A mechatronic-sensory integrated quick-change interface and quick-change method

Abstract

The application discloses a kind of machine-electricity-sensing integrated quick-change interface and quick-change method, belong to mechanical engineering technical field.The quick-change interface includes: interface active end, interface passive end and locking force increasing mechanism, adopts electromagnetic drive to combine taper face force increasing principle, realizes high locking force under miniaturization premise;Electrical connection and protocol conversion module, integrated end slave station, support RS-485, CAN, EtherCAT and PWM multiple communication protocol conversion, realize end tool plug and play;Sensing module, integrated vision sensor and six-dimensional force sensor, provide real-time environmental vision and force / torque feedback.The application solves the problems of complex structure, poor protocol compatibility and lack of autonomous sensing capability of existing quick-change interface through deep integration of structure, electricity and sensing, significantly improves the flexibility, reliability and intelligent level of in-orbit fine operation of space robots.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical engineering, and particularly relates to a mechanical-electric-sensory integrated quick-change interface and a quick-change method. BACKGROUND

[0002] Space robot on-orbit servicing technology is the key to support space station construction, on-orbit maintenance and deep space exploration missions. In order to perform diversified tasks, space robots need to replace different end effectors on-orbit, which puts high requirements on the quick-change interface connecting various tools.

[0003] At present, large-scale manipulators on international and Chinese space stations are equipped with general-purpose interfaces that can complete large-scale transportation and docking. However, such interfaces are large in size and mass, and it is difficult to meet the stringent requirements of small-scale manipulators for interface miniaturization and high precision when performing fine operation tasks. In order to adapt to fine operation, the industry usually draws lessons from the quick-change interface in the field of ground industrial robots. However, such interfaces have obvious shortcomings: first, the mechanical locking mechanism (such as motor drive, cam, etc.) is often complex in structure and large in size, making it difficult to ensure sufficient locking strength and reliability while pursuing miniaturization, and it is difficult to meet the dual requirements of "small size" and "high strength" for space missions.

[0004] Secondly, the electrical compatibility of existing interfaces is generally poor. Most interfaces can only achieve basic power transmission and simple signal transmission, and lack the ability to convert and adapt to multiple communication protocols (such as RS-485, CAN, EtherCAT, etc.). This makes it difficult for robots to seamlessly switch and control end tools that use different communication protocols, limiting task flexibility.

[0005] Thirdly, the existing interface body generally lacks autonomous sensing capability. Its docking and release process is highly dependent on the sensors carried by the manipulator body for pose judgment and force control. Once the manipulator sensing information deviates, it is easy to cause docking failure or even component damage, and the success rate and robustness of operation in complex and unstructured on-orbit environment need to be improved.

[0006] In summary, the existing quick-change interface has three technical bottlenecks when facing space fine operation tasks: it is difficult to balance miniaturization and high strength in structure, the protocol compatibility is poor in electricity, and the autonomous sensing capability is lacking in function. An integrated and intelligent solution is urgently needed. SUMMARY

[0007] To solve the above technical problems, the present application provides a mechanical-electric-sensory integrated quick-change interface and a quick-change method, which optimizes the docking and locking structure, realizes the balance of miniaturization and high locking strength, innovatively designs from the station, realizes the conversion and compatibility of multiple communication protocols, integrates force and visual sensing, and realizes real-time sensing feedback.

[0008] To achieve the above object, the application adopts the following technical solutions:

[0009] A mechatronic-sensing integrated quick-change interface is installed at the end of a mechanical arm, comprising an interface active end body and an interface passive end body, the interface passive end body being connected with a target end tool, further comprising:

[0010] A locking and force increasing module is arranged inside the interface active end body, adopting a guide pin for auxiliary positioning and combining an electromagnetic drive with a force increasing mechanism to form a composite locking mechanism, for realizing mechanical connection and separation between the interface active end body and the interface passive end body;

[0011] An electrical transmission and conversion compatible module is arranged inside the interface active end body and the interface active and passive end bodies, for establishing electrical connection and realizing conversion of multiple communication protocols based on a slave module after the interface is locked;

[0012] A sensing module is fixedly installed on the interface active end body, for realizing real-time sensing of the docking environment and the interface stress state through a visual sensing unit and a six-dimensional force sensing unit and feeding back to a controller of the mechanical arm, the controller controlling mechanical movement of the interface active end body and the interface passive end body based on sensing information of the sensing module.

[0013] On the other hand, the application provides a mechatronic-sensing integrated quick-change method applied to the aforementioned quick-change interface, comprising:

[0014] A visual guidance approach step: acquiring a target end tool pose through a visual sensing unit, guiding the interface active end body to move towards the interface passive end body;

[0015] A force sensing compliant docking step: feeding back torque signals in real time through a six-dimensional force sensing unit, adjusting the interface active end body pose in combination with an impedance control model, while a guide pin is used for auxiliary coarse positioning;

[0016] An electromagnetic drive locking step: when the interface active end body and the interface passive end body reach a docking position, controlling the locking and force increasing module to act, completing mechanical locking;

[0017] An electrical communication and control step: after locking, establishing electrical connection through the electrical transmission and conversion compatible module, and controlling the target end tool through a slave module;

[0018] An unlocking and releasing step: controlling the force increasing locking module to release locking, separating the interface active end body and the interface passive end body, completing releasing.

[0019] In a second aspect, the present application provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned quick-change method of the mechatronic-sensory integrated quick-change interface.

[0020] In a third aspect, the present application provides a computer-readable storage medium having stored thereon executable instructions that, when executed by a processor, enable the processor to implement the aforementioned quick-change method of the mechatronic-sensory integrated quick-change interface.

[0021] The present application has the following beneficial effects:

[0022] Compact structure and large locking force: The present application adopts a composite locking scheme of "guide pin positioning + electromagnetic driving + conical surface force amplification", which significantly amplifies the electromagnetic attractive force into a large mechanical locking force through ingenious mechanical design. This structure eliminates the complex motor, gear or cam mechanism, greatly reduces the overall volume and mass of the interface while achieving high connection strength and reliability, perfectly meeting the needs of space robots for miniaturization, lightweight and high load of end effectors.

[0023] Protocol compatibility, plug and play: By integrating a terminal slave module with multi-protocol conversion capability inside the interface, the present application realizes compatibility with multiple industrial communication protocols such as RS-485, CAN, EtherCAT and PWM. This allows end tools using different communication standards to achieve plug and play and unified control through the interface, completely solving the communication barrier problem during tool switching and significantly improving the adaptability and work efficiency of space robots in multi-task scenarios.

[0024] Sensory autonomy and intelligent control: The present application integrates vision and six-axis force sensors in the interface body, giving the interface autonomous environmental perception and state feedback capabilities. This not only reduces the absolute dependence on the body sensors of the robot arm, but also assists in achieving high-precision visual guidance positioning and compliant impedance control based on force feedback, significantly improving the precision, success rate and robustness of operations in complex and uncertain space environments. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 Force amplification structure schematic diagram;

[0026] Figure 2 Locking force amplification coefficient change curve;

[0027] Figure 3 Pinhole imaging model schematic diagram;

[0028] Figure 4 End desired dynamic impedance control model;

[0029] Figure 5 A structural diagram of a machine-electricity-sensing integrated quick-change interface of the present application;

[0030] Figure 6 A right triaxial diagram of a machine-electricity-sensing integrated quick-change interface of the present application;

[0031] Figure 7 A non-working state sectional view of a machine-electricity-sensing integrated quick-change interface of the present application;

[0032] Figure 8 A working state sectional view of a machine-electricity-sensing integrated quick-change interface of the present application.

[0033] Reference signs:

[0034] Interface active end body 11, interface passive end body 12, guide pin 13, ceramic ball limiting ring 14, electromagnet push rod 15, reset spring 16, electromagnet 17, conical surface butt joint ring 18, high-strength ceramic ball 19, end substation 21, male seat spring needle 22, female seat spring needle 23, male seat first spring needle protection shell 24, male seat second spring needle protection shell 25, female seat spring needle protection shell 26, visual sensor 31, visual sensor lens 32, visual sensor cable 33, visual sensor bracket 34, six-dimensional force sensor 41, force sensor acquisition card 42, force sensor first adapter disk 43, force sensor second adapter disk 44, end adapter disk 45. DETAILED DESCRIPTION

[0035] The present application will be further described below in combination with the drawings and examples.

[0036] The present application provides a machine-electricity-sensing integrated quick-change interface, which is mainly improved in the following three aspects:

[0037] First, the docking and locking structure is optimized to achieve miniaturization and high locking strength; the guide pin is used for auxiliary positioning, and the electromagnetic driving type locking mechanism and the force increasing structure are combined to greatly reduce the complexity of the overall structure, reduce the size and mass of the interface, and make it more suitable for space robots to perform fine operation tasks in limited space.

[0038] As shown in Figure 1 , it is the action principle diagram of the force increasing structure in the locked state, wherein is the magnetic attraction driving force of the electromagnetic driving locking device, is the locking force generated by the electromagnetic driving locking device, is the pressure of the conical surface butt joint ring on the silicon nitride ceramic ball, is the pressure of the passive end ball groove on the silicon nitride ceramic ball, For the support force of the guide ring on the silicon nitride ceramic ball, , These are the tilt angles of the conical face contact ring and the passive end ball groove, respectively.

[0039] The silicon nitride ceramic spheres are in force equilibrium as follows:

[0040] ,

[0041] ,

[0042] At the same time, based on the force balance between the conical face and the contact ring and the passive end ball groove, it can be concluded that:

[0043] ,

[0044] ,

[0045] Ultimately, the locking force amplification coefficient of the force-amplifying structure can be obtained. for:

[0046] ,

[0047] like Figure 2 As shown, the locking force amplification coefficient As can be seen from the variation curve, the force-enhancing structure has a very good amplification effect on the magnetic attraction driving force, while ensuring... In such cases, it is easy to obtain a relatively high locking force multiplier.

[0048] Secondly, the innovative slave design enables compatibility with multiple communication protocols; the integrated end slave module within the interface allows the quick-switch interface to support compatibility with multiple communication protocols, including RS-485 signals, CAN signals, EtherCAT communication, and PWM signals, enabling plug-and-play and unified control of different end tools and meeting the diverse tool switching needs in complex tasks.

[0049] Third, the integrated force vision perception enables real-time perception and feedback; the interface body integrates a vision sensor and a six-dimensional force sensor, which can perceive the docking area environment in real time and provide feedback on the pose and force information, assisting in achieving high-precision positioning and compliant operation based on impedance control, and significantly improving the stability and accuracy of on-orbit docking.

[0050] like Figure 3 As shown, the process by which a vision sensor maps coordinate points (in meters) in the three-dimensional world to a two-dimensional image plane (in pixels) can be described using a pinhole imaging model. This model involves three sets of coordinate systems: the sensor coordinate system, the sensor coordinate system, and the pinhole imaging model. Image coordinate system and pixel coordinate system In this model, the vision sensor is treated as a pinhole with a focal length of [missing information]. Its center is the optical center. Points in the real world go through Points projected onto the imaging plane Under the action of the photosensitive element, they become dots on the pixel plane. .point The coordinates in the sensor coordinate system are: ,point The coordinates in the image coordinate system are Based on the similarity of triangles, the following relationship holds:

[0051] ,

[0052] In the formula, the negative sign indicates that the image on the imaging plane is inverted.

[0053] Thus, points are obtained. The coordinates in the image coordinate system are:

[0054] , ,

[0055] The pixel coordinate system has been scaled and translated relative to the image coordinate system. Let... relatively Translation One pixel in directional length is ,exist directional length is You can get some points The coordinates in the pixel coordinate system are:

[0056] ,

[0057] ,

[0058] Written in matrix form:

[0059] ,

[0060] Therefore, the transformation matrix K from the sensor coordinate system to the pixel coordinate system is obtained as follows:

[0061] ,

[0062] Therefore, based on the image information fed back in real time by the vision sensor, i.e., multiple The set of values ​​allows for precise positioning, yielding the target's real-time pose. The set of:

[0063] .

[0064] like Figure 4 As shown, during the docking process of the quick-connect interface, the active and passive ends of the interface often experience contact forces. By establishing a desired dynamic model of the end effector, the active end can exhibit dynamic characteristics similar to a spring-damped-mass system when subjected to forces from the passive end. This is combined with external forces and torques collected by the quick-connect six-dimensional force sensor. The following impedance control model can be established:

[0065] ,

[0066] in, This is the end-effector pose error vector. Let be the matrix of desired mass, desired damping, and desired stiffness. The superscript · indicates the first derivative, and ·· indicates the second derivative.

[0067] ,

[0068] in, This represents the actual position and attitude vector of the end effector. Let the desired position and attitude vectors be denoted as . To account for positional errors, simply subtract the positions along the three coordinate axes. Since these are attitude errors, they cannot be directly subtracted; they need to be converted using axis angles.

[0069] The addition and subtraction of attitudes are equivalent to the multiplication and division of rotation matrices. , These represent the actual rotation matrix and the desired rotation matrix, respectively, along with the rotation matrix error. , yes The rotation matrix representation of the two is given below, and the transformation relationship between them is as follows:

[0070] If known ,in represent The Line 1 The value of the column, Represents rotation about a unit axis rotation angle, Represents the unit axis of rotation. ;

[0071] If known ,in represent The The value of the row, , , , For an anti-symmetric matrix.

[0072] Based on the foregoing theory, as Figure 5 and Figure 6 shown, the machine-electric-sensory integrated quick-change interface of the application is connected to the end of the mechanical arm, including the interface active end body 11, the interface passive end body 12, and the electromagnetic driven locking reinforcement module, the electrical transmission and conversion compatible module, and the sensing module three parts; wherein,

[0073] The locking reinforcement module is arranged inside the interface active end body 11, and is used to realize the mechanical connection and separation between the interface active end body 11 and the interface passive end body 12; including a guide pin 13, a ceramic ball limiting ring 14, an electromagnet push rod 15, a reset spring 16, an electromagnet 17, a conical surface butt joint ring 18, and a high-strength ceramic ball 19.

[0074] The electrical transmission and conversion compatible module, part of which is arranged inside the interface active end body 11, and the other part is arranged on the butt joint surface of the interface active end body 11 and the interface passive end body 12, is used to establish electrical connection and realize signal protocol conversion after the interface is locked; including a terminal slave station 21, a male seat spring needle 22, a female seat spring needle 23, a male seat first spring needle protection shell 24, a male seat second spring needle protection shell 25, and a female seat spring needle protection shell 26.

[0075] The sensing module is fixedly installed on the interface active end body 11, and is respectively used to acquire the visual information of the butt joint environment and the interface stress information to assist in positioning the connection and separation of the interface active end body 11 and the interface passive end body 12; including a visual sensor 31, a visual sensor lens 32, a visual sensor cable 33, a visual sensor bracket 34, a six-dimensional force sensor 41, a force sensor acquisition card 42, a force sensor first adapter disc 43, a force sensor second adapter disc 44, and a terminal adapter disc 45.

[0076] The controller of the mechanical arm receives the visual information and torque information fed back by the sensing module to realize precise butt joint and separation between the interface active end body 11 and the interface passive end body 12.

[0077] Specifically, the electromagnetic driving locking reinforcement module is the key to realize miniaturization and high locking strength: at least two guide pins 13 are symmetrically arranged on both sides of the interface active end body 11 to assist the initial positioning during docking, and the interface passive end body 12 is correspondingly provided with guide holes for the guide pins 13, during the docking process, the guide pins 13 are engaged with the guide holes in priority to other components, to realize the initial coarse positioning and anti-rotation between the interface active end body 11 and the interface passive end body 12. The electromagnet 17 is fixed inside the interface active end body 11, the electromagnet push rod 15 passes through the center hole of the electromagnet 17 and is connected with the tapered face docking ring 18 through threads, the reset spring 16 is sleeved outside the electromagnet push rod 15, and the two ends thereof are respectively abutted against the end face of the electromagnet 17 and the electromagnet push rod 15, the ceramic ball limiting ring 14 is fixedly installed on the interface active end body 11, a plurality of limiting holes are formed in the ceramic ball limiting ring 14, and high-strength ceramic balls 19 are installed in the limiting holes, to form a locking unit.

[0078] The electromagnet 17 is driven by power supply from the end station 21, when energized, the electromagnet 17 generates magnetic attraction force, and the electromagnet push rod 15 is attracted and compressed reset spring 16, and the tapered face docking ring 18 connected with the electromagnet push rod 15 extrudes the high-strength ceramic ball 19 in the ceramic ball limiting ring 14 during downward movement, so that the high-strength ceramic ball 19 is embedded into the ball groove of the interface passive end body 12. The structure utilizes the interaction between the tapered face of the tapered face docking ring 18 and the high-strength ceramic ball 19, converts the magnetic attraction driving force generated by the electromagnet 17 into locking force and amplifies it, the locking reinforcement coefficient is related to the inclination angle of the tapered face docking ring 18 and the ball groove of the interface passive end body 12, to ensure that sufficient locking strength is obtained in a limited size, so as to complete the reliable connection of the interface active end and the passive end.

[0079] As Figure 7As shown, the electrical transmission and conversion compatible module is the key to realize interface electrical interconnection and multi-protocol compatibility, the terminal slave station 21 is fixed in the interface active end body 11 through the hexagonal copper column, used to realize the conversion and transmission of electrical signal; two male seat spring needles 22 are installed on both sides of the interface active end body 11 through screws, and the outer part is respectively provided with a male seat first spring needle protection shell 24 and a male seat second spring needle protection shell 25, used to prevent accidental touch, accordingly, two female seat spring needles 23 are fixed on both sides of the interface passive end body 12 through screws, and the outer part is provided with a female seat spring needle protection shell 26. The core component terminal slave station 21 can interact with the robot controller as a lower machine, and then make the robot controller control the quick change interface. When the interface locking is completed, the male seat spring needle 22 and the female seat spring needle 23 realize electrical conduction, and the terminal slave station 21 can complete signal transceiving and protocol conversion. The terminal slave station 21 supports RS-485, CAN, EtherCAT and PWM and other communication protocols, can provide plug and play electrical interface for different terminal tools, realize control instruction issuing and sensor data returning, meet the tool quick switching and compatibility requirements of space robots under multi-task conditions.

[0080] The perception module includes a terminal visual perception module and a terminal force perception module, wherein:

[0081] The main effect of the terminal visual perception module is to realize the environmental visual perception and auxiliary positioning in the docking process. The visual sensor 31 is installed on the interface active end body 11 through the visual sensor support 34, the visual sensor lens 32 is connected to the visual sensor 31 through threads, the visual sensor 31 collects external environment images through the visual sensor lens 32, and transmits the information to the robot controller through the visual sensor cable 33. Combined with the built visual positioning model, the robot controller can identify and accurately position the target terminal tool, realize the autonomous docking of the quick change interface in the complex space environment, and improve the operation precision and reliability.

[0082] The function of the terminal force perception module is to realize real-time force feedback and compliant control in the docking process. The six-axis force sensor 41 feeds back the torque information collected to the robot controller, and is fixedly connected with the interface active end body 11 through the force sensor first adapter disc 43. The force sensor acquisition card 42 is installed on the force sensor first adapter disc 43, and the terminal adapter disc 45 is fixedly connected with the six-axis force sensor 41 through the force sensor second adapter disc 44. The quick change interface active end can be installed on the robot terminal through the terminal adapter disc 45, and the quick change interface passive end can be fixedly connected with the target terminal tool through the reserved mounting hole of the interface passive end body 12. During docking and releasing, the controller corrects the terminal pose in real time based on the impedance control model, so that the interface active end can conform to the small attitude deviation of the passive end, realize high-precision compliant docking, and significantly improve the stability and success rate of on-orbit application.

[0083] Based on the foregoing quick-change interface, the application further provides a corresponding quick-change method, as shown in the working state profile of the quick-change interface, the method specifically comprises: Figure 8

[0084] Visual guidance approach step: first, according to the visual information fed back by the visual sensor 31, the accurate pose of the target end tool is obtained, the interface active end body 11 is guided to move to the target end tool position and gradually approach with the robot end, wherein the reserved mounting hole of the interface passive end body 12 is fixedly connected with the target end tool;

[0085] Force perception compliant docking step: during the docking process, the six-dimensional force sensor 41 feeds back the force signal in real time through the force sensor acquisition card 42, and the online adjustment of the interface active end body 11 pose is carried out in combination with the impedance control model, while the guide pin 13 assists to realize the coarse positioning, so as to ensure the smooth docking;

[0086] Electromagnetic drive locking step: when the interface active end body 11 and the interface passive end body 12 reach the predetermined docking position, the locking stage is entered, the electromagnet 17 is powered on under the control of the end slave station 21, the magnetic attraction force drives the electromagnet push rod 15 and the conical surface docking ring 18 to move, and then the high-strength ceramic ball 19 is extruded to embed into the ball groove of the interface passive end body 12, so that the high-strength locking is completed;

[0087] Electrical communication and tool control step: after locking, the male seat spring needle 22 and the female seat spring needle 23 are connected, and the robot controller can control the end tool to perform various fine operation tasks by using the end slave station 21;

[0088] Unlocking and releasing step: after the task is completed, the electromagnet 17 is powered off under the control of the end slave station 21, and after the magnetic attraction force disappears, the reset spring 16 compressed in the locking stage pushes the electromagnet push rod 15 and the conical surface docking ring 18 to return to the original position, the high-strength ceramic ball 19 is separated from the ball groove, and the unlocking is realized; during the releasing process of the end tool, the force sensor acquisition card 42 still feeds back the force information in real time, and the impedance control model ensures the smooth adjustment of the end pose, so that the releasing action is successfully completed; after a complete operation process is completed, the space robot can switch different end tools by using the quick-change interface to perform diversified on-orbit maintenance tasks.

[0089] In the second aspect, the application provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the foregoing quick-change method of the mechatronic-sensory integrated quick-change interface.

[0090] ​In a third aspect, the present application provides a computer readable storage medium, having stored thereon executable instructions that, when executed by a processor, enable the processor to implement the fast switching method of the fast switching interface of the mechatronic-sensory integration.

[0091] The above-described embodiments of the present application are further explained in connection with the accompanying drawings that illustrate, by way of example, specific embodiments thereof. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. An electro-mechano-perception integrated quick-change interface, installed at the end of a space robot manipulator, for on-orbit fine operation, comprising an interface active end body and an interface passive end body, the interface passive end body being connected with a target end tool, characterized in that, Also comprising: A locking and force increasing module arranged inside the interface active end body, which uses a guide pin for auxiliary positioning and combines electromagnetic drive and force increasing mechanism to form a composite locking mechanism, for realizing mechanical connection and separation between the interface active end body and the interface passive end body; An electrical transmission and conversion compatible module arranged inside the interface active end body and the interface active and passive end body, for establishing electrical connection and realizing conversion of multiple communication protocols, including at least one or more of RS-485, CAN, EtherCAT and PWM, after the interface is locked based on the slave module; A sensing module fixedly installed on the interface active end body, for acquiring pose information of the target end tool through a visual sensing unit to perform visual guidance approach, and for real-time feedback of force / torque information in the docking process through a six-dimensional force sensing unit; the controller of the robot arm adjusts the motion pose of the interface active end body online based on the visual guidance information and force / torque information fed back by the sensing module, in combination with an impedance control model, to realize precise docking of visual guidance and force sensing compliant cooperation; The auxiliary positioning of the guide pin, the composite locking mechanism, the electrical connection and protocol conversion, and the visual and force feedback cooperative control of the sensing module work in sequence and cooperatively to complete the complete quick change operation process from end tool positioning, approach, compliant docking to locking and connection.

2. The mechatronic-sensory integrated quick-change interface according to claim 1, characterized in that, The auxiliary positioning using the guide pin includes: at least two guide pins are symmetrically arranged on the docking surface of the interface active end body; the docking surface of the interface passive end body is correspondingly provided with guide holes matched with the guide pins; in the docking process, the guide pins are engaged with the guide holes in priority to other components, to realize initial coarse positioning and anti-rotation between the interface active and passive end bodies.

3. The mechatronic-sensory integrated quick-change interface according to claim 1, characterized in that, The locking and force increasing module further includes an electromagnet, an electromagnet push rod, a reset spring, a conical surface docking ring, a ceramic ball limiting ring and a high-strength ceramic ball; wherein, The electromagnet is fixed inside the interface active end body, the electromagnet push rod passes through the hole of the electromagnet and is connected with the conical surface docking ring, and the reset spring is sleeved outside the electromagnet push rod; the ceramic ball limiting ring is installed on the interface active end body and is provided with a limiting hole, and the high-strength ceramic ball is placed in the limiting hole; After the electromagnet is powered on, the electromagnet push rod and the conical surface docking ring are driven to move, the high-strength ceramic ball is extruded by the conical surface to embed into the ball groove of the interface passive end body to realize locking.

4. The mechatronic-sensory integrated quick-change interface according to claim 3, characterized in that, The force increasing mechanism is specifically: the conical surface of the conical surface docking ring interacts with the high-strength ceramic ball, converts the magnetic attraction driving force generated by the electromagnet into locking force and amplifies it, and the locking force increasing coefficient is related to the inclination angles of the conical surface docking ring and the ball groove of the interface passive end body.

5. The mechatronic-sensory integrated quick-change interface according to claim 1, characterized in that, The slave module in the electrical transmission and conversion compatible module is an end slave; the electrical connection is realized through the docking of male spring pins and female spring pins, the male spring pins are installed on both sides of the interface active end body, and the female spring pins are installed on both sides of the interface passive end body.

6. The mechatronic-sensory integrated quick-change interface according to claim 5, characterized in that, Spring pin protection shells are arranged outside the male spring pins and the female spring pins.

7. The mechatronic-sensory integrated quick-change interface according to claim 1, characterized in that, The visual sensing unit includes a visual sensor, a visual sensor lens, and a visual sensor support. The visual sensor is installed on the interface active end body through the visual sensor support, collects external environment images through the visual sensor lens, and transmits the environment images to the robot controller. The six-dimensional force sensing unit includes a six-dimensional force sensor, a force sensor adapter disk, and a force sensor acquisition card. The six-dimensional force sensor is connected with the interface active end body through the force sensor adapter disk and feeds back the collected torque information to the robot controller. The image information and the torque information fed back by the perception module are used to assist in realizing compliant docking operation based on impedance control.

8. An electro-mechano-perception integrated quick change method applied to the quick change interface according to any one of claims 1-7, characterized in that, Comprise: A visual guidance approach step: acquiring the pose of the target end tool through the visual sensing unit, guiding the movement of the interface active end body to the interface passive end body; A force perception compliant docking step: feeding back the torque signal in real time through the six-dimensional force sensing unit, adjusting the pose of the interface active end body in combination with the impedance control model, and assisting in coarse positioning through the guide pin; An electromagnetic drive locking step: after the interface active end body and the interface passive end body reach the docking position, controlling the locking force increasing module to act, and completing mechanical locking; An electrical connection and control step: after locking, establishing electrical connection through the electrical transmission and conversion compatible module, and controlling the target end tool through the slave module; An unlocking release step: controlling the locking force increasing module to release locking, separating the interface active end body and the interface passive end body, and completing release.

9. An electronic device, comprising: Comprise: One or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors realize the fast changing method of the machine-electricity-perception integrated fast changing interface of claim 8.

10. A computer-readable storage medium, characterized in that, Executable instructions are stored thereon, which, when executed by a processor, can make the processor realize the fast changing method of the machine-electricity-perception integrated fast changing interface of claim 8.

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