Clamping force global sensing device and calibration method

Through the clamping force full-domain perception device and calibration method, the parallelogram flexible hinge structure and piezoelectric/piezoresistive sensor, combined with the Gaussian process regression model, the clamping force perception accuracy and position sensitivity problems are solved, and the whole-domain accurate detection is achieved.

CN120347777AActive Publication Date: 2025-07-22ANHUI UNIV
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Patent Information

Application Number
CN202510839210.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-06-23
Publication Date
2025-07-22
Estimated Expiration
2045-06-23

AI Technical Summary

Technical Problem

The existing clamping force perception methods are not very accurate under complex operating conditions, indirect perception depends on the model and are susceptible to system nonlinear influence, direct perception is difficult to achieve accurate perception under different grasping modes, and there are measurement blind spots and position sensitivity.

Method used

The clamping force full-domain perception device is used to convert the clamping force into a single-direction linear tiny displacement through a parallelogram flexible hinge mechanism. The clamping force is detected by a piezoelectric/piezoresistive sensor, and the calibration is carried out in combination with the Gaussian process regression model.

Benefits of technology

It realizes accurate whole-domain perception of clamping force, improves detection accuracy and anti-interference ability, and reduces measurement blind spots and position sensitivity.

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Abstract

The invention discloses a clamping force global sensing device and a calibration method, and belongs to the technical field of clamping force sensing. Comprising a clamping force sensing module, a clamping force clamping jaw and a clamping device body, the clamping force sensing module is located between the clamping device body and the clamping device clamping jaw, and a parallelogram flexible hinge mechanism is arranged in the clamping force sensing module; a parallelogram flexible hinge moving end and a parallelogram flexible hinge fixed end are arranged in the parallelogram flexible hinge mechanism, and the parallelogram flexible hinge fixed end is fixed to the clamp holder body through the sensing module clamp holder adapter plate. And the moving end of the parallelogram flexible hinge is connected with the clamping jaw of the clamping device through the sensing module clamping jaw adapter plate. According to the clamping force global sensing device and the calibration method, the clamping force is converted into linear infinitesimal displacement in a single direction through the translation characteristic of the flexible hinge structure, and then the magnitude of the clamping force is detected through the piezoelectric / piezoresistive sensor.
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