A self-powered intelligent tool handle based on electromagnetic induction

Abstract

The present invention relates to the field of mechanical processing and manufacturing, and specifically to an intelligent tool handle that realizes online monitoring of force, heat, and vibration parameters during cutting processing through electromagnetic induction self-power supply. The present invention also relates to the field of vibration suppression based on particle dampers. The present invention proposes an implementation method for electromagnetic induction self-power supply of an intelligent tool handle, which makes it possible for the intelligent tool handle to be used continuously for a long time; the present invention discloses a method for decoupling the four-dimensional force measurement of the tool tip point by building a Wheatstone bridge using a resistance strain gauge, a method for measuring three-dimensional vibration by integrating a micro-structure accelerometer close to the vibration source of the tool handle to monitor the three-dimensional vibration, a method for measuring the tool tip temperature of a milling cutter with a blade by pasting a thermocouple to obtain the temperature during the cutting process, and an implementation method for suppressing the chatter of the tool tip point using particle damping technology. This can effectively suppress the chatter phenomenon of the tool during the processing process and achieve the suppression of tool chatter within a wide frequency band. In addition, the modular circuit design improves the maintainability of the tool handle.

Description

Technical Field

[0001] The present invention relates to the field of mechanical processing and manufacturing, and in particular to an intelligent tool holder which realizes online monitoring of force, heat and vibration parameters in a cutting process through electromagnetic induction self-power supply. In addition, the present invention also relates to the field of vibration suppression based on particle dampers. Background Art

[0002] In the cutting process, due to the lack of real-time monitoring of the force, heat and vibration parameters between the tool and the workpiece, it is often difficult to accurately control the machining process. When chatter occurs during the machining process, it will lead to a decrease in machining efficiency and machining accuracy, and the product will not meet the standards or even be scrapped. In order to solve these problems, a type of force measuring tool holder that can realize online monitoring of the machining process has gradually emerged. The four-dimensional force information of this type of tool holder can be used to determine whether the machining process is proceeding normally, adjust the tool processing parameters in real time, evaluate and predict the tool status, and optimize and improve the machining process. It plays a key role in achieving efficient, accurate and reliable machining operations. However, due to the high price of the product, it is often used in experimental research, not in the actual product processing process. In addition, the force measuring tool holder can only collect a single type of parameters, but for tool status monitoring, more machining feature quantities can ensure more accurate prediction results. Similar to integrating a force sensor on the tool holder, the researchers realized a vibration measuring tool holder by integrating a vibration sensor. In addition, an artificial thermocouple based on the Seebeck effect was integrated into the tool to realize a temperature measuring tool holder through the thermocouple processing circuit on the tool holder. However, there are some common and characteristic problems in toolholders for measuring force, vibration and temperature. Common problems include low integration of signal processing circuits, which makes the toolholder bulky and easy to cause interference during processing. In addition, most toolholders rely on batteries for power supply, which limits long-term continuous monitoring during processing. The characteristic problems are mainly that the force measuring toolholder usually has insufficient stiffness due to the structure of its sensor unit; the integrated vibration sensor in the vibration measuring toolholder is far away from the vibration source of the tool tip; the tool with integrated thermocouples in the temperature measuring toolholder system is not reusable. In addition, how to suppress vibration during processing is also a major problem that troubles researchers. It is directly related to the safety, processing quality, tool life and processing efficiency of cutting processing. In cutting processing, the stiffness of the cutting system, cutting parameters, tool condition, workpiece condition, etc. may cause chatter or processing resonance. Moreover, the tool chatter frequency is not single and it is difficult to suppress the tool tip vibration through traditional tuned mass dampers at high speeds. Therefore, wide-band vibration reduction in the cutting process has always been a problem, which brings inconvenience to the cutting process. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a highly integrated intelligent tool holder based on electromagnetic induction self-powered technology, which can realize online monitoring of four-dimensional force, three-dimensional vibration and tip temperature of the blade on the milling cutter rod during cutting processing. In addition, the intelligent tool holder also solves the problem of tip point vibration through particle damping technology.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] The utility model comprises a tool handle body arranged on the main shaft, an upper row of fastening screws, a lower row of fastening screws, a cone handle annular hole, a coil lead hole, a circuit board lead groove, a circuit board lead hole, a strain gauge pasting surface, a vibration plate lead square hole, a circuit board mounting platform, an upper row of fastening threaded through holes, a lower row of fastening threaded blind holes, a uniaxial temperature compensation strain gauge, a uniaxial working strain gauge, a torque strain gauge, a collet, a nut, a milling cutter, a magnet bracket, a bracket fastening screw, a magnet, a copper coil, a particle damper, a particle damper mounting nut, a particle damper connecting thread, an upper cavity particle filling hole, a lower cavity particle filling hole, a partition, an upper cavity, a lower cavity, a vibration measuring plate, a vibration measuring plate connecting screw, a vibration measuring carrier, a vibration measuring plate mounting hole, a vibration carrier abnormal shaped slot, central through hole of vibration carrier, mounting hole of vibration carrier, bridge signal processing board, power management board, main control board, square hole of main control board, WiFi board, milling cutter arbor, arbor handle body slot, blade mounting screw, blade, thermocouple; the magnet bracket is provided with a wedge-shaped slot, and the magnet is connected to the magnet bracket through the wedge-shaped slot; the magnet bracket is arranged on the side of the interface between the spindle and the handle body, and the magnet bracket is arranged on the spindle end face mounting cover through the bracket fastening screw; the copper coil is arranged in the circular ring hole of the tapered handle; four circuit board mounting platforms are arranged in the middle of the handle body, and the circuit board mounting platform is provided with an upper row of fastening threaded through holes and a lower row of fastening threaded blind holes; the signal processing board, power management board, main control board, and WiFi board are separately The upper and lower rows of fastening screws are respectively arranged on four circuit board mounting platforms, and the upper and lower rows of fastening screws and the lower rows of fastening screws are matched with the upper and lower rows of fastening threaded through holes and the lower rows of fastening threaded blind holes respectively; the cone handle circular ring hole is provided with a coil lead hole, and a circuit board lead groove is provided between the adjacent circuit board mounting platforms, and a circuit board lead hole is provided on the circuit board mounting platform matched with the power management board; the induced current in the copper coil is transmitted to the power management board, the bridge signal processing board, the main control board, and the WiFi board through the coil lead hole, the circuit board lead hole, and the circuit board lead groove; the collet, the nut, and the milling cutter are arranged at the lower end of the handle body in sequence; four strain gauge bonding surfaces are evenly arranged around the handle body, and each A uniaxial temperature compensation strain gauge and a uniaxial working strain gauge are arranged on each strain gauge pasting surface; a torque strain gauge is arranged on any of the opposite strain gauge pasting surfaces; the milling cutter rod is connected to the tool handle body through a collet and a nut; the milling cutter rod is provided with a tool handle body groove along the blade installation side; the thermocouple is pasted to the tip of the blade cutting edge through a heat-resistant tape; the thermocouple is connected to the back interface of the vibration measurement plate through the tool handle body groove and the central through hole of the vibration carrier in turn; the overall shape of the vibration measurement plate is formed by the intersection of a circle and a straight edge, and the accelerometer is arranged on the front of the center of the plate; a vibration carrier special-shaped groove is provided above the vibration plate carrier, which is formed by the intersection of a circle and a straight edge and is used to match the outer contour of the vibration measurement plate;A vibration measuring plate mounting hole is provided on the opposite side of the groove-shaped straight edge of the vibration plate carrier, and the vibration measuring plate and the vibration plate carrier are matched through the vibration carrier special-shaped groove and connected by threads at the same time; vibration carrier mounting holes are provided around the vibration plate carrier, and the vibration carrier mounting holes are respectively connected with the axis of the screw holes set on the cutting plane of the handle, and the vibration plate carrier is connected to the handle body through threads; a wiring socket is provided on one side of the straight edge of the vibration measuring plate, and the vibration measuring plate is connected to the main control board wiring socket through the wiring socket through the vibration plate lead square hole and the main control board square hole set at the bottom of the handle cutting surface; the particle damper is divided into a cavity part and a connection part, which is composed of two parts stacked concentrically; the cavity part is composed of an upper cavity and a lower cavity connected up and down, and separated by a partition; the connection part includes a particle damper connection thread; the particle damper mounting nut and the particle damper connection thread are connected to the handle body and the particle damper through a threaded connection. ;

[0006] The power management board is provided with an electromagnetic induction rectifier and voltage stabilization circuit, which includes a 6-way circuit board lead interface P15, capacitors C94-C97, C99-C100, C103-C105, resistors R116-R123, temperature measuring resistor RT1, LED lamp D6 and a wireless power receiver U13; the circuit board lead interface P15 includes 6 interfaces; the wireless power receiver U13 includes interfaces CLAMP1, COMM1, AC1, AC2, BOOT1, BOOT2, CLAMP2, COMM2, OUT, CH G, ILIM, FOD, RECT, TS, EN1, EN2; one end of the capacitor C96 is connected in parallel with the capacitors C99 and C103 and connected to the AC1 interface of U13, and the other end of C96 is connected to the BOOT1 of U13; the other end of the capacitor C99 is connected to the interface CLAMP1 of U13; the other end of the capacitor C103 is connected to the interface COMM1 of U13; one end of the capacitor C97 is connected in parallel with the capacitors C100 and C104 and connected to the AC2 interface of U13, and the other end of C97 is connected to the BOOT2 of U13; the other end of the capacitor C100 is connected to the Interface CLAMP2; the other end of the capacitor C104 is connected to the interface COMM2 of U13; the positive pole of the LED lamp D6 is connected to the interface OUT of U13, and the negative pole is connected to the interface CHG of U13; one end of the resistor R116 is connected to the interface ILIM of U13, and the other end is connected to the resistors R117 and R121, and the interface FOD of U13; one end of the resistor R117 is connected to the interface FOD of U13, and the other end is connected to the interface RECT of U13 and the filter capacitor C105; one end of the resistor R121 is connected to the interface FOD of U13, and the other end is connected to GND; the capacitor C1 One end of 05 is connected to RECT of U13, and the other end is connected to GND; one end of the resistor R119 is connected to VOUT, and the other end is connected to resistor R122 and interface 5 of P15, and the other end of resistor R122 is connected to GND; one end of the resistor R120 is connected to VOUT, and the other end is connected to resistor R123 and interface 6 of P15, and the other end of resistor R123 is connected to GND; the temperature measuring resistor RT1 is connected to interface TS of U13; interfaces 1 and 2 of P15 are connected to GND, interfaces 3 and 4 are connected to voltage source VOUT, interface 5 is connected to interface EN1 of U13, and interface 6 is connected to interface EN2 of U13.

[0007] The four-dimensional force measurement of the tool tip is realized by using the Wheatstone bridge, and the steps are as follows:

[0008] ① Determine the structure of the elastic element of the handle;

[0009] 101 Four or more evenly distributed planes are arranged in the circumferential direction of the middle part of the handle, with the axial direction being the length direction of the plane and the other vertical direction being the width direction of the plane;

[0010] 102 takes the bottom end of the cone handle as a reference, and the distances between the first and last ends of the plane in the length direction and the plane of the bottom end of the cone handle are used as two parameters; the plane width is the third parameter;

[0011] ② Carry out multi-parameter and multi-objective optimization;

[0012] 201 Taking the three parameters as optimization parameters and the axial and radial stiffness of the tool holder as optimization targets, UG&ANSYS joint simulation optimization is performed;

[0013] ③ Create a four-dimensional force measurement decoupling model based on resistance strain gauges and fixed resistors;

[0014] 301 Establish a Wheatstone bridge sensing circuit, including a resistance strain gauge (uniaxial strain gauge, torque strain gauge) and a fixed value resistor, denoted by R a , R b , R c , R d , where R a , R b and R c , R d Two bridge circuits are formed respectively, and the resistance change of each strain gauge is recorded as ΔR a , ΔR b , ΔR c , ΔR d , bridge output voltage V O With the bridge input voltage V S The relationship between them is:

[0015]

[0016] 302 strain ε, resistance change rate Strain gauge sensitivity K S The relationship is:

[0017]

[0018] 303 Replace the resistance change rate in (a) with strain and sensitivity:

[0019]

[0020] where ε a , ε b , ε c , ε d Represent the strain of each strain gauge respectively;

[0021] 304 Two uniaxial strain gauges are respectively arranged on each cutting surface, wherein the first strain gauge is used as a uniaxial working strain gauge, the sensitive grid direction of the working strain gauge is parallel to the axis direction of the tool handle, and is arranged above the center of the plane; the second strain gauge is used as a uniaxial temperature compensation strain gauge, the sensitive grid direction is perpendicular to the axis direction, and is arranged above the working strain gauge, and the strain gauge on each cutting surface and two fixed resistors form a Wheatstone bridge; 305 The sum of the bridge output values ​​between the two cutting surfaces of the tool handle elastic element relative to each other is the change value caused by the single load of the axial force, and the subtraction of the bridge values ​​is the change value caused by the single load of the radial force along the direction of the line connecting the two surfaces; 306 Two torque strain gauges are arranged on two opposite cutting surfaces to form a Wheatstone bridge circuit, and the torque strain gauge is arranged below the center of the plane;

[0022] ④Determine the bridge signal processing circuit;

[0023] 401 sets the amplification gain of the half bridge and the full bridge based on the bridge output voltage.

[0024] The bridge signal processing board is provided with a bridge signal processing circuit, which includes strain gauge interfaces P10, P11 and P13, a lead interface P12 between the bridge board and the main control board, resistors R45-R99, R102, R105-R115, capacitors C42-C43, C46-C56, C61-C66, C69-C80, C83-C91, triodes TVS5-TVS10, amplifiers U8, U10 and U12, an analog-to-digital conversion chip U9, and a reference voltage chip U11; the strain gauge interfaces P10, P11 and P13 each include 6 interfaces; the lead interface P12 between the bridge board and the main control board includes 10 interfaces; the amplifiers U8, U10 and U12 each include Contains 16 interfaces; the analog-to-digital conversion chip U9 contains 33 interfaces; the strain gauge interface P11 is connected, and one end of the strain gauge resistor R85 is connected to resistors R84 and R86, and the other end is connected to resistor R82; both ends of resistor R82 are respectively connected to capacitors C73 and C74 and then grounded AGND, the other end of resistor R82 is connected to resistor R83, and the output signal is connected to interface 1 (IN1+) of U10; one end of strain gauge resistor R97 is connected to resistors R92 and R102 and the other end is connected to resistor R98, both ends of resistor R98 are respectively connected to capacitors C79 and C80 and then grounded AGND, the other end of resistor R98 is connected to resistor R99, and the output signal is connected to interface 10 (IN3+) of U10; interface 1 of P11 is input by voltage Vs+, connected Port 2 is connected to TVS7 tube, which is connected in series with resistors R78 and R79, and the other end of R79 is connected to port 3 (IN2+) of U10; port 4 of P11 is input by voltage Vs+, port 5 is connected to TVS8 tube, which is connected in series with resistors R93 and R94, and the other end of R94 is connected to port 12 (IN4+) of U10; ports 3 and 6 of P11 are connected to Vs-; the other ends of TVS7 tube and TVS8 tube are connected to AGND; the connection method of P10 and P13 is the same as that of P11; the amplifier U10 is connected, and the left end of resistor R80 is connected to Vref, and the other end is connected to port 16 (IN1-) of U10; one end of resistor R76 is connected to port 16 (IN1-) of U10, and the other end is connected to port 15 (OUT1) of U10; One end of resistor R75 is connected to interface 16 (IN1-) of U10, and the other end is connected to interface 4 (IN2-) of U10; one end of resistor R77 is connected to interface 4 (IN2-) of U10, and the other end is connected to interface 5 (OUT2) of U10; one end of resistor R81 is connected to interface 15 (OUT1) of U10, and the other end is connected to interface 4 (IN2-) of U10; after the signal is amplified by amplifiers U8, U10 and U12, the output is OUT2, OUT4, OUT6, OUT8, OUT10, which are respectively connected to 29, 28, 26, 25, 27 of U9; interfaces 3 to 10 of P12 are connected corresponding to interfaces 7 to 14 of U9; the connection method of amplifiers U8 and U12 is the same as that of U10.

[0025] The thermocouple detection circuit includes an analog conversion chip U6, transistors TVS1~TVS4, resistors R26~R43, and capacitors C22~C31; the analog conversion chip U6 includes 16 interfaces; it is assumed that THC_1P, THC_1N, THC_2P and THC_2N are thermocouple temperature signals from the vibration plate; taking the THC_1P connection as an example, one end of the TVS1 tube is connected to AGND, and the other end is connected to resistors R26 and R27; the other end of resistor R26 is connected to AVDD, and the other end of resistor R27 is connected to resistor R28 and capacitor C22; resistor The other end of R28 is connected to the 6 (AIN3) interface of U6, and the other end of capacitor C22 is connected to the power supply AVDD; THC_1N, THC_2P, THC_2N are connected in the same way as THC_1P; it is assumed that THC_1P, THC_1N, THC_2P and THC_2N are THC0P, THC0N, THC1P and THC1N after filtering circuit, which are respectively connected to the interfaces 6 (AIN3), 7 (AIN2), 11 (AIN0) and 10 (AIN1) of U6; the interface 1 (SCLK) of U6 is connected to the PB3 of the main control board U2;

[0026] Interface 2 (port CS) of U6 is connected to interface PA15 of the main control board U2; interface 14 (DRDY) of U6 is connected in series with resistor R35, and then connected to PB6 of the main control board U2; interface 15 (DOUT) of U6 is connected in series with resistor R33, and then connected to PB4 of the main control board U2; interface 16 (DIN) of U6 is connected in series with resistor R32, and then connected to PB5 of the main control board U2; power supplies AVDD and DVDD are connected in parallel with capacitors C29 and C30 and then connected to grounds ADND and DGND.

[0027] The particle damper is equivalent to a subsystem with only a viscous damper and mass, and the dynamic equation of the system can be written as:

[0028]

[0029] Where m1 is the mass of the tool; m2 is the mass including the mass of the tool handle, the mass of the particle damping cavity and the mass of the particles attached to the particle damping cavity that do not participate in the motion energy consumption; m3 is the mass of the particles that participate in the motion energy consumption; k1 is the tool stiffness; c1 is the tool damping coefficient; k2 is the tool handle stiffness; c2 is the tool handle damping coefficient; c eq is the damping coefficient of the mass of the particles involved in the motion; it can be organized into a matrix form as follows:

[0030]

[0031] Further written in frequency domain form:

[0032]

[0033] The tool displacement frequency response function can be derived from the above formula:

[0034]

[0035] The values ​​of m2 and m3 are affected by the vibration acceleration of the tool and change with the vibration acceleration, but the sum of the two is a constant value and satisfies the following formula:

[0036] m2+m3=m c +m p (eight);

[0037] Where m c is the weight of the tool holder and particle damping chamber, m p is the total mass of the damping particles; m3 reflects the energy consumption of the particle damper to a certain extent. If the equivalent damping ratio ζ eq is very small, indicating that only a few particles move relative to each other, that is, m3 is very small, and most of the particle mass is attached to the cavity (m2 is large); on the contrary, if ζ eq If it is larger, it means that a lot of particles are involved in relative motion. The mass of particles attached to the cavity will be less; based on this basic physical common sense, the following particle mass dynamic distribution scheme can be used to simply approximate m2 and m3;

[0038]

[0039] Since it is difficult to find the relationship between the equivalent damping coefficient and the system parameters, the definition of the damping ratio of the single-degree-of-freedom system is used to obtain the calculation formula of the equivalent damping coefficient as follows:

[0040]

[0041] The particle damper is manufactured by 3D printing of TC4 titanium alloy material; the radius of the cavity part is 14mm, the height is 54mm, the wall thickness is 1mm, and the middle partition between the upper cavity and the lower cavity is 1mm; the radius of the particle filling hole of the lower cavity is 2mm, and the radius of the particle filling hole of the upper cavity is 1.25mm; the diameter of the connecting thread part is 8mm, the length is 28mm, and the connecting thread overhanging end is provided with an M8 particle damper connecting thread with a length of 18mm; the alloy copper or tungsten steel particles are filled with 1665 particles respectively, the lower cavity is closed with tape, and the upper cavity does not need special closure.

[0042] The tapered handle annular holes are arranged on the tapered handle of the handle body, the number of the tapered handle annular holes is 3 or more, and they are evenly arranged along the circumference of the tapered handle; the longitudinal section of the magnet is in the shape of an arc.

[0043] The three optimized parameters result in a cutting plane size of 50mm×30mm, and the distance between the plane near the cone handle side and the plane at the lower end of the cone handle is 20mm; the uniaxial working strain gauge is set 5mm above the center of the plane and away from the bisector of the length direction, and the uniaxial temperature compensation strain gauge is set 5mm above the working strain gauge; the torque strain gauge is set 5mm below the center of the plane and away from the bisector of the length direction.

[0044] The size of the groove on the shank body of the tool bar is 1mm×3mm; the pasting position of the thermocouple measuring end is 5mm away from the front cutting edge and 3mm away from the rear cutting edge.

[0045] The positive effects of the present invention are as follows: the present invention proposes an implementation method of electromagnetic induction self-powering of an intelligent tool handle, so that the tool handle no longer needs an external power supply or battery to power the circuit, and the solution of embedding the copper coil inside the tapered handle reduces the expansion of the external size of the tool handle, improves the integration of the tool handle, and reduces the possibility of processing interference of the intelligent tool handle; self-powering makes it possible to use the intelligent tool handle continuously for a long time, improving the convenience of use; reduces energy consumption, which is in line with the development trend of energy conservation and environmental protection; the present invention discloses a method for realizing four-dimensional force measurement decoupling of the tool tip point by building a Wheatstone bridge using a resistance strain gauge for the intelligent tool handle, providing high-precision four-dimensional force measurement results, which is helpful to accurately grasp the force condition of the tool during the cutting process; the present invention discloses The method of measuring three-dimensional vibration by integrating a microstructure accelerometer in an intelligent tool handle close to the vibration source can monitor the vibration of the tool in three directions in real time and accurately, which is helpful to timely discover and diagnose vibration abnormalities and improve the monitoring efficiency of the tool working state; the present invention discloses a method for measuring the tip temperature of a milling cutter with a blade by pasting a thermocouple, which can obtain the actual working temperature of the blade during the cutting process, which is helpful to optimize the cutting parameters and improve the cutting efficiency and tool life; the present invention can understand the thermal deformation of the tool during the cutting process in real time by measuring the tip temperature of the tool, thereby reducing processing errors; the present invention can timely discover and deal with the problem of tool overheating and reduce potential safety risks; the present invention can Timely adjustment and optimization can be carried out to improve production efficiency and processing speed; the present invention is different from the method of integrating thermocouples on the end mill, and the method of integrating thermocouples on the blade of the insert milling cutter has higher tool utilization efficiency and is more in line with actual needs; the present invention discloses a highly integrated intelligent tool handle multi-signal processing modular circuit, which integrates multiple modules into a small printed circuit board, reduces the volume and weight of the intelligent tool handle system, and improves the stability and reliability of the system; the present invention helps to simplify the tool handle structure and improve the work efficiency and performance of the system; the modular circuit of the present invention can process multiple signals at the same time and transmit them wirelessly, so as to obtain more information about the cutting process and tool status, and provide a more accurate data base for tool use and cutting parameter optimization. The modular circuit design of the present invention provides convenience for integrating more signals into the intelligent tool handle, and reduces the workload for circuit maintenance and updating; the present invention discloses an implementation method for suppressing tool tip chatter using particle damping technology, as well as specific size parameters of particle dampers, alloy copper particle sizes, and filling quantities; the present invention can effectively suppress the chatter phenomenon of the tool during the machining process, and achieves tool chatter suppression within a wide frequency band; the present invention consumes tool vibration energy through collision and friction between particles and particles and between particles and cavities, reduces the amplitude, thereby reducing the risk of chatter, and improving cutting quality and machining accuracy; the present invention increases the damping characteristics of the tool system, improves the stability of the cutting process, and helps to reduce the amplitude and frequency of tool vibration;The present invention effectively reduces tool wear and breakage caused by chatter, prolongs the service life of the tool, reduces the frequency of tool replacement, and thus reduces costs; the present invention effectively reduces noise and vibration caused by tool vibration, provides a more stable and safe working environment, reduces health risks to operators and the occurrence of work-related accidents, and has important application value in the field of tool processing; the present invention is based on electromagnetic induction self-power supply and has the ability to monitor multi-dimensional physical parameters in the cutting process online, and has a compact structure with high integration and particle damping vibration suppression function; the present invention breaks the shackles of limited use time caused by battery power supply of the intelligent tool holder; the present invention provides richer data support for tool status monitoring, real-time control and adjustment during processing; the multi-dimensional data acquisition of the present invention can more accurately and comprehensively judge the cutting processing status and implement corresponding decisions; the multi-dimensional physical data of the present invention can be used to analyze the cutting process status and the processing status of the tool, and the processing status of the tool is more accurate and comprehensive. Data-driven process optimization helps reduce production costs and improve competitiveness; the present invention helps promote the development of intelligent and automated industrial production, and improves the production efficiency and product quality of the manufacturing industry; the rotor embedded in the taper handle and the compact printed circuit board of the present invention greatly improve the integration of the intelligent tool handle, while the tool handle optimization cutting scheme reduces the stiffness loss of the tool handle, so that the external contour of the intelligent tool handle does not exceed the prototype tool handle contour, reducing the possibility of machining interference; the application of the particle damping technology of the present invention provides a new method for tool chatter suppression, and a simple particle damper device is used to achieve broadband vibration suppression of the tool, which helps to improve the stability of the cutting process and the surface processing quality; the intelligent tool handle of the present invention has great potential to integrate more sensors to obtain more processing parameters, and has broad application prospects in related fields such as cutting, tool design and process optimization. ; BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0047] Figure 1 An exploded view of the overall structure of the intelligent knife handle of the present invention;

[0048] Figure 2 It is the assembly diagram of the knife handle of the present invention;

[0049] Figure 3 This is a main structural diagram of the knife handle of the present invention;

[0050] Figure 4 It is a schematic diagram of the electromagnetic induction structure of the present invention;

[0051] Figure 5This is a schematic diagram of pasting strain gauges for measuring four-dimensional forces on a tool handle of the present invention;

[0052] Figure 6 It is a schematic diagram of the tool handle vibration measurement structure of the present invention;

[0053] Figure 7 This is a structural diagram of the vibration measurement carrier of the present invention;

[0054] Figure 8 It is a schematic diagram of the temperature measuring knife rod structure of the present invention;

[0055] Fig. 9 It is a schematic diagram of the structure of the particle damper of the tool handle of the present invention;

[0056] Fig.10 is a cross-sectional view of a particle damper for a tool handle according to the present invention;

[0057] Fig.11 It is a schematic diagram of the dynamic model of the particle damper of the present invention;

[0058] Fig.12 This is the effect diagram of particle damper on the frequency response function of tool system;

[0059] Fig.13 This is a partial enlarged diagram of the effect of the particle damper on the frequency response function of the tool system;

[0060] Fig.14 This is the circuit schematic diagram of the power management board;

[0061] Fig.15 This is the circuit schematic diagram of the bridge signal processing board;

[0062] Fig.16 This is the circuit schematic diagram of the vibration measurement board;

[0063] Fig.17 This is the schematic diagram of the thermocouple detection circuit.

[0064] In the figure: 1 handle body, 101 upper row fastening screws, 102 lower row fastening screws, 103 cone handle ring hole, 104 coil lead hole, 105 circuit board lead groove, 106 circuit board lead hole, 107 strain gauge pasting surface, 108 vibration plate lead square hole, 109 circuit board mounting platform, 110 upper row fastening threaded through holes, 111 lower row fastening threaded blind holes, 112 uniaxial temperature compensation strain gauge, 113 uniaxial working strain gauge, 114 torque strain gauge, 2 collet, 3 nut, 4 milling cutter, 5 magnet bracket, 501 bracket fastening screw, 6 magnet, 7 copper coil, 8 particle damper, 801a particle damper mounting nut, 801b Particle damper connecting thread, 802 upper cavity particle filling hole, 803 lower cavity particle filling hole, 804 partition, 805 upper cavity, 806 lower cavity, 9 vibration measurement plate, 901 vibration measurement plate connecting screw, 10 vibration measurement carrier, 1001 vibration measurement plate mounting hole, 1002 vibration carrier special-shaped groove, 1003 vibration carrier center through hole, 1004 vibration carrier mounting hole, 11 bridge signal processing board, 12 power management board, 13 main control board, 1301 main control board square hole, 14 WiFi board, 15 spindle, 16 milling cutter arbor, 1601 arbor handle groove, 1602 blade mounting screw, 17 blade, 18 thermocouple. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] Establish the intelligent tool handle device characterizing the present invention:

[0067] like Figure 1-4 As shown, the intelligent tool handle device is composed of a tool handle body 1, an upper row of fastening screws 101, a lower row of fastening screws 102, a uniaxial temperature compensation strain gauge 112, a uniaxial working strain gauge 113, a torque strain gauge 114, a collet 2, a nut 3, a milling cutter 4, a magnet bracket 5, a bracket fastening screw 501, a magnet 6, a copper coil 7, a particle damper 8, a particle damper mounting nut 801a, a vibration measurement plate 9, a vibration measurement plate connecting screw 901, a vibration measurement carrier 10, a bridge signal processing board 11, a power management board 12, a main control board 13, and a WiFi board 14. The prototype structure model of the tool handle body 1 is HSK63A-ER40-160L.

[0068] The handle body 1 has undergone a lot of structural changes on the basis of the prototype handle. The conical handle circular ring hole 103 is provided for embedding the copper coil 7; the coil lead hole in the conical handle circular ring hole 103 is provided for the copper coil 7 to be led to the center of the handle for collection; the circuit board lead groove 105 is provided for the transmission of energy and signals between the bridge signal processing board 11, the power management board 12, the main control board 13 and the WiFi board 14; the circuit board lead hole 106 is provided for connecting the collected copper coil 7 leads to the power management board 12 for rectification and voltage stabilization; the strain gauge pasting surface 107 is provided for the pasting of the uniaxial temperature compensation strain gauge 112, the uniaxial working strain gauge 113 and the torque strain gauge 114; the vibration plate is provided The lead square hole 108 cooperates with the main control board square hole 1301 to realize the connection between the vibration measurement board 9 and the main control board 13, thereby realizing energy and signal transmission with the entire circuit; by setting the circuit board mounting platform 109, the upper row of fastening threaded through holes 110 and the lower row of fastening threaded blind holes 111 in combination with the upper row of fastening screws 101 and the lower row of fastening screws 102, the bridge signal processing board 11, the power management board 12, the main control board 13 and the WiFi board 14 are installed with the handle body 1; the milling cutter 4 is installed with the handle body 1 through the collet 2 and the nut 3; the vibration measurement carrier 10 is connected to the handle body 1 through the upper row of fastening screws 101; the particle damper 8 is connected to the handle body 1 through the particle damper mounting nut 801a.

[0069] Implementation method of the electromagnetic induction self-powered device of the present invention:

[0070] The intelligent tool handle self-powering device of the present invention is as follows Figure 3-4 As shown. This method is based on Faraday's law of electromagnetic induction. The specific implementation method is to use a magnet bracket 5 to carry a magnet 6 to generate a constant magnetic field near the lower end of the spindle 15. The magnet bracket 5 is connected to the spindle 15 through the screw hole on the spindle cover by screws 501. The magnet bracket 5 is manufactured by 3D printing of white resin material, and the magnet 6 is a customized NdFeB strong magnet with a circular arc shape in the longitudinal section. At the same time, a tapered handle annular hole 103 distributed at 120° is set on the handle body 1 for embedding three copper coils 7 placed at 120°. When the machine tool is cutting, the copper coil 7 rotates with the handle body 1. At this time, the magnetic flux in the copper coil 7 changes with the rotation, and the changing magnetic flux will generate an induced potential. The copper coil 7 passes through the coil lead hole 104 and then is collected through the circuit board lead hole 106 to the power management board 12. After rectification and voltage stabilization, it supplies power to various circuits and components; the circuit schematic diagram of the power management board 12 is shown in the attached Fig.14As shown, when the generated induced voltage is delivered to the circuit through the copper coil 7, the internal synchronous rectifier feeds the voltage to the RECT pin with the filter capacitor C105; the BQ51013 identifies and authenticates itself by turning the COM FET on and off, and identifies and authenticates itself by turning CCOMM on and off. If the identity authentication is successful, the transmitter will remain powered on;

[0071] The EN1 and EN2 pins include internal 200kΩ pull-down resistors, so if these pins are not connected, the wireless power receiver BQ51013 will default to AD-EN control mode;

[0072] However, these pins can be pulled high, as shown by resistors R119 and R120;

[0073] The BQ51013 provides two identical integrated communication FETs connected to pins COMM1 and COMM2. These FETs are used to modulate the secondary load current, enabling the BQ51013 to communicate error control and configuration information to the transmitter.

[0074] In addition to resistive load modulation, the BQ51013 is also capable of capacitive load modulation, as shown in the circuit on the left;

[0075] In this case, the capacitor is connected from COMM1 to AC1 and from COMM2 to AC2;

[0076] When the COMM switch is closed, a 22nF capacitor is actually connected between AC1 and AC2;

[0077] Connecting a capacitor between AC1 and AC2 modulates the impedance seen by the coil which will be reflected in the primary resistance as a change in current.

[0078] Implementation method of the tool tip four-dimensional force measurement of the present invention:

[0079] The four-dimensional force measurement of the tool tip is realized by using the Wheatstone bridge, and the steps are as follows:

[0080] ① Determine the structure of the elastic element of the handle;

[0081] 101 Four or more evenly distributed planes are arranged in the circumferential direction of the middle part of the handle, with the axial direction being the length direction of the plane and the other vertical direction being the width direction of the plane;

[0082] 102 takes the bottom end of the cone handle as a reference, and the distances between the first and last ends of the plane in the length direction and the plane of the bottom end of the cone handle are used as two parameters; the plane width is the third parameter;

[0083] ② Carry out multi-parameter and multi-objective optimization;

[0084] 201 Taking the three parameters as optimization parameters and the axial and radial stiffness of the tool holder as optimization targets, UG&ANSYS joint simulation optimization is performed;

[0085] ③ Create a four-dimensional force measurement decoupling model based on resistance strain gauges and fixed resistors;

[0086] 301 Establish a Wheatstone bridge sensing circuit, including a resistance strain gauge (uniaxial strain gauge, torque strain gauge) and a fixed value resistor, denoted by R a , R b , R c , R d , where R a , R b and R c , R d Two bridge circuits are formed respectively, and the resistance change of each strain gauge is recorded as ΔR a , ΔR b , ΔR c , ΔR d , bridge output voltage V O With the bridge input voltage V S The relationship between them is:

[0087]

[0088] 302 strain ε, resistance change rate Strain gauge sensitivity K S The relationship is:

[0089]

[0090] 303 Replace the resistance change rate in (a) with strain and sensitivity:

[0091]

[0092] where ε a , ε b , ε c , ε d Represent the strain of each strain gauge respectively;

[0093] 304 Two uniaxial strain gauges are respectively arranged on each cutting surface, wherein the first strain gauge is used as a uniaxial working strain gauge, the sensitive grid direction of the working strain gauge is parallel to the axis direction of the tool handle, and is arranged above the center of the plane; the second strain gauge is used as a uniaxial temperature compensation strain gauge, the sensitive grid direction is perpendicular to the axis direction, and is arranged above the working strain gauge, and the strain gauge on each cutting surface and two fixed resistors form a Wheatstone bridge; 305 The output value of the bridge between the two cutting surfaces of the tool handle elastic element relative to each other is the change value caused by the single load of the axial force, and the bridge value is subtracted to obtain the change value caused by the single load of the radial force along the direction of the line connecting the two surfaces; two torque strain gauges are arranged on two opposite cutting surfaces to form a Wheatstone bridge circuit, and the torque strain gauge is arranged below the center of the plane;

[0094] ④Determine the bridge signal processing circuit;

[0095] 401 sets the amplification gain of the half bridge and the full bridge based on the bridge output voltage.

[0096] The method for measuring the four-dimensional force of the tip of the intelligent tool handle of the present invention is as follows: Figure 5 This method uses a Wheatstone bridge circuit based on a resistance strain gauge to measure force. The specific implementation method is: four half-bridge circuits are used to measure axial force and radial force. Each half-bridge consists of a uniaxial temperature compensation sheet 112, a uniaxial working strain gauge 113 and two fixed value resistors arranged in the bridge signal processing board 11. The uniaxial temperature compensation sheet 112 is used to offset the influence of temperature on the strain of the uniaxial working strain gauge 113, as shown in the attached figure. Figure 5 The wire grid of the uniaxial temperature compensation sheet 112 is perpendicular to the axis of the tool handle, and the uniaxial working strain gauge 113 is placed parallel to the axis. A full bridge circuit is used to measure the torque, and each full bridge is composed of two torque strain gauges 114, as shown in the attached figure. Figure 5 Each torque strain gauge 114 shown contains two groups of wire grids, which are arranged at 45° or 135° to the axis. The half-bridge circuit signals with a difference of 180° are added to obtain the signal change caused by the single load of axial force, and the signal change caused by the single load of radial force is subtracted. The full-bridge signal is caused by the single load of torque. The static calibration of the four-dimensional force is carried out through a calibration device with a higher level of accuracy (torsion testing machine, universal testing machine) to realize the corresponding relationship between the load and the signal voltage value, thereby realizing the measurement of the four-dimensional force of the tip of the intelligent tool handle;

[0097] The bridge circuit consists of a bridge arm balancing resistor, a front differential amplifier circuit, an input filter circuit, and an analog conversion circuit. The signal input part differentially amplifies the strain gauge input signal and the balancing resistor input signal, and sends them to the analog conversion circuit after filtering. The schematic diagram of this part is shown in the attached figure. Fig.15 shown.

[0098] P10, P11 and P13 on the left side of the figure are the strain gauge interface and bridge arm resistance circuit part, which are responsible for converting the resistance change caused by the strain gauge into a voltage signal;

[0099] To the right of the bridge arm resistance circuit is the bridge signal amplifier circuit and its schematic diagram. U8 and U10 are TLV9004 multi-stage amplifiers, and U12 is a TLV9002 multi-stage amplifier. To their left is the schematic diagram of the internal multi-stage amplifier circuit, which uses a two-stage operational amplifier instrument circuit to amplify the differential signal generated by the resistance change of the strain gauge.

[0100] The first circuit on the upper right is the excitation output and feedback circuit, which provides a stable voltage for the amplifier and chip to work, and does not affect the normal use of the circuit function under unexpected circumstances;

[0101] Below the excitation output and feedback circuit is the signal filtering and protection circuit, which is responsible for removing noise signals and keeping the voltage range normal so as not to damage U9, i.e. the ADS1235 chip;

[0102] U9 on the right is a 24-bit programmable gain analog-to-digital converter ADS1235 with a gain of 128 times. It is responsible for the analog-to-digital conversion of the bridge signal and is connected to the main control board through P12 below.

[0103] Vref outputs a stable reference voltage of 2.495V through the REF chip represented by U11.

[0104] Three-way vibration measurement implementation method of the present invention:

[0105] The intelligent tool handle three-way vibration measuring device of the present invention is as shown in the attached Figure 6-7 As shown. The method is based on the connection of the MEMS accelerometer with the tool handle body 1 through the vibration measurement carrier 10 to realize the three-dimensional vibration measurement of the tool handle. The specific implementation method is to build a vibration measurement board 9 with the ADXL359 three-axis accelerometer as the core, and the vibration measurement board 9 is matched with the vibration carrier special-shaped groove of the vibration measurement carrier 10, and is fixed with the vibration measurement board connecting screws 901 through the vibration measurement board mounting hole 1001. The vibration measurement carrier 10 is provided with vibration carrier mounting holes 1004 around it, and is connected to the tool handle body 1 through four upper rows of fastening screws 101. The vibration accelerometer and the tool handle body 1 can be regarded as a rigid body connection. When the tip of the knife vibrates, the vibration measurement board 9 with the accelerometer as the core will vibrate accordingly, so as to measure and obtain the three-axis vibration signal.

[0106] The circuit diagram of the vibration measurement board is as follows: Fig.16 As shown, the ADXL359 chip has a reference coordinate system inside. When the chip moves with the tool handle, the coordinates of the chip rotate relative to the reference coordinate system. The chip will record the difference and output an angular velocity after processing.

[0107] The upper left is the voltage filter rectifier circuit, which ensures that the voltage of the ADXL359 chip is stable and works within the normal range. An LC filter circuit is used, and the voltage VCC is connected in series with the inductor L4 and then connected to the ground in parallel with the capacitors C32 and C33. Vs is directly filtered and grounded through the capacitors C32 and C33. The vibration plate chip U7 includes 14 interfaces.

[0108] The plug interface P7 is responsible for connecting the vibration plate to the main control board so that the main control board can transmit signals and control the vibration plate chip U7. The plug interface P7 includes 10 interfaces; interfaces 7, 8, 9, and 10 on the plug interface P7 are connected to interfaces 1, 2, 3, and 4 on U7, and a resistor R44 is connected in series to the interface ACC_MISO to play an impedance matching role, reduce reflections, avoid oscillation, and ensure the normal operation of the circuit.

[0109] The plug-in interfaces P8 and P9 are responsible for collecting the temperature signal of the vibration plate and connecting to the thermocouple circuit of the main control board.

[0110] Since the three-dimensional vibration measuring device of the present invention is located below the tool handle and close to the tool tip point vibration source, a more significant vibration signal can be obtained.

[0111] Temperature measurement implementation method of the present invention:

[0112] The temperature measuring device of the present invention is as shown in the attached Figure 8 As shown. This method uses an artificial K-type thermocouple based on the Seebeck effect to measure the tip temperature of a milling cutter equipped with a blade. The specific implementation method is to attach a thermocouple 18 to the tip of the blade 17 (5mm from the front blade and 3mm from the back blade) through a heat-resistant tape to achieve temperature measurement. The thermocouple 18 is connected to the inside of the handle body 1 through the shank body groove 1601 set on the milling cutter shank 16, and is connected to the back interface of the vibration measurement board 9 through the central through hole 1003 of the vibration carrier to achieve signal and energy transmission. The temperature measurement end signal and the ambient temperature measured by the temperature monitoring circuit on the main control board 13 are compensated by the cold end to obtain the actual temperature of the tip measurement point.

[0113] Thermocouple detection circuit schematic diagram is as attached Fig.17 As shown, the thermocouple detection uses ADS1220 for analog conversion. The left side of the figure is the thermocouple interface circuit, which has input upper and lower pull-down disconnection detection resistors, protection circuits and matching resistors. The parallel wiring method is used to connect the two ends of the two thermocouple wires to the two measurement ports of the instrument respectively. The average temperature can be measured, and the measurement paths do not affect each other.

[0114] The analog conversion circuit on the right has a voltage source on the top and a damped LC filter added to the LDO input to prevent noise from coupling to the ADC through the LDO. Both are generated using 5V VLDO_OUT, but are separated from each other by ferrite beads to prevent digital switching noise from entering the AVDD pin of the ADC. U6 below is the analog conversion chip ADS1220, which processes the temperature signal and transmits it to the main control board.

[0115] Because the output generated by the thermocouple circuit sensor is in the millivolt range, this makes the sensor susceptible to noise pickup. An RC low-pass differential filter and common-mode filter are designed before the circuit input, which is used before each analog input reaches the ADS1220. The filter can effectively eliminate any high-frequency noise that may exist. After filtering, it reaches the AIN3 and AIN2 ports and is transmitted to the ADS. Because it is a dual-channel differential design, its AIN0 and AIN1 ports have the same function and are used for the transmission of the temperature signal of the other channel.

[0116] As thermocouples are exposed to extreme environmental conditions, thermocouple wires tend to break or increase in wire resistance. Therefore, in critical applications, it is necessary to simply and quickly detect resistor breaks or increased resistance. The second purpose of the 1MΩ resistor is to provide a weak pull-up and pull-down for sensor open detection. If the sensor is disconnected, the input of the ADC will extend to the power supply and ground and produce a full-scale reading, indicating that the sensor is disconnected.

[0117] Implementation method of particle damping to suppress flutter in the present invention:

[0118] The particle damper device for suppressing the vibration of the tool tip is as follows: Figure 9-10 As shown. Based on the particle damping energy dissipation mechanism, the device realizes the vibration suppression of the tool tip point by installing a particle damper 8 inside the tool handle. The specific implementation method is to fill 1665 alloy copper particles with a radius of 1mm into the particle damper 8 from the particle filling hole 802 of the upper cavity 805 and the particle filling hole 803 of the lower cavity 806, respectively, and install it inside the tool handle through the particle damper connecting thread 801b and the particle damper mounting nut 801a extending from the particle damper 8. The particle damper 8 is made of TC4 titanium alloy substrate by 3D printing, as shown in FIG. Fig.10 The interior of the particle damper 8 is divided into upper and lower cavities of equal volume by partition 804. When the tool generates chatter, the particles inside the particle damper 8 will interact violently with the wall surface, thereby inducing interaction between the internal particles, and the energy generated by the vibration is consumed by collision and friction between particles and particles and the damper wall surface to achieve the effect of suppressing chatter, thereby improving the surface quality of the workpiece.

[0119] As attached Fig.11The dynamic model shown in the figure is used to perform dynamic analysis on the tool handle system containing the particle damper, and an equivalent particle damper model is established. In order to approximately describe the macroscopic collective effect of many damping particles, a subsystem with only one viscous damper and mass is used inside the container to equivalent the dynamic behavior of many particles under a given acceleration. The dynamic equation of the system can be written as:

[0120]

[0121] Where m1 is the mass of the tool; m2 is the mass including the mass of the tool handle, the mass of the particle damping cavity and the mass of the particles attached to the particle damping cavity that do not participate in the motion energy consumption; m3 is the mass of the particles that participate in the motion energy consumption; k1 is the tool stiffness; c1 is the tool damping coefficient; k2 is the tool handle stiffness; c2 is the tool handle damping coefficient; c eq is the damping coefficient of the mass of the particles involved in the motion; it can be organized into a matrix form as follows:

[0122]

[0123] Further written in frequency domain form:

[0124]

[0125] The tool displacement frequency response function can be derived from the above formula:

[0126]

[0127] The values ​​of m2 and m3 are affected by the vibration acceleration of the tool and change with the vibration acceleration, but the sum of the two is a constant value and satisfies the following formula:

[0128] m2+m3=m c +m p (eight);

[0129] Where m c is the weight of the tool holder and particle damping chamber, m p is the total mass of the damping particles; m3 reflects the energy consumption of the particle damper to a certain extent. If the equivalent damping ratio ζ eq is very small, indicating that only a few particles move relative to each other, that is, m3 is very small, and most of the particle mass is attached to the cavity (m2 is large); on the contrary, if ζ eq If it is larger, it means that a lot of particles are involved in relative motion. The mass of particles attached to the cavity will be less; based on this basic physical common sense, the following particle mass dynamic distribution scheme can be used to simply approximate m2 and m3;

[0130]

[0131] Since it is difficult to find the relationship between the equivalent damping coefficient and the system parameters, the definition of the damping ratio of the single-degree-of-freedom system is used to obtain the calculation formula of the equivalent damping coefficient as follows:

[0132]

[0133] Given a set of structural parameter values, m1 = 0.123 kg, m c =2kg,m p =0.3kg, k1=1.26×10 7 N / m, k2=5.0×10 7 N / m, ζ1=0.012, ζ2=0.01; calculate the tool frequency response function as shown in the attached Figures 12-13 As shown in the figure. It can be seen from the graph that the peak value of the system decreases proportionally, and no matter how large the damping is, the performance of the particle damper is not affected and still works. This is a feature that traditional viscous damping systems do not have. Because the particle damper is not in direct contact with the main structure, no matter how large the damping is, the particle damper will not fail, but will consume more energy in the system. This is an important feature of the particle damper.

[0134] The above-described embodiments are only preferred embodiments of the present invention, and are not exhaustive of the feasible implementations of the present invention. For those skilled in the art, any obvious changes made thereto without departing from the principles and spirit of the present invention should be considered to be included in the scope of protection of the claims of the present invention.

Claims

1. A self-powered intelligent tool handle based on electromagnetic induction, characterized in that: The invention comprises a tool handle body (1) arranged on a main shaft (15), an upper row of fastening screws (101), a lower row of fastening screws (102), a conical handle annular hole (103), a coil lead hole (104), a circuit board lead groove (105), a circuit board lead hole (106), a strain gauge pasting surface (107), a vibration plate lead square hole (108), a circuit board mounting platform (109), an upper row of fastening threaded through holes (110), a lower row of fastening threaded blind holes (111), a uniaxial temperature compensation strain gauge (112), a uniaxial working strain gauge (113), a torque strain gauge (114), a collet (2), a nut (3), a milling cutter (4), a magnet bracket (5), a bracket fastening screw (501), a magnet (6), a copper coil (7 ), particle damper (8), particle damper mounting nut (801a), particle damper connecting thread (801b), upper cavity particle filling hole (802), lower cavity particle filling hole (803), partition (804), upper cavity (805), lower cavity (806), vibration measurement plate (9), vibration measurement plate connecting screw (901), vibration measurement carrier (10), vibration measurement plate mounting hole (1001), vibration carrier special-shaped groove (1002), vibration carrier center through hole (1003), vibration carrier mounting hole (1004), bridge signal processing board (11), power management board (12), main control board (13), main control board square hole (1301), WiFi board (14), milling cutter Rod (16), shank groove (1601), blade mounting screw (1602), blade (17), thermocouple (18); the magnet bracket (5) is provided with a wedge-shaped groove, and the magnet (6) is connected to the magnet bracket (5) through the wedge-shaped groove; the magnet bracket (5) is arranged on the side of the interface between the spindle and the shank body (1), and the magnet bracket (5) is arranged on the end surface mounting cover of the spindle (15) through the bracket fastening screw (501); the copper coil (7) is arranged in the tapered shank circular ring hole (103); four circuit board mounting platforms (109) are arranged in the middle of the shank body (1), and the circuit board mounting platform (109) is provided with an upper row of fastening threaded through holes (110) and a lower row of fastening threaded blind holes (111); The signal processing board (11), the power management board (12), the main control board (13), and the WiFi board (14) are respectively arranged on four circuit board mounting platforms (109) by means of an upper row of fastening screws (101) and a lower row of fastening screws (102), and the upper row of fastening screws (101) and the lower row of fastening screws (102) are respectively matched with an upper row of fastening threaded through holes (110) and a lower row of fastening threaded blind holes (111); a coil lead hole (104) is provided on the cone handle annular hole (103), a circuit board lead groove (105) is provided between adjacent circuit board mounting platforms (109), and a circuit board lead hole (106) is provided on the circuit board mounting platform (109) matched with the power management board (12);The induced current in the copper coil (7) is transmitted to the power management board (12), the bridge signal processing board (11), the main control board (13), and the WiFi board (14) through the coil lead hole (104), the circuit board lead hole (106), and the circuit board lead slot (105); the collet (2), the nut (3), and the milling cutter (4) are sequentially arranged at the lower end of the handle body (1); four strain gauge pasting surfaces (107) are evenly arranged on the circumference of the handle body (1), and each of the strain gauge pasting surfaces (107) is provided with a uniaxial temperature compensation strain gauge (112) and a uniaxial working strain gauge (113); any one of the relative strain gauge pasting surfaces (107) is respectively provided with a torque The invention relates to a strain gauge (114); the milling cutter rod (16) is connected to the shank body (1) through a collet (2) and a nut (3); the milling cutter rod (16) is provided with a shank body groove (1601) along the blade installation side; the thermocouple (18) is adhered to the tip of the cutting edge of the blade (7) through a heat-resistant adhesive tape; the thermocouple (18) is connected to the back interface of the vibration measuring plate (9) through the shank body groove (1601) and the central through hole (1003) of the vibration carrier in sequence; the overall shape of the vibration measuring plate (9) is formed by the intersection of a circle and a straight edge, and the accelerometer is arranged on the front side of the center of the plate; the vibration carrier special-shaped groove (1002) is provided on the top of the vibration plate carrier (10), The vibration plate carrier (10) is formed by the intersection of a circle and a straight edge, and is used to match the outer contour of the vibration measuring plate (9); a vibration measuring plate mounting hole (1001) is provided on the opposite side of the groove-shaped straight edge of the vibration plate carrier (10); the vibration measuring plate (9) and the vibration plate carrier (10) are matched through the vibration carrier special-shaped groove (1002) and are connected by threads; vibration carrier mounting holes (1004) are provided around the vibration plate carrier (10), and the vibration carrier mounting holes (1004) are respectively connected to the axes of the screw holes set on the cutting plane of the tool handle, and the vibration plate carrier (10) is connected to the tool handle body (1) by threads; a connection hole (1001) is provided on one side of the straight edge of the vibration measuring plate (9); The vibration measuring plate (9) is connected to the main control board (13) wiring socket through the wiring socket through the vibration plate lead square hole (108) and the main control board square hole (1301) arranged at the bottom of the cut surface of the handle; the particle damper (8) is divided into a cavity part and a connection part, and is composed of two parts stacked concentrically; the cavity part is composed of an upper cavity (805) and a lower cavity (806) connected up and down, and separated by a partition (804); the connection part includes a particle damper connection thread (801b); the particle damper mounting nut (801a) and the particle damper connection thread (801b) are threadedly connected to connect the handle body (1) and the particle damper (8). ; 2. The electromagnetic induction-based self-powered intelligent tool handle according to claim 1, characterized in that: The power management board (12) is provided with an electromagnetic induction rectifier and voltage stabilization circuit, which comprises a 6-way circuit board lead interface P15, capacitors C94-C97, C99-C100, C103-C105, resistors R116-R123, a temperature measuring resistor RT1, an LED lamp D6 and a wireless power receiver U13; the circuit board lead interface P15 comprises 6 interfaces; the wireless power receiver U13 comprises interfaces CLAMP1, COMM1, AC1, AC2, BOOT1, BOOT2, CLAMP2, COMM2, OUT , CHG, ILIM, FOD, RECT, TS, EN1, EN2; one end of the capacitor C96 is connected in parallel with the capacitors C99 and C103 and connected to the AC1 interface of U13, and the other end of C96 is connected to the BOOT1 of U13; the other end of the capacitor C99 is connected to the interface CLAMP1 of U13; the other end of the capacitor C103 is connected to the interface COMM1 of U13; one end of the capacitor C97 is connected in parallel with the capacitors C100 and C104 and connected to the AC2 interface of U13, and the other end of C97 is connected to the BOOT2 of U13; the other end of the capacitor C100 is connected to the U1 3's interface CLAMP2; the other end of the capacitor C104 is connected to the interface COMM2 of U13; the positive electrode of the LED lamp D6 is connected to the interface OUT of U13, and the negative electrode is connected to the interface CHG of U13; one end of the resistor R116 is connected to the interface ILIM of U13, and the other end is connected to the resistors R117 and R121, and the interface FOD of U13; one end of the resistor R117 is connected to the interface FOD of U13, and the other end is connected to the interface RECT of U13 and the filter capacitor C105; one end of the resistor R121 is connected to the interface FOD of U13, and the other end is connected to GND; the capacitor C One end of 105 is connected to RECT of U13, and the other end is connected to GND; one end of the resistor R119 is connected to VOUT, and the other end is connected to resistor R122 and interface 5 of P15, and the other end of resistor R122 is connected to GND; one end of the resistor R120 is connected to VOUT, and the other end is connected to resistor R123 and interface 6 of P15, and the other end of resistor R123 is connected to GND; the temperature measuring resistor RT1 is connected to interface TS of U13; interfaces 1 and 2 of P15 are connected to GND, interfaces 3 and 4 are connected to voltage source VOUT, interface 5 is connected to interface EN1 of U13, and interface 6 is connected to interface EN2 of U13.

3. The electromagnetic induction-based self-powered intelligent knife handle according to claim 1, characterized in that: The four-dimensional force measurement of the tool tip is realized by using the Wheatstone bridge, and the steps are as follows: ① Determine the structure of the elastic element of the handle; 101 Four or more evenly distributed planes are arranged in the circumferential direction of the middle part of the handle, with the axial direction being the length direction of the plane and the other vertical direction being the width direction of the plane; 102 takes the bottom end of the cone handle as a reference, and the distances between the first and last ends of the plane in the length direction and the plane of the bottom end of the cone handle are used as two parameters; the plane width is the third parameter; ② Carry out multi-parameter and multi-objective optimization; 201 Taking the three parameters as optimization parameters and the axial and radial stiffness of the tool holder as optimization targets, UG&ANSYS joint simulation optimization is performed; ③ Create a four-dimensional force measurement decoupling model based on resistance strain gauges and fixed resistors; 301 Establish a Wheatstone bridge sensing circuit, including a resistance strain gauge (uniaxial strain gauge, torque strain gauge) and a fixed value resistor, denoted by R a , R b , R c , R d Where R a , R b and R c , R d Two bridge circuits are formed respectively, and the resistance change of each strain gauge is recorded as ΔR d , ΔR b , ΔR c , ΔR d , bridge output voltage V O With the bridge input voltage V S The relationship between them is: 302 strain ε, resistance change rate Strain gauge sensitivity K S The relationship is: 303 Replace the resistance change rate in (a) with strain and sensitivity: where ε a , ε b , ε c , ε d Represent the strain of each strain gauge respectively; 304 Two uniaxial strain gauges are respectively arranged on each cutting surface, wherein the first strain gauge is used as a uniaxial working strain gauge (113), the sensitive grid direction of the working strain gauge is parallel to the axis direction of the tool handle, and is arranged above the center of the plane; the second strain gauge is used as a uniaxial temperature compensation strain gauge (112), the sensitive grid direction is perpendicular to the axis direction, and is arranged above the working strain gauge, and the strain gauge on each cutting surface and two fixed value resistors form a Wheatstone bridge; The addition of the bridge output values ​​between the two cutting surfaces of the 305 tool handle elastic element is the change value caused by the single load of the axial force, and the subtraction of the bridge values ​​is the change value caused by the single load of the radial force along the direction of the line connecting the two surfaces; 306 two torque strain gauges (114) are arranged on two opposite cutting surfaces to form a Wheatstone bridge circuit, wherein the torque strain gauges (114) are arranged below the center of the plane; ④Determine the bridge signal processing circuit; 401 sets the amplification gain of the half bridge and the full bridge based on the bridge output voltage.

4. The electromagnetic induction-based self-powered intelligent knife handle according to claim 1, characterized in that: The bridge signal processing board (11) is provided with a bridge signal processing circuit, which includes strain gauge interfaces P10, P11 and P13, a lead interface P12 between the bridge board and the main control board, resistors R45-R99, R102, R105-R115, capacitors C42-C43, C46-C56, C61-C66, C69-C80, C83-C91, triodes TVS5-TVS10, amplifiers U8, U10 and U12, an analog-to-digital conversion chip U9, and a reference voltage chip U11; the strain gauge interfaces P10, P11 and P13 each include 6 interfaces; the lead interface P12 between the bridge board and the main control board includes 10 interfaces; the amplifiers U8, U10 and U1 2 includes 16 interfaces; the analog-to-digital conversion chip U9 includes 33 interfaces; the strain gauge interface P11 is connected, and one end of the strain gauge resistor R85 is connected to resistors R84 and R86, and the other end is connected to resistor R82; both ends of resistor R82 are connected to capacitors C73 and C74 and then grounded AGND, the other end of resistor R82 is connected to resistor R83, and the output signal is connected to interface 1 (IN1+) of U10; one end of strain gauge resistor R97 is connected to resistors R92 and R102 and the other end is connected to resistor R98, both ends of resistor R98 are connected to capacitors C79 and C80 and then grounded AGND, the other end of resistor R98 is connected to resistor R99, and the output signal is connected to interface 10 (IN3+) of U10; interface 1 of P11 is input by voltage Vs+ , interface 2 is connected to TVS7 tube, which is connected in series with resistors R78 and R79, and the other end of R79 is connected to interface 3 (IN2+) of U10; interface 4 of P11 is input by voltage Vs+, interface 5 is connected to TVS8 tube, which is connected in series with resistors R93 and R94, and the other end of R94 is connected to interface 12 (IN4+) of U10; interfaces 3 and 6 of P11 are connected to Vs-; the other ends of TVS7 tube and TVS8 tube are connected to AGND; the connection method of P10 and P13 is the same as that of P11; the amplifier U10 is connected, and the left end of resistor R80 is connected to Vref, and the other end is connected to interface 16 (IN1-) of U10; one end of resistor R76 is connected to interface 16 (IN1-) of U10, and the other end is connected to interface 15 (OUT1) of U10; One end of resistor R75 is connected to interface 16 (IN1-) of U10, and the other end is connected to interface 4 (IN2-) of U10; one end of resistor R77 is connected to interface 4 (IN2-) of U10, and the other end is connected to interface 5 (OUT2) of U10; one end of resistor R81 is connected to interface 15 (OUT1) of U10, and the other end is connected to interface 4 (IN2-) of U10; after the signal is amplified by amplifiers U8, U10 and U12, the output is OUT2, OUT4, OUT6, OUT8, OUT10, which are respectively connected to 29, 28, 26, 25, 27 of U9; interfaces 3 to 10 of P12 are connected corresponding to interfaces 7 to 14 of U9; the connection method of amplifiers U8 and U12 is the same as that of U10.

5. The self-powered intelligent tool handle based on electromagnetic induction according to claim 1, characterized in that: The main control board (13) is provided with a thermocouple detection circuit; the thermocouple detection circuit comprises an analog quantity conversion chip U6, transistors TVS1-TVS4, resistors R26-R43, and capacitors C22-C31; the analog quantity conversion chip U6 comprises 16 interfaces; it is assumed that THC_1P, THC_1N, THC_2P and THC_2N are thermocouple temperature signals from the vibration plate; taking the connection of THC_1P as an example for explanation, one end of the TVS1 tube is connected to AGND, and the other end is connected to resistors R26 and R27; the other end of the resistor R26 is connected to AVDD, and the other end of the resistor R27 is connected to the resistor R 28 and capacitor C22; the other end of resistor R28 is connected to interface 6 (AIN3) of U6, and the other end of capacitor C22 is connected to power supply AVDD; THC_1N, THC_2P, THC_2N are connected in the same way as THC_1P; it is assumed that THC_1P, THC_1N, THC_2P and THC_2N are THC0P, THC0N, THC1P and THC1N after filtering circuit, which are respectively connected to interfaces 6 (AIN3), 7 (AIN2), 11 (AIN0) and 10 (AIN1) of U6; interface 1 (SCLK) of U6 is connected to PB3 of main control board U2; Interface 2 (port CS) of U6 is connected to interface PA15 of the main control board U2; interface 14 (DRDY) of U6 is connected in series with resistor R35, and then connected to PB6 of the main control board U2; interface 15 (DOUT) of U6 is connected in series with resistor R33, and then connected to PB4 of the main control board U2; interface 16 (DIN) of U6 is connected in series with resistor R32, and then connected to PB5 of the main control board U2; power supplies AVDD and DVDD are connected in parallel with capacitors C29 and C30 and then connected to grounds ADND and DGND.

6. The electromagnetic induction-based self-powered intelligent knife handle according to claim 1, characterized in that: The particle damper (8) is equivalent to a subsystem consisting of only a viscous damper and mass, and the dynamic equation of the system can be written as: Where m1 is the tool mass; m2 includes the tool handle mass, the particle damping cavity mass and the mass of particles attached to the particle damping cavity that do not participate in motion energy consumption; m3 is the mass of particles that participate in motion energy consumption; k1 is the tool stiffness; c1 is the tool damping coefficient; k2 is the tool handle stiffness; c2 is the tool handle damping coefficient; c eq is the damping coefficient of the mass of the particles involved in the motion; it can be organized into a matrix form as follows: Further written in frequency domain form: The tool displacement frequency response function can be derived from the above formula: The values ​​of m2 and m3 are affected by the vibration acceleration of the tool and change with the vibration acceleration, but the sum of the two is a constant value and satisfies the following formula: m2+m3=m c +m p (eight); Where m c is the weight of the tool holder and particle damping chamber, m p is the total mass of the damping particles; the particle mass dynamic distribution scheme adopts the following formula: Using the damping ratio definition of a single degree of freedom system, the calculation formula for the equivalent damping coefficient is as follows:

7. A self-powered intelligent knife handle based on electromagnetic induction according to claim 1 or 6, characterized in that: The particle damper (8) is manufactured by 3D printing of TC4 titanium alloy material; the radius of the cavity part is 14 mm, the height is 54 mm, and the wall thickness is 1 mm, and the middle partition between the upper cavity (805) and the lower cavity (806) is 1 mm; the radius of the particle filling hole (803) of the lower cavity is 2 mm, and the radius of the particle filling hole (802) of the upper cavity is 1.25 mm; the diameter of the connecting thread part is 8 mm and the length is 28 mm, and the connecting thread overhang end is provided with an M8 particle damper connecting thread (801b) with a length of 18 mm; 1665 alloy copper or tungsten steel particles are filled respectively, the lower cavity (806) is sealed with tape, and the upper cavity (805) does not need to be specially sealed.

8. The electromagnetic induction-based self-powered intelligent knife handle according to claim 1 or 2, characterized in that: The tapered handle annular holes (103) are arranged on the tapered handle of the handle body (1); the number of the tapered handle annular holes (103) is 3 or more and they are evenly arranged along the circumference of the tapered handle; the magnet (6) has an arc-shaped longitudinal section.

9. The electromagnetic induction-based self-powered intelligent tool handle according to claim 3, characterized in that: The cutting plane size obtained by the three optimization parameters is 50 mm×30 mm, and the distance between the plane near the cone handle and the plane at the lower end of the cone handle is 20 mm; the uniaxial working strain gauge (113) is arranged 5 mm above the center of the plane and 5 mm from the bisector of the length direction, and the uniaxial temperature compensation strain gauge (112) is arranged 5 mm above the working strain gauge; and the torque strain gauge (114) is arranged 5 mm below the center of the plane and 5 mm from the bisector of the length direction.

10. The self-powered intelligent knife handle based on electromagnetic induction according to claim 1 or 5, characterized in that: The size of the tool bar handle groove (1601) is 1 mm×3 mm; the measuring end of the thermocouple (18) is pasted at a position 5 mm from the front cutting edge and 3 mm from the rear cutting edge.

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