Signal processing method, system, device and measurement method of pin shaft sensor assembly

Abstract

The present invention relates to a signal processing method, system, device and measurement method of a pin shaft sensor assembly, wherein the pin shaft sensor assembly includes a pin shaft, and a strain full-bridge circuit is arranged on the pin shaft, and the signal processing method includes: analyzing the relationship between the output signal value of the strain full-bridge circuit and the load size and load direction on the pin shaft; constructing a relationship model between the output signal of the strain full-bridge circuit and the load size and load direction; obtaining the rotation angle of the pin shaft, and calculating the resultant force vector of the pin shaft sensor assembly according to the relationship model and the rotation angle of the pin shaft. The signal processing method, system, device and measurement method of the pin shaft sensor assembly provided in the present application consider the influence of the pin shaft rotation on the hinge force and the eccentric load during the measurement process, and process the output signal of the pin shaft sensor assembly, so that the measurement result of the pin shaft sensor assembly is more accurate.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering machinery and equipment, and in particular, relates to a signal processing method, system, device and measurement method of a pin sensor assembly. Background Art

[0002] There are a large number of planar articulated load-bearing structures in engineering machinery structures, such as cylinder connection hinges, connecting rod connection hinges, boom connection hinges, etc. Accurately measuring the size and direction of the hinge force can reflect the load-bearing conditions, which is a direct basis for judging and evaluating the safety of the structure. At the same time, through accurate and real-time perception of the load force at each node, it can also reflect the stress state, vibration feedback, structural health status and other characteristics of the whole machine. Based on the accurate perception of each node, we can develop control technologies such as anti-rollover control of engineering machinery-related cranes and pump trucks, boom vibration reduction, structural health status monitoring, and excavator precision control to improve the intelligence level of engineering machinery.

[0003] However, during the force measurement process of the pin hinge force sensor, the conventional pin hinge force sensor has difficulty measuring the hinge force. The main reason is that during the actual movement of the pin, the hinge will rotate and the direction of the hinge will change, while the traditional hinge force sensor does not consider the hinge rotation factor, which makes the measured hinge force inaccurate. In addition, due to other reasons such as the rotation of the pin or the coaxiality error of the pin during processing, eccentric loads will inevitably appear on the pin, which makes the measurement results of the pin sensor component inaccurate. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a signal processing method, system, device and measurement method of a pin shaft sensor assembly. During the measurement process, the influence of the pin shaft rotation on the hinge force and the eccentric load is considered, and the output signal of the pin shaft sensor assembly is processed to make the measurement result of the pin shaft sensor assembly more accurate.

[0005] The technical solution of the present invention is as follows:

[0006] A signal processing method of a pin shaft sensor assembly, the pin shaft sensor assembly comprises a pin shaft, a strain gauge full bridge circuit is arranged on the pin shaft, and the signal processing method comprises:

[0007] Analyze the relationship between the output signal value of the strain gauge full-bridge circuit and the load size and load direction on the pin shaft;

[0008] Constructing a relationship model between the output signal of the strain gauge full-bridge circuit and the load magnitude and the load direction;

[0009] The resultant force vector of the pin shaft sensor assembly is calculated through the relationship model and the rotation angle of the pin shaft itself.

[0010] Preferably, analyzing the relationship between the output signal value of the strain gauge full-bridge circuit and the load magnitude and load direction on the pin shaft includes:

[0011] Different rated known loads are applied to the pin shaft, and the output signal value of the strain full bridge circuit at the first end of the pin shaft and the output signal value of the strain full bridge circuit at the second end of the pin shaft are measured.

[0012] Preferably, the output signal value of the strain gauge full-bridge circuit at the first end of the pin shaft includes:

[0013] First output signal value The first output signal value output by a horizontal bridge circuit at the first end;

[0014] Second output signal value The second output signal value outputted by the vertical bridge circuit at the first end;

[0015] The output signal value of the strain gauge full bridge circuit at the second end of the pin shaft includes:

[0016] The third output signal value The third output signal value output by the horizontal bridge circuit of the second end;

[0017] Fourth output signal value The fourth output signal value Outputted by the vertical bridge circuit at the second end.

[0018] Preferably, the relationship model includes:

[0019] The first relationship model is constructed by a first functional relationship, and the first functional relationship is:

[0020] The second relationship model is constructed by a second functional relationship, and the second functional relationship is:

[0021] Where θ is the load direction of the first end, F L K is the load magnitude at the first end; L1 is the first calibration parameter, K L2 is the second calibration parameter.

[0022] Preferably, the relationship model includes:

[0023] The third relationship model is constructed by a third functional relationship, and the third functional relationship is:

[0024] A fourth relationship model, wherein the fourth relationship model is constructed by a fourth functional relationship, wherein the fourth functional relationship is

[0025] Where γ is the load direction of the second end, F R K is the load magnitude at the second end; R1 is the third calibration parameter, K R2 is the fourth calibration parameter.

[0026] Preferably, the rotation angle of the pin shaft itself is a horizontal angle β between the pin shaft reference plane and the global ground coordinate system.

[0027] Preferably, according to F = [F L cos(θ+β),F L sin(θ+β)]+[F R cos(γ+β),F R sin(γ+β)] calculates the resultant force vector of the pin sensor assembly, where F is the resultant force vector of the pin sensor assembly.

[0028] A signal processing system for a pin sensor assembly, the system comprising:

[0029] A first analysis module is used to analyze the relationship between the output signal value of the strain full-bridge circuit and the load size and load direction on the pin shaft;

[0030] A first construction module is used to construct a relationship model between the output signal of the strain gauge full-bridge circuit and the load magnitude and the load direction;

[0031] The first calculation module is used to calculate the resultant force vector of the pin shaft sensor assembly through the relationship model and the rotation angle of the pin shaft itself.

[0032] Preferably, the first parsing module includes:

[0033] A first measuring unit, used for measuring an output signal value of a strain full-bridge circuit at a first end of the pin when different rated known loads are applied to the pin;

[0034] The second measuring unit is used to measure the output signal value of the strain full-bridge circuit located at the second end of the pin when different rated known loads are applied to the pin.

[0035] A signal processing device for a pin shaft sensor assembly, the device comprising the pin shaft sensor assembly and a signal processing system for the pin shaft sensor assembly as described above.

[0036] Preferably, the pin sensor assembly comprises:

[0037] A pin shaft, wherein an end portion of the pin shaft is provided with an end axial hole, an outer wall annular groove for forming a strain sensitive area is provided on the outer peripheral wall of the end portion, and an inner wall annular groove is provided on the inner peripheral wall of the end axial hole; and

[0038] The strain gauge full bridge circuit is used to detect the load of the pin shaft and is installed in the annular groove of the inner wall.

[0039] A method for measuring a pin shaft sensor assembly, the pin shaft sensor assembly includes a pin shaft, and a strain full-bridge circuit is arranged on the pin shaft. The measuring method includes: providing support for the bottom of the pin shaft; applying loads to both ends of the pin shaft 1 respectively, and the two loads are symmetrical and equal about the center line in the direction of the pin shaft axis; rotating the pin shaft; obtaining an output signal output by the strain full-bridge circuit; and processing the output signal according to the signal processing method of the pin shaft sensor assembly to obtain the resultant force vector of the pin shaft sensor assembly.

[0040] The present invention provides a signal processing method for a pin shaft sensor assembly. First, the relationship between the output signal value of a full-bridge strain gauge circuit and the load size and load direction on the pin shaft is analyzed. Then, a relationship model between the output signal value of the strain gauge full-bridge circuit and the load size and load direction is constructed. Through the relationship model, the load direction and load size under different load rings can be obtained. Finally, the load direction, load size and the rotation angle of the pin shaft itself are obtained through the relationship model to calculate the resultant force vector of the pin shaft sensor assembly. Since the resultant force vector of the pin shaft sensor assembly can more accurately reflect the measurement data of the pin shaft sensor assembly, it can provide an accurate judgment basis for the use of the pin shaft of engineering machinery. On the other hand, compared with the signal processing method in the traditional technology, the acquisition of the resultant force vector takes into account the influence of the measurement result of the pin shaft's own rotation, thereby making the measurement result of the pin shaft sensor assembly more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic flow chart of a signal processing method for a pin sensor assembly provided by the present invention;

[0042] Figure 2 A structural block diagram of a signal processing system of a pin sensor assembly provided by the present invention;

[0043] Figure 3 The actual experimental relationship curve diagram provided by the present invention is drawn by measuring the output signal values ​​of the horizontal bridge circuit and the vertical bridge circuit at different angles;

[0044] Figure 4A schematic diagram of the pin load and load direction provided by the present invention;

[0045] Figure 5 A schematic diagram of the structure of a pin in a pin sensor assembly provided by the present invention;

[0046] Figure 6 A schematic diagram of the structure in which the inclination measuring member provided by the present invention is installed in the end axial hole;

[0047] Figure 7 A schematic diagram of the finite element analysis of the pin strain distribution provided by the present invention;

[0048] Figure 8 A schematic diagram of pin shaft strain distribution measurement provided by the present invention;

[0049] Fig. 9 A schematic diagram of the installation arrangement of the horizontal bridge and the vertical bridge provided by the present invention;

[0050] Fig.10 A schematic diagram of the connection of the horizontal bridge or the vertical bridge provided by the present invention.

[0051] Description of Reference Numerals

[0052] 1. Pin; 11. End axial hole; 12. Outer wall annular groove; 121. First outer wall annular groove; 122. Second outer wall annular groove; 13. Inner wall annular groove; 131. First inner wall annular groove; 132. Second inner wall annular groove; 2. Inclination measuring component; 100. First analytical module; 101. First measuring unit; 102. Second measuring unit; 200. First construction module; 300. First calculation module. DETAILED DESCRIPTION

[0053] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0054] In the description of the present invention, it should be understood that the terms "upper" and "lower" and the like indicating directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention.

[0055] The core of the present invention is to provide a signal processing method, system and device for a pin shaft sensor assembly, so as to solve the problem that during the use of the pin shaft sensor assembly, an eccentric load appears on the pin shaft 1 due to the rotation of the pin shaft 1, the different axes of the pin shaft 1 processing, etc., and this eccentric load affects the measured load size and load direction of the pin shaft 1, thereby causing the measurement data of the pin shaft sensor assembly to be inaccurate.

[0056] Please Figures 1 to 10 As shown, the present invention provides a signal processing method for a pin shaft sensor component. The pin shaft sensor component includes a pin shaft 1, and a strain full-bridge circuit is arranged on the pin shaft 1. The signal processing method includes: analyzing the relationship between the output signal value of the strain full-bridge circuit and the load size and load direction on the pin shaft 1, constructing a relationship model between the output signal of the strain full-bridge circuit and the load size and load direction, and calculating the resultant force vector of the pin shaft sensor component through the relationship model and the rotation angle of the pin shaft 1 itself.

[0057] First, by analyzing the relationship between the output signal value of the full-bridge strain circuit and the load size and load direction on the pin shaft 1, and then by constructing a relationship model between the output signal value of the strain full-bridge circuit and the load size and load direction, the load direction and load size under different load rings can be obtained through the relationship model. Finally, the load direction, load size and the rotation angle of the pin shaft 1 itself are obtained through the relationship model, and the resultant force vector of the pin shaft sensor component is calculated. Since the resultant force vector of the pin shaft sensor component can more accurately reflect the measurement data of the pin shaft sensor component, it can provide an accurate judgment basis for the use of the engineering machinery pin shaft 1. On the other hand, compared with the signal processing method in the traditional technology, the acquisition of the resultant force vector takes into account the influence of the measurement result of the rotation of the pin shaft 1 itself, thereby making the measurement result of the pin shaft sensor component more accurate.

[0058] It should be noted that the resultant force vector is the result obtained by the signal processing method of the pin shaft sensor assembly provided by the present invention. In fact, the signal processing method can also realize real-time measurement of the load size and load direction, which correspond to the real-time rotation angle of the pin shaft 1, and can directly and accurately reflect the real-time load condition of the pin shaft 1.

[0059] Please Figure 1 As shown, the specific method is:

[0060] S01, analyzing the relationship between the output signal value of the strain full-bridge circuit and the load size and load direction on the pin 1;

[0061] S02, constructing a relationship model between the output signal of the strain full-bridge circuit and the load size and load direction;

[0062] S03. Calculate the resultant force vector of the pin sensor assembly through the relational model and the rotation angle of the pin 1 itself.

[0063] Among them, analyzing the relationship between the output signal value of the strain full-bridge circuit and the load size and load direction on the pin shaft 1 includes: applying different rated known loads to the pin shaft 1, measuring the output signal value of the strain full-bridge circuit at the first end of the pin shaft 1, and the output signal value of the strain full-bridge circuit at the second end of the pin shaft 1.

[0064] The generation of eccentric load may also be due to the fact that the two ends of the pin 1 are not aligned during use, that is, there is an angle between the center line of the pin 1 and the horizontal line. In order to eliminate the influence of this eccentric load on the result in the signal processing stage, on the one hand, a simply supported beam support structure can be used to support the pin 1, provide auxiliary support for the pin 1, limit its horizontal movement, but do not limit the rotation of the pin 1, and provide vertical constraints. On the other hand, strain full-bridge circuits are set at both ends of the pin 1, and the signals output by the strain full-bridge circuits at both ends of the pin 1 are processed simultaneously. After the output signal processing of the strain full-bridge circuits at both ends is completed, the load size and load direction at both ends of the pin 1 can be obtained accordingly, and then combined with the rotation angle of the pin 1 itself, the resultant force vector of the pin sensor component calculated is more accurate.

[0065] Furthermore, the output signal value of the strain gauge full bridge circuit at the first end of the pin shaft 1 includes: the first output signal value First output signal value Output by the horizontal bridge circuit at the first end; the second output signal value Second output signal value Outputted by the vertical bridge circuit at the first end; the output signal value of the strain full bridge circuit at the second end of the pin 1 includes: the third output signal value The third output signal value Outputted by the horizontal bridge circuit at the second end; the fourth output signal value Fourth output signal value Output from the vertical bridge circuit at the second end.

[0066] Taking the rated load of the pin 11 as N as an example (considering the bending moment causing the loads at both ends of the pin 1 to be inconsistent, the single-sided range N / 2 covers the upper limit value), the load on the vertical direction of the pin 1 is divided into, from top to bottom, the left pin 1 is loaded with load, and the right pin 1 is loaded with load; taking the cross-sectional diagram of the pin 1 as an example, the load direction applied to the pin 1 is the Y axis of the coordinate system, that is, the vertical direction of the pin 11, and the horizontal direction of the pin 11 is the X axis of the coordinate system. When the vertical bridge is arranged in the vertical direction, that is, on the Y axis, and the horizontal bridge is arranged in the horizontal direction, that is, on the X axis, at this time, the first output signal value, the second output signal value, the third output signal value, and the fourth output signal value output by the horizontal bridge and the vertical bridge are the largest, and then the measured result is more accurate. Therefore, in order to make the relationship between the output signal value of the strain full bridge circuit and the load size and load direction on the pin 1 closer to the actual situation of the pin 1, the maximum output signal value position on the pin 1 is selected to prevent the situation where the output signal value is too small and affects the analysis process.

[0067] Please Figure 4 As shown, in the embodiment provided by the present invention, the relationship model includes: a first relationship model, the first relationship model is constructed by a first functional relationship, and the first functional relationship is: The second relationship model is constructed by the second functional relationship. The second functional relationship is: Where θ is the load direction of the first end, F L K is the load magnitude at the first end; L1 is the first calibration parameter, K L2 is the second calibration parameter.

[0068] Furthermore, the relationship model includes: a third relationship model, the third relationship model is constructed by a third functional relationship, and the third functional relationship is: The fourth relational model is constructed by the fourth functional relationship. The fourth functional relationship is Where γ is the load direction of the second end, F R K is the load magnitude at the second end; R1 is the third calibration parameter, K R2 is the fourth calibration parameter.

[0069] Among them, please Figure 3 As shown, the first calibration parameter, the second calibration parameter, the third calibration parameter and the fourth calibration parameter are obtained through a calibration test. The process of the calibration test is as follows: on a test machine, under a rated known load, the pin shaft 1 is rotated at different angles, the output signal values ​​of the horizontal bridge circuit and the vertical bridge circuit at different angles are measured, and then the actual experimental relationship curve is drawn, and then the first calibration parameter, the second calibration parameter, the third calibration parameter and the fourth calibration parameter of the pin shaft sensor component are obtained by fitting.

[0070] In the embodiment provided by the present invention, the rotation angle of the pin shaft 1 itself is the horizontal angle β between the reference plane of the pin shaft 1 and the global ground coordinate system. The rotation angle of the pin shaft 1 itself is achieved by arranging an inclination measuring member 2 inside the pin shaft 1.

[0071] In the embodiment provided by the present invention, according to F=[F L cos(θ+β),F L sin(θ+β)]+[F R cos(γ+β),F R sin(γ+β)] calculates the resultant force vector of the pin sensor assembly, where F is the resultant force vector of the pin sensor assembly.

[0072] Please Figure 2 As shown, the present invention provides a signal processing system for a pin shaft sensor assembly, the system comprising: a first analytical module 100, for analyzing the relationship between the output signal value of the strain full-bridge circuit and the load size and load direction on the pin shaft 1; a first construction module 200, for constructing a relationship model between the output signal of the strain full-bridge circuit and the load size and load direction; a first calculation module 300, for calculating the resultant force vector of the pin shaft sensor assembly through the relationship model and the rotation angle of the pin shaft 1 itself.

[0073] Furthermore, the first analysis module 100 includes: a first measuring unit 101, which is used to measure the output signal value of the strain full-bridge circuit located at the first end of the pin shaft 1 when different rated known loads are applied to the pin shaft 1; a second measuring unit 102, which is used to measure the output signal value of the strain full-bridge circuit located at the second end of the pin shaft 1 when different rated known loads are applied to the pin shaft 1.

[0074] In order to solve the above technical problems, the present application provides a signal processing system of a pin sensor assembly. For an introduction to the signal processing system of the pin sensor assembly, please refer to the above embodiments, which will not be repeated here.

[0075] The present invention provides a signal processing device for a pin shaft sensor assembly. The device comprises a pin shaft sensor assembly and a signal processing system for the pin shaft sensor assembly as described above.

[0076] Among them, please Figure 5 As shown, the pin shaft sensor assembly includes: a pin shaft 1, an end axial hole 11 is provided at the end of the pin shaft 1, and an outer wall annular groove 12 for forming a strain sensitive area is provided on the outer peripheral wall of the end, and an inner wall annular groove 13 is provided on the inner peripheral wall of the end axial hole 11; and a strain full-bridge circuit, which is used to detect the load of the pin shaft 1 and is installed in the inner wall annular groove 13.

[0077] Please Figures 6 to 10As shown, an outer wall annular groove 12 is provided on the outer peripheral wall of the end of the pin shaft 1, and the outer wall annular groove 12 forms a strain sensitive area, and then a load is applied on both sides of the outer wall annular groove 12, and a relatively uniform shear stress will be generated in the strain sensitive area. At the same time, an end axial hole 11 is provided at the end of the pin shaft 1, and an inner wall annular groove 13 is provided on the inner peripheral wall of the end axial hole 11. Then, a strain full-bridge circuit is installed on the side wall of the inner wall annular groove 13, and the shear stress is measured. The strain distribution decreases from the center of the pin shaft 1 to the outside, that is, the strain sensitivity of the outer peripheral wall closer to the pin shaft 1 is weaker. In order to obtain a more accurate force condition of the pin shaft 1, the strain full-bridge circuit is set at a position closer to the center of the pin shaft 1, so that the pin shaft sensing component can measure a more accurate hinge force. In this way, when analyzing the relationship between the output signal value of the strain full-bridge circuit and the load size and load direction on the pin shaft 1, the actual load condition of the pin shaft 1 can be more accurately reflected.

[0078] On the other hand, when the signal processing method of the pin shaft sensor assembly is adopted, the eccentric load that may appear on the pin shaft 1 can be eliminated by stacking the structure of the strain sensitive area, so as to make the signal processing result of the pin shaft sensor assembly more accurate. For example, the outer wall annular groove 12 and the inner wall annular groove 13 are aligned radially, and the end axial hole 11 is set to be coaxial with the pin shaft 1, so that the strain sensitive area structure is symmetrical, and the end axial hole 11 is formed as a blind hole or a through hole that opens axially outward, which is also for obtaining a structurally symmetrical strain sensitive area.

[0079] In addition, the outer wall annular groove 12 includes a first outer wall annular groove 121 arranged at the first end and a second outer wall annular groove 122 arranged at the second end, and the inner wall annular groove 13 includes a first inner wall annular groove 131 arranged at the first end and a second inner wall annular groove 132 arranged at the second end, and a strain full bridge circuit is provided in the first inner wall annular groove 131 and the second inner wall annular groove 132. The first inner wall annular groove 131 and the second inner wall annular groove 132 are symmetrically arranged relative to the axial center of the pin shaft 1.

[0080] The present invention provides a method for measuring a pin shaft sensor component. The pin shaft sensor component includes a pin shaft 1, on which a strain full-bridge circuit is arranged. The measuring method includes: providing support for the bottom of the pin shaft 1; applying loads to both ends of the pin shaft 1 respectively, wherein the loads at the two locations are symmetrical and equal to a center line in the direction of the pin shaft axis; rotating the pin shaft 1; obtaining an output signal output by the strain full-bridge circuit; and processing the output signal according to the signal processing method of the pin shaft sensor component to obtain a resultant force vector acting on the pin shaft sensor component. Among them, it is possible to choose to cooperate with the pin shaft 1 through a soft shaft sleeve, and at the same time use a simply supported beam structure to provide support for the bottom of the pin shaft 1, and apply loads to both ends of the pin shaft 1 respectively. The two loads are symmetrical and equal to the center line in the direction of the pin shaft axis, and then a strain sensitive area is formed on the pin shaft. The strain full-bridge circuit is set in the strain sensitive area, and the pin shaft is rotated. The strain full-bridge circuit outputs a signal, and then the above-mentioned signal processing method of the pin shaft sensor component is used to process the output signal, and finally the resultant force vector of the pin shaft sensor component is obtained. The technical effect of the measurement method of the pin shaft sensor component can be found in the signal processing method of the pin shaft sensor component, which will not be repeated here.

[0081] It should be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0082] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0083] The embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referenced to each other.

[0084] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A signal processing method for a pin shaft sensor assembly, the pin shaft sensor assembly comprising a pin shaft (1), the pin shaft (1) being provided with a strain gauge full bridge circuit, characterized in that: The signal processing method comprises: Analyzing the relationship between the output signal value of the strain gauge full-bridge circuit and the load magnitude and load direction on the pin shaft (1); Constructing a relationship model between the output signal of the strain gauge full-bridge circuit and the load magnitude and the load direction; Obtain the rotation angle of the pin shaft (1), and calculate the resultant force vector of the pin shaft sensor component according to the relationship model and the rotation angle of the pin shaft (1), wherein the rotation angle of the pin shaft (1) is the horizontal angle between the reference plane of the pin shaft (1) and the global ground coordinate system. .

2. The signal processing method of the pin sensor assembly according to claim 1, characterized in that: Analyzing the relationship between the output signal value of the strain gauge full-bridge circuit and the load magnitude and load direction on the pin shaft (1) includes: Different rated known loads are applied to the pin shaft (1), and the output signal value of the strain full bridge circuit at the first end of the pin shaft (1) and the output signal value of the strain full bridge circuit at the second end of the pin shaft (1) are measured.

3. The signal processing method of the pin sensor assembly according to claim 2, characterized in that: The output signal value of the strain gauge full-bridge circuit at the first end of the pin shaft (1) includes: First output signal value , the first output signal value output by a horizontal bridge circuit at the first end; Second output signal value , the second output signal value outputted by the vertical bridge circuit at the first end; The output signal value of the strain gauge full-bridge circuit at the second end of the pin shaft (1) includes: The third output signal value , the third output signal value output by the horizontal bridge circuit of the second end; Fourth output signal value , the fourth output signal value Outputted by the vertical bridge circuit at the second end.

4. The signal processing method of the pin sensor assembly according to claim 3, characterized in that: The relationship model includes: The first relationship model is constructed by a first functional relationship, and the first functional relationship is: ； The second relationship model is constructed by a second functional relationship, and the second functional relationship is: ； in, is the load direction of the first end, is the load magnitude at the first end; is the first calibration parameter, is the second calibration parameter.

5. The signal processing method of the pin sensor assembly according to claim 4, characterized in that: The relationship model includes: The third relationship model is constructed by a third functional relationship, and the third functional relationship is: ； A fourth relationship model, wherein the fourth relationship model is constructed by a fourth functional relationship, wherein the fourth functional relationship is ； in, is the load direction of the second end, is the load magnitude at the second end; is the third calibration parameter, is the fourth calibration parameter.

6. The signal processing method of the pin sensor assembly according to any one of claims 1 to 5, characterized in that: according to Calculate the resultant force vector of the pin sensor assembly, where F is the resultant force vector of the pin sensor assembly, is the load magnitude at the first end, is the load magnitude at the second end, is the load direction of the first end, is the load direction of the second end.

7. A signal processing system for a pin sensor assembly, characterized in that: The system comprises: A first analysis module (100) is used to analyze the relationship between the output signal value of the strain full-bridge circuit and the load magnitude and load direction on the pin shaft (1); A first construction module (200) is used to construct a relationship model between the output signal of the strain full-bridge circuit and the load magnitude and the load direction; The first calculation module (300) is used to calculate the resultant force vector of the pin shaft sensor assembly through the relationship model and the rotation angle of the pin shaft (1), wherein the rotation angle of the pin shaft (1) is the horizontal angle between the reference plane of the pin shaft (1) and the global ground coordinate system. .

8. The signal processing system of the pin sensor assembly according to claim 7, characterized in that: The first parsing module (100) comprises: A first measuring unit (101) is used to measure the output signal value of the strain full bridge circuit at the first end of the pin shaft (1) when different rated known loads are applied to the pin shaft (1); The second measuring unit (102) is used to measure the output signal value of the strain full-bridge circuit located at the second end of the pin shaft (1) when different rated known loads are applied to the pin shaft (1).

9. A signal processing device for a pin sensor assembly, characterized in that: The device comprises a pin sensor assembly, And a signal processing system for a pin sensor assembly as described in any one of claims 7 or 8.

10. The signal processing device of the pin sensor assembly according to claim 9, characterized in that: The pin sensor assembly comprises: A pin shaft (1), wherein an end portion of the pin shaft (1) is provided with an end portion axial hole (11), and an outer wall annular groove (12) for forming a strain sensitive area is provided on the outer peripheral wall of the end portion, and an inner wall annular groove (13) is provided on the inner peripheral wall of the end portion axial hole (11); and A strain gauge full bridge circuit is used to detect the load of the pin shaft (1) and is installed in the inner wall annular groove (13).

11. A method for measuring a pin sensor assembly, characterized in that: The pin shaft sensor assembly comprises a pin shaft (1), a strain gauge full bridge circuit is arranged on the pin shaft (1), and the measuring method comprises: Providing support for the bottom of the pin (1); Apply loads to both ends of the pin (1) respectively, with the loads at the two locations being symmetrical and equal about the center line in the direction of the pin axis; Rotating pin (1); Acquiring an output signal output by the strain gauge full-bridge circuit; According to the signal processing method of the pin sensor assembly according to any one of claims 1 to 6, the output signal is processed to obtain the resultant force vector of the pin sensor assembly.

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