Knife handle with force sensor

Abstract

A knife handle with force sensors includes a first connecting portion, a second connecting portion, a first sensing portion, a second sensing portion, at least one first force sensor, and at least one second force sensor. The first connecting portion connects a tool along an axis. The second connecting portion connects a spindle along the axis. The first sensing portion has at least one first hole and connects the first connecting portion along the axis. The second sensing portion has at least one second hole and connects the second connecting portion and the first sensing portion along the axis. The first force sensor is disposed in the first hole and is used to sense a torsion force. The second force sensor is disposed in the second hole and is used to sense a bending force. A first bending rigidity of the first sensing portion is greater than a second bending rigidity of the second sensing portion.

Description

Technical Field

[0001] This invention relates to a knife handle, and more particularly to a knife handle with a force sensor. Background Technology

[0002] To meet the demands of Industry 4.0 and high-end products (such as aerospace and automotive products), machine tool manufacturers worldwide are investing heavily in research and development of related technologies. Therefore, intelligent machine tools with capabilities for detecting operating conditions, analyzing sensor data, and predicting aging will be the future trend.

[0003] While existing machine tools can be equipped with multiple sensors to detect the forces acting on the tool handle, these sensors may simultaneously detect multi-axial forces, such as torsional and bending forces, potentially leading to multi-axial force coupling effects. These coupling effects prevent the sensors from accurately detecting the forces acting on different parts of the tool handle, significantly reducing their sensing performance. Summary of the Invention

[0004] According to an embodiment of the present invention, a knife handle with a force sensor is provided, comprising a first connecting portion, a second connecting portion, a first sensing portion, a second sensing portion, at least one first force sensor, and at least one second force sensor. The first connecting portion is connected to the knife along an axis. The second connecting portion is connected to the spindle along an axis. The first sensing portion has at least one first hole and is connected to the first connecting portion along an axis. The second sensing portion has at least one second hole and is connected to the second connecting portion and the first sensing portion along an axis. The first force sensor is disposed in the first hole and is used to sense torsional force. The second force sensor is disposed in the second hole and is used to sense bending force. The first bending stiffness of the first sensing portion is greater than the second bending stiffness of the second sensing portion.

[0005] According to another embodiment of the present invention, a knife handle with a force sensor is provided, comprising a first connecting portion, a second connecting portion, a first sensing portion, a second sensing portion, at least one first force sensor, and at least one second force sensor. The first connecting portion is connected to the knife along an axis. The second connecting portion is connected to the spindle along an axis. The first sensing portion has at least one first hole and is connected to the first connecting portion along an axis. The second sensing portion has at least one second hole and is connected to the second connecting portion and the first sensing portion along an axis. The first force sensor is disposed in the first hole and is used to sense torsional force. The second force sensor is disposed in the second hole and is used to sense bending force. The first bending stiffness of the first sensing portion is greater than the second bending stiffness of the second sensing portion. Attached Figure Description

[0006] Figure 1 This is a structural diagram of a knife handle with a force sensor according to the first embodiment of the present invention;

[0007] Figure 2A This is an exploded view of the components of the first force sensor of the knife handle with a force sensor according to the first embodiment of the present invention;

[0008] Figure 2B This is an assembly diagram of the first force sensor of the knife handle with a force sensor according to the first embodiment of the present invention;

[0009] Figure 3A This is a simplified schematic diagram of the arrangement of the first sensing part of the knife handle with a force sensor according to the first embodiment of the present invention;

[0010] Figure 3B This is a simplified schematic diagram illustrating the arrangement of the second sensing unit of the knife handle with a force sensor according to the first embodiment of the present invention;

[0011] Figure 4A This is a simplified schematic diagram of a first force sensor with a force sensor on a knife handle according to a first embodiment of the present invention;

[0012] Figure 4B This is a simplified schematic diagram of the second force sensor of the knife handle with a force sensor according to the first embodiment of the present invention;

[0013] Figure 5 This is a structural diagram of a knife handle with a force sensor according to a second embodiment of the present invention;

[0014] Figure 6A This is a simplified schematic diagram illustrating the arrangement of the first sensing part of the knife handle with a force sensor according to a second embodiment of the present invention.

[0015] Figure 6B This is a simplified schematic diagram illustrating the arrangement of the second sensing part of the knife handle with a force sensor according to a second embodiment of the present invention.

[0016] Figure 7A This is a simplified schematic diagram of a first force sensor with a force sensor on a knife handle according to a second embodiment of the present invention;

[0017] Figure 7B This is a simplified schematic diagram of a second force sensor with a force sensor on a knife handle according to a second embodiment of the present invention.

[0018] Symbol explanation 1, 2: Knife handle with force sensor

[0019] 12, 22: First connecting part

[0020] 11, 21: Second connecting part

[0021] 13, 23: First sensing unit

[0022] 14, 24: Second sensing unit

[0023] 15A, 15A', 25A, 25A': First force sensor

[0024] 151A, 151A', 251A, 251A': First sensing element

[0025] 152A: Housing

[0026] 153A: Flexible base

[0027] 154A: Fixing screw

[0028] 15B, 15B', 25B, 25B', 25B'', 25B''': Second force sensor

[0029] 151B, 151B', 251B, 251B', 251B'', 251B''': Second sensing element

[0030] 152B: Housing

[0031] AX: Axis

[0032] D: Axial direction

[0033] H1: First hole

[0034] H2: Second hole

[0035] S1: First sensing surface

[0036] S2: Second sensing surface

[0037] N1: First normal vector

[0038] N2: Second normal vector

[0039] θ1: First sensing angle

[0040] θ2: Second sensing angle

[0041] θx, θx1, θx2: Projection angles

[0042] TZ: Torsional force

[0043] MY, MX: Bending moment

[0044] SC: Cross-section

[0045] P1: First projection

[0046] P2: Second projection

[0047] P3: Third Projection

[0048] L1: First connection

[0049] L2: Second connection

[0050] L3: Third connection

[0051] C1: First intersection point

[0052] C2: Second intersection point

[0053] C3: Third intersection point

[0054] C4: Fourth intersection point

[0055] C: Knives Detailed Implementation

[0056] The following description, with reference to the accompanying drawings, illustrates an embodiment of a knife handle with a force sensor according to the present invention. For clarity and convenience, the dimensions and proportions of the components in the drawings may be exaggerated or reduced. In the following description and / or claims, when an element is referred to as "connected" or "coupled" to another element, it may be directly connected or coupled to that other element or there may be an intervening element; when an element is referred to as "directly connected" or "directly coupled" to another element, there is no intervening element, and other terms used to describe the relationship between elements or layers should be interpreted in the same manner. For ease of understanding, the same elements in the following embodiments are indicated by the same symbols.

[0057] Please see Figure 1 . Figure 1 This is a structural diagram of a knife handle 1 with a force sensor according to a first embodiment of the present invention. As shown in the figure, the knife handle 1 with a force sensor includes a first connecting part 12, a second connecting part 11, a first sensing part 13, a second sensing part 14, two first force sensors 15A and 15A', and two second force sensors 15B and 15B'.

[0058] The first connecting part 12 connects the tool C along the axis AX; wherein, the axis AX is the central axis of the tool holder 1.

[0059] The second connecting part 11 connects the spindle of the machine tool (not shown in the figure) along the axis AX.

[0060] The first sensing unit 13 is connected to the first connecting unit 12 along the axis AX. In this embodiment, the first sensing unit 13 has two first holes H1. Two first force sensors 15A and 15A' are respectively disposed in the two first holes H1.

[0061] One end of the second sensing unit 14 is connected to the second connecting unit 11 along the axis AX, and the other end of the second sensing unit 14 is connected to the first sensing unit 13 along the axis AX. In this embodiment, the second sensing unit 14 has two second holes H2. Two second force sensors 15B and 15B' are respectively disposed in the two second holes H2. In one embodiment, the first force sensors 15A and 15A' and the second force sensors 15B and 15B' can be, but are not limited to, piezoelectric sensors, quartz crystal sensors, strain gauges, or other existing force sensors.

[0062] The first sensing unit 13 is a torsional force sensing layer. Two first force sensors 15A and 15A' are disposed in two first holes H1 to sense the torsional force borne by the handle 1. The second sensing unit 14 is a bending force sensing layer. Two second force sensors 15B and 15B' are disposed in two second holes H2 to sense the bending force borne by the handle 1.

[0063] The second bending stiffness of the second sensing unit 14 is less than the first bending stiffness of the first sensing unit 13. In other words, the first bending stiffness of the first sensing unit 13 is greater than the second bending stiffness of the second sensing unit 14. The aforementioned first bending stiffness refers to the bending moment required by the first sensing unit 13 to generate one unit of curvature. Similarly, the second bending stiffness refers to the bending moment required by the second sensing unit 14 to generate one unit of curvature. For a beam-like structure, the aforementioned bending stiffness can be the product of Young's modulus and the moment of inertia. Furthermore, the first torsional stiffness of the first sensing unit 13 is less than the second torsional stiffness of the second sensing unit 14. In other words, the second torsional stiffness of the second sensing unit 14 is greater than the first torsional stiffness of the first sensing unit 13. The aforementioned first torsional stiffness refers to the torque required by the first sensing unit 13 to generate one unit of torsion angle. Similarly, the second torsional stiffness refers to the torque required by the second sensing unit 14 to generate one unit of torsion angle. The torsion angles mentioned above are measured in radians.

[0064] Through the aforementioned layered sensing structure with different rigidities, the two first force sensors 15A and 15A' of the first sensing unit 13 can reduce the interference of the bending force applied to the handle 1 when sensing the torsional force borne by the handle 1. Similarly, the two second force sensors 15B and 15B' of the second sensing unit 14 can reduce the interference of the torsional force applied to the handle 1 when sensing the bending force applied to the handle 1. Therefore, in this embodiment, the layered sensing structure with different rigidities can effectively reduce the coupling effect when simultaneously detecting torsional force and bending force, thereby improving the measurement accuracy of the first force sensors 15A and 15A' and the second force sensors 15B and 15B'.

[0065] Please see Figure 2A and Figure 2B . Figure 2A and Figure 2B This is an exploded view and an assembly view of the first force sensor 15A of the present invention. Figure 2A As shown, the first force sensor 15A includes a first sensing element 151A, a first housing 152A, an elastic base 153A, and a fixing screw 154A.

[0066] like Figure 2A and Figure 2B As shown, the first sensing element 151A is disposed within the elastic base 153A. The elastic base 153A is disposed within the first housing 152A, with one end of the elastic base 153A protruding from the first housing 152A, while the other end of the elastic base 153A is fixed by a fixing screw 154A. The first sensing element 151A disposed within the elastic base 153A has a first sensing surface S1. In this embodiment, the first force sensor 15A is a piezoelectric sensor, and the first sensing element 151A is a piezoelectric sheet. In another embodiment, the first force sensor 15A can also be a quartz crystal sensor, a strain gauge, or other existing force sensors. Furthermore, in this embodiment, the first force sensor 15A', the second force sensors 15B, and 15B' have the same components and the same assembly method as the first force sensor 15A, so further details are omitted here.

[0067] Of course, the above are just examples. The components and assembly method of the first force sensor 15A can be changed according to actual needs, and the present invention is not limited thereto.

[0068] Please see Figure 3A and Figure 3B . Figure 3A and Figure 3B This is a simplified schematic diagram of the first sensing part 13 and the second sensing part 14 of the knife handle 1 with a force sensor according to the first embodiment of the present invention. Figure 4A and Figure 4B This is a simplified schematic diagram illustrating the arrangement of the first force sensor and the second force sensor according to the present invention. Figures 3A-3BAs shown, the first sensing unit 13 includes two first holes H1. The first connecting line L1 passes through these two first holes H1 and is orthogonal to the axis AX at the first intersection point C1. Therefore, the two first force sensors 15A and 15A', which are respectively disposed in the two first holes H1, are arranged symmetrically with respect to the first intersection point C1 in the first sensing unit 13.

[0069] The second sensing unit 14 includes two second holes H2. The second connecting line L2 passes through these two second holes H2 and is orthogonal to the axis AX at the second intersection point C2. Therefore, the two second force sensors 15B and 15B' respectively provided in the second holes H2 are also symmetrically arranged in the second sensing unit 14 with the second intersection point C2 as the symmetrical point.

[0070] The first sensing unit 13 has a cross section SC, and a normal vector N of this cross section SC is parallel to the axis AX. A first connecting line L1 forms a first projection P1 on the cross section SC of the first sensing unit 13, and a second connecting line L2 forms a second projection P2 on the cross section SC of the first sensing unit 13.

[0071] There is a projection angle θx between the first projection P1 and the second projection P2. In one embodiment, this projection angle θx can be between positive 45 degrees and negative 45 degrees. For example, in this embodiment, the projection angle θx between the first projection P1 and the second projection P2 can be substantially equal to positive 45 degrees.

[0072] When the handle 1 of this embodiment is subjected to a bending moment MX relative to the axial direction X or a bending moment MY relative to the axial direction Y, the projection angle θx between the first projection P1 and the second projection P2 can be substantially equal to ±45 degrees. At this time, the second sensing elements 151B and 151B' will sense the maximum bending strain, while the first sensing elements 151A and 151A' will sense the minimum bending strain. Furthermore, when the handle 1 of this embodiment is simultaneously subjected to a bending force relative to the axial direction X (or relative to the axial direction Y) and a torsional force relative to the axial direction D, the proportion of bending strain in the total strain measured by the first sensing elements 151A and 151A' will be minimal. Therefore, when the projection angle θx between the first projection P1 and the second projection P2 can be substantially equal to ±45 degrees, the bending strain in the total strain coupled to the first sensing elements 151A and 151A' will be reduced. This reduces the coupling effect of the handle 1 when simultaneously measuring forces along multiple axes (e.g., simultaneously measuring torsional and bending forces).

[0073] In another embodiment, the projection angle θx between the first projection P1 and the second projection P2 may be substantially equal to -45 degrees. In yet another embodiment, this projection angle θx may be between +135 degrees and -135 degrees; for example, this projection angle θx may be substantially equal to +135 degrees or -135 degrees.

[0074] Furthermore, the first normal vector N1 of the first sensing surface S1 of the first sensing elements 151A and 151A' has a first sensing angle θ1 between it and the axial direction D of the axis AX. In one embodiment, this first sensing angle θ1 can be between positive 45 degrees and negative 45 degrees. For example, in this embodiment, this first sensing angle θ1 can be substantially equal to positive 45 degrees or negative 45 degrees, such as... Figure 4A As shown.

[0075] Furthermore, the second normal vector N2 of the second sensing surface S2 of the second sensing elements 151B and 151B' has a second sensing angle θ2 between it and the axial direction D of the axis AX. The first sensing angle θ1 is not substantially equal to the second sensing angle θ2. In this embodiment, this second sensing angle θ2 can be substantially zero degrees, such as... Figure 4B As shown. In another embodiment, this second sensing angle θ2 can also be greater than or less than zero degrees.

[0076] like Figure 3A , Figure 3B , Figure 4A and Figure 4B As shown, in this embodiment, the first sensing angle θ1 can be substantially equal to positive 45 degrees or negative 45 degrees. Therefore, when the handle 1 is subjected to a torsional force TZ relative to the axial direction D, the direction of the first sensing surface S1 of the first sensing element 151A can correspond to the direction of the maximum torsional strain. Therefore, when the first sensing angle θ1 can be substantially equal to positive 45 degrees or negative 45 degrees, the first sensing element 151A can generate the maximum strain, thereby effectively improving the measurement sensitivity of the first force sensor 15A when measuring the torsional force TZ.

[0077] Similarly, when the first sensing angle θ1 between the first normal vector N1 of the first sensing surface S1 of the other first sensing element 151A' and the axial direction D is positive 45 degrees or negative 45 degrees, the direction of the first sensing surface S1 can correspond to the direction of the maximum torsional strain. Therefore, the first sensing element 151A' will also generate the maximum strain, thereby effectively improving the measurement sensitivity of the first force sensor 15A' when measuring the torsional force TZ. In addition, since the first force sensor 15A and the other first force sensor 15A' are point-symmetrically arranged, these two first force sensors 15A and 15A' can more effectively sense the overall force on the handle 1, thereby improving its sensing performance.

[0078] In this embodiment, the second sensing surface S2 of the second sensing elements 151B and 151B' has a second normal vector N2 parallel to the axial direction D. In other words, the second normal vector N2 has a second sensing angle θ2 with the axial direction D, and the second sensing angle θ2 is substantially zero degrees. When the handle 1 of this embodiment is subjected to a bending moment MX with the axial direction X as the axis or a bending moment MY with the axial direction Y as the axis, the direction of the second sensing surface S2 of the second sensing elements 151B and 151B' can also correspond to the direction of the maximum bending strain, thereby effectively improving the measurement sensitivity of the two second force sensors 15B and 15B' when measuring the bending moment MX or the bending moment MY. In addition, the two second force sensors 15B and 15B' are point-symmetrically arranged, so these two second force sensors 15B and 15B' can more effectively sense the overall force on the handle 1, thereby improving its sensing performance.

[0079] In this embodiment, since the projection angle θx between the first projection P1 and the second projection P2 can be substantially equal to positive 45 degrees, the direction of the first sensing surface S1 of each first force sensor 15A, 15A' can correspond to the direction of the maximum torsional strain, and the direction of the second sensing surface S2 of each second force sensor 15B, 15B' can also correspond to the direction of the maximum bending strain. More specifically, when the handle 1 is subjected to a torque TZ, the two first force sensors 15A, 15A' will produce a larger first torque measurement value, while the two second force sensors 15B, 15B' will produce a smaller second torque measurement value. When the handle 1 is subjected to a bending force MX or MY, the two first force sensors 15A, 15A' will produce a smaller first torque measurement value, while the two second force sensors 15B will produce a larger second torque measurement value. Therefore, when the projection angle θx between the first projection P1 and the second projection P2 is substantially equal to 45 degrees, the coupling effect between the first force sensors 15A, 15A' and the second force sensors 15B, 15B' can be further reduced. In order for the handle 1 to be applicable to various force conditions, when the first force sensors 15A, 15A' are disposed in the first hole H1 and when the second force sensors 15B, 15B' are disposed in the second hole H2, the aforementioned first sensing angle θ1 and second sensing angle θ2 can be adjusted.

[0080] The two first force sensors 15A and 15A' and the two second force sensors 15B and 15B' can all directly display the measurement data of torsional force and bending force on the display element (not shown) of the first force sensors 15A and 15A' or the second force sensors 15B and 15B'. In addition, the first force sensors 15A and 15A' and the second force sensors 15B and 15B' can also transmit the sensing data in real time to the data management platform set in the mobile device (e.g., tablet computer, mobile phone, and laptop computer) via wireless communication.

[0081] Furthermore, the number of first force sensors 15A, 15A' and second force sensors 15B, 15B' can be increased or decreased according to actual needs. For example, in another embodiment, the first sensing unit 13 may have only one first force sensor 15A to detect the torsional force TZ generated when the tool rotates counterclockwise (or the torsional force generated when the tool rotates clockwise).

[0082] Please see Figure 5 . Figure 5 This is a structural diagram of the knife handle 2 with a force sensor according to the second embodiment of the present invention. Figure 5 As shown, the knife handle 2 with force sensors includes a first connecting part 22, a second connecting part 21, a first sensing part 23, a second sensing part 24, two first force sensors 25A and 25A', and four second force sensors 25B, 25B', 25B'', and 25B'''.

[0083] The first connecting part 22 connects the tool C along the central axis (and axis AX) of the tool holder 2. The second connecting part 21 connects the spindle of the machine tool (not shown in the figure) along axis AX. The first sensing part 23 connects to the first connecting part 22 along axis AX. The first sensing part 23 has two first holes H1 and two first force sensors 25A and 25A' are respectively disposed in the two first holes H1. One end of the second sensing part 24 is connected to the second connecting part 21 along axis AX. The other end of the second sensing part 24 is connected to the first sensing part 23 along axis AX. Unlike the previous embodiment, the second sensing part 24 has four second holes H2 and four second force sensors 25B, 25B', 25B'', and 25B''' are respectively disposed in the second holes H2. Compared with the first embodiment, the second sensing part 24 in this embodiment has more second force sensors 25B, 25B', 25B'', and 25B'''.

[0084] Similarly, the first sensing unit 23 is a torsional force sensing layer. Two first force sensors 25A and 25A', located in the two first holes H1 of the first sensing unit 23, can sense the torsional force borne by the handle 2. The second sensing unit 24 is a bending force sensing layer. Four second force sensors 25B, 25B', 25B'', and 25B''', located in the four second holes H2 of the second sensing unit 24, can sense bending force. The first bending stiffness of the first sensing unit 23 is greater than the second bending stiffness of the second sensing unit 24, and the first torsional stiffness of the first sensing unit 23 is less than the second torsional stiffness of the second sensing unit 24. Therefore, when the handle 2 is subjected to a torsional force, the first force sensors 25A and 25A' can sense a larger strain value, and when the handle 2 is subjected to a bending force, the second force sensors 25B, 25B', 25B'', and 25B''' can sense a larger strain value. Furthermore, when the handle 2 is subjected to a torsional force, the first force sensors 25A and 25A' have a greater sensing sensitivity, and when the handle 2 is subjected to a bending force, the second force sensors 25B, 25B', 25B'', and 25B''' have a greater sensing sensitivity.

[0085] More specifically, the two sensing structures of the knife handle 2 in this embodiment have different rigidities. Therefore, when the knife handle 2 is simultaneously subjected to a torsional force and a bending force, the first force sensors 25A and 25A' will sense a first total strain. This first total strain includes a first torsional strain and a first bending strain. Since the first torsional rigidity of the first sensing unit 23 is small and the first bending rigidity is large, the ratio of the first torsional strain to the first total strain in the first total strain will be greater than the ratio of the first bending strain to the first total strain. Thus, the proportion of the first bending strain in the first total strain will be small, thereby reducing the effect of the first bending strain coupled to the first total strain. Furthermore, when the first torsional rigidity of the first sensing unit 23 is small and the first bending rigidity is large, the first sensing unit 23 can measure a more accurate torsional force.

[0086] On the other hand, when the handle 2 is simultaneously subjected to a torsional force and a bending force, the second force sensors 25B, 25B', 25B'', and 25B''' will sense a second total strain. This second total strain includes a second torsional strain and a second bending strain. Since the second torsional stiffness of the second sensing unit 24 is large and the second bending stiffness is small, the second torsional strain will be small and the second bending strain will be large. Thus, in the second total strain, the ratio of the second torsional strain to the second total strain will be smaller than the ratio of the second bending strain to the second total strain, thereby reducing the effect of the second torsional strain coupled to the second total strain. Furthermore, when the second bending stiffness of the second sensing unit 24 is small and the second torsional stiffness is large, the second sensing unit 24 can measure the bending force more accurately.

[0087] Please see Figure 6A and Figure 6B . Figure 6A and Figure 6B This is a simplified schematic diagram illustrating the arrangement of the first sensing part 23 and the second sensing part 24 of the knife handle 2 with a force sensor according to the second embodiment of the present invention. Figure 7A and Figure 7B This is a schematic diagram illustrating the configuration of the first force sensor and the second force sensor in this embodiment. Figure 6A and Figure 6B As shown, the first sensing unit 23 includes two first holes H1, and the first connecting line L1 passes through these two first holes H1 and intersects the axis AX at a third intersection point C3. Therefore, the two first force sensors 25A and 25A' disposed in the two first holes H1 are arranged symmetrically with respect to the third intersection point C3.

[0088] The second sensing unit 24 includes four second holes H2. A second connecting line L2 passes through two of the second holes H2, and a third connecting line L3 passes through the other two second holes H2. The second connecting line L2 and the third connecting line intersect the axis AX at a fourth intersection point C4. The angle between the second connecting line L2 and the third connecting line L3 is 90 degrees. Therefore, two second force sensors 25B and 25B' are respectively disposed within the two second holes H2 through which the second connecting line L2 passes, and are arranged point-symmetrically with respect to the fourth intersection point C4. Two other second force sensors 25B'' and 25B''' are disposed within the other two second holes H2 through which the third connecting line L3 passes, and are also arranged point-symmetrically with respect to the fourth intersection point C4.

[0089] The first sensing unit 23 has a cross-section SC, the normal vector N of which is parallel to the axis AX. A first projection P1 is formed on the cross-section SC through the first line L1 of the first hole H1. A second projection P2 and a third projection P3 are formed on the cross-section SC through the second line L2 and the third line L3 of the second hole H2, respectively.

[0090] A projection angle θx1 exists between the first projection P1 and the second projection P2, and a projection angle θx2 exists between the first projection P1 and the third projection P3. In one embodiment, the projection angles θx1 and θx2 can be between +45 degrees and -45 degrees. In this embodiment, the projection angle θx1 can be substantially equal to +45 degrees, and the projection angle θx2 can be substantially equal to -45 degrees.

[0091] When the handle 2 of this embodiment is subjected to a bending moment MX with the axis X as the axis or a bending moment MY with the axis Y as the axis, since the projection angle θx1 between the first projection P1 and the second projection P2 can be substantially equal to ±45 degrees, the second sensing elements 251B, 251B', 251B'', and 251B''' will sense the maximum bending strain, while the first sensing elements 251A and 251A' will sense the minimum bending strain. Furthermore, when the handle 2 of this embodiment is simultaneously subjected to a bending force relative to the axis X (or relative to the axis Y) and a torsional force relative to the axis D, the proportion of bending strain relative to the first total strain measured by the first sensing elements 251A and 251A' will be the smallest. Therefore, when the projection angle θx1 between the first projection P1 and the second projection P2 can be substantially equal to ±45 degrees, the bending strain coupled to the first total strain will be significantly reduced. This reduces the coupling effect of the handle 2 when measuring forces on multiple axes simultaneously (e.g., simultaneously measuring torsional and bending forces).

[0092] In another embodiment, the projection angles θx1 and θx2 can be between +135 degrees and -135 degrees. For example, the projection angles θx1 and θx2 can be substantially equal to +135 degrees and -135 degrees, respectively.

[0093] Please also refer to Figure 2A , Figure 2B , Figure 7A and Figure 7B Since the structures of the first force sensors 25A, 25A' and the second force sensors 25B, 25B', 25B'', and 25B''' in this embodiment are the same as those of the first force sensor 15A in the previous embodiment, they are therefore... Figure 2A , Figure 2BThe structure of these sensors is shown. The first force sensor 25A includes a first sensing element 251A having a first sensing surface S1. The second force sensor 25B includes a second sensing element 251B having a second sensing surface S2. A first sensing angle θ1 exists between the first normal vector N1 of the first sensing surface S1 of the first sensing element 251A and the axial direction D of the axis AX. In this embodiment, this first sensing angle θ1 can be substantially equal to positive 45 degrees or negative 45 degrees. Similar to the first embodiment of the present invention, when the first sensing angle θ1 can be substantially equal to positive 45 degrees or negative 45 degrees, the first sensing element 251A can generate the maximum torsional strain, thereby effectively improving the measurement sensitivity of the first force sensor 25A when measuring the torsional force TZ. The first force sensor 25A' has the same components and the same assembly method as the first force sensor 25A, and therefore will not be described in detail here. Furthermore, a second sensing angle θ2 exists between the second normal vector N2 of the second sensing surface S2 of the second sensing element 251B and the axial direction D of the axis AX. The first sensing angle θ1 is not substantially equal to the second sensing angle θ2. Similar to the first embodiment of the present invention, in this embodiment, the second sensing angle θ2 can be substantially zero degrees. When the handle 2 of this embodiment is subjected to a bending moment MX with the X-axis as the axis or a bending moment MY with the Y-axis as the axis, the second sensing element 251B senses the maximum bending strain, thereby effectively improving the measurement sensitivity of the second force sensor 25B when measuring the bending moment MX or the bending moment MY. The second force sensors 25B', 25B'', and 25B''' have the same components and the same assembly method as the second force sensor 25B, and therefore will not be described in detail here.

[0094] In summary, according to embodiments of the present invention, the knife handle with a force sensor has an innovative layered sensing structure and an active sensing mechanism. Therefore, the first force sensor in the first sensing unit can sense the torsional force applied to the knife handle, but is not interfered with by the bending force applied to the knife handle. Similarly, the second force sensor in the second sensing unit can sense the bending force applied to the knife handle, but is not interfered with by the torsional force applied to the knife handle. This layered sensing structure ensures that the first force sensor does not measure excessive bending force when measuring torsional force, and that the second force sensor does not measure excessive torsional force when measuring bending force. Therefore, the knife handle with a force sensor according to embodiments of the present invention can effectively reduce coupling effects when simultaneously and actively measuring torsional force and bending force, thereby improving the measurement accuracy of the first and second force sensors respectively.

[0095] Furthermore, according to an embodiment of the present invention, the direction of the sensing surface of each sensor of the knife handle with force sensor can correspond to the direction of the maximum torsional strain or the direction of the maximum bending strain, thereby effectively improving the measurement sensitivity of each sensor when measuring torsional force and bending moment respectively.

[0096] Furthermore, according to an embodiment of the invention, the sensors of the knife handle with force sensors are arranged point-symmetrically with each other. This symmetrical arrangement allows the sensors to more effectively sense the force applied to the entire knife handle, thereby improving their sensing performance.

[0097] Furthermore, according to embodiments of the present invention, the sensors in the knife handle with force sensors can directly display the measurement data of torsional force and bending force on the display element of the sensor. In addition, the sensor can also transmit the sensing data in real time to a data management platform installed in a mobile device (e.g., tablet computer, mobile phone, and laptop computer) via wireless communication.

[0098] The above description is merely illustrative and not restrictive. Any equivalent modifications or alterations made without departing from the spirit and scope of this invention should be included in the appended claims.

Claims

1. A knife handle with a force sensor, comprising: The first connecting part connects the cutting tool along the axis; The second connecting part connects to the main shaft along the axis; A first sensing part has at least one first hole and is connected to the first connecting part along the axis; The second sensing part has at least one second hole and is connected to the second connecting part and the first sensing part along the axis; At least one first force sensor is disposed in the at least one first hole and is used to sense torsional force; as well as At least one second force sensor is disposed in the at least one second hole and is used to sense bending force; The second bending stiffness of the second sensing part is less than the first bending stiffness of the first sensing part.

2. The knife handle with a force sensor as claimed in claim 1, wherein the first torsional stiffness of the first sensing part is less than the second torsional stiffness of the second sensing part.

3. The knife handle with a force sensor as claimed in claim 2, wherein the first sensing part includes two of the first holes and the second sensing part includes two of the second holes, a first connecting line passes through the first holes and the axis, and a second connecting line passes through the second holes and the axis.

4. The knife handle with a force sensor as described in claim 3, wherein the second sensing part further includes two additional second holes, the third connecting line passes through the two additional second holes and the axis, and the second connecting line and the third connecting line are perpendicular to each other.

5. The knife handle with a force sensor as claimed in claim 3, wherein the first sensing part further includes a cross-section, the normal vector of the cross-section being parallel to the axis, and the first projection of the first connecting line on the cross-section and the second projection of the second connecting line on the cross-section having a projection angle.

6. The knife handle with a force sensor as claimed in claim 5, wherein the included angle of the projection is substantially equal to positive forty-five degrees or negative forty-five degrees.

7. The knife handle with a force sensor as claimed in claim 5, wherein the included angle of the projection is substantially equal to positive 135 degrees or negative 135 degrees.

8. The knife handle with a force sensor as claimed in claim 5, wherein the first force sensor includes a first sensing element and the second force sensor includes a second sensing element, the first sensing element has a first sensing surface and the second sensing element has a second sensing surface, a first sensing angle is formed between the first normal vector (N1) of the first sensing surface and the axis, and a second sensing angle is formed between the second normal vector (N2) of the second sensing surface and the axis, wherein the first sensing angle is substantially not equal to the second sensing angle.

9. The knife handle with a force sensor as claimed in claim 8, wherein when the first force sensor is disposed in the at least one first hole, the first sensing angle is adjustable, and when the second force sensor is disposed in the at least one second hole, the second sensing angle is adjustable.

10. The knife handle with a force sensor as claimed in claim 8, wherein the angle of the first sensing angle is substantially positive forty-five degrees or negative forty-five degrees.

11. The knife handle with a force sensor as claimed in claim 8, wherein the angle of the second sensing angle is substantially zero degrees or 180 degrees.

12. A knife handle with a force sensor, comprising: The first connecting part connects the cutting tool along the axis; The second connecting part connects to the main shaft along the axis; A first sensing part has at least one first hole and is connected to the first connecting part along the axis; The second sensing part has at least one second hole and is connected to the second connecting part and the first sensing part along the axis; At least one first force sensor is disposed in the at least one first hole and is used to sense torsional force; as well as At least one second force sensor is disposed in the at least one second hole and is used to sense bending force; The first torsional stiffness of the first sensing unit is less than the second torsional stiffness of the second sensing unit.

13. The knife handle with a force sensor as claimed in claim 12, wherein the first force sensor includes a first sensing element and the second force sensor includes a second sensing element, the first sensing element has a first sensing surface and the second sensing element has a second sensing surface, a first sensing angle is formed between a first normal vector (N1) of the first sensing surface and the axis, and a second sensing angle is formed between a second normal vector (N2) of the second sensing surface and the axis, wherein the first sensing angle is substantially not equal to the second sensing angle.

14. The knife handle with a force sensor as claimed in claim 13, wherein when the first force sensor is disposed in the at least one first hole, the first sensing angle is adjustable, and when the second force sensor is disposed in the at least one second hole, the second sensing angle is adjustable.

15. The knife handle with a force sensor as claimed in claim 13, wherein the angle of the first sensing angle is substantially positive forty-five degrees or negative forty-five degrees.

16. The knife handle with a force sensor as claimed in claim 13, wherein the angle of the second sensing angle is substantially zero degrees or 180 degrees.

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