A force-sensing servo drive module

Abstract

The present invention relates to a force-sensing servo drive module, which includes a frame, a high-speed rotating drive component, a high-speed stage reduction transmission mechanism, a worm and worm gear transmission mechanism, a worm support force-measuring mechanism, and a control circuit. The high-speed stage reduction transmission mechanism is meshed with the output shaft gear of the high-speed rotating drive component. The worm and worm gear transmission mechanism includes a worm gear component and a double-connected transmission worm component. The upper end of the double-connected transmission worm component is drivingly connected to the output end of the high-speed stage reduction transmission mechanism, and the lower end of the double-connected transmission worm component is meshed with the worm gear component. The worm support force-measuring mechanism includes a worm support force-measuring shaft and an end face axial force detection sensing component. The worm support force-measuring shaft is fixedly connected to the frame. A worm gear output shaft is provided at the center of the worm gear component, and an angle detector is provided outside the worm gear output shaft. The structure of the present invention is compact, can adapt to the transmission requirements from milliwatt level to kilowatt level, and reduces costs at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of servo motor drivers, and more particularly to a force-sensing servo drive module. Background Art

[0002] Motor drivers / actuators are devices that provide mechanical power and control functions to controlled objects in robotics and automation technologies. During the dynamic interaction between the controlled object and the environment, dynamic and kinematic modeling have equally important control effects. Existing drivers or actuators usually only have kinematic characteristics and can only detect kinematic parameters such as rotation angle and displacement. In high-end drive technologies, precision force sensors are used to detect the torque at the output end, which requires manual pasting of multiple strain gauges and compensation calibration; or a flexible mechanism is used to detect minute torsion strains through a high-precision multi-encoder differential method to calculate the torque; or a torque motor and a reducer with a low reduction ratio and low friction are used to equivalently output the torque through current detection. However, all of these methods require customized sensors and motors and cannot use existing standardized parts, resulting in high costs and the inability to further optimize the space occupied by the corresponding components, making it impossible to miniaturize.

[0003] Therefore, how to design a servo drive module that can use existing mature technologies and standard parts to achieve force sensing and servo control in a low-cost manner, enabling the drive module to adapt to different scale sizes and output force requirements, is an urgent problem to be solved in the current field.

[0004] Existing force-sensing drive modules generally have high costs and large volumes, and are limited in applications such as robotics and automation. The present invention uses a compact transmission and sensing structure and a low-cost sensor structure to achieve force sensing under a large reduction ratio.

[0005] 2. Standardized parts and processing and assembly processes. The key transmission parts of the present invention can be mass-produced in a standardized manner, without the need for complex manual assembly processes and calibration procedures.

[0006] 3. The same module structure can adapt to size and output torque requirements from micro to large. The mechanical structure design of the present invention can meet the drive control requirements from micro to large only by changing the sizes and parameters of the standard parts. Summary of the Invention

[0007] In view of this, the object of the present invention is to provide a force-sensing servo drive module that is low-cost, small in size, and can achieve force sensing and servo control using traditional components.

[0008] To solve the above technical problems, the technical solution of the present invention is: a force-sensing servo drive module, including a frame. Inside the frame, there are a high-speed rotating drive component, a high-speed stage reduction transmission mechanism, a worm and worm gear transmission mechanism, a worm support force measuring mechanism, and a control circuit. The high-speed stage reduction transmission mechanism is engaged with the output shaft gear of the high-speed rotating drive component to reduce the high-speed rotating motion of the high-speed rotating drive component to a low-speed rotating motion and simultaneously increase the output torque. The worm and worm gear transmission mechanism includes a worm gear component and a double-link transmission worm component. The upper end of the double-link transmission worm component is in transmission connection with the output end of the high-speed stage reduction transmission mechanism, and the lower end of the double-link transmission worm component is engaged with the worm gear component. The worm support force measuring mechanism includes a worm support force measuring shaft and an end face axial force detection sensing component. The worm support force measuring shaft is fixedly connected to the frame. The double-link transmission worm component is in shaft hole fit with the worm support force measuring shaft and can rotate smoothly around the axis. The end face axial force detection sensing component is fixed on the lower end face of the worm support force measuring shaft. The center of the worm gear component is provided with a worm gear output shaft extending out of the frame. An angle detector for detecting the output rotation angle is arranged outside the worm gear output shaft. The angle detector, the high-speed rotating drive component, and the control circuit are electrically connected.

[0009] Preferably, for the convenience of operation, the double-link transmission worm component includes an upper gear and a lower worm. The lower worm is engaged with the worm gear component and is located on the right side of the worm gear component. The upper gear is in transmission connection with the output end of the high-speed stage reduction transmission mechanism and is located on the left side of the high-speed stage reduction transmission mechanism. The worm support force measuring mechanism further includes a locking shaft sleeve, a first rotating support component, and a second rotating support component. The first rotating support component and the second rotating support component are located at both end faces of the double-link transmission worm component and are in shaft hole fit with the worm support force measuring shaft. The locking shaft sleeve is located above the first rotating support component and axially locks the double-link transmission worm component.

[0010] Preferably, for the convenience of operation, the worm gear component includes a first worm gear. The first worm gear is engaged with the lower worm. The worm gear output shaft is located at the center of the first worm gear. A first worm gear output end bearing and a second worm gear output end bearing are sleeved on both ends of the worm gear output shaft and are respectively located at both end faces of the first worm gear.

[0011] Preferably, for restricting the rotation positions of the worm gear component, the worm and worm gear transmission mechanism, and the high-speed stage transmission mechanism, and ensuring no deviation during rotation, the frame includes a first base and a housing that are cooperatively locked. The first worm gear output end bearing is arranged in the shaft hole of the first base. A second base for restricting the non-transmission freedom degree of the worm gear component is fixed inside the first base. The second worm gear output end bearing is arranged in the shaft hole of the second base.

[0012] Preferably, the high-speed rotation drive component is a motor or a hydraulic motor, and the high-speed rotation drive component is fixed on the first base.

[0013] Preferably, the worm wheel output shaft is made in the form of a solid shaft integrally formed with the first worm wheel or a hollow shaft form, or can also be made in the form of a solid shaft or a hollow shaft separately formed with the first worm wheel.

[0014] Preferably, the high-speed stage reduction transmission mechanism is in the form of a gear transmission, a worm and worm gear transmission or a belt transmission.

[0015] Preferably, to make the operation more convenient, the high-speed stage reduction transmission mechanism is a two-stage double-connected spur gear reduction mechanism, which includes a first-stage reduction gear, a first-stage reduction gear support shaft, another reduction gear and another reduction gear support shaft. The first-stage reduction gear is sleeved outside the first-stage reduction gear support shaft, the first-stage reduction gear support shaft is arranged in the shaft hole of the first base, the first large gear above the first-stage reduction gear meshes with the output shaft gear, the first small gear below the first-stage reduction gear meshes with the second large gear above the other reduction gear, the second small gear below the other reduction gear meshes with the upper gear, the other reduction gear is sleeved on the other reduction gear support shaft, and the other reduction gear support shaft is arranged in the shaft hole of the second base.

[0016] Preferably, the control circuit includes 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 to the angle detection circuit board, the angle detection circuit board is electrically connected to the main control board, and the main control board is electrically connected to the high-speed rotation drive component.

[0017] Preferably, to enable the output to play a reduction role, a final stage reducer electrically connected to the main control board is provided outside the part of the worm wheel output shaft extending out of the machine frame. The final stage reducer adopts a planetary gear reducer or a cycloid pinwheel reducer with a small reduction ratio and small friction, and its reduction ratio is selected from 2 - 36.

[0018] Compared with the prior art, the basic function of the present invention is to achieve a high reduction ratio and torque amplification in a compact design space, and detect the axial force of the worm to indirectly measure the output torque of the worm wheel. On this basis, the decoupling mechanism (i.e., the high-speed stage reduction transmission mechanism) isolates the high-speed rotating drive components and the force detection mechanism, rationally arranges the transmission space, and reduces the noise influence and inertia, etc. The axial force detection structure makes the installation of the force detection sensing components more reliable and convenient, with a simple assembly process, higher detection accuracy and reliability. In summary, the present invention uses a high-speed reduction stage transmission structure to decouple and transmit power, and then uses a worm and worm wheel to form an output end transmission and force detection structure. And through the force measurement structure in the form of an axial end face, the axial force is accurately measured, and finally has the following advantages:

[0019] 1. The present invention uses a high-speed stage reduction transmission to decouple the high-speed rotating drive components and the axial force measurement structure, reducing the mass, inertia and transmission noise of the force measurement structure;

[0020] 2. The force measurement structure adopts an end face installation method, eliminating the need to manually install multiple force detection sensing components, simplifying the assembly process, improving the detection accuracy, and enabling batch and automated production at the same time;

[0021] 3. All components adopt standardized parts and standardized processing and assembly processes, so the parts can be mass-produced in a standardized manner without complex manual assembly processes and calibration procedures, resulting in a relatively low overall cost and more convenient operation;

[0022] 4. At the same time, the entire structure is compact, and the compact arrangement of each component makes the overall volume small; compared with the existing force sensing drive modules, which are generally costly and large in size and are limited in applications in the fields of robots and automation, the present invention is small in size and low in cost, achieving force sensing under a large reduction ratio and being more suitable for use.

[0023] 5. The mechanical structure design of the present invention can meet the drive control requirements from micro to large by only changing the dimensions and parameters of the standard parts. At the same time, due to the setting of the reduction device, finally the same module structure can adapt to the size and output torque requirements from micro to large, making the applicable range wider. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of the overall structure of a force sensing servo drive module in Embodiment 1;

[0025] Figure 2 is an exploded view of a force sensing servo drive module in Embodiment 1;

[0026] Figure 3 is a schematic diagram of the structure of a force sensing servo drive module in Embodiment 1 when the housing is removed;

[0027] Figure 4 is the exploded view of the worm gear component and the two worm gear output end bearings in Embodiment 1;

[0028] Figure 5 is Figure 3 the structural schematic diagram when the dual-drive worm gear component is disassembled from other components in;

[0029] Figure 6 the cross-sectional view of a force-sensing servo drive module in Embodiment 1;

[0030] Figure 7 is the overall structural schematic diagram of a force-sensing servo drive module in Embodiment 2;

[0031] Figure 8 is the structural schematic diagram when the final-stage reducer is separated from the force-sensing servo drive module in the figure.

[0032] Wherein: 1-frame, 101-high-speed rotation drive component, 102-high-speed stage reduction transmission mechanism, 1021-output shaft gear, 1022-another reduction gear, 1023-another reduction gear support shaft, 1024-first reduction gear, 1025-first reduction gear support shaft, 1032-angle detection circuit board, 103-worm gear transmission mechanism, 104-first base, 105-second base, 106-housing, 107-worm support force measuring mechanism, 108-main control board, 111-locking shaft sleeve, 1121-first rotation support component, 1122-second rotation support component, 113-dual-drive worm gear component, 114-worm support force measuring shaft, 115-end face axial force detection sensing component, 121-worm gear component, 1212-worm gear output shaft, 1221-first worm gear output end bearing, 1222-second worm gear output end bearing, 1033-angle detector, 123-final-stage reducer; 1131-upper gear, 1132-lower worm, 1024-1-first large gear, 1024-2-first small gear, 1022-1-second large gear, 1022-2-second small gear. Detailed implementation manners

[0033] The following further details the specific implementation manners of the present invention in conjunction with the accompanying drawings, so that the technical solutions of the present invention are easier to understand and master.

[0034] Embodiment 1:

[0035] As Figures 1-4The present embodiment discloses a force sensing servo drive module, comprising a frame 1, in which a high-speed rotating drive component 101, a high-speed reduction transmission mechanism 102, a worm gear transmission mechanism 103, a worm support force measuring mechanism 107 and a control circuit are arranged. The high-speed reduction transmission mechanism 102 is meshed with an output shaft gear 1021 of the high-speed rotating drive component 101 to reduce the high-speed rotating motion of the high-speed rotating drive component 101 to a low-speed rotating motion and increase the output torque at the same time. The worm gear transmission mechanism 103 comprises a worm wheel component 121 and a double-drive worm component 113. The upper end of the double-drive worm component 113 is drivingly connected to the output end of the high-speed reduction transmission mechanism 102. The double-drive worm component 113 is connected to the output end of the high-speed reduction transmission mechanism 102. The lower end of component 113 is meshed with the worm wheel component 121. The worm support force measuring mechanism 107 includes a worm support force measuring shaft 114 and an end face axial force detection sensor component 115. The worm support force measuring shaft 114 is fixedly connected to the frame 1. The double-drive worm component 113 cooperates with the axial hole of the worm support force measuring shaft 114 and can rotate smoothly around the axis. The end face axial force detection sensor component 115 is fixed to the lower end face of the worm support force measuring shaft 114. A worm wheel output shaft 1212 extending out of the frame 1 is provided at the center of the worm wheel component 121. An angle detector 1033 for detecting the output rotation angle is arranged outside the worm wheel output shaft 1212. The angle detector 1033 and the high-speed rotation drive component 101 are electrically connected to the control circuit.

[0036] In this embodiment, when the load acts on the worm gear torque, an equal-proportional axial force will be generated on the double-drive worm, which will be transmitted to the strain shaft to generate a slight axial pressure deformation. The end face axial force detection sensor component 115 includes but is not limited to capacitive sensors, photoelectric sensors, resistive sensors and other sensors whose output signals change due to slight axial pressure deformation. The angle detector 1033 is used to measure the rotation angle of the worm gear output shaft.

[0037] Preferably, for the convenience of operation, the dual-connected drive worm component 113 includes an upper gear 1131 and a lower worm 1132. The lower worm 1132 meshes with the worm wheel component 121 and is located on the right side of the worm wheel component 121. The upper gear 1131 is in driving connection with the output end of the high-speed stage reduction drive mechanism 102 and is located on the left side of the high-speed stage reduction drive mechanism 102. The worm support force measuring mechanism 107 further includes a locking shaft sleeve 111, a first rotary support component 1121 and a second rotary support component 1122. The first rotary support component 1121 and the second rotary support component 1122 are located on the two end faces of the dual-connected drive worm component 113 and are in shaft hole fit with the worm support force measuring shaft 114. The locking shaft sleeve 111 is located above the first rotary support component 1121 and axially locks the dual-connected drive worm component 113. In this embodiment, the locking shaft sleeve 111 is locked and connected to the upper end of the worm support force measuring shaft 114 to limit the axial displacement of the dual-connected drive worm component and transmit the axial force. The locking method can be thread locking, set screw sleeve locking, pin sleeve locking, etc. Preferably, the thread locking method is adopted. The first rotary support component 1121 and the second rotary support component 1122 are respectively in close contact with the upper and lower end faces of the dual-connected drive worm component, used for transmitting the axial force and ensuring that the dual-connected drive worm component can rotate with small resistance relative to the worm support force measuring shaft 114 and the locking shaft sleeve. The types of the first rotary support component 1121 and the second rotary support component 1122 include but are not limited to thrust ball bearings or thrust ball bearing cages or circlips. At the same time, the outer contour of the lower end face of the worm support force measuring shaft 114 is fixedly connected to the first base 104. The connection method between the outer contour of the lower end face of the worm support force measuring shaft 114 and the first base 104 includes but is not limited to bonding, welding, and thread locking connection.

[0038] During operation, the high-speed rotation drive component 101 works to drive the output shaft gear 1021 to rotate, synchronously driving the high-speed stage reduction drive mechanism 102 to rotate and reducing the high-speed rotation motion of the high-speed rotation drive component 101 to a low-speed rotation motion and simultaneously increasing the output torque. At the same time, force decoupling between the dual-connected drive worm component and the drive component and the reduction stage is achieved, facilitating the measurement of the axial force of the worm. Then, after deceleration, the worm and worm wheel drive mechanism 103 is driven to rotate, and the worm wheel output shaft 1212 is driven to rotate by the rotation of the worm and worm wheel drive mechanism 103, finally realizing the driving function. The rotation angle of the output is sensed by the angle detector 1033, and the magnitude of the axial force of the worm is detected by the end face axial force detection sensing component 115, and finally the output torque of the worm wheel is indirectly measured.

[0039] Preferably, for ease of operation, the worm gear component 121 includes a first worm gear 1211 which meshes with the lower worm 1132. The worm gear output shaft 1212 is located at the center of the first worm gear 1211. At both ends of the worm gear output shaft 1212, there are respectively a first worm gear output end bearing 1221 and a second worm gear output end bearing 1222 which are located on both end faces of the first worm gear 1211.

[0040] Preferably, in order to limit the rotational positions of the worm gear component 121, the worm gear and worm drive mechanism, and the high-speed stage drive mechanism, so as to prevent deviation during rotation, the frame 1 includes a first base 104 and a housing 106 which are cooperatively locked. The first worm gear output end bearing 1221 is arranged in the shaft hole of the first base 104. Inside the first base 104, a second base 105 for restricting the non-transmission degrees of freedom of the worm gear component 121 is fixed by screws. The second worm gear output end bearing 1222 is arranged in the shaft hole of the second base 105. In this embodiment, the first base 104 is used to restrict the non-transmission degrees of freedom of the worm gear and worm drive mechanism and the high-speed stage drive mechanism. The second base 105 is used to restrict the non-transmission degrees of freedom of the worm gear. The first worm gear output end bearing 1221 and the second worm gear output end bearing 1222 are used to bear the radial force of the worm gear. At the same time, when the module size is limited, the first worm gear output end bearing 1221 and the second worm gear output end bearing 1222 can be removed. At the same time, the first base 104 in this embodiment can be axially split into upper and lower halves according to the high-speed stage reduction drive mechanism, or all bases can be made integral to increase the structural strength, etc., ultimately facilitating the installation of the high-speed stage reduction drive mechanism. In this embodiment, the fixing method of fixing the second base 105 for restricting the non-transmission degrees of freedom of the worm gear component 121 inside the first base 104 by screws can also be pressing, welding, etc.

[0041] In addition, the first base and the second base can also be made integral, or have an upper and lower split structure, etc.

[0042] Preferably, the high-speed rotation driving component 101 is a motor or a hydraulic motor. The high-speed rotation driving component 101 is fixed on the first base 104. In this embodiment, considering the problem of structural configuration, the high-speed rotation driving component 101 is preferably a motor.

[0043] Preferably, the worm gear output shaft 1212 is made in the form of a solid shaft or a hollow shaft integrally formed with the first worm gear 1211, or can also be made in the form of a solid shaft or a hollow shaft separately formed from the first worm gear 1211. In this embodiment, when the worm gear output shaft 1212 is made in a hollow structure, other components on the corresponding axis are all made in a hollow structure, facilitating electrical wiring.

[0044] Preferably, the high-speed reduction drive mechanism 102 is in the form of a gear drive, a worm and worm gear drive, or a belt drive. In this embodiment, a gear drive is preferably used. In this embodiment, the high-speed reduction drive mechanism may be composed of one or more stages of drives connected in series (in this embodiment, two stages are used, and other stages may also be used, which is not a limitation of the present invention).

[0045] Preferably, to make the operation more convenient, the high-speed reduction drive mechanism 102 is a two-stage double-row spur gear reduction mechanism, which includes a first-stage reduction gear 1024, a first-stage reduction gear support shaft 1025, another reduction gear 1022, and another reduction gear support shaft 1023. 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 the shaft hole of the first base 104. The first large gear 1024-1 above the first-stage reduction gear 1024 meshes with the output shaft gear 1021. The first small gear 1024-2 below the first-stage reduction gear 1024 meshes with the second large gear 1022-1 above the other reduction gear 1022. The second small gear 1022-2 below the other reduction gear 1022 meshes with the upper gear 1131. The other reduction gear 1022 is sleeved on the other reduction gear support shaft 1023. The other reduction gear support shaft 1023 is arranged in the shaft hole of the second base 105. The high-speed reduction drive mechanism 102 is also a multi-stage gear reduction drive structure. In actual design, helical gears, worm and worm gears, bevel gears, belt drives, etc. can also be used in the double-row spur gear reduction drive structure, and the number of drive stages is not limited to two.

[0046] 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. The main control board 108 is electrically connected to the high-speed rotation drive component 101.

[0047] In this embodiment, the control circuit is composed of a main control board 108 and an angle detection circuit board 1032. Among them, according to the design space requirements, in the specific embodiment, the angle detection circuit board 1032 can be integrated into the upper main control board 108, and only one circuit board is used. The angle detector 1033 includes, but is not limited to, an optical encoder, a resolver, and a magnetic encoder. Preferably, an absolute magnetic encoder is used. The main control board 108 forms an electrical connection with the end face axial force detection sensing component and the angle detection circuit board 1032, processes the signals related to the force detection sensing component and the angle detector, and drives the high-speed rotation drive component.

[0048] The force-sensing servo drive module proposed by the present invention has a basic function of achieving a high reduction ratio and torque amplification within a compact design space, and detecting the axial force of the worm to indirectly measure the output torque of the worm gear. On this basis, a decoupling mechanism (i.e., a high-speed stage reduction transmission mechanism) isolates the high-speed rotating drive components and the force detection mechanism, rationally arranges the transmission space, and reduces the influence of noise and inertia, etc. The axial force detection structure makes the installation of the force detection sensing components more reliable and convenient, the assembly process is simple, and the detection accuracy and reliability are higher. In summary, the present invention uses a high-speed reduction stage transmission structure to decouple and transmit power, and then uses a worm and worm gear to form an output end transmission and a force detection structure. And the axial force is accurately measured through the force measurement structure in the form of an axial end face, and finally has the following advantages:

[0049] 1. The present invention uses a high-speed stage reduction transmission to decouple the high-speed rotating drive components and the axial force measurement structure, reducing the mass, inertia, and transmission noise of the force measurement structure;

[0050] 2. The force measurement structure adopts an end-face installation method, eliminating the need to manually install multiple force detection sensing components, simplifying the assembly process, improving the detection accuracy, and enabling batch and automated production at the same time;

[0051] 3. All components adopt standardized parts and standardized processing and assembly processes, so the parts can be mass-produced standardly, without complex manual assembly processes and calibration processes, and thus the relative overall cost is low and the operation is more convenient;

[0052] 4. At the same time, the entire structure is compact, and the compact setting of each component makes the overall volume small; compared with the existing force-sensing drive modules, which are generally high in cost and large in volume and are limited in application in the fields of robots and automation, the present invention is small in volume and low in cost, realizes force sensing under a large reduction ratio, and is more suitable for use.

[0053] 5. The mechanical structure design of the present invention can meet the drive control requirements from micro to large only by changing the dimensions and parameters of the standard parts. At the same time, due to the setting of the reduction device, finally the same module structure can adapt to the size and output torque requirements from micro to large, making the applicable range wider.

[0054] Example 2:

[0055] As Figure 7 、 Figure 8As shown in the figure, a force-sensing servo drive module disclosed in this embodiment is provided with an output stage reducer 123 electrically connected to the main control board 108 outside the worm gear output shaft 1212 extending out of the frame 1 in order to make the output play a decelerating role. The output stage reducer 123 uses a planetary gear reducer or a cycloidal pinwheel reducer with a small reduction ratio and small friction. Its reduction ratio is selected from 2 - 36. The worm gear output shaft 1212 is used as the input and then connected to the output stage reducer 123 to reduce the module return error and increase the torque. The output stage precision reducer selects a reduction mechanism with a relatively small reduction ratio and relatively small frictional resistance, and reducers such as planetary reducers, cycloidal pinwheel reducers, harmonic reducers, and synchronous belts can be used. Preferably, a planetary reducer with a small reduction ratio or a cycloidal pinwheel reducer with a small reduction ratio is used. In this embodiment, when the worm gear output shaft 1212 is made into a hollow structure, other components on the corresponding axis are also made into hollow structures to facilitate electrical wiring, that is, the output stage reducer 123 and the angle detector 1033 both adopt a hollow form.

[0056] Of course, the above are only specific application examples of the present invention and do not constitute any limitation to the protection scope of the present invention. Any technical solutions formed by equivalent transformation or equivalent substitution fall within the scope of the protection of the present invention.

Claims

1. A force sensing servo drive module, comprising a frame (1), Features: A high-speed rotating drive component (101), a high-speed reduction transmission mechanism (102), a worm gear transmission mechanism (103), a worm support force measuring mechanism (107) and a control circuit are arranged in the frame (1). The high-speed reduction transmission mechanism (102) meshes with the output shaft gear (1021) of the high-speed rotating drive component (101) to reduce the high-speed rotating motion of the high-speed rotating drive component (101) to a low-speed rotating motion and increase the output torque at the same time. The worm gear transmission mechanism (103) comprises a worm wheel component (121) and a double-linked transmission worm component (113). The upper end of the double-linked transmission worm component (113) is drivingly connected to the output end of the high-speed reduction transmission mechanism (102), and the lower end of the double-linked transmission worm component (113) is connected to the worm wheel component (121). 1) meshing, the worm support force measuring mechanism (107) comprises a worm support force measuring shaft (114) and an end face axial force detection sensor component (115), the worm support force measuring shaft (114) is fixedly connected to the frame (1), the double transmission worm component (113) cooperates with the shaft hole of the worm support force measuring shaft (114) and can smoothly rotate around the axis, the end face axial force detection sensor component (115) is fixed to the lower end face of the worm support force measuring shaft (114), the center of the worm wheel component (121) is provided with a worm wheel output shaft (1212) extending out of the frame (1), and an angle detector (1033) for detecting the output rotation angle is provided outside the worm wheel output shaft (1212), and the angle detector (1033) and the high-speed rotation drive component (101) are electrically connected to the control circuit.

2. A force sensing servo drive module according to claim 1, Features: The double transmission worm component (113) comprises an upper gear (1131) and a lower worm (1132); the lower worm (1132) meshes with the worm wheel component (121) and is located on the right side of the worm wheel component (121); the upper gear (1131) is transmission-connected to 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 comprises a locking sleeve (111), a first rotating support component (1121) and a second rotating support component (1122); the first rotating support component (1121) and the second rotating support component (1122) are located at both end surfaces of the double transmission worm component (113) and cooperate with the shaft hole of the worm support force measuring shaft (114); the locking sleeve (111) is located above the first rotating support component (1121) and axially locks the double transmission worm component (113).

3. A force sensing servo drive module according to claim 2, Features: The described worm gear component (121) includes a first worm gear (1211), the first worm gear (1211) meshes with the lower worm (1132), the worm gear output shaft (1212) is located at the center of the first worm gear (1211), and a first worm gear output end bearing (1221) and a second worm gear output end bearing (1222) which are respectively located on both end faces of the first worm gear (1211) are sleeved at both ends of the worm gear output shaft (1212).

4. A force-sensing servo drive module according to claim 3, characterized in that: The described frame (1) includes a first base (104) and a housing (106) which are cooperatively locked, the first worm gear output end bearing (1221) is arranged in the shaft hole of the first base (104), a second base (105) for restricting the non-transmission degrees of freedom of the worm gear component (121) is fixed in the first base (104), and the second worm gear output end bearing (1222) is arranged in the shaft hole of the second base (105).

5. A force-sensing servo drive module according to claim 4, characterized in that: The described high-speed rotation drive component (101) is a motor or a hydraulic motor, and the high-speed rotation drive component (101) is fixed on the first base (104).

6. A force-sensing servo drive module according to claim 5, characterized in that: The described worm gear output shaft (1212) is made in the form of a solid shaft or a hollow shaft integrally formed with the first worm gear (1211), or made in the form of a solid shaft or a hollow shaft separately formed from the first worm gear (1211).

7. A force-sensing servo drive module according to claim 6, characterized in that: The described high-speed stage reduction transmission mechanism (102) is in the form of a gear transmission, a worm gear and worm transmission or a belt transmission.

8. A force-sensing servo drive module according to claim 7, characterized in that: The described high-speed stage reduction transmission mechanism (102) is a two-stage double-row spur gear reduction mechanism, which includes a first-stage reduction gear (1024), a first-stage reduction gear support shaft (1025), another reduction gear (1022) and another reduction gear support shaft (1023), 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 the shaft hole of the first base (104), the first large gear (1024-1) above the first-stage reduction gear (1024) meshes with the output shaft gear (1021), the first small gear (1024-2) below the first-stage reduction gear (1024) meshes with the second large gear (1022-1) above another reduction gear (1022), the second small gear (1022-2) below another reduction gear (1022) meshes with the upper gear (1131), another reduction gear (1022) is sleeved on another reduction gear support shaft (1023), and another reduction gear support shaft (1023) is arranged in the shaft hole of the second base (105).

9. A force-sensing servo drive module according to claim 8, characterized in that: 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 to 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). The main control board (108) is electrically connected to the high-speed rotation drive component (101).

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