CN112112932A - Force-sensing servo drive module - Google Patents
Force-sensing servo drive module Download PDFInfo
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- CN112112932A CN112112932A CN202011115164.0A CN202011115164A CN112112932A CN 112112932 A CN112112932 A CN 112112932A CN 202011115164 A CN202011115164 A CN 202011115164A CN 112112932 A CN112112932 A CN 112112932A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
- H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
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Abstract
The invention relates to a force sensing servo drive module which comprises a rack, a high-speed rotation drive part, a high-speed reduction drive mechanism, a worm and gear drive mechanism, a worm support force measuring mechanism and a control circuit, wherein the high-speed reduction drive mechanism is meshed with an output shaft gear of the high-speed rotation drive part, the worm and gear drive mechanism comprises a worm gear part and a duplex drive worm part, the upper end of the duplex drive worm part is in transmission connection with the output end of the high-speed reduction drive mechanism, the lower end of the duplex drive worm part is meshed with the worm gear part, the worm support force measuring mechanism comprises a worm support force measuring shaft and an end face axial force detection sensing part, the worm support force measuring shaft is fixedly connected with the rack, the center of the worm gear part is provided with a worm output shaft, and an angle detector is arranged outside the worm output shaft. The invention has compact structure, can meet the transmission requirement from milliwatt level to kilowatt level, and simultaneously reduces the cost.
Description
Technical Field
The invention relates to the technical field of servo motor drivers, in particular to a force-sensing servo driving module.
Background
Motor drives/actuators are devices in robotics and automation technology that provide mechanical power and control action to a control object. In the dynamic interaction process of the controlled object and the environment, dynamics and kinematics modeling have equally important control effects. The existing driver or actuator usually only has kinematic characteristics, and only can detect kinematic parameters such as a rotation angle and displacement. In the high-end driving technology, a precise force sensor is adopted to detect the torque of an output end, and a plurality of strain gauges are required to be manually pasted and compensated and calibrated; or a flexible mechanism is adopted, and the moment is calculated by detecting the micro-torsion strain in a high-precision multi-encoder difference mode; or a torque motor and a speed reducer with low speed reduction ratio and low friction are adopted, and the torque is equivalently output through current detection. These methods require custom sensors and motors, and cannot use existing standardized parts, resulting in high cost, and the space occupied by the corresponding components cannot be further optimized, resulting in non-miniaturization.
Therefore, how to design a servo driving module can adopt the existing mature technology and standard parts to realize force sensing and servo control in a low-cost manner, so that the driving module can meet the requirements of different dimensions and output force, and the problem to be solved in the field is needed.
The conventional force-sensing driving module is generally high in cost, large in size and limited in application in the fields of robots, automation and the like. The invention uses compact transmission and sensing structure, low cost sensor structure, and realizes force sensing under large reduction ratio.
2. Standardized parts and machining and assembling processes. The key transmission parts of the invention can be produced in standardized batch without complex manual assembly process and calibration process.
3. The same module structure can adapt to the requirements of miniature to large-scale sizes and output torque. The mechanical structure design of the invention can meet the requirements of driving control from micro to large by only changing the size and parameters of the standard component
Disclosure of Invention
In view of the above, the present invention provides a force sensing servo driving module which has low cost and small size, and can realize force sensing and servo control by using conventional components.
In order to solve the technical problems, the technical scheme of the invention is as follows: a force-sensing servo drive module comprises a rack, wherein a high-speed rotation drive part, a high-speed reduction drive mechanism, a worm and gear drive mechanism, a worm support force measuring mechanism and a control circuit are arranged in the rack, the high-speed reduction drive mechanism is meshed with an output shaft gear of the high-speed rotation drive part to reduce the high-speed rotation motion of the high-speed rotation drive part to a low-speed rotation motion and increase output torque at the same time, the worm and gear drive mechanism comprises a worm gear part and a duplex drive worm part, the upper end of the duplex drive worm part is in transmission connection with the output end of the high-speed reduction drive mechanism, the lower end of the duplex drive worm part is meshed with the worm gear part, the worm support force measuring mechanism comprises a worm support force measuring shaft and an end face axial force detection sensing part, and the worm support force measuring shaft is fixedly connected with the rack, the duplex transmission worm part is matched with a shaft hole of the worm support force measuring shaft and can rotate around the shaft smoothly, the end face axial force detection sensing part is fixed on the lower end face of the worm support force measuring shaft, a worm wheel output shaft extending out of the rack is arranged in the center of the worm wheel part, an angle detector used for detecting an output rotation angle is arranged outside the worm wheel output shaft, and the angle detector and the high-speed rotation driving part are electrically connected with a control circuit.
Preferably, in order to facilitate operation, the dual-transmission worm part comprises an upper gear and a lower worm, the lower worm is meshed with the worm gear part and is positioned on the right side of the worm gear part, the upper gear is in transmission connection with the output end of the high-speed reduction transmission mechanism and is positioned on the left side of the high-speed reduction transmission mechanism, the worm support force measuring mechanism further comprises a locking shaft sleeve, a first rotation support part and a second rotation support part, the first rotation support part and the second rotation support part are positioned on two end faces of the dual-transmission worm part and are matched with a shaft hole of the worm support force measuring shaft, and the locking shaft sleeve is positioned above the first rotation support part and axially locks the dual-transmission worm part.
Preferably, for convenience of operation, the worm wheel part includes a first worm wheel, the first worm wheel is engaged with the lower worm, the worm wheel output shaft is located at the center of the first worm wheel, and a first worm wheel output end bearing and a second worm wheel output end bearing which are respectively located at two end faces of the first worm wheel are sleeved at two ends of the worm wheel output shaft.
Preferably, in order to limit the rotation positions of the worm gear part, the worm gear transmission mechanism and the high-speed transmission mechanism and prevent deviation during rotation, the rack comprises a first base and a shell which are matched and locked with each other, the output end of the first worm gear is arranged in a shaft hole of the first base in a bearing mode, a second base which limits the non-transmission freedom degree of the worm gear part is fixed in the first base, and the output end of the second worm gear is arranged in a shaft hole of the second base in a bearing mode.
Preferably, the high-speed rotation driving member may be an electric motor or a hydraulic motor, and the high-speed rotation driving member is fixed to the first base.
Preferably, the worm wheel output shaft can be made into a solid shaft form or a hollow shaft form which is integrally formed with the first worm wheel, and can also be made into a solid shaft form or a hollow shaft form which is formed separately from the first worm wheel.
Preferably, the high-speed reduction transmission mechanism can be in a gear transmission or worm gear transmission or belt transmission mode.
Preferably, make the operation more convenient, high-speed stage reduction gear be second grade pair straight gear reduction gears, it contains one-level reduction gear, one-level reduction gear back shaft, another level reduction gear and another level reduction gear back shaft, one-level reduction gear overlaps outside one-level reduction gear back shaft, one-level reduction gear back shaft is located the shaft hole of first base, the first gear wheel and the output shaft gear meshing of one-level reduction gear top, the first pinion of one-level reduction gear below and the second gear wheel meshing of another level reduction gear top, the second pinion and the last gear meshing of another level reduction gear below, another level reduction gear overlaps on another level reduction gear back shaft, another level reduction gear back shaft is located the shaft hole of second base.
Preferably, the control circuit comprises a main control board and an angle detection circuit board, the main control board is located in the first base below the second base, the angle detection circuit board is fixed on one side of the second base, the angle detector is electrically connected with the angle detection circuit board, the angle detection circuit board is electrically connected with the main control board, and the main control board is electrically connected with the high-speed rotation driving component.
Preferably, the output can play a role of speed reduction, a final speed reducer electrically connected with the main control board is arranged outside a worm wheel output shaft part extending out of the rack, the final speed reducer adopts a planetary gear speed reducer or a cycloidal pin gear speed reducer with small speed reduction ratio and small friction force, and the speed reduction ratio is selected from 2-36.
Compared with the prior art, the invention has the basic functions of realizing high reduction ratio and torque amplification in a compact design space and detecting the axial force of the worm to indirectly measure the output torque of the worm gear. On the basis, the decoupling mechanism (namely, the high-speed-stage speed reduction transmission mechanism) isolates the high-speed rotation driving part and the force detection mechanism, the transmission space is reasonably configured, and the noise influence, the inertia and the like are reduced. The shaft end force detection structure enables the force detection sensing part to be more reliably and conveniently installed, the assembly process is simple, the detection precision and reliability are higher, in summary, the high-speed reduction stage transmission structure is adopted for decoupling and transmitting power, and then the worm and the worm wheel are adopted for forming the output end transmission and force detection structure. And through the accurate measurement of axial force of the force measurement structure of axial terminal surface form, finally have following advantage:
1. according to the invention, the high-speed stage reduction transmission decoupling high-speed rotation driving component and the axial force measuring structure are adopted, so that the mass, inertia and transmission noise of the force measuring structure are reduced;
2. the force measuring structure adopts an end face installation mode, a plurality of force detection sensing parts do not need to be installed manually, the assembly process is simplified, the detection precision is improved, and meanwhile batch and automatic production can be realized;
3. each part adopts standardized parts and standardized processing and assembling processes, so that the parts can be produced in standardized batches, and complex manual assembling processes and calibration processes are not needed, so that the operation is more convenient compared with the overall cost;
4. meanwhile, the whole structure space is compact, and all parts are compactly arranged, so that the whole size is small; compared with the existing force sensing driving module, the force sensing driving module has the advantages of high cost, large size and limited application in the fields of robots, automation and the like.
5. The mechanical structure design of the invention can meet the requirements of driving control from micro to large only by changing the size and parameters of the standard component, and simultaneously, because the speed reducing device is arranged, the same module structure can adapt to the requirements of size and output torque from micro to large, thereby having wider application range.
Drawings
Fig. 1 is a schematic diagram of an overall structure of a force-sensing servo driving module in this embodiment 1;
FIG. 2 is an exploded view of a force sensing servo driving module in the embodiment 1;
fig. 3 is a schematic structural diagram of the force-sensing servo driving module of this embodiment 1 when the chassis is removed;
FIG. 4 is an exploded view of the worm wheel assembly and two worm wheel output bearings of the present embodiment 1;
FIG. 5 is a schematic view of the duplex worm drive assembly of FIG. 3 with other components exploded;
FIG. 6 is a cross-sectional view of a force sensing servo drive module of the present embodiment 1;
fig. 7 is a schematic diagram of the overall structure of a force sensing servo driving module in embodiment 2;
fig. 8 is a schematic diagram of the final reducer and the force sensing servo drive module shown in the figure when they are separated.
Wherein: 1-a frame, 101-a high-speed rotation driving part, 102-a high-speed reduction transmission mechanism, 1021-an output shaft gear, 1022-another reduction gear, 1023-another reduction gear support shaft, 1024-a first reduction gear, 1025-a first reduction gear support shaft, 1032-an angle detector, 103-a worm and gear transmission mechanism, 104-a first base, 105-a second base, 106-a housing, 107-a worm support force measuring mechanism, 108-a main control board, 111-a locking shaft sleeve, 1121-a first rotation support part 1122, a second rotation support part, 113-a duplex transmission worm part, 114-a worm support force measuring shaft, 115-an end face axial force detection sensing part, 121-a worm gear part, 1212-a worm gear output shaft, 1221-a first worm gear output end bearing, 1222-second worm wheel output bearing, 1033-angle detector, 123-final reducer; 1131-upper gear, 1132-lower worm, 1024-1-first bull gear, 1024-2-first pinion gear, 1022-1-second bull gear, 1022-2-second pinion gear.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in order to make the technical solution of the present invention easier to understand and understand.
Example 1:
as shown in fig. 1-4, the force sensing servo drive module disclosed in this embodiment includes a frame 1, a high-speed rotation driving component 101, a high-speed reduction transmission mechanism 102, a worm-and-gear transmission mechanism 103, a worm support force measuring mechanism 107 and a control circuit are disposed in the frame 1, the high-speed reduction transmission mechanism 102 is engaged with an output shaft gear 1021 of the high-speed rotation driving component 101 to reduce the high-speed rotation movement of the high-speed rotation driving component 101 to a low-speed rotation movement and increase an output torque at the same time, the worm-and-gear transmission mechanism 103 includes a worm gear 121 and a duplex transmission worm part 113, an upper end of the duplex transmission worm part 113 is in transmission connection with an output end of the high-speed reduction transmission mechanism 102, a lower end of the duplex transmission worm part 113 is engaged with the worm gear 121, the worm support force measuring mechanism 107 includes a worm support force measuring shaft 114 and an end face axial force detection sensing component 115, the worm supports force measuring shaft 114 and frame 1 fixed connection, dual drive worm part 113 supports force measuring shaft 114 shaft hole cooperation and can encircle the smooth rotation of axis with the worm, terminal surface axial force detects sensing part 115 and fixes the lower terminal surface at worm support force measuring shaft 114, the center of worm wheel part 121 is equipped with the worm wheel output shaft 1212 that stretches out frame 1, is equipped with angle detector 1033 who is used for detecting output rotation angle outside worm wheel output shaft 1212, angle detector 1033, high-speed rotation driving part 101 are connected with control circuit electricity.
In this embodiment, when a load acts on the torque of the worm gear, an axial force with an equal proportion is generated on the dual-drive worm and transmitted to the strain shaft to generate a micro axial pressure deformation, the end face axial force detection sensing component 115 includes, but is not limited to, a capacitive sensor, a photoelectric sensor, a resistive sensor, and other sensors that change an output signal due to the micro axial pressure deformation, and the angle detector 1033 is configured to measure an angle of the output shaft of the worm gear.
Preferably, for convenience of operation, the dual-drive worm part 113 includes an upper gear 1131 and a lower worm 1132, the lower worm 1132 is engaged with the worm wheel part 121 and is located on the right side of the worm wheel part 121, the upper gear 1131 is in transmission connection with the output end of the high-speed reduction transmission mechanism 102 and is located on the left side of the high-speed reduction transmission mechanism 102, the worm support force measuring mechanism 107 further includes a locking bushing 111, a first rotation support part 1121 and a second rotation support part 1122, the first rotation support part 1121 and the second rotation support part 1122 are located on two end faces of the dual-drive worm part 113 and are in shaft hole fit with the worm support force measuring shaft 114, and the locking bushing 111 is located above the first rotation support part 1121 and axially locks the dual-drive worm part 113. In this embodiment, the locking shaft sleeve 111 is connected to the upper end of the worm support force measuring shaft 114 in a locking manner to limit the axial displacement and transfer axial force of the dual-drive worm member, and the locking manner may be a thread locking manner, a locking screw sleeve locking manner, a pin sleeve locking manner, or the like. Preferably, a thread locking manner is adopted, the first rotation support part 1121 and the second rotation support part 1122 are respectively tightly attached to the upper end surface and the lower end surface of the duplex transmission worm part and used for transmitting an axial force and ensuring that the duplex transmission worm part can rotate relative to the worm support force measuring shaft 114 and the locking shaft sleeve with small resistance, the types of the first rotation support part 1121 and the second rotation support part 1122 include, but are not limited to, a thrust ball bearing or a thrust ball bearing retainer or a snap spring, meanwhile, the outer contour of the lower end surface of the worm support force measuring shaft 114 is fixedly connected with the first base 104, and the fixedly connecting manner of the outer contour of the lower end surface of the worm support force measuring shaft 114 and the first base 104 includes, but is not limited to.
When the worm gear speed reducer works, the high-speed rotation driving part 101 works to drive the output shaft gear 1021 to rotate, the high-speed reduction transmission mechanism 102 is driven to rotate synchronously, the high-speed rotation motion of the high-speed rotation driving part 101 is reduced to low-speed rotation motion, output torque is increased simultaneously, force decoupling with the driving part and the reduction stage is achieved on the duplex transmission worm part, the worm axial force is convenient to measure, then the worm gear transmission mechanism 103 is driven to rotate after speed reduction, the worm gear transmission mechanism 103 rotates to drive the worm gear output shaft 1212 to rotate, the driving effect is achieved finally, the output rotation angle is sensed through the angle detector 1033, the magnitude of the worm axial force is detected through the end face axial force detection sensing part 115, and finally the output torque of the worm gear is measured indirectly.
Preferably, for convenience of operation, the worm wheel assembly 121 includes a first worm wheel 1211, the first worm wheel 1211 is engaged with the lower worm 1132, the worm wheel output shaft 1212 is located at the center of the first worm wheel 1211, and a first worm wheel output end bearing 1221 and a second worm wheel output end bearing 1222, which are respectively located at two end surfaces of the first worm wheel 1211, are sleeved at two ends of the worm wheel output shaft 1212.
Preferably, in order to limit the rotation positions of the worm gear 121, the worm gear transmission mechanism and the high-speed transmission mechanism and prevent deviation during rotation, the frame 1 includes a first base 104 and a housing 106 that are locked with each other, the first worm output end bearing 1221 is disposed in a shaft hole of the first base 104, a second base 105 that limits the non-transmission freedom degree of the worm gear 121 is fixed in the first base 104 by screws, and the second worm output end bearing 1222 is disposed in a shaft hole of the second base 105, in this embodiment, the first base 104 is used to limit the non-transmission freedom degree of the worm gear transmission mechanism and the high-speed transmission mechanism. The second base 105 is used for limiting the non-transmission freedom degree of the worm wheel, the first worm wheel output end bearing 1221 and the second worm wheel output end bearing 1222 are used for bearing the radial force of the worm wheel, when the module size is limited, the first worm wheel output end bearing 1221 and the second worm wheel output end bearing 1222 can be removed, meanwhile, the first base 104 in the embodiment can be split into an upper half and a lower half according to the axial direction of the high-speed reduction transmission mechanism or all the bases can be made into a whole to increase the structural strength and the like, and finally, the installation of the high-speed reduction transmission mechanism is facilitated, in the embodiment, the fixing mode of the second base 105 which is fixed with the non-transmission freedom degree of the limit worm wheel part 121 in the first base 104 through screws can also be pressed fit, welded and the like.
In addition, the first base and the second base can be made into a whole or can be divided into an upper part and a lower part.
Preferably, the high-speed rotation driving member 101 may be an electric motor or a hydraulic motor, and the high-speed rotation driving member 101 is fixed on the first base 104, and in this embodiment, the high-speed rotation driving member 101 is preferably used as the electric motor in consideration of the structural configuration.
Preferably, the worm wheel output shaft 1212 may be made in a form of a solid shaft or a hollow shaft integrally formed with the first worm wheel 1211, or may be made in a form of a solid shaft or a hollow shaft separately formed from the first worm wheel 1211.
Preferably, the high-speed step reduction transmission mechanism 102 may be in a gear transmission form, a worm gear transmission form, or a belt transmission form, in this embodiment, a gear transmission form is preferably used, and in this embodiment, the high-speed step reduction transmission mechanism may be formed by connecting one or more stages of transmissions in series (this embodiment adopts 2 stages, and may also adopt other stages, without limiting the present invention).
Preferably, to facilitate the operation, the high-speed reduction transmission mechanism 102 is a two-stage duplex spur gear reduction mechanism, which includes a first reduction gear 1024, a first reduction gear support shaft 1025, a second reduction gear 1022 and a second reduction gear support shaft 1023, the first reduction gear 1024 is sleeved outside the first reduction gear support shaft 1025, the first reduction gear support shaft 1025 is disposed in the shaft hole of the first base 104, a first large gear 1024-1 above the first reduction gear 1024 is engaged with the output shaft gear 1021, a first small gear 1024-2 below the first reduction gear 1024 is engaged with a second large gear 1022-1 above the second reduction gear 1022, a second small gear 1022-2 below the second reduction gear 1022 is engaged with the upper gear 1131, and the second reduction gear 1022 is sleeved on the second reduction gear support shaft 1023, the other-stage reduction-tooth support shaft 1023 is provided in the shaft hole of the second base 105. The high-speed reduction transmission mechanism 102 can also be a multi-stage gear reduction transmission structure, in the actual design, the dual-spur gear reduction transmission structure can also adopt any one of helical gears, worm gears, bevel gears, belt transmission and the like, and the transmission stage number is not limited to two stages.
Preferably, the control circuit includes a main control board 108 and an angle detection circuit board 1032, the main control board 108 is located in the first base 104 below the second base 105, the angle detection circuit board 1032 is fixed on one side of the second base 105, the angle detector 1033 is electrically connected to the angle detection circuit board 1032, the angle detection circuit board 1032 is electrically connected to the main control board 108, and the main control board 108 is electrically connected to the high-speed rotation driving component 101.
In this embodiment, the control circuit is composed of the main control board 108 and the angle detection circuit board 1032. Where angle detector circuit board 1032 may be incorporated into upper main control board 108 in embodiments where only one circuit board is used, angle detector 1033 includes, but is not limited to, a photo encoder, a rotary transformer, and a magnetic encoder. Preferably, an absolute magnetic encoder is employed. The main control board 108 is electrically connected to the end face axial force detection sensing component and the angle detection circuit board 1032, processes signals related to the force detection sensing component and the angle detector, and drives the high-speed rotation driving component.
The force sensing servo driving module provided by the invention has the basic functions of realizing high reduction ratio and torque amplification in a compact design space and detecting the axial force of a worm to indirectly measure the output torque of a worm gear. On the basis, the decoupling mechanism (namely, the high-speed-stage speed reduction transmission mechanism) isolates the high-speed rotation driving part and the force detection mechanism, the transmission space is reasonably configured, and the noise influence, the inertia and the like are reduced. The shaft end force detection structure enables the force detection sensing part to be more reliably and conveniently installed, the assembly process is simple, the detection precision and reliability are higher, in summary, the high-speed reduction stage transmission structure is adopted for decoupling and transmitting power, and then the worm and the worm wheel are adopted for forming the output end transmission and force detection structure. And through the accurate measurement of axial force of the force measurement structure of axial terminal surface form, finally have following advantage:
1. according to the invention, the high-speed stage reduction transmission decoupling high-speed rotation driving component and the axial force measuring structure are adopted, so that the mass, inertia and transmission noise of the force measuring structure are reduced;
2. the force measuring structure adopts an end face installation mode, a plurality of force detection sensing parts do not need to be installed manually, the assembly process is simplified, the detection precision is improved, and meanwhile batch and automatic production can be realized;
3. each part adopts standardized parts and standardized processing and assembling processes, so that the parts can be produced in standardized batches, and complex manual assembling processes and calibration processes are not needed, so that the operation is more convenient compared with the overall cost;
4. meanwhile, the whole structure space is compact, and all parts are compactly arranged, so that the whole size is small; compared with the existing force sensing driving module, the force sensing driving module has the advantages of high cost, large size and limited application in the fields of robots, automation and the like.
5. The mechanical structure design of the invention can meet the requirements of driving control from micro to large only by changing the size and parameters of the standard component, and simultaneously, because the speed reducing device is arranged, the same module structure can adapt to the requirements of size and output torque from micro to large, thereby having wider application range.
Example 2:
as shown in fig. 7 and 8, in the force sensing servo driving module disclosed in this embodiment, in order to enable the output to play a role of speed reduction, a final speed reducer 123 electrically connected to the main control board 108 is disposed outside a worm gear output shaft 1212 extending out of the frame 1, and the final speed reducer 123 adopts a planetary gear speed reducer or a cycloidal pin gear speed reducer with a small speed reduction ratio and a small friction force, and the speed reduction ratio is selected from 2 to 36, and is connected to the final speed reducer 123 through the worm gear output shaft 1212 as an input, so as to reduce the module return error and improve the torque. The final-stage precise speed reducer adopts a speed reducing mechanism with small speed reduction and small friction resistance, and can adopt a planetary speed reducer, a cycloidal pin gear speed reducer, a harmonic speed reducer, a synchronous belt and the like to reduce the speed. Preferably, a planetary reducer with a small reduction ratio or a cycloidal pin gear reducer with a small reduction ratio is adopted, and in this embodiment, when the worm gear output shaft 1212 is made into a hollow structure, other components on the corresponding axis are all made into a hollow structure, so that the electric wiring is facilitated, that is, the final reducer 123 and the angle detector 1033 are both in a hollow form.
The above is, of course, only a specific application example of the present invention, and the scope of the present invention is not limited in any way. All the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.
Claims (10)
1. A servo drive module of force perception, includes frame (1), its characterized in that: a high-speed rotation driving part (101), a high-speed reduction transmission mechanism (102), a worm and worm transmission mechanism (103), a worm support force measuring mechanism (107) and a control circuit are arranged in a rack (1), the high-speed reduction transmission mechanism (102) is meshed with an output shaft gear (1021) of the high-speed rotation driving part (101) to reduce the high-speed rotation movement of the high-speed rotation driving part (101) to a low-speed rotation movement and increase output torque at the same time, the worm and worm transmission mechanism (103) comprises a worm wheel part (121) and a duplex transmission worm part (113), the upper end of the duplex transmission worm part (113) is in transmission connection with the output end of the high-speed reduction transmission mechanism (102), the lower end of the duplex transmission worm part (113) is meshed with the worm wheel part (121), the worm support force measuring mechanism (107) comprises a worm support force measuring shaft (114) and an end face axial force detection sensing part (115), the worm supports dynamometry axle (114) and frame (1) fixed connection, dual drive worm part (113) support dynamometry axle (114) shaft hole cooperation and can encircle the smooth rotation of axis with the worm, terminal surface axial force detects sensing part (115) and fixes the lower terminal surface at worm support dynamometry axle (114), the center of worm wheel part (121) is equipped with worm wheel output shaft (1212) that stretches out frame (1), is equipped with angle detector (1033) that are used for detecting output rotation angle outside worm wheel output shaft (1212), angle detector (1033), high-speed rotation drive part (101) are connected with control circuit electricity.
2. A force sensing servo drive module as claimed in claim 1, wherein: the duplex transmission worm part (113) comprises an upper gear (1131) and a lower worm (1132), the lower worm (1132) is engaged with the worm wheel part (121) and positioned at the right side of the worm wheel part (121), the upper gear (1131) is in transmission connection with the output end of the high-speed reduction transmission mechanism (102) and is positioned on the left side of the high-speed reduction transmission mechanism (102), the worm support force measuring mechanism (107) also comprises a locking shaft sleeve (111), a first rotary support component (1121) and a second rotary support component (1122), the first rotary supporting component (1121) and the second rotary supporting component (1122) are positioned on two end faces of the duplex transmission worm component (113) and are matched with a shaft hole of the worm support force measuring shaft (114), the locking shaft sleeve (111) is positioned above the first rotating support part (1121) and axially locks the duplex transmission worm part (113).
3. A force sensing servo drive module as claimed in claim 2, wherein: the worm wheel part (121) comprises a first worm wheel (1211), the first worm wheel (1211) is meshed with the lower worm (1132), the worm wheel output shaft (1212) is positioned in the center of the first worm wheel (1211), and a first worm wheel output end bearing (1221) and a second worm wheel output end bearing (1222) which are respectively positioned on two end faces of the first worm wheel (1211) are sleeved at two ends of the worm wheel output shaft (1212).
4. A force sensing servo drive module according to claim 3, wherein: the frame (1) comprises a first base (104) and a shell (106) which are matched and locked with each other, a first worm wheel output end bearing (1221) is arranged in a shaft hole of the first base (104), a second base (105) which limits the non-transmission freedom degree of a worm wheel component (121) is fixed in the first base (104), and a second worm wheel output end bearing (1222) is arranged in a shaft hole of the second base (105).
5. A force sensing servo drive module according to claim 4, wherein: the high-speed rotation driving component (101) can be an electric motor or a hydraulic motor, and the high-speed rotation driving component (101) is fixed on the first base (104).
6. A force sensing servo drive module as claimed in claim 5, wherein: the worm wheel output shaft (1212) may be formed in the form of a solid shaft or a hollow shaft integrally formed with the first worm wheel (1211), or may be formed in the form of a solid shaft or a hollow shaft separately formed from the first worm wheel (1211).
7. A force sensing servo drive module according to claim 6, wherein: the high-speed stage reduction transmission mechanism (102) can be in a gear transmission or worm and gear transmission or belt transmission mode.
8. A force sensing servo drive module as claimed in claim 7, wherein: the high-speed reduction transmission mechanism 102 is a two-stage duplex straight gear reduction mechanism, which comprises a first-stage reduction gear (1024), a first-stage reduction gear support shaft (1025), a second-stage reduction gear (1022) and a second-stage reduction gear support shaft (1023), wherein the first-stage reduction gear (1024) is sleeved outside the first-stage reduction gear support shaft (1025), the first-stage reduction gear support shaft (1025) is arranged in a shaft hole of a first base (104), a first large gear (1024-1) above the first-stage reduction gear (1024) is meshed with an output shaft gear (1021), a first small gear (1024-2) below the first-stage reduction gear (1024) is meshed with a second large gear (1022-1) above the second-stage reduction gear (1022), and a second small gear (1022-2) below the other-stage reduction gear (1022) is meshed with an upper gear (1131), the other stage of reduction gear (1022) is sleeved on the other stage of reduction gear support shaft (1023), and the other stage of reduction gear support shaft (1023) is arranged in the shaft hole of the second base (105).
9. A force sensing servo drive module as claimed in claim 8, wherein: the control circuit include main control board (108) and angle detection circuit board (1032), main control board (108) are located first base (104) of second base (105) below, one side at second base (105) is fixed to angle detection circuit board (1032), angle detector (1033) be connected with angle detection circuit board (1032) electricity, angle detection circuit board (1032) are connected with main control board (108) electricity, main control board (108) are connected with high-speed rotation drive part (101) electricity.
10. A force sensing servo drive module according to claim 9, wherein: a final speed reducer (123) electrically connected with the main control board (108) is arranged outside a worm wheel output shaft (1212) extending out of the frame (1), the final speed reducer (123) adopts a planetary gear speed reducer or a cycloidal pin gear speed reducer with small reduction ratio and small friction force, and the reduction ratio is 2-36.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011115164.0A CN112112932A (en) | 2020-10-19 | 2020-10-19 | Force-sensing servo drive module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011115164.0A CN112112932A (en) | 2020-10-19 | 2020-10-19 | Force-sensing servo drive module |
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| CN202011115164.0A Pending CN112112932A (en) | 2020-10-19 | 2020-10-19 | Force-sensing servo drive module |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112677758A (en) * | 2021-01-07 | 2021-04-20 | 重庆大学 | Wheel edge driving system based on conical worm transmission |
| CN113738826A (en) * | 2021-08-25 | 2021-12-03 | 中船九江精达科技股份有限公司 | Novel small-size torque output shaft |
| CN114313196A (en) * | 2021-12-27 | 2022-04-12 | 中国航天空气动力技术研究院 | Small-size low-power consumption long-life steering wheel |
| WO2024027298A1 (en) * | 2022-08-05 | 2024-02-08 | 深圳康诺思腾科技有限公司 | Surgical operation arm and surgical robot |
| CN117639377A (en) * | 2023-12-11 | 2024-03-01 | 温州市方胜汽车部件有限公司 | High-precision transmission mechanism of pedal motor and transmission method thereof |
-
2020
- 2020-10-19 CN CN202011115164.0A patent/CN112112932A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112677758A (en) * | 2021-01-07 | 2021-04-20 | 重庆大学 | Wheel edge driving system based on conical worm transmission |
| CN113738826A (en) * | 2021-08-25 | 2021-12-03 | 中船九江精达科技股份有限公司 | Novel small-size torque output shaft |
| CN114313196A (en) * | 2021-12-27 | 2022-04-12 | 中国航天空气动力技术研究院 | Small-size low-power consumption long-life steering wheel |
| WO2024027298A1 (en) * | 2022-08-05 | 2024-02-08 | 深圳康诺思腾科技有限公司 | Surgical operation arm and surgical robot |
| CN117639377A (en) * | 2023-12-11 | 2024-03-01 | 温州市方胜汽车部件有限公司 | High-precision transmission mechanism of pedal motor and transmission method thereof |
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