4128 results about "Strain gauge" patented technology

A structural-health-monitoring system is disclosed for real-time detection and autonomous maintenance of physical structures. The system includes a sensor network comprising at least one strain gauge and one tri-axial accelerometer mounted on the structure to generate real-time sensor signals. A perception module filters and normalizes the signals and extracts numerical features such as peak amplitude and dominant frequency. A digital-twin module maintains a finite-element model updated in response to the extracted features. A data-driven surrogate model predicts sensor behavior and refines itself using machine-learning techniques. An anomaly-detection module computes an anomaly score from model residuals or classifier outputs. Upon exceeding a threshold, a maintenance module initiates a maintenance action, including generating an inspection schedule or issuing a control signal to an autonomous inspection or repair device. A learning module continuously improves system performance using reinforcement learning based on historical outcomes. The system supports predictive diagnostics, robotic repair, and automated optimization for long-term structural integrity.

The invention discloses a bolt on-line monitoring method and system, and the method comprises the steps: generating a micro-motion feature matrix of a bolt according to a multi-dimensional vibration signal and a stress wave propagation characteristic of a bolt connection part; based on the micro-motion characteristic matrix, fusing local stress distribution data acquired by a bolt surface strain gauge, and outputting a health state quantitative index of the bolt; outputting a loosening risk level according to the health state quantitative index and historical loosening evolution data; and based on the looseness risk level and in combination with equipment operation state parameters, a self-adaptive decision tree model is adopted to dynamically adjust monitoring frequency and an alarm threshold value, a real-time monitoring strategy and a visual early warning report are generated, and a wireless transmission module is synchronously triggered to upload the real-time monitoring strategy and the visual early warning report to a cloud operation and maintenance platform. According to the embodiment of the invention, high-precision, self-adaptive and traceable bolt health state evaluation and early warning can be realized.

The invention discloses a data monitoring and processing method based on dam stability, and relates to the technical field of dam monitoring, and the method comprises the following steps: arranging sensors: arranging high-precision sensors, such as a strain gauge, a displacement meter and the like, at key positions according to the structural characteristics of a dam; comprehensively analyzing the structure of the dam; according to the method, the high-precision sensors are arranged at key positions of the dam, real-time acquisition of dam stability parameters including strain, displacement, pressure, temperature and the like is achieved, the real-time data acquisition mechanism remarkably improves the monitoring frequency and continuity, the real-time performance and the accuracy of data are ensured, and compared with traditional regular manual inspection, the real-time monitoring accuracy is improved. According to the invention, more accurate and continuous monitoring data can be provided, so that the stability state of the dam can be evaluated more effectively.

The invention relates to a grid steel structure node failure diffusion prediction method, which comprises the following steps of: forming a failure inducement and evolution path model according to a connection form of a bolt-sphere node and a welding node, a stress transfer path, node local yield and fatigue accumulation factors; a diffusion logic of node failure-force flow redistribution-adjacent node stress concentration-chain reaction is constructed; nodes are regarded as middle points of the graph, rod pieces are regarded as edges, and propagation weights between the nodes are defined; the weight parameters are dynamically assigned based on material attributes, node connection types, spatial geometric positions and historical stress states; multi-source monitoring sensors including strain gauges, displacement meters, thermometers and accelerometers are arranged at key nodes of the grid structure, so that node states are sensed; in combination with real-time monitoring data, extracting strain rate change, vibration characteristics, frequency drift and residual deformation key characteristics of each node; a node health state feature vector set is constructed by using time sequence analysis, and the gradual degradation trend of nodes is reflected.

The invention relates to the technical field of sensors, and provides a six-dimensional force sensor based on a planar semiconductor process and a preparation method thereof, and the six-dimensional force sensor comprises a central bearing platform, a housing, an elastic beam and a buffer beam. One end of the elastic beam is connected to the center bearing table, the other end of the elastic beam is connected to the buffer beam, the buffer beam and the elastic beam are orthogonally arranged, and the end, away from the elastic beam, of the buffer beam is connected to the shell. Wherein the surfaces of the elastic beam and the buffer beam are provided with six groups of strain gauges, and the six groups of strain gauges are respectively used for measuring forces in three directions and moments in three directions. According to the method, the multi-load-step-based least square method linear matrix decoupling is adopted, so that the inter-dimensional coupling error of the six-dimensional force sensor is reduced to below 2%. According to the invention, the six-dimensional force sensor is prepared by adopting a planar semiconductor process, the difficulties of side surface attachment and side wall lead binding of the strain gauges are avoided, and the six-dimensional force sensor has the advantages of simple process, low manufacturing cost and small crosstalk error.

The invention discloses a wind turbine generator concrete tower safety monitoring, early warning and evaluation method, which belongs to the field of wind power, and comprises the following steps: analyzing different stress stages of a concrete tower based on a stress mechanism of the concrete tower; determining the main wind direction and the orientation of the inhaul cable with the lowest frequency as the monitoring orientation; arranging a transverse acceleration sensor and a strain gauge in a monitoring direction; determining an early warning value of the monitored concrete tower drum; acceleration and strain signals are collected, first-order frequency of the inhaul cable and actual strain of concrete are obtained through calculation and compared with an early warning value, and safety monitoring and early warning of the concrete tower drum of the wind turbine generator are achieved. According to the stress characteristics of the wind turbine generator concrete tower tube structure, the inhaul cable frequency and the concrete strain are combined, accurate early warning and evaluation of the inhaul cable force loss and the concrete limit strain are achieved, and the safety of the concrete tower tube structure is effectively guaranteed.

The invention relates to the technical field of field data acquisition, in particular to an on-line temperature self-compensation calibration method and circuit for a force measurement transmitter. The calibration method comprises the steps that a working strain gauge and a temperature compensation gauge are synchronously excited through a two-way precision constant current source, the working strain gauge and the temperature compensation gauge are consistent in material parameter and are located in the same temperature field, and output current values of the two-way precision constant current source are equal and are controlled by a high-precision reference voltage source and a sampling resistor in a closed-loop mode. According to the invention, differential signals of the working strain gauge and the temperature compensation gauge are decoupled in real time through double-path precise constant-current source excitation and synchronous ADC acquisition technologies, gradient compensation is carried out on the temperature change rate in combination with a dynamic weighting algorithm, a lag error of traditional fixed coefficient compensation in a transient temperature field is effectively eliminated, and the accuracy of temperature compensation is improved. And online self-compensation of the temperature drift of the strain gauge is realized.

The invention provides a method for testing the dynamic strain of the surface of a rotating body in an electromagnetic environment. The method comprises the following steps: constructing a bridge by using strain gauges and acquiring dynamic characteristic data of the rotating part under actual constraint conditions; performing simulation calculation according to the dynamic characteristic data, and determining the optimal pasting position of the strain gauge; pasting a strain gauge and formulating a wiring scheme of a strain gauge wire; the strain gauge is connected with a voltage signal amplifier, the amplified signal is connected with a data acquisition system through a conductive slip ring, and the amplified strain signal is recorded and processed; acquiring strain signals in real time and taking the strain signals as test data, and performing whole-course test in a full-rotating-speed range to complete dynamic strain test on the surface of the rotating body. The system has high sensitivity, the sensitivity and the measurement precision of the system are improved through full-bridge configuration, larger output signals are provided, the full bridge can achieve temperature compensation through symmetrical circuit design, and the system has good linear output characteristics and facilitates signal processing and analysis within the strain range.

The invention belongs to the technical field of underground engineering, and discloses an omnibearing intelligent monitoring system, method and device for an underground anchoring pull-out test. According to the method, electromagnetic signals generated in the stress process of the anchor rod are captured in real time through an electromagnetic sensor, and internal stress changes and energy distribution are reflected; the deformation and stress states of the anchor rod in the dynamic environment are evaluated through a strain gauge and accelerometer combined data combination method, the deformation condition of the anchor rod is monitored through the strain gauge, and the stress-strain relation is recorded; an accelerometer is used for detecting the dynamic response of surrounding rock mass so as to evaluate the overall stability of the rock mass; a coupling medium is injected, the computer terminal stores the collected signals locally or in a cloud end and analyzes the signals, stress and deformation parameters in an anchor rod pull-out test are extracted, and an anchor rod stress cloud picture is generated in real time. According to the method, the safety and reliability of underground engineering are remarkably improved, and a new technical support is provided for evaluation of anchoring quality.

The invention belongs to the technical field of aircraft design, and discloses an airfoil structure virtual test loading analysis method based on digital simulation, which comprises the following steps of: firstly, carrying out detail finite element modeling according to an airfoil structure digital model, the attribute of the connecting piece is calculated and assigned according to the simplification principle of a bush unit, and the center coordinate of a loading point is determined according to the position of an adhesive tape or a pull-press block in the test partial load scheme; simulation analysis is carried out after loading is completed, loading is carried out according to the initial load direction, the load is discretized to a single loading point, then the single loading point is recorded, coordinates of a center node of the loading point and coordinates of an actuator connecting point after deformation are obtained, then the direction of a loading vector is obtained, all loading points of the simulation model are loaded, and a simulation result is obtained. After analysis is carried out, linear / nonlinear static force, buckling and post-buckling calculation is carried out; analyzing a stress-strain identification test risk position according to a calculation result, and pasting a strain gauge. The method can guide the design of a loading scheme in an airfoil structure test, improves the calculation precision, recognizes the test risk, avoids the loss of a test piece, and reduces the test cost.

The invention relates to the technical field of structure health monitoring and bearing capacity evaluation, and discloses a heat absorption tower hybrid structure dynamic detection bearing capacity evaluation method, which comprises the following steps: S1, arranging various sensors on a heat absorption tower structure, including an acceleration sensor, a strain gauge, a temperature sensor and a displacement sensor, collecting dynamic response data of the heat absorption tower under different working conditions; s2, on the basis of data collected by the sensors, a digital twin model of the heat absorption tower is built, and the model comprises finite element three-dimensional models of a tower footing, a tower body and a tower top. Real-time monitoring and high-precision prediction of the heat absorption tower are realized through a sensor network and a digital twinning technology, structural problems can be intelligently identified and early warning can be carried out in advance, meanwhile, a maintenance strategy is optimized based on fault prediction of AI, the maintenance cost is reduced, the equipment operation efficiency is improved, and the accuracy of structural analysis is further improved through introduction of the digital twinning technology. And the long-term safety and stability of the heat absorption tower are ensured.

The invention discloses a solar photovoltaic flexible support fault monitoring method and system, and relates to the field of photovoltaic flexible support fault monitoring, and the method comprises the steps: obtaining data collected by a sensor; analyzing the collected data, judging whether a fault occurs or not and the type of the fault, and storing data of a fault event into a database; the data in the database is divided into normal data and fault data, the fault data is classified and matched with the normal data, and a comparison data pair is formed and used for fault judgment at the next moment. According to the invention, the strain gauge sensor, the acceleration sensor and the temperature sensor are comprehensively applied, multi-dimensional data acquisition is realized, more accurate fault judgment is realized, and the problem that the monitoring precision and reliability of a single sensor are limited is solved. According to the method, false alarm and missing alarm are reduced for real-time data acquisition, the reliability of fault monitoring is improved, and potential faults are found in advance and early warning is given out through real-time data analysis and model prediction.

Disclosed in the present invention is a stepped elastic beam for a six-axis force sensor. The stepped elastic beam comprises a central platform, a stepped main beam, a floating beam, rims, and strain gauges, wherein the central platform is connected to the floating beam on the outer side by means of the stepped main beam, and the rims at four corners are connected to the floating beam; 24 strain gauges are pasted to the stepped main beam to form six sets of Wheatstone bridges; and when the force / torque of a certain dimension acts on the center of the stepped elastic beam, the sensor deforms, and the resistance value of the strain gauge at a corresponding position is changed, such that an output voltage of a corresponding bridge is changed, and the numerical value of the force / torque of the dimension can be obtained by measuring the change of the voltage. A structure is simple, the sensitivity is high, and the inter-dimensional coupling is low.

The invention relates to the technical field of mechanical performance testing of power transformer winding materials, in particular to a method for evaluating the mechanical strength of a transformer winding under a reclosing working condition, and the method comprises the steps: obtaining and preprocessing historical operation data, finite element simulation data and laboratory simulation test data; deploying a micro foil strain gauge, an MEMS acceleration sensor and a flexible piezoresistive sensor based on the preprocessed data, and synchronously collecting radial strain, axial acceleration and cushion block pressure data; after noise filtering, time alignment and feature extraction, multi-directional deformation cooperative influence is analyzed through methods of Pearson's correlation coefficients, partial least square regression and the like; and in combination with a historical damage sample training evaluation model, outputting a mechanical strength degradation level in real time. According to the method, the problems of synchronous acquisition and correlation analysis of multi-direction deformation data under reclosing impact are solved, and accurate evaluation of overall mechanical strength change caused by accumulated deformation is realized.

A system for measuring actual weight lifted by a user when a spotting force is applied and calculating a spotting force. The system is comprised of a display device and sensors having strain gauges attached to a weight lifting bar. The system will determine and display the actual weight lifted by a user with or without a spotting force, and a spotting force applied.

The invention relates to the technical field of structural dynamic stress measurement, and discloses a method and system for designing a dynamic stress measurement patch of a lobe-containing whole-ring thin-wall stator structure. According to structural geometric characteristics, modal characteristics, excitation sources, crack positions and the like of the lobe-containing whole-ring thin-wall stator structure, the dynamic stress of the lobe-containing whole-ring thin-wall stator structure is measured; the equivalent vibration stress of all surface nodes of the lobe-containing whole-ring thin-wall stator structure is fully considered, the node with the maximum equivalent vibration stress is determined as the patch point of the strain gauge, the pasting position of the strain gauge can be rapidly determined, the influence rule of the wake region and the non-wake region of the support plate on the dynamic stress of the stator structure can be obtained, the test efficiency is improved, and the test cost is reduced. And the dynamic stress characteristics of the lobe-containing whole-ring thin-wall stator structure can be obtained by utilizing the designed strain gauge, and data support is provided for the high-cycle fatigue resistance design of the lobe-containing whole-ring thin-wall stator structure.

The invention belongs to but is not limited to the technical field of seabed monitoring, and particularly relates to a strain test method and system for subsurface buoy shell strength, and the method comprises the steps: S1, selecting points on the surface of a shell, and pasting strain gauges; s2, putting into a sealed kettle, and injecting water and pressurizing; s3, testing the strain condition of the shell by using a strain tester; and S4, the pressure tolerance degree of the shell is analyzed through calculation. The buoyancy provided by the floating body shell and the overall weight of the subsurface buoy are calculated in detail, and the needed ballast balance weight is accurately measured and calculated. Buoyancy and gravity balance is verified through dynamic simulation, it is ensured that the subsurface buoy can stably suspend or settle in water, and the design feasibility and the actual application effect are improved.

The invention belongs to the technical field of hypersonic wind tunnel tests, and discloses a test evaluation device and method for a slender body appearance attitude control jet flow aerodynamic interference effect. The test evaluation device comprises a spray pipe bracket, a sieve-shaped core pipe and a balance which are sequentially connected from front to back; the balance adopts an annular structure, a semiconductor strain gauge is pasted on a sensitive element of the balance, the rear end of the balance is connected with a jet-flow supporting rod, and the jet-flow supporting rod is provided with a jet-flow air inlet; a spray pipe is fixed on the spray pipe bracket; a spray pipe outlet penetrates out of the aircraft model; a jet flow pipeline which sequentially penetrates through the jet pipe support, the sieve-shaped core pipe, the aerodynamic force measuring balance and the jet flow supporting rod is arranged on the central axis of the aircraft model. The test evaluation method comprises the steps of conventional force measurement test, jet flow force measurement test, determination of influence quantity of jet flow interference, jet flow supplementary force measurement test, determination of jet flow medium parameters, and establishment of a jet flow state table of the attitude control jet flow engine of the slender aircraft. And technical support is provided for design and installation of the attitude control jet engine of the slender aircraft.

The invention relates to the technical field of automobiles, and provides a force sensor, an electronic mechanical braking system and an automobile, the force sensor comprises a force bearing part and a plurality of strain gauges, the force bearing part comprises an induction area, a first groove is formed in the force bearing part, and the first groove surrounds and surrounds the induction area; each strain gauge comprises a first side edge and a second side edge which are connected with each other, and the length of the first side edge is greater than that of the second side edge; wherein the strain gauges are arranged in the induction area at intervals around the center of the induction area, and the first side edges and the second side edges of every two adjacent strain gauges face the center of the induction area in a staggered mode. The accuracy of the output result of the force sensor can be improved, and the performance stability of the force sensor is improved.

The invention discloses a large workpiece strain measuring point auxiliary positioning system and method, and the system comprises a professional software and automatic control system, and an industrial photogrammetry system, a car lifting system, a laser projection system and a three-dimensional scanning quantitative analysis system which are connected with the professional software and automatic control system. And a positioning target is arranged on the surface of the large workpiece product. According to the system, strain contact auxiliary lineation and laser guide assembly work of a large workpiece and quantitative analysis work of strain gauge pasting are achieved, the system takes a target arranged on a product as a positioning reference, the outline of a product model is extracted in a photogrammetry mode, the product model and a real object are matched and unified to the same coordinate system, and the product model and the real object are obtained. The position contour of the strain gauge needing to be pasted and auxiliary information are projected to the surface of a product through the laser projection technology, the current pasting position information can be efficiently and accurately reflected, and high-efficiency and high-precision assembly of the strain gauge is facilitated.

The invention provides a strain generation structure and a force sensor. The strain generating structure comprises: at least one strain body configured to strain under the action of an external force; wherein at least one concave-convex structure is formed on the surface of the at least one strain body, the concave-convex structure is provided with a concave part and a convex part adjacent to the concave part, the convex part of the at least one concave-convex structure is provided with at least one strain gauge, and the strain gauge is configured to sense the strain generated by the strain body; moreover, the strain generating structure is provided with a reference surface perpendicular to the axis of the strain generating structure, and each strain gauge of the strain generating structure is parallel to the reference surface. According to the strain generating structure, the strain gauges can be attached to a plane facilitating machine operation, and the detection performance of a six-dimensional force sensor is considered.

A temperature-rainfall-reservoir water combined testing system for a permafrost landslide model includes a tempered glass case with a permafrost landslide model and reservoir water provided therein; a temperature control system provided on the tempered glass case and including an incubator temperature control module, a landslide mass rear edge water tank temperature control module and an air circulation temperature control module; a seepage control system configured to realize seepage of the permafrost landslide model, and form the reservoir water in front of a landslide mass; a rainfall control system including a water tube, a flow controller and a nozzle, where the nozzle is provided in the tempered glass case, and located above the permafrost landslide model; and a multi-field monitoring system including a temperature sensor, a pore water pressure gauge, a moisture meter and a grating strain gauge that are provided in the permafrost landslide model.

The invention discloses a carbon dioxide monitoring method. The method comprises the following steps: arranging a temperature sensor, a strain gauge type pressure sensor, a Ca < 2 + > concentration sensor and a tracer agent concentration sensor; a tracer agent is injected into the injection well to monitor the moving track and the leakage condition of CO2; when the formation temperature rise exceeds a threshold A, the formation pressure change exceeds a threshold B, the Ca2 + concentration exceeds a threshold C, and the tracer concentration is below a threshold D, when at least three of the conditions are achieved, or only two of the conditions are achieved, and at least one of the conditions exceeds 20-30% of the respective threshold, the tracer concentration is determined to be less than the threshold D. And if not, inputting the stratum parameters and the tracer agent characteristic data into a pre-trained machine learning model, calculating the addition amount of the additive, and injecting the additive into an injection well. The invention further claims to protect the carbon dioxide monitoring device. The performance of the tracer agent in the CO2 monitoring process can be intelligently evaluated and maintained, and the moving track and the leakage condition of CO2 are accurately monitored.

The invention discloses a conveying device for powder bowl filling and a metering and weighing system of the conveying device. The conveying device comprises an equipment frame, a feeding mechanism, a scattering mechanism and a controller, wherein the feeding mechanism, the scattering mechanism and the controller are installed on the equipment frame. The metering and weighing system comprises a data acquisition module, a metering optimization module and a dynamic compensation module; and the metering optimization module is used for adjusting filter parameters in real time according to the state information of the device and the change of the measurement noise by adopting a self-adaptive Kalman filtering algorithm, and carrying out optimization processing on the measurement data. Through the synergistic effect of the weighing sensor and the valve control mechanism, the weighing sensor adopts a measurement mode of combining a strain gauge type weighing sensor and a piezoresistive weighing sensor, and the self-adaptive Kalman filtering algorithm is used for optimizing measurement data, so that the material metering accuracy is ensured, and the material metering precision is improved. And the uniformity and consistency of material conveying are ensured, so that the product quality and the production efficiency are improved.

A strain gauge includes a flexible substrate; a resistor made from a film containing Cr, CrN, and Cr2N, on one surface of the substrate; and a resin barrier layer covering the resistor, and, in this strain gauge, in the barrier layer, a ratio of a moisture permeability (g / m2 / 24h) to a thickness (mm) is 5:1 or greater, and the thickness of the barrier layer is 100 μm or more and 3 mm or less.

The invention discloses an anchor rod type mine laneway surrounding rock stress monitoring system, which comprises a hollow anchor rod, a high-precision strain rosette, a strain collector, a gateway, fault prediction and health management software and a server, and is characterized in that the rod body of the hollow anchor rod is of a hollow structure, the high-precision strain rosette is fixed in the hollow rod body, and the strain collector is fixed in the hollow rod body; the strain collector communicates with the gateway through an RS485 bus, the gateway communicates with the fault prediction and health management software and the server in an optical fiber mode, a hollow anchor rod supporting product which is most commonly used at present is utilized in the scheme, the high-precision resistance type strain gauge is arranged in the hollow anchor rod supporting product, the installation form is consistent with that of an anchor rod, and the high-precision resistance type strain gauge can penetrate into a rock stratum; the distributed roadway surrounding rock stress monitoring system is formed, the mine roadway surrounding rock stress change condition can be accurately and comprehensively monitored and pre-warned in real time, different pre-warning signals are sent out in advance, maintenance workers are supervised and urged to take reinforcement measures or evacuate in time, and therefore collapse accidents are avoided.

The invention discloses an operation state and characterization state parameter method of a GIS isolation switch, and relates to the field of GIS isolation switch operation. Multi-source heterogeneous sensors including vibration, temperature, strain gauges, fiber bragg gratings, acoustic cameras and the like are deployed at key parts, and data are collected in a self-adaptive mode according to working conditions; processing data by using a deep learning noise reduction auto-encoder, adaptive weighted fusion and DBSCAN; deeply mining features by using empirical wavelet transform, a heat conduction model and the like; constructing a composite state parameter by means of a deep belief network and principal component analysis in combination with particle swarm optimization; the state is evaluated through a convolutional neural network of transfer learning, LSTM prediction and early warning are carried out, and a fault tree and a Bayesian network are combined to locate a fault. According to the invention, data is comprehensively collected, intelligent processing and deep mining are carried out, scientific state parameters are constructed, and accurate state evaluation and early warning are realized in combination with transfer learning; the adaptability is improved through self-learning and multi-modal fusion, the operation and maintenance efficiency is improved through a VR / AR visual platform, the risk of the power system is reduced, and benefits are remarkable.

The invention relates to the technical field of engineering structure monitoring, in particular to a structure health monitoring method based on a distributed strain dynamic test. According to the technical scheme, the method comprises the steps of arrangement of a composite sensor array, acquisition of strain data, self-adaptive data transmission, operation of a data processing and analysis center and operation of a man-machine interaction interface, and the composite sensor array composed of multiple types of distributed strain sensors is arranged at an engineering structure part. The strain sensors comprise a fiber bragg grating strain sensor, a resistance strain gauge and a piezoelectric film strain sensor. According to the invention, various types of distributed strain sensors are adopted to form a composite sensor array, and comprehensive, real-time and accurate health monitoring and damage prediction of an engineering structure are realized in combination with a self-adaptive data transmission network and an advanced data processing and analysis technology; and more effective technical support is provided for safety guarantee of civil engineering structures.

The invention provides a special-shaped air film hole thermal mechanical fatigue simulation part design method, which comprises the following steps of: 1, analyzing the strength and the service life of a turbine blade, and identifying a key part of the service life of a special-shaped air film hole; 2, determining that the thermal mechanical fatigue simulation piece is of a hollow structure; 3, parameters of a clamping part of the hollow simulation piece are stipulated; 4, determining the mechanical stress of the key part through three-dimensional finite element simulation of the turbine blade; 5, verifying the included angle between the principal stress direction and the growth direction of the key part of the simulation part; step 6, measuring stress by using a strain gauge under a normal-temperature initial mechanical load, and verifying whether the load is compliant or not; 7, performing three-dimensional finite element simulation analysis on the temperature field of the test piece and calculating thermal stress; 8, controlling the thermal stress distribution of the section of the simulation piece by controlling the temperature distribution; step 9, when cooling gas is introduced into the inner cavity of the special-shaped gas film hole simulation piece, carrying out a thermal mechanical fatigue test by adopting an in-phase mechanical-temperature load; and step 10, optimizing the structure of the special-shaped gas film hole and analyzing the strength.

The invention discloses a miniature six-dimensional force sensor for a humanoid robot. The miniature six-dimensional force sensor comprises an elastic body which is integrally disc-shaped, and an upper cover plate and a lower cover plate which are arranged at the upper end and the lower end of the elastic body; the elastic body comprises an elastic body hub, a stress table and four strain beams, and the cross section of each strain beam is rectangular; the stress table is hollow and is arranged at the central position of the elastomer hub, the four strain beams are uniformly distributed between the stress table and the elastomer hub, one end of each strain beam is connected with the elastomer hub, and the other end of each strain beam is connected with the stress table; the elastomer hub is provided with a cable outlet. A plurality of strain gauges are adhered to the four strain beams to form six Wheatstone bridges for respectively measuring forces and moments in six directions of Fx, Fy, Fz, Tx, Ty and Tz. The miniature six-dimensional force sensor has the advantages that the thickness of the sensor is very small, the thickness is only 9.2 mm, the diameter is 45 mm, and the miniature six-dimensional force sensor is suitable for the humanoid robot industry.