30results about How to "High force measurement accuracy" patented technology

The invention discloses a cooperative control system for a catheter and a guidewire for a vascular intervention operation robot. The system comprises a main terminal subsystem and a secondary terminalsubsystem, the catheter and the guidewire can be synchronously controlled to achieve cooperative operation; a cooperative control method for the catheter and the guidewire for the vascular intervention operation robot comprises the steps of detection for operation information of a doctor through a main operator; transmission of axial moving information of the catheter and the guidewire and rotarydistance information; intervention executed by the operator; detection for stress of the operator; a collecting process of the operation information; a force feedback process of the main operator; the system is in accord with operation habits of the doctor, the operation method can be easily implemented, the accuracy is high, and the system is simple and stable in structure.

The invention relates to a calibrator for a 3-way force sensor. Wherein, a X-way linear guideway for translating with a X-way loader and a Y-way linear guideway for translating with a Y-way loader are fixed perpendicular to each other on a calibrating worktable; the two ends of a beam are fixed on two ball screw for lifting the beam; the ball screws are installed vertically on the calibrating worktable; a Z-way loader is fixed on the beam; the standard force sensors that are respectively mounted on the X-, Y- and Z-way loader are intersected; an orientedly loading clamp clamps the 3-way force sensor to be calibrated, is placed on the calibrating worktable and located at the intersection of the three sensors; a motor drives the two ball screw for lifting the beam to move linearly and synchronously in Z direction. The weighing, 3-way force sensor is calibrated by a measurement comparison method. While detecting the force-measuring performance of the 3-way force sensor in any direction, one can observe the disturbance on the force measuring in another two directions, thereby the interference of forces in different directions can be reduced.

The invention discloses an interventional surgical robot subordinate end and a mobile platform and a control method of the robot subordinate end and belongs to the technical field of minimally invasive blood vessel interventional operations. The mobile platform comprises a platform main beam, and platform connection blocks are arranged on the platform main beam through a linear guide rail pair D; the platform connection blocks are driven by a platform driving mechanism and used for installing a catheter controller or a guide wire controller. The interventional surgical robot subordinate end comprises the catheter controller, the guide wire controller and the mobile platform; the catheter controller and the guide wire controller are mounted on the two platform connection blocks respectively. According to the interventional surgical robot subordinate end, the catheter controller and the guide wire controller are installed on the mobile platform, and the problem is solved that it is difficult for an existing robot to complete co-operating of a catheter and a guide wire.

The invention discloses an interventional surgical robot subordinate end device and a control method thereof and belongs to the technical field of minimally invasive blood vessel interventional operations. The device comprises a main body, a catheter clamp holder, a guide wire clamp holder, a torsional component and a force measurement component; the catheter clamp holder is used for clamping catheters, the guide wire clamp holder is used for tightly clamping or loosening guide wires, and the catheter clamp holder and the guide wire clamp holder are both detachably mounted on the main body; the catheter clamp holder comprises a medical three-way valve and a clamping component, and the medical three-way valve is used for connecting the catheters and is fixed to the main body through the clamping component; the torsional component is used for driving a screw cap of the medical three-way valve to drive the catheters to rotate; the force measurement component is used for detecting push force of the catheters. The subordinate end device can clamp the catheters and tightly clamp or loosen the guide wires, achieves co-operating operation of the catheters and the guide wires, and is simple in structure and convenient to disassemble and assemble. According to the control method, the subordinate end device is controlled so that clamping, pushing, torsion and force measurement of the catheters and clamping of the guide wires can be completed, and accordingly co-operating of the catheters and the guide wires is achieved.

The invention provides a method for measuring three-dimensional contact force of the tail end of a mechanical hand of a teleoperation robot. The teleoperation mechanical hand comprises a connection totality of a mechanical arm and a mechanical paw, and is characterized in that two three-dimensional sensors are arranged; a first three-dimensional sensor is arranged between the forearm of the mechanical arm and the mechanical paw; a second three-dimensional sensor is arranged between the rear arm of the mechanical arm and the forearm of the mechanical arm; the mass of the mechanism paw is defined into m; the total mass of the first mechanical paw, the forearm of the mechanical arm and the first three-dimensional sensor are defined into M; m and M are brought into a computation formula; and the three-dimensional contact force of the teleoperation mechanical hand and the surrounding environment can be directly calculated. In the invention, the interference of the inertia force can be effectively eliminated without loading an accelerometer and the resolution of acceleration, thus the measurement accuracy of a three-dimensional force sensor for measuring the contact force of the mechanical hand can be improved; and the method has the characteristics of simplicity, convenience and accuracy and the like.

The invention provides a three-way decoupled force measurement type piezoelectric fast tool servo device, and relates to the technical field of ultra-precision machining. The device comprises a tool holder seat, an X-direction drive platform, a Y-direction drive platform and a Z-direction drive platform, wherein a three-way force measuring device for measuring the turning force of a tool in a decoupling mode is arranged in the tool holder seat, the X-direction drive platform, the Y-direction drive platform and the Z-direction drive platform are of same structures and all comprise flexible connectors connected with the tool holder seat, both sides of the flexible connectors are symmetrically connected with displacement amplifying mechanisms through flexible hinges, the displacement amplifying mechanisms are connected with piezoelectric drivers, the displacement amplifying mechanisms comprise multi-stage amplifying mechanisms connected through flexible hinges, and displacement detectingmechanisms are arranged on the flexible connectors. The device solves the problems that a fast tool servo device in the prior art is difficult to simultaneously achieve the large-stroke synchronous reciprocating movement in the X-direction, the Y-direction and the Z-direction, and the cutting force and the movement position in the machining process cannot be simultaneously detected, resulting in low machining quality.

The invention discloses a guide wire controller for an interventional operation robot and a control method of the interventional operation robot, and belongs to the technical field of minimally invasive vascular interventional operations. The controller comprises a basal part as well as a guide wire clamping mechanism and a clamping switching mechanism which are arranged on the basal part, whereinthe guide wire clamping mechanism is used for clamping a guide wire; the clamping switching mechanism is used for driving the guide wire clamping mechanism to loosen clamping on the guide wire; the guide wire clamping mechanism comprises a guide wire locking sleeve, a guide wire locking rod and a guide wire locker; one end of the guide wire locking rod is provided with the guide wire locker and is arranged into the guide wire locking sleeve; and the guide wire locker, which is squeezed by virtue of the guide wire locking rod, can clamp the guide wire. The guide wire controller provided by theinvention is simple in overall structure, and the guide wire controller, which adopts modular structure design, is simple and convenient in dismounting and mounting combination, compact in structure,light in overall weight and relatively low in manufacturing cost.

The invention discloses a force measurement tensioning device for a steel structural stay rope. The force measurement tensioning device comprises an upper force application lever, a lower force application lever and a connecting rod, wherein the upper end of the connecting rod is hinged to the middle section of the upper force application lever, and the lower end of the connecting rod is hinged to the middle section of the lower force application lever; a bracing rod, a weighing sensor and a jack are connected between the rear end of the upper force application lever and the rear end of the lower force application lever in series. A distance between the front end force application point of the upper force application lever and a connecting rod upper hinge point on the upper force application lever is defined as a, a distance between the connecting rod upper hinge point on the upper force application lever and a bracing rod hinge point at the rear end of the upper force application lever is defined as b, and a / b = 1 / (1/3 - 3). Tensioning operation is convenient, tensioning force application is accurate and controllable, tensioning and test can be simultaneously carried out on the stay rope, and the coordinated installation construction of the stay rope steel structure is realized. The force measurement tensioning device is particularly suitable for the installation construction of various stay rope steel structures.

The invention relates to a band saw blade guide device for measuring sawing force. The band saw blade guide device comprises a guide head; a side movable guide block, a side fixed guide block and a top guide block are arranged in the guide head; the top guide block is attached to the back surface of a band saw blade; the bottom of the top guide block is provided with a top movable alloy block anda top fixed alloy block; a groove and a guide through hole are formed in the top guide block; a pressure sensor is arranged in the groove; a spring guide post and a spring are arranged in the guide through hole; one end of the spring guide post is attached to the pressure sensing area of the pressure sensor; and the other end of the spring guide post is attached to the top movable alloy block. Theinvention further discloses a band sawing machine using the band saw blade guide device. The pressure sensor of the band saw blade guide device directly measures the sawing force of the band saw blade, meanwhile an elastic structure is adopted on the top movable alloy block to improve the force measuring precision of the pressure sensor, thereby accurately controlling the lowering speed of a sawframe of the band sawing machine, so that the purpose of improving the sawing precision and sawing efficiency of the band sawing machine is achieved.

The invention discloses a method and system for determining the position of a strain gauge of a dynamometric wheel set. The method comprises the following steps: determining the strain gradient changeof a wheel spoke plate; according to a periodic change of a wheel spoke plate strain gradient response in a circumferential rotation direction of the wheel, determining harmonic components of different strain responses through FFT; according to the strain gradient and constraint conditions corresponding to different subharmonics, determining the position of a strain gauges on the same circumference of the wheel spoke plate by adopting a mean square error method; calculating a sensitivity transfer coefficient matrix and a measurement error value by adopting a least square pseudo-inverse methodaccording to the initial position of the strain gauge on the dynamometric wheel set in combination with a wheel set calibration test bed; and adjusting the initial position of the strain gauge on thedynamometric wheel set according to the strain gradient change and the control measurement error value to obtain an adjusted position, and determining the adjusted position as the position of the strain gauge on the dynamometric wheel set. According to the invention, the force measurement precision and the higher reliability of the force measurement wheel set can be improved.

The invention discloses a piezoresistive force sensor signal amplification module, which comprises a power interface, a power conversion circuit, an input interface, a primary amplification circuit, aprimary amplification output bias circuit, a secondary amplification circuit and an output interface, an external power supply is introduced from the power supply interface, and multiple paths of power supplies are output through voltage reduction of the power supply conversion circuit to supply power to circuits and force sensors; the input interface accesses a pair of differential signals output by the force sensor and supplies power to the force sensor; the first-stage amplification circuit amplifies a pair of differential signals accessed to the input interface, the output voltage is increased or decreased through the first-stage amplification output bias circuit, and the differential signals are amplified through the second-stage amplification circuit and then output through the output interface. The module is simple, easy to use, high in universality, high in reliability and capable of supplying power to the force sensor and amplifying signals, the amplification factor and biasvoltage of the module can be adjusted, the force measurement precision is effectively improved through proper adjustment, the module can be directly applied to various devices, and the device development and production cost is greatly saved.

The invention discloses a semi-combined pressure ring sensor and a design method thereof, and relates to a sensor and a design method thereof. The sensor comprises an upper pressing plate, a pressure bearing ring, a lower pressing plate and an outer sleeve; the outer sleeve is installed on the lower pressing plate, the pressure-bearing ring is located in the outer sleeve, and the two ends of the pressure-bearing ring are connected with the upper pressing plate and the lower pressing plate respectively. The pressure-bearing ring is provided with n dividing seams, the pressure-bearing ring is uniformly distributed into n pressure-bearing areas, the cross section shapes and areas of the pressure-bearing areas are the same, and each pressure-bearing area is provided with a working groove and a measuring point groove I; the measuring point groove I is located in the middle line of the bottom of the working groove and internally provided with a measuring point. The method comprises the following steps: respectively calculating the minimum pressure-bearing area, the minimum outer diameter and the minimum height of the pressure-bearing ring; and an upper pressing plate, a lower pressing plate, an outer sleeve and a temperature compensation column are respectively designed to obtain the minimum outer diameter and the minimum height of the sensor. The device has the advantages of being high in precision, good in unbalance loading resistance, suitable for being installed in a narrow space, excellent in environmental vibration resistance, good in durability, high in batch production efficiency and easy to apply and popularize.

The invention relates to a rigid-flexible coupling type microgravity environment simulation training device, which comprises a fixed platform, a flexible cable driving unit, an end effector bracket, an end effector, a flexible cable, a transmission mechanism between a servo motor and the flexible cable, a ball screw and a ball screw nut, and a force sensor bracket adjustable counterweight to the end effector, static balance and dynamic balance of the end effector on the X axis, the Y axis and the Z axis are achieved, the motion mode of the flexible cable is controlled to be linear reciprocating motion, under the condition that it is guaranteed that the variable length of the flexible cable is enough, the structure is simple, the control precision of the flexible cable is easily improved, two force measuring sensors at different positions are arranged on the driving unit, mutual compensation is achieved, and the force measuring precision is improved. In a simulated microgravity environment, force interaction control between a virtual task object and an astronaut through an end effector is realized.

The invention discloses a force measuring device suitable for an extreme multi-factor coupling environment. The device avoids the mode of connecting a high-temperature and high-pressure sensor in series in a loading pull rod in a threaded connection manner and directly measuring the force of a test piece in a high-temperature and high-pressure environment in the prior art, so that the problem of measurement errors caused by looseness of the joint of the sensor after long-time use or especially in the process of fatigue testing is solved, and the problems of complex structure and high cost of the high-temperature and high-pressure sensor when the force sensor with the same precision and the high-temperature and high-pressure resistant function is compared with a standard force sensor under conventional conditions are solved. The force sensor which is integrally designed and processed with the loading pull rod and is suitable for the normal-temperature and normal-pressure air environment can directly measure the force of the test piece, is reliable in long-term use, simple in structure and easy to maintain, and can realize high-precision measurement, and the problem of inaccurate measurement data caused by lack of a sensor suitable for an extreme multi-factor coupling environment such as an ultrahigh-temperature ultrahigh-pressure corrosive water or steam environment function is solved.