoder connector 800 in this embodiment may be any type of connector that can implement encoder information transfer. In some examples of this embodiment, in order to improve the reliability of the encoder and avoid interruption or loss of signal transmission of the encoder, the encoder connector 800 in this embodiment may also be a fastening type connector shown in fig. 3 to 11; and it can be male plug-in components, also can be female plug-in components, specifically can set for in a flexible way according to the concrete application scenario.

It should be understood that the encoder body 500 and the motor body 100 are not necessarily integrally provided in the present embodiment, and may be separately provided. And, when they are provided independently, either one or both of the encoder connector 800 of the encoder body 500 and the winding connector 400 of the motor body 100 may be the fastening type connector described above with reference to fig. 3 to 11.

The present embodiment also provides an automation system, which includes a motor driver and the servo motor as shown in the above embodiments, and may further include an actuator connected to the servo motor. The winding joint of the servo motor is connected with the winding interface of the motor driver, and in some application scenes, the joint corresponding to the winding joint 400 can be directly arranged on the motor driver, and the servo motor is directly connected with the motor driver. In other examples, the servo motor may also be connected to the motor driver via a patch cord. For example, as shown in fig. 13, a winding joint connected to a winding cable 300 of the motor body 100 is a fastening type connector, and specifically, is a first male connector 400a, one end of a winding patch cord 300b is also a fastening type connector, and specifically, is a first female connector 400b, the first male connector 400a and the first female connector 400b are connected by plugging, and the other end of the winding patch cord 300b is connected to a winding interface on the motor driver. Of course, in some examples, the first female connector 400b may also be provided directly on the motor driver.

Referring to fig. 13, in another application scenario of the embodiment, when the servo motor further includes an encoder body 500 integrally disposed with the motor body 100, an encoder connector connected to the encoder cable 700a is also a fastening type connector, and is specifically a second male connector 800b, one end of the encoder patch cord 700b is also a fastening type connector, and is specifically a second female connector 800b, the second male connector 800a and the second female connector 800b are connected by plugging, and the other end of the encoder patch cord 700b is connected to an encoder interface on the motor driver. Of course, in some examples, the second female connector 800b may also be provided directly on the motor driver.

The actuator in the present embodiment may include, but is not limited to, actuators for implementing various fields of sculpting, medical device control, robotic devices, and the like.

The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.

Claims (12)

1. A servo motor is characterized by comprising a motor body (100), wherein a first winding wire outlet hole is formed in a first outer side surface of the motor body (100), a winding wire pressing block (200) which is fixed above the first winding wire outlet hole and is of a hollow structure is arranged, a second winding wire outlet hole is formed in the winding wire pressing block (200), the servo motor further comprises a winding cable (300), one end of the winding cable (300) is connected into the motor body (100), and the other end of the winding cable penetrates through the first winding wire outlet hole and is led out through the second winding wire outlet hole in the winding wire pressing block (200) and connected with a winding connector (400);

the winding connector (400) is a fastening type connector, the fastening type connector comprises a connector main body (1) and a tail clamping shell (2) used for fastening the connector main body (1), the tail clamping shell (2) comprises an upper shell (21) and a lower shell (22) which are respectively positioned at the upper side and the lower side of the connector main body (1) and assembled together, and after the upper shell (21) and the lower shell (22) are assembled, a cavity for fastening the connector main body (1) is formed; the cable connecting end (12) of the plug connector main body (1) connected with the cable is located in the cavity, and the plugging end (11) of the plug connector main body (1) is exposed out of the cavity to be plugged with the plug connector at the opposite end.

2. The servo motor of claim 1, wherein the upper housing (21) is provided at right and left side walls thereof with first and second upper connecting members, respectively, and the lower housing (22) is provided at right and left side walls thereof with first and second lower connecting members, respectively;

the first upper connecting piece and the first lower connecting piece are matched to form a first fixed connection, and the second upper connecting piece and the second lower connecting piece are matched to form a second fixed connection.

3. The servo motor of claim 2, wherein the first upper connecting member and the second upper connecting member are respectively a first slot and a second slot, the first lower connecting member and the second lower connecting member are respectively a first buckle and a second buckle, the first buckle and the first slot form the first fixed connection by buckling, and the second buckle form the second fixed connection by buckling;

or the like, or, alternatively,

the first upper connecting piece is a third clamping groove (211), and the first lower connecting piece is a third buckle (221); the second upper connecting piece is a fourth buckle (212), and the second lower connecting piece is a fourth clamping groove (222); the third buckle (221) and the third clamping groove (211) are buckled to form the first fixed connection, and the fourth buckle (212) and the fourth clamping groove (222) are buckled to form the second fixed connection.

4. The servo motor of claim 3, wherein the third locking groove (211) is a locking groove extending outward from an inner side of a right side wall of the upper housing (21), and the fourth locking groove (222) is a locking groove extending outward from an inner side of a left side wall of the lower housing (22);

the tail end of the fourth buckle (212) slides downwards from the inner side of the right side wall of the upper shell (21) and is finally clamped in the third clamping groove (211), and the tail end of the third buckle (221) slides downwards from the inner side of the left side wall of the lower shell (22) and is finally clamped in the fourth clamping groove (222).

5. The servo motor according to any of claims 2 to 4, wherein two of the first upper connecting members and the second upper connecting members are provided on right and left side walls of the upper housing (21), respectively, and two of the first lower connecting members and the second lower connecting members are provided on right and left side walls of the lower housing (22), respectively.

6. Servo-motor according to any of claims 1 to 4, characterized in that the upper housing (21) and the lower housing (22) are rubber shells.

7. The servo motor according to any one of claims 1 to 4, wherein the rear portion of the upper housing (21) and the rear portion of the lower housing (22) are assembled into a harness portion (23), the harness portion (23) has a through hole communicating with the cavity for a cable to pass through, and an outer diameter of a front end of the harness portion (23) is not smaller than an outer diameter of a rear end.

8. The servo motor of claim 7 wherein the fastening plug connector further comprises a crimping fastener sleeved on the cable harness (23) for pressing the cable harness (23) against the cable in the through hole.

9. Servo-motor according to claim 8, characterized in that the crimping fastener is a polygonal nut (3).

10. The servo motor according to any one of claims 1 to 4, further comprising a front cover, a rear cover, and an encoder body (500) fixed to the rear cover, which are respectively provided at the front end and the rear end of the motor body (100);

a first encoder wire outlet hole is formed in a second side face, located on the same side of the encoder body (500) as the first side face; the servo motor further comprises an encoder wire pressing block (600) which is fixed above the first encoder wire outlet and is of a hollow structure, and a second encoder wire outlet is formed in the encoder wire pressing block (600);

the servo motor further comprises an encoder cable (700), one end of the encoder cable (700) is connected into the encoder body (500), the other end of the encoder cable penetrates out of the first encoder wire hole, and the encoder cable hole is led out of the second encoder wire hole in the encoder wire pressing block (600) and connected with an encoder connector (800).

11. The servo motor of claim 10, wherein the encoder connector (800) is the fastening type plug connector.

12. An automation system, characterized in that it comprises a motor drive and a servo motor according to any of claims 1-11, the winding connections (400) of the servo motor being interfaced with windings of the motor drive.

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