Turning force measuring tool with embedded flexible sensor and machine tool

Abstract

The invention belongs to the field of cutting tools, provides an embedded flexible sensor turning force measuring tool and a machine tool, effectively measures turning force while not influencing a turning machining structure, and ensures the accuracy and reliability of signals at the same time, and adopts the technical scheme that the embedded flexible sensor turning force measuring tool comprises a tool body, the cutter body comprises a blade, a positioning assembly and a clamping assembly used for clamping the blade. The positioning assembly comprises a freedom degree limiting assembly used for limiting the blade to move in the x-axis direction, the y-axis direction and the z-axis direction. A flexible sensor is arranged on the lower surface of the blade, a flexible circuit is arranged at the front end of the knife body, and the pressure sensor and the flexible circuit are connected through a flexible wire; the flexible sensor is used for converting deformation of the blade under the action of turning force into a voltage signal; and the flexible circuit is used for calculating the magnitude of the turning force according to the relationship between the voltage signal and the turning force.

Description

Technical Field

[0001] The present invention belongs to the field of cutting tools, and particularly relates to an embedded turning force flexible measurement device and a tool system. Background Art

[0002] The statements in this part only provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] First, the turning force is one of the main factors affecting the machining accuracy of metal turning. By measuring the turning force in real time, the turning parameters can be adjusted in a timely manner, the turning process can be optimized, so as to ensure the machining quality and extend the tool life. Secondly, the measurement of the turning force helps to monitor various states during the cutting process, such as tool wear, workpiece material change, and turning process abnormality, etc., thus ensuring production efficiency and machining quality. In addition, the sensor can monitor the change of the turning force in real time and feedback it to the numerical control system, enabling the system to dynamically adjust the feed rate and other process parameters to improve machining efficiency and stability. Therefore, it is very necessary to use sensors to measure the turning force in turning machining for research to improve machining accuracy, efficiency and reliability.

[0004] Currently, the main turning force detection device is a piezoelectric three - component force tester. Existing turning force measurement systems such as the tool - shank type turning force dynamometer need to be installed at the tool - shank part of the machine tool, which affects the turning machining structure. At the same time, the original machining device needs to be modified, and the installation process is relatively complex; the piezoelectric three - component cutting force test system has deficiencies in dynamic response, installation convenience and data processing efficiency. At the same time, most of the cutting force detections do not involve a feedback control scheme, and cannot synchronously adjust the spindle speed and feed rate for dynamic adjustment according to the deviation between the real - time cutting force and the set value. Summary of the Invention

[0005] In order to solve at least one of the technical problems in the above - mentioned background art, the first aspect of the present invention provides an embedded flexible sensor turning force measurement tool, which can effectively measure the turning force without affecting the turning machining structure, and at the same time ensure the accuracy and reliability of the signal.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] An embedded flexible sensor turning force measurement tool, including a tool body, the tool body includes a cutting blade, a positioning component and a clamping component for clamping the cutting blade; the positioning component includes a degree - of - freedom limiting component for restricting the movement of the cutting blade in the x - axis, y - axis and z - axis directions; a flexible sensor is arranged on the lower surface of the cutting blade, a flexible circuit is arranged at the front end of the tool body, and the flexible sensor and the flexible circuit are connected by a flexible wire;

[0008] The flexible sensor is used to convert the deformation of the blade under the turning force into a voltage signal;

[0009] The flexible circuit is used to calculate the magnitude of the turning force according to the mapping relationship between the voltage signal and the turning force.

[0010] Further, the positioning component includes a gasket, a short cylindrical pin and a serrated edge pin. Two communicating grooves are formed on the tool body. The gasket and the blade are sequentially stacked on the upper surface of the first groove, and the gasket is disposed under the blade; the first groove is provided with a first through hole and a second through hole. A short cylindrical pin is arranged in the first through hole, and a serrated edge pin is arranged in the second through hole. One end of the short cylindrical pin and the serrated edge pin penetrates into the tool body, and the other end penetrates into the blade through the gasket.

[0011] Further, the clamping component includes a wedge block, a round head screw, a spring washer, a bolt and a stop block; a spring washer and a wedge block are arranged on the upper surface of the second groove in the y direction of the blade. The second groove is provided with a third through hole, and a round head screw is arranged in the third through hole. One end of the round head screw penetrates into the tool body, and the other end penetrates into the wedge block through the spring washer; a bolt and a stop block are arranged on the side surface of the first groove in the x direction of the blade. The bolt and the stop block are threadedly connected, and the stop block passing through the blind hole is pushed by the fastening screw threadedly connected to the tool body in the x direction.

[0012] Further, the flexible sensor includes a first encapsulation layer, a base layer, a sensitive layer, a conductive layer and a second encapsulation layer; the first encapsulation layer, the base layer, the sensitive layer, the conductive layer and the second encapsulation layer are adhesively bonded in sequence from bottom to top; the first encapsulation layer is adhesively bonded to the gasket, and the sensitive layer and the conductive layer are adhesively bonded as the main body part of the sensor to convert the turning force into an electrical signal. The second encapsulation layer is located on the outermost layer of the sensor and is in direct contact with the blade.

[0013] Further, the sensitive layer includes a substrate, symmetrically distributed resistance grids and electrodes arranged on the substrate; the symmetrically distributed resistance grids include a first resistor R1 and a second resistor R2 parallel to the radial direction of the blade, and a third resistor R3 and a fourth resistor R4 perpendicular to the radial direction of the blade; the first resistor R1, the second resistor R2, the third resistor R3 and the fourth resistor R4 are connected to an external voltage through the electrodes to form a Wheatstone bridge, and the output end of the Wheatstone bridge is connected to the input end of the flexible circuit.

[0014] Further, the flexible circuit module includes a flexible circuit board, a wireless communication module and a control module arranged on the flexible circuit board. The control module includes a signal amplification circuit, an A / D conversion circuit and a microprocessor. One end of the signal amplification circuit is connected to the flexible sensor, and the other end is connected to the input end of the A / D conversion circuit. The output end of the A / D conversion circuit is connected to the microprocessor module. The microprocessor module is used to calculate the magnitude of the turning force according to the relationship between the electrical signal and the turning force.

[0015] Further, the mapping relationship between the voltage signal and the turning force is as follows:

[0016]

[0017]

[0018] Among them, F is the cutting force, σ is the stress, GF is the strain gauge sensitivity coefficient, E is the elastic modulus of the tool material, A is the cross-sectional area of the strain gauge sensitive area, U0 is the output voltage of the Wheatstone bridge, U ab is the voltage of line ab at R3, U bc is the voltage of line bc at R2, U1 is the external power supply voltage, I1 is the current of the series circuit of R1 and R3, and I2 is the current of the series circuit of R2 and R4.

[0019] To solve the above problems, the second aspect of the present invention provides an embedded flexible sensor turning force measuring tool, which can effectively measure the turning force without affecting the turning processing structure, and at the same time ensure the accuracy and reliability of the signal.

[0020] The positioning component is replaced with a tapered bar pin, a reduced-edge pin and a gasket. A V-shaped groove is opened on the tool body. The gasket and the blade are sequentially stacked on the upper surface of the V-shaped groove, and the gasket is disposed under the blade; the V-shaped groove is provided with a first through hole and a second through hole. A tapered bar pin is arranged in the first through hole, and a reduced-edge pin is arranged in the second through hole. One end of the tapered bar pin and the reduced-edge pin penetrates into the tool body, and the other end penetrates into the blade through the gasket.

[0021] The clamping component is replaced with a pressing plate, a slotted cone-end tightening screw and a tapered bar pin. A tapered bar pin is arranged in the y direction of the blade. A third through hole is arranged in the tool body, and a slotted cone-end tightening screw is arranged in the third through hole. The top of the slotted cone-end tightening screw abuts against the tail end of the tapered bar pin, so that the diamond blade is stuck in the V-shaped groove of the tool body; a pressing plate is arranged in the z direction of the blade.

[0022] To solve the above problems, the third aspect of the present invention provides an embedded flexible sensor turning force measuring machine tool, which can effectively measure the turning force without affecting the turning processing structure, and at the same time ensure the accuracy and reliability of the signal.

[0023] To achieve the above object, the present invention adopts the following technical solutions:

[0024] An embedded flexible sensor turning force measurement machine tool includes a machine tool bed body. One end of the machine tool bed body is equipped with a bracket and a headstock, and the other end is fixed with a tailstock. A chuck for clamping a workpiece is provided on the bracket; a feed module is arranged between the headstock and the tailstock, and the embedded flexible sensor turning force measurement tool described in the first aspect or the second aspect is installed on the feed module.

[0025] The beneficial effects of the present invention are as follows:

[0026] 1. The present invention can measure the turning force of blades with different shapes and sizes without damaging the original turning processing structure. A flexible sensor is arranged on the lower surface of the blade to convert the deformation of the blade under the action of turning force into an electrical signal; the fitting performance of the blade during turning processing is improved, and the magnitude of the turning force is calculated according to the relationship between the electrical signal and the turning force, which can more accurately capture the change of the turning force of the tool during turning processing, avoid interfering with and damaging the turning processing structure, and realize more accurate measurement of the turning force.

[0027] 2. The present invention sets a flexible material for the conducting wire, which has good flexibility and light weight characteristics, and is convenient for installation and bending applications. At the same time, through holes are opened inside the tool pad, so that the circuit will not be bent excessively during use, the service life of the circuit is improved, and the safety factor of the acquisition system is greatly improved.

[0028] 3. The present invention provides a flexible sensor grinding heat measurement fixture device, which transmits data wirelessly through WiFi, replaces the traditional wired connection, avoids the need for laying complex wires on site, thereby reducing the environmental transformation cost and facilitating the work of data acquisition personnel.

[0029] Advantages of additional aspects of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0031] Figure 1 It is a schematic structural diagram of an embedded flexible sensor turning force measurement tool according to Embodiment 1 of the present invention;

[0032] Figure 2 It is a six-point positioning schematic diagram of the blade according to Embodiment 1 of the present invention;

[0033] Figure 3 It is a hierarchical structure diagram of a flexible piezoresistive sensor according to Embodiment 1 of the present invention;

[0034] Figure 4 It is the structure diagram of the sensitive layer of the flexible sensor in Embodiment 1 of the present invention;

[0035] Figure 5 It is the structure diagram of the flexible circuit system in Embodiment 1 of the present invention;

[0036] Figure 6 It is the structure diagram of the turning force data acquisition in Embodiment 1 of the present invention;

[0037] Figure 7 It is the structure diagram of the turning force data acquisition in Embodiment 1 of the present invention;

[0038] Figure 8 It is the circuit schematic diagram of the flexible piezoresistive sensor in Embodiment 1 of the present invention;

[0039] Figure 9 It is the circuit schematic diagram of the electronic interface of the flexible sensor in Embodiment 1 of the present invention;

[0040] Figure 10 It is the circuit schematic diagram of the power supply in Embodiment 1 of the present invention;

[0041] Figure 11 It is the signal conditioning circuit diagram in Embodiment 1 of the present invention;

[0042] Figure 12 It is the Bluetooth data transmission flow chart in Embodiment 1 of the present invention;

[0043] Figure 13 It is the flowchart of the lower computer in Embodiment 1 of the present invention;

[0044] Figure 14 It is the system software feedback control flowchart in Embodiment 1 of the present invention;

[0045] Figure 15 It is the framework diagram of the cutting monitoring closed-loop feedback control system in Embodiment 1 of the present invention;

[0046] Figure 16 It is the flexible measurement system device of the bar pin type tool in Embodiment 2 of the present invention;

[0047] Figure 17 It is the schematic diagram of the six-point positioning of the blade in the bar pin type structure in Embodiment 2 of the present invention;

[0048] Figure 18 It is the schematic diagram of the structure of the flexible measurement turning force machine tool device in Embodiment 3 of the present invention;

[0049] Figure 19 It is the turning system flowchart in Embodiment 3 of the present invention;

[0050] Among them, 1. The first cutter body, 2. The groove, 201. The first groove, 2011. The first through hole, 2012. The second through hole, 202. The second groove, 2021. The third through hole, 3. The round head screw, 4. The spring washer, 5. The first serrated pin, 6. The first blade, 7. The short cylindrical pin, 8. The flexible sensor, 801. The first encapsulation layer, 802. The base layer, 803. The sensitive layer, 8031. The substrate, 8032. The electrode, 8033. The resistance grid, 804. The conductive layer, 805. The second encapsulation layer, 9. The first gasket, 10. The flexible wire, 11. The flexible circuit module, 1101. The flexible circuit board, 1102. The power module, 1103. The wireless communication module, 1104. The control module, 12. The bolt, 13. The stop block, 14. The wedge block, 15. The second cutter body, 16. The second blade, 17. The tapered bar pin, 18. The second serrated pin, 19. The second gasket, 20. The third through hole, 21. The fourth through hole, 22. The spring coil, 23. The pressing plate, 24. The slotted cone end clamping screw, 25. The fifth through hole, 26. The pressing plate, 27. The hexagon screw, 28. The bed body, 29. The bracket, 30. The tailstock, 31. The main shaft, 32. The driving motor, 33. The chuck, 34. The headstock, 35. The lead screw, 36. The feed shaft, 37. The sliding block, 38. The first apron, 39. The second apron, 40. The threaded rod, 41. The tool holder, 42. The second sliding handle, 43. The first sliding handle, 44. The first gear, 45. The second gear, 46. The toothed belt, 47. The fixing plate. Detailed implementation manners

[0051] The present invention will be further described below in conjunction with the drawings and embodiments.

[0052] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further descriptions of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0053] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0054] In the present invention, terms such as "connected" and "linked" should be understood in a broad sense, which may mean a fixed connection, an integral connection or a detachable connection; it may be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meanings of the above terms in the present invention can be determined according to specific circumstances, and it should not be construed as a limitation to the present invention.

[0055] Aiming at the problem that the traditional turning force measurement tool device affects the turning processing structure and thus affects the accuracy of the measurement result, the present invention proposes a turning force measurement tool device with a flexible sensor, including a tool body, the tool body includes a blade, a positioning component and a clamping component for clamping the blade; the positioning component includes a degree-of-freedom limiting component for restricting the movement of the blade in the x-axis, y-axis and z-axis directions; a flexible sensor is arranged on the lower surface of the blade, a flexible circuit is arranged at the front end of the tool body, and the pressure sensor and the flexible circuit are connected by a flexible wire;

[0056] The flexible sensor is used to convert the deformation of the blade under the action of turning force into a voltage signal;

[0057] The flexible circuit is used to calculate the magnitude of the turning force according to the relationship between the voltage signal and the turning force.

[0058] The present invention can measure the turning force of blades with different shapes and sizes without damaging the original turning processing structure. A flexible sensor is arranged on the lower surface of the blade to convert the deformation of the blade under the action of turning force into an electrical signal; the fitting property of the blade during turning processing is improved, and the magnitude of the turning force is calculated according to the relationship between the electrical signal and the turning force, which can more accurately capture the change of the turning force of the tool during turning processing, avoid interfering with and damaging the turning processing structure, and realize more accurate measurement of the turning force.

[0059] Embodiment 1

[0060] See Figure 1 - Figure 2 , Embodiment 1 provides a schematic structural diagram of an embedded flexible sensor turning force measurement tool, including a first tool body 1, the first tool body 1 includes a first blade 6, a positioning component and a clamping component for clamping the blade, and the positioning component includes a degree-of-freedom limiting component for restricting the movement of the blade in the x-axis, y-axis and z-axis directions;

[0061] Among them, the positioning component includes a first gasket 9, a short cylindrical pin 7, and a first dowel pin 5. Two communicating grooves 2 are formed on the first tool body 1. The upper surface of the first groove 201 is successively stacked with a first gasket 9 and a first blade 6, and the first gasket 9 is disposed under the first blade 6. The first groove 201 is provided with a first through hole 2011 and a second through hole 2012. A short cylindrical pin 7 is provided in the first through hole 2011, and a first dowel pin 5 is provided in the second through hole 2012. One end of the short cylindrical pin 7 and the first dowel pin 5 penetrates into the first tool body 1, and the other end penetrates into the first blade 6 through the first gasket 9.

[0062] As Figure 2 Shown is a schematic diagram of the six-point positioning of the blade. The movement of the first blade 6 in the x-axis direction and the movement in the y-axis direction are restricted by two degrees of freedom through the short cylindrical pin 7. The rotation of the first blade 6 around the z-axis is restricted by one degree of freedom through the first dowel pin 5 and the short cylindrical pin 7. The movement of the first blade 6 along the z-axis direction, the rotation around the x-axis, and the rotation around the y-axis are restricted by the first gasket 9. Thus, the complete positioning of the first blade 6 is completed.

[0063] Among them, the clamping component includes a wedge block 14, a round head screw 3, a spring washer 4, a bolt 12, and a stop block 13. A spring washer 4 and a wedge block 14 are provided on the upper surface of the second groove 202 in the y-direction of the first blade 6. The second groove 202 is provided with a third through hole 2021, and a round head screw 3 is provided in the third through hole 2021. One end of the round head screw 3 penetrates into the tool body, and the other end penetrates into the wedge block 14 through the spring washer 4. The upper and lower adjustment of the wedge block 14 on the inclined surface of the tool body is realized through the round head screw 3 and the spring washer 4 at the upper end of the wedge block 14, so as to clamp the first blade 6 in the y-direction and the z-direction.

[0064] A bolt 12 and a stop block 13 are provided on the side of the first groove 201 in the x-direction of the first blade 6. The bolt 12 and the stop block 13 are threadedly connected. The bolt 12 is threadedly connected to the first tool body 1 in the x-direction to push the stop block 13 into the blind hole, so as to clamp the first blade 6 in the x-direction.

[0065] The lower side of the front end of the first tool body 1 is attached with a flexible circuit module 11. The flexible sensor 8 is attached inside the first gasket 9. The flexible sensor 8 is connected to the flexible circuit module 11 through a flexible wire 10 passing through the tool pad, which is convenient for the acquisition and signal processing of the turning force.

[0066] As Figure 3 Shown, the flexible sensor includes a first encapsulation layer 801, a base layer 802, a sensitive layer 803, a conductive layer 804, and a second encapsulation layer 805. The first encapsulation layer 801, the base layer 802, the sensitive layer 803, the conductive layer 804, and the second encapsulation layer 805 are adhesively bonded in sequence from bottom to top.

[0067] The first encapsulation layer 801 is bonded to the first gasket 9. The sensitive layer 803 and the conductive layer 804 are bonded to form the main body part of the sensor for converting the turning force into an electrical signal. The second encapsulation layer 805 is located on the outermost layer of the sensor and is in direct contact with the cutting blade.

[0068] Among them, the encapsulation layer mainly plays the roles of protecting the relevant components of the sensor, improving mechanical flexibility, and preventing water and dust. The sensitive layer is the core part of the sensor, made of materials with piezoresistive effects, which converts mechanical signals into electrical signals and is mainly used for real-time monitoring of turning force information. The conductive layer is used to connect the sensitive layer to the external circuit so as to convert the resistance change into a measurable electrical signal. The base layer is mainly used to support the sensor to be stable, provide insulation protection, and support the sensitive components.

[0069] As Figure 4 shown, the sensitive layer 803 includes a substrate 8031, eight electrodes 8032, and four symmetrically distributed resistance grids 8033. During operation, the four resistance grids 8033 are connected to an external voltage through the eight electrodes 8032 to form a Wheatstone bridge, and the output terminal of the Wheatstone bridge is connected to the signal input terminal of the terminal block through a connecting wire.

[0070] When the cutting blade turns the workpiece, the cutting blade deforms under the action of the turning force and drives all four resistance grids 8033 to deform. At this time, the deformation amounts of the two longitudinally distributed resistance grids 8033 are not equal to those of the two transversely distributed resistance grids 8033, resulting in the output of a voltage signal by the Wheatstone bridge. This voltage signal is sequentially sent to the voltage feedback operational amplifier online through the connecting wire and the terminal block.

[0071] In addition, the material of the sensitive layer can be selected as a metal with good physical properties or a conductive filler is incorporated into the polymer to obtain a sensitive material with relatively high physical properties.

[0072] As an inductive element for collecting the turning force, when the sensitive layer of the flexible sensor is affected by external vibrations, the resistance of the inductive element will change accordingly, thereby causing a change in current, converting the vibration signal into an electrical signal, and then through signal amplification and A / D conversion, obtaining the turning force signal parameters and storing them in the control device.

[0073] The flexible sensor is installed on the inner surface of the cutting blade, so that the sensor is in direct contact with the surface of the turning tool. This requires that in addition to the stretchable and compressible characteristics of the sensor itself, it also has wear and tear resistance.

[0074] As Figure 5As shown, the flexible circuit module 11 includes a flexible circuit board 1101, a power module 1102, a wireless communication module 1103, and a control module 1104 disposed on the flexible circuit board 1101. The power module 1102 supplies electrical energy to the wireless communication module 1103 and the control module 1104.

[0075] Specifically, the power module 1102 is a button battery, and the wireless communication module 1103 uses Bluetooth or the like.

[0076] A wiring port is reserved on the flexible circuit board 1101, and then the flexible circuit module 11 is covered thereon and sealed around to complete the encapsulation. Then, the encapsulated module is pasted to the tool body to become an integral body.

[0077] Furthermore, the sensitive layer 803 of the flexible sensor 8 is electrically connected to the control module 1104. When the flexible sensor 8 deforms, the resistance value signal of the sensitive layer 803 changes. The resistance value signal is transmitted to the control module 1104 through the flexible wire 10. The processor core of the control module 1104 calculates the resistance value and transmits the data through the Bluetooth of the wireless communication module 1103 to the receiving device of the computer PC side.

[0078] As Figure 6 - Figure 7 shown, the turning force data acquisition structure includes the following four parts: a flexible sensor module, a signal acquisition module, a wireless communication module, and a data display and processing module.

[0079] The flexible sensor 8 is disposed on the lower surface of the blade. The sensitive element of the sensor receives the excitation from the outside (the detected turning force), and the physical information non-electric quantity is converted into an electrical parameter (voltage or current) through the conversion element, and then the electrical signal is micro-processed by the signal conditioning.

[0080] Then, the signal acquisition module processes the weak signal such as amplification and pre-filtering for more accurate measurement.

[0081] When the input signal is appropriately conditioned, through the designed A / D conversion circuit, the ADC chip is used to convert the conditioned analog voltage signal into a digital signal with a specific size and frequency that can be recognized by the STM32 single-chip microcomputer and stored in the register.

[0082] The microprocessor uses the STM32 single-chip microcomputer as the main control chip to control the overall operation of the hardware device; the power module supplies the working voltage to each part of the hardware system circuit. The power supply circuit is designed for external power supply, and the power supply circuit provides stable power for each part in the hardware system through voltage transformation, filtering, and current stabilization; the data display and processing module enables the computer and the single-chip microcomputer device to communicate and transmit data with each other through the Bluetooth wireless connection in the wireless communication module, and transmits it to the PC side to complete the display and analysis of the data result.

[0083] As Figure 8 shown, the schematic circuit diagram of the flexible piezoresistive sensor forms a bridge circuit in the way of a Wheatstone bridge. The change in the resistance value can be converted into a change in voltage, so that the relationship between the turning force and the output voltage can be established. After passing through the filtering and signal amplification circuits, it is converted into a digital quantity and then the magnitude of the turning force is calculated by the main control chip.

[0084] The resistance grids are arranged and connected into a bridge circuit through an elastic element. When the tip of the tool is subjected to the resistance during machining, the blade starts to deform. The elastic element acts as a strain transmission medium, causing the resistance grids to deform, and then the resistance value changes, breaking the balance of the original bridge. Subsequently, a voltage signal will be output. After a series of processing such as amplifying this signal, the magnitude of the force on the corresponding tool tip, that is, the turning force value, can be obtained.

[0085] The full-bridge circuit consists of four equal-arm resistors (R1 = R2 = R3 = R4 = R). Among them, R1 and R2 are arranged parallel to the radial direction of the blade, and R3 and R4 are arranged perpendicular to the radial direction of the blade (i.e., parallel to the cross-section of the blade). Equation (1) is the derivation of the relationship between the output voltage of the strain bridge and the resistance change.

[0086]

[0087] Among them, U0 is the output voltage of the Wheatstone bridge and also the potential difference in the ac line, U1 is the external power supply voltage, I1 is the current in the series circuit of R1 and R3, I2 is the current in the series circuit of R2 and R4, U ab is the voltage of line ab at R3, and U bc is the voltage of line bc at R2.

[0088] In the initial state, since the bridge circuit is in a balanced state, the output voltage U0 is zero:

[0089] U0 = 0 (2),

[0090] When the tool is in the cutting state, the strain gauge is deformed by the force. By measuring the output voltage value, the magnitude of the force is deduced. Among the 4 resistors of the Wheatstone full-bridge circuit, 2 are subjected to tension and 2 are subjected to compression:

[0091]

[0092] Considering the condition of small strain After neglecting the higher-order small terms and expanding (1):

[0093]

[0094] When the strain layout satisfies the symmetry condition:

[0095]

[0096] Substituting (5) into (4) gives:

[0097]

[0098] Where ΔR is the change in resistance, and ΔR1, ΔR2, ΔR3, and ΔR4 are the changes in the four resistors respectively;

[0099] According to the strain effect formula, the relationship between the resistance change rate and strain is:

[0100]

[0101] Substituting into the full-bridge formula (6) gives the output voltage:

[0102] U0 = U1·GF·ε (8),

[0103] After transforming equation (8), the strain ε is obtained:

[0104]

[0105] According to Hooke's law formula, the strain is converted to stress:

[0106]

[0107] Mapping from stress to cutting force:

[0108]

[0109] Through the final formula summary (11), the cutting force of the tool can be directly derived from the bridge voltage signal.

[0110] Where F is the cutting force, ε is the average strain, σ is the stress, GF is the strain gauge sensitivity coefficient, E is the elastic modulus of the tool material, and A is the cross-sectional area of the strain gauge sensitive area.

[0111] Such as Figure 9As shown in the figure, the control device in the circuit schematic diagram of the flexible sensor electronic interface is provided with a voltage divider (the circuit connected to the MCU) and a microcontroller MCU, and is connected to the Bluetooth module in the communication module. The control center is connected to other circuit modules through a bus, and the bus reserves an external interface as the access end of the cutting force acquisition module. The voltage divider used for sensor signal conditioning and the microcontroller MCU with multiple A / D converter channels form a turning force preprocessing circuit, the purpose of which is to convert the turning force information into digital signals recognizable by the controller. This electronic interface has a simple structure, a large dynamic measurement range, and is easy to operate. It uses a group of voltage dividers for signal conditioning. The voltage signal from the voltage divider is sent to the embedded A / D converter channel (ADC). The analog reference voltage of the ADC can be selected according to the positive and negative power supply voltages of the microcontroller, and this is also the power supply of the voltage divider. When the power supply voltage changes, the voltage division of the sensor and the reference voltage of the ADC change simultaneously. Since the configured sampling value of the ADC remains stable, this effectively avoids the influence of power supply interference. At the end of the scanning round, all Rsen data is sent to the communication module through the serial port and wirelessly transmitted to the remote receiver PC end through the RF antenna. The remote receiver is equipped with a Bluetooth module, which enables it to receive data from various devices through a virtual serial port without physical connection.

[0112] As Figure 10 shown, the power supply module designed in the power supply circuit schematic diagram is powered by an external 5V battery. A 5V to 3.3V circuit is formed by a forward voltage regulator chip. The LM1117-3.3 linear voltage regulator has current limiting and overheat protection functions, and has a high conversion efficiency while meeting the usage requirements. Figure 10 C5 and C6 in it are filter capacitors at the power input end, and C7, C8, and C9 are filter capacitors at the output end. Using their energy storage characteristics, the voltage at both ends does not change suddenly, preventing self-excited oscillation, and providing a stable working voltage for each module of the system. An LC filter is formed by an inductor L1 and a capacitor at the 3.3V output to filter out high-frequency noise in the input power supply and ensure the stability of the input voltage of the transformer. Among them, the power supply module is the power supply part of the entire acquisition system, and the power quality is closely related to the stability of the entire system. The input voltage of the flexible sensor and the amplifier is 5V, and the voltages of the power supply ports of the communication chip microcontroller, the general input / output ports, and the Bluetooth power supply module level are all 3.3V. Therefore, it is necessary to convert 5V to 3.3V through a low-dropout voltage regulator.

[0113] As Figure 11 shown, the main body of the signal conditioning circuit diagram is a Wheatstone bridge, a circuit used to accurately measure resistance changes, which is used to convert the mechanical quantity change of the turning force into a measurable electrical signal.

[0114] When the turning force changes, the resistance of the sensor also changes accordingly. This change is converted into a voltage signal through a bridge circuit for subsequent signal processing and analysis. The bridge is balanced in the initial state, that is, the voltage difference across the bridge is zero. When the sensor is subjected to the turning force, the balance of the bridge is broken, generating a voltage difference. This voltage difference is proportional to the resistance change and can be used to determine the turning parameters; for anti-aliasing filtering, the sampling frequency should be greater than twice the highest frequency in the signal. Otherwise, the high-frequency signals in the analog signal will be superimposed on the low-frequency band, causing aliasing. Therefore, when collecting data, a low-pass filter is needed to filter out the high-frequency components to solve the frequency aliasing. The filter circuit uses passive filtering, and L and C passive devices are used to reduce the impedance of the corresponding harmonic current path, which can effectively reduce the system power consumption compared with active filtering. The differential signal output by the sensor passes through the anti-aliasing filter to remove the aliasing frequency components in the signal; the amplifier circuit consists of a high-precision instrumentation amplifier INA126 and a precision reference voltage source, which can amplify the sensor signal into a standard signal of 0 - 5V. By adjusting the resistance value of RG, the amplifier circuit can achieve a gain of 1 - 1000 times. When the gain G of the amplifier circuit is 1000, the amplifier circuit still has a bandwidth of 10kHz, fully meeting the data sampling frequency during high-speed turning. The Ref pin of the amplifier INA126 is connected to the precision reference voltage source. Since this module is a digital-analog hybrid circuit, to reduce the influence of the digital part on the analog part, the digital part and the analog part need to be separated, and the digital ground and the analog ground are separated and connected through a 0Ω resistor. The output wire of the amplifier INA126 is connected to the ADC analog-to-digital conversion module in the single-chip microcomputer, and the latter part is used for information collection, storage, and processing.

[0115] As Figure 12 shown, in the Bluetooth data transmission process, the Bluetooth module is connected to the interface of the MCU acquisition board, and the module is configured according to the prompts printed by the network debugging assistant. After the configuration is completed, the control module performs data transmission with the computer. Although Bluetooth can send and receive data, only the data reception function of Bluetooth is used in this embodiment. Therefore, only the data reception is analyzed. The main programs include the initialization of Bluetooth, setting the address for receiving data, data storage, and data transmission.

[0116] As Figure 13As shown in the figure, the lower computer process mainly involves the lower computer (single-chip microcomputer) responsible for receiving sensor signals, processing the signals, and controlling the turning process according to a preset program. The operation process of the lower computer in the flexible sensor measurement turning system is described. The main software programs include the initialization of the single-chip microcomputer main control chip, the AD conversion program, the serial communication program, etc. Start: The system is powered on and the program starts to execute. Initialize the system: The lower computer conducts self-check, initializes the I / O ports, configures interrupts, etc. Signal acquisition: The sensor detects the physical quantity of the turning force during the turning process and sends the signal to the lower computer. Signal conditioning: The sensor signal is amplified, filtered, isolated, etc. for conditioning to meet the input requirements of the lower computer. A / D digital-to-analog conversion: The conditioned signal is converted into a digital signal that the lower computer can process. Data reading: When reading data, pay attention to the data type and the size of the register to avoid data overflow or truncation. Digital signal processing: The process of the single-chip microcomputer processing and analyzing digital signals, which are digital signals converted from analog signals by an analog-to-digital converter (ADC). Perform required mathematical operations such as Fourier transform, correlation operation, convolution, etc. Serial communication: The process of the single-chip microcomputer exchanging data with other devices through a serial interface. Compared with parallel communication, data is transmitted sequentially bit by bit. After the data reception is completed, corresponding processing can be performed. PC side: The digital signal is wirelessly transmitted to the PC side via Bluetooth to display, analyze, and process the cutting data. End: The turning process ends, and the system can be shut down or reset for the next use.

[0117] As Figure 14 shown, the system software feedback control process is initialized after the entire system is powered on. The original data of the collected voltage is obtained through the ADC port of the acquisition circuit and needs to be processed by the program inside the single-chip microcomputer chip for filtering to obtain smooth data. After filtering, the data needs to be further processed. According to the basic principle of the voltage division circuit, the voltage division formula is converted into code form, and the actual resistance value of the flexible piezoresistive sensor can be calculated. During the turning force test, the collected resistance value can be displayed on the computer side in real time through a wireless Bluetooth device, which is convenient for debugging and optimization. The data obtained through calculation needs to be finally processed according to the resistance change characteristics of the flexible piezoresistive sensor.

[0118] In the program, a suitable threshold is set to determine whether the sensor has reached the deformation required by the system. When the resistance value of the flexible piezoresistive sensor reaches the set threshold, the program makes a judgment and performs the next operation, sets the flag bit of the detected changing sensor to 1, and at the same time packs the sensor number and the flag bit and sends them to the data receiving end. After receiving the data, the data receiving end needs to parse and process the data according to the pre-set coding rules to know that the flexible sensor has detected a change in data.

[0119] Perform control calculations on the data and generate a control quantity based on the error value (such as the PID algorithm). Further control the actuator to convert the control signal into a physical action (adjust the tool feed speed / rotation speed parameters). Form a closed-loop judgment, continuously monitor the stability of the cutting force, and dynamically adjust until the system is stable.

[0120] As Figure 15 As shown, in the framework diagram of the cutting monitoring closed-loop feedback control system, it mainly includes a sensor module, a control module, an execution module, and an interaction module. These four modules form a closed-loop feedback control with the real-time cutting force. Signal flow path: cutting force - sensor - signal conditioning - ADC - digital processing - PID calculation - DAC - actuator - adjustment parameter - affect the cutting process - feedback to the sensor to form a closed loop.

[0121] The sensor module directly contacts the tool to collect the original force signal and perform signal conditioning, and transmits the real-time cutting force signal to the control module for further data processing and forming a control signal.

[0122] The control module converts the analog signal into a digital signal (ADC), implements digital filtering and feature extraction using a data processor, and forms a control instruction for the processed data using an intelligent controller (PID algorithm). The instruction signal is transmitted to the execution module through the DAC digital-to-analog converter. In the execution module, the servo drive and frequency converter first convert the analog signal and PWM signal of the control instruction in the control module into corresponding torque instructions and speed instructions, and respond to the position to the spindle motor and feed motor to perform corresponding tool actions to adjust the cutting state of the tool. The actual speed of the spindle motor and the actual feed of the feed motor are respectively fed back to the controller, and the speed and feed are monitored simultaneously. This process forms a double closed-loop control.

[0123] The interaction module sets the cutting parameter threshold in the human-machine interface, compares and judges the real-time cutting force data with the set parameters through the controller, and outputs a control instruction. The data storage records historical data and inputs it to the data processor for subsequent process optimization.

[0124] The modules in the above cutting monitoring closed-loop feedback control system form a closed-loop feedback, not only dynamically adjusting the spindle speed and feed speed synchronously according to the deviation between the real-time cutting force and the set value. Moreover, when an abnormal force fluctuation is detected, the emergency stop mechanism is triggered for safety protection.

[0125] Embodiment 2

[0126] As Figure 16As shown in the figure, this embodiment provides a flexible measurement device for a bar pin type tool, which mainly retains the cutting force acquisition module, the information processing and transmission module, the communication module, and the power management module on the basis of Embodiment 1. Among them, the specific functions of the cutting force acquisition module, the communication module, and the power management module are similar to those in Embodiment 1, and will not be elaborated here. Different from Embodiment 1, this flexible sensor measurement system device is implemented in another tool structure.

[0127] See Figure 16 With Figure 17 , the schematic structural diagram of the flexible measurement system device in the bar pin type tool. The tool structure includes a second tool body 15, and the second tool body 15 includes a second cutting blade 16, a positioning component, and a clamping component for clamping the cutting blade. The positioning component includes a degree-of-freedom limiting component for restricting the movement of the second cutting blade 16 in the x-axis, y-axis, and z-axis directions;

[0128] Among them, the positioning component includes a tapered bar pin 17, a second edge trimming pin 18, and a second gasket 19. A V-shaped groove is formed on the second tool body 15. The upper surface of the V-shaped groove is sequentially stacked with the second gasket 19 and the second cutting blade 16, and the second gasket 19 is disposed under the second cutting blade 16; a third through hole 20 and a fourth through hole 21 are provided in the V-shaped groove. The tapered bar pin 17 is provided in the third through hole 20, and the second edge trimming pin 18 is provided in the fourth through hole. One end of the tapered bar pin 17 and the second edge trimming pin 18 penetrates into the second tool body 15, and the other end penetrates into the second cutting blade 16 through the second gasket 19; the tapered bar pin 17 can restrict two degrees of freedom of the second cutting blade 16 in the x-axis direction and the y-axis direction; the tapered bar pin 17 and the second edge trimming pin 18 restrict one degree of freedom of the second cutting blade 16 in the z-axis direction; the second gasket 19 restricts three degrees of freedom of the second cutting blade 16 in rotation around the x-axis, rotation around the y-axis, and movement in the z-axis direction. Thus, the complete positioning of the second cutting blade 16 is completed. As Figure 18 Shown is the schematic diagram of six-point positioning of the cutting blade in the bar pin type structure.

[0129] Specifically, the second cutting blade 16 adopts a diamond cutting blade;

[0130] Specifically, the third through hole 20 is a stepped surface with a narrow bottom and a wide top. Spring rings 22 are symmetrically arranged on both sides of the upper stepped surface. The upper end surface of the tapered bar pin 17 is placed at the stepped hole position of the tool body and the spring rings 22 are penetrated into the upper end surface, which improves the stability of the tapered bar pin 17 connecting piece and reduces and absorbs the impact load during the turning process.

[0131] Among them, the clamping assembly includes a pressure plate 23, a slotted cone-end clamping screw 24, and a tapered bar pin 17. The tapered bar pin 17 is arranged in the y direction of the second blade 16. A fifth through-hole 25 is provided in the tool body. The slotted cone-end clamping screw 24 is arranged in the fifth through-hole 25. The top end of the slotted cone-end clamping screw 24 abuts against the tail end of the tapered bar pin 17. Using the lever principle, the tapered bar pin 17 applies a clamping force to the second blade 16, causing the second blade 16 to be stuck in the V-shaped groove of the second tool body 15, realizing the clamping of the second blade 16 in the x-axis direction and the y-axis direction.

[0132] A pressure plate 26 is arranged in the z direction of the second blade 16. The pressure plate 26 can be longitudinally adjusted according to the thickness of the second blade 16 through a hexagon screw 27, realizing the clamping of the second blade 16 in the z-axis direction.

[0133] The second blade 16 is placed at the upper end of the second tool body 15, and the plane of the second blade 16 is processed by cutting; the trapezoidal holes of the device spring ring 22 and the tapered bar pin 17, and the through-holes of the second serrated edge pin 18 are processed by boring from top to bottom in sequence; the internal thread at the lower right end of the tool head of the second tool body 15, and the raised tool head part perpendicular to the right side end face are processed by milling threads.

[0134] Embodiment 3

[0135] See Figure 18 , this embodiment provides a flexible measuring turning force machine tool device, including a bed body 28. One end of the bed body 28 is equipped with a bracket 29 and a headstock 34, the other end is fixed with a tailstock 30, and a feed module is arranged in the middle; a bracket seat is fixed on the bracket 29, a main shaft 31 and a driving motor 32 are fixed on the bracket seat. One end of the main shaft 31 is connected to a first gear 44, and the other end is connected to a chuck 33 clamping a workpiece; one end of the driving motor 32 is connected to a second gear 45, and the other end is fixed to the bracket seat. The first gear 44 and the second gear 45 are meshed with a toothed belt 46 in a tooth shape. The driving motor 32 drives the toothed belt 46 to drive the main shaft 31 connected to the first gear 4 to rotate, thereby driving the chuck 33 fixed on the main shaft 31 and clamping the workpiece to rotate;

[0136] The feed module includes a transverse movement component, a longitudinal movement component, and a sliding block 37;

[0137] The transverse movement component includes a lead screw 35, a feed shaft 36, and a first sliding handle 43; one end of the lead screw 35 is connected to the headstock 34, and the other end passes through the tailstock 30 and is connected to the first sliding handle 43. One end of the feed shaft 36 is connected to the headstock 34, and the other end passes through the sliding block 37 and is fixed to the tailstock 30. By rotating the first sliding handle 43, the lead screw 35 is driven to realize the transverse movement of the sliding block 37, thereby driving the tool clamping part to realize the transverse movement of the tool;

[0138] The longitudinal movement component includes a fixed plate 47, a first carriage 38, a second carriage 39, a threaded rod 40, a tool post 41, and a second sliding handle 42. The fixed plate 47 is arranged on the sliding block 37. The first carriage 38 and the second carriage 39 are fixed on the fixed plate 47. The threaded rod 40 is fixed between the first carriage 38 and the second carriage 39. One end of the threaded rod 40 is fixed to the first carriage 3, and the other end passes through the second carriage 39 and is connected to the second sliding handle 42. The tool post 41 is mounted on the threaded rod 40, and a tool as in Embodiment 1 or Embodiment 2 is installed on the tool post 41. By rotating the second sliding handle 42, the threaded rod 40 is driven to realize the longitudinal movement of the tool clamped on the tool post 41.

[0139] As Figure 19 The turning process shown is as follows: Start: The system is powered on and the program starts to execute. Initialize the system: The lower computer performs self-check, initializes the I / O ports, configures interrupts and timers, etc. Wait for sensor signals: The lower computer enters the waiting state, ready to receive signals from the flexible sensor. Receive sensor signals: The flexible sensor detects the turning force signal during the turning process and sends the signal to the lower computer. Signal conditioning: The flexible sensor signal is amplified, filtered, isolated, etc. to meet the input requirements of the lower computer. Convert to a standard signal: The conditioned signal is converted into a digital signal that the lower computer can process (such as ADC conversion). Judge whether the signal is within the normal range: The lower computer judges whether the signal represents a normal turning state according to the preset threshold. Execute the normal cutting control program: If the signal is normal, the lower computer continues to execute the preset turning control program. Monitor the turning process: The lower computer continuously monitors the flexible sensor signal to control the turning process in real time. If the turning is completed: When the lower computer detects that the turning task is completed, stop turning. Record data: Record the relevant data during the turning process for subsequent analysis and optimization. Judge whether it is a minor abnormality: If the signal is abnormal but not a serious problem, try to adjust the turning parameters to restore the normal state. Judge whether it is a serious abnormality: If the signal indicates a serious problem, trigger an alarm and stop turning. Execute the error handling program: The lower computer executes the error handling program, tries to solve the problem and resume turning.

[0140] End: The turning process ends, and the system can be shut down or reset for the next use.

[0141] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An embedded flexible sensor turning force measurement tool, characterized in that: The invention comprises a knife body, wherein the knife body comprises a blade, a positioning assembly and a clamping assembly for clamping the blade; the positioning assembly comprises a freedom limiting assembly for limiting the movement of the blade along the x-axis, y-axis and z-axis directions; A flexible sensor is arranged on the lower surface of the blade, a flexible circuit is arranged on the front end of the blade body, and the flexible sensor and the flexible circuit are connected via a flexible wire; The flexible sensor is used to convert the deformation of the blade under the action of the turning force into a voltage signal; The flexible circuit is used to calculate the magnitude of the turning force according to the mapping relationship between the voltage signal and the turning force.

2. The embedded flexible sensor turning force measurement tool according to claim 1, characterized in that: The positioning assembly includes a gasket, a short cylindrical pin and a chamfered pin. Two connected grooves are provided on the cutter body. The upper surface of the first groove is stacked with a gasket and a blade in sequence, and the gasket is arranged under the blade; the first groove is provided with a first through hole and a second through hole, a short cylindrical pin is provided in the first through hole, and a chamfered pin is provided in the second through hole, one end of the short cylindrical pin and the chamfered pin penetrates into the cutter body, and the other end penetrates into the blade through the gasket.

3. The embedded flexible sensor turning force measurement tool according to claim 2, characterized in that: The clamping assembly includes a wedge, a round head screw, a spring washer, a bolt and a stopper; a spring washer and a wedge are provided on the upper surface of the second groove in the y direction of the blade, a third through hole is provided in the second groove, a round head screw is provided in the third through hole, one end of the round head screw penetrates into the cutter body, and the other end penetrates into the wedge through the spring washer; a bolt and a stopper are provided on the side of the first groove in the x direction of the blade, the bolt and the stopper are threadedly connected, and the fastening screw is connected through the cutter body thread in the x direction to push the stopper into the blind hole.

4. The turning force measuring tool with an embedded flexible sensor as claimed in claim 2, characterized in that: The flexible sensor includes a first packaging layer, a base layer, a sensitive layer, a conductive layer, and a second packaging layer; the first packaging layer, the base layer, the sensitive layer, the conductive layer, and the second packaging layer are bonded in sequence from bottom to top; the first packaging layer is bonded to the gasket, and the sensitive layer and the conductive layer are bonded as the main body of the sensor for converting the turning force into an electrical signal, and the second packaging layer is located at the outermost layer of the sensor and is in direct contact with the blade.

5. The turning force measuring tool with an embedded flexible sensor as claimed in claim 4, characterized in that: The sensitive layer includes a substrate, a symmetrically distributed resistor grid and electrodes arranged on the substrate; the symmetrically distributed resistor grid includes a first resistor R1 and a second resistor R2 parallel to the radial direction of the blade, and a third resistor R3 and a fourth resistor R4 perpendicular to the radial direction of the blade; the first resistor R1, the second resistor R2, the third resistor R3 and the fourth resistor R4 are connected to an external voltage through electrodes to form a Wheatstone bridge, and the output end of the Wheatstone bridge is connected to the input end of the flexible circuit.

6. The turning force measurement tool with an embedded flexible sensor as claimed in claim 1, characterized in that: The flexible circuit module includes a circuit board, a wireless communication module and a control module arranged on the circuit board. The control module includes a signal amplification circuit, an A / D conversion circuit and a microprocessor. One end of the signal amplification circuit is connected to the flexible sensor, and the other end is connected to the input end of the A / D conversion circuit. The output end of the A / D conversion circuit is connected to the microprocessor module. The microprocessor module is used to calculate the magnitude of the turning force based on the relationship between the electrical signal and the turning force.

7. The turning force measurement tool with an embedded flexible sensor as claimed in claim 1, characterized in that: The mapping relationship between the voltage signal and the turning force is: Where F is the cutting force, σ is the stress, GF is the strain gauge sensitivity coefficient, E is the elastic modulus of the tool material, A is the cross-sectional area of ​​the strain gauge sensitive area, U0 is the output voltage of the Wheatstone bridge, and U ab is the voltage of line ab at R3, U bc is the voltage of line bc at R2, U1 is the external power supply voltage, I1 is the current of the series circuit of R1 and R3, and I2 is the current of the series circuit of R2 and R4.

8. An embedded flexible sensor turning force measurement tool as claimed in any one of claims 1 to 7, characterized in that: The positioning assembly is replaced with a V-shaped lever pin, a chamfering pin and a gasket. The cutter body is provided with a V-shaped groove, and a gasket and a blade are stacked in sequence on the upper surface of the V-shaped groove, and the gasket is arranged under the blade; the V-shaped groove is provided with a first through hole and a second through hole, a conical lever pin is provided in the first through hole, and a chamfering nail is provided in the second through hole, one end of the conical lever pin and the chamfering nail penetrates into the cutter body, and the other end penetrates into the blade through the gasket.

9. The turning force measuring tool with an embedded flexible sensor as claimed in claim 8, characterized in that: The clamping assembly is replaced with a pressure plate, a slotted conical end clamping screw and a conical lever pin. The conical lever pin is arranged in the y direction of the blade. A third through hole is arranged in the blade body. A slotted conical end clamping screw is arranged in the third through hole. The top end of the slotted conical end clamping screw is pressed against the tail end of the conical lever pin, so that the diamond-shaped blade is stuck in the V-shaped groove of the blade body. A pressure plate is arranged in the z direction of the blade.

10. An embedded flexible sensor turning force measurement machine tool, characterized in that: It comprises a machine tool bed, one end of which is provided with a bracket and a headstock, and the other end is provided with a tailstock, the bracket is provided with a chuck for clamping a workpiece; a feed module is provided between the headstock and the tailstock, and the feed module is provided with an embedded flexible sensor turning force measurement tool as described in any one of claims 1-8 or 8-9.

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