Intelligent ultrasonic cutter for solid propellant robot shaping system

Abstract

The invention discloses an intelligent ultrasonic cutter for a solid propellant robot shaping system, and belongs to the technical field of aerospace solid propellant shaping. According to the tool, the ultrasonic cutting technology and an intelligent sensing system are combined, force feedback and temperature feedback are provided for robot solid propellant shaping, and the machining precision and safety are greatly improved. The tool bit is fixed at the front end of the amplitude-change pole, the rear end of the amplitude-change pole is connected with the force measuring base, the sensitive element is fixed between the amplitude-change pole and the force measuring base through pre-tightening force during installation, the temperature measuring element is installed on the tool bit, and the excitation element is installed on the amplitude-change pole. According to the invention, the risks of tool slippage and collision caused by overlarge cutting force are reduced, and the potential safety hazard in the cutting process is avoided. Due to the compactness and the high integration degree of the overall design, the cutter has extremely high flexibility and operation convenience in the shaping process of the solid propellant grain of the robot, and the requirements of precision machining and long-time high-load operation can be met.

Description

Technical Field

[0001] The invention belongs to the technical field of aerospace solid propellant shaping, and in particular relates to an intelligent ultrasonic cutter for a solid propellant robot shaping system. Background Art

[0002] Solid rocket engines, as the core equipment for aerospace exploration, have advantages over liquid and gas rocket engines, such as simple structure, high stability and excellent thrust-to-weight ratio. Solid propellants have the characteristics of viscoelasticity, easy cracking, flammability and explosion. The shaping accuracy is the key link to ensure its stability and reliability. The current propellant shaping methods are mainly divided into manual shaping and mechanical shaping. In "An Ultrasonic-Assisted Shaping Tool for Solid Fuels" (Application No. 201810705611.4), a manual ultrasonic-assisted shaping tool is proposed for solid fuels. However, as the size of solid propellants becomes larger and the structure becomes more complex, the advantages of robots replacing manual shaping are becoming more and more obvious, becoming one of the mainstream development directions. Robots have the advantages of high flexibility, large working space, high precision and low cost. They can freely replace end tools to complete various tasks such as processing, welding, and handling. Together with solid fuel shaping tools, they can replace manual shaping and cutting of large-size solid propellants, which greatly ensures the life safety of workers and reduces labor intensity. However, there is currently little research and development on solid propellant shaping tools for the end of the robot. In addition, since the robot itself is difficult to sense the force and temperature during propellant shaping, it can only cut slowly with conservative parameters and cannot automatically adjust the cutting parameters according to the real-time status of the tool, making it difficult to achieve efficient and large-scale production, which seriously limits the improvement of production efficiency and manufacturing capabilities.

[0003] Due to the obvious viscoelastic characteristics of solid propellant materials, elastic deformation and plastic deformation are easily generated during cutting, and processing accuracy and efficiency are difficult to guarantee. Ultrasonic tools use ultrasonic transducers to convert electrical energy into mechanical energy, amplify the amplitude of ultrasonic vibrations through the amplitude transformer, and excite the cutter head to swing back and forth at high frequency in a specific direction. The use of ultrasonic tools to process viscoelastic materials has the advantages of high cutting accuracy, no material deformation, low cutting force, high cutting efficiency, and neat and smooth incisions. It is widely used in the processing of viscoelastic materials such as rubber and silicone. Therefore, using ultrasonic tools to shape solid propellants can further improve cutting efficiency, reduce cutting difficulty, and improve shaping accuracy.

[0004] Therefore, in order to meet the demand of using robots to perform shaping processing on solid propellants, it is necessary to design a tool that takes into account ultrasonic processing, temperature monitoring, and cutting force monitoring. Summary of the invention

[0005] In order to solve the problems of force-temperature feedback and difficult processing of viscoelastic materials when the robot shapes solid propellant, the present invention provides an intelligent ultrasonic tool for a solid propellant robot shaping system. The tool provides force feedback and temperature feedback for the robot solid propellant shaping by combining ultrasonic cutting technology with an intelligent sensing system, thereby greatly improving processing accuracy and safety.

[0006] The technical solution adopted by the present invention is:

[0007] An intelligent ultrasonic tool for a solid propellant robot shaping system comprises a robot flange adapter plate, a force measuring base, a horn, a cutter head, an excitation element, a sensitive element and a temperature measuring element; the cutter head is fixed at the front end of the horn, the rear end of the horn is connected to the force measuring base, the upper end of the force measuring base is connected to the robot flange adapter plate, the sensitive element is fixed between the horn and the force measuring base by a pre-tightening force during installation, the temperature measuring element is installed on the cutter head, and the excitation element is installed on the horn.

[0008] Compared with the prior art, the present invention has the following beneficial effects:

[0009] The present invention can provide the robot with force feedback and temperature feedback during the shaping process of solid propellant grains, thereby improving the shaping accuracy and safety; the physical properties of solid propellant grains make them prone to viscoelastic deformation during planing, and the introduction of ultrasonic-assisted processing can effectively reduce cutting force, extend tool life, and improve processing accuracy.

[0010] Compared with the prior art, the solid propellant shaping intelligent ultrasonic tool of the present invention has the following advantages:

[0011] (1) Cutting force is greatly reduced;

[0012] Compared with traditional mechanical tools, ultrasonic-assisted shaping tools effectively reduce the required cutting force through high-frequency vibration. In traditional cutting, the contact between the tool and the workpiece is continuous, while ultrasonic vibration makes the contact between the tool and the workpiece intermittent, reducing the compressive stress of the material. This feature significantly reduces the risk of tool slippage and collision caused by excessive cutting force, avoiding safety hazards during the cutting process. In addition, because the tool can be easily installed on a robot arm, it can achieve stable and efficient cutting in an automated environment, further reducing the burden of manual operation.

[0013] (2) Compact structure and high integration;

[0014] Various components such as horn, excitation element, sensitive element, temperature measuring element, etc. are integrated inside the tool through clever layout and compact design, making full use of limited space and ensuring efficient operation of the system. The tool adopts modular design, which is convenient for assembly and maintenance of various components. At the same time, it realizes real-time monitoring of cutting force and temperature through efficient sensing and control system, improving processing accuracy and safety. The compactness and high integration of the overall design make the tool extremely flexible and easy to operate in the process of robot solid propellant grain shaping, which can meet the needs of precision processing and long-term high-load operation.

[0015] (3) Modular design for easy maintenance and replacement;

[0016] The cutter head adopts an L-shaped bending structure design with modular characteristics, which is easy to install, maintain and replace. This design makes the use of the cutter more flexible, while reducing the damage of the cutter caused by improper operation, and improving the overall production efficiency. Through the automated operation of the robot arm, the service life of the cutter can be maximized, reducing the damage that may be caused by human operation.

[0017] (4) Accurately monitor forces and temperatures during processing;

[0018] The ultrasonic-assisted shaping tool of the present invention can monitor cutting force and temperature changes in real time, effectively avoiding tool damage or workpiece deformation caused by excessive cutting force, and timely adjusting the temperature to prevent changes in the physical properties of the propellant caused by excessive temperature during processing. This precise force-temperature feedback system not only improves processing accuracy, but also greatly improves the safety of the processing process, especially replacing manual operations in high-risk industries, reducing the risks of human intervention and safety hazards. The intelligent tool provides strong support for the automated operation of the robot, ensuring that the shaping task of the solid propellant can be completed stably and efficiently in a long-term, high-load operating environment, significantly improving the safety and stability of the overall operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the sensitive element of the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of the cutter head of the present invention;

[0022] Figure 4 This is a schematic diagram of the installation state of the present invention. Figure 1 ;

[0023] Figure 5 This is a schematic diagram of the installation state of the present invention. Figure 2 ;

[0024] Among them: 1. Hexagon socket screw 1; 2. Robot flange adapter plate; 3. Right half shell; 4. Force measuring base; 5. Hexagon socket screw 2; 6. Lead connector; 7. Amplitude transformer; 8. Hexagon socket screw 3; 9. Left half shell; 10. Cutter head; 11. Hexagon head bolt; 12. Excitation element; 121. Piezoelectric ceramic 1; 13. Sensitive element; 131. Force measuring boss; 132. PCB electrode sheet; 133. Piezoelectric ceramic 2; 134. Ring electrode sheet; 135. Zirconia insulating sheet; 14. Shell. DETAILED DESCRIPTION

[0025] In order to better understand the purpose, structure and function of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings.

[0026] like Figure 1 to Figure 5 As shown, the present invention provides an intelligent ultrasonic tool for a solid propellant robot shaping system, comprising a robot flange adapter plate 2, a force measuring base 4, a variable amplitude rod 7, a cutter head 10, an excitation element 12, a sensitive element 13 and a temperature measuring element; the front end of the variable amplitude rod 7 is fixed to the cutter head 10 by a hexagonal head bolt 11, the rear end of the variable amplitude rod 7 is connected to the force measuring base 4 by a hexagonal socket screw 25, the upper end of the force measuring base 4 is connected to the robot flange adapter plate 2 by a hexagonal socket screw 11, the sensitive element 13 is fixed between the variable amplitude rod 7 and the force measuring base 4 by a pre-tightening force during installation, the temperature measuring element is installed on the cutter head 10, and the excitation element 12 is installed on the variable amplitude rod 7.

[0027] The excitation element 12 comprises two pieces of piezoelectric ceramics 121, which are respectively mounted on two opposite planes of the horn 7, and the piezoelectric ceramics 121 are connected by the same excitation signal line, and the excitation signal lines of the positive charge plane and the negative charge plane are respectively connected to the lead connector 6;

[0028] The sensitive element 13 comprises two force measuring units, which are arranged symmetrically and separated from the housing and the horn 7 by a zirconium oxide insulating sheet 135. The charge signal measured by the force measuring unit is transmitted through the lead connector 6.

[0029] The temperature measuring element is a thermocouple array, which is installed at the slot of the blade of the cutter head 10, passes through the reserved installation slot and the center hole of the horn 7, and is connected to the lead connector 6;

[0030] like Figure 1As shown, a housing 14 is arranged outside the horn 7, the horn 7 is located in the center of the housing 14, and the excitation element 12 is located between the horn 7 and the housing 14. The housing 14 is composed of a left half housing 9 and a right half housing 3. The left half housing 9 and the right half housing 3 are both two semi-rectangular blocks, which are connected to the left and right end faces of the force measuring base 4 by countersunk hexagon socket screws 8 to complete the assembly and form a rectangular block. The end face at the rear end of the housing 14 has a wiring plug 6 for leading out the data harness; the end face at the front end of the housing 14 has a slot for the horn 7, the ultrasonic horn 7 can be installed in the slot, and the housing 14 and the horn 7 are sealed by a sealing ring; the upper end of the housing 14 has a slot for the force measuring base 4, the force measuring base 4 can be installed in the slot, and fixed by interference fit. The housing 14 and the force measuring base 4 are sealed by a sealing ring.

[0031] The housing 14 has two layers, an inner aluminum alloy housing and an outer insulating explosion-proof housing. The aluminum alloy housing has a thickness greater than 8 mm and is well grounded.

[0032] like Figure 1 , Figure 3 As shown, the cutter head 10 adopts an L-shaped bending structure, the end of the cutter head 10 is a multi-hole mounting part fixed to the front end of the amplitude transformer 7 by four hexagonal bolts 11, and the front end of the cutter head 10 is a blade with a certain inclination angle.

[0033] The blade of the cutter head 10 is used for cutting the workpiece. The design of the cutter head 10 enables the blade to flexibly fit the surface of the workpiece for precision cutting, while the inclination angle design optimizes the cutting force and friction coefficient, improves cutting efficiency and reduces friction.

[0034] like Figure 3 As shown, the bottom plane of the blade is arranged with 3 front and 2 rear temperature measuring points. The first 3 temperature measuring points are close to the blade tip, and the rear 2 temperature measuring points are slightly away from the blade tip, forming a temperature measuring array. The temperature measuring element is a thermocouple array, which is installed at the slot of the blade, passes through the reserved installation slot and the center hole of the amplitude transformer 7, and is connected to the lead connector 6; specifically: the thermocouple filament is buried in the root-like slot at the bottom of the blade, and is led out through the center of the end of the blade head 10 to the center hole of the amplitude transformer 7. The slots on the blade head 10 are radially symmetrically distributed, with a total of five slot lines, extending from the front end tip of the blade head 10 to the rear along the surface, and the slot lines are evenly arranged and equally spaced. The shape of the slot is an elongated groove, which is consistent with the geometric shape of the blade head 10, naturally extends along the arc, and forms a certain angle with the edge of the blade head 10. This design ensures the functionality of the slot and the symmetry of the structure, while enhancing the overall beauty and performance of the blade head 10.

[0035] like Figure 1As shown, the amplitude transformer 7 is a regular quadrangular prism boss structure with a cylindrical through hole in the center, which is reserved for the data line. The thermocouple of the temperature measuring element passes from the cutter head 10 to the wiring plug. The rear end of the amplitude transformer 7 has a circular boss, and the surface of the circular boss is a mating surface that needs to be finely ground for the installation of the sensitive element 13.

[0036] The excitation element 12 is a stack of two rectangular piezoelectric ceramics pasted on both sides of the horn 7. The positive poles of the two piezoelectric ceramics are in the same direction. When an alternating current is applied, the horn 7 is excited to flexurally vibrate in the same phase.

[0037] like Figure 2 As shown, the sensitive element 13 includes two force measuring units, which jointly complete the measurement of three-dimensional cutting force. The two force measuring units are symmetrically distributed, including a force measuring boss 131, a PCB electrode sheet 132, a piezoelectric ceramic 133, a circular electrode sheet 134, and a zirconia insulating sheet 135 distributed in sequence from the center to both ends. The negative electrode of the piezoelectric ceramic 133 is in contact with the PCB electrode sheet 132, and the positive electrode of the piezoelectric ceramic 133 is in contact with the circular electrode sheet 134.

[0038] The two force measuring units are separated from the housing 14 and the horn 7 by a zirconium oxide insulating sheet 135 , and the measured charge signal is transmitted through the lead connector 6 .

[0039] like Figure 2 As shown, the two force measuring bosses 131 are symmetrically integrated on both sides, and the outer surface of the force measuring boss 131 is provided with four circular bosses distributed in a rhombus shape, which are used to apply pressure to the piezoelectric ceramic 133; the force measuring boss 131 is a stainless steel force measuring element,

[0040] The central area of ​​the PCB electrode sheet 132 is designed with an opening. The PCB electrode sheet 132 is printed on a single side of the circuit board. The side in contact with the force measuring boss 131 is an insulating side, and the side in contact with the piezoelectric ceramic 133 is printed with four conductive areas distributed in a diamond shape, which can effectively conduct the charge changes generated by the piezoelectric ceramic, thereby realizing the output of electrical signals. The protrusions of the force measuring boss 131 correspond one-to-one to the centers of the four conductive areas. The conductive areas are slightly higher than the surrounding insulating areas, and are connected to the four circular pads provided in the center of the PCB electrode sheet 132, forming a charge conduction path, ensuring that the charge changes of the piezoelectric ceramic can be efficiently output to the external circuit.

[0041] The piezoelectric ceramic 133 is in a circular shape, and its two sides have different coating shapes. The side in contact with the circular electrode sheet 134 is a complete silver-plated coating, forming a continuous and uniform conductive coating to achieve efficient conduction of charge; the silver-plated coating on the side in contact with the PCB electrode sheet 132 only covers the four diamond-shaped conductive areas of the PCB electrode sheet 132, which is a local silver-plated layer, presenting four independent arc-shaped conductive areas, and corresponding to the conductive areas of the PCB electrode sheet 132 one by one. These arc-shaped conductive areas are distributed in a cross-symmetrical manner and separated by unsilver-plated areas, which are used to accurately sense and conduct the charge signal generated by the stainless steel force measuring boss 131. The central opening design facilitates the passage of wires.

[0042] The force measuring unit is characterized in that the annular electrode sheet 134 contacts the silver-plated layer of the second piezoelectric ceramic 133, the partial silver-plated layer of the second piezoelectric ceramic 133 contacts the non-fully insulating coating of the PCB electrode sheet 132, and one side of the fully insulating coating of the PCB electrode sheet 132 contacts the force measuring boss 131. At the same time, the four symmetrically distributed arc-shaped conductive areas of the second piezoelectric ceramic 133, the four symmetrically distributed conductive areas of the PCB electrode sheet 132 and the four symmetrically distributed protrusions of the force measuring boss 131 are precisely aligned in the axial direction during installation.

[0043] The three-way cutting force is measured as follows:

[0044] Assuming that the signals output by one of the PCB electrode sheets 132 are recorded as F1, F2, F3, and F4 in clockwise order from the direction of the force measuring base 4 after passing through the charge amplifier, and the signals output by another of the PCB electrode sheets 132 are recorded as F5, F6, F7, and F8 in clockwise order from the direction of the force measuring base 4 after passing through the charge amplifier, the three-axis forces on the tool head 10 can be expressed as:

[0045] F x =F2-F4+F6-F8

[0046] F y =F1-F3+F5-F7

[0047] F z =F1+F2+F3+F4+F5+F6+F7+F8.

[0048] All lead welding points in the sensitive element 13 are arranged at the center of the force measuring unit. The leads of the sensitive element 13 and the leads of the excitation element 13 and the temperature measuring element are all led out to the lead connector 6 through the through hole and connected to the back-end circuit.

[0049] The signal of the sensitive element 13 is output by two PCB electrode sheets 132, and four signals are respectively connected to the lead connectors 6 through the through holes of the force measuring base 4 by signal lines;

[0050] The signal of the temperature measuring element is transmitted from the thermocouple through the central hole of the amplitude transformer 7 in the reserved installation slot, and then connected to the lead connector 6 through the center of the sensitive element 132 and the through hole of the force measuring base 4.

[0051] The temperature measuring element is a thermocouple located at the slot of the cutter head 10. It passes through the reserved installation slot and the center hole of the amplitude transformer 7, and then passes through the center of the sensitive element 13 to be connected to the lead connector 6. When the temperature collected by the sensor of the temperature measuring element exceeds the set value required by the process, the temperature control module terminates the operation.

[0052] The signal of the excitation element 12 is inputted by the lead connector 6 through the same excitation signal line and connected to the plane of the corresponding excitation unit through the through hole of the force measuring base 4;

[0053] like Figure 1 As shown, the excitation element 12 includes two piezoelectric ceramics 121, and the two piezoelectric ceramics 121 are respectively attached to the left and right planes of the amplitude transformer 7, the normal direction of the two relative planes is the same as the cutting direction of the tool head 10, and the positive charge planes of the two piezoelectric ceramics 121 after polarization are in the same direction, so that the cutting force direction requirements required for the tool head 10 during processing and the frequency degeneracy of the two bending vibration modes can be ensured. When the two piezoelectric ceramics 121 are driven by a high-frequency voltage with the same phase amplitude, the amplitude transformer 7 is excited to generate ultrasonic vibration, and the amplitude transformer 7 amplifies the amplitude and transmits it to the tool head 10, so that the tool tip vibrates ultrasonically along the normal direction of the two piezoelectric ceramics 121.

[0054] like Figure 1 As shown, threaded holes are reserved on the left and right sides of the upper end of the force measuring base 4 for fixing the left half shell 9 and the right half shell 3. The rear end of the force measuring base 4 is connected to the amplitude rod 7 through the hexagon socket screw 5 to provide pre-tightening force for the piezoelectric ceramic force measuring crystal group, and a through hole is reserved for the wire to pass through.

[0055] The assembly sequence of the intelligent ultrasonic tool of the solid propellant robot shaping system is as follows: first, fix the order of the two force measuring units contained in the sensitive element 13 between the force measuring base 4 and the amplitude transformer 7 with the hexagon socket screw 2 5, and pass the corresponding sensitive element 13, the excitation element 12, and the temperature measuring element through the through hole of the force measuring base 4; fix the tool head 10 with the thermocouple installed with the hexagon head bolt 11; connect all the leads to the lead connector 6, and then fix the left half shell 9 and the right half shell 3 to the amplitude transformer 7 and the force measuring base 4 with the hexagon socket screw 3 8; finally, fix the robot flange adapter plate 2 to the shell 14 with the hexagon socket screw 1, and connect the external wires.

[0056] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. An intelligent ultrasonic tool for a solid propellant robot shaping system, characterized in that: The invention comprises a robot flange adapter plate (2), a force measuring base (4), an amplitude changer (7), a cutter head (10), an excitation element (12), a sensitive element (13) and a temperature measuring element; the front end of the amplitude changer (7) is fixed to the cutter head (10), the rear end of the amplitude changer (7) is connected to the force measuring base (4), the upper end of the force measuring base (4) is connected to the robot flange adapter plate (2), the sensitive element (13) is fixed between the amplitude changer (7) and the force measuring base (4), the temperature measuring element is installed on the cutter head (10), and the excitation element (12) is installed on the amplitude changer (7).

2. The intelligent ultrasonic tool for a solid propellant robot shaping system according to claim 1, characterized in that: A shell (14) is arranged outside the horn (7), the excitation element (12) is located between the horn (7) and the shell (14), the end surface at the rear end of the shell (14) is provided with a wiring plug (6) for leading out a data harness; the end surface at the upper end of the shell (14) is provided with a slot for the horn (7), and the rear end of the shell (14) is provided with a slot for a force measuring base (4).

3. The intelligent ultrasonic tool for a solid propellant robot shaping system according to claim 1, characterized in that: The cutter head (10) adopts an L-shaped bending structure, the end of the cutter head (10) is a multi-hole mounting part fixed to the front end of the amplitude transformer (7), and the front end of the cutter head (10) is a blade with a certain inclination angle.

4. The intelligent ultrasonic tool for a solid propellant robot shaping system according to claim 3, characterized in that: The bottom plane of the blade is arranged with a plurality of temperature measuring points to form a temperature measuring array. The temperature measuring element is a thermocouple array. The thermocouple filaments are buried in the slots at the bottom of the blade and are led out through the center of the end of the blade head (10) to the center hole of the amplitude transformer (7). The slots on the blade head (10) are radially symmetrically distributed. There are five slot lines in total, which extend from the front end tip of the blade head (10) to the rear along the surface, and the slot lines are evenly arranged.

5. The intelligent ultrasonic tool for a solid propellant robot shaping system according to claim 1, characterized in that: The horn (7) is a regular quadrangular prism boss structure, with a cylindrical through hole at the center, for the thermocouple of the temperature measuring element to pass from the cutter head (10) to the wiring plug, and a circular annular boss is provided at the rear end of the horn (7), and the surface of the circular annular boss is used for mounting the sensitive element (13).

6. The intelligent ultrasonic tool for a solid propellant robot shaping system according to claim 1, characterized in that: The sensitive element (13) comprises two force measuring units, which together measure the three-dimensional cutting force. The two force measuring units are symmetrically distributed and comprise a force measuring boss (131), a PCB electrode sheet (132), a second piezoelectric ceramic (133), a circular electrode sheet (134), and a zirconium oxide insulating sheet (135) which are sequentially distributed from the center to both ends. The negative electrode of the second piezoelectric ceramic (133) contacts the PCB electrode sheet (132), and the positive electrode of the second piezoelectric ceramic (133) contacts the circular electrode sheet (134).

7. The intelligent ultrasonic tool for a solid propellant robot shaping system according to claim 6, characterized in that: The two force measuring bosses (131) are symmetrically integrated at both sides, and the outer surface of the force measuring boss (131) is provided with four circular bosses for applying pressure to the piezoelectric ceramic 2 (133); The PCB electrode sheet (132) is printed on a single side of the circuit board, the side in contact with the force measuring boss (131) is an insulating side, and the side in contact with the piezoelectric ceramic (133) is printed with four conductive areas, the protrusions of the force measuring boss (131) correspond one to one with the centers of the four conductive areas of the PCB electrode sheet (132), and the conductive areas are connected to four circular pads provided at the center of the PCB electrode sheet (132); The second piezoelectric ceramic (133) is in the shape of a ring, and the side in contact with the ring electrode sheet (134) is completely silver-plated, and the side in contact with the PCB electrode sheet (132) is silver-plated to cover four conductive areas of the PCB electrode sheet (132).

8. The intelligent ultrasonic tool for a solid propellant robot shaping system according to claim 6, characterized in that: The three-way cutting force is measured as follows: Assuming that the signal output by one of the PCB electrode sheets (132) is recorded as F1, F2, F3, and F4 in clockwise order when viewed from the direction of the force measuring base (4) after passing through the charge amplifier, and the signal output by another of the PCB electrode sheets (132) is recorded as F5, F6, F7, and F8 in clockwise order when viewed from the direction of the force measuring base (4) after passing through the charge amplifier, it can be measured that the three-dimensional forces exerted on the tool head (10) can be expressed as: F x =F2-F4+F6-F8 <h2 style=";text-align:left;direction:ltr">F<h2 style=";text-align:left;direction:ltr"> y <h2 style=";text-align:left;direction:ltr"> (F1-F3+F5-F7) <h2 style=";text-align:left;direction:ltr">F<h2 style=";text-align:left;direction:ltr"> z <h2 style=";text-align:left;direction:ltr"> (F1+F2+F3+F4+F5+F6+F7+F8) 9. The intelligent ultrasonic tool for a solid propellant robot shaping system according to claim 2, characterized in that: The excitation element (12) comprises two piezoelectric ceramics (121), the two piezoelectric ceramics (121) are respectively adhered to the left and right planes of the amplitude transformer (7), and the positive charge planes of the two piezoelectric ceramics (121) after polarization are oriented in the same direction.

10. The intelligent ultrasonic tool for a solid propellant robot shaping system according to claim 2, characterized in that: The upper left and right sides of the force measuring base (4) have reserved threaded holes for fixing the left half shell (9) and the right half shell (3) of the shell, and the rear end of the force measuring base (4) is connected to the amplitude changing rod (7).

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