Monitoring device and monitoring method for multi-directional deformation force in machining process

Abstract

The invention discloses a monitoring device and a monitoring method for multi-directional deformation force in a machining process, and belongs to the technical field of stress monitoring. The monitoring device for the multi-direction deformation force in the machining process comprises a plurality of floating locking units used for locking parts, a deformation force monitoring unit is arranged below the floating locking units, the deformation force monitoring unit is used for monitoring the deformation force in the part machining process, and the deformation force monitoring unit is fixed to a machine tool through a fixing and clamping unit; the floating locking unit comprises a locking structure and a connecting seat, the locking structure is connected with the deformation force monitoring unit through the connecting seat, and the locking structure is in floating insertion connection with the connecting seat so as to reduce the clamping stress of part clamping. By adopting the monitoring device and the monitoring method for the multi-direction deformation force in the machining process, the problem that an existing monitoring device is complex in structure can be solved, unstressed clamping of parts is achieved, the monitoring precision of the deformation force of the parts is improved, and the deformation force measurement requirement of small-size parts is met.

Description

Technical Field

[0001] The present invention relates to the technical field of stress monitoring, and in particular to a device and method for monitoring multi-directional deformation forces during a machining process. Background Art

[0002] The aerospace industry employs a large number of frame-beam structural parts. During machining, these parts tend to deform due to material removal, redistribution of initial residual stress in the blank, and residual stress caused by cutting. The presence of a clamping device prevents this deformation, generating a deformation force that acts on the clamping position. This deformation force can be used to assess the stability, rigidity, and potential deformation risk of the part during machining.

[0003] By accurately measuring the deformation force during part processing, combined with the material properties and geometric structure of the part, it is possible to predict the amount of deformation that will occur during the processing of the part, which helps to optimize processing parameters, clamping schemes and other processing processes. By sensing the processing deformation of the part through deformation force and using it as a basis for adjusting subsequent processing processes, the amount of part deformation can be reduced and the degree of deformation of the part can be controlled, which is of great significance for improving part quality and extending part service life. However, in the traditional fixed clamping processing mode, in order to fix the part, the clamping generates clamping stress on the part, and the accurate monitoring of the part deformation force faces huge challenges.

[0004] Existing patent CN202010747996.8 discloses a method and device for accurately measuring deformation force during part processing. The clamping device clamps the part through a clamping device, which consists of a clamping bolt and a clamping seat. The clamping bolt is connected to the part, and after the connection is completed, the other end of the clamping bolt is connected to the clamping seat to achieve the clamping of the part. The adjustment of the posture of the clamping device is achieved by an adjustment mechanism. The action of the action adjustment mechanism in the adjustment mechanism can realize the movement of the action platform in the X, Y, and Z directions, as well as the rotation of the action platform around the X and Y directions, and can remain fixed in any posture, thereby achieving stress-free clamping. The above patent requires adjusting the posture of the clamping device by an adjustment mechanism to achieve stress-free clamping, but the adjustment mechanism causes the structure of the measuring device to be relatively complex, and the shape and volume are large, which makes it difficult to meet the needs of deformation force measurement of small-sized parts. Summary of the Invention

[0005] The purpose of the present invention is to provide a monitoring device and method for multi-directional deformation force during a machining process, so as to solve the problem of complex structure of existing monitoring devices.

[0006] To achieve the above-mentioned objectives, the present invention provides a device for monitoring multi-directional deformation forces during processing, comprising a plurality of floating locking units for locking parts, a deformation force monitoring unit being arranged below the floating locking unit, and the deformation force monitoring unit being used to monitor the deformation force during part processing, and the deformation force monitoring unit being fixed on the machine tool through a fixed clamping unit; the floating locking unit comprises a locking structure and a connecting seat, the locking structure being connected to the deformation force monitoring unit through the connecting seat, and the locking structure being floatingly plugged into the connecting seat to reduce the clamping stress of the part clamping.

[0007] Preferably, the locking structure includes a threaded support column, a plug rod is provided at the bottom of the threaded support column, the threaded support column is inserted into the connecting seat through the plug rod, and a plurality of locking units are provided on the threaded support column for locking the parts on the threaded support column.

[0008] Preferably, two locking units are provided, and the locking units include a locking nut and a spherical washer. The spherical washer is located between the locking nut and the part, and the spherical washer is in line contact with the part. The part is locked on the threaded support column through the two locking units.

[0009] Preferably, the diameter of the through hole set in the center of the spherical gasket is not less than the outer diameter of the threaded support column, and the diameter of the through hole connecting the part and the threaded support column is larger than the inner diameter of the spherical gasket and smaller than the outer diameter of the spherical gasket.

[0010] Preferably, a slot for inserting the locking structure is provided at the center of the connecting seat, a locking assembly for locking the locking structure in the slot is provided on the connecting seat, a connecting plate is provided at the bottom of the connecting seat, and the connecting seat is fixedly connected to the deformation force monitoring unit through the connecting plate. The deformation force on the locking structure is transmitted to the deformation force monitoring unit through the connecting seat to monitor the deformation force of the part.

[0011] Preferably, the locking assembly includes an L-shaped through groove arranged on the side wall of the connecting seat and passing through the connecting seat, a deformation groove connected to the bottom end of the through hole is arranged on the inner wall of the connecting seat, and locking screws are arranged on the side wall of the connecting seat to lock the side walls of the connecting seat on both sides of the through hole, and the locking structure is locked in the slot by the locking screws.

[0012] Preferably, the locking structure includes a connecting column, the part is sleeved on the outside of the connecting column, the aperture of the through hole connecting the part and the connecting column is not less than the outer diameter of the connecting column, and a limit block is provided at the top of the connecting column to limit the part. The part is connected to the connecting seat through the connecting column, and the part transmits the deformation force to the deformation force monitoring unit through the connecting column and the connecting seat.

[0013] Preferably, the deformation force monitoring unit includes a three-axis force sensor, a base is provided above the three-axis force sensor, the three-axis force sensor is fixedly connected to the connecting seat through the base, the three-axis force sensor monitors the deformation force transmitted by the part through the locking structure and the connecting seat, and a protective shell is provided on the outside of the three-axis force sensor to protect the three-axis force sensor, and a transmission interface is provided on the protective shell to transmit the signal of the three-axis force sensor to the host computer.

[0014] Preferably, the fixed clamping unit includes a locking plate and a positioning plate, the deformation force monitoring unit is fixedly arranged at the center of the locking plate, the lower surface of the positioning plate is provided with a positioning pin for positioning the positioning plate on the machine tool, and the locking plate is provided with a strip-shaped adjustment hole, and the bolt passes through the adjustment hole to fix and lock the locking plate and the positioning plate on the machine tool.

[0015] The monitoring method based on the multi-directional deformation force monitoring device during the above-mentioned processing includes the following steps: S1. Fix the fixed clamping unit on the machine tool according to the monitoring requirements of the parts; S2. Insert the threaded support column of the locking structure into the connecting seat, pass the threaded support column of the locking structure through the through hole of the part, adjust the position of the locking nut and spherical washer at the bottom of the threaded support column so that the spherical washer is in line contact with the through hole of the part; rotate the nut and spherical washer at the top of the threaded support column to lock the part onto the threaded support column; Or insert the connecting column of the locking structure into the connecting seat, pass the connecting column through the through hole on the part, and the limit block on the top of the connecting column limits the part, and the part is located between the limit block and the connecting seat; S3. Turn the locking screw provided on the connecting seat to lock the threaded support column or connecting column of the locking structure into the connecting seat to achieve stress-free clamping of the parts; S4. The deformation force during the part processing is transmitted to the three-axis force sensor inside the deformation force monitoring unit through the locking structure and the connecting seat, and the deformation force of the part is monitored by the three-axis force sensor.

[0016] The advantages and positive effects of the device and method for monitoring multi-directional deformation forces during machining according to the present invention are: 1. The present invention locks and supports parts through floating locking units, ensuring the stability and reliability of parts during processing and improving processing accuracy.

[0017] 2. The spherical gasket of the floating locking unit of the present invention is in line contact with the part, which can compensate for the deformation of the part in multiple directions during the clamping process of the part, eliminate the clamping stress of the part, and help improve the accuracy of deformation force monitoring.

[0018] 3. The present invention not only eliminates clamping stress through the floating connection between the threaded support rod and the connecting seat and the line contact connection between the spherical gasket and the parts, but also has a simple structure and convenient clamping operation.

[0019] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the three-dimensional structure of a monitoring device according to embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the front view structure of a monitoring device according to embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of a floating locking unit according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the three-dimensional structure of a connecting base according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a top view of the connecting seat according to a first embodiment of the present invention; Figure 6 This is a schematic diagram of the three-dimensional structure of a floating locking unit according to the second embodiment of the present invention; Figure 7 This is a schematic diagram of the three-dimensional structure of a deformation force monitoring unit according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the three-dimensional structure of a fixed clamping unit according to an embodiment of the present invention; Figure 9 This is a front view structural diagram of a fixed clamping unit according to a first embodiment of the present invention; Figure 10 This is a schematic diagram of the application status structure of a monitoring device according to an embodiment of the present invention.

[0021] Reference numerals 1. Floating locking unit; 11. Threaded support column; 12. Spherical washer; 13. Locking nut; 14. Connecting seat; 15. Connecting plate; 16. Slot; 17. Through slot; 18. Deformation slot; 19. Locking screw; 110. Connecting column; 111. Limit block; 2. Deformation force monitoring unit; 21. Three-axis force sensor; 22. Base; 23. Protective shell; 24. Transmission interface; 3. Fixed clamping unit; 31. Positioning pin; 32. Locking disk; 33. Positioning disk; 34. Adjustment hole; 4. Parts; 5. Machine tools. DETAILED DESCRIPTION

[0022] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is usually placed when in use. These are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. In the description of the present invention, it should also be noted that, unless otherwise expressly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In this application, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. In the event of any inconsistency, the meaning described in this specification or the meaning derived from the contents recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0024] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0025] Example 1 like Figure 1 、 Figure 2 、 Figure 10 As shown, a device for monitoring multi-directional deformation forces during machining includes several floating locking units 1 for locking a part 4. These floating locking units 1 enable stress-free clamping of the part 4, eliminating clamping stress generated during the clamping process and improving the accuracy of deformation force monitoring. Deformation force monitoring units 2 are located below the floating locking units 1 to monitor the deformation forces of the part 4 during machining. The deformation force monitoring units are secured to a machine tool 5 via fixed clamping units 3.

[0026] like Figure 3 As shown, the floating locking unit 1 includes a locking structure and a connecting seat 14. The locking structure is connected to the deformation force monitoring unit 2 through the connecting seat 14. The locking structure and the connecting seat 14 are floatingly plugged in to eliminate the clamping stress of the part 4.

[0027] The locking structure includes a threaded support column 11, a cylindrical plug rod is fixedly provided at the bottom of the threaded support column 11, and the threaded support column 11 is inserted into the connecting seat 14 through the plug rod. The way the threaded support column 11 is plugged into the connecting seat 14 can adjust the height of the threaded support column 11.

[0028] The threaded support column 11 is equipped with several locking units for securing the part 4 to the threaded support column 11. Two locking units are provided, each consisting of a locking nut 13 and a spherical washer 12. The spherical washer 12 is positioned between the locking nut 13 and the part 4. The spherical washer 12 makes line contact with the part 4, and the part 4 is locked to the threaded support column 11 via the two locking units. The spherical washer 12 and locking nut 13 secure the part 4 to the threaded support column 11, limiting the six degrees of freedom of the part 4 during machining and providing a stable processing environment for the part 4.

[0029] The diameter of the through hole in the center of spherical washer 12 is slightly larger than the outer diameter of threaded support post 11, allowing it to better fit part 4 when it undergoes bending and torsion deformation, ensuring omnidirectional clamping of part 4. The diameter of the through hole connecting part 4 to threaded support post 11 is larger than the inner diameter of spherical washer 12 and smaller than its outer diameter; this prevents interference between threaded support post 11 and part 4 when part 4 undergoes twisting and deformation.

[0030] Since the parts 4 suitable for machining are mostly large aerospace aircraft structural components, the diameter of the threaded support column 11 should be no less than 16mm to provide sufficient rigidity and stability. The threaded connection column 110 has a thread depth exceeding 30mm. The appropriate locking nut 13 and thread can be selected according to the size of the part 4.

[0031] When the locking nut 13 provides the locking force, the spherical gasket 12 is in direct contact with the part 4 and transmits sufficient locking force. There is line contact between the spherical gasket 12 and the part 4. During the processing, the clamping is loosened in the middle according to the process requirements. After the part 4 is deformed, the spherical gasket 12 can contact with the through hole of the part 4 while ensuring that it is coaxial with the threaded rod, so as to ensure the safety and stability of the locking of the part 4.

[0032] During the machining process, the locking nut 13 is loosened to release the deformation. During the release process, a certain number of floating locking units 1 are required to maintain clamping to ensure the relative overall position of the part 4. Otherwise, the reference of the part 4 will change, affecting the machining accuracy.

[0033] like Figure 4 、 Figure 5As shown, the center of the connector 14 is provided with a slot 16 for inserting the insertion rod at the bottom end of the threaded support rod. The inner diameter of slot 16 is slightly larger than the diameter of the insertion rod, facilitating insertion of the insertion rod into the connector 14. A locking assembly is provided on the connector 14 to lock the locking structure within slot 16. A connecting plate 15 is fixedly provided at the bottom of the connector 14. The connector 14 is fixedly connected to the deformation force monitoring unit 2 via the connecting plate 15. The deformation force on the threaded support rod is transmitted to the deformation force monitoring unit 2 through the connector 14, thereby monitoring the deformation force of the part 4.

[0034] The locking assembly includes an L-shaped through-slot 17 provided on the sidewall of the connector 14, extending through the connector 14. A deformation groove 18, communicating with the bottom end of the through-hole, is provided on the inner wall of the connector 14, facilitating the locking of the connector 14 against the threaded support column 11. Locking screws 19 are provided on the sidewalls of the connector 14, securing the connector 14 on either side of the through-hole. These screws secure the threaded support column 11 within the slot 16. The locking force provided by the connector 14 must exceed 5 kN to ensure stable locking of the threaded support column 11.

[0035] like Figure 7 As shown, the deformation force monitoring unit 2 includes a three-axis force sensor 21. A base 22 is fixedly installed above the three-axis force sensor 21. The three-axis force sensor 21 is fixedly connected to the connecting seat 14 through the base 22, thereby improving the accuracy of deformation force transmission, thereby improving the accuracy of deformation force monitoring by the three-axis force sensor 21. The three-axis force sensor 21 monitors the deformation force transmitted by the part 4 through the locking structure and the connecting seat 14. A protective shell 23 is provided on the outside of the three-axis force sensor 21 to protect the three-axis force sensor 21 and reduce the impact of cutting fluid on the three-axis force sensor 21 during processing. A transmission interface 24 is provided on the protective shell 23 to transmit the signal of the three-axis force sensor 21 to the host computer.

[0036] like Figure 8 、 Figure 9 As shown, the fixed clamping unit 3 includes a locking plate 32 and a positioning plate 33. The deformation force monitoring unit 2 is fixed to the center of the locking plate 32 by screws. Positioning pins 31 are fixedly provided on the lower surface of the positioning plate 33 to position the positioning plate 33 on the machine tool 5, facilitating the fixed installation of the positioning plate 33 on the machine tool 5. The locking plate 32 is provided with a plurality of strip-shaped adjustment holes 34, through which bolts are inserted to securely lock the locking plate 32 and the positioning plate 33 to the machine tool 5.

[0037] The monitoring method based on the multi-directional deformation force monitoring device during the above-mentioned processing includes the following steps: S1. According to the monitoring requirements of the part 4, the locking disk 32 and the fixed disk of the fixed clamping unit 3 are fixed to the machine tool 5. The protective shell 23 of the deformation force monitoring unit 2 is fixed to the locking disk 32 by screws.

[0038] S2. Insert the rod at the bottom of the threaded support column 11 into the socket of the connector 14. Insert the threaded support column 11 through the through-hole in the component 4. Adjust the position of the locking nut 13 and spherical washer 12 at the bottom of the threaded support column 11 so that the spherical washer 12 is in linear contact with the through-hole in the component 4. Turn the nut and spherical washer 12 at the top of the threaded support column 11 to lock the component 4 to the threaded support column 11.

[0039] S3. Rotate the locking screw 19 provided on the connecting seat 14 to lock the threaded support column 11 in the connecting seat 14, thereby achieving stress-free clamping of the part 4.

[0040] S4. The deformation force of the part 4 during processing is transmitted to the three-axis force sensor 21 inside the deformation force monitoring unit 2 through the locking structure and the connecting seat 14. The deformation force of the part 4 is monitored by the three-axis force sensor 21.

[0041] Example 2 The difference between this embodiment and the first embodiment is that the locking structure is different in this embodiment. Figure 6 As shown, the locking structure includes a connecting column 110, and the part 4 is sleeved on the outside of the connecting column 110. The aperture of the through hole connecting the part 4 and the connecting column 110 is not less than the outer diameter of the connecting column 110. The top of the connecting column 110 is provided with a limit block 111 for limiting the part 4. The bottom end of the connecting column 110 is inserted into the slot 16 of the connecting seat 14, and the height of the connecting column 110 can be adjusted according to the needs of the part 4. The part 4 is connected to the connecting seat 14 through the connecting column 110, and the part 4 transmits the deformation force to the deformation force monitoring unit 2 through the connecting column 110 and the connecting seat 14. The connecting column 110 is floatingly connected to the connecting seat 14, which is conducive to reducing the clamping stress of the part 4.

[0042] In the monitoring method, the connecting column 110 is inserted into the connecting seat 14, and the connecting column 110 is passed through the through hole on the part 4. The limit block 111 on the top of the connecting column 110 limits the part 4. The part 4 is located between the limit block 111 and the connecting seat 14. After the connecting seat 14 locks the connecting column 110, the stable clamping of the part 4 is achieved.

[0043] Therefore, the use of the multi-directional deformation force monitoring device and monitoring method during the processing process described in the present invention can solve the problem of complex structure of the existing monitoring device, realize stress-free clamping of parts, improve the accuracy of part deformation force monitoring, and meet the deformation force measurement needs of small-sized parts.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A device for monitoring multi-directional deformation forces during machining, characterized by: It includes several floating locking units for locking parts. A deformation force monitoring unit is arranged under the floating locking unit. The deformation force monitoring unit is used to monitor the deformation force during the part processing process. The deformation force monitoring unit is fixed on the machine tool through a fixed clamping unit; the floating locking unit includes a locking structure and a connecting seat. The locking structure is connected to the deformation force monitoring unit through the connecting seat. The locking structure and the connecting seat are floatingly plugged in to reduce the clamping stress of the part clamping.

2. The device for monitoring multi-directional deformation forces during machining according to claim 1, characterized in that: The locking structure includes a threaded support column, a plug rod is provided at the bottom of the threaded support column, the threaded support column is inserted into the connecting seat through the plug rod, and a plurality of locking units are provided on the threaded support column for locking the parts on the threaded support column.

3. The device for monitoring multi-directional deformation forces during machining according to claim 2, characterized in that: There are two locking units, which include a locking nut and a spherical washer. The spherical washer is located between the locking nut and the part. The spherical washer is in line contact with the part. The part is locked on the threaded support column through the two locking units.

4. The device for monitoring multi-directional deformation forces during machining according to claim 3, characterized in that: The diameter of the through hole set in the center of the spherical gasket is not less than the outer diameter of the threaded support column, and the diameter of the through hole connecting the part and the threaded support column is larger than the inner diameter of the spherical gasket and smaller than the outer diameter of the spherical gasket.

5. The device for monitoring multi-directional deformation force during machining according to claim 1, characterized in that: A slot for inserting the locking structure is provided at the center of the connecting seat, and a locking assembly for locking the locking structure in the slot is provided on the connecting seat. A connecting plate is provided at the bottom of the connecting seat, and the connecting seat is fixedly connected to the deformation force monitoring unit through the connecting plate. The deformation force on the locking structure is transmitted to the deformation force monitoring unit through the connecting seat to monitor the deformation force of the part.

6. The device for monitoring multi-directional deformation forces during machining according to claim 5, characterized in that: The locking assembly includes an L-shaped through groove set on the side wall of the connecting seat and passing through the connecting seat, a deformation groove connected to the bottom end of the through hole is set on the inner wall of the connecting seat, and locking screws are set on the side wall of the connecting seat to lock the side walls of the connecting seat on both sides of the through hole, and the locking structure is locked in the slot by the locking screws.

7. The device for monitoring multi-directional deformation forces during machining according to claim 1, characterized in that: The locking structure includes a connecting column, the part is sleeved on the outside of the connecting column, the aperture of the through hole connecting the part and the connecting column is not less than the outer diameter of the connecting column, and a limit block is provided at the top of the connecting column to limit the part. The part is connected to the connecting seat through the connecting column, and the part transmits the deformation force to the deformation force monitoring unit through the connecting column and the connecting seat.

8. The device for monitoring multi-directional deformation force during machining according to claim 1, characterized in that: The deformation force monitoring unit includes a three-axis force sensor. A base is provided above the three-axis force sensor. The three-axis force sensor is fixedly connected to the connecting seat through the base. The three-axis force sensor monitors the deformation force transmitted by the part through the locking structure and the connecting seat. A protective shell is provided on the outside of the three-axis force sensor to protect the three-axis force sensor. The protective shell is provided with a transmission interface for transmitting the signal of the three-axis force sensor to the host computer.

9. The device for monitoring multi-directional deformation forces during machining according to claim 1, characterized in that: The fixed clamping unit includes a locking plate and a positioning plate. The deformation force monitoring unit is fixedly arranged at the center of the locking plate. The lower surface of the positioning plate is provided with a positioning pin for positioning the positioning plate on the machine tool. The locking plate is provided with a strip-shaped adjustment hole. The bolt passes through the adjustment hole to fix and lock the locking plate and the positioning plate on the machine tool.

10. A monitoring method for a multi-directional deformation force monitoring device during processing according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Fix the fixed clamping unit on the machine tool according to the monitoring requirements of the parts; S2. Insert the threaded support column of the locking structure into the connecting seat, pass the threaded support column of the locking structure through the through hole of the part, adjust the position of the locking nut and spherical washer at the bottom of the threaded support column so that the spherical washer is in line contact with the through hole of the part; rotate the nut and spherical washer at the top of the threaded support column to lock the part onto the threaded support column; Or insert the connecting column of the locking structure into the connecting seat, pass the connecting column through the through hole on the part, and the limit block on the top of the connecting column limits the part, and the part is located between the limit block and the connecting seat; S3. Turn the locking screw provided on the connecting seat to lock the threaded support column or connecting column of the locking structure into the connecting seat to achieve stress-free clamping of the parts; S4. The deformation force during the part processing is transmitted to the three-axis force sensor inside the deformation force monitoring unit through the locking structure and the connecting seat, and the deformation force of the part is monitored by the three-axis force sensor.

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