Constant force floating device, control system and method for implementing force-position hybrid compliance control

Abstract

The application discloses a constant force floating device, a control system and a method for realizing force-position hybrid compliant control, and relates to the technical field of constant force floating sensors. The constant force floating device comprises a flange end quick change mechanism connected with a mechanical arm and an end quick change mechanism connected with an execution end. A force sensor is arranged on a sensor mechanism. A constant force spring is arranged on a constant force spring fixing plate, and a spring pull rod is arranged on a constant force floating connecting plate. When the end quick change mechanism is subjected to pressure, the spring pull rod moves along the force direction, drives the organ pipe to contract, and realizes constant force contact between the execution end and a contact object under the action of the constant force spring. When the moving distance of the spring pull rod reaches the limit, the force sensor is triggered, and then the mechanical arm is triggered to move. Under the joint action of the mechanical arm and the constant force spring, the execution end and the contact object are in constant force contact. The constant force floating device is a pure mechanical structure, is simpler in structure, lower in cost, lighter in weight and more convenient to control than a pneumatic floating device.

Description

Technical Field

[0001] This invention belongs to the field of constant force floating sensor technology, and in particular to a constant force floating device, control system and method for realizing force-position hybrid compliant control. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] With the development of industrial automation, constant force floating devices are being used in an increasing number of scenarios. For example, with the widespread adoption of solar power generation, constant force control is required during the cleaning process of solar panels. Due to the special materials used in solar panels, they are easily broken during cleaning. Therefore, effective force control during cleaning necessitates the use of constant force floating devices to balance the pressure applied to the solar panels.

[0004] The inventors discovered that most constant force floaters on the market currently use two or more air chambers to adjust multiple functions. However, multiple air chambers make the constant force floater heavier and longer, which increases the load on the robotic arm of the grinding equipment and reduces its working space when holding the constant force floater. At the same time, since the solar panels are installed outdoors, a separate air source device is required, which increases the difficulty of use and cleaning costs. Summary of the Invention

[0005] The purpose of this invention is to provide a constant force floating device, control system and method for achieving force-position hybrid compliant control, wherein the constant force floating device is a purely mechanical structure, which is simpler in structure and lower in cost than pneumatic floating devices, and is also lighter and easier to control, thus solving the problems in the prior art.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0007] The first aspect of the present invention provides a constant force floating device for achieving force-position hybrid compliant control.

[0008] A constant force floating device for achieving force-position hybrid compliant control includes, from top to bottom, a flange end quick-change mechanism, a sensor mechanism, a constant force floating mechanism, and an end-effector quick-change mechanism. The flange end quick-change mechanism is connected to a robotic arm, and the end-effector quick-change mechanism is connected to an end effector. A force sensor is installed within the sensor mechanism. The constant force floating mechanism includes a constant force floating housing. A constant force spring and a bellows tube are installed at the bottom of the constant force floating housing. A spring rod passes through the bellows tube, and one end of the constant force spring is connected to the spring rod. The spring rod can move up and down relative to the constant force floating housing. When the end-effector quick-change mechanism is subjected to pressure, the spring rod moves along the direction of the force, causing the bellows tube to retract. Under the action of the constant force spring, constant force contact is achieved between the end effector and the contacting object. When the spring rod reaches its limit, it triggers the force sensor, which in turn triggers the robotic arm to move. Under the combined action of the robotic arm and the constant force spring, constant force contact is achieved between the end effector and the contacting object.

[0009] Optionally, a constant force spring fixing plate is further provided between the constant force floating outer shell and the bellows tube, and a constant force floating connecting plate is further provided at the end of the bellows tube. The constant force spring is detachably mounted on the constant force spring fixing plate, and the spring rod is mounted on the constant force floating connecting plate. The constant force spring fixing plate, the constant force floating outer shell, and the spring rod are respectively provided with hole No. 1 and hole No. 2 at corresponding positions, and the size of hole No. 1 and hole No. 2 is adapted to the spring rod. The constant force floating connecting plate is further provided with multiple guide posts, and the constant force spring fixing plate is provided with multiple guide holes, with the guide posts and guide holes corresponding one-to-one.

[0010] Optionally, the sensor mechanism includes a sensor mounting plate one, a sensor mounting plate two, and a sensor mounting plate three. The sensor mounting plate one and the sensor mounting plate two form a receiving cavity. The sensor mounting plate three is disposed inside the receiving cavity. Multiple strain cantilever arms are disposed on the sensor mounting plate three. A force transmission platform is disposed on the top of the strain cantilever arm. A force transmission plate is disposed on the top of the force transmission platform. The force transmission plate is disposed facing the second hole. Strain gauges are disposed on the strain cantilever arm.

[0011] Optionally, both the flange end quick-change mechanism and the end quick-change mechanism include quick-change mounting plate one, quick-change mounting plate two, quick-change mounting plate three, and quick-change mounting plate four arranged sequentially from top to bottom. A gear is provided at the bottom of quick-change mounting plate three, and a fixed shaft is mounted on the gear. A sliding groove is provided in the center of quick-change mounting plate three, and a rack is slidably connected within the sliding groove. The rack and gear mesh with each other. Actuating blocks are provided on both sides of the rack, and the actuating blocks extend to the outside of quick-change mounting plate three. A guide boss is provided on each actuating block, and a guide groove is provided on quick-change mounting plate two. The guide boss and the guide groove cooperate with each other.

[0012] Optionally, the quick-change mounting plate is provided with a groove, and a locking buckle is provided in the groove. The locking buckle is used in conjunction with the fixed shaft to limit the fixed shaft.

[0013] Optionally, a quick-change fixing bolt is provided between the quick-change mounting plate two and the quick-change mounting plate one. A fixing pin is provided on both sides of the end of the quick-change fixing bolt. A small spring is sleeved on the fixing pin. The fixing pin is used in conjunction with the guide boss to limit the position of the guide boss.

[0014] Optionally, the quick-change mounting plate 2 is also provided with a toggle groove, which is used in conjunction with the toggle block.

[0015] Optionally, the quick-change mounting plate one and quick-change mounting plate two are respectively provided with semi-circular threaded groove No. 1 and threaded groove No. 2 at corresponding positions, and quick-change fixing bolts are threadedly connected to the threaded groove No. 1 and threaded groove No. 2.

[0016] A second aspect of the present invention provides a control system.

[0017] A control system for a constant force floating device comprising the force-position hybrid compliant control described in the first aspect includes a robotic arm, an end effector, and a controller. The robotic arm is connected to a flange end quick-change mechanism, and the end effector is connected to an end effector quick-change mechanism. The controller is used to acquire pressure data detected by a force sensor and current position and posture data of the robotic arm, and to design a new robotic arm trajectory based on the pressure data and current position and posture data of the robotic arm, so that the end effector and the contacting object always maintain constant force contact.

[0018] A third aspect of the present invention provides a control method.

[0019] A control method based on the control system described in the second aspect includes the following steps:

[0020] Receive pressure data from the force sensor;

[0021] Determine whether the pressure data is dynamically changing. If so, it is determined that the end effector is subjected to external force, and at this time, the current position and posture data of the robotic arm are obtained.

[0022] A new robotic arm trajectory is designed based on pressure data and the current position and posture data of the robotic arm, and the position of the robotic arm is adjusted to ensure that the end effector and the contact object always maintain constant force contact.

[0023] The present invention has the following beneficial effects:

[0024] 1. The present invention provides a constant force floating device, control system and method for realizing force-position hybrid compliant control. The quick-change constant force floating device has quick-change mechanisms at both ends, which can be quickly installed and removed from the robotic arm during use, and can also be quickly installed and removed from the end tool.

[0025] 2. This quick-change constant force floating device is a purely mechanical structure, which is simpler and cheaper than pneumatic floating devices, and is also lighter and easier to control.

[0026] 3. The quick-change constant force floating device has a large stroke and a larger floating space during use, which can greatly simplify the programming of the robotic arm and improve work efficiency.

[0027] 4. This quick-change constant force floating sensor device has two usage modes: passive floating and force-sensing active floating. When the mechanical passive floating mode reaches its limit, the active floating mode can be triggered. The controller adjusts the trajectory of the robotic arm, making the robotic arm work more safely.

[0028] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0031] Figure 2 This is a schematic diagram of the flange end quick-change mechanism according to Embodiment 1 of the present invention;

[0032] Figure 3 This is a schematic diagram of the overall sensor mechanism according to Embodiment 1 of the present invention;

[0033] Figure 4 This is a schematic diagram of the constant force floating mechanism according to Embodiment 1 of the present invention;

[0034] Figure 5 This is a schematic diagram of the end-effector quick-change mechanism according to Embodiment 1 of the present invention;

[0035] Figure 6 This is an exploded three-dimensional structural diagram of the flange end quick-change mechanism according to Embodiment 1 of the present invention;

[0036] Figure 7This is an exploded three-dimensional structural diagram of the flange end quick-change mechanism according to Embodiment 1 of the present invention from another angle.

[0037] Figure 8 This is an exploded view of the three-dimensional structure of the sensor mechanism according to Embodiment 1 of the present invention;

[0038] Figure 9 This is an exploded three-dimensional structural diagram of the sensor mechanism according to Embodiment 1 of the present invention from another angle;

[0039] Figure 10 This is a schematic diagram of the internal structure of the constant force floating mechanism of the present invention;

[0040] Figure 11 This is a flowchart illustrating the operation of the force-position hybrid compliant control method and device for a robot that can be quickly assembled and disassembled according to the present invention.

[0041] Figure 12 The flowchart of the control strategy in the force-position hybrid compliant control method and device for the invention of a robot force-position hybrid compliant control method and device that can be quickly disassembled and assembled.

[0042] The attached diagram lists the components represented by each number as follows:

[0043] 1. Flange end quick-change mechanism; 2. Sensor mechanism; 3. Constant force floating mechanism; 4. End quick-change mechanism; 11. Flange end quick-change mounting plate one; 12. Quick-change fixing bolt; 13. Flange end quick-change mounting plate two; 14. Flange end quick-change mounting plate three; 15. Flange end quick-change mounting plate four; 16. Small spring; 17. Fixing pin; 18. Rack; 19. Fixing shaft; 110. Gear; 21. Sensor mounting plate one; 22. Force transmission plate; 23. Sensor 24. Sensor mounting plate 2; 35. Constant force floating housing; 36. Constant force spring fixing plate 1; 37. Bellows tube; 38. Constant force floating connecting plate; 39. Constant force spring fixing plate 2; 30. Constant force spring; 31. Guide post; 42. Spring rod; 43. Hole 1; 44. Hole 2; 45. Actuating block; 16. Guide groove; 17. Guide boss; 18. Locking buckle; 29. ​​Strain gauge cantilever; 20. Force transmission platform. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Example 1:

[0046] Please see Figure 1-10 As shown, this embodiment is a constant force floating device for achieving force-position hybrid compliant control, including a flange end quick-change mechanism 1, a sensor mechanism 2, a constant force floating mechanism 3, and an end quick-change mechanism 4 connected sequentially from top to bottom. The flange end quick-change mechanism 1 is connected to a robotic arm, and the end quick-change mechanism 4 is connected to an end effector. A force sensor is installed on the sensor mechanism 2. The constant force floating mechanism 3 includes a constant force floating housing 31, a constant force spring 36 fixing plate 32, a bellows pipe 33, and a constant force floating connecting plate 34 connected sequentially from top to bottom. A constant force spring 36 is installed on the constant force spring 36 fixing plate 32, and a spring pull rod 38 is installed on the constant force floating connecting plate 34. One end of the constant force spring 36 is connected to a spring pull rod 38. The rod 38 is connected and can extend and retract with the spring rod 38. The accordion tube 33 can also extend and retract with the spring rod 38. The constant force spring 36 fixing plate 32 and constant force floating shell 31 are respectively provided with hole 39 and hole 40 at the corresponding positions of the spring rod 38. The size of hole 39 and hole 40 is adapted to the spring rod 38. The spring rod 38 is used to extend out of hole 39 when the end of the actuator is subjected to external force, driving the accordion tube 33 to retract. When the extension of the spring rod 38 from hole 39 reaches its limit, it continues to extend out of hole 40, triggering the force sensor, and then triggering the movement of the robotic arm, so that the end of the actuator and the contact object are always in constant force contact.

[0047] The bellows tube 33 is made of flexible material and has a corrugated shape, enabling it to extend and retract. In the initial position (when the end of the actuator is not subjected to external force), the bellows tube 33 is in a natural extension and retraction state, and the top of the spring rod 38 protrudes into the first hole 39, which limits the spring rod 38 to a certain extent. When the end of the actuator is subjected to external force, the spring rod 38 moves in the direction of the force, causing the bellows tube 33 to retract. This causes the constant force floating connecting plate 34 to move the end quick-change mechanism 4 away from the end of the actuator, achieving constant force contact between the end of the actuator and the contacting object under the action of the constant force spring 36.

[0048] When the spring lever 38 reaches its limit of movement, it triggers the force sensor, which in turn triggers the movement of the robotic arm. Under the combined action of the robotic arm and the constant force spring 36, the end effector and the contact object are in constant force contact.

[0049] The constant force floating device in this embodiment has two working modes: passive floating and force-sensing active floating. When the travel of the mechanical passive floating mode reaches its limit, the active floating mode can be triggered, making the operation of the robotic arm safer.

[0050] By setting reasonable lengths for the spring rod 38, heights for the organ tube 33, and heights for the constant-force floating housing 31, the stroke of the passive floating mechanism can be designed to meet individual needs.

[0051] like Figure 10 As shown, to facilitate the replacement of the constant force spring 36, the constant force spring 36 is detachably mounted on the constant force spring 36 fixing plate 1 32. Specifically, the constant force spring 36 fixing plate 1 32 is equipped with a constant force spring 36 fixing plate 2 35, and the constant force spring 36 is mounted on the constant force spring 36 fixing plate 2 35. The constant force spring 36 fixing plate 2 35 can be replaced to install constant force springs 36 with different forces.

[0052] To ensure the stability of the spring rod 38's movement, the constant force floating connecting plate 34 is provided with multiple guide posts 37, and the constant force spring 36 fixing plate 32 is provided with multiple guide holes. The guide posts 37 and guide holes are arranged in a one-to-one correspondence. In this embodiment, two guide posts 37 and guide holes are provided.

[0053] like Figure 8 , Figure 9 As shown, in order to facilitate the triggering of the force sensor by the spring rod 38 and improve the triggering sensitivity, the sensor mechanism 2 includes a sensor mounting plate 1 21, a sensor mounting plate 23, and a sensor mounting plate 3 24. The sensor mounting plate 1 21 and the sensor mounting plate 23 form a receiving cavity, and the sensor mounting plate 3 24 is disposed inside the receiving cavity. In the sensor mechanism 2, the sensor mounting plate 3 24 is fixedly connected to the sensor mounting plate 1 21, and the sensor mounting plate 23 protects the sensor mounting plate 3 24.

[0054] In the constant force floating mechanism 3, the constant force floating outer shell 31 is fixed on the sensor mounting plate 21 and connected to the constant force spring 36 fixing plate 32.

[0055] The sensor mounting plate 24 is equipped with multiple strain gauges 241. A force transmission platform 242 is mounted on the top of each strain gauge 241, and a force transmission plate 22 is mounted on top of the force transmission platform 242. The force transmission plate 22 faces the second hole 40. Strain gauges are mounted on each strain gauge for data collection. When the spring rod 38 moves to the position of the force transmission plate 22, the force is transmitted through the force transmission plate 22, the force transmission platform 242, the strain gauges 241, and the strain gauges, ultimately collecting pressure data through the strain gauges.

[0056] like Figure 6 , Figure 7As shown, considering the convenience of installation in the field, in this embodiment, the flange end quick-change mechanism 1 and the end quick-change mechanism 4 have the same structure, both including quick-change mounting plate one 11, quick-change mounting plate two 13, quick-change mounting plate three 14 and quick-change mounting plate four 15 arranged sequentially from top to bottom. The quick-change mounting plate three 14 is provided with a gear 110 at the bottom, and a fixed shaft 19 is installed on the gear 110. The quick-change mounting plate three 14 is provided with a sliding groove in the center, and a rack 18 is slidably connected in the sliding groove. The rack 18 and the gear 110 mesh with each other. Actuating blocks 41 are provided on both sides of the rack 18, and the actuating blocks 41 extend to the outside of the quick-change mounting plate three. A guide boss 181 is provided on the actuating block 41, and a guide groove 131 is provided on the quick-change mounting plate two 13. The guide boss 181 and the guide groove 131 cooperate with each other.

[0057] The quick-change mounting plate 15 is provided with a groove, and a locking buckle 151 is provided in the groove. The locking buckle 151 is used in conjunction with the fixed shaft 19 to limit the fixed shaft 19.

[0058] A quick-change fixing bolt 12 is provided between the quick-change mounting plate 2 13 and the quick-change mounting plate 11. A fixing pin 17 is provided on both sides of the end of the quick-change fixing bolt 12. A small spring 16 is sleeved on the fixing pin 17. The fixing pin 17 is used in conjunction with the guide boss 181 to limit the position of the guide boss 181.

[0059] The quick-change mounting plate 2 13 is also provided with a toggle groove, which is used in conjunction with the toggle block 41.

[0060] During installation, the actuating block 41 is first manually moved. The actuating block 41 slides in the actuating groove, causing the rack 18 to slide in the sliding groove. The rack 18 meshes with the gear 110. Under the transmission of the rack 18 and the gear 110, the gear 110 rolls, causing the fixed shaft 19 on the gear 110 to rotate until the fixed shaft 19 abuts against the locking buckle 151. At this point, the gear 110 stops rotating, and the rack 18 can no longer slide forward, thus completing the actuation.

[0061] Then, tighten the quick-change fixing bolt 12 and use the fixing pin 17 to limit the guide boss 181 in the guide groove 131, thus completing the assembly of the entire flange end quick mechanism and the end quick-change mechanism 4.

[0062] The flange end quick-change mechanism and end quick-change mechanism 4 designed in this embodiment can be assembled by manual operation without the need for too many tools. This facilitates operation in the field when tools are incomplete, reduces the trouble and burden of workers carrying tools, avoids tool loss, and improves assembly efficiency.

[0063] The quick-change mounting plate 11 and quick-change mounting plate 2 are respectively provided with semi-circular threaded groove No. 1 and threaded groove No. 2 at corresponding positions, and quick-change fixing bolts 12 are threadedly connected to the threaded groove No. 1 and threaded groove No. 2.

[0064] Working principle:

[0065] In operation, the quick-change constant force floating sensor device has its flange quick-change mechanism 1 connected to the robotic arm and its end-effector quick-change mechanism 4 connected to the end effector. When the end effector is subjected to an external force, the constant force floating mechanism 3 retracts to ensure a constant external force. When the external force disappears or decreases, the constant force floating mechanism 3 extends to ensure constant force contact between the end effector and the object. When the constant force floating mechanism 3 retracts to its maximum stroke, if the force received by the quick-change constant force floating sensor device is still greater than the preset constant force, the constant force floating mechanism 3 will transmit the force to the sensor mechanism 2, thereby triggering the robotic arm to move and achieve constant force contact between the end effector and the object.

[0066] This force-position hybrid compliant control method allows the robot to adjust its control strategy in real time based on force and pose feedback to adapt to environmental changes and task requirements. In compliant control, real-time feedback is crucial for success. The robot needs to rapidly collect and process sensor data and make real-time control adjustments based on feedback. Furthermore, if imperfect control actions occur, the robot can compensate in real time to ensure task accuracy.

[0067] Example 2:

[0068] This embodiment discloses a control system for a constant force floating device that achieves force-position hybrid compliant control as described in Embodiment 1. The device includes a robotic arm, an end effector, and a controller. The robotic arm is connected to a flange end quick-change mechanism, and the end effector is connected to an end effector quick-change mechanism. The controller is used to acquire pressure data detected by a force sensor and current position and posture data of the robotic arm. Based on the pressure data and current position and posture data of the robotic arm, a new robotic arm trajectory is designed to ensure that the end effector and the contact object always maintain constant force contact.

[0069] Example 3:

[0070] This third embodiment discloses a control method based on the control system described in embodiment two, including the following steps:

[0071] Receive pressure data from the force sensor;

[0072] If the pressure data is dynamically changing, it is determined that the end effector is subjected to an external force, and the current position and posture data of the robotic arm are then obtained.

[0073] A new robotic arm trajectory is designed based on pressure data and the current position and posture data of the robotic arm, and the position of the robotic arm is adjusted to ensure that the end effector and the contact object always maintain constant force contact.

[0074] Specifically, such as Figure 11-12 As shown, in the constant force floating device, the force sensor sends the generated real-time changing electrical signal to the controller. The controller receives the real-time changing electrical signal fed back by the force sensor. When the controller detects a change in the electrical signal fed back by the force sensor, it determines that the execution end is subjected to an external force and starts to call the corresponding program for processing.

[0075] The controller calls the program to determine the robot's current position and posture, and combines this with the different changes in the electrical signals output by the force sensor. Based on the current posture and electrical signals, the controller makes corresponding adjustments and provides a new trajectory plan, so that the robot continues to maintain a constant force floating working state.

[0076] A new robotic arm trajectory is designed based on pressure data and the current position and posture data of the robotic arm. The new trajectory is obtained by offsetting the original trajectory equidistantly in the direction away from the end effector along the normal direction of the original trajectory.

[0077] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A constant force floating device for achieving force-position hybrid compliant control, characterized in that, The device comprises, from top to bottom, a flange end quick-change mechanism, a sensor mechanism, a constant force floating mechanism, and an end-effector quick-change mechanism. The flange end quick-change mechanism is connected to the robotic arm, and the end-effector quick-change mechanism is connected to the end effector. The sensor mechanism houses a force sensor. The constant force floating mechanism includes a constant force floating housing with a constant force spring and a bellows tube at its bottom. A spring rod passes through the bellows tube, and one end of the constant force spring is connected to the spring rod. The spring rod can move up and down relative to the constant force floating housing. When the end-effector quick-change mechanism is subjected to pressure, the spring rod moves along the direction of the force, causing the bellows tube to retract. Under the action of the constant force spring, constant force contact is achieved between the end effector and the contact object. When the spring rod reaches its limit, it triggers the force sensor, which in turn triggers the robotic arm to move. Under the combined action of the robotic arm and the constant force spring, constant force contact is achieved between the end effector and the contact object. A constant force spring fixing plate is provided between the constant force floating outer shell and the bellows tube. A constant force floating connecting plate is also provided at the end of the bellows tube. The constant force spring is detachably mounted on the constant force spring fixing plate, and the spring rod is mounted on the constant force floating connecting plate. The constant force spring fixing plate, the constant force floating outer shell, and the spring rod are respectively provided with hole No. 1 and hole No. 2 at corresponding positions. The size of hole No. 1 and hole No. 2 is adapted to the spring rod. The constant force floating connecting plate is also provided with multiple guide posts, and the constant force spring fixing plate is provided with multiple guide holes. The guide posts and guide holes are provided in a one-to-one correspondence.

2. The constant force floating device for achieving force-position hybrid compliant control according to claim 1, characterized in that, The sensor mechanism includes sensor mounting plate one, sensor mounting plate two, and sensor mounting plate three. Sensor mounting plate one and sensor mounting plate two form a receiving cavity. Sensor mounting plate three is disposed inside the receiving cavity. Multiple strain cantilever arms are disposed on sensor mounting plate three. A force transmission platform is disposed on the top of each strain cantilever arm. A force transmission plate is disposed on the top of the force transmission platform. The force transmission plate is disposed facing the second hole. Strain gauges are disposed on the strain cantilever arms.

3. The constant force floating device for achieving force-position hybrid compliant control according to claim 1, characterized in that, Both the flange end quick-change mechanism and the end quick-change mechanism include quick-change mounting plate one, quick-change mounting plate two, quick-change mounting plate three, and quick-change mounting plate four arranged sequentially from top to bottom. A gear is provided at the bottom of quick-change mounting plate three, and a fixed shaft is mounted on the gear. A sliding groove is provided in the center of quick-change mounting plate three, and a rack is slidably connected within the sliding groove. The rack and gear mesh with each other. Actuating blocks are provided on both sides of the rack, extending to the outside of quick-change mounting plate three. A guide boss is provided on each actuating block, and a guide groove is provided on quick-change mounting plate two. The guide boss and guide groove cooperate with each other.

4. The constant force floating device for achieving force-position hybrid compliant control according to claim 3, characterized in that, The quick-change mounting plate has a groove, and a locking buckle is provided in the groove. The locking buckle works in conjunction with the fixed shaft to limit the movement of the fixed shaft.

5. The constant force floating device for achieving force-position hybrid compliant control according to claim 3, characterized in that, A quick-change fixing bolt is provided between the quick-change mounting plate two and the quick-change mounting plate one. A fixing pin is provided on both sides of the end of the quick-change fixing bolt. A small spring is sleeved on the fixing pin. The fixing pin is used in conjunction with the guide boss to limit the position of the guide boss.

6. The constant force floating device for achieving force-position hybrid compliant control according to claim 3, characterized in that, The quick-change mounting plate 2 is also provided with a toggle groove, which is used in conjunction with the toggle block.

7. The constant force floating device for achieving force-position hybrid compliant control according to claim 5, characterized in that, The quick-change mounting plate one and quick-change mounting plate two are respectively provided with semi-circular threaded groove No. 1 and threaded groove No. 2 at corresponding positions, and quick-change fixing bolts are threadedly connected to the threaded groove No. 1 and threaded groove No.

2.

8. A control system comprising the constant force floating device for achieving force-position hybrid compliant control as described in any one of claims 1-7, characterized in that, The device includes a robotic arm, an end effector, and a controller. The robotic arm is connected to a flange end quick-change mechanism, and the end effector is connected to an end effector quick-change mechanism. The controller is used to acquire pressure data detected by a force sensor and current position and posture data of the robotic arm. Based on the pressure data and current position and posture data of the robotic arm, a new robotic arm trajectory is designed to ensure that the end effector and the contact object always maintain constant force contact.

9. A control method based on the control system of claim 8, characterized in that, Includes the following steps: Receive pressure data from the force sensor; Determine whether the pressure data is dynamically changing. If so, it is determined that the end effector is subjected to external force, and at this time, the current position and posture data of the robotic arm are obtained. A new robotic arm trajectory is designed based on pressure data and the current position and posture data of the robotic arm, and the position of the robotic arm is adjusted to ensure that the end effector and the contact object always maintain constant force contact.

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