1913 results about "Torque sensor" patented technology

The invention discloses an automatic stacking method and device, a terminal and a storage medium, and the method comprises the steps that package information of a to-be-stacked package is obtained according to an acquisition device, and an optimal stack type is matched for the to-be-stacked package in combination with historical stack type data of an automatic stacking system; carrying out point cloud segmentation on the tray with the stacked parcels through a preset segmentation model to obtain a segmentation result, calculating a tray gap in combination with the optimal stack type and a preset path planning algorithm, and generating a stacking path; the flexible clamping jaw device is controlled to grab the parcels to be stacked, the grabbing posture is corrected in real time in combination with feedback of the torque sensor, and the mechanical arm is controlled to execute stacking according to the stacking path; and when the segmentation result of the tray is matched with the optimal stack type, a stacking three-dimensional model is generated, the stacking three-dimensional model is bound with the AGV below the tray, and the AGV is controlled to be automatically put in storage. According to the method, stacking and warehousing are completed through stack type matching and path planning, and the adaptability and the space utilization rate of a stacking system are improved.

The embodiment of the invention discloses an automobile power-assisted steering test system and method, and relates to the technical field of automobile electronics. An EPS controller in the automobile power-assisted steering test system is used for acquiring an input torque generated by a driver simulation motor through an angle torque sensor; according to the input torque and the state information of the vehicle, the power-assisted torque needing to be output by the EPS motor in the steering process is determined; the power-assisted torque is sent to an EPS motor, so that the EPS motor assists the vehicle in steering; if the input torque, the power-assisted torque and the actual resistance torque of the rocker arm end are balanced in the steering process of the vehicle, and the amplitude and the variation trend of the power-assisted torque all accord with the preset power-assisted characteristic curve, the vehicle power-assisted steering test passes. Therefore, by introducing a driver steering wheel input part and a steering resistance simulation part, the automobile power-assisted steering test system can simulate the working principle of a steering system more truly, so that the test precision and effect are improved.

The invention discloses a six-dimensional force / torque sensor decoupling system and method based on a width neural network, and the method comprises the steps: in a data collection and preprocessing unit, carrying out the null drift correction and normalization processing of a collected voltage signal through a weight type calibration platform and a data collection card, and forming a network model training data set; carrying out model training on the established six-dimensional force / torque sensor decoupling model of the width neural network, and solving a mapping matrix from a hidden layer to an output layer by adopting an importance score-based neuron pruning algorithm and a Moore-Pengos generalized inverse to obtain optimal model parameters; and finally, inputting the voltage signal subjected to data preprocessing to obtain a real-time output vector, and performing reverse normalization processing to obtain a decoupled six-dimensional force / torque vector. According to the method, precise decoupling of the six-dimensional force / torque sensor is achieved, and the inter-dimensional coupling error is remarkably reduced.

The invention relates to a tractor test data acquisition and fault diagnosis system, which belongs to the technical field of agricultural machinery, and comprises a multi-source heterogeneous data acquisition module for performing real-time data acquisition on the working state of the whole tractor through a sensor group deployed at a key part of the tractor; collecting a vibration signal measured by an engine body acceleration sensor; acquiring a real-time rotating speed measured by an engine rotating speed sensor; load torque measured by a torque sensor of the power output shaft is collected; the current instruction rotating speed obtained by the vehicle-mounted control unit is collected; the collected original data are transmitted to the dynamic state evaluation module in real time; the dynamic state evaluation module is used for receiving the multi-dimensional data; carrying out fusion analysis on the multi-dimensional data based on an instantaneous impact index model; according to the method, the system obtains the comprehensive and robust perception capability for the risk, the early-stage and composite impact risk can be accurately recognized, and the misjudgment rate caused by single index fluctuation is greatly reduced.

The invention discloses a face gear planetary transmission system dynamic uniform load test platform and test method, and belongs to the field of gear transmission, and the test platform comprises a rack, a drive motor, a step-up gear box, a face gear planetary transmission system, a magnetic powder brake, a torque sensor, a slip ring, a stress strain test system and the like. The face gear planetary transmission system comprises an input face gear, a planet wheel, a planet carrier, a fixed face gear and the like. According to the dynamic uniform load test, stress values at the tooth root of the face gear and the tooth root of the planetary gear are measured mainly through strain gauges, and the corresponding relation between the tooth root stress and the meshing force at the gear meshing point is obtained through finite element simulation. And calculating the dynamic uniform load coefficient according to the dynamic meshing force root-mean-square values and the average values obtained at the tooth roots of the face gear and the planetary gear. By testing and analyzing the dynamic uniform load coefficient, the load distribution characteristic of the face gear planetary transmission system can be accurately revealed, a scientific basis is provided for structural parameter optimization, meshing performance improvement and reliability design of the face gear planetary transmission system, and then accurate and high-performance design of the transmission system is achieved.

The invention belongs to the technical field of medical robots, and discloses a surgical robot accurate pose real-time registration method and system based on multi-sensor fusion, and the system comprises a multi-source sensing collection assembly; a time-space calibration mechanism; fusing a resolving platform and an exception elimination platform; a deformation sensing and dynamic compensation device; and a registration result closed-loop feedback unit. According to the invention, a multi-source sensing acquisition assembly and a synchronous control board are integrated on a hardware level, a nanosecond timestamp is generated by using a high-precision clock driven by an onboard crystal oscillator, and a cross-correlation delay calculation chip is combined to execute a cross-correlation function method delay estimation formula, so that microsecond-level accurate correction of delay amount among sensing sources is realized; the coordinate transformation unit automatically selects a matched calibration matrix according to a correction result, multi-source data such as optical positioning, inertial measurement, a torque sensor, ultrasonic or electromagnetic positioning and the like are unified to a global rectangular coordinate system, and the structure can effectively ensure the consistency of time and space references of data output by different sensors.

The utility model provides a double-rigid-gear harmonic speed reducer with a torque sensing function, which relates to the technical field of speed reducers and comprises a wave generator, a flexible bearing, a flexible gear, an output end rigid gear, a crossed roller bearing and a fixed end rigid gear. The crossed roller is arranged between the bearing outer ring and the output end rigid wheel, the output end rigid wheel serves as an inner ring of the crossed roller bearing, and the fixed end rigid wheel is detachably and fixedly connected with the bearing outer ring; the two end faces of the fixed end rigid wheel are each provided with a receding groove coaxial with the fixed end rigid wheel, a connecting wall is formed between the bottoms of the two receding grooves, and a plurality of strain gauges arranged in a circumferential array mode are installed at the position, close to one side of the output end rigid wheel, of the bottom of the receding groove. The elastic strain gauge is embedded in the rigid fixed end rigid wheel, so that the fixed end rigid wheel has a torque sensing function, the axial thickness of the harmonic speed reducer is not increased, and the use requirements of more occasions are met.

The invention discloses a downhole casing pipe external windowing experiment device and method, and belongs to the technical field of downhole casing pipe windowing, the downhole casing pipe external windowing experiment device comprises an experiment bench, an angle control mechanism, a drilling mechanism and a drill column mechanism, the angle control mechanism is arranged on the experiment bench and used for adjusting the position of a casing pipe, and the drilling mechanism is arranged on the experiment bench and used for controlling the drilling mechanism; a first driving assembly of the drilling mechanism is used for driving a working plate to move in the direction close to the outer wall of the casing pipe, and a first pressure sensor is used for detecting thrust of the first driving assembly. A first servo motor of the drill string mechanism can drive a drill rod to drive a milling shoe to rotate so as to open a window from the outer wall of the casing pipe, a torque sensor is arranged between an output shaft of the first servo motor and the drill rod and used for detecting the cutting torque of the milling shoe, and a second pressure sensor is arranged on a working plate and used for detecting the cutting pressure of the milling shoe on the casing pipe. The underground casing pipe external windowing experiment method adopts the underground casing pipe external windowing experiment device. According to the method, data support is provided for an actual casing pipe external windowing process, and the windowing quality is improved.

The utility model discloses a part torsion detection device, which comprises a positioning assembly, a pressing assembly and a detection assembly, and is characterized in that the positioning assembly comprises a plurality of positioning blocks, and the positioning blocks are provided with positioning pins; the pressing assembly comprises a pressing air cylinder, a pressing plate is arranged at the output end of the pressing air cylinder, and the pressing plate is used for moving and pressing in the direction of the positioning block; the detection assembly comprises a rotating motor and a torque sensor, the output end of the rotating motor is connected with a detection head through a rotating shaft, and the torque sensor is connected with the rotating shaft. According to the invention, the part is fixed, the motor drives the detection head to drive the to-be-detected part of the part to rotate, and the torsion condition is judged through the torque sensor, so that the automation of torsion detection is realized.

Provided is a magnetostrictive torque measurement device that makes it easy to ensure accuracy of torque measurement, sensitivity of torque measurement, or both. A magnetostrictive torque measurement device 1 comprises: a rotary shaft 2 that has a detected part 4 that has magnetostrictive characteristics at a portion in the axial direction of an outer circumferential surface; and a magnetostrictive torque sensor 3. The magnetostrictive torque sensor 3 includes: a holder 5 that is formed from a synthetic resin, has an inner circumferential surface 7 that is loosely fitted in the radial direction onto the outside of the detected part 4 so as not to rattle, and does not rotate even during use; and a coil unit 6 that is held by the holder 5 and has a detection part 12 that includes a plurality of detection coils 11 (11a–11d).

The utility model discloses a device for testing the service life of a gear motor, and particularly relates to the technical field of detection equipment, which comprises a torque sensor and an input transition seat. The torque sensor, the input transition seat and the load gear motor are all arranged on the workbench, the tested gear motor is fixedly installed at one end of the input transition seat, and an output shaft of the tested gear motor is fixedly connected with the input end of the input transition seat. The output end of the input transition seat is fixedly connected with the input end of a torque sensor through a first coupler, and the output end of the torque sensor is fixedly connected with a rotating shaft of a load gear motor through a second coupler. According to the utility model, the load gear motor and the input transition seat are arranged, the tested gear motor is fixed on the input transition seat and is powered by the tested gear motor, and the load gear motor is arranged at the tail end to serve as a load, so that the working environment of a conventional gear motor is simulated, and the service life of the gear motor can be conveniently tested after long-time operation of the gear motor.

A strain wave gearing (1) is configured to have a unitized structure having a main bearing (5) that supports an internally toothed gear (2) and an externally toothed gear (3) in a manner that allows relative rotation, and an output flange (6) that is linked to the externally toothed gear (3). The externally toothed gear (3) is formed in the shape of a wine glass and ensures a large hollow diameter, which is required in cases where the externally toothed gear (3) is incorporated into a robot joint part or the like. A strain gauge (101) of a torque sensor (100) is attached to an outward-facing end surface portion of the output flange (6) linked to the externally toothed gear (3). The torque sensor (100) is capable of precisely detecting rotational torque without being affected by flexing of the externally toothed gear (3), and elements such as the strain gauge (101) are not exposed to oil, grease, or the like.

The invention discloses an automatic measuring device and measuring method for dynamic and static friction torques of medium and large-sized bearings, and belongs to the technical field of bearing detection.The device comprises a bearing assembly, a moving plate is arranged on the bearing assembly, a rotating motor is connected to the bottom of the bearing assembly, and a driving shaft system is arranged on an output shaft of the rotating motor; the top end of the driving shaft system is provided with an inner ring fixing mandrel, the upper surface of the moving plate is connected with a torque sensor through an upper fixing frame, the bottom end of the torque sensor is provided with a measuring shaft system, the bottom end of the measuring shaft system is sleeved with a center adjusting assembly through two guide columns, the bottom of the center adjusting assembly is provided with an outer ring loading tool, and the outer ring loading tool is provided with an inner ring. Under the cooperation of the structure, not only can the dynamic friction torque be measured, but also the multi-point static friction torque can be automatically measured, more comprehensive bearing friction characteristic data are provided, and optimization of bearing design and model selection is facilitated.

Disclosed in the present invention are a road feedback control method and apparatus. The method comprises: by means of a torque sensor stiffness-based steering angle configuration strategy, constructing a driver input torque expression; then acquiring a driver input torque, and, on the basis of the driver input torque expression, calculating a motor rotation angle; then constructing a road feedback motor output torque expression with respect to the motor rotation angle and steering resistance torque expressions for a steering system; and finally, on the basis of a particle swarm optimization, the road feedback motor output torque expression and the steering resistance torque expressions, optimizing parameters of a PID controller. Thus, the present invention uses a swarm intelligent algorithm to achieve rapid optimization of PID control parameters, so as to eliminate reliance on debugging by technicians, thus greatly shortening parameter adjustment periods.

The invention discloses a method for testing an electric power steering system assembly, and belongs to the technical field of automobile part testing. The technical problems that in an existing testing method, static and dynamic testing processes are separated, testing efficiency is low, and quantitative evaluation on key dynamic performance parameters is difficult are solved. According to the invention, a test tool comprising a simulation rack, a driving device, an encoder, a torque sensor and a data acquisition card is adopted, and a control and processing module automatically executes a continuous test process: firstly, performing a static assistance test on an assembly, and judging qualification; and if the test is qualified, the test is automatically switched to dynamic test, a torque command signal is sent to the assembly, an output shaft is driven to rotate forwards and backwards, a position and a feedback torque signal are collected, and dynamic response parameters such as a position dispersion error, power-assisted delay time and overshoot are calculated. The method is mainly used for comprehensive performance testing and quality evaluation of the electric power steering system assembly in the production manufacturing or maintenance after-sales link.

A system and method for providing tactile sensor calibration that include receiving force data from a force / torque sensor and tactile data from a plurality of taxels of a tactile sensor pad. The system and method also include interpolating the force data and the tactile data and pre-processing the interpolated data to align the force data and the tactile data to match data points. The system and method additionally include dividing the matched data points into individual interactions and computing a linear regression for each segment that is associated with each interaction. The system and method further include determining an amount of force that is absorbed by the tactile sensor pad based on a conversion of tactile measurements sensed by the plurality of taxels into Newtons based on the linear regression computed for each segment.

A combined three-dimensional force / torque sensor. A plurality of discrete one-dimensional force sensors (11, 12, 13, 14) are used to measure force components, and a conduction flange (2) is used to transmit an external force. The combined design effectively reduces inter-dimensional coupling and has a simple structure. The lateral torque and the axial pressure are monitored in a differential form and a summation form, thereby effectively improving the sensitivity and measurement accuracy of the sensor. Further disclosed is a miniature calibration system established by using the combined three-dimensional force / torque sensor. The calibration system has a small size and a simple structure, is easy to assemble and convenient to carry and transfer, and is capable of on-site calibration.

A magnetostrictive torque sensor for measuring torque that is applied to a rotating shaft having magnetostrictive characteristics, includes a flexible substrate having a plate-shaped base material made of a flexible dielectric material and a plurality of detection coils formed by conductor patterns on front and back sides of the base material, and a measurement unit that measures the torque by the change in inductance of the plurality of detection coils due to the change in magnetic permeability of the rotating shaft, wherein the plurality of detection coils includes a first detection coil comprising a first coil winding including a first inclined portion inclined to one side with respect to an axial direction of the rotating shaft, and a second detection coil comprising a second coil winding including a second inclined portion inclined to the other side with respect to the axial direction of the rotating shaft, wherein the flexible substrate includes parallel extending portions where the first coil winding and the second coil winding extend parallel to sandwich the substrate, and wherein a centerline of the first coil winding and a centerline of the second coil winding are misaligned in a direction perpendicular to their respective centerlines in the parallel extending portions.

A power control actuator of the present disclosure includes: an output-side bearing provided on a side on which a torque is to be outputted; a speed reducer including an output shaft; and a torque sensor that detects a torque associated with rotation of the output shaft, in which an outer peripheral surface of the torque sensor and an inner peripheral surface of the output-side bearing constitute a spigot joint structure, an inner peripheral surface of the torque sensor and an outer peripheral surface of the output shaft of the speed reducer constitute a spigot joint structure, and the output-side bearing, the output shaft of the speed reducer, and the torque sensor have a coaxial structure.

The invention discloses a robot joint torque control system and method, and the system comprises a joint torque sensor which is used for detecting the actual output torque of a joint; the joint driver is used for driving robot joints to move according to the control instruction; the bearing pre-tightening mechanism is used for applying pre-tightening force to the joint bearing; the multi-source environment sensing module comprises a temperature sensor used for detecting the temperature of the bearing, a vibration sensor used for detecting the mechanical vibration frequency and amplitude, and an electromagnetic interference detector used for detecting the electromagnetic interference intensity; the intelligent compensation module is integrated in the controller and comprises a thermal deformation compensation unit, the input end of the thermal deformation compensation unit is connected with the temperature sensor, and the thermal deformation compensation unit is used for generating the first torque compensation amount. According to the method, high-stability control over the robot joint torque is achieved, the influence of various kinds of interference and uncertainty on the torque control effect is reduced, the reliability under the complex working condition is remarkably improved, and the higher-precision robot joint torque control requirement is met.

The invention provides a flying robot control method and device based on force feedback and a medium, and the method comprises the steps: deploying a six-dimensional force torque sensor at an operation end effector of a flying robot, and obtaining and screening effective torque data in real time to obtain a force error signal; a compensation layer based on the Lyapunov self-adaptive law is utilized, the total disturbance is cooperatively estimated in combination with double observers, and the disturbance serves as a feed-forward quantity to be injected into an attitude controller; and calculating the adjustment amount according to the target impedance model and the force error, and generating an execution mechanism control instruction. According to the technical scheme provided by the invention, stable control of air interaction operation can be realized, and the anti-disturbance capability and interaction force control precision of the flying robot are effectively improved.

The invention relates to the technical field of hydraulic element testing, in particular to a high-pressure axial plunger pump bearing bush pair interface friction and oil film characteristic testing device. According to the device, 10-60 MPa adjustable oil pressure is provided through the hydraulic pipeline unit, the driving unit achieves power loading and friction monitoring through a servo motor and a torque sensor, the main body unit conveys high-pressure oil to a bearing bush contact face through an in-shaft cross-shaped oil duct structure to form a static pressure supporting oil film, and a micron-sized oil film sensor is integrated; the oil detection unit monitors oil parameters, and the signal acquisition and control unit performs closed-loop regulation on oil supply flow, motor rotating speed and swash plate load based on oil film thickness, torque and pressure signals. The method has the beneficial effects that 0.2 mu m-level oil film fracture identification is realized, the occurrence rate of dry friction is reduced by 82% through a cross-shaped oil duct in the shaft, and the oil film fluctuation rate lt is cooperatively controlled through multiple parameters; + / -3%, the safety interlocking mechanism responds abnormally within 0.3 s.

The invention discloses a suspension bridge pin shaft fork ear connecting piece load-wear fatigue test device, which comprises a lever prying force application device, a fatigue test device and a fatigue test device, comprising a lever prying support, a fork-shaped lug plate force application plate arranged at the top end of the lever prying support, and a force transmission lever arranged below the fork-shaped lug plate force application plate to drive the fork-shaped lug plate force application plate to move up and down. The torque force application device is used for providing torque, enabling the fork-shaped lug plate to be in close contact with the box girder lug plate and simulating an actual back-twist phenomenon, and comprises an upper layer mechanism and a lower layer mechanism which rotate relatively, and a high-strength torsion spring and a torque sensor which are buckled inside by the upper layer mechanism and the lower layer mechanism; the abrasion sliding device is arranged at the bottom of the lever prying support and connected with the bottom of the torque force application device, and the operation state of the fork-shaped lug plate in an actual structure is simulated, so that the fork-shaped lug plate generates back-twist abrasion damage. According to the invention, a large tonnage, namely the stress state of the connecting piece under an actual bridge load, can be fully simulated through a test, and fatigue test evaluation after wear damage is carried out on the connecting piece.

The invention relates to the technical field of building assembly quality monitoring, in particular to a fastener monitoring method and system during building assembly, an image acquisition module acquires image information of an assembly position, extracts preset assembly information of a corresponding fastener according to a two-dimensional code in an image, and sends the preset assembly information to a working terminal; the electric wrench obtains an actual torque value of the fastener in the assembling period through the torque sensor and sends the actual torque value to the working terminal; the working terminal receives preset assembly information and an actual torque value during assembly and sends the information to the cloud platform; the cloud platform receives the preset assembly information from the working terminal and the actual torque value in the assembly period, and determines that the fastener is tightened by comparing the actual torque value with the ideal torque range in the preset assembly information; and by comparing the number of the remaining fasteners with the number of the fasteners in the preset assembly information and combining the obtained number information of the remaining to-be-assembled hole sites, it is determined that no fastener omission occurs in the current assembly position. The influence degree of operators on the assembling operation quality is reduced, and the assembling quality is improved.

The invention relates to a multi-modal sensing fusion-based automatic correction method and system for a welding robot body, the system comprises a three-level distributed architecture of a sensing layer, an edge layer and a control layer, the sensing layer is integrated with a millimeter wave radar, a camera, a six-dimensional force / torque sensor, a welding power supply data acquisition module and an acoustic emission sensor, and multi-modal data acquisition is realized; the edge layer runs a fusion algorithm through an embedded AI computing platform carrying a GPU to complete data processing and decision making; and the control layer receives the deviation correction instruction to drive the robot to execute motion correction. The method comprises the steps of multi-modal data real-time acquisition and synchronization, data preprocessing and feature extraction, multi-source information fusion and decision making, and real-time control and execution. The problems of single sensing dimension, response delay, weak anti-interference capability and the like in the prior art are solved, the robustness, the real-time performance and the deviation correction precision of the system are improved, full-automatic intelligent welding is realized, and the method is suitable for high-precision scenes such as shipbuilding and pressure vessel welding.

The invention belongs to the technical field of rolling bearing measurement, and particularly relates to a rolling bearing overturning rigidity measuring device and method, and the device comprises an upper pressing gasket, a loading device, a torque sensor, a motor, a bearing, a lower supporting gasket, a bearing supporting seat, a sensor supporting seat, a platform, a control box, a measuring meter, and a nut A; the motor, the sensor supporting seat and the bearing supporting seat are respectively fixed on the platform; the torque sensor is fixed on the sensor supporting seat, one end of the torque sensor is connected with an output shaft of the motor through a high-rigidity coupling, and the other end of the torque sensor is connected with the loading device through a flange plate and a bolt; according to the method, controllable overturning moment is accurately applied to a bearing outer ring through a high-rigidity and coaxial driving and measuring system, tiny overturning angular displacement generated by the bearing outer ring is synchronously measured, and the overturning rigidity of the bearing is obtained by calculating the slope of a moment-angular displacement relation curve.

The invention provides a cooperative output control method for a honeycomb type flight aircraft carrier, and belongs to the technical field of honeycomb type flight aircraft carriers. An autonomous aircraft formation initialization matrix is constructed to establish a hexagonal honeycomb type space geometric structure model to determine the relative position relation of all aircrafts; a dynamic load sensing system is used for collecting load gravity center change data in real time through a torque sensor to calculate a dispersed load vector, a cooperative configuration matrix is decomposed into a low-rank matrix combination to recognize a load distribution mode, and a control vector is automatically supplemented through a matrix rank loss detection algorithm to recover a full-rank characteristic. Based on the lightweight dynamic distribution model, the output distribution processing frequency is adaptively adjusted in different intervals according to the dispersed load vector deviation value, the output distribution coefficient of each aircraft is optimized, and the technical problem of low cooperative output control precision caused by unbalanced load distribution in a multi-aircraft formation system is solved.

The utility model discloses a cable torsion resistance test device, which comprises a worm and gear reducer, a dynamic torque sensor, a torsion transmission shaft, a bearing seat, a cable fixing clamp, a screw rod sliding table, a linear guide rail sliding group, a counterweight and a servo motor, the servo motor is connected with the worm and gear speed reducer; the output end of the worm and gear speed reducer is connected with a dynamic torque sensor; one side of the dynamic torque sensor is connected with a torsion shaft; the torsion shaft is supported by a bearing seat; one side of the torsion shaft is connected with one end; the two ends of the cable are fixed through cable fixing clamps. The cable fixing clamp located on one side of the torsion shaft fixes the connecting end of the cable and the torsion shaft. The cable fixing clamp on the other side is arranged on the screw rod sliding table; the lead screw sliding table is installed on the linear guide rail sliding set. The other end of the cable is connected with the counterweight through a connecting piece. The device has the advantages of simple structure, low cost and the like, and the torsion resistance of different cables can be confirmed by comparing and measuring the measurement results of the different cables under the same test condition.

The application discloses a kind of ship lifting fin plate self-adapting cleaning device, belong to ship equipment technical field, including fixed plate, the fixed plate is connected with fin plate by suspension assembly, the fin plate outside is provided with deep well, the deep well side wall is provided with cleaning assembly, the cleaning assembly includes the slide rail mounting bracket of the deep well side wall, the slide rail mounting bracket is installed with slide rail, the slide rail is installed with push rod, the push rod is connected with sanding wheel, the whole device is provided with control component.The application adopts the above-mentioned ship lifting fin plate self-adapting cleaning device, push rod is adjusted sanding wheel and fin plate adhesion degree by spring and hydraulic equipment, symmetrically arranged sanding wheel is combined with slide rail and can fully cover fin plate surface, improve cleaning efficiency;Real-time monitoring data is obtained by torque sensor and flexible pressure sensing array, and the cleaning strength is intelligently adjusted by using fuzzy PID algorithm, which can ensure the cleaning effect and avoid damaging the anticorrosive coating of fin plate.