CN105181195A - Rotating shaft torque measurement device, torque measurement method and rotating speed measurement method - Google Patents

Rotating shaft torque measurement device, torque measurement method and rotating speed measurement method Download PDF

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CN105181195A
CN105181195A CN201510268171.7A CN201510268171A CN105181195A CN 105181195 A CN105181195 A CN 105181195A CN 201510268171 A CN201510268171 A CN 201510268171A CN 105181195 A CN105181195 A CN 105181195A
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torque
shaft
voltage pulse
half shaft
detection
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CN105181195B (en
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黄向华
曹云飞
田彦云
张天宏
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Nanjing University of Aeronautics and Astronautics
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Abstract

本发明公开了一种旋转轴扭矩测量装置及扭矩测量方法与转速测量方法,属于动力机械测量控制技术领域。它由左半轴、右半轴、检测块、位置检测传感器组成。把右半轴(7)与传动轴串联,左半轴(1)和右半轴(7)通过扭簧(4)连接传递扭矩,左半轴(1)和右半轴(7)可相对周向运动,扭簧体随传动轴一起转动,传递扭矩时扭簧被压缩,使两半轴相对角度发生变化,变化的角度与扭矩成正比;通过分析两半轴的相对角度变化,从而得到相应的扭矩。本发明有效解决了其他装置测量高速旋转轴扭矩时可靠性低、分辨率低、工作范围窄的问题,并能兼做转速传感器,降低测量系统成本。

The invention discloses a rotating shaft torque measuring device, a torque measuring method and a rotational speed measuring method, and belongs to the technical field of power machinery measurement and control. It consists of a left half shaft, a right half shaft, a detection block, and a position detection sensor. Connect the right half-shaft (7) to the transmission shaft in series, the left half-shaft (1) and the right half-shaft (7) are connected to transmit torque through the torsion spring (4), the left half-shaft (1) and the right half-shaft (7) can be opposite Circumferential movement, the torsion spring body rotates with the drive shaft, and the torsion spring is compressed when the torque is transmitted, so that the relative angle of the two semi-shafts changes, and the angle of change is proportional to the torque; by analyzing the relative angle change of the two semi-shafts, we can get corresponding torque. The invention effectively solves the problems of low reliability, low resolution and narrow working range when other devices measure the torque of a high-speed rotating shaft, and can also be used as a speed sensor to reduce the cost of the measurement system.

Description

旋转轴扭矩测量装置及扭矩测量方法与转速测量方法Rotary shaft torque measuring device, torque measuring method, and rotational speed measuring method

技术领域technical field

本发明涉及动力装置传动轴旋转状态下的扭矩测量,尤其是一种采用扭簧的相位法测量传动轴扭矩的装置,属于动力机械测量控制技术领域。The invention relates to torque measurement under the rotating state of a transmission shaft of a power device, in particular to a device for measuring the torque of a transmission shaft using a torsion spring phase method, belonging to the technical field of power machinery measurement and control.

背景技术Background technique

转速和转矩能反映机械传动系统性能,是旋转轴最重要的测量参数。如何准确、快速、可靠和廉价地测量这两个量,同时又不会因为引入了测量反馈环节而影响旋转轴的工作状态,是扭矩测量的难点。The speed and torque can reflect the performance of the mechanical transmission system and are the most important measurement parameters of the rotating shaft. How to measure these two quantities accurately, quickly, reliably and cheaply without affecting the working state of the rotating shaft due to the introduction of the measurement feedback link is the difficulty of torque measurement.

目前国内对旋转轴扭矩测量的方法主要有两种,应用广泛是相位法测扭矩。相位法测扭矩是在旋转轴的同轴方向上加装柔性扭杆,当在旋转轴上施加的扭矩越大,柔性扭杆在轴向两个不同位置间的相对角度变化就越大,通过传感器检测轴向两个不同位置的相对角度变化,就可以得到相应的旋转轴扭矩。根据测量传感器的不同可以分为电磁式、光电式、激光式和电容式等。此方法对旋转轴的强度与刚度要求高,因而成本较高,并且轴受扭时的扭转角较小,因而测量误差较大,另外此方法由于柔性扭杆为一次成型结构件,互换性较差。At present, there are mainly two methods for measuring the torque of the rotating shaft in China, and the phase method is widely used to measure the torque. Torque measurement by phase method is to install a flexible torsion bar in the coaxial direction of the rotating shaft. When the torque applied on the rotating shaft is greater, the relative angle change of the flexible torsion bar between two different positions in the axial direction will be greater. Through The sensor detects the relative angle change of two different axial positions, and the corresponding rotational shaft torque can be obtained. According to the different measurement sensors, it can be divided into electromagnetic type, photoelectric type, laser type and capacitive type. This method requires high strength and rigidity of the rotating shaft, so the cost is high, and the torsion angle when the shaft is torsion is small, so the measurement error is large. In addition, because the flexible torsion bar is a one-time molding structural part, the interchangeability poor.

第二种方法为应变法,在旋转轴上安装应变电桥,通过测量旋转轴表面的应力应变值,再将测量值代入相应的力学公式计算得到旋转轴上承受的扭矩大小。由于应变电桥安装在高速旋转轴上,应变电桥与外部调理电路间需通过无线传输或导电滑环进行能量与信号的交换。采用导电滑环法属于接触式测量法,导电滑环长期接触高速旋转轴极易造成扭矩测量装置和被测装置的损坏;而无线传输法输电设备复杂,抗干扰能力差,在恶劣环境中无法正常工作。The second method is the strain method. A strain bridge is installed on the rotating shaft. By measuring the stress and strain values on the surface of the rotating shaft, the measured value is substituted into the corresponding mechanical formula to calculate the torque on the rotating shaft. Since the strain bridge is installed on the high-speed rotating shaft, the energy and signal exchange between the strain bridge and the external conditioning circuit needs to be carried out through wireless transmission or conductive slip ring. The conductive slip ring method is a contact measurement method. The long-term contact of the conductive slip ring with the high-speed rotating shaft can easily cause damage to the torque measurement device and the device under test; while the wireless transmission method has complicated power transmission equipment and poor anti-interference ability, which cannot be used in harsh environments. normal work.

发明内容Contents of the invention

本发明旨在解决当前扭矩测量中存在的诸多不足,发明一种旋转轴扭矩测量装置及扭矩测量方法与转速测量方法,具有互换性好、通用性强、可靠性好和精度高的特点。The present invention aims to solve many deficiencies in the current torque measurement, and invents a rotating shaft torque measurement device, a torque measurement method and a rotational speed measurement method, which have the characteristics of good interchangeability, strong versatility, good reliability and high precision.

一种旋转轴扭矩测量装置,其特征在于:包括左半轴、右半轴、保持架、扭簧;上述右半轴的左端具有中心盲孔,左半轴的右端伸入该中心盲孔中;上述左半轴的右端具有中心通孔;上述保持架的右端固定于右半轴的中心盲孔中,保持架的左端伸入到左半轴的中心通孔中并通过滑动轴承安装在中心通孔中;上述扭簧安装在保持架上,其右端与右半轴相连,其左端与左半轴相连;上述左半轴右端周向均匀分布N个第一检测块,右半轴左端周向均匀分布N个第二检测块;初始状态时第一检测块和第二检测块沿周向间隔均匀布置;N为2-5;该旋转轴扭矩测量装置还包括位于右半轴的左端侧方的位置检测传感器;上述第一检测块、第二检测块到系统中心轴线的径向距离相等,上述第一检测块、第二检测块、位置检测传感器到右半轴右端面所在平面的距离相等。A rotating shaft torque measuring device, characterized in that it includes a left half shaft, a right half shaft, a cage, and a torsion spring; the left end of the right half shaft has a central blind hole, and the right end of the left half shaft extends into the central blind hole The right end of the above-mentioned left half shaft has a central through hole; the right end of the above-mentioned cage is fixed in the central blind hole of the right half shaft, and the left end of the cage extends into the central through hole of the left half shaft and is installed in the center through a sliding bearing In the through hole; the above-mentioned torsion spring is installed on the cage, its right end is connected with the right half shaft, and its left end is connected with the left half shaft; N first detection blocks are evenly distributed around the right end of the left half shaft, and the left end of the right half shaft N second detection blocks are uniformly distributed in the direction; the first detection block and the second detection block are uniformly arranged along the circumferential interval in the initial state; N is 2-5; the rotating shaft torque measuring device also includes a square position detection sensor; the radial distances from the first detection block and the second detection block to the central axis of the system are equal; equal.

利用所述的旋转轴扭矩测量装置的扭矩测量方法,其特征在于:把右半轴与传动轴串联,左半轴和右半轴通过扭簧连接传递扭矩,左半轴和右半轴可相对周向运动,扭簧体随传动轴一起转动,传递扭矩时扭簧被压缩,使两半轴相对角度发生变化,变化的角度与扭矩成正比;通过分析两半轴的相对角度变化,从而得到相应的扭矩。Utilize the torque measurement method of the rotating shaft torque measuring device, it is characterized in that: the right half shaft is connected in series with the drive shaft, the left half shaft and the right half shaft are connected to transmit torque through a torsion spring, and the left half shaft and the right half shaft can be relatively Circumferential movement, the torsion spring body rotates with the drive shaft, and the torsion spring is compressed when the torque is transmitted, so that the relative angle of the two semi-shafts changes, and the angle of change is proportional to the torque; by analyzing the relative angle change of the two semi-shafts, we can get corresponding torque.

所述的扭矩测量方法,其特征在于:当轴传递的扭矩变化时,第一检测块与第二检测块的相对位置发生变化,当转轴旋转时,第一检测块与第二检测块使位置检测传感器产生脉冲电压信号,转轴旋转一周产生2N个电压脉冲波形,对应2N个检测块在圆周上分布的位置,通过分析电压脉冲波形中相邻脉冲的相位变化,得到两半轴的相对角度变化,从而得到相应的扭矩。The torque measurement method is characterized in that: when the torque transmitted by the shaft changes, the relative position of the first detection block and the second detection block changes, and when the rotating shaft rotates, the first detection block and the second detection block make the position The detection sensor generates a pulse voltage signal, and the rotating shaft rotates once to generate 2N voltage pulse waveforms, which correspond to the positions of the 2N detection blocks distributed on the circumference. By analyzing the phase changes of adjacent pulses in the voltage pulse waveform, the relative angle change of the two semi-axes is obtained. , so as to obtain the corresponding torque.

所述的扭矩测量方法,其特征在于:当轴旋转时,在无扭矩加载情况下,均匀分布的N个第一检测块与N个第二检测块使位置检测传感器产生2N个时间间隔相同的电压脉冲波形,相邻脉冲的相对相位为零;当加载扭矩为T时,相邻脉冲的相对相位变化为a;事先标定不同的a与T的对应关系,就可从相位变化a得到T;为了解决N个第一检测块与N个第二检测块由于安装制造误差使检测块周向间隔在初始状态时不能完全均匀布置,从而带来相角检测误差的问题,在相角计算中,分别计算2N个电压脉冲波形中相邻2个脉冲之间的时间间隔t1,t2,…,t2N,并将其从大到小排序为t1',t2',…,t2N',电压脉冲波形中相邻2个脉冲相位计算公式为:The torque measurement method is characterized in that: when the shaft rotates, under the condition of no torque loading, the evenly distributed N first detection blocks and N second detection blocks make the position detection sensor generate 2N time intervals with the same time interval Voltage pulse waveform, the relative phase of adjacent pulses is zero; when the loading torque is T, the relative phase change of adjacent pulses is a; the corresponding relationship between different a and T is calibrated in advance, and T can be obtained from the phase change a; In order to solve the problem that the N first detection blocks and N second detection blocks cannot be completely evenly arranged in the initial state due to installation and manufacturing errors, and thus bring about phase angle detection errors, in the calculation of the phase angle, Calculate the time interval t 1 , t 2 ,…,t 2N between two adjacent pulses in 2N voltage pulse waveforms, and sort them from large to small as t 1 ', t 2 ',...,t 2N ', the calculation formula of two adjacent pulse phases in the voltage pulse waveform is:

所述的扭矩测量方法,其特征在于:上述N=2;轴旋转一周产生4个电压脉冲波形,对应四个检测块在圆周上分布的位置,通过分析电压脉冲波形中相邻2个脉冲相位变化的方法可得到两半轴相对变化的角度,进而得到与角度成正比的扭矩;当扭矩为零时,分别计算电压脉冲波形中相邻4个脉冲之间的时间间隔t1,t2,t3,t4,并将其从大到小排序为t1',t2',t3',t4',电压脉冲波形中相邻2个脉冲相位计算公式为:The torque measurement method is characterized in that: the above-mentioned N=2; the shaft rotates one cycle to generate 4 voltage pulse waveforms, corresponding to the positions of the four detection blocks distributed on the circumference, by analyzing the two adjacent pulse phases in the voltage pulse waveform The change method can obtain the relative change angle of the two semi-axes, and then obtain the torque proportional to the angle; when the torque is zero, calculate the time intervals t 1 , t 2 between adjacent 4 pulses in the voltage pulse waveform, respectively. t 3 , t 4 , and sort them from large to small as t 1 ', t 2 ', t 3 ', t 4 ', the calculation formula of two adjacent pulse phases in the voltage pulse waveform is:

当扭矩为某个不为零的值T时,计算电压脉冲波形中相邻4个脉冲之间的时间间隔t5,t6,t7,t8,并将其从大到小排序为t5',t6',t7',t8',电压脉冲波形中相邻2个脉冲相位计算公式为:When the torque is a non-zero value T, calculate the time intervals t 5 , t 6 , t 7 , and t 8 between four adjacent pulses in the voltage pulse waveform, and sort them as t from large to small 5 ', t 6 ', t 7 ', t 8 ', the calculation formula of two adjacent pulse phases in the voltage pulse waveform is:

因此,当扭矩为T时,相对扭矩为零时的两个半轴角度变化为a1-a0;通过标定可以得到两个半轴角度变化与扭矩之间的关系。Therefore, when the torque is T, the angle change of the two half shafts when the relative torque is zero is a 1 -a 0 ; the relationship between the angle change of the two half shafts and the torque can be obtained through calibration.

所述的旋转轴扭矩测量装置的转速测量方法,其特征在于:当轴旋转时,N个第一检测块与N个第二检测块使位置检测传感器产生2N个电压脉冲波形,分别计算电压脉冲波形中相邻2N个脉冲的之间的时间间隔t1,t2,…,t2N,转速n的计算公式为:The rotational speed measurement method of the rotating shaft torque measuring device is characterized in that: when the shaft rotates, N first detection blocks and N second detection blocks cause the position detection sensor to generate 2N voltage pulse waveforms, and the voltage pulses are calculated respectively The time interval t 1 ,t 2 ,…,t 2N between adjacent 2N pulses in the waveform, the formula for calculating the speed n is:

式中t1,t2,…,t2N的单位为秒。In the formula, the units of t 1 , t 2 ,...,t 2N are seconds.

本发明一体化高速旋转轴扭矩测量装置是一种基于扭簧的测扭方法,扭簧常用于机械中的平衡机构,其扭角正比于扭矩。将扭簧应用于转子扭矩测量,通过测量扭角大小,可以很好地感受扭矩的大小,并且可以根据测量范围选择适当的扭簧,使扭角变化处于合适的范围,提高测量精度,并具有较好的互换性。为了解决传感器的可靠性问题,在结构设计上,巧妙地设计了滑动轴承、硬质套和保持架机构,使扭簧安装可靠,接触部位的应力分布均匀,并减小周向摩擦。The integrated high-speed rotating shaft torque measuring device of the present invention is a torsion measuring method based on torsion springs, which are often used in balance mechanisms in machinery, and the torsion angle is proportional to the torque. The torsion spring is applied to the measurement of the rotor torque. By measuring the size of the torsion angle, the size of the torque can be well felt, and the appropriate torsion spring can be selected according to the measurement range, so that the change of the torsion angle is in a suitable range, and the measurement accuracy is improved. Better interchangeability. In order to solve the reliability problem of the sensor, in the structural design, the sliding bearing, the hard sleeve and the cage mechanism are cleverly designed, so that the installation of the torsion spring is reliable, the stress distribution of the contact part is uniform, and the circumferential friction is reduced.

本发明具有的明显优势是:本发明是一种非接触式扭矩测量方法,结构简单可靠,转子上无需安装电子元件和线路,能够满足恶劣环境下高速旋转轴的扭矩测量要求,测量快速,结果精确。本发明的测量装置内部采用扭簧感受扭矩大小,具有线性度好、精度高、互换性强、易于制作的特点,通过更改扭簧可以改变传感器量程,工作范围宽广。本发明有效解决了其他装置测量高速转子扭矩时可靠性低、分辨率低、工作范围窄的问题,并能兼做转速传感器,降低测量系统成本。The obvious advantages of the present invention are: the present invention is a non-contact torque measurement method with simple and reliable structure, no need to install electronic components and circuits on the rotor, and can meet the torque measurement requirements of high-speed rotating shafts in harsh environments, and the measurement is fast and the result accurate. The measuring device of the present invention uses a torsion spring to sense the torque, and has the characteristics of good linearity, high precision, strong interchangeability, and easy manufacture. The measuring range of the sensor can be changed by changing the torsion spring, and the working range is wide. The invention effectively solves the problems of low reliability, low resolution and narrow working range when other devices measure the high-speed rotor torque, and can also be used as a speed sensor to reduce the cost of the measurement system.

附图说明Description of drawings

图1是一体化高速旋转轴扭矩测量装置外部示意图;Figure 1 is an external schematic diagram of an integrated high-speed rotating shaft torque measuring device;

图2是一体化高速旋转轴扭矩测量装置内部结构示意图;Fig. 2 is a schematic diagram of the internal structure of the integrated high-speed rotating shaft torque measuring device;

图3是扭矩为零时金属凸台位置传感器波形图;Fig. 3 is the waveform diagram of the metal boss position sensor when the torque is zero;

图4是扭矩不为零时金属凸台位置传感器波形图;Fig. 4 is a waveform diagram of the metal boss position sensor when the torque is not zero;

图中标号名称:1.左半轴,2.滑动轴承,3.左半轴用硬质套,4.扭簧,5.保持架,6.右半轴用硬质套,7.右半轴,8.第一检测块,9.第二检测块,10.位置检测传感器,1-1.中心通孔,7-1.中心盲孔。Label names in the figure: 1. Left half shaft, 2. Sliding bearing, 3. Hard sleeve for left half shaft, 4. Torsion spring, 5. Cage, 6. Hard sleeve for right half shaft, 7. Right half shaft Shaft, 8. First detection block, 9. Second detection block, 10. Position detection sensor, 1-1. Center through hole, 7-1. Center blind hole.

具体实施方式Detailed ways

如图1所示,一体化高速旋转轴扭矩测量装置,由左半轴1与右半轴7以及非接触式金属检测块位置传感器10组成,左半轴1上有两个第一检测块8,右半轴7上有两个第二检测块9。As shown in Figure 1, the integrated high-speed rotating shaft torque measuring device is composed of a left half shaft 1, a right half shaft 7 and a non-contact metal detection block position sensor 10, and there are two first detection blocks 8 on the left half shaft 1 , there are two second detection blocks 9 on the right half shaft 7 .

如图2所示,一体化高速旋转轴扭矩测量装置内部结构包括左半轴1、滑动轴承2、左半轴用硬质套3、扭簧4、保持架5、右半轴用硬质套6、右半轴7。左半轴1和右半轴7之间通过扭簧4连接,连接部位分别采用硬质套固定在左半轴1和右半轴7上,使接触部位的应力均匀分布。保持架5位于扭簧4中间,并与右半轴7连为一个整体,保持架5与左半轴1之间通过滑动轴承2连接,以减小周向摩擦,提高测量精度。As shown in Figure 2, the internal structure of the integrated high-speed rotating shaft torque measurement device includes left half shaft 1, sliding bearing 2, hard sleeve 3 for left half shaft, torsion spring 4, cage 5, hard sleeve for right half shaft 6. Right half shaft 7. The left half shaft 1 and the right half shaft 7 are connected by a torsion spring 4, and the connecting parts are respectively fixed on the left half shaft 1 and the right half shaft 7 by hard sleeves, so that the stress on the contact parts is evenly distributed. The cage 5 is located in the middle of the torsion spring 4, and is connected with the right half shaft 7 as a whole, and the cage 5 is connected with the left half shaft 1 through a sliding bearing 2 to reduce circumferential friction and improve measurement accuracy.

一体化高速旋转轴扭矩测量装置与传动轴串联,左半轴1和右半轴2可相对周向运动,两传动半轴通过扭簧4连接传扭,扭簧体随转轴一起转动,传递扭矩时扭簧被压缩,使两半轴相对角度发生变化,第一检测块8和第二检测块9的相对位置也同时发生变化。转子旋转时,第一检测块8和第二检测块9使位置检测传感器10产生脉冲电压信号。The integrated high-speed rotary shaft torque measuring device is connected in series with the transmission shaft. The left half shaft 1 and the right half shaft 2 can move relative to the circumferential direction. The two transmission half shafts are connected to transmit torque through the torsion spring 4. The torsion spring body rotates with the shaft to transmit the torque. When the torsion spring is compressed, the relative angle of the two semi-axes changes, and the relative positions of the first detection block 8 and the second detection block 9 also change simultaneously. When the rotor rotates, the first detection block 8 and the second detection block 9 make the position detection sensor 10 generate a pulse voltage signal.

如图3和图4所示,转子旋转一周产生4个电压脉冲波形,对应四个检测块在圆周上分布的位置,通过分析电压脉冲波形中相邻2个脉冲相位变化的方法可得到两半轴相对变化的角度,进而得到与角度成正比的扭矩。图3为扭矩为零时,分别计算电压脉冲波形中相邻4个脉冲的周期t1,t2,t3,t4,并将其从大到小排序为t1',t2',t3',t4',电压脉冲波形中相邻2个脉冲相位计算公式为:As shown in Figure 3 and Figure 4, four voltage pulse waveforms are generated when the rotor rotates once, corresponding to the positions of the four detection blocks distributed on the circumference, and the two halves can be obtained by analyzing the phase changes of two adjacent pulses in the voltage pulse waveform. The angle at which the shafts change relative to each other results in a torque proportional to the angle. Figure 3 shows when the torque is zero, respectively calculate the periods t 1 , t 2 , t 3 , t 4 of the four adjacent pulses in the voltage pulse waveform, and sort them as t 1 ', t 2 ', t 3 ', t 4 ', the calculation formula of two adjacent pulse phases in the voltage pulse waveform is:

图4为扭矩为某个不为零的值T时,计算电压脉冲波形中相邻4个脉冲的周期t5,t6,t7,t8,并将其从大到小排序为t5',t6',t7',t8',电压脉冲波形中相邻2个脉冲相位计算公式为:Figure 4 shows that when the torque is a non-zero value T, calculate the period t 5 , t 6 , t 7 , t 8 of the four adjacent pulses in the voltage pulse waveform, and sort them as t 5 from large to small ',t 6 ',t 7 ',t 8 ', the calculation formula of two adjacent pulse phases in the voltage pulse waveform is:

因此,当扭矩为T时,相对扭矩为零时的两个半轴角度变化为a1-a0。通过标定可以得到两个半轴角度变化与扭矩之间的关系。Therefore, when the torque is T, the angle change of the two semi-shafts when the relative torque is zero is a 1 -a 0 . The relationship between the angle change of the two half shafts and the torque can be obtained through calibration.

一体化高速旋转轴扭矩测量装置还可以兼作转速传感器,转速n的计算公式为:The integrated high-speed rotating shaft torque measuring device can also be used as a speed sensor, and the calculation formula of the speed n is:

式中t1,t2,t3,t4的单位为秒。In the formula, the units of t 1 , t 2 , t 3 , and t 4 are seconds.

Claims (6)

1.一种旋转轴扭矩测量装置,其特征在于:1. A rotating shaft torque measuring device, characterized in that: 包括左半轴(1)、右半轴(7)、保持架(5)、扭簧(4);Including left half shaft (1), right half shaft (7), cage (5), torsion spring (4); 上述右半轴(7)的左端具有中心盲孔(7-1),左半轴(1)的右端伸入该中心盲孔(7-1)中;The left end of the above-mentioned right half shaft (7) has a central blind hole (7-1), and the right end of the left half shaft (1) extends into the central blind hole (7-1); 上述左半轴(1)的右端具有中心通孔(1-1);The right end of the left half shaft (1) has a central through hole (1-1); 上述保持架(5)的右端固定于右半轴(7)的中心盲孔(7-1)中,保持架(5)的左端伸入到左半轴(1)的中心通孔(1-1)中并通过滑动轴承(2)安装在中心通孔(1-1)中;The right end of the above cage (5) is fixed in the central blind hole (7-1) of the right half shaft (7), and the left end of the cage (5) extends into the central through hole (1-1) of the left half shaft (1). 1) and installed in the central through hole (1-1) through the sliding bearing (2); 上述扭簧(4)安装在保持架(5)上,其右端与右半轴(7)相连,其左端与左半轴(1)相连;The above-mentioned torsion spring (4) is installed on the cage (5), its right end is connected with the right half shaft (7), and its left end is connected with the left half shaft (1); 上述左半轴(1)右端周向均匀分布N个第一检测块(8),右半轴(7)左端周向均匀分布N个第二检测块(9);初始状态时第一检测块(8)和第二检测块(9)沿周向间隔均匀布置;N为2-5;N first detection blocks (8) are uniformly distributed circumferentially on the right end of the left semi-axis (1), and N second detection blocks (9) are evenly distributed circumferentially on the left end of the right semi-axis (7); the first detection block in the initial state (8) and the second detection block (9) are evenly arranged along the circumferential interval; N is 2-5; 该旋转轴扭矩测量装置还包括位于右半轴(7)的左端侧方的位置检测传感器(10);The rotating shaft torque measuring device also includes a position detection sensor (10) located on the left side of the right half shaft (7); 上述第一检测块(8)、第二检测块(9)到系统中心轴线的径向距离相等,上述第一检测块(8)、第二检测块(9)、位置检测传感器(10)到右半轴(7)右端面所在平面的距离相等。The above-mentioned first detection block (8), the second detection block (9) have the same radial distance to the central axis of the system, and the above-mentioned first detection block (8), second detection block (9), position detection sensor (10) to The distance of the plane where the right end face of the right semi-axis (7) is located is equal. 2.利用权利要求1所述的旋转轴扭矩测量装置的扭矩测量方法,其特征在于:2. Utilize the torque measuring method of the rotary shaft torque measuring device according to claim 1, characterized in that: 把右半轴(7)与传动轴串联,左半轴(1)和右半轴(7)通过扭簧(4)连接传递扭矩,左半轴(1)和右半轴(7)可相对周向运动,扭簧体随传动轴一起转动,传递扭矩时扭簧被压缩,使两半轴相对角度发生变化,变化的角度与扭矩成正比;通过分析两半轴的相对角度变化,从而得到相应的扭矩。The right half shaft (7) is connected in series with the transmission shaft, the left half shaft (1) and the right half shaft (7) are connected to transmit torque through the torsion spring (4), and the left half shaft (1) and the right half shaft (7) can be relatively Circumferential movement, the torsion spring body rotates with the drive shaft, and the torsion spring is compressed when the torque is transmitted, so that the relative angle of the two semi-shafts changes, and the angle of change is proportional to the torque; by analyzing the relative angle change of the two semi-shafts, we can get corresponding torque. 3.根据权利要求2所述的扭矩测量方法,其特征在于:3. The torque measuring method according to claim 2, characterized in that: 当轴传递的扭矩变化时,第一检测块(8)与第二检测块(9)的相对位置发生变化,当转轴旋转时,第一检测块(8)与第二检测块(9)使位置检测传感器(10)产生脉冲电压信号,转轴旋转一周产生2N个电压脉冲波形,对应2N个检测块在圆周上分布的位置,通过分析电压脉冲波形中相邻脉冲的相位变化,得到两半轴的相对角度变化,从而得到相应的扭矩。When the torque transmitted by the shaft changes, the relative position of the first detection block (8) and the second detection block (9) changes, and when the rotating shaft rotates, the first detection block (8) and the second detection block (9) make The position detection sensor (10) generates a pulse voltage signal, and the rotating shaft rotates once to generate 2N voltage pulse waveforms, which correspond to the positions of the 2N detection blocks distributed on the circumference. By analyzing the phase changes of adjacent pulses in the voltage pulse waveform, the two semi-axis The relative angle changes, so as to obtain the corresponding torque. 4.根据权利要求3所述的扭矩测量方法,其特征在于:4. The torque measuring method according to claim 3, characterized in that: 当轴旋转时,在无扭矩加载情况下,均匀分布的N个第一检测块与N个第二检测块使位置检测传感器产生2N个时间间隔相同的电压脉冲波形,相邻脉冲的相对相位为零;当加载扭矩为T时,相邻脉冲的相对相位变化为a;事先标定不同的a与T的对应关系,就可从相位变化a得到T;为了解决N个第一检测块与N个第二检测块由于安装制造误差使检测块周向间隔在初始状态时不能完全均匀布置,从而带来相角检测误差的问题,在相角计算中,分别计算2N个电压脉冲波形中相邻2个脉冲之间的时间间隔t1,t2,…,t2N,并将其从大到小排序为t1',t2',…,t2N',电压脉冲波形中相邻2个脉冲相位计算公式为:When the shaft rotates, under the condition of no torque loading, the evenly distributed N first detection blocks and N second detection blocks make the position detection sensor generate 2N voltage pulse waveforms with the same time interval, and the relative phase of adjacent pulses is zero; when the loading torque is T, the relative phase change of adjacent pulses is a; the corresponding relationship between different a and T is calibrated in advance, and T can be obtained from the phase change a; in order to solve the problem of N first detection blocks and N Due to the installation and manufacturing error of the second detection block, the circumferential interval of the detection block cannot be completely evenly arranged in the initial state, which brings about the problem of phase angle detection error. In the phase angle calculation, the adjacent 2 of the 2N voltage pulse waveforms are respectively calculated The time interval between t 1 , t 2 ,…,t 2N pulses, and sort them from large to small as t 1 ', t 2 ',…,t 2N ', two adjacent pulses in the voltage pulse waveform The phase calculation formula is: 5.根据权利要求4所述的扭矩测量方法,其特征在于:5. The torque measuring method according to claim 4, characterized in that: 上述N=2;The above N=2; 轴旋转一周产生4个电压脉冲波形,对应四个检测块在圆周上分布的位置,通过分析电压脉冲波形中相邻2个脉冲相位变化的方法可得到两半轴相对变化的角度,进而得到与角度成正比的扭矩;The shaft rotates one revolution to generate 4 voltage pulse waveforms, which correspond to the positions of the four detection blocks distributed on the circumference. By analyzing the phase changes of two adjacent pulses in the voltage pulse waveform, the relative change angle of the two semi-axes can be obtained, and then obtained with the Torque proportional to angle; 当扭矩为零时,分别计算电压脉冲波形中相邻4个脉冲之间的时间间隔t1,t2,t3,t4,并将其从大到小排序为t1',t2',t3',t4',电压脉冲波形中相邻2个脉冲相位计算公式为:When the torque is zero, calculate the time intervals t 1 , t 2 , t 3 , and t 4 between four adjacent pulses in the voltage pulse waveform, and sort them as t 1 ', t 2 ' from large to small ,t 3 ',t 4 ', the calculation formula of two adjacent pulse phases in the voltage pulse waveform is: 当扭矩为某个不为零的值T时,计算电压脉冲波形中相邻4个脉冲之间的时间间隔t5,t6,t7,t8,并将其从大到小排序为t5',t6',t7',t8',电压脉冲波形中相邻2个脉冲相位计算公式为:When the torque is a non-zero value T, calculate the time intervals t 5 , t 6 , t 7 , and t 8 between four adjacent pulses in the voltage pulse waveform, and sort them as t from large to small 5 ', t 6 ', t 7 ', t 8 ', the calculation formula of two adjacent pulse phases in the voltage pulse waveform is: 因此,当扭矩为T时,相对扭矩为零时的两个半轴角度变化为a1-a0;通过标定可以得到两个半轴角度变化与扭矩之间的关系。Therefore, when the torque is T, the angle change of the two half shafts when the relative torque is zero is a 1 -a 0 ; the relationship between the angle change of the two half shafts and the torque can be obtained through calibration. 6.利用权利要求1所述的旋转轴扭矩测量装置的转速测量方法,其特征在于:6. Utilize the method for measuring the rotational speed of the rotating shaft torque measuring device according to claim 1, characterized in that: 当轴旋转时,N个第一检测块(8)与N个第二检测块(9)使位置检测传感器(10)产生2N个电压脉冲波形,分别计算电压脉冲波形中相邻2N个脉冲的之间的时间间隔t1,t2,…,t2N,转速n的计算公式为:When the shaft rotates, N first detection blocks (8) and N second detection blocks (9) make the position detection sensor (10) generate 2N voltage pulse waveforms, respectively calculate the adjacent 2N pulse waveforms in the voltage pulse waveform The time interval between t 1 ,t 2 ,…,t 2N , the calculation formula of speed n is: 式中t1,t2,…,t2N的单位为秒。In the formula, the units of t 1 , t 2 ,...,t 2N are seconds.
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CN106514720A (en) * 2015-09-11 2017-03-22 北京邮电大学 Embedded torque sensor and sensing device for joint module
CN108593163A (en) * 2018-02-01 2018-09-28 南京拓科电子有限公司 A kind of Photoelectric Detection metal shaft deformation torque sensor
CN112504588A (en) * 2020-12-21 2021-03-16 广电计量检测(天津)有限公司 Torsional spring stress relaxation acceleration test device
CN113959722A (en) * 2021-10-28 2022-01-21 南京航空航天大学 Torque-propeller pitch-phase angle-rotating speed integrated measuring device and method based on tone wheel

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CN106514720A (en) * 2015-09-11 2017-03-22 北京邮电大学 Embedded torque sensor and sensing device for joint module
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