Servo mechanism zero automatic calibration auxiliary device

Abstract

The present application relates to servo mechanism calibration technical field, and it relates to a kind of servo mechanism zero automatic calibration auxiliary device.It includes fixed component, for positioning fixed unit;Transmission assembly includes transmission unit, support unit and flexible unit;Transmission unit one end transmission connection movable unit;Transmission unit other end is connected with support unit;Support unit one end is equipped with accommodating hole;The sliding block of flexible unit and guide block are movably arranged in accommodating hole;First elastic module is equipped between sliding block and the inner side wall of accommodating hole;Second elastic module is equipped between guide block and the side wall of accommodating hole;Guide groove is equipped in the one end of guide block;The central axis of sliding block, the central axis of guide block and the central axis of transmission unit are on the same straight line;Driving assembly includes rotary head;When working state, rotary head is inserted into guide groove and the inner side wall of guide groove is abutted.Such has solved the problem that adjustment result consistency is difficult to guarantee in the zero adjustment process of existing servo mechanism using pure mechanical structure.

Description

Technical Field

[0001] This invention relates to the field of servo mechanism calibration technology, and more specifically, to an automatic zero-position calibration auxiliary device for servo mechanisms. Background Technology

[0002] Zeroing is essential for ensuring the performance of the servo mechanism. Previously, zeroing primarily used an angle gauge and a simple mechanical structure. During zeroing, the operator inserted the zeroing device into the product's interface and applied force to both ends of the device, rotating the product's servo shaft. The operator simultaneously observed the angle on the mechanical dial of the device until the product reached the required zero position. This method has the following problems: 1) The mechanical angle rotation relies mainly on the operator's applied force, leading to inconsistent force standards and difficulty in ensuring consistent mechanical angles; 2) The zero position is adjusted by the operator, but due to high precision requirements, the operator's parameter reading accuracy is low; 3) The adjustment process requires multiple repetitions, resulting in low efficiency. Summary of the Invention

[0003] To address the problem of inconsistent adjustment results caused by the use of purely mechanical structures in the zeroing process of existing servo mechanisms, this invention provides an automatic zero-position calibration auxiliary device for servo mechanisms.

[0004] This invention provides an automatic zero-position calibration auxiliary device for a servo mechanism, applied to a servo component. The servo component includes a fixed unit and a movable unit, comprising:

[0005] Fixing component, the fixing component being used to position the fixing unit;

[0006] A transmission assembly includes a transmission unit, a support unit, and a flexible unit. One end of the transmission unit is used to drive the movable unit; the other end of the transmission unit is connected to the support unit. The support unit has a receiving hole at its end away from the transmission unit. The flexible unit includes a sliding block and a guide block. The sliding block and the guide block are sequentially and movably disposed in the receiving hole. The sliding block moves along a first direction in the plane containing the radial direction of the receiving hole. Along the first direction, a first elastic module is provided between the sliding block and the inner wall of the receiving hole. The guide block moves relative to the sliding block in a second direction in the plane containing the radial direction of the receiving hole. Along the second direction, a second elastic module is provided between the guide block and the sidewall of the receiving hole. A guide groove is provided at the end of the guide block away from the sliding block. The central axis of the sliding block, the central axis of the guide block, and the central axis of the transmission unit are on the same straight line, and the first direction and the second direction do not overlap.

[0007] A drive assembly, the drive assembly including a rotating head; in the working state, the rotating head extends into the guide groove and abuts against the inner sidewall of the guide groove.

[0008] In some embodiments, the first elastic module includes a first elastic element; a first positioning hole is recessed in the inner sidewall of the receiving hole; one end of the first elastic element is fixed in the first positioning hole, and the other end of the first elastic element is connected to the sliding block;

[0009] Wherein, one end of the sliding block away from the side where the first elastic element is located is in contact with the inner wall of the receiving hole; or, a gap is formed between the one end of the sliding block away from the side where the first elastic element is located and the inner wall of the receiving hole.

[0010] In some embodiments, the first elastic module includes a first elastic element and a second elastic element; the inner sidewall of the receiving hole is recessed with a first positioning hole and a second positioning hole, the first positioning hole and the second positioning hole are arranged symmetrically; one end of the first elastic element is fixed in the first positioning hole, and the other end of the first elastic element is connected to the sliding block; one end of the second elastic element is fixed in the second positioning hole, and the other end of the second elastic element is connected to the sliding block.

[0011] In some embodiments, the second elastic module includes a third elastic element; a third positioning hole is recessed in the inner sidewall of the receiving hole; one end of the third elastic element is fixed in the third positioning hole, and the other end of the third elastic element is connected to the guide block;

[0012] Wherein, one end of the guide block away from the side where the third elastic element is located is in contact with the inner wall of the receiving hole; or, a gap is formed between the one end of the guide block away from the side where the third elastic element is located and the inner wall of the receiving hole.

[0013] In some embodiments, the second elastic module includes a third elastic element and a fourth elastic element; the inner wall of the receiving hole is recessed with a third positioning hole and a fourth positioning hole, which are arranged symmetrically; one end of the third elastic element is fixed in the third positioning hole, and the other end of the third elastic element is connected to the guide block; one end of the fourth elastic element is fixed in the fourth positioning hole, and the other end of the fourth elastic element is connected to the guide block.

[0014] In some embodiments, the support unit includes a support; one end of the support is recessed to form the receiving hole; the bottom of the receiving hole is recessed and extends along a first direction to form a sliding groove; the end face of the sliding block facing the side of the sliding groove is provided with a protrusion; the sliding block moves within the sliding groove through the protrusion.

[0015] In some embodiments, the end face of the sliding block away from the slide groove is recessed to form a limiting groove, and the end face of the guide block away from the guide groove is protruded to form a limiting portion; the guide block moves within the limiting groove through the limiting portion.

[0016] In some embodiments, the guide block further includes a body portion and a guide portion extending along one side of the body portion; the limiting portion extends on one end of the body portion away from the side where the guide portion is located; the guide portion is recessed at one end away from the side where the body portion is located to form the guide groove; the diameter of the body portion is larger than the diameter of the guide portion;

[0017] The support unit further includes a retaining ring and a plurality of first connecting members; the retaining ring has a first central hole formed in its middle and a plurality of first mounting holes arranged around the periphery of the first central hole; the end face of the support located on the side where the receiving hole is located is provided with a plurality of second mounting holes; each of the first connecting members passes through one of the first mounting holes and one of the second mounting holes.

[0018] The guide portion passes through the first central hole and is exposed outside the receiving hole.

[0019] In some embodiments, the transmission unit includes a connecting shaft and a splined shaft; the connecting shaft is integrally formed with the splined shaft; the connecting shaft is detachably fixedly connected to the support, and the connecting shaft is located on the side away from the flexible unit;

[0020] The movable unit includes a movable body; the movable body is provided with a spline hole; the spline shaft is connected to the movable body through the spline hole.

[0021] In some embodiments, the drive assembly further includes a controller; an angle sensor or an angle gauge is also connected to the support; the first elastic module is connected to a first pressure sensor; the second elastic module is connected to a second pressure sensor; the angle sensor or the angle gauge is electrically connected to the controller; the first pressure sensor and the second pressure sensor are respectively electrically connected to the controller.

[0022] To address the problem of inconsistent adjustment results caused by the use of purely mechanical structures in the zeroing process of existing servo mechanisms, this invention has the following advantages:

[0023] The technical solution of this invention utilizes a flexible unit with a sliding block and a guide block sequentially movably positioned in a receiving hole. The sliding block moves along a first direction, and a first elastic module is provided between the sliding block and the inner wall of the receiving hole. The guide block moves along a second direction, and a second elastic module is provided between the guide block and the side wall of the receiving hole. The central axis between the sliding block and the guide block is aligned with the central axis of the transmission unit. In operation, the sliding block and the guide block compensate for displacement in the gap formed by the receiving hole, ensuring that the rotating head can be accurately inserted into the guide groove of the guide block and abut against the inner wall. This solves the problem of mechanical angle consistency between the servo mechanism zero-position automatic calibration auxiliary device and the servo component. Attached Figure Description

[0024] Figure 1 A schematic diagram of the drive assembly of a servo mechanism zero-position automatic calibration auxiliary device is shown.

[0025] Figure 2 It shows Figure 1 A schematic diagram of the transmission assembly shown in the figure;

[0026] Figure 3 It shows Figure 2 The diagram shows the structure of the BB section line.

[0027] Reference numerals: 10-Transmission unit; 111-Connecting shaft; 112-Splined shaft; 20-Support unit; 211-Support; 212-Accommodation hole; 213-Retaining ring; 214-First connecting member; 30-Flexible unit; 311-Sliding block; 312-Guide block; 3121-Main body; 3122-Guide part; 3123-Limiting part; 3124-Guide groove; 40-Angle gauge; 50-Base; 60-Mechanical arm; 70-Rotating head; 80-Controller. Detailed Implementation

[0028] 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, and are not intended to imply any limitation on the scope of the disclosure.

[0029] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based 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 terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments and are not intended to limit the indicated devices, elements, or components to having a specific orientation or being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientations or positional relationships; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the terms "installed", "set up", "equipped with", "connected", and "linked" should be interpreted broadly. 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 a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, 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 or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0030] This embodiment discloses an automatic zero-position calibration auxiliary device for a servo mechanism, such as... Figures 1 to 3 As shown, the servo mechanism zero-position automatic calibration auxiliary device is applied to the servo component, which includes a fixed unit and a movable unit. The servo mechanism zero-position automatic calibration auxiliary device includes a fixed component, a transmission component, and a drive component.

[0031] Furthermore, the fixing component has a support base, on which a positioning stage is provided for positioning the fixing unit of the servo component. The positioning stage supports the servo component, limiting the fixing unit of the servo component to the positioning stage, thereby providing the servo component with a stable operating environment and improving the accuracy of the servo component's automatic zero-point calibration. In this application, the fixing unit is the main body of the servo component, i.e., the housing, and the moving unit is the moving part of the servo component, i.e., the drive shaft, which has a splined hole.

[0032] Furthermore, such as Figure 2 and Figure 3 As shown, the transmission assembly includes a transmission unit 10, a support unit 20, and a flexible unit 30. The transmission unit 10 includes a connecting shaft 111 and a splined shaft 112, which are integrally formed, giving the transmission unit 10 strong overall structural strength to ensure it can withstand strong torque transmission and improve the stability of the servo component during automatic zero-position calibration. In this application, the splined shaft 112 is connected to the moving body through a splined hole to achieve torque transmission.

[0033] Specifically, the support unit 20 includes a support 211, one end of which is recessed inward around the central axis of the transmission unit 10, i.e., the central axis of the spline shaft 112, to form a receiving hole 212, which is used to receive the flexible unit 30. The support 211 has two through holes at the end away from the receiving hole 212. These holes are used to accommodate a blind hole at the end of the connecting shaft 111 away from the spline shaft 112. This allows the connecting shaft 111 and the support 211 to be detachably fixed together. Two pins can then pass through the through holes and extend into the blind hole of the connecting shaft 111. This ensures the consistency of the connecting shaft 111 and the support 211 during assembly. When the transmission component is rotated under force, the relative position accuracy of the spline shaft 112 relative to the support 211 remains unchanged. This prevents the central axis of the spline shaft 112 from shifting from the center line of the receiving hole 212 due to the deflection of the connecting shaft 111 during assembly. Consequently, when the servo component performs automatic zero-position calibration, it is difficult to ensure that the central axis of the flexible unit 30 and the rotating head 70 of the drive component are close to or on the same straight line as the central axis of the spline shaft 112 after assembly. This would affect the accuracy of the automatic zero-position calibration of the servo component. Meanwhile, the support 211 also has a mounting hole or threaded hole formed around the perforation position to mate with the threaded hole around the blind hole position on the connecting shaft 111. In this application, multiple nuts can be used, each nut passing through the mounting hole or threaded hole on the support 211 and threadedly engaging with the threaded hole on the connecting shaft 111, thereby achieving a detachable fixed connection between the connecting shaft 111 and the support 211.

[0034] Specifically, the flexible unit 30 includes a sliding block 311 and a guide block 312, which are sequentially and movably disposed in the receiving hole 212. The sliding block 311 moves along a first direction within the receiving hole 212 in the plane containing the radial direction of the receiving hole 212, allowing it to move relative to the support 211 along the first direction. A first elastic module is provided between the sliding block 311 and the inner wall of the receiving hole 212 along the first direction to assist the sliding block 311 in reciprocating movement within the receiving hole 212 along the first direction. Then, the guide block 312 moves relative to the sliding block 311 in the plane of the radial direction of the receiving hole 212 along the second direction, so that the guide block 312 can move relative to the sliding block 311 in the second direction. Along the second direction, a second elastic module is provided between the guide block 312 and the sidewall of the receiving hole 212 to assist the guide block 312 in reciprocating relative to the sliding block 311 in the second direction within the receiving hole 212. This ensures that when the servo mechanism zero-position automatic calibration auxiliary device is not in operation (i.e., the rotating head 70 is not inserted into the guide groove 3124), it is in its initial state, and the central axis between the sliding block 311 and the guide block 312 is on the same straight line as the central axis of the transmission unit 10. In this application, a guide groove 3124 is provided at the end of the guide block 312 away from the sliding block 311. This guide groove 3124 is used to cooperate with the rotating head 70 of the drive assembly. The first direction and the second direction do not overlap; preferably, the first direction is perpendicular to the second direction.

[0035] Furthermore, the drive assembly includes a base 50, a robotic arm 60, and a rotating head 70. One end of the robotic arm 60 is fixedly connected to the base 50, and the rotating head 70 is rotatably connected to the other end of the robotic arm 60, so that the robotic arm 60 drives the rotating head 70 to move toward the side where the guide block 312 of the flexible unit 30 is located, so that the rotating head 70 can extend into the guide groove 3124.

[0036] In this embodiment, the sliding block 311 and guide block 312 of the flexible unit 30 are sequentially and movably disposed in the receiving hole 212, allowing the sliding block 311 to move along a first direction. A first elastic module is provided between the sliding block 311 and the inner sidewall of the receiving hole 212. The guide block 312 moves along a second direction, and a second elastic module is provided between the guide block 312 and the sidewall of the receiving hole 212, ensuring that the central axis between the sliding block 311 and the guide block 312 is collinear with the central axis of the transmission unit 10. The first elastic module allows the sliding block 311 to reciprocate within the receiving hole 212 along the first direction; the second elastic module allows the guide block 312 to reciprocate relative to the sliding block 311 within the receiving hole 212 along the second direction. In operation, the sliding block 311 and the guide block 312 can move relative to each other in the receiving hole 212, thereby creating a gap that generates displacement compensation. This ensures that the rotating head 70 can be accurately inserted into the guide groove 3124 of the guide block 312 and abut against the inner side wall. At the same time, the central axis between the sliding block 311 and the guide block 312 is on the same straight line as the central axis of the transmission unit 10, thus solving the problem of mechanical angle consistency between the servo mechanism zero-position automatic calibration auxiliary device and the servo component.

[0037] Furthermore, a groove is formed inwardly at the bottom of the receiving hole 212 on the support 211, and the groove extends along the first direction; a protrusion is provided on the end face of the sliding block 311 facing the groove, the protrusion is used in conjunction with the groove, and the side wall of the groove restricts the circumferential movement of the protrusion, thereby allowing the sliding block 311 to reciprocate along the first direction by extending into the groove through the protrusion.

[0038] Specifically, the sliding block 311 has a limiting groove recessed on the end face away from the sliding groove, and the limiting groove extends along the second direction; the guide block 312 has a limiting part 3123 protruding on the end face away from the guide groove 3124, and the limiting part 3123 is used in conjunction with the limiting groove. The side wall of the limiting groove restricts the circumferential movement of the limiting part 3123, so that the guide block 312 can reciprocate along the second direction by extending into the limiting groove through the limiting part 3123.

[0039] Specifically, the guide block 312 includes a body portion 3121 and a guide portion 3122 extending along one side of the body portion 3121. A limiting portion 3123 extends from the end of the body portion 3121 away from the guide portion 3122, such that a guide groove 3124 is recessed at the end of the guide portion 3122 away from the body portion 3121. In this application, the diameter of the body portion 3121 is larger than the diameter of the guide portion 3122, thereby forming a first step on the outer periphery of the guide block 312 at the connection between the body portion 3121 and the guide portion 3122.

[0040] Specifically, the support unit 20 also includes a retaining ring 213 and a plurality of first connecting members 214, preferably three first connecting members 214 in this application. The retaining ring 213 has a first central hole in its center and three first mounting holes arranged around the first central hole. The end face of the support 211 on the side of the receiving hole 212 is provided with three second mounting holes, so that each first connecting member 214 passes through one first mounting hole and one second mounting hole, so that the retaining ring 213 and the support 211 are fixedly connected, and the side wall of the retaining ring 213 abuts against the step surface of the first step of the guide block 312, thereby restricting the axial movement between the sliding block 311 and the guide block 312, that is, no axial displacement occurs between the sliding block 311 and the guide block 312. At the same time, the guide portion 3122 of the guide block 312 can pass through the first central hole and be exposed outside the receiving hole 212, so that the robotic arm 60 can drive the rotating head 70 to extend into the guide groove 3124 to realize the rotational drive of the transmission component. In this application, the first connector 214 can be a nut or a screw.

[0041] Furthermore, the drive assembly also includes a controller 80, and an angle sensor or angle gauge 40 is connected to the support 211. A first elastic module is connected to a first pressure sensor, and a second elastic module is connected to a second pressure sensor. The angle sensor or angle gauge 40 is electrically connected to the controller 80, and the first and second pressure sensors are respectively electrically connected to the controller 80.

[0042] In this embodiment, during operation, the spline shaft 112 is inserted into the product output shaft (i.e., the spline hole of the servo component). The robotic arm 60 drives the rotating head 70 to automatically dock with the guide groove 3124 of the guide block 312. According to the instruction, it automatically drives the support 211 and the transmission shaft of the servo component to rotate. During the rotation process, the angle meter 40 or the angle sensor automatically detects the rotation angle of the transmission shaft of the servo component until the target angle is reached, and then completes the zero-position automatic calibration of the servo component.

[0043] In this embodiment, when the servo mechanism zero-position automatic calibration auxiliary device is in the initial state, in order to ensure that the central axis between the sliding block 311 and the guide block 312 is on the same straight line as the central axis of the transmission unit 10, there are four initial assembly states.

[0044] Specifically, in the first initial assembly state, the first elastic module includes a first elastic member, and the inner wall of the receiving hole 212 is recessed with a first positioning hole, so that one end of the first elastic member is fixed in the first positioning hole, and the other end of the first elastic member is connected to the sliding block 311; the second elastic module includes a third elastic member, and the inner wall of the receiving hole 212 is recessed with a third positioning hole, so that one end of the third elastic member is fixed in the third positioning hole, and the other end of the third elastic member is connected to the guide block 312.

[0045] Specifically, one end of the sliding block 311 away from the first elastic element contacts the inner wall of the receiving hole 212, and one end of the guide block 312 away from the third elastic element contacts the inner wall of the receiving hole 212; or, a gap is formed between the end of the guide block 312 away from the third elastic element and the inner wall of the receiving hole 212. This ensures that when the servo mechanism zero-position automatic calibration auxiliary device is in its initial state, the central axis between the sliding block 311 and the guide block 312 is on the same straight line as the central axis of the transmission unit 10.

[0046] Specifically, in the second initial assembly state, the first elastic module includes a first elastic member, and the inner wall of the receiving hole 212 is recessed with a first positioning hole, so that one end of the first elastic member is fixed in the first positioning hole, and the other end of the first elastic member is connected to the sliding block 311; the second elastic module includes a third elastic member, and the inner wall of the receiving hole 212 is recessed with a third positioning hole, so that one end of the third elastic member is fixed in the third positioning hole, and the other end of the third elastic member is connected to the guide block 312.

[0047] In this embodiment, a gap is formed between the end of the sliding block 311 away from the first elastic element and the inner wall of the receiving hole 212, and the end of the guide block 312 away from the third elastic element is in contact with the inner wall of the receiving hole 212; or, a gap is formed between the end of the guide block 312 away from the third elastic element and the inner wall of the receiving hole 212. This ensures that when the servo mechanism zero-position automatic calibration auxiliary device is in its initial state, the central axis between the sliding block 311 and the guide block 312 is collinear with the central axis of the transmission unit 10. Preferably, in this application, when a gap is formed between the end of the sliding block 311 away from the first elastic element and the inner wall of the receiving hole 212, and a gap is formed between the end of the guide block 312 away from the third elastic element and the inner wall of the receiving hole 212, the central axis between the sliding block 311 and the guide block 312 is collinear with the central axis of the receiving hole 212. When the rotating head 70 of the drive assembly extends into the guide groove 3124 during operation, the sensing data from the first and second pressure sensors is transmitted to the controller 80. The controller 80 then controls the robotic arm 60 to swing the rotating head 70, which in turn causes the sliding block 311 and guide block 312 to swing, thereby resetting the moving positions of the sliding block 311 and guide block 312. This ensures that the central axis between the sliding block 311 and guide block 312 is aligned with the central axis of the transmission unit 10. This further solves the problem of mechanical angle consistency between the servo mechanism zero-position automatic calibration auxiliary device and the servo assembly.

[0048] Specifically, in the third initial assembly state, the first elastic module includes a first elastic element and a second elastic element. The inner wall of the receiving hole 212 is recessed with a first positioning hole and a second positioning hole, and the first positioning hole and the second positioning hole are arranged symmetrically, so that one end of the first elastic element is fixed in the first positioning hole and the other end of the first elastic element is connected to the sliding block 311; one end of the second elastic element is fixed in the second positioning hole and the other end of the second elastic element is connected to the sliding block 311; the second elastic module includes a third elastic element. The inner wall of the receiving hole 212 is recessed with a third positioning hole, so that one end of the third elastic element is fixed in the third positioning hole and the other end of the third elastic element is connected to the guide block 312.

[0049] Wherein, one end of the guide block 312 away from the side where the third elastic element is located is in contact with the inner wall of the receiving hole 212; or, a gap is formed between the one end of the guide block 312 away from the side where the third elastic element is located and the inner wall of the receiving hole 212, so that when the servo mechanism zero-position automatic calibration auxiliary device is in the initial state, the central axis between the sliding block 311 and the guide block 312 is on the same straight line as the central axis of the transmission unit 10.

[0050] Specifically, in the fourth initial assembly state, the first elastic module includes a first elastic element and a second elastic element. The inner wall of the receiving hole 212 is recessed with a first positioning hole and a second positioning hole, which are symmetrically arranged. One end of the first elastic element is fixed in the first positioning hole, and the other end is connected to the sliding block 311. The second elastic module includes a third elastic element and a fourth elastic element. The inner wall of the receiving hole 212 is recessed with a third positioning hole and a fourth positioning hole, which are symmetrically arranged. One end of the third elastic element is fixed in the third positioning hole, and the other end is connected to the guide block 312. One end of the fourth elastic element is fixed in the fourth positioning hole, and the other end is connected to the guide block 312. This ensures that when the servo mechanism zero-position automatic calibration auxiliary device is in the initial state, the central axis between the sliding block 311 and the guide block 312 is on the same straight line as the central axis of the transmission unit 10. In this application, it is preferable that the central axis between the sliding block 311 and the guide block 312 is on the same straight line as the central axis of the receiving hole 212.

[0051] In summary, with the above-described structural configuration, the servo mechanism zero-position automatic calibration auxiliary device disclosed in this application mainly includes alignment action, accuracy compensation, rotation action, detection action, and compensation action, and performs actions according to the above-described action flow during operation. During operation, the splined shaft of the device is first inserted into the product output shaft (i.e., the servo component input end). The rotating head mounted at the end of the robotic arm automatically aligns and inserts into the guide slot of the guide block. During insertion, the gap created by the relative movement between the protrusion of the sliding block and the groove of the support, and between the limiting part of the guide block and the limiting groove of the sliding block, compensates for the precision of the servo mechanism, ensuring that the rotating head at the end of the robotic arm can accurately insert into the guide slot of the guide block. This causes the rotating head at the end of the robot to rotate, transmitting force through the guide block, sliding block, support, connecting shaft, and splined shaft, driving the product output shaft to rotate. During rotation, the angle is monitored in real-time by the angle acquisition software and fed back to the controller. The controller then controls the rotating head at the end of the robotic arm to drive the splined shaft and other transmission mechanisms to rotate at the corresponding angle and perform angle compensation until the target angle is reached. This achieves automatic auxiliary detection and adjustment of the zero-position angle of the servo component.

[0052] 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 invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0053] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A servo mechanism zero position automatic calibration auxiliary device applied to a servo assembly, the servo assembly comprising a fixed unit and a movable unit, characterized in that, The utility model relates to a kind of fixed unit and movable unit, including: Fixed component for positioning the fixed unit; Transmission component, the transmission component includes transmission unit, support unit and flexible unit;The transmission unit one end is used to drive connection the movable unit;The transmission unit other end is connected with the support unit;The support unit is away from the side where the transmission unit is located one end and is equipped with accommodating hole;The flexible unit includes sliding block and guide block;The sliding block and the guide block are sequentially arranged in the accommodating hole;The sliding block moves in the plane where the radial line of the accommodating hole is located along the first direction;Along the first direction, first elastic module is arranged between the sliding block and the inner side wall of the accommodating hole;The guide block moves in the plane where the radial line of the accommodating hole is located relative to the sliding block along the second direction;Along the second direction, second elastic module is arranged between the guide block and the side wall of the accommodating hole;The guide block is away from the side where the sliding block is located one end and is equipped with guide slot;The central axis of the sliding block, the central axis of the guide block and the central axis of the transmission unit are on the same straight line, and the first direction and the second direction do not overlap; Drive component, the drive component includes rotary head;When working, the rotary head is inserted into the guide slot and abuts against the inner side wall of the guide slot.

2. The servo-mechanism zero-position automatic calibration aid of claim 1, wherein, The first elastic module includes first elastic piece;The inner side wall of the accommodating hole is recessed with first positioning hole;The first end of the first elastic piece is fixed in the first positioning hole, and the other end of the first elastic piece is connected to the sliding block; Wherein, the end of the sliding block away from the side where the first elastic piece is located is in contact with the inner side wall of the accommodating hole;Or, the end of the sliding block away from the side where the first elastic piece is located and the inner side wall of the accommodating hole form a gap.

3. The servo-mechanism zero-position automatic calibration aid of claim 1, wherein, The first elastic module includes first elastic piece and second elastic piece;The inner side wall of the accommodating hole is recessed with first positioning hole and second positioning hole, and the first positioning hole and the second positioning hole are symmetrically arranged;The first end of the first elastic piece is fixed in the first positioning hole, and the other end of the first elastic piece is connected to the sliding block;The first end of the second elastic piece is fixed in the second positioning hole, and the other end of the second elastic piece is connected to the sliding block.

4. A servo-mechanism zero position automatic calibration aid as claimed in claim 2 or 3, characterised in that, The second elastic module includes third elastic piece;The inner side wall of the accommodating hole is recessed with third positioning hole;The first end of the third elastic piece is fixed in the third positioning hole, and the other end of the third elastic piece is connected to the guide block; Wherein, the end of the guide block away from the side where the third elastic piece is located is in contact with the inner side wall of the accommodating hole;Or, the end of the guide block away from the side where the third elastic piece is located and the inner side wall of the accommodating hole form a gap.

5. An automatic zero calibration aid for a servo-mechanism as claimed in claim 2 or 3, characterized in that The second elastic module comprises a third elastic member and a fourth elastic member; the inner side wall of the accommodating hole is concavely provided with a third positioning hole and a fourth positioning hole, and the third positioning hole and the fourth positioning hole are symmetrically arranged; one end of the third elastic member is fixed in the third positioning hole, and the other end of the third elastic member is connected to the guide block; one end of the fourth elastic member is fixed in the fourth positioning hole, and the other end of the fourth elastic member is connected to the guide block.

6. The servo-mechanism zero-position automatic calibration aid of claim 1, wherein, The support unit comprises a support; one end of the support is concavely provided with the accommodating hole; the bottom of the accommodating hole is concavely provided with a sliding groove extending in a first direction; the end face of the sliding block on the side facing the sliding groove is convexly provided with a protrusion; the sliding block moves in the sliding groove through the protrusion.

7. The servo-mechanism zero-position automatic calibration aid of claim 6, wherein, The end face of the sliding block on the side away from the sliding groove is concavely provided with a limiting groove, and the end face of the guide block on the side away from the guide groove is convexly provided with a limiting portion; the guide block moves in the limiting groove through the limiting portion.

8. The servo-mechanism zero-position automatic calibration aid of claim 7, wherein, The guide block further comprises a body portion and a guide portion extending from one side of the body portion; the limiting portion extends from one end of the body portion away from the side where the guide portion is located; the end of the guide portion away from the side where the body portion is located is concavely provided with the guide groove; the diameter of the body portion is greater than the diameter of the guide portion; The support unit further comprises a stop ring and a plurality of first connecting members; the middle part of the stop ring is provided with a first central hole and a plurality of first assembly holes arranged around the first central hole; the end face of the support on the side where the accommodating hole is located is provided with a plurality of second assembly holes; each first connecting member is arranged in one first assembly hole and one second assembly hole; The guide portion is exposed outside the accommodating hole through the first central hole.

9. The servo-mechanism zero-position automatic calibration aid of claim 6, wherein, The transmission unit comprises a connecting shaft and a spline shaft; the connecting shaft and the spline shaft are integrally formed; the connecting shaft is detachably fixedly connected with the support, and the connecting shaft is located on the side away from the flexible unit; The movable unit comprises a movable body; the movable body is provided with a spline hole; the spline shaft is connected with the movable body through the spline hole.

10. The servo-mechanism zero-position automatic calibration aid of claim 6, wherein, The drive assembly further comprises a controller; the support is further connected with an angle sensor or an angle instrument; the first elastic module is connected with a first pressure sensor; the second elastic module is connected with a second pressure sensor; the angle sensor or the angle instrument is electrically connected with the controller; the first pressure sensor and the second pressure sensor are respectively electrically connected with the controller.

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