Force feedback steering engine mechanism applied to robot joint

Abstract

The utility model discloses a force feedback steering engine mechanism applied to robot joints, and relates to the related technical field of steering engines, the force feedback steering engine mechanism comprises a steering engine body, one end of the steering engine body is provided with a U-shaped steering engine arm, and the U-shaped steering engine arm is connected with the steering engine body through a steering engine output shaft; the face, away from the steering engine body, of the U-shaped steering engine arm is provided with a fixing end used for fixing other components. The device can be used for controlling torque output of the steering engine, executing precise actions and preventing mechanical structure damage caused by overload of the steering engine, and mechanisms such as robot joint drivers needing precise control can be improved; the U-shaped steering engine arm which only plays a role in supporting and transmitting torsion is improved, so that the U-shaped steering engine arm has a force measuring function, the force measuring beam can be directly manufactured on the U-shaped steering engine arm through grooving machining, the structure is simple, and the cost is low; the U-shaped steering engine arm of an existing steering engine can be conveniently improved without occupying extra space and changing the main body appearance and the installation mode of the U-shaped steering engine arm.

Description

Technical Field

[0001] The present application relates to the technical field related to servos, and in particular to a force feedback servo mechanism applied to robot joints. Background Art

[0002] A servo is a commonly used device that outputs mechanical motion through an electric drive. It uses multiple reduction gears to convert the high-speed, low-torque mechanical motion generated by an electric motor into low-speed, high-torque mechanical motion. These reduction gears are vulnerable parts and can often break due to torque overload. Real-time measurement of the torque applied to the servo and control of its structural limits can prevent damage to the servo's mechanical structure and extend its service life. Furthermore, some applications require a controllable torque output to prevent damage to the object being operated (such as when a servo controls a robotic arm to grip a delicate object). Resistance strain gauge force measurement is a commonly used force measurement method. This method measures the strain in a material under load / torque, reflecting the load / torque applied. It is a widely used, low-cost force measurement method.

[0003] Some existing servos use multi-stage reduction gears to convert the high-speed, low-torque mechanical motion generated by the electric motor into low-speed, high-torque mechanical motion output. The reduction gears are consumable parts and can easily break when the servo is subjected to torque overload. Utility Model Content

[0004] In order to improve the problem that some of the existing servos mentioned above convert the high-speed, low-torque mechanical motion generated by the electric motor into a low-speed, high-torque mechanical motion output through multi-stage reduction gears during use, wherein the reduction gears are vulnerable parts and the gear collapse is likely to occur when the servo is subjected to torque overload, the present application provides a force feedback servo mechanism for robot joints.

[0005] This application provides a force feedback servo mechanism for a robot joint, which adopts the following technical solution:

[0006] A force feedback servo mechanism for a robot joint includes a servo body, one end of the servo body being provided with a U-shaped servo arm, the U-shaped servo arm being connected to the servo body via a servo output shaft, a fixed end for fixing other components being provided on a side of the U-shaped servo arm away from the servo body, and a force measuring beam being provided on a side of the U-shaped servo arm away from the servo body.

[0007] Optionally, in the above-mentioned force feedback servo mechanism applied to a robot joint, the servo output shaft is rotatably plugged into one end of the servo body facing the U-shaped servo arm, and both ends of the servo output shaft respectively extend out of the servo body and are rotatably plugged into the two inner side walls of the U-shaped servo arm.

[0008] Optionally, in the above-mentioned force feedback servo mechanism applied to a robot joint, the force beam is prepared by cutting grooves on a U-shaped servo arm, and the portion between the grooves is the force beam body.

[0009] Optionally, in the above-mentioned force feedback servo mechanism applied to a robot joint, the number of the force measuring beams is two, and the two force measuring beams are symmetrically arranged about the fixed end.

[0010] Optionally, in the above-mentioned force feedback servo mechanism applied to a robot joint, a resistance strain gauge is tightly attached to a side of the force measuring beam away from the U-shaped servo arm, the measuring direction of the resistance strain gauge is arranged along the long diameter direction of the force measuring beam, and the part of the force measuring beam to which the resistance strain gauge is attached is thinned to concentrate the strain.

[0011] Optionally, the above-mentioned force feedback servo mechanism is applied to a robot joint, wherein the servo body outputs rotation and torque to the U-shaped servo arm through the servo output shaft, and the resistance strain gauge is connected to the torque measurement circuit to output the torque exerted on the U-shaped servo arm. When the torque is fed back to the servo body control circuit, it is used to control the output of the torque of the servo body.

[0012] Optionally, in the force feedback servo mechanism applied to a robot joint, the torque measurement circuit is a half-bridge or full-bridge differential resistance strain measurement circuit, and the differential output is proportional to the torque at the servo output end.

[0013] In summary, this application has at least one of the following beneficial effects:

[0014] This application can be used to control the torque output of the servo, perform precise movements, and prevent damage to the mechanical structure caused by servo overload. It can also improve mechanisms that require precise control, such as robot joint drives.

[0015] The present application improves the U-shaped servo arm, which only has the function of supporting and transmitting torque, and makes it have the function of force measurement. In addition, the force measuring beam can be directly prepared on the U-shaped servo arm by cutting grooves, which has a simple structure and low cost.

[0016] The present application can improve the existing U-shaped servo arm without taking up additional space and without changing the main shape and installation method of the U-shaped servo arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of an embodiment of the present utility model;

[0018] Figure 2 This is a layout diagram of the force beam of an embodiment of the present utility model;

[0019] Figure 3 This is a cross-sectional view of a force measuring beam according to an embodiment of the present utility model;

[0020] Figure 4 A longitudinal cross-sectional view of a force measuring beam according to an embodiment of the present utility model;

[0021] Figure 5 This is a resistance strain measurement circuit diagram of an embodiment of the present utility model;

[0022] Figure 6 This is a control method diagram of an embodiment of the present utility model.

[0023] In the figure: 1. Resistance strain gauge; 2. U-shaped servo arm; 3. Force beam; 4. Servo body; 5. Servo output shaft; 6. Fixed end; 7. Slot. DETAILED DESCRIPTION

[0024] The following is combined with Figure 1-6 This application is described in further detail.

[0025] Please refer to the attached figure in the instruction manual Figure 1-6 , the present application provides an embodiment: a force feedback servo mechanism applied to a robot joint, including a servo body 4, one end of the servo body 4 is provided with a U-shaped servo arm 2, the U-shaped servo arm 2 is connected to the servo body 4 through a servo output shaft 5, the servo output shaft 5 is rotatably plugged into the end of the servo body 4 facing the U-shaped servo arm 2, and the two ends of the servo output shaft 5 respectively extend out of the servo body 4 and are rotatably plugged into the two inner side walls of the U-shaped servo arm 2.

[0026] The U-shaped servo arm 2 is provided with a fixed end 6 for fixing other components on the side away from the servo body 4. The U-shaped servo arm 2 is provided with a force beam 3 on the side away from the servo body 4. The force beam 3 is prepared by cutting a groove 7 on the U-shaped servo arm 2. The cutting method is as follows: Figure 2 As shown, the narrow and long part between the slots 7 is the main body of the force beam 3. There are two force beams 3, and the two force beams 3 are symmetrically arranged about the fixed end 6. Figure 3 As shown, the two force measuring beams 3 are divided into a first force measuring beam 3 a and a first force measuring beam 3 b.

[0027] The side of the force beam 3 away from the U-shaped servo arm 2 is tightly attached with a resistance strain gauge 1, refer to Figure 3 As shown, the resistance strain gauge 1 includes four resistance strain gauges 1 of the same specifications, 1a, 1b, 1c, and 1d. The measuring direction of the resistance strain gauge 1 is arranged along the long diameter direction of the force measuring beam 3. The part of the force measuring beam 3 to which the resistance strain gauge 1 is attached is thinned to concentrate the strain.

[0028] Specifically, the servo body 4 outputs rotation and torque to the U-shaped servo arm 2 via the servo output shaft 5. The resistance strain gauge 1 is connected to the torque measurement circuit to output the torque exerted on the U-shaped servo arm 2. When the torque is fed back to the control circuit of the servo body 4, it is used to control the output torque of the servo body 4 and prevent the servo body 4 from being damaged by overload and causing mechanical structure damage. The torque measurement circuit is a half-bridge or full-bridge differential resistance strain measurement circuit. The differential output Uo is proportional to the torque at the servo output end, T=ηUo, and the proportionality coefficient η is obtained by calibration.

[0029] Working Principle: When using this force feedback servo mechanism for robot joints, a force beam and resistance strain gauge are added to the U-shaped servo arm. The strain in the force beam is used to measure the torque acting on the servo. This torque is fed back to the servo control circuit to control the servo's torque output and prevent damage to the mechanical structure caused by overload.

[0030] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A force feedback servo mechanism for a robot joint, comprising a servo body (4), characterized in that: A U-shaped steering gear arm (2) is provided at one end of the steering gear body (4), the U-shaped steering gear arm (2) is connected to the steering gear body (4) via a steering gear output shaft (5), a fixed end (6) is provided on a side of the U-shaped steering gear arm (2) away from the steering gear body (4), and a force measuring beam (3) is provided on a side of the U-shaped steering gear arm (2) away from the steering gear body (4).

2. The force feedback servo mechanism for a robot joint according to claim 1, characterized in that: The steering gear output shaft (5) is rotatably plugged into one end of the steering gear body (4) facing the U-shaped steering gear arm (2), and both ends of the steering gear output shaft (5) extend out of the steering gear body (4) and are rotatably plugged into two inner side walls of the U-shaped steering gear arm (2).

3. The force feedback servo mechanism for a robot joint according to claim 1, characterized in that: The force measuring beam (3) is prepared by cutting grooves (7) on a U-shaped steering gear arm (2), and the portion between the grooves is the main body of the force measuring beam (3).

4. The force feedback servo mechanism for a robot joint according to claim 3, characterized in that: The number of the force measuring beams (3) is two, and the two force measuring beams (3) are symmetrically arranged about the fixed end (6).

5. The force feedback servo mechanism for a robot joint according to claim 1, characterized in that: A resistance strain gauge (1) is tightly attached to a side of the force measuring beam (3) away from the U-shaped steering gear arm (2); a measuring direction of the resistance strain gauge (1) is arranged along the long diameter direction of the force measuring beam (3); and a portion of the force measuring beam (3) to which the resistance strain gauge (1) is attached is thinned to concentrate strain.

6. The force feedback servo mechanism for a robot joint according to claim 5, characterized in that: The servo body (4) outputs rotation and torque to the U-shaped servo arm (2) via the servo output shaft (5); the resistance strain gauge (1) is connected to the torque measurement circuit to output the torque applied to the U-shaped servo arm (2); and when the torque is fed back to the servo body (4) control circuit, it is used to control the output of the torque of the servo body (4).

7. The force feedback servo mechanism for a robot joint according to claim 6, characterized in that: The torque measurement circuit is a half-bridge or full-bridge differential resistance strain measurement circuit, and the differential output is proportional to the torque at the output end of the steering gear.

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