TWM633571U

TWM633571U - Tool holder sensor configuration

Info

Publication number: TWM633571U
Application number: TW111202933U
Authority: TW
Inventors: 姚賀騰; 蔡典螢; 洪松偉
Original assignee: 國立中正大學
Priority date: 2022-03-24
Filing date: 2022-03-24
Publication date: 2022-11-01

Abstract

A tool holder sensor configuration. A connecting portion of a tool holder body is provided with a plurality of first embedded holes in an area close to a spindle assembly portion to form at least one ring of embedded holes ringed on the connecting portion. A plurality of first sensors are embedded in the first embedded holes, and the first sensors are arranged symmetrically with each other. The connecting portion is provided with a plurality of second embedded holes in a region away from the main shaft assembling portion to form at least one circle of embedded holes ringing around the connecting portion. A plurality of second sensors are embedded in the second embedded holes, and the second sensors are arranged symmetrically with each other. Using mechanics, the first sensors and the second sensors are used to sense the sensing data of the stress and strain generated by the tool holder body under the load of the corresponding machining tool.

Description

刀把感測器配置Knife handle sensor configuration

本創作係關於一種刀把感測器配置，且特別是有關於一種將數個感測器裝設於刀把本體內部的主動全域受力感測的刀把感測器配置。The invention relates to a knife handle sensor configuration, and in particular to a knife handle sensor configuration for active global force sensing with several sensors installed inside the knife handle body.

在生產製造過程中，刀具扮演著極其重要的角色，刀具數量龐大且應用複雜，使得刀具的使用與管理成為降低生產成本與縮短生產時間的重要因素。現代工廠的發展趨勢，皆朝向自動與智慧化生產方式進行生產，故能即時監控加工狀態與獲得刀具即時資訊，可提升機器設備的稼動率以及產品的競爭力。In the manufacturing process, knives play an extremely important role. The number of knives is huge and the application is complex, making the use and management of knives an important factor in reducing production costs and shortening production time. The development trend of modern factories is towards automatic and intelligent production methods. Therefore, real-time monitoring of processing status and real-time tool information can improve the utilization rate of machinery and equipment and the competitiveness of products.

就目前的技術而言，可能是將感測機制設計於工具機主軸或工作台的方式，以此即時動態力量感測訊號監控刀具加工狀態，所用感測為應變規式感測器，透過監控特定參數以回饋切削控制的方法，於工作臺與工件之間設置感測器偵測切削力，於夾持具上設置感測器偵測旋轉切削力。As far as the current technology is concerned, it may be a way to design the sensing mechanism on the machine tool spindle or workbench, so as to monitor the tool processing status with real-time dynamic force sensing signals. The sensing used is a strain gauge sensor. Specific parameters are fed back to the cutting control method. A sensor is installed between the table and the workpiece to detect the cutting force, and a sensor is installed on the fixture to detect the rotating cutting force.

就現有感測器配置技術有以下缺點︰裝設形式為粘貼於刀把表面，較有脫落疑慮；感測機制為需要貼附多個應變規進行感測；組裝整合複雜，需配合不同方向和位置粘貼；準確度較低，各軸向感測易相互干擾；其整體成本高，需貼附約10~12個應變規式感測器，且應變規式感測器價格高。The existing sensor configuration technology has the following disadvantages: the installation form is pasted on the surface of the knife handle, and there is more concern about falling off; the sensing mechanism needs to be attached to multiple strain gauges for sensing; the assembly and integration are complicated, and different directions and positions need to be coordinated Sticking; the accuracy is low, and the sensing of each axis is easy to interfere with each other; the overall cost is high, and about 10-12 strain gauge sensors need to be attached, and the price of the strain gauge sensors is high.

本創作的目的在於提供一種刀把感測器配置，將感測器分層及對稱裝設於刀把本體的內部，透過主動力量感測方式，提升感測特性降低耦合效應，且可偵測加工過程的全域受力情況。The purpose of this creation is to provide a knife handle sensor configuration. The sensors are layered and symmetrically installed inside the knife handle body. Through the active force sensing method, the sensing characteristics are improved and the coupling effect is reduced, and the processing process can be detected. global stress situation.

為了達成上述目的，本創作提供一種刀把感測器配置，其包括，一刀把本體，其依序包含一主軸組接部、一夾持部與一連接部，依一第一方向該夾持部一端連接該主軸組接部，該夾持部另一端連接該連接部，該連接部用以連接一加工刀具；該連接部在靠近該主軸組接部區域設有複數個第一內嵌孔，該些第一內嵌孔形成至少一圈內嵌孔環設於該連接部，且同一圈的該些第一內嵌孔相互對稱設置；複數個第一感測器內嵌於該些第一內嵌孔，同一圈層設置的該些第一感測器相互對稱配置；該連接部在遠離該主軸組接部區域設有複數個第二內嵌孔，該些第二內嵌孔形成至少一圈內嵌孔環設於該連接部，且同一圈的該些第二內嵌孔相互對稱設置；複數個第二感測器內嵌於該些第二內嵌孔，同一圈層設置的該些第二感測器相互對稱配置；利用力學透過該些第一感測器及該些第二感測器感測該刀把本體在受到對應的該加工刀具負載下產生的應力與應變的感測資料。In order to achieve the above object, the present invention provides a knife handle sensor configuration, which includes a knife handle body, which sequentially includes a spindle assembly part, a clamping part and a connecting part, the clamping part according to a first direction One end is connected to the spindle assembly part, the other end of the clamping part is connected to the connection part, and the connection part is used to connect a processing tool; the connection part is provided with a plurality of first embedded holes in the area close to the spindle assembly part, The first embedded holes form at least one ring of embedded holes and are arranged on the connecting portion, and the first embedded holes in the same ring are arranged symmetrically with each other; a plurality of first sensors are embedded in the first Embedded holes, the first sensors arranged in the same circle are arranged symmetrically with each other; the connecting part is provided with a plurality of second embedded holes in the area away from the main shaft assembly part, and these second embedded holes form at least A ring of embedded holes is arranged on the connection part, and the second embedded holes of the same ring are arranged symmetrically; a plurality of second sensors are embedded in the second embedded holes, and the layers of the same ring are arranged The second sensors are arranged symmetrically to each other; through the first sensors and the second sensors, mechanics is used to sense the stress and strain of the knife handle body under the load of the corresponding processing tool. test data.

作為優選方式，該些第一感測器用以感測該加工刀具加工時的彎矩負載，且該些第一感測器用以感測該加工刀具加工時的軸向力負載。該些第二感測器用以感測該加工刀具加工時的扭矩負載。As a preferred manner, the first sensors are used to sense the bending moment load when the machining tool is being machined, and the first sensors are used to sense the axial force load when the machining tool is being machined. The second sensors are used to sense the torque load of the machining tool during machining.

作為優選方式，該些第一內嵌孔與該些第二內嵌孔的位置沿該第一方向彼此錯開不在同一直線上。As a preferred manner, the positions of the first embedded holes and the second embedded holes are offset from each other along the first direction and are not on the same straight line.

作為優選方式，該些第一感測器及該些第二感測器為壓電感測器。As a preferred manner, the first sensors and the second sensors are piezoelectric sensors.

作為優選方式，該些第一感測器內各設有一第一壓電元件，且該第一壓電元件的受壓力方向為該第一方向；該些第二感測器內各設有一第二壓電元件，且該第二壓電元件受壓力方向偏向該第一方向夾角45度。As a preferred mode, each of the first sensors is provided with a first piezoelectric element, and the pressure direction of the first piezoelectric element is the first direction; each of the second sensors is provided with a first piezoelectric element. Two piezoelectric elements, and the pressure direction of the second piezoelectric element is biased to the first direction at an angle of 45 degrees.

相較於先前技術，本創作刀把感測器配置具有下列特點，在配置形式上將感測器嵌入於刀把內，裝設方式更穩定且可靠；感測機制只需要使用單個獨立的壓電元件感測，所以組裝整合簡單，適用於不同樣式的刀把；在解耦設計方面也較容易，感測器設計將感測器指向於受力方向即可；感測器嵌入於刀把內透過分層與錯位的配置使得準確度高，各軸向感測不會互相干擾；其整體成本也較現有技術低，因為壓電元件成本低。Compared with the previous technology, the knife handle sensor configuration of this invention has the following characteristics. In the configuration form, the sensor is embedded in the knife handle, and the installation method is more stable and reliable; the sensing mechanism only needs to use a single independent piezoelectric element Sensing, so the assembly and integration is simple, suitable for different styles of knife handles; it is also easier in decoupling design, the sensor design can point the sensor in the direction of force; the sensor is embedded in the knife handle through layering The dislocation configuration makes the accuracy high, and the sensing of each axis will not interfere with each other; the overall cost is also lower than that of the prior art, because the cost of the piezoelectric element is low.

本創作刀把感測器配置，透過彎矩負載和扭矩負載進行分圈層感測方式，且不同層的感測器，配合壓電元件的壓電式主動力方向感測，提升感測特性降低耦合效應，也透過壓電元件的對稱性放置，偵測其加工過程的全域受力情況，提升對於刀尖受力的感測精度。The sensor configuration of the knife handle in this creation uses the bending moment load and torque load to perform layer-by-layer sensing, and the sensors of different layers cooperate with the piezoelectric active force direction sensing of the piezoelectric element to improve the sensing characteristics and reduce the The coupling effect also detects the overall force of the machining process through the symmetrical placement of the piezoelectric element, improving the sensing accuracy of the force on the tool tip.

以下將詳述本創作的實施例，並配合圖式作為例示。除了這些詳細說明之外，本創作亦可廣泛地施行於其它的實施例中，任何所述實施例的輕易替代、修改、等效變化都包含在本創作之範圍內，並以申請專利範圍為準。在說明書的描述中，為了使讀者對本創作有較完整的瞭解，提供了許多特定細節；然而，本創作可能在省略部分或全部特定細節的前提下，仍可實施。此外，眾所周知的步驟或元件並未描述於細節中，以避免對本創作形成不必要之限制。圖式中相同或類似之元件將以相同或類似符號來表示。特別注意的是，圖式僅為示意之用，並非代表元件實際之尺寸或數量，有些細節可能未完全繪出，以求圖式之簡潔。Embodiments of the present invention will be described in detail below, and the accompanying drawings are used as examples. In addition to these detailed descriptions, this creation can also be widely implemented in other embodiments, and any easy replacement, modification, and equivalent changes of any of the described embodiments are included in the scope of this creation, and the scope of the patent application is allow. In the description of the manual, many specific details are provided in order to enable readers to have a more complete understanding of the invention; however, the invention may still be implemented under the premise of omitting some or all of the specific details. Also, well-known steps or elements have not been described in detail in order to avoid unnecessarily limiting the invention. The same or similar elements in the drawings will be denoted by the same or similar symbols. It should be noted that the drawings are for illustrative purposes only, and do not represent the actual size or quantity of components, and some details may not be fully drawn in order to simplify the drawings.

請參照圖1至圖3，為本案刀把感測器配置的實施示意圖。本實施例的智慧刀把100包括一刀把本體200、複數個第一感測器310及複數個第二感測器320、一加工刀具400以及一感測讀取裝置500。Please refer to FIG. 1 to FIG. 3 , which are schematic diagrams showing the implementation of the knife handle sensor configuration in this case. The smart knife handle 100 of this embodiment includes a knife handle body 200 , a plurality of first sensors 310 and a plurality of second sensors 320 , a processing tool 400 and a sensing and reading device 500 .

該刀把本體200依序包含一主軸組接部210、一夾持部220與一連接部230，依一第一方向D1該夾持部220一端連接該主軸組接部210，該夾持部220另一端連接該連接部230，該連接部230用以連接一加工刀具400。該主軸組接部210係用以連接加工機之主軸，加工機例如為銑床、鑽床、車床或鋸床。該夾持部220連接該主軸組接部210，該夾持部220用以供刀庫夾持或換刀之用；該夾持部220連接該連接部230，該連接部230連接於該加工刀具400，該加工刀具400例如為銑刀、鑽頭、車刀、鋸片等。The handle body 200 sequentially includes a spindle assembly part 210, a clamping part 220 and a connecting part 230, one end of the clamping part 220 is connected to the spindle assembly part 210 according to a first direction D1, and the clamping part 220 The other end is connected to the connecting portion 230 , and the connecting portion 230 is used for connecting a processing tool 400 . The spindle assembly part 210 is used for connecting the spindle of a processing machine, such as a milling machine, a drilling machine, a lathe or a sawing machine. The clamping part 220 is connected with the spindle assembly part 210, and the clamping part 220 is used for clamping or changing tools in the tool magazine; the clamping part 220 is connected with the connecting part 230, and the connecting part 230 is connected to the processing Tool 400 , the processing tool 400 is, for example, a milling cutter, a drill, a turning tool, a saw blade, and the like.

該感測讀取裝置500可為套殼設計(如圖1所示)，使該感測讀取裝置500包覆於該連接部230(如圖1所示)，用以電性連接於該些第一感測器310及第二感測器320，用以讀取前述該些第一感測器310及第二感測器320的感測訊號(電壓訊號)。實施應用上，該感測讀取裝置500內的電子模組可包含有感測讀取模組、微控制器、無線傳輸模組(圖中未示)，將讀取的感測訊號處理發送至外界的監控裝置進行加工即時動態監控(圖中未示)該加工刀具400。The sensing and reading device 500 can be designed as a casing (as shown in FIG. 1 ), so that the sensing and reading device 500 is covered on the connecting portion 230 (as shown in FIG. 1 ), so as to be electrically connected to the connecting portion 230. The first sensors 310 and the second sensors 320 are used to read the sensing signals (voltage signals) of the aforementioned first sensors 310 and the second sensors 320 . In terms of implementation and application, the electronic module in the sensing reading device 500 may include a sensing reading module, a microcontroller, and a wireless transmission module (not shown in the figure), which process and send the read sensing signal The external monitoring device performs real-time dynamic monitoring of the processing tool 400 (not shown in the figure).

在刀把感測器的配置設計上，該連接部230在靠近該主軸組接部210區域設有複數個第一內嵌孔231，該些第一內嵌孔231形成至少一圈內嵌孔環繞形成於該連接部230，且同一圈層的該些第一內嵌孔231相互對稱設置，使該些第一感測器310內嵌於該些第一內嵌孔231時，同一圈層設置的該些第一感測器310相互對稱配置。同時，該連接部230在遠離該主軸組接部210區域設有複數個第二內嵌孔232，該些第二內嵌孔232形成至少一圈內嵌孔環繞形成於該連接部230，且同一圈層的該些第二內嵌孔232相互對稱設置，使該些第二感測器320內嵌於該些第二內嵌孔232時，同一圈層設置的該些第二感測器320相互對稱配置。In the configuration design of the knife handle sensor, the connecting part 230 is provided with a plurality of first embedded holes 231 in the area close to the spindle assembly part 210, and these first embedded holes 231 form at least one circle of embedded holes around Formed on the connecting portion 230, the first embedded holes 231 of the same circle layer are arranged symmetrically to each other, so that when the first sensors 310 are embedded in the first embedded holes 231, the same circle layer is arranged The first sensors 310 are arranged symmetrically to each other. At the same time, the connecting portion 230 is provided with a plurality of second embedded holes 232 in the area away from the main shaft assembly portion 210, and the second embedded holes 232 form at least one circle of embedded holes surrounding the connecting portion 230, and The second embedded holes 232 of the same ring layer are arranged symmetrically to each other, so that when the second sensors 320 are embedded in the second embedded holes 232, the second sensors 320 arranged in the same ring layer 320 are arranged symmetrically with each other.

又，該些第一內嵌孔231與該些第二內嵌孔232的位置沿該第一方向D1彼此錯開不在同一直線上。應用上，利用力學透過該些第一感測器310及該些第二感測器320感測該刀把本體200在受到對應的該加工刀具400負載下產生的應力與應變的感測訊號。Moreover, the positions of the first embedding holes 231 and the second embedding holes 232 are offset from each other along the first direction D1 and are not on the same straight line. In application, mechanics is used to sense the stress and strain sensing signals generated by the handle body 200 under the load of the corresponding processing tool 400 through the first sensors 310 and the second sensors 320 .

圖1與圖3以四個該些第一內嵌孔231內嵌四個第一感測器310相互對稱配置，和四個該些第二內嵌孔232內嵌四個第二感測器320相互對稱配置為實施說明圖例。1 and 3, four first sensors 310 are embedded in four first embedded holes 231 and arranged symmetrically with each other, and four second embedded holes 232 are embedded with four second sensors. 320 are arranged symmetrically to each other, which is the illustration of implementation description.

實施應用上，該些第一感測器310及該些第二感測器320為壓電感測器，該些第一感測器310和該些第二感測器320內嵌固定垂直於該第一方向D1，以垂直該第一方向D1的視角(如圖2所示)看向該些感測器310、320。如圖3，本案感測器內嵌位置與擺放角度之示意圖，該些第一感測器310內各設有一第一壓電元件311，且該些第一壓電元件311的受壓力方向為該第一方向D1；該些第二感測器320內各設有一第二壓電元件321，且該第二壓電元件321受壓力方向偏向該第一方向D1夾角45度。In practical applications, the first sensors 310 and the second sensors 320 are piezoelectric sensors, and the first sensors 310 and the second sensors 320 are embedded and fixed perpendicular to The first direction D1 looks at the sensors 310 , 320 from a perspective perpendicular to the first direction D1 (as shown in FIG. 2 ). As shown in Figure 3, the schematic diagram of the embedded position and placement angle of the sensors in this case, each of the first sensors 310 is provided with a first piezoelectric element 311, and the pressure direction of the first piezoelectric elements 311 is the first direction D1; each of the second sensors 320 is provided with a second piezoelectric element 321, and the pressure direction of the second piezoelectric element 321 is biased toward the first direction D1 at an angle of 45 degrees.

本案利用力學分析找出該刀把本體200在受到對應的該加工刀具400刀尖負載下能夠產生最大應力、應變的位置。其分析結果可知靠近該主軸組接部210會擁有最大的彎矩負載之應力，為了能夠將該些第一感測器310及該些第二感測器320的力訊號輸出進行解耦，本案針對彎矩(Mx、My)負載和扭矩(Tz)負載的感測進行分層設計，該些第一感測器310用以感測該加工刀具400加工時的彎矩負載(如圖5A的F _y、圖6A的-F _x)，且該些第一感測器310用以感測該加工刀具400加工時的軸向力負載(如圖7的F _z)；而，該些第二感測器320用以感測該加工刀具400加工時的扭矩負載(如圖8A的T _z)。並採取對稱性設計，為每個彎矩(M _x、M _y)配置兩個對稱內嵌位置的該些第一感測器310(如圖5B、圖6B所示)，和扭矩(T _z)各配置兩個對稱內嵌位置的該些第二感測器320(如圖8B)，以提升對於該加工刀具400刀尖受力的感測精度。且透過力學分析也可得知，當在刀尖處施加F _y或-F _x彎矩作用力時，雖然在M _x、M _y彎矩負載的該些第一感測器310能夠輸出其相應的電壓訊號，但對於扭矩的感測器300也會受其影響而輸出部分電壓訊號。所以在實施上為了進一步獲取更好的解耦效果，而將上下兩組的該些感測器(第一感測器310及第二感測器320)的內嵌孔洞(第一內嵌孔231及第二內嵌孔232)位置彼此錯開，例如45度，可用以改善力量耦合效應。 In this case, mechanical analysis is used to find out the position where the tool holder body 200 can generate the maximum stress and strain under the load of the corresponding tool tip 400 . The analysis results show that there will be the largest bending moment load stress near the spindle assembly part 210. In order to be able to decouple the force signal output of the first sensors 310 and the second sensors 320, this case Hierarchical design is carried out for the sensing of bending moment (Mx, My) load and torque (Tz) load, and these first sensors 310 are used for sensing the bending moment load when the processing tool 400 is processed (as shown in Fig. 5A F _y , -F _x of FIG. 6A ), and the first sensors 310 are used to sense the axial force load (F _z of FIG. 7 ) of the processing tool 400 during processing; and, the second The sensor 320 is used to sense the torque load (such as T _z in FIG. 8A ) of the machining tool 400 during machining. And adopt a symmetrical design, for each bending moment (M _x , M _y ), configure the first sensors 310 in two symmetrical embedded positions (as shown in Fig. 5B and Fig. 6B ), and torque (T _z ) are respectively configured with two symmetrical embedded positions of the second sensors 320 (as shown in FIG. 8B ), so as to improve the sensing accuracy of the force applied to the tool tip of the machining tool 400 . And it can also be known through mechanical analysis that when the F _y or -F _x bending moment force is applied at the tool tip, although the first sensors 310 under the M _x and M _y bending moment loads can output their corresponding The voltage signal, but the sensor 300 for the torque will also be affected by it and output part of the voltage signal. Therefore, in order to further obtain a better decoupling effect in implementation, the embedded holes (first embedded holes) of the upper and lower groups of sensors (the first sensor 310 and the second sensor 320) 231 and the second embedded hole 232) are staggered from each other, such as 45 degrees, which can be used to improve the force coupling effect.

所謂解耦就是在原本的多變數感測系統中，需要建置出適當的機制以消除系統中各個變數之間的相互耦合，使得各項輸入只會影響相應的輸出，而每項輸出又各自只受到該輸入的控制作用，從而讓原本的多變數系統轉換為多個單輸入單輸出的系統。而，本案的壓電感測系統(第一感測器310及第二感測器320)只要將該些第一壓電元件311及第二壓電元件321(如PZT壓電片)的極化方向，放置於我們希望能夠感測的負載作用下之壓電受力方向，便能夠直接產生對應負載的電壓訊號輸出，無須像是使用應變規感測系統所需的大量解耦計算。因此只要設計其內嵌位置與偏擺角度便可得到足夠優秀的解耦效果。The so-called decoupling means that in the original multi-variable sensing system, it is necessary to build an appropriate mechanism to eliminate the mutual coupling between the variables in the system, so that each input will only affect the corresponding output, and each output has its own It is only controlled by the input, so that the original multi-variable system can be converted into a system with multiple single-input and single-output systems. However, the piezoelectric sensing system (the first sensor 310 and the second sensor 320) of this case only needs to use the poles of the first piezoelectric element 311 and the second piezoelectric element 321 (such as PZT piezoelectric sheets) Putting it in the direction of the piezoelectric force under the load that we want to be able to sense can directly generate a voltage signal output corresponding to the load, without the need for a large number of decoupling calculations required by the strain gauge sensing system. Therefore, as long as the embedded position and deflection angle are designed, a good enough decoupling effect can be obtained.

本案技術特徵之一在於(第一感測器310及第二感測器320)分層配置，將感測器分為兩組，如圖3所示，分別負責感測該刀把本體200受力後產生的彎矩、軸向力以及扭矩。而鑒於壓電元件的感測解耦方式，只需設計壓電感測器((第一感測器310及第二感測器320))的位置與角度，讓其該負載感測裝置的第一壓電元件311及第二壓電元件321的壓電片極化方向(對於如PZT壓電陶瓷，極化方向即壓電片表面的法線方向)放置在該負載的最大應力位置，以及在其他負載的最小應力位置，即可達到力訊號解耦效果。One of the technical features of this case is that (the first sensor 310 and the second sensor 320) are arranged in layers, and the sensors are divided into two groups, as shown in Figure 3, which are respectively responsible for sensing the force on the knife handle body 200 The resulting bending moment, axial force and torque. In view of the sensing and decoupling method of the piezoelectric element, it is only necessary to design the position and angle of the piezoelectric sensor ((the first sensor 310 and the second sensor 320)) so that the load sensing device The piezoelectric sheet polarization directions of the first piezoelectric element 311 and the second piezoelectric element 321 (for such as PZT piezoelectric ceramics, the polarization direction is the normal direction of the piezoelectric sheet surface) are placed at the maximum stress position of the load, And at the minimum stress position of other loads, the force signal decoupling effect can be achieved.

換句話說，也就是將感測M _x、M _y的PZT壓電片之極化方向放置在當該刀把本體200承受M _x、M _y時內部的最大主應力(Principal Stress)方向上，而感測Tz的PZT壓電片之極化方向則放置於刀把承受T _z時內部的最大主應力方向上。根據力學分析可得在T _z扭矩負載作用下，最大主應力方向將位於45度方向上，如圖4所示，純扭矩作用下的最大主應力大小與方向示意圖，圖中

為扭矩造成的剪應力。因此在圖3顯示，本案的第一感測器310及第二感測器320的配置除了設計其分層和錯位的內嵌位置之外，需再將扭矩感測模組(第二感測器320)設計偏擺45度放置，完成其最佳解耦配置。 In other words, the polarization direction of the PZT piezoelectric sheet for sensing M _x and M _y is placed in the direction of the maximum internal principal stress (Principal Stress) when the handle body 200 bears M _x and M _y , and The polarization direction of the PZT piezoelectric sheet for sensing Tz is placed in the direction of the maximum internal principal stress when the handle is subjected to _Tz . According to mechanical analysis, under the action of T _z torque load, the direction of the maximum principal stress will be located in the direction of 45 degrees, as shown in Figure 4, the schematic diagram of the magnitude and direction of the maximum principal stress under the action of pure torque, in the figure

Shear stress due to torque. Therefore, as shown in FIG. 3 , the configuration of the first sensor 310 and the second sensor 320 in this case needs to be further integrated with the torque sensing module (second sensor) in addition to designing its layered and misplaced embedded positions. device 320) is designed to be placed with a deflection of 45 degrees to complete its optimal decoupling configuration.

實施應用上，由於感測器配置僅針對M _x、M _y彎矩和T _z扭矩三者負載進行設計，且為了偵測全域受力情形而相互對稱配置感測器，因此對於這三種負載以及F _z軸向力負載的最終力訊號輸出結果，應用上必須再設計一套解耦運算機制，將這些多個訊號轉換為M _x、M _y、T _z、F _z四種負載的對應電壓訊號輸出。 In terms of implementation and application, since the sensor configuration is only designed for the three loads of M _x , M _y bending moment and T _z torque, and the sensors are symmetrically configured to detect the global force situation, so for these three loads and For the final force signal output of the F _z axial force load, a set of decoupling calculation mechanism must be designed in the application to convert these multiple signals into the corresponding voltage signals of the four loads M _x , My _y , T _z , and F _z output.

經過力學理論推導以及數值分析模擬驗證的結果，可以找出在本案將感測器分層設置與角度的配置設計下，最佳的解耦輸出運算。對於M _x和M _y各感測模組採用將相對應的兩個感測器輸出結果相減；對於T _z感測模組將相對應的兩個感測器輸出相加；而對於F _z的感測方式則將M _x和M _y共計四個感測器輸出相加。由此解耦機制可將四種負載的對應感測結果數值最大化，而在其餘負載方向上則得其數值最小的感測結果，得出當前感測器配置設計下最佳的四種負載訊號解耦輸出效果。 Through the theoretical derivation of mechanics and the results of numerical analysis and simulation verification, it is possible to find out the optimal decoupling output operation under the configuration design of the sensor layers and angles in this case. For each sensing module of M _x and M _y , subtract the corresponding two sensor output results; for T _z sensing module, add the corresponding two sensor outputs; and for F _z In the sensing mode, four sensor outputs of M _x and M _y are summed together. Therefore, the decoupling mechanism can maximize the corresponding sensing results of the four loads, and obtain the sensing results with the smallest values in the other load directions, and obtain the best four loads under the current sensor configuration design. Signal decoupling output effect.

上述揭示的實施形態僅例示性說明本創作之原理、特點及其功效，並非用以限制本創作之可實施範疇，任何熟習此項技藝之人士均可在不違背本創作之精神及範疇下，對上述實施形態進行修飾與改變。任何運用本創作所揭示內容而完成之等效改變及修飾，均仍應為下述之申請專利範圍所涵蓋。The embodiments disclosed above are only illustrative of the principles, characteristics and effects of this creation, and are not intended to limit the scope of implementation of this creation. Anyone who is familiar with this technology can do so without violating the spirit and scope of this creation. Modifications and changes are made to the above-mentioned embodiments. Any equivalent changes and modifications accomplished by utilizing the content disclosed in this creation shall still be covered by the scope of the following patent application.

100:智慧刀把 200:刀把本體 210:主軸組接部 220:夾持部 230:連接部 231:第一內嵌孔 232:第二內嵌孔 310:第一感測器 311:第一壓電元件 320:第二感測器 321:第二壓電元件 400:加工刀具 500:感測讀取裝置 D1:第一方向100: Wisdom Knife Handle 200: Knife handle body 210: Spindle assembly part 220: clamping part 230: connection part 231: The first embedded hole 232: Second embedded hole 310: the first sensor 311: the first piezoelectric element 320: the second sensor 321: the second piezoelectric element 400: Processing tools 500: sensing and reading device D1: the first direction

[圖1]為本案刀把感測器配置的分解示意圖。 [圖2]為本案感測器相的視角示意圖。 [圖3]為本案感測器內嵌位置與擺放角度之示意圖。 [圖4]為純扭矩作用下的最大主應力大小與方向示意圖。 [圖5A]為本案M _x彎矩負載之示意圖一。 [圖5B]為圖5A的A–A剖面之示意圖。 [圖6A]為本案M _y彎矩負載之示意圖二。 [圖6B]為圖6A的A–A剖面之示意圖。 [圖7]為本案F _z軸向力負載之示意圖。 [圖8A]為本案T _z扭矩負載之示意圖。 [圖8B]為圖8A的B–B剖面之示意圖圖。 [Figure 1] An exploded schematic diagram of the knife handle sensor configuration in this case. [Fig. 2] is a schematic view of the sensor phase of this case. [Fig. 3] is a schematic diagram of the embedded position and placement angle of the sensor in this case. [Figure 4] is a schematic diagram of the magnitude and direction of the maximum principal stress under pure torque. [Fig. 5A] is the first schematic diagram of M _x bending moment load in this case. [FIG. 5B] is a schematic diagram of the A-A section of FIG. 5A. [Fig. 6A] is the second schematic diagram of M _y bending moment load in this case. [FIG. 6B] is a schematic diagram of the A-A section of FIG. 6A. [Fig. 7] is a schematic diagram of F _z axial force load in this case. [Fig. 8A] is a schematic diagram of T _z torque load in this case. [FIG. 8B] is a schematic view of the B-B section of FIG. 8A.

100:智慧刀把 100: Wisdom Knife Handle

200:刀把本體 200: Knife handle body

210:主軸組接部 210: Spindle assembly part

220:夾持部 220: clamping part

230:連接部 230: connection part

231:第一內嵌孔 231: The first embedded hole

232:第二內嵌孔 232: Second embedded hole

310:第一感測器 310: the first sensor

320:第二感測器 320: the second sensor

400:加工刀具 400: Processing tools

500:感測讀取裝置 500: sensing and reading device

D1:第一方向 D1: the first direction

Claims

一種刀把感測器配置，包括：一刀把本體，其依序包含一主軸組接部、一夾持部與一連接部，依一第一方向該夾持部一端連接該主軸組接部，該夾持部另一端連接該連接部，該連接部用以連接一加工刀具；該連接部在靠近該主軸組接部區域設有複數個第一內嵌孔，該些第一內嵌孔形成至少一圈內嵌孔環設於該連接部，且同一圈的該些第一內嵌孔相互對稱設置；複數個第一感測器內嵌於該些第一內嵌孔，同一圈層設置的該些第一感測器相互對稱配置；該連接部在遠離該主軸組接部區域設有複數個第二內嵌孔，該些第二內嵌孔形成至少一圈內嵌孔環設於該連接部，且同一圈的該些第二內嵌孔相互對稱設置；複數個第二感測器內嵌於該些第二內嵌孔，同一圈層設置的該些第二感測器相互對稱配置；利用力學透過該些第一感測器及該些第二感測器感測該刀把本體在受到對應的該加工刀具負載下產生的應力與應變的感測資料。 A knife handle sensor arrangement comprising: A tool handle body, which sequentially includes a spindle assembly part, a clamping part and a connecting part, one end of the clamping part is connected to the spindle assembly part according to a first direction, and the other end of the clamping part is connected to the connecting part , the connecting part is used to connect a processing tool; The connecting part is provided with a plurality of first embedded holes in the area close to the main shaft assembly part, and the first embedded holes form at least one ring of embedded holes in the connecting part, and the same ring of the first embedded holes The embedded holes are arranged symmetrically with each other; A plurality of first sensors are embedded in the first embedded holes, and the first sensors arranged in the same circle are arranged symmetrically to each other; The connecting part is provided with a plurality of second embedded holes in the area away from the main shaft assembly part, and the second embedded holes form at least one ring of embedded holes in the connecting part, and the same ring of the second embedded holes The embedded holes are arranged symmetrically with each other; A plurality of second sensors are embedded in the second embedded holes, and the second sensors arranged in the same circle are arranged symmetrically; Mechanics is used to sense the stress and strain sensing data generated by the knife handle body under the load of the corresponding processing tool through the first sensors and the second sensors.

如請求項1所述之刀把感測器配置，其中，該些第一感測器用以感測該加工刀具加工時的彎矩負載。The tool handle sensor configuration as claimed in claim 1, wherein the first sensors are used to sense the bending moment load of the machining tool during machining.

如請求項1所述之刀把感測器配置，其中，該些第一感測器用以感測該加工刀具加工時的軸向力負載。The tool handle sensor configuration as claimed in claim 1, wherein the first sensors are used to sense the axial load of the machining tool during machining.

如請求項1所述之刀把感測器配置，其中，該些第二感測器用以感測該加工刀具加工時的扭矩負載。The tool handle sensor configuration as claimed in claim 1, wherein the second sensors are used to sense the torque load of the machining tool during machining.

如請求項1所述之刀把感測器配置，其中，該些第一內嵌孔與該些第二內嵌孔的位置沿該第一方向彼此錯開不在同一直線上。The knife handle sensor configuration according to claim 1, wherein the positions of the first embedded holes and the second embedded holes are offset from each other along the first direction and are not on the same straight line.

如請求項1所述之刀把感測器配置，其中，該些第一感測器及該些第二感測器為壓電感測器。The knife handle sensor configuration as claimed in claim 1, wherein the first sensors and the second sensors are piezoelectric sensors.

如請求項5所述之刀把感測器配置，其中，該些第一感測器內各設有一第一壓電元件，且該第一壓電元件的受壓力方向為該第一方向。The knife handle sensor configuration as described in Claim 5, wherein each of the first sensors is provided with a first piezoelectric element, and the pressure-bearing direction of the first piezoelectric element is the first direction.

如請求項5所述之刀把感測器配置，其中，該些第二感測器內各設有一第二壓電元件，且該第二壓電元件受壓力方向偏向該第一方向夾角45度。The knife handle sensor configuration as described in Claim 5, wherein each of the second sensors is provided with a second piezoelectric element, and the pressure direction of the second piezoelectric element is biased towards the first direction at an angle of 45 degrees .