Detection and bearing servo mechanism

Abstract

The invention relates to a detection and bearing servo mechanism. The detection and bearing servo mechanism comprises a shell, a driving unit, a lead screw, a lead screw nut, a first potentiometer and a locking unit, the lead screw rod is installed in the shell, the output end of the driving unit is in transmission connection with the lead screw rod, the lead screw nut is installed on the lead screw rod, the first potentiometer is fixed in the shell and provided with a first potential groove, a first positioning column is fixed to the lead screw nut and contained in the first potential groove, and the second potentiometer is fixed to the lead screw nut and provided with a second potential groove. A gap is formed between the first positioning column and the side wall of the first potential groove, the lead screw nut is provided with a connecting part, the shell is provided with a limiting unit, the limiting unit is provided with a guide hole, the connecting part penetrates through the guide hole to be exposed out of the shell, the locking unit is provided with a guide bearing support, and the guide bearing support is detachably and fixedly connected with the connecting part. Therefore, the problems that a potentiometer in an existing electric servo mechanism is single in design, does not have redundancy and is not high in testing accuracy are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric servo, and in particular to a detection and bearing servo mechanism. Background Art

[0002] With the increasing maturity of high-performance motors, efficient transmission mechanism technology, basic power drive and digital control technology, the advantages of electric servo mechanisms such as flexible control, high efficiency and small size are becoming increasingly apparent, making it easier to achieve high integration and high power-to-weight ratio design, and suitable for lightweight and highly maneuverable aircraft design. The miniaturization and high power-to-weight ratio of electric servo mechanisms have changed the design ideas of traditional servo mechanisms, and they are facing new challenges. It is urgent to carry out research on electric servo mechanisms in terms of high reliability and redundancy design, high power, large load, miniaturization and lightweight, so as to provide technical support for the new generation of UAV systems to achieve high-speed and large airspace flight, fast response and highly maneuverable attack and interception.

[0003] At present, science and technology are developing rapidly. The new generation of equipment is developing towards informatization, systematization, autonomy and practical combat. The requirements for the new generation of UAV systems are clustered, lightweight, large airspace and large load. They have high-speed and large airspace flight, high maneuverability, fast response attack and interception capabilities, which puts forward higher requirements on the space volume, weight and reliability of the servo mechanism. The corresponding new generation of navigation electric servo mechanism should have the characteristics of high reliability, high precision, fast response and high power-to-weight ratio.

[0004] Among them, the existing electric servo mechanism has:

[0005] (1) The existing bolt disassembly and assembly device requires a specially designed guide structure, which increases the volume and weight and has a complex structure.

[0006] (2) The existing bolt disassembly and assembly device needs to be specially designed to overcome the overturning moment, and the structure is complicated.

[0007] (3) The existing bolt disassembly and assembly devices cannot integrate the functions of guiding, bearing, and overcoming overturning moment, resulting in a complex structure and high manufacturing cost.

[0008] (4) The existing bolt disassembly and assembly devices are all single in design of potentiometers, lack redundancy and have low test accuracy. Summary of the invention

[0009] In order to solve the problems in existing electric servo mechanisms that the potentiometers are all single in design, have no redundancy and have low testing accuracy, the present invention provides a detection and bearing servo mechanism.

[0010] In a first aspect, the present invention provides a detection and bearing servo mechanism, comprising: a housing, a driving unit, a lead screw, a lead screw nut, a first potentiometer and a locking unit; both ends of the lead screw are rotatably mounted in the housing, the output end of the driving unit is transmission-connected to the input end of the lead screw, the lead screw nut is threadedly mounted on the lead screw, the first potentiometer is fixed in the housing, the first potentiometer has a first potential groove, the extension direction of the first potential groove is arranged along the axial direction of the lead screw, a first positioning column is fixed on the lead screw nut, the first positioning column is accommodated in the first potential groove, and a gap is provided between the first positioning column and the side wall of the first potential groove, a connecting portion is extended on the lead screw nut, a limiting unit is arranged on the housing, the limiting unit is used to limit the axial rotation of the lead screw nut, the limiting unit has a guide hole, the connecting portion passes through the guide hole and is exposed outside the housing, and the locking unit has a guide bearing bracket, and the guide bearing bracket is detachably fixedly connected to the connecting portion;

[0011] The driving unit drives the lead screw to rotate, drives the lead screw nut to move, and further drives the first positioning column to move in the first potential groove.

[0012] In some embodiments, a length of the first potential groove along the axial direction of the lead screw is greater than a maximum distance that the lead screw nut moves on the lead screw.

[0013] In some embodiments, a second potentiometer is further included, the second potentiometer is fixed in the housing, the second potentiometer has a second potential groove, and the extension direction of the second potential groove is arranged along the axial direction of the lead screw;

[0014] A second positioning column is also fixed on the lead screw nut, the second positioning column is spaced or staggered from the first positioning column, the second positioning column is accommodated in the second potential groove, and there is a gap between the second positioning column and the side wall of the second potential groove;

[0015] The driving unit drives the lead screw to rotate, drives the lead screw nut to move, and further drives the second positioning column to move in the second potential groove.

[0016] In some embodiments, the length of the second potential groove along the axial direction of the lead screw is greater than the maximum distance that the lead screw nut moves on the lead screw.

[0017] In some embodiments, the limiting unit further has a positioning key, the positioning key is arranged on two opposite sides of the guide hole, a slide rail is arranged on the positioning key, and the extension direction of the slide rail is arranged along the axial direction of the lead screw;

[0018] The connecting part is provided with a sliding part, and the sliding part can be slidably arranged on the slide rail.

[0019] In some embodiments, a gap between the first positioning column and the side wall of the first potential groove is less than or equal to 5 mm.

[0020] In some embodiments, a gap between the second positioning column and the side wall of the second potential groove is less than or equal to 5 mm.

[0021] In some embodiments, the driving unit has a driving assembly and a transmission assembly, the transmission assembly includes a first gear, a second gear and a lead screw gear, the first gear is coaxially fixedly connected with the second gear, the lead screw gear is coaxially fixedly connected with the lead screw and is arranged on one side of the lead screw, and the lead screw gear is meshingly connected with the first gear;

[0022] The driving assembly comprises a driving motor and a transmission gear, wherein the driving motor is installed in the housing, the output shaft of the driving motor is coaxially fixedly connected with the transmission gear, and the transmission gear is meshingly connected with the second gear;

[0023] There is a transmission ratio K between the first gear and the second gear, and the value range of the transmission ratio K is: 6≤K≤36.

[0024] In some embodiments, the drive motor and the lead screw are located on the same side of the housing.

[0025] In some embodiments, a fixing portion is extended outwardly from one side of the guide bearing bracket, a receiving groove is recessed at one end of the fixing portion away from the side where the guide bearing bracket is located, a corresponding receiving limit matching the receiving groove is located at the connecting portion, a first assembly structure is provided at the bottom of the receiving groove, and a second assembly structure is provided on the connecting portion;

[0026] The locking unit further includes a first connecting member;

[0027] The first assembly structure is a first assembly hole, the second assembly structure is a second assembly hole, and the first connecting member is inserted into the first assembly hole and the second assembly hole.

[0028] In order to solve the problem that the potentiometers in the existing electric servo mechanisms are all single in design, have no redundancy and have low test accuracy, the present invention has the following advantages:

[0029] Through the technical solution of the present invention, the first positioning column is fixedly connected to the lead screw nut, so that the first positioning column extends into the first potential groove, so that there is a gap between the first positioning column and the side wall of the first potential groove, and then the lead screw nut drives the first positioning column to achieve precise movement in the first potential groove, thereby improving the high-precision detection capability of the potentiometer, and having higher reliability and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the structure of a detection and bearing servo mechanism is shown;

[0031] Figure 2 Shows Figure 1 A structural schematic diagram of the second positioning column extending into the second potential groove as shown in ;

[0032] Figure 3 Shows Figure 1 Schematic diagram of the structure in which the connecting portion is detachably fixedly connected to the guide bearing bracket.

[0033] Figure markings: 1-driving motor; 2-transmission gear; 3-transmission gear assembly; 4-locking nut; 5-screw gear; 6-screw screw; 7-screw nut; 8-first potentiometer; 9-second potentiometer; 10-guide bearing bracket. DETAILED DESCRIPTION

[0034] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0035] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0036] This embodiment discloses a detection and bearing servo mechanism, such as Figures 1 to 3As shown, the detection and bearing servo mechanism includes: a housing, a driving unit, a lead screw 6, a lead screw nut 7, a first potentiometer 8 and a locking unit; both ends of the lead screw 6 are rotatably mounted in the housing, the output end of the driving unit is transmission-connected with the input end of the lead screw 6, the lead screw nut 7 is threadedly mounted on the lead screw 6, the first potentiometer 8 is fixed in the housing, the first potentiometer 8 has a first potential groove, the extension direction of the first potential groove is arranged along the axial direction of the lead screw 6, a first positioning column is fixed on the lead screw nut 7, the first positioning column is accommodated in the first potential groove, and a gap is provided between the first positioning column and the side wall of the first potential groove, a connecting portion is extended on the lead screw nut 7, a limiting unit is provided on the housing, the limiting unit is used to limit the axial rotation of the lead screw nut 7, the limiting unit has a guide hole, the connecting portion passes through the guide hole and is exposed outside the housing, and the locking unit has a guide bearing bracket 10, and the guide bearing bracket 10 is detachably fixedly connected with the connecting portion;

[0037] The driving unit drives the lead screw 6 to rotate, drives the lead screw nut 7 to move, and then drives the first positioning column to move in the first potential groove. In the present application, two identical angular contact ball bearings are designed at both ends of the lead screw 6.

[0038] In this embodiment, a detection and bearing servo mechanism is provided, which uses a first positioning column fixedly connected to the screw nut 7, so that the first positioning column extends into the first potential groove, so that there is a gap between the first positioning column and the side wall of the first potential groove, and then the screw nut 7 drives the first positioning column to achieve precise movement in the first potential groove, thereby improving the high-precision detection capability of the potentiometer, and having higher reliability and accuracy.

[0039] Among them, since the driving unit drives the lead screw 6 to rotate, the lead screw nut 7 drives the first positioning column to move in the first potential groove. Since there is a gap between the first positioning column and the side wall of the first potential groove, the first positioning column can accurately cut the magnetic flux lines of the first potentiometer 8 located in the first potential groove. The first potentiometer 8 realizes accurate detection of the movement position of the lead screw nut 7 through the change of the magnetic flux lines, thereby improving the detection capability and also having higher reliability.

[0040] In some embodiments, the axial length of the first potential groove along the lead screw 6 is greater than the maximum distance that the lead screw nut 7 moves on the lead screw 6 .

[0041] In this embodiment, the rotation of the lead screw 6 can drive the lead screw nut 7 to move back and forth, thereby enabling the lead screw nut 7 to drive the first positioning column to move in the first potential groove and cut the magnetic flux lines. Among them, through the above-mentioned configuration, when the lead screw nut 7 drives the first positioning column to move in the first potential groove, the first positioning column will never collide with the side wall of the first potential groove, thereby affecting the detection accuracy.

[0042] In some embodiments, a second potentiometer 9 is further included, the second potentiometer 9 is fixed in the housing, the second potentiometer 9 has a second potential groove, and the extension direction of the second potential groove is arranged along the axial direction of the lead screw 6;

[0043] A second positioning column is also fixed on the lead screw nut 7. The second positioning column is spaced or staggered from the first positioning column. The second positioning column is accommodated in the second potential groove. There is a gap between the second positioning column and the side wall of the second potential groove.

[0044] The driving unit drives the lead screw 6 to rotate, drives the lead screw nut 7 to move, and further drives the second positioning column to move in the second potential groove.

[0045] Furthermore, the axial length of the second potential groove along the lead screw 6 is greater than the maximum distance that the lead screw nut 7 moves on the lead screw 6 .

[0046] In this embodiment, through the above settings, the two potentiometers can simultaneously detect the movement position of the lead screw nut 7. In this application, the structure and size of the first potentiometer 8 are the same as those of the second potentiometer 9, and it has dual-redundancy electric drive capability and dual-redundancy high-precision detection capability, and has high reliability and accuracy. Among them, the first potentiometer 8 and the second potentiometer 9 are divided into primary and backup in the application, and this application will not be described in detail.

[0047] Furthermore, a first positioning column is provided on one of the side walls of the screw nut 7, and a second positioning column is provided on a side wall adjacent to the side wall, so that the first positioning column and the second positioning column are staggered, and the first potentiometer 8 and the second potentiometer 9 are also located at different positions in the housing, which can effectively utilize the space in the housing of the servo mechanism, and then realize the reasonable use of the internal space of the housing, further reduce the volume of the servo mechanism, and complete the lightweight design. In the present application, the first positioning column and the screw nut 7 are designed in an integrated manner, so as to reduce the increase in assembly components caused by the connector duplicating the first positioning column to limit it on the screw nut 7, thereby increasing the manufacturing cost; similarly, the second positioning column is also designed in an integrated manner with the screw nut 7, and the specific effect is not described in this application.

[0048] In some embodiments, the limiting unit further has a positioning key, the positioning key is arranged on two opposite sides of the guide hole, a slide rail is arranged on the positioning key, and the extension direction of the slide rail is arranged along the axial direction of the lead screw 6;

[0049] The connecting part is provided with a sliding part, and the sliding part can be slidably arranged on the slide rail.

[0050] In this embodiment, through the above arrangement, a positioning key is provided on the housing at the position of the guide hole to limit the rotation of the lead screw nut 7. Specifically, a slide rail is provided on the positioning key, and the sliding portion on the connecting portion can be slidably arranged on the slide rail, and the extension direction of the slide rail is extended along the axial direction of the lead screw 6, so that the axial rotation of the lead screw nut 7 can be limited by the positioning key. Among them, under the restriction of the positioning key, the lead screw nut 7 is only allowed to translate along the axial centerline direction of the lead screw 6.

[0051] In some embodiments, a gap between the first positioning column and the side wall of the first potential groove is less than or equal to 5 mm.

[0052] Furthermore, a gap between the second positioning column and the side wall of the second potential groove is less than or equal to 5 mm.

[0053] In the present embodiment, through the above-mentioned arrangement, the first positioning column will never collide with the side wall of the first potential groove when the lead screw nut 7 drives the first positioning column to move in the first potential groove, thereby affecting the detection accuracy; at the same time, since the gap between the first positioning column and the side wall of the first potential groove and the gap between the second positioning column and the side wall of the second potential groove are not too large, the first potentiometer 8 and the second potentiometer 9 are not too large, resulting in the internal space of the shell being increased accordingly according to the volume of the first potentiometer 8 and the second potentiometer 9, thereby increasing the manufacturing cost and being not conducive to miniaturization design; furthermore, if the gap between the first positioning column and the side wall of the first potential groove and the gap between the second positioning column and the side wall of the second potential groove are too large, this may easily cause the first positioning column and the second positioning column to cut the magnetic flux lines, resulting in unclear cutting and affecting the detection accuracy.

[0054] In some embodiments, the driving unit has a driving assembly and a transmission assembly, the transmission assembly includes a first gear, a second gear and a lead screw gear 5, the first gear is coaxially fixedly connected with the second gear, the lead screw gear 5 is coaxially fixedly connected with the lead screw 6 and is arranged on one side of the lead screw 6, and the lead screw gear 5 is meshingly connected with the first gear;

[0055] The driving assembly comprises a driving motor 1 and a transmission gear 2. The driving motor 1 is installed in the housing. The output shaft of the driving motor 1 is coaxially fixedly connected with the transmission gear 2. The transmission gear 2 is meshingly connected with the second gear.

[0056] There is a transmission ratio K between the first gear and the second gear, and the value range of the transmission ratio K is: 6≤K≤36.

[0057] Furthermore, the driving motor 1 and the lead screw 6 are arranged on the same side in the housing.

[0058] In this embodiment, the drive motor 1 is fixedly connected to the transmission gear 2, and the screw gear 5 is driven to rotate through the transmission gear 2 assembly. The screw gear 5 is coaxially fixedly connected to the screw 6 through the locking nut 4. The rotation of the screw 6 can drive the screw nut 7 assembly to reciprocate. In this application, the drive motor 1 is designed to have two main and standby windings of the same specifications. The stator adopts a 4-pole 12-slot structure. The two windings are offline separately. When one winding fails, the other winding takes over, so that it has dual redundancy capability and high reliability.

[0059] The transmission gear 2 assembly is composed of two spur gears (i.e., a first gear and a second gear) coaxially fixedly connected.

[0060] In some embodiments, a fixing portion is extended outwardly from one side of the guide bearing bracket 10, and a receiving groove is recessed at one end of the fixing portion away from the side where the guide bearing bracket 10 is located, and a corresponding receiving limit matching the receiving groove is located at the connecting portion, a first assembly structure is provided at the bottom of the receiving groove, and a second assembly structure is provided on the connecting portion;

[0061] The locking unit further includes a first connecting member;

[0062] The first assembly structure is a first assembly hole, the second assembly structure is a second assembly hole, and the first connecting member is inserted into the first assembly hole and the second assembly hole.

[0063] In this embodiment, the guide bearing bracket 10 is designed with a mounting groove connected to the lead screw nut 7, i.e., a receiving groove; and a threaded hole locked with the lead screw nut 7, i.e., a first assembly hole; so that the guide bearing bracket 10 can both carry and prevent the lead screw nut 7 from rotating, ensuring that the lead screw nut 7 can only reciprocate along the axial direction of the lead screw 6; another function of the mounting groove connected to the lead screw nut 7 is to ensure that the lead screw nut 7 is not subjected to a large overturning force, reduce friction and wear, and extend the service life. At the same time, two mounting through holes are designed for connecting the guide bearing bracket 10 with an external device.

[0064] The receiving groove connecting the guide bearing bracket 10 and the lead screw nut 7 is set as a square interface, and two screws (i.e., first connecting members) are designed to be installed and passed through the second assembly hole on the connecting part of the lead screw nut 7 to achieve threaded connection with the threaded hole, so as to achieve a detachable fixed connection between the guide bearing bracket 10 and the connecting part of the lead screw nut 7. The first connecting member can be a bolt, a pin or other implementable structure, and the present application is preferably a bolt, that is, the first assembly structure and the second assembly structure are threadedly connected by bolts.

[0065] In summary, by designing the first potentiometer and the second potentiometer into two identical structures, the device has dual-redundancy electric driving capability and dual-redundancy high-precision detection capability, and has high reliability and accuracy.

[0066] At the same time, by designing the drive motor with two winding methods, main and standby, when one winding method is damaged, the other winding method can take over, thus achieving dual redundancy capability and higher reliability.

[0067] Furthermore, the transmission method of the roller screw has high transmission efficiency, can increase the load within a certain range, and has overload capacity.

[0068] Finally, the guide load-bearing bracket can play a guiding and load-bearing role, greatly reducing the volume and weight. Because the screw nut is subjected to unilateral force, the overturning moment can be overcome and the reliability of the system can be improved.

[0069] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

[0070] In addition, it should be understood that although the present specification is described according to embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that those skilled in the art can understand.

Claims

1. A detection and load-bearing servo mechanism, characterized in that: include: A housing, a driving unit, a lead screw, a lead screw nut, a first potentiometer and a locking unit; both ends of the lead screw are rotatably mounted in the housing, the output end of the driving unit is transmission-connected to the input end of the lead screw, the lead screw nut is threadedly mounted on the lead screw, the first potentiometer is fixed in the housing, the first potentiometer has a first potential groove, the extension direction of the first potential groove is arranged along the axial direction of the lead screw, a first positioning column is fixed on the lead screw nut, the first positioning column is accommodated in the first potential groove, and a gap is provided between the first positioning column and the side wall of the first potential groove, a connecting portion is extended on the lead screw nut, a limiting unit is provided on the housing, the limiting unit is used to limit the axial rotation of the lead screw nut, the limiting unit has a guide hole, the connecting portion passes through the guide hole and is exposed outside the housing, the locking unit has a guide bearing bracket, and the guide bearing bracket is detachably fixedly connected to the connecting portion; The driving unit drives the lead screw to rotate, drives the lead screw nut to move, and further drives the first positioning column to move in the first potential groove.

2. The detection and load-bearing servo mechanism according to claim 1, characterized in that: The length of the first potential groove along the axial direction of the lead screw is greater than the maximum distance that the lead screw nut moves on the lead screw.

3. The detection and load-bearing servo mechanism according to claim 1 or 2, characterized in that: It also includes a second potentiometer, which is fixed in the housing, and has a second potential groove, and the extension direction of the second potential groove is arranged along the axial direction of the lead screw; A second positioning column is also fixed on the lead screw nut, the second positioning column is spaced or staggered from the first positioning column, the second positioning column is accommodated in the second potential groove, and there is a gap between the second positioning column and the side wall of the second potential groove; The driving unit drives the lead screw to rotate, drives the lead screw nut to move, and further drives the second positioning column to move in the second potential groove.

4. The detection and load-bearing servo mechanism according to claim 3, characterized in that: The length of the second potential groove along the axial direction of the lead screw is greater than the maximum distance that the lead screw nut moves on the lead screw.

5. The detection and load-bearing servo mechanism according to claim 1, wherein: The limiting unit further has a positioning key, which is arranged at two opposite sides of the guide hole, and a slide rail is arranged on the positioning key, and the extension direction of the slide rail is arranged along the axial direction of the lead screw; The connecting part is provided with a sliding part, and the sliding part can be slidably arranged on the slide rail.

6. The detection and load-bearing servo mechanism according to claim 1, wherein: A gap between the first positioning column and the side wall of the first potential groove is less than or equal to 5 mm.

7. The detection and load-bearing servo mechanism according to claim 3, characterized in that: A gap between the second positioning column and the side wall of the second potential groove is less than or equal to 5 mm.

8. The detection and load-bearing servo mechanism according to claim 1, wherein: The driving unit comprises a driving assembly and a transmission assembly, wherein the transmission assembly comprises a first gear, a second gear and a lead screw gear, wherein the first gear is coaxially fixedly connected with the second gear, the lead screw gear is coaxially fixedly connected with the lead screw and is arranged on one side of the lead screw, and the lead screw gear is meshingly connected with the first gear; The driving assembly comprises a driving motor and a transmission gear, wherein the driving motor is installed in the housing, the output shaft of the driving motor is coaxially fixedly connected with the transmission gear, and the transmission gear is meshingly connected with the second gear; There is a transmission ratio K between the first gear and the second gear, and the value range of the transmission ratio K is: 6≤K≤36.

9. The detection and load-bearing servo mechanism according to claim 8, characterized in that: The driving motor and the lead screw are arranged on the same side of the housing.

10. The detection and load-bearing servo mechanism according to claim 8, wherein: A fixing portion is extended outwardly from one side of the guide bearing bracket, and a receiving groove is recessed at one end of the fixing portion away from the side where the guide bearing bracket is located, and a corresponding receiving limit matching the receiving groove is located at the connecting portion, a first assembly structure is arranged at the bottom of the receiving groove, and a second assembly structure is arranged on the connecting portion; The locking unit further includes a first connecting member; The first assembly structure is a first assembly hole, the second assembly structure is a second assembly hole, and the first connecting member is inserted into the first assembly hole and the second assembly hole.

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