Decoupling method for integrated six-axis force sensor for combine harvester

By designing an integrated six-dimensional force sensor, combining load transformation between local and global coordinate systems and strain gauge installation, a six-dimensional output model is constructed, solving the problems of installation space and stability of the six-dimensional force sensor in agricultural machinery, and realizing accurate six-dimensional load measurement and fault early warning functions.

CN120992092BActive Publication Date: 2026-04-10JIANGSU UNIV
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Patent Information

Application Number
CN202511437199.9
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-10-09
Publication Date
2026-04-10
Estimated Expiration
2045-10-09

AI Technical Summary

Technical Problem

Existing six-dimensional force sensors are difficult to integrate directly into pulley mechanisms in agricultural machinery. Installation requires additional space, and they cannot meet the long-term stable operation requirements of vibration resistance and dust prevention under complex working conditions. The strain analysis model of traditional sensors cannot accurately reflect the load distribution.

Method used

An integrated six-dimensional force sensor combining a pulley and a six-dimensional sensor is designed. By establishing the load transformation relationship between the local coordinate system and the global rectangular coordinate system, a mechanical model is constructed to analyze the stress and strain distribution of the elastic beam. Strain gauges are installed, and a six-dimensional output model is constructed. Support vector regression model is used for noise reduction and parameter optimization.

Benefits of technology

It effectively reduces the gaps between parts and assembly errors, improves the structural stability and measurement sensitivity of the sensor, can accurately capture strain signal differences under complex loads, and provides reliable six-dimensional load data support, which is suitable for the optimization of operating parameters and fault warning of combine harvesters.

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Abstract

The application discloses a decoupling method of an integrated six-dimensional force sensor for a combine harvester and belongs to the technical field of sensor application. The sensor adopts a "Y" type three-beam radial symmetric structure, highly integrates a belt wheel function and a six-dimensional force detection function, establishes an elastic body structure simplified mechanics model, establishes a semi-analytical method model, analyzes and obtains strain distribution laws of X, Y and Z under single-axis load, and obtains a sensor geometric structure and a strain gauge measurement position meeting design requirements according to the strain distribution laws; a multi-output least square support vector regression machine is adopted, hyperparameters are optimized through a grid search, a high-precision mapping model of an electric signal to six-dimensional load is constructed, the decoupling precision is greatly improved, a whole-process innovation from structure to stress analysis and then to decoupling is realized, and the method is especially suitable for agricultural mechanical scenes such as a combine harvester and the like which are space-limited and have complex load.
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