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

By using a purely mechanical force-position hybrid compliant control constant force floating device, which utilizes a constant force spring and a bellows tube to achieve constant force contact at the end of the actuator, the problems of large weight, excessive length, and air source equipment in existing technologies are solved. This achieves lightweight and low-cost constant force control, simplifies the programming of the robotic arm, and improves work efficiency.

CN117140523BActive Publication Date: 2026-04-14SHANDONG UNIV
1 Cites 0 Cited by

Patent Information

Application Number
CN202311226840.5
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-09-21
Publication Date
2026-04-14
Estimated Expiration
2043-09-21

AI Technical Summary

Technical Problem

Most existing constant force floaters use air chamber regulation, which results in large weight and length, increases the load on the robot arm, and requires additional air source equipment, increasing the difficulty of use and cleaning costs.

Method used

The constant force floating device adopts a purely mechanical force-position hybrid compliant control, including a flange end quick-change mechanism, a sensor mechanism, and a constant force floating mechanism. It uses a constant force spring and a bellows tube to achieve constant force contact at the actuator end, and maintains constant force contact through a force sensor and a controller.

Benefits of technology

It achieves lightweight and low-cost constant force control, simplifies the programming of the robotic arm, improves work efficiency, and triggers active floating mode at the limit of the stroke to ensure the safety of the robotic arm.

✦ Generated by Eureka AI based on patent content.
Patent Text Reader

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.
Need to check novelty before this filing date? Find Prior Art