Embedded force value detection sensor for motor

Abstract

The utility model provides a motor embedded force value detection sensor, an elastic body is provided with a part used as a rear cover of a servo motor, the elastic body is provided with a first connecting part and a second connecting part, the first connecting part is located at one end of the elastic body, and the second connecting part is located at the other end of the elastic body. The elastic body is used for being connected with the servo motor or a part which is located on the rear portion of the servo motor and fixedly connected with the servo motor, and the elastic body can be connected to the rear side of the servo motor through the first connecting part to serve as a rear cover of the servo motor; the second connecting part is located at the other end of the elastic body and used for being matched with the first end so that the elastic body can receive pulling force or pressure. The elastic body is provided with an open mounting hole facing the first end, and the mounting hole is provided with the setting position of the servo motor encoder. According to the utility model, a complicated mechanical structure can be avoided to arrange the force value detection sensor; the force value detection sensor is embedded into the motor rear cover, the force value borne by the robot is effectively monitored, and miniaturization of the robot is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of force value detection equipment, in particular to a motor embedded force value detection sensor therein. Background Art

[0002] A large number of sensor technologies are used in robots, and force detection sensors are one of the indispensable sensors. They can be used for robot state control, object grasping force control, robot load detection, etc., and are especially important in field operations.

[0003] When a robot uses a force detection sensor, an independent strain sensor is installed, which makes it difficult to miniaturize the robot and makes the structural design complex. Utility Model Content

[0004] The purpose of the utility model is to provide a force detection sensor that can be embedded in a motor, which can be combined with the motor to effectively monitor the force value applied to the robot and contribute to the miniaturization of the robot.

[0005] To this end, the utility model adopts the following technical solutions:

[0006] A motor-embedded force detection sensor includes an elastomer with a strain-sensitive portion provided thereon. The elastomer is characterized in that the elastomer has a portion serving as a rear cover for the servo motor, and the elastomer is provided with a first connection portion and a second connection portion. The first connection portion is located at one end of the elastomer and is used to connect to the servo motor or to a portion located at the rear of the servo motor and fixedly connected to the servo motor. The elastomer can be connected to the rear side of the servo motor through the first connection portion to serve as a rear cover for the servo motor. The second connection portion is located at the other end of the elastomer and is used to cooperate with the first end to allow the elastomer to receive tension or pressure.

[0007] The elastic body is provided with a mounting hole which is open toward the first end, and the mounting hole is used to set the position of the servo motor encoder.

[0008] On the basis of adopting the above technical solutions, the present invention may also adopt the following further technical solutions, or use these further technical solutions in combination:

[0009] The mounting hole also provides a location for the controller of the servo motor, or the elastic body provides a wiring hole at a location other than the first connection portion, and the sensor circuit board provided in the mounting hole is connected to the controller line, and the encoder is connected to the controller line.

[0010] The first connection portion and the second connection portion are respectively located at the front and rear ends of the portion serving as the back cover.

[0011] The strain sensitive portion is located on a portion serving as a rear cover of the servo motor, and the elastic body is provided with a mounting hole opening toward the first end from the portion serving as the rear cover of the servo motor toward the first end.

[0012] The first connection portion is an internal thread or external thread connection structure, and a mounting ring is provided at the rear of the servo motor, and the internal thread or external thread connection structure is threadedly connected to the mounting ring.

[0013] The first connection portion is a plurality of bolt holes, which are connected to the rear portion of the servo motor or to a portion located at the rear portion of the servo motor and fixedly connected to the servo motor via a plurality of bolts.

[0014] The elastic body is provided with limiting bosses on the rear side of the portion serving as the rear cover and the rear side of the first connecting portion respectively.

[0015] The strain sensitive portion is located at the bottom of the mounting hole, and a strain gauge is adhered to the inner side of the strain sensitive portion.

[0016] A strain gauge is adhered to the strain sensitive portion; and a protective sealant is poured on the strain gauge.

[0017] The encoder of the servo motor and the circuit board of the sensor are arranged in the mounting hole. The mounting hole is a stepped hole. The circuit board of the sensor adopts an FPC soft board and is installed at the bottom of the mounting hole or the side wall of the hole near the bottom of the hole. The encoder is located above the FPC soft board and is supported on the step surface of the stepped hole through a connecting structure.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] This utility model avoids the need for complex mechanical structures to install force detection sensors; by embedding the force detection sensor in the motor's rear cover, it effectively monitors the force applied to the robot and contributes to the robot's miniaturization. When the motor, along with the movement of the robot's components, contacts an object, the resulting reaction force is transmitted to the sensor. The motor encoder controls the motor's speed, forward and reverse motion, or stops it based on the force feedback from the sensor. This solution embeds the sensor in the motor's rear cover, giving the motor a force detection function. When the entire motor is integrated into the robot, it effectively monitors the load applied to the robot, enabling the robot to accurately control force to achieve various actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is the main view of the utility model;

[0021] Figure 2 It is a top view of the utility model;

[0022] Figure 3It is a cross-sectional view of the utility model;

[0023] Figure 4 This is another bottom installation schematic diagram of the utility model;

[0024] Figure 5 An overall installation diagram of the utility model; DETAILED DESCRIPTION

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0026] Refer to the accompanying drawings. The motor-embedded force detection sensor of the present invention comprises an elastomer 2, which is provided with a strain-sensitive portion 20. The elastomer 2 has a portion 200 serving as the back cover of the servo motor 1. The elastomer 1 is provided with a first connection portion 21 and a second connection portion 22. The first connection portion 21 is located at one end of the elastomer 2 and is used to connect to the servo motor 1 or to a portion located at the rear of the servo motor and fixedly connected to the servo motor. The elastomer 2 can be connected to the rear side of the servo motor 1 through the first connection portion 1 to serve as the back cover of the servo motor 1. The second connection portion 22 is located at the other end of the elastomer 2 and is used to cooperate with the first end to allow the elastomer to receive tension F2 or pressure F1.

[0027] The elastic body 2 is provided with a mounting hole 23 open toward the first end, and the mounting hole 23 is provided with a mounting position for the servo motor encoder 5. If necessary, the mounting hole 23 is also provided with a mounting position for the controller of the servo motor 1, and the controller is also installed in the mounting hole. Alternatively, the elastic body 2 is provided with a wiring hole 24 at a position outside the first connection portion 21, which is used to connect the sensor circuit board disposed in the mounting hole to the circuit of the controller, and to connect the encoder 5 to the circuit of the controller.

[0028] The servo motor encoder and the sensor circuit board 3 are mounted within the mounting hole 23. The sensor circuitry and communication module are mounted on the circuit board 3. The mounting hole 23 is a stepped hole. The sensor circuit board 23 is mounted on the bottom of the mounting hole 23 or on a sidewall near the bottom of the hole using a flexible printed circuit board (FPC). The encoder 5 is located above the FPC and supported on the stepped surface 230 of the stepped hole via a connecting structure 51.

[0029] A strain gauge is adhered to the strain-sensitive portion and sealed with protective sealant. This strain gauge can be a resistive strain gauge. In this embodiment, the strain-sensitive portion 20 is located on portion 200, which serves as the rear cover of the servo motor 1. The elastomer 2 is provided with a mounting hole extending from portion 200, which serves as the rear cover of the servo motor, toward the first end, opening toward the first end. This facilitates the formation of the strain-sensitive portion 20 and further reduces the overall size of the sensor. The strain-sensitive portion 20 is also located at the bottom of the mounting hole 23. A strain gauge 30 is adhered to the inner side of the strain-sensitive portion 20, and protective sealant 7 is sealed at a certain height near the bottom of the hole.

[0030] The first connection portion 21 and the second connection portion 22 are respectively located at the front and rear ends of the portion 20 serving as the back cover.

[0031] like Figure 1-4 As shown, the first connection portion 21 can be an internal thread or external thread connection structure, and a mounting ring 11 is provided at the rear of the servo motor. The internal thread or external thread connection structure is threadedly connected to the mounting ring 11. The mounting ring and the motor body can be threaded, screwed, or welded (the material of the mounting ring is suitable for welding to the motor body).

[0032] like Figure 5 As shown, the first connection portion may also be a plurality of bolt holes 27, which are connected to the rear portion of the servo motor or to a portion located at the rear portion of the servo motor and fixedly connected to the servo motor via a plurality of bolts.

[0033] like Figure 1-4 As shown, the second connection portion can also be an internal or external threaded connection structure. When used in a robot, the second connection portion 21 can be connected to a bearing (second bearing 62), while the front end of the motor is connected to another bearing (first bearing 61). The first bearing 61 and the second bearing 62 connect two relatively movable parts of the robot.

[0034] The elastomer is provided with limiting bosses 201 and 202 on the rear side of the portion 200 serving as the rear cover and the rear side of the first connecting portion 21, respectively, to prevent the connected structures (first bearing 61, second bearing 62) from contacting the strain sensitive portion 20 during installation, resulting in poor sensor accuracy.

[0035] The elastic body is provided with flattened portions 25 , the number of which is greater than or equal to 2, and is used for rotatably mounting and connecting the sensor of the present invention.

[0036] The above embodiment is only a preferred technical solution of the present invention. Those skilled in the art should understand that the technical solutions or parameters in the embodiment can be modified or replaced without departing from the principle and essence of the present invention, and all should be included in the protection scope of the present invention.

Claims

1. A motor embedded force detection sensor, comprising an elastic body, wherein the elastic body is provided with a strain sensitive portion, characterized in that: The elastic body has a portion serving as a rear cover of the servo motor. The elastic body is provided with a first connection portion and a second connection portion. The first connection portion is located at one end of the elastic body and is used to connect to the servo motor or to a portion located at the rear of the servo motor and fixedly connected to the servo motor. The elastic body can be connected to the rear side of the servo motor through the first connection portion to serve as a rear cover of the servo motor. The second connection portion is located at the other end of the elastic body and is used to cooperate with the first end to allow the elastic body to receive tension or pressure. The elastic body is provided with a mounting hole which is open toward the first end, and the mounting hole is used to set the position of the servo motor encoder.

2. The motor embedded force detection sensor according to claim 1, characterized in that: The mounting hole also provides a location for the controller of the servo motor, or the elastic body provides a wiring hole at a location other than the first connection portion, and the sensor circuit board provided in the mounting hole is connected to the controller line, and the encoder is connected to the controller line.

3. The motor embedded force detection sensor according to claim 1, characterized in that: The first connection portion and the second connection portion are respectively located at the front and rear ends of the portion serving as the back cover.

4. The motor embedded force detection sensor according to claim 1, characterized in that: The strain sensitive portion is located on a portion serving as a rear cover of the servo motor, and the elastic body is provided with a mounting hole opening toward the first end from the portion serving as the rear cover of the servo motor toward the first end.

5. The motor embedded force detection sensor according to claim 1, characterized in that: The first connection portion is an internal thread or external thread connection structure, and a mounting ring is provided at the rear of the servo motor, and the internal thread or external thread connection structure is threadedly connected to the mounting ring.

6. The motor embedded force detection sensor according to claim 1, characterized in that: The first connection portion is a plurality of bolt holes, which are connected to the rear portion of the servo motor or to a portion located at the rear portion of the servo motor and fixedly connected to the servo motor via a plurality of bolts.

7. The motor embedded force detection sensor according to claim 1, characterized in that: The elastic body is provided with limiting bosses on the rear side of the portion serving as the rear cover and the rear side of the first connecting portion respectively.

8. The motor embedded force detection sensor according to claim 1, characterized in that: The strain sensitive portion is located at the bottom of the mounting hole, and a strain gauge is adhered to the inner side of the strain sensitive portion.

9. The motor embedded force detection sensor according to claim 1, characterized in that: A strain gauge is adhered to the strain sensitive portion; and a protective sealant is poured on the strain gauge.

10. The motor embedded force detection sensor according to claim 1, characterized in that: The encoder of the servo motor and the circuit board of the sensor are arranged in the mounting hole. The mounting hole is a stepped hole. The circuit board of the sensor adopts an FPC soft board and is installed at the bottom of the mounting hole or the side wall of the hole near the bottom of the hole. The encoder is located above the FPC soft board and is supported on the step surface of the stepped hole through a connecting structure.

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