CN115741733B

CN115741733B - Terminal flexible force control execution device

Info

Publication number: CN115741733B
Application number: CN202211438551.7A
Authority: CN
Inventors: 朱俊涛; 张哲�; 刘鹏; 徐佳逸; 代文举; 赵天龙
Original assignee: Quick Robot Technology Shanghai Co ltd
Current assignee: Quick Robot Technology Shanghai Co ltd
Priority date: 2022-11-16
Filing date: 2022-11-16
Publication date: 2023-07-14
Anticipated expiration: 2042-11-16
Also published as: CN115741733A

Abstract

The application relates to a tail end flexible force control executing device, which comprises a connecting mechanism, a primary floating mechanism, a secondary floating mechanism and a sensor mechanism; the connecting mechanism is used for being fixedly connected to external equipment; the primary floating mechanism is connected in the connecting mechanism in a floating way; the second-stage floating mechanism is connected with the first-stage floating mechanism in a floating manner and is used for installing operation equipment; the sensor mechanism is fixedly connected to the secondary floating mechanism and is used for measuring the pressure value of the current working state of the operating equipment on the operated product in real time. The present application has the effect of contributing to an improvement in the accuracy of controlling the operation force of the robot end operation device.

Description

Terminal flexible force control execution device

Technical Field

The application relates to the field of industrial robots, in particular to a tail end flexible force control execution device.

Background

In the field of machining, deburring, chamfering, deburring and the like of parts are required to be polished, which are very important procedures in production. The traditional method mostly adopts manual polishing, a large amount of manual resources are needed, the working environment is bad, the body injury to the operators is great, moreover, the operation quality depends on the long-term experience and the proficiency of the operators, and the polishing quality cannot be ensured. Along with the development of science and technology, the industrial robot is gradually applied to equipment such as assembly, grinding, polishing and the like of parts by the advantages of strong flexibility, simple control, low cost and the like, and has better application and development.

Polishing belongs to the category of mechanical finish machining, and the strength is unstable when a robot arm is in direct contact with a machined workpiece, so that product flaws or damage and scrapping are easily caused, and the product quality and the production efficiency are greatly affected. There is a need in the machining arts for industrial robots with the ability to sense and control contact forces. The force control of the industrial robot comprises active force control and passive force control, wherein the active force control adjusts the tail end output force by adjusting the moment of each joint of the robot, the passive force control is to install a force control device such as a sensor at the tail end of the industrial robot, the size of the tail end output force of the robot is adjusted by the force control device, the active force control needs to establish a complex dynamic model, the implementation is complex, and the active force control has a delay, so that the passive force control is mostly adopted for controlling the size of the tail end tool force of the industrial robot.

At present, most of the existing tail end force control devices adopt a servo motor or pneumatic drive, the pneumatic drive belongs to nonlinear control, the pneumatic response is delayed, the force control precision is low, the tail end force of the industrial robot cannot be quickly adjusted, the servo motor drive responds faster than the pneumatic drive, but the tail end force control device driven by the motor still has the problems of higher cost, poorer flexibility and still need to improve the response speed.

Disclosure of Invention

In order to help to improve accuracy of controlling the operation force of a robot, the application provides a terminal flexible force control executing device.

The application provides a terminal flexible force control execution device adopts following technical scheme:

a terminal flexible force control executing device comprises a connecting mechanism, a primary floating mechanism, a secondary floating mechanism and a sensor mechanism; the connecting mechanism is used for being fixedly connected to external equipment; the primary floating mechanism is connected in the connecting mechanism in a floating way; the second-stage floating mechanism is connected with the first-stage floating mechanism in a floating manner and is used for installing operation equipment; the sensor mechanism is fixedly connected to the secondary floating mechanism and is used for measuring the pressure value of the operating equipment acting on the operated product in real time.

By adopting the technical scheme, based on the detection result of the sensor mechanism, if the detection result is smaller than a preset difference, the secondary floating mechanism can be directly started for fine adjustment; if the gap between the first-stage floating assembly and the second-stage floating assembly is larger than the preset gap, the floating position of the second-stage floating mechanism can be quickly adjusted by utilizing the first-stage floating assembly, so that the floating position of the operating device connected to the second-stage floating mechanism is adjusted, and the acting force of the operating device on a product is initially adjusted; then, continuously adjusting the floating position of the operation equipment on the basis of the adjustment of the primary floating mechanism by utilizing the secondary floating mechanism according to the real-time detection result of the sensor mechanism, so that the acting force of the operation equipment on a product can be more accurately adjusted; therefore, the aim of adjusting the acting force of the operation equipment and keeping the constant force can be realized by utilizing the structure; and the two-stage floating adjusting mechanism is adopted, so that the adjusting efficiency is high, the response is quick, and the accuracy of controlling the operation force of the robot is improved.

Preferably, the connecting mechanism comprises a bottom connecting flange and a first threaded rod fixedly connected to one side of the bottom connecting flange, the primary floating mechanism is connected to the first threaded rod in a floating mode, and the bottom connecting flange is used for being connected to the robot.

Through adopting above-mentioned technical scheme, coupling mechanism is used for realizing the connection of robot, provides basic bearing structure for first level floating mechanism, second level floating mechanism and sensor mechanism.

Preferably, the primary floating mechanism comprises a primary floating assembly, a primary transmission assembly and a power assembly, wherein the power assembly drives the primary floating assembly to float on the connecting mechanism through the primary transmission assembly; the primary floating assembly comprises a plurality of fixed substrates and connecting columns fixedly connected with the fixed substrates, and the positions of the fixed substrates corresponding to the first threaded rods are provided with abdication through holes; the power assembly comprises a driving motor which is fixedly connected to the fixed substrate.

Through adopting above-mentioned technical scheme, fixed base plate is used for providing the basic bearing structure of installation for driving motor for one-level floating assembly can utilize driving motor and one-level transmission assembly to float on first threaded rod.

Preferably, the primary transmission assembly comprises a driving wheel, a driven wheel and a synchronous belt wound on the driving wheel and the driven wheel; the driving wheel is connected to a rear output shaft of the driving motor; the primary transmission assembly further comprises a fixing nut seat, wherein the fixing nut seat is in threaded connection with the first threaded rod and is fixedly connected with the driven wheel.

Through adopting above-mentioned technical scheme, realize driving motor's power transmission through the band pulley transmission, then through the rotation action of fixation nut seat with the band pulley transmission, convert into the rectilinear motion of lead screw motion to the floating action of one-level floating mechanism has been realized.

Preferably, the primary floating mechanism further comprises a contact connection assembly, the contact connection assembly is arranged between the driving wheel and the driving motor, the contact connection assembly comprises an electromagnetic clutch and a clutch suction piece, the electromagnetic clutch is fixedly connected to the first substrate, and the clutch suction piece is fixedly connected to one side, close to the first substrate, of the driving wheel; when the clutch suction plate is closed, the rear output shaft of the driving motor drives the driving wheel to rotate; otherwise, when the clutch suction plate is not closed, the rear output shaft of the driving motor does not drive the driving wheel to rotate.

Through adopting above-mentioned technical scheme, contact coupling assembling utilizes electromagnetic clutch to be used for controlling the rotation between driving motor and the action wheel to need not to make driving motor stop, just make things convenient for the driving action of quick stop driving motor to the action wheel.

Preferably, the secondary floating mechanism comprises a secondary floating assembly and a secondary transmission assembly, the secondary floating assembly comprises a motor seat plate, the motor seat plate is fixedly connected to a shell of the driving motor, and a sliding rod is fixedly connected to one side, far away from the driving motor, of the motor seat plate; the secondary floating assembly comprises a floating plate which is connected to the sliding rod in a sliding way, a threaded hole is formed in the floating plate, a threaded rotating rod is connected in the threaded hole in a threaded mode, and the threaded rotating rod is coaxially and fixedly connected to a front output shaft of the driving motor; one side of the floating plate, which is far away from the motor seat plate, is fixedly connected with a cushion block, and the cushion block is fixedly connected with the sensor mechanism.

By adopting the technical scheme, the power control of the threaded rotary rod is realized through the front driving shaft of the driving motor, and then the displacement of the screw rod principle is realized by utilizing the threaded hole structures arranged on the threaded rotary rod and the floating plate, so that the floating of the floating plate, namely the floating of the cushion block, is realized, and the floating of the sensor mechanism is realized, so that the constant force control is facilitated; and when the electromagnetic clutch makes the clutch suction plate not closed, the front output shaft of the driving motor can continuously drive the floating of the secondary floating mechanism, and the magnitude of the force applied by the operating equipment to the product can be continuously regulated.

Preferably, the secondary floating mechanism further comprises a guide seat plate fixedly connected to one side, far away from the motor seat plate, of the sliding rod, and a second abdicating hole for the cushion block to displace is formed in the position, corresponding to the cushion block, of the guide seat plate.

Through adopting above-mentioned technical scheme, the guide bedplate is favorable to restricting the biggest floating distance of floating plate, and the second hole of stepping down is difficult to influence the displacement of cushion.

Preferably, the secondary floating mechanism further comprises a coaxial speed reducer, the coaxial speed reducer is arranged between the driving motor and the secondary floating assembly, the coaxial speed reducer is fixedly arranged on a front output shaft of the driving motor, the motor seat plate is fixedly connected with a shell of the coaxial speed reducer, and the threaded rotary rod is coaxially and fixedly connected with an output shaft of the coaxial speed reducer.

By adopting the technical scheme, the speed reducer is favorable for reducing the rotating speed and realizing accurate adjustment of the floating distance, thereby being favorable for realizing accurate control of constant force and reducing floating times.

Preferably, the sensor mechanism comprises a pressure sensing assembly, the pressure sensing assembly comprises a rear supporting plate, a front supporting plate and a pressure sensor fixedly connected between the rear supporting plate and the front supporting plate, the front supporting plate is used for installing the operation device, and the rear supporting plate is fixedly connected to one side, far away from the driving motor, of the cushion block.

Through adopting above-mentioned technical scheme, the dynamics size that operating device acted on the product can be through pressure sensor real-time induction measurement to be favorable to one-level floating mechanism and second grade floating mechanism to adjust the floating distance, thereby be favorable to realizing constant force control.

Preferably, the sensor mechanism comprises a ranging sensor assembly, the ranging sensor assembly comprises a distance sensor, and the distance sensor is fixedly connected to the cushion block.

Through adopting above-mentioned technical scheme, can also include range finding sensor, range finding sensor can survey the high of operating device distance product in real time, is favorable to making the contrast with pressure sensor's testing result to be favorable to further guarantee the control of constant force on the product, improve the accuracy of control.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the two-stage floating mechanism is adopted, so that the industrial robot can axially float during polishing operation, the axial force is ensured to be constant, for example, even when a complex curved surface is polished, the flexible control can be realized, and the polishing tool cannot be damaged;

2. the two-stage floating mechanism can realize two-stage force control, the one-stage floating mechanism can quickly respond to and adjust the magnitude of the end force, the efficiency is high, the two-stage floating mechanism can realize more accurate adjustment of the magnitude of the end force, the precision is high, and the polishing quality is improved;

3. the pressure sensor can be used for measuring the pressure in real time, so that more accurate constant force control is facilitated.

Drawings

FIG. 1 is a schematic overall structure of an embodiment of the present application;

FIG. 2 is a schematic view of a structure of a primary floating assembly and a connection mechanism according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a primary floating mechanism according to an embodiment of the present disclosure;

FIG. 4 is an exploded view of an embodiment of the present application, primarily for use in illustrating a primary floating mechanism;

FIG. 5 is a further exploded view of the embodiment of the present application, primarily for use in illustrating a primary floating mechanism;

FIG. 6 is an exploded view of an embodiment of the present application, primarily for illustrating the structural schematic of a secondary floating assembly;

fig. 7 is an exploded schematic view of a sensor mechanism in an embodiment of the present application.

Reference numerals: 1. a connecting mechanism; 11. a bottom connecting flange; 12. the front part is connected with a large plate; 121. a first relief hole; 13. a first threaded rod; 14. a guide rod; 2. a primary floating mechanism; 21. a primary floating assembly; 211. a first substrate; 212. a second substrate; 213. a third substrate; 214. a connecting column; 215. a relief through hole; 216. a first ball bearing; 22. a power assembly; 221. a driving motor; 23. a primary transmission assembly; 231. a driving wheel; 232. a first driven wheel; 233. a second driven wheel; 234. a synchronous belt; 235. a rolling bearing assembly; 236. a fixed nut seat; 237. a front thrust bearing; 238. a rear thrust bearing; 241. an electromagnetic clutch; 242. clutch suction plate; 3. a secondary floating mechanism; 31. a secondary floating assembly; 311. a motor seat plate; 312. a sliding rod; 313. a guide seat plate; 314. a second relief hole; 32. a secondary transmission assembly; 321. a floating plate; 322. a central aperture plate; 323. a threaded screw; 324. a second ball bearing; 33. a cushion block; 34. a coaxial speed reducer; 4. a sensor mechanism; 41. a rear support plate; 42. a front support plate; 43. a pressure sensor; 44. a first support block; 45. and a second support block.

Detailed Description

The present application is described in further detail below in conjunction with figures 1-7.

The embodiment of the application discloses a tail end flexible force control executing device. Referring to fig. 1, a terminal flexible force control actuator includes a connection mechanism 1, a primary float mechanism 2, a secondary float mechanism 3, and a sensor mechanism 4.

Referring to fig. 1 and 2, the connection mechanism 1 includes a bottom connection flange 11 and a front connection large plate 12, each of which is provided in a circular plate shape, and a first threaded rod 13 and a guide rod 14, which are fixedly connected between the bottom connection flange 11 and the front connection large plate 12, which are arranged in parallel. In the application, two first threaded rods 13 are arranged and symmetrically distributed between the bottom connecting flange 11 and the front connecting large plate 12; the guide rods 14 are provided in two and symmetrically distributed between the bottom connecting flange 11 and the front connecting plate 12.

Referring to fig. 1 and 3, the primary floating mechanism 2 is disposed between the bottom connecting flange 11 and the front connecting plate 12, and floats on the guide rod 14. The primary float mechanism 2 includes a primary float assembly 21, a power assembly 22, a primary drive assembly 23, and a contact connection assembly.

Referring to fig. 4 and 5, the primary floating assembly 21 includes a plurality of fixed substrates, which are a first substrate 211, a second substrate 212, and a third substrate 213 disposed in order parallel to the bottom connecting flange 11; the first substrate 211, the second substrate 212 and the third substrate 213 are all circular plates and are arranged coaxially with the bottom connecting flange 11; the first substrate 211, the second substrate 212 and the third substrate 213 are fixedly connected by a plurality of connecting posts 214 distributed at equal intervals circumferentially, and four connecting posts 214 are taken as an example in this embodiment. The four connecting posts 214 are respectively located in the first threaded rod 13 and the guide rod 14 in a staggered manner, and the positions of the first base plate 211, the second base plate 212 and the third base plate 213 corresponding to the four first threaded rods 13 are respectively provided with a yielding through hole 215 for the first threaded rod 13 and the guide rod 14 to pass through. In order to make the sliding of the first substrate 211, the second substrate 212 and the third substrate 213 on the guide bar 14 smoother, the second substrate 212 and the third substrate 213 are provided with first ball bearings 216 in through holes corresponding to the guide bar 14.

The power assembly 22 includes a driving motor 221, the driving motor 221 is fixedly installed on the first substrate 211, the second substrate 212 and the third substrate 213 in a penetrating manner along a coaxial line, and a rear output shaft of the driving motor 221 extends out of one side of the first substrate 211 far away from the second substrate 212. The front connecting large plate 12 is provided with a first yielding hole 121 corresponding to the driving motor 221.

The primary transmission assembly 23 comprises a driving wheel 231, a first driven wheel 232, a second driven wheel 233 and a synchronous belt 234 wound on the outer sides of the driving wheel 231, the first driven wheel 232 and the second driven wheel 233; the driving wheel 231 is connected with the rear output shaft of the driving motor 221 through a contact connection assembly, and a rolling bearing assembly 235 is arranged at the axis of the driving wheel 231 to ensure the rotation stability of the driving wheel 231. The first driven wheels 232 and the second driven wheels 233 are symmetrically distributed on two sides of the driving wheel 231 and penetrate through the two first threaded rods 13 in a one-to-one correspondence manner. The first driven wheel 232 and the second driven wheel 233 are fixedly provided with a fixed nut seat 236 at one side close to the second base plate 212, and the fixed nut seat 236 is in threaded connection with the first threaded rod 13. In order to realize that the first driven wheel 232 and the second driven wheel 233 more smoothly float on the first threaded rod 13, a front thrust bearing 237 is arranged on one side of the fixed nut seat 236 away from the first driven wheel 232 or the second driven wheel 233, and a rear thrust bearing 238 is arranged on one side of the first driven wheel 232 and the second driven wheel 233 away from the corresponding fixed nut seat 236.

The contact-and-connection assembly includes an electromagnetic clutch 241 and a clutch suction plate 242, the electromagnetic clutch 241 being mounted to a side of the second substrate 212 near the first substrate 211 and coaxial with a rear output shaft of the driving motor 221. The clutch plate 242 is fixedly installed at one side of the driving wheel 231 near the driving motor 221. When the clutch suction piece 242 is closed, the rear output shaft of the driving motor 221 drives the driving wheel 231 to rotate, so as to increase the stability of the device; on the contrary, when the clutch plate 242 is not closed, the rear output shaft of the driving motor 221 is separated from the driving wheel 231, so that the driving wheel 231 is not driven.

Referring to fig. 6, the secondary float mechanism 3 includes a secondary float assembly 31 and a secondary transmission assembly 32, the secondary float assembly 31 includes a square motor seat plate 311, and the motor seat plate 311 is fixedly mounted directly or indirectly to a housing of the driving motor 221. Four sliding rods 312 are vertically and fixedly arranged at four right angles on one side of the motor seat plate 311 away from the driving motor 221. The secondary transmission assembly 32 comprises a square floating plate 321, the floating plate 321 is slidably connected to the sliding rod 312, the floating plate 321 is parallel to the motor seat plate 311, and a second ball bearing 324 which is convenient for sliding is arranged between the floating plate 321 and the sliding rod 312. The middle part fixedly connected with center guide orifice plate 322 of floating board 321, center guide orifice plate 322's central axis department is provided with the screw hole, and threaded hole threaded connection has screw thread dwang 323, and screw thread dwang 323 keeps away from the coaxial direct or indirect fixed mounting in the preceding output shaft of driving motor 221 of center guide orifice plate 322. One side of the central guide hole plate 322 far away from the threaded rotary rod 323 is provided with a cushion block 33, and the position of the cushion block 33 corresponding to the threaded hole is provided with a through hole. The end part of the sliding rod 312, which is far away from the motor seat plate 311, is fixedly provided with a square guide seat plate 313, the guide seat plate 313 is parallel to the motor seat plate 311, and a second abdicating hole 314 for the displacement of the cushion block 33 is formed in the position of the guide seat plate 313 corresponding to the cushion block 33.

The secondary float assembly 31 may be directly connected to the front output shaft of the drive motor 221 or may be indirectly connected to the front output shaft of the drive motor 221 through the coaxial speed reducer 34.

In one embodiment, the secondary float assembly 31 may be directly connected to the front output shaft of the drive motor 221:

the motor seat plate 311 is directly fixedly installed to the housing of the driving motor 221, and the screw rod 323 is coaxially and fixedly installed to the front output shaft of the driving motor 221, which is not shown in the drawing.

Scheme two, the secondary floating assembly 31 is connected to the front output shaft of the drive motor 221 through a coaxial speed reducer 34: the secondary floating mechanism 3 further comprises a coaxial speed reducer 34, the coaxial speed reducer 34 is installed on the front output shaft of the driving motor 221, and the motor seat plate 311 is fixedly installed on a shell of one end, far away from the driving motor 221, of the coaxial speed reducer 34; simultaneously, the screw rod 323 is coaxially and fixedly arranged on the output shaft of the coaxial speed reducer 34. The coaxial speed reducer 34 can reduce the rotation speed, increase the torque, and adapt to different rotation speed demands, so that the response speed of the floating distance of the secondary floating assembly 31 can be adjusted according to different working conditions, and the constant force operation of the tail end processing equipment can be maintained.

Referring to fig. 6 and 7, the sensor mechanism 4 includes a pressure sensing assembly including rear and

front support plates

41 and 42 each having a circular shape, and a pressure sensor 43 fixedly connected between the rear and

front support plates

41 and 42. The rear support plate 41 is fixedly mounted on the side of the spacer 33 remote from the floating plate 321. The pressure sensor 43 is provided as a patch type pressure sensor 43, and a deformation hole is provided in the middle of the patch type pressure sensor 43. One end side wall of the patch type pressure sensor 43 is fixedly mounted on the rear support plate 41 through a first support block 44, and the other end side wall is fixedly mounted on the front support plate 42 through a second support block 45. The first supporting block 44 and the second supporting block 45 form a set distance between the patch type pressure sensor 43 and the rear front supporting plate 42 and the supporting plate respectively, so as to meet the requirement of deformation of the patch type pressure sensor 43. The side of the rear support plate 41 remote from the patch-type pressure sensor 43 is used for mounting robotic end-processing equipment, such as polishing equipment and the like. The pressure sensing assembly is used for sensing the magnitude of the end force, so that the force of the end processing equipment on the product is adjusted according to the magnitude of the force.

The sensor means 4 may also comprise a distance sensor assembly, which may be provided as an infrared measuring sensor or as a telescopic distance sensor or the like, not shown in the figures.

The implementation principle of the terminal flexible force control execution device in the embodiment of the application is as follows: the scheme has the advantages of quick response, high precision, high stability and good robustness of the enhancement system. According to the design scheme, the industrial robot can axially float during polishing operation, the axial force is guaranteed to be constant, flexible control can be achieved even when a complex curved surface is polished, and the polishing tool cannot be damaged. The two-stage floating mechanism can realize time-sharing two-stage force control, and can quickly respond to and adjust the magnitude of the tail end force, and has high efficiency, low cost and quick installation.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims

1. An end flexible force control execution device, which is characterized in that: comprises a connecting mechanism (1), a primary floating mechanism (2), a secondary floating mechanism (3) and a sensor mechanism (4); the connecting mechanism (1) is used for being fixedly connected to external equipment; the primary floating mechanism (2) is connected in the connecting mechanism (1) in a floating way; the secondary floating mechanism (3) is connected with the primary floating mechanism (2) in a floating manner and is used for installing operation equipment; the sensor mechanism (4) is fixedly connected to the secondary floating mechanism (3) and is used for measuring the pressure value of the operating equipment acting on the operated product in real time; the connecting mechanism (1) comprises a bottom connecting flange (11) and a first threaded rod (13) fixedly connected to one side of the bottom connecting flange (11), the primary floating mechanism (2) is connected to the first threaded rod (13) in a floating mode, and the bottom connecting flange (11) is used for being connected to a robot; the primary floating mechanism (2) comprises a primary floating assembly (21), a primary transmission assembly (23) and a power assembly (22), wherein the power assembly (22) drives the primary floating assembly (21) to float on the connecting mechanism (1) through the primary transmission assembly (23); the primary floating assembly (21) comprises a plurality of fixed substrates and connecting columns (214) fixedly connected with the fixed substrates, and the positions of the fixed substrates corresponding to the first threaded rods (13) are provided with abdication through holes (215); the power assembly (22) comprises a driving motor (221), and the driving motor (221) is fixedly connected to the fixed substrate; the primary transmission assembly (23) comprises a driving wheel (231), a driven wheel and a synchronous belt (234) wound on the driving wheel (231) and the driven wheel; the driving wheel (231) is connected to a rear output shaft of the driving motor (221); the primary transmission assembly (23) further comprises a fixed nut seat (236), and the fixed nut seat (236) is in threaded connection with the first threaded rod (13) and is fixedly connected with the driven wheel; the primary floating mechanism (2) further comprises a contact connection assembly, the contact connection assembly is arranged between the driving wheel (231) and the driving motor (221), the contact connection assembly comprises an electromagnetic clutch (241) and a clutch suction piece (242), the electromagnetic clutch (241) is fixedly connected to the first substrate (211), and the clutch suction piece (242) is fixedly connected to one side, close to the first substrate (211), of the driving wheel (231); when the clutch suction plate (242) is closed, the rear output shaft of the driving motor (221) drives the driving wheel (231) to rotate; conversely, when the clutch suction plate (242) is not closed, the rear output shaft of the driving motor (221) does not drive the driving wheel (231) to rotate; the secondary floating mechanism (3) comprises a secondary floating assembly (31), the secondary floating assembly (31) comprises a motor seat plate (311), the motor seat plate (311) is fixedly connected to a shell of the driving motor (221), a sliding rod (312) is fixedly connected to one side, away from the driving motor (221), of the motor seat plate (311), a floating plate (321) is connected to the sliding rod (312) in a sliding manner, a threaded hole is formed in the floating plate (321), a threaded rod (323) is connected to the threaded hole in a threaded manner, and the threaded rod (323) is coaxially and fixedly connected to a front output shaft of the driving motor (221); one side of the floating plate (321) far away from the motor seat plate (311) is fixedly connected with a cushion block (33), and the cushion block (33) is fixedly connected with the sensor mechanism (4).

2. A distal flexible force control actuator according to claim 1, wherein: the secondary floating mechanism (3) further comprises a guide seat plate (313), the guide seat plate (313) is fixedly connected to one side, far away from the motor seat plate (311), of the sliding rod (312), and a second yielding hole (314) for the cushion block (33) to displace is formed in the position, corresponding to the cushion block (33), of the guide seat plate (313).

3. A distal flexible force control actuator according to claim 1, wherein: the secondary floating mechanism (3) further comprises a coaxial speed reducer (34), the coaxial speed reducer (34) is arranged between the driving motor (221) and the secondary floating assembly (31), the coaxial speed reducer (34) is fixedly arranged on a front output shaft of the driving motor (221), the motor seat plate (311) is fixedly connected with a shell of the coaxial speed reducer (34), and the threaded rotary rod (323) is coaxially and fixedly connected with an output shaft of the coaxial speed reducer (34).

4. A distal flexible force control actuator according to claim 1, wherein: the sensor mechanism (4) comprises a pressure sensing assembly, the pressure sensing assembly comprises a rear supporting plate (41) and a front supporting plate (42), and a pressure sensor (43) fixedly connected between the rear supporting plate (41) and the front supporting plate (42), the front supporting plate (42) is used for installing the operation equipment, and the rear supporting plate (41) is fixedly connected to one side, far away from the driving motor (221), of the cushion block (33).

5. The distal flexible force control actuator of claim 4, wherein: the sensor mechanism (4) comprises a ranging sensing assembly, the ranging sensing assembly comprises a distance sensor, and the distance sensor is fixedly connected to the cushion block (33).