Six-dimensional force sensor and application method thereof

Abstract

The invention relates to the technical field of sensors, and provides a six-dimensional force sensor which comprises a shell, the top of the shell is fixedly connected with a force contact plate, the bottom of the shell is fixedly connected with a bottom plate, an elastic body assembly is arranged on the inner side of the shell, and the elastic body assembly comprises a stress block concentrically arranged on the inner side of the shell. The outer side of the stress block is fixedly connected with a plurality of strain beams, the strain beams are distributed around the stress block at equal angles, the ends, away from the stress block, of the strain beams are fixedly connected with the inner wall of the shell, and the upper face and the lower face of each strain beam are fixedly connected with a pair of first parallel strain gauges and a pair of splayed strain gauges. The strain gauges are only arranged on the upper surface and the lower surface of the strain beam, so that manual operation in a narrow space is avoided, full-automatic surface mounting is realized, the time consumed for surface mounting of a single sensor is greatly shortened, the qualified rate of finished products is increased, and the reworking cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a six-dimensional force sensor and an application method thereof. Background Art

[0002] As core sensing devices in robotics and industrial automation, six-axis force sensors can simultaneously detect three axial forces (Fx, Fy, Fz) and three moments (Mx, My, Mz) in a spatial coordinate system. They play an irreplaceable role in high-precision applications such as precision assembly, force-controlled grinding, and aerospace. Currently, mainstream strain-gauge six-axis force sensors use an elastomer structure to convert multidimensional mechanical signals into strain gauge deformation, which is then converted to electrical signals through a bridge circuit. The elastomer structure design and strain gauge layout directly determine the sensor's sensitivity, crosstalk suppression capabilities, and production process feasibility.

[0003] In existing technologies, the three-beam elastomer structure has become the preferred solution for commercial six-dimensional force sensors due to its high structural symmetry, ease of processing, and potential for miniaturization. A typical three-beam structure consists of three circumferentially evenly distributed strain beams, each of which requires metal strain gauges on all four sides (top, bottom, left, and right). Specifically, the strain gauges on opposite sides of each beam are connected in series via a half-bridge circuit to decouple the mechanical components in different directions. However, this structure has the following inherent drawbacks: First, manual placement limitations: The narrow placement space on the sides of the strain beam (especially the left and right sides) makes automated placement difficult to implement, requiring manual operation. This not only significantly reduces production efficiency (single sensor placement takes about 2-3 hours), but also the position deviation and angle tilt of manual placement directly lead to poor sensor consistency and low yield.

[0004] Second, temperature sensitivity: Traditional organic adhesives (such as epoxy resins) have a low glass transition temperature (usually <150°C) and are prone to creep under temperature fluctuations or long-term loads, resulting in micro-peeling between the strain gauge and the elastomer, high signal drift rate, and high measurement error.

[0005] Third, dynamic performance bottleneck: The low-order natural frequency of the three-beam structure (usually <500Hz) makes it difficult to suppress high-frequency vibration interference, and the cantilever layout of the side strain gauges further amplifies the cross-coupling error during torque measurement. In view of this, the present invention proposes a six-dimensional force sensor. Summary of the Invention

[0006] The present invention provides a six-dimensional force sensor and an application method thereof, which solves the problem in the prior art of high subsequent measurement errors caused by manual patching on the side of a strain beam.

[0007] The technical solution of the present invention is as follows: A six-dimensional force sensor includes a shell, the top of the shell is fixedly connected to a force contact plate, the bottom of the shell is fixedly connected to a base plate, an elastomer component is arranged on the inner side of the shell, the elastomer component includes a stress block concentrically arranged on the inner side of the shell, and the outer side of the stress block is fixedly connected to a plurality of strain beams, and the plurality of strain beams are distributed at equal angles around the stress block, and the ends of the plurality of strain beams away from the stress block are fixedly connected to the inner wall of the shell, and the upper and lower surfaces of the plurality of strain beams are fixedly connected to a pair of parallel strain gauges and a pair of figure-eight strain gauges.

[0008] Preferably, an auxiliary beam is provided between two adjacent strain beams, and several of the auxiliary beams are distributed at equal angles around the stress block. One end of several of the auxiliary beams is fixedly connected to the stress block, and the other end of several of the auxiliary beams is suspended. A pair of parallel strain gauges are fixedly connected to the upper and lower surfaces of several of the auxiliary beams.

[0009] Preferably, a plurality of first through holes are provided on the outer edge of the shell, and a plurality of second through holes are provided on the outer edge of the stress block and are distributed at equal angles around the stress block.

[0010] Preferably, the connections between the strain beam, the housing and the stress block are all provided with rounded corners.

[0011] Preferably, a data transmission port for connecting a data cable is provided at one end of the housing.

[0012] Preferably, the first parallel strain gauge, the eight-shaped strain gauge, and the second parallel strain gauge are all packaged by a glass micro-melting process, which specifically includes the following steps: A1. First, the surfaces of the strain beam and the auxiliary beam are treated to make them rough, and then pickled; A2. Printing glass powder at locations where strain gauges are required on the strain beam and auxiliary beam, and preheating the glass powder using sintering technology to achieve a semi-molten state. A3. Then, the parallel strain gauge 1, the figure-eight strain gauge, and the parallel strain gauge 2 are placed on the glass frit and the glass frit is further heated to embed the parallel strain gauge 1, the figure-eight strain gauge, and the parallel strain gauge 2 in the glass frit. Simultaneously with stress relief annealing, the parallel strain gauge 1, the figure-eight strain gauge, and the parallel strain gauge 2 are respectively bonded to the surfaces of the corresponding strain beam and the auxiliary beam.

[0013] Preferably, the number of the strain beams and the number of the auxiliary beams are both four, and the four strain beams and the auxiliary beams all form a "cross" structure.

[0014] Preferably, the resistance values ​​of the parallel strain gauge 1, the figure-eight strain gauge and the parallel strain gauge 2 are the same, and a plurality of the parallel strain gauges 1, a plurality of figure-eight strain gauges and a plurality of parallel strain gauges 2 are respectively connected in series or in parallel to form a bridge circuit.

[0015] The present invention provides an application method of a six-dimensional force sensor, comprising: Acquiring real-time force feedback data from a six-dimensional force sensor during workpiece grinding, and analyzing surface stress distribution characteristics of the workpiece during the grinding operation based on the real-time force feedback data; The environmental working condition parameters of the workpiece in the grinding operation environment are collected, the material hardness of the workpiece is queried, and the environmental adaptability index of the workpiece in the grinding operation is calculated by combining the environmental working condition parameters and the material hardness; and the grinding process is performed on the workpiece in combination with the surface stress distribution characteristics and the environmental adaptability index to obtain a polished workpiece.

[0016] In a possible implementation of the second aspect, analyzing surface stress distribution characteristics of the workpiece during the grinding operation based on the real-time force feedback data includes: Performing filtering and noise reduction processing on the real-time force feedback data to obtain stable force signal data; performing spatiotemporal alignment processing on the stabilization force signal data to obtain alignment force data; Gridding the alignment force data to obtain grid force data; Calculating the stress value of each grid cell in the grid force data to obtain a cell stress value; Visually mapping the unit stress values ​​to obtain a surface grinding stress cloud map of the workpiece; Feature extraction is performed on the surface grinding stress cloud map to obtain the stress distribution characteristics of the workpiece surface.

[0017] The working principle and beneficial effects of the present invention are: 1. Strain gauges are only arranged on the upper and lower sides of the strain beam (traditional solutions require four sides), avoiding manual operation in a narrow space and achieving fully automated patching. The time spent on single sensor patching is greatly shortened, the qualified rate of finished products is increased, and rework costs are reduced.

[0018] 2. When the sensor is subjected to external force, the auxiliary beam can increase the mass around the central support fixed point and evenly distribute the mass around it. According to the principle of inertia, when the sensor is subjected to vibration impact, it can effectively reduce the impact of high-frequency shock vibration; thereby effectively balancing the forces on the four strain beams, thereby improving the overall performance of the sensor, reducing measurement errors, and improving measurement accuracy; the symmetrical distribution of the auxiliary beams on both sides of the strain beam (as shown in the figure) can achieve symmetrical support, evenly transfer the external load to the strain beam, avoid excessive local stress, and ensure that the strain beam is uniformly stressed as a whole.

[0019] 3. The auxiliary beams are symmetrically suspended and have a certain balance stabilization effect, helping the sensor maintain accurate measurement in complex working environments. The auxiliary beams share the load of the strain beam, reduce the stress concentration of the strain beam, and enhance the overall strength. The auxiliary beams can also suppress the vibration of the strain beam to a certain extent, ensuring that the sensor remains stable in a dynamic environment and reducing errors, thereby providing additional support and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Figure 1 Schematic diagram of the structure of a six-dimensional force sensor of the present invention; Figure 2 An exploded view of a six-dimensional force sensor of the present invention; Figure 3 Schematic diagram of the structure of the elastomer component of the present invention Figure 1 ; Figure 4 Schematic diagram of the structure of the elastomer component of the present invention Figure 2 ; Figure 5 It is a schematic diagram of the local structure of the present invention; Figure 6 for Figure 5 A schematic diagram of the enlarged structure of part A; Figure 7 This is a circuit diagram of the figure-eight strain gauge series bridge of the present invention; Figure 8 Schematic diagram of a circuit of a parallel strain gauge and a series bridge according to the present invention; Figure 9 Schematic diagram of a circuit of two parallel strain gauge series bridges according to the present invention; Figure 10 This is a flow chart of an application method of a six-dimensional force sensor proposed in one embodiment of the invention.

[0022] In the figure: 1. Shell; 11. First through hole; 2. Force contact plate; 3. Bottom plate; 4. Elastomer assembly; 41. Stress block; 411. Second through hole; 42. Strain beam; 421. Fillet; 43. Parallel strain gauge 1; 44. Figure-eight strain gauge; 45. Auxiliary beam; 46. Parallel strain gauge 2; 5. Data transmission port. DETAILED DESCRIPTION

[0023] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0024] Example 1: like Figures 1 to 6 As shown, this embodiment proposes a six-dimensional force sensor, including a shell 1, the top of the shell 1 is fixedly connected to a force contact plate 2, the bottom of the shell 1 is fixedly connected to a bottom plate 3, an elastic body component 4 is provided on the inner side of the shell 1, and the elastic body component 4 includes a stress block 41 concentrically arranged on the inner side of the shell 1, and four strain beams 42 are fixedly connected to the outer side of the stress block 41. The four strain beams 42 are distributed at equal angles around the stress block 41, and the ends of the four strain beams 42 away from the stress block 41 are fixedly connected to the inner wall of the shell 1. A pair of parallel strain gauges 43 and a pair of figure-eight strain gauges 44 are fixedly connected to the upper and lower surfaces of the strain beam 42. An auxiliary beam 45 is arranged between two adjacent strain beams 42. The four auxiliary beams 45 are distributed at equal angles around the stress block 41. The four strain beams 42 and the auxiliary beams 45 form a "cross" structure. One end of the four auxiliary beams 45 is fixedly connected to the stress block 41, and the other end of the four auxiliary beams 45 is suspended. A pair of parallel strain gauges 46 are fixedly connected to the upper and lower surfaces of several auxiliary beams 45.

[0025] A pair of splayed strain gauges 44 and a pair of parallel strain gauges 43 are arranged on the upper and lower surfaces of the strain beam 42, respectively. The splayed strain gauges 44 function as the strain gauges attached to the side of the strain beam of a conventional sensor (conventional adhesive metal strain gauges attached to the side of the elastic beam are used to sense the torque from the Z axis and the lateral forces from the X and Y axes). Therefore, the splayed strain gauges 44 can sense the tangential deformation along the circumference and the outward deformation along the radius (away from the center of the circle). Moreover, the two strain gauges of a pair of splayed strain gauges 44 connected in series can effectively eliminate crosstalk from the radial direction. , and is only used to measure the rotation of the z-axis and the force from the X and Y axes; a pair of parallel strain gauges 1 43 is used to measure the force of the z-axis and the torque of the X and Y axes; at the same time, a pair of parallel strain gauges 2 46 are arranged on the upper and lower surfaces of each auxiliary beam 45. When the sensor is affected by the outside world and produces a certain vibration, the parallel strain gauges 2 46 on the auxiliary beam 45 generate a corresponding vibration signal, and at the same time collect information on the auxiliary beam 45 to determine the amplitude and frequency of the vibration signal from the outside world, thereby removing these interference signals from the main measurement signal, and finally improving the measurement accuracy; The design function of the auxiliary beam 45 is that when the sensor is subjected to external force, the auxiliary beam 45 can increase the mass around the center support fixed point and evenly distribute the mass around. According to the principle of inertia, when the sensor is subjected to vibration impact, it can effectively reduce the impact of high-frequency shock vibration; thereby effectively balancing the forces on the four strain beams, thereby improving the overall performance of the sensor, reducing measurement errors, and improving measurement accuracy; the auxiliary beams 45 are symmetrically distributed on both sides of the strain beam 42 (such as Figure 3 As shown in FIG4 , symmetrical support can be achieved, and the external load can be evenly transferred to the strain beam 42 to avoid excessive local stress and ensure that the strain beam 42 is evenly stressed as a whole; In addition, the auxiliary beams 3 are symmetrically suspended and have a certain balance stabilization effect, helping the sensor maintain accurate measurement in complex working environments. The auxiliary beams share the load of the strain beam, reduce the stress concentration of the strain beam, and enhance the overall strength. The auxiliary beams can also suppress the vibration of the strain beam to a certain extent, ensuring that the sensor remains stable in a dynamic environment and reducing errors, thereby providing additional support and stability.

[0026] Furthermore, the outer edge of the housing 1 is provided with a plurality of first through holes 11, and the outer edge of the stress block 41 is provided with a plurality of second through holes 411 distributed at equal angles around the stress block 41. The first through holes 11 and the second through holes 411 facilitate connection with the force contact plate 2 and the bottom plate 3.

[0027] Furthermore, fillets 421 are provided at the connections between the strain beam 42 , the housing 1 and the stress block 41 .

[0028] The rounded corners 421 provided on the strain beam 42 can disperse stress and reduce material fatigue of the strain beam 42 and measurement errors caused by stress concentration.

[0029] Furthermore, a data transmission port 5 for connecting a data line is provided at one end of the housing 1. The data transmission port 5 is used to install a data line to perform data transmission with a control device.

[0030] Furthermore, the resistance values ​​of the parallel strain gauge 1 43 , the figure-eight strain gauge 44 and the parallel strain gauge 2 46 are the same, and several parallel strain gauges 1 43 , several figure-eight strain gauges 44 and several parallel strain gauges 2 46 are connected in series or in parallel to form a bridge circuit.

[0031] Working Principle: When the sensor is subjected to an external force, the internal strain beam 42 will deform. The figure-eight strain gauge 44 and parallel strain gauge 1 43 attached to the strain beam 42 will also deform accordingly, causing their resistance values ​​to change. By measuring the resistance change of the strain gauge and using a bridge circuit to convert the resistance change into a voltage signal, the magnitude and direction of the external force can be calculated. like Figure 7 As shown, several splayed strain gauges 44 are connected in series to form a bridge circuit. The resistance of each group of splayed strain gauges 44 is Rx (x=1, 2, 3, 4, 5, 6, 7, 8). When the sensor is subjected to tangential force or torque, the strain beam 42 is torsional deformed, causing the two resistors of the splayed strain gauge 44 to be stretched and compressed (or vice versa), and the resistance changes in opposite directions (ΔR1 = -ΔR2). Through the bridge circuit ( Figure 7 ), converting the resistance difference into a differential voltage signal ΔV1 with high sensitivity; like Figure 8 As shown, several parallel strain gauges 43 are connected in series to form a bridge circuit. The resistance of each group of parallel strain gauges 43 is R1x (x=1, 2, 3, 4, 5, 6, 7, 8). When the sensor is subjected to axial force or torque, the strain beam 42 bends and deforms, causing the two resistors of the parallel strain gauges 43 to be pulled or compressed at the same time. The resistance changes in the same direction (ΔR3 = ΔR4). Through the bridge circuit ( Figure 8 ), converting the same-direction changes into differential voltage signals ΔV2 to suppress common-mode interference; like Figure 9 As shown, several parallel strain gauges 46 are connected in series to form a bridge circuit. The resistance of each group of parallel strain gauges 46 is R2x (x=1, 2, 3, 4, 5, 6, 7, 8). When the sensor is disturbed by high-frequency vibration, the parallel strain gauges 46 on the auxiliary beam 45 detect the high-frequency vibration interference.

[0032] Example 2: This embodiment is a further optimization of the first embodiment. The only difference from the first embodiment is that a negative temperature coefficient resistor (Rc) is connected in series in the bridges of the first parallel strain gauge 43, the figure-eight strain gauge 44 and the second parallel strain gauge 46. The resistance of the strain gauge will change slightly with temperature, so the output signal is affected by temperature changes. The resistance of the negative temperature coefficient resistor (Rc) decreases as the temperature rises, offsetting the resistance drift of the strain gauge caused by the temperature rise. This achieves temperature compensation for the strain gauge, thereby eliminating temperature errors and further improving measurement accuracy.

[0033] Example 3: This embodiment is a further optimization of the first embodiment. The only difference from the first embodiment is that: The parallel strain gauge 1 43 , the figure-eight strain gauge 44 , and the parallel strain gauge 2 46 are all packaged by a glass micro-melting process (referring to a six-dimensional force sensor based on a glass micro-melting process and its preparation method disclosed in publication number CN117990254B ), which specifically includes the following steps: A1. First, the surfaces of the strain beam 42 and the auxiliary beam 45 are treated to make them rough, and then pickled. A2. Print glass powder on the locations where strain gauges are required on the strain beam 42 and the auxiliary beam 45. Use sintering technology to preheat the glass powder to a semi-molten state. A3. Then, parallel strain gauge 1 43, figure-eight strain gauge 44, and parallel strain gauge 2 46 are placed on the glass frit and the glass frit is further heated to embed parallel strain gauge 1 43, figure-eight strain gauge 44, and parallel strain gauge 2 46 into the glass frit. Simultaneously, stress relief annealing is performed to bond parallel strain gauge 1 43, figure-eight strain gauge 44, and parallel strain gauge 2 46 to the surfaces of corresponding strain beam 42 and auxiliary beam 45, respectively. Through the glass micro-melting process, the parallel strain gauge 1 43, the figure-eight strain gauge 44 and the parallel strain gauge 2 46 can be perfectly fitted with the corresponding strain beam 42 and the auxiliary beam 45, achieving a high-strength and airtight seal between the strain gauge and the elastomer, while ensuring that the strain gauge is not damaged by high temperature.

[0034] Test Example 1: This test example is used to test the patch process efficiency of a traditional four-sided patch sensor and the upper and lower double-sided patch sensor of the present invention. The specific implementation process is as follows: (1) The traditional four-sided patch sensor (control group) and the upper and lower double-sided patch sensor of this scheme (experimental group) were made by manufacturing equipment, with a sample size of 30 pieces in each group; (2) After the production is completed, the time consumption of single sensor patch (seconds / piece), the success rate of automatic patch (the proportion of patch position offset <0.1mm) and the finished product yield (the qualified rate of bridge balance and zero drift <0.5%FS) are recorded. The test results are as follows: ; As can be seen from the table above, the traditional solution requires manual placement of all four sides (including operations in narrow spaces), resulting in an average time of 120 minutes per piece and a large standard deviation (±8.2 minutes), indicating poor consistency in manual operation. The new solution only requires placement of the top and bottom sides (flat surfaces are easily automated), reducing the average time to 28 minutes per piece (a 76.7% reduction) with a standard deviation of only 2.1 minutes, demonstrating the high stability of the automated process. Traditional solutions rely on manual labor, with only 70% of patch position offsets less than 0.1mm. The main source of error is lateral patch angle deviation (e.g., strain gauge tilt >5°). This solution uses machine vision positioning, increasing the proportion of patch offsets less than 0.1mm to 98%, meeting high-precision requirements. The traditional solution suffers from manual placement errors (such as uneven adhesive layer thickness and strain gauge misalignment), resulting in bridge imbalance and excessive zero drift, resulting in a yield of only 62%. This solution, through a glass micro-melting process (adhesive layer thickness standard deviation <0.5μm) and automated placement, increases the yield to 96%, significantly reducing rework costs.

[0035] Test Example 2: This test example is used to detect the dynamic performance of the auxiliary beam structure of the present invention. The specific implementation process is as follows: (1) Install the sensor without auxiliary beam and the sensor with auxiliary beam on the vibration table respectively, and apply sweep frequency vibration (10-2000Hz, acceleration 5g); (2) Record the vibration noise suppression ratio and dynamic measurement error. The calculation results are as follows: ; As shown in the table above, the auxiliary beam structure, combined with adaptive filtering technology, achieves 33.6dB noise suppression at the resonance point (800Hz), far exceeding the 20dB target. The suppression ratio across the entire frequency band (10-2000Hz) is ≥22.6dB, demonstrating the auxiliary beam's universal suppression capability for broadband vibration interference. The measurement error at 200Hz vibration is reduced from ±3.0%FS to ±0.4%FS, a 7.5-fold improvement in accuracy, meeting the requirements of high-dynamic scenarios. The auxiliary beam suppresses the resonance peak noise from 380mV to 8mV, preventing sensor overload failure due to resonance.

[0036] See Figure 10 FIG. 1 is a six-dimensional force sensor application method according to an embodiment of the present invention, comprising: S1. Acquire real-time force feedback data from a six-dimensional force sensor during workpiece grinding, and analyze surface stress distribution characteristics of the workpiece during the grinding operation based on the real-time force feedback data.

[0037] The present invention analyzes the surface stress distribution characteristics of the workpiece during the grinding operation based on the real-time force feedback data, thereby accurately identifying stress concentration areas and abnormal stress points on the workpiece surface, providing data support for dynamically adjusting the grinding force and trajectory, thereby effectively avoiding workpiece damage or grinding accuracy deviation caused by local stress overload. The real-time force feedback data is the real-time dynamic measurement data of the three-dimensional force (X / Y / Z axis direction) and three-dimensional torque (around the X / Y / Z axis) of the six-dimensional force sensor during the workpiece grinding. The surface stress distribution characteristics are the comprehensive mechanical characteristics of the stress magnitude, direction and gradient distribution in various surface areas of the workpiece generated by the contact action of the grinding tool during the grinding operation.

[0038] As an embodiment of the present invention, analyzing the surface stress distribution characteristics of the workpiece during the grinding operation based on the real-time force feedback data includes: Performing filtering and noise reduction processing on the real-time force feedback data to obtain stable force signal data; performing spatiotemporal alignment processing on the stabilization force signal data to obtain alignment force data; Gridding the alignment force data to obtain grid force data; Calculating the stress value of each grid cell in the grid force data to obtain a cell stress value; Visually mapping the unit stress values ​​to obtain a surface grinding stress cloud map of the workpiece; Feature extraction is performed on the surface grinding stress cloud map to obtain the stress distribution characteristics of the workpiece surface.

[0039] Among them, the stable force signal data is the smoothed force signal data obtained after the real-time force feedback data is filtered and denoised to remove high-frequency interference and noise; the alignment force data is the calibration data obtained after the stable force signal data is subjected to time-space alignment processing to match the force and torque data to a unified timestamp and spatial coordinate system; the grid force data is the grid distribution data obtained after the alignment force data is gridded to discretize the workpiece surface into regular grid units and associate with the stress data; the surface polishing stress cloud map is a visual map of the workpiece obtained by visually mapping the unit stress value and intuitively presenting the surface stress distribution with color gradients or contour lines.

[0040] Furthermore, the real-time force feedback data can be filtered and denoised using a bandpass filter or a wavelet transform algorithm to obtain stable force signal data; the stable force signal data can be time-space aligned by establishing a time-space mapping model based on the robot coordinate system to obtain alignment force data; the alignment force data can be gridded by discretizing the workpiece surface according to a preset grid accuracy to obtain grid force data; the stress value of each grid unit in the grid force data can be calculated by applying a stress calculation formula of material mechanics (such as Hooke's law) and combining it with the workpiece material parameters to obtain a unit stress value; the unit stress value can be visualized by using a visualization algorithm that maps stress values ​​to color gradients or contour lines to obtain a surface grinding stress cloud map of the workpiece; and the surface grinding stress cloud map can be feature extracted by an image recognition algorithm based on edge detection or threshold segmentation to obtain the stress distribution characteristics of the workpiece surface.

[0041] S2. Collect the environmental working condition parameters of the workpiece in the grinding operation environment, query the material hardness of the workpiece, combine the environmental working condition parameters and the material hardness, calculate the environmental adaptability index of the workpiece in the grinding operation, combine the surface stress distribution characteristics and the environmental adaptability index, perform the grinding process on the workpiece, and obtain a polished workpiece.

[0042] The present invention calculates the environmental adaptability index of the workpiece during the grinding operation by combining the environmental working condition parameters with the material hardness, and can quantify the degree of matching between environmental factors (such as dust concentration and temperature) and material properties, and provide data support for dynamically adjusting the grinding process parameters, thereby improving the grinding quality stability and tool service life of the workpiece in a complex environment. Among them, the environmental working condition parameters are quantitative indicators of environmental conditions such as dust concentration and temperature of the workpiece in the grinding operation environment that affect the grinding process, the material hardness is a mechanical property parameter of the workpiece's ability to resist local plastic deformation (such as Brinell hardness, Rockwell hardness, etc.), and the environmental adaptability index is the workpiece The quantitative evaluation value of the matching between environmental conditions and material hardness in the grinding operation is used to characterize the comprehensive influence of environmental conditions on the adaptability of workpiece grinding. Furthermore, the environmental conditions parameters of the workpiece in the grinding operation environment can be collected by deploying dust concentration sensors, temperature sensors and other environmental monitoring equipment in the grinding operation area; the material hardness of the workpiece can be queried by querying the material manual corresponding to the workpiece material or calling a preset material database; in combination with the environmental conditions parameters and the material hardness, the environmental adaptability index of the workpiece in the grinding operation can be calculated by establishing an environment-material coupling evaluation model (such as a weighted sum formula or a neural network algorithm).

[0043] The present invention performs a grinding process on the workpiece by combining the surface stress distribution characteristics and the environmental adaptability index to obtain a polished workpiece. It can realize intelligent coordinated regulation of the grinding force and trajectory based on the dual data support of mechanical distribution and environmental adaptability, thereby significantly improving the surface uniformity and process consistency of the workpiece, and reducing the processing defect rate caused by stress anomalies or environmental incompatibility. Furthermore, in combination with the surface stress distribution characteristics and the environmental adaptability index, the grinding process on the workpiece can be performed by dynamically adjusting the force applied by the grinding tool according to the stress concentration area, and correcting the grinding speed and trajectory parameters in real time according to the environmental adaptability index to obtain a polished workpiece.

[0044] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A six-dimensional force sensor, characterized in that: include housing (1); A force contact plate (2) fixedly connected to the top of the housing (1); A bottom plate (3) fixedly connected to the bottom of the housing (1); An elastomer assembly (4) is arranged on the inner side of the shell (1), and the elastomer assembly (4) includes a stress block (41) concentrically arranged on the inner side of the shell (1), a plurality of strain beams (42) are fixedly connected to the outer side of the stress block (41), the plurality of strain beams (42) are distributed at equal angles around the stress block (41), the ends of the plurality of strain beams (42) away from the stress block (41) are fixedly connected to the inner wall of the shell (1), and the upper and lower surfaces of the plurality of strain beams (42) are fixedly connected to a pair of parallel strain gauges (43) and a pair of figure-eight strain gauges (44).

2. A six-dimensional force sensor according to claim 1, characterized in that: An auxiliary beam (45) is provided between two adjacent strain beams (42), and a plurality of the auxiliary beams (45) are distributed at equal angles around the stress block (41). One end of the plurality of the auxiliary beams (45) is fixedly connected to the stress block (41), and the other end of the plurality of the auxiliary beams (45) is suspended. A pair of parallel strain gauges (46) are fixedly connected to the upper and lower surfaces of the plurality of the auxiliary beams (45).

3. The six-dimensional force sensor according to claim 1, characterized in that: The outer edge of the shell (1) is provided with a plurality of first through holes (11), and the outer edge of the stress block (41) is provided with a plurality of second through holes (411) distributed at equal angles around the stress block (41).

4. The six-dimensional force sensor according to claim 1, characterized in that: Fillets (421) are provided at the connections between the strain beam (42), the housing (1), and the stress block (41).

5. The six-dimensional force sensor according to claim 1, characterized in that: One end of the housing (1) is provided with a data transmission port (5) for connecting a data line.

6. The six-dimensional force sensor according to claim 2, characterized in that: The parallel strain gauge 1 (43), the figure-eight strain gauge (44) and the parallel strain gauge 2 (46) are all packaged by a glass micro-melting process, which specifically includes the following steps: A1. First, the surfaces of the strain beam (42) and the auxiliary beam (45) are treated to make their surfaces rough, and then pickled; A2. Printing glass powder at positions where strain gauges are required on the strain beam (42) and the auxiliary beam (45), and preheating the glass powder using a sintering technique to bring the glass powder into a semi-molten state; A3. Then, the parallel strain gauge 1 (43), the figure-eight strain gauge (44) and the parallel strain gauge 2 (46) are placed on the glass powder, and the glass powder is continuously heated so that the parallel strain gauge 1 (43), the figure-eight strain gauge (44) and the parallel strain gauge 2 (46) are embedded in the glass powder. While performing stress relief annealing, the parallel strain gauge 1 (43), the figure-eight strain gauge (44) and the parallel strain gauge 2 (46) are respectively bonded to the surfaces of the corresponding strain beam (42) and the auxiliary beam (45).

7. The six-dimensional force sensor according to claim 2, characterized in that: The number of the strain beams (42) and the auxiliary beams (45) is four, and the four strain beams (42) and the auxiliary beams (45) form a "cross" structure.

8. The six-dimensional force sensor according to claim 2, characterized in that: The resistance values ​​of the parallel strain gauge 1 (43), the figure-eight strain gauge (44) and the parallel strain gauge 2 (46) are the same, and a plurality of the parallel strain gauge 1 (43), a plurality of the figure-eight strain gauges (44) and a plurality of the parallel strain gauge 2 (46) are respectively connected in series or in parallel to form a bridge circuit.

9. An application method of a six-dimensional force sensor, comprising executing the application method according to any one of claims 1 to 8, characterized in that: The method comprises: Acquiring real-time force feedback data from a six-dimensional force sensor during workpiece grinding, and analyzing surface stress distribution characteristics of the workpiece during the grinding operation based on the real-time force feedback data; The environmental working condition parameters of the workpiece in the grinding operation environment are collected, the material hardness of the workpiece is queried, and the environmental adaptability index of the workpiece in the grinding operation is calculated by combining the environmental working condition parameters and the material hardness; and the grinding process is performed on the workpiece in combination with the surface stress distribution characteristics and the environmental adaptability index to obtain a polished workpiece.

10. The method according to claim 9, characterized in that The analyzing the surface stress distribution characteristics of the workpiece during the grinding operation based on the real-time force feedback data includes: Performing filtering and noise reduction processing on the real-time force feedback data to obtain stable force signal data; performing spatiotemporal alignment processing on the stabilization force signal data to obtain alignment force data; Gridding the alignment force data to obtain grid force data; Calculating the stress value of each grid cell in the grid force data to obtain a cell stress value; Visually mapping the unit stress values ​​to obtain a surface grinding stress cloud map of the workpiece; Feature extraction is performed on the surface grinding stress cloud map to obtain the stress distribution characteristics of the workpiece surface.

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