CN110967134A - Magnetic precise constraint type magnetic focusing torque sensor and torque calculation method - Google Patents
Magnetic precise constraint type magnetic focusing torque sensor and torque calculation method Download PDFInfo
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- G—PHYSICS
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
- G01L3/101—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means
- G01L3/105—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means involving inductive means
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Abstract
The invention provides a magnetic precise constraint type magnetic focusing torque sensor and a torque calculation method, belongs to the technical field of sensors, and solves the problems that the existing magnetic focusing sensor is complex in structure, complex in torque calculation mode and difficult in magnetic field focusing to a set shape. It includes the rotation axis and gathers the mechanism, the both ends of rotation axis are axle input end and axle output end respectively, it sets up respectively at axle input end and axle output end department to gather the mechanism, it includes receiving mechanism, rotor circuit board, exciting coil, magnetizer and housing to gather the mechanism, receiving mechanism prints on rotor flexible circuit board, receiving mechanism is bilayer plate structure, exciting coil is the crooked form of rectangle, exciting coil prints on stator flexible circuit board, be provided with mount and handle on the housing, be provided with the magnetizer in the mount, the magnetizer is located between exciting coil and the rotation axis. The method is mainly used for a sensor based on a magnetic focusing principle and a torque calculation method.
Description
Technical Field
The invention belongs to the technical field of sensors, and particularly relates to a magnetic precision constraint type magnetic focusing torque sensor and a torque calculation method.
Background
The sensor is a detection device which can sense the measured information and convert the sensed information into electric signals or other information in required forms according to a certain rule to be output so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. The magnetic focusing technology is developed rapidly in the fields of bioelectromagnetism and geological survey by virtue of the advantages of strong anti-interference capability, high signal intensity, no magnetic leakage, high energy transmission efficiency and the like.
The magnetic field of the existing sensor based on the magnetic focusing principle is divergent, the magnetic field needs to be restrained, a better focusing effect can be obtained, and the measurement precision is higher. The magnetic field focusing effect of magnetic focusing is poor, and the prior art is difficult to achieve the expected focusing shape and needs to accurately restrict the magnetic field. The existing non-contact sensor for measuring the rotating speed is based on the eddy current principle, the eddy current is non-linear, and a linear signal can be extracted only through a complex structural design. And the inner space of the sensor has an alternating magnetic field of an exciting coil and an eddy current field of the rotor, and a complex decoupling structure needs to be designed. The torque algorithm of the existing sensor is complex, and the transmission of signals is transmitted through a wire harness.
Disclosure of Invention
The invention provides a magnetic precise constraint type magnetic focusing torque sensor and a torque calculation method in order to solve the problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: a magnetic precise constraint type magnetic focusing torque sensor comprises a rotating shaft and an acquisition mechanism, wherein two ends of the rotating shaft are respectively a shaft input end and a shaft output end, the collecting mechanism is respectively arranged at the input end and the output end of the shaft and comprises a receiving mechanism, a rotor circuit board, an exciting coil, a magnetizer and a cover shell, the receiving mechanism is printed on a rotor flexible circuit board, a signal processing circuit is printed on the rotor flexible circuit board, the receiving mechanism is a double-layer plate structure, a receiving coil A and a receiving coil B are respectively arranged on the double-layer plate structure, the receiving coil A and the receiving coil B are both in a structure that a plurality of rectangles are connected end to end, a rectangle is staggered between the receiving coil A and the receiving coil B, the receiving mechanism and the rotor circuit board are attached to the shaft input end and the shaft output end and rotate together with the rotating shaft; the utility model discloses a stator, including excitation coil, stator flexible circuit board, stator, rotor, stator flexible circuit board, excitation coil is the rectangle crookedness, excitation coil prints on stator flexible circuit board, and every layer of stator flexible circuit board prints an excitation coil, and the stator flexible circuit board on a plurality of layers superposes layer upon layer, forms the arrangement of inverted pyramid formula, stator flexible circuit board is fixed in the housing, be provided with mount and handle on the housing, be provided with the magnetizer in the mount, the magnetizer is located between excitation coil and the rotation axis, excitation coil is to the cro.
Further, the shape and the area of the bottom end of the magnetizer are consistent with the rectangle in the receiving coil A and the receiving coil B.
Furthermore, the bottom end of the magnetizer is round, rectangular or elliptical.
Furthermore, the stator processing circuit comprises an oscillating circuit and a wireless power supply transmitting circuit.
Furthermore, a sinusoidal voltage of 10MHz is applied to the excitation coil.
Furthermore, the signal processing circuit comprises a signal acquisition module, a signal processing module, a wireless power supply module and a wireless transmission module.
Furthermore, the handle is provided with a fixing hole, a screw is arranged in the fixing hole, and the stator flexible circuit board and the stator processing circuit are fixed through the screw.
Furthermore, the handle is provided with an opening for leading out a lead.
The invention also provides a torque calculation method of the magnetic precise constraint type magnetic focusing torque sensor, which comprises the following steps:
the method comprises the following steps: applying alternating current to the exciting coil to generate an alternating magnetic field in space, and focusing the magnetic field on one point on the rotating shaft by the guidance of a magnetizer according to the spatial distribution of the exciting coil, wherein the point is a magnetic focusing point which is positioned in the rectangular interior of the receiving mechanism;
step two: with the rotation of the rotating shaft, the track of the magnetic focusing point is a circle, when the magnetic focusing point is in the rectangular inner part of the receiving mechanism, the magnetic flux in the receiving mechanism changes, and induced voltage is generated on the receiving mechanism, and the magnitude of the induced voltage is related to the coupling area of the bottom end of the magnetizer and the receiving mechanism;
step three: when the magnetic focusing point is positioned between the two rectangles, the magnetic flux of the receiving mechanism is changed into 0, and the induction voltage of the receiving mechanism is zero;
step four: receiving coil A and receiving coil B in the receiving mechanism are both a structure that a plurality of rectangles are connected end to end, according to the formula:
in the formula: b is magnetic induction intensity, S is the area of a rectangle, U is induced voltage of a receiving mechanism, t is time, phi is magnetic flux, and the formula shows that under the condition of certain magnetic induction intensity, the induced voltage is in direct proportion to the area of the rectangle within a certain time, and the change of the area of the rectangle causes the change of the induced voltage of a receiving coil;
step five: the rotation of the rotating shaft can generate a deformation angle, and the input end and the output end of the shaft are respectively provided with a receiving mechanism;
step six: when the rotating shaft is static, the signals collected by the receiving mechanisms at the shaft input end and the shaft output end are 0, when the rotating shaft rotates, the receiving mechanisms at the shaft input end and the shaft output end simultaneously generate signals, and the difference is made between the signals generated by the receiving coil A or the receiving coil B, namely the torsion angle theta of the rotating shaft;
step seven: the torque is calculated according to the following formula,
theta-the twist angle of the axis of rotation; t is the load torque; l is the effective length of the torsion bar; g-shear modulus of the torsion bar material; i isp-torsion bar section polar moment of inertia.
Step eight: when the receiving coil A acquires the induced voltage and the receiving coil B has no voltage, the rotating shaft rotates in the positive direction; when the receiving coil B collects the induced voltage and the receiving coil A does not have the voltage, the rotating shaft rotates reversely.
Compared with the prior art, the invention has the beneficial effects that: the invention solves the problems that the existing magnetic focusing sensor has a complex structure and a complex torque calculation mode, and a magnetic field is difficult to focus into a set shape. The torque algorithm is simple, and signals are transmitted wirelessly without a decoupling structure. The sensor only has an alternating magnetic field of the exciting coil, and deconstruction is not needed. And the magnetic field is focused on one point, the signal change is linear, the algorithm is simple, and the precision is high. In addition, a feedback device can be arranged on the exciting coil, namely the amplitude and the frequency of the exciting voltage are collected and compared with the designed target magnetic field, so that the control is carried out.
Drawings
FIG. 1 is an exploded view of a magnetic precision-confinement type magnetic focusing torque sensor according to the present invention;
FIG. 2 is a diagram of the installation position of the exciting coil and the magnetizer according to the present invention;
FIG. 3 is a schematic view of the housing according to the present invention;
FIG. 4 is a schematic diagram of a receiving coil A or a receiving coil B according to the present invention;
FIG. 5 is a schematic diagram of a magnetic precision-confinement type magnetic focusing torque sensor according to the present invention;
fig. 6 is a signal acquisition diagram of the receiving mechanism according to the present invention.
The device comprises a rotating shaft 1, a shaft 2, a shaft input end 3, a shaft output end 4, a receiving mechanism 5, a rotor circuit board 6, an exciting coil 7, a magnetizer 8, a cover 8, a fixing frame 9, a handle 10, a stator processing circuit fixing surface 11, an exciting coil attaching surface 12 and a fixing hole 13.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention.
Referring to fig. 1-6 to illustrate the present embodiment, a magnetic precise-confinement type magnetic focusing torque sensor includes a rotating shaft 1 and a collecting mechanism, two ends of the rotating shaft 1 are a shaft input end 2 and a shaft output end 3, the collecting mechanism is disposed at the shaft input end 2 and the shaft output end 3, the collecting mechanism includes a receiving mechanism 4, a rotor circuit board 5, an exciting coil 6, a magnetizer 7 and a housing 8, the receiving mechanism 4 is printed on the rotor flexible circuit board, the rotor flexible circuit board is printed with a signal processing circuit, the receiving mechanism 4 is a double-layer board structure, the double-layer board structure is provided with a receiving coil a and a receiving coil B, the receiving coil a and the receiving coil B are both of a structure in which a plurality of rectangles are connected end to end, a rectangle is staggered between the receiving coil a and the receiving coil B, the receiving mechanism 4 and the rotor circuit board 5 are attached to the shaft input end 2 and the shaft output end 3, rotates along with the rotating shaft 1; exciting coil 6 is the crooked form of rectangle, exciting coil 6 is printed on stator flexible circuit board, and every layer of stator flexible circuit board prints an exciting coil 7, and the stator flexible circuit board on a plurality of layers superposes layer upon layer, forms the arrangement of reverse pyramid, stator flexible circuit board is fixed in housing 8, be provided with mount 9 and handle 10 on the housing 8, be provided with magnetizer 7 in the mount 9, magnetizer 7 is located between exciting coil 6 and the rotation axis 1, exciting coil 6 is to the crooked form of magnetizer 7, be provided with stator processing circuit in the handle 10.
A number of curved rectangular excitation coils 6 are arranged above the distance from the axis of rotation 1, each excitation coil 6 applying a high-frequency sinusoidal current of 10MHz, the current amplitude of each excitation coil 6 being dependent on its position. A magnetizer 7 with large magnetic conductivity is arranged between the exciting coil 6 and the rotating shaft 1, and the bottom end of the magnetizer 7 can be changed into any shape according to the design, such as a circle, a rectangle, an ellipse and the like. The exciting coil 6 is bent toward the magnetizer 7, so that more magnetic lines of force can enter the magnetizer 7. By the guidance of the magnetizer 7, the magnetic lines of force are collected near the rotating shaft 1 and focused into a magnetic spot, which is a magnetic field gathering place and is a magnetic field maximum place on the surface of the rotating shaft 1. The bottom end of the magnetizer 7 in this embodiment is rectangular, and the shape and the area are consistent with the rectangle of the receiving mechanism 4. The shape of the bottom end of the magnetizer 7 can be changed according to the shape of the receiving mechanism 4.
Rectangular bent exciting coils 6 are adopted, the rectangular coils are overlapped layer by layer and arranged in a pyramid shape, and the specific form is shown in figure 2. The installation mode of the exciting coil 6 is as follows: the exciting coils 6 are printed on the stator flexible circuit board, one exciting coil 6 is printed on each layer, and the flexible circuit boards of a plurality of layers are overlapped layer by layer to form pyramid arrangement. The stator flexible circuit board is fixed to the excitation coil attachment surface 12 of the housing 8, as shown in fig. 3. The stator processing circuit is placed inside the handle 10 of the housing 8, and as shown in fig. 3, the stator processing circuit includes an oscillator circuit and a wireless power supply transmitting circuit. The housing 8, the excitation coil 6 and the stator processing circuit together form the stator of the sensor. The shape and position of the magnetizer are shown in fig. 2. The fixing mode is as shown in fig. 3, and the fixing device is arranged on a magnetizer fixing frame 9.
The receiving coil a and the receiving coil B are both rectangles connected end to end, as shown in fig. 4, the receiving mechanism 4 is printed by a rotor flexible circuit board, and the signal processing circuit is also printed on the rotor flexible circuit board. The receiving mechanism 4 is a double-layer plate structure, one receiving coil is arranged on each layer, the receiving mechanism consists of two receiving coils, and a rectangle is staggered between the two receiving coils. When the magnetic spot displaces the receiving coil A, the receiving coil A has voltage, and the receiving coil B has no voltage, and vice versa. The signal processing circuit comprises a signal acquisition module, a signal processing module, a wireless power supply module and a wireless transmission module. The rotor flexible circuit board is attached to the rotating shaft 1 and rotates together with the rotating shaft 1, as shown in fig. 4.
During installation, the housing 8 is fixed, the stator flexible circuit board containing the exciting coil 6 is fixed inside the housing 8, the stator processing circuit is located inside the handle 10, and the handle 10 is provided with an opening for leading out a lead. The handle 10 is provided with a fixing hole 13, a screw is arranged in the fixing hole 13, and the stator flexible circuit board and the stator processing circuit are fixed through the screw. The receiving means 4 and the rotor processing circuitry are directly attached to the input and output end surfaces of the shaft.
The embodiment is a torque calculation method using a magnetic precise constraint type magnetic focusing torque sensor, which comprises the following steps:
the method comprises the following steps: applying alternating current to the exciting coil 6 to generate an alternating magnetic field in space, and focusing the magnetic field on one point on the rotating shaft 1 by the guidance of the magnetizer 7 according to the spatial distribution of the exciting coil 6, wherein the point is a magnetic focusing point which is positioned in the rectangle of the receiving mechanism 4;
step two: with the rotation of the rotating shaft 1, the track of the magnetic focusing point is a circle, when the magnetic focusing point is in the rectangular interior of the receiving mechanism 4, due to the change of the magnetic flux in the receiving mechanism 4, an induced voltage is generated on the receiving mechanism 4, and the magnitude of the induced voltage is related to the coupling area between the bottom end of the magnetizer 7 and the receiving mechanism 4;
step three: when the magnetic focusing point is located between the two rectangles, the magnetic flux amount of the receiving mechanism 4 becomes 0, and the induced voltage of the receiving mechanism 4 is zero;
step four: receiving coil A and receiving coil B in receiving mechanism 4 are the structure of a plurality of rectangles end to end, according to the formula:
in the formula: b is magnetic induction intensity, S is area of rectangle, U is induced voltage of receiving mechanism 4, t is time, and Φ is magnetic flux, as can be seen from the formula, under the condition of constant magnetic induction intensity, the induced voltage is in direct proportion to the area of rectangle within a certain time, and the change of the area of rectangle results in the change of the induced voltage of receiving coil, and the process is shown in fig. 6;
step five: the rotation of the rotating shaft 1 can generate a deformation angle, and a receiving mechanism 4 is respectively arranged at the shaft input end 2 and the shaft output end 3;
step six: when the rotating shaft 1 is static, the signals collected by the receiving mechanisms 4 of the shaft input end 2 and the shaft output end 3 are 0, as shown in fig. 6, when the rotating shaft 1 rotates, the receiving mechanisms 4 of the shaft input end 2 and the shaft output end 3 simultaneously generate signals, and the difference is made between the signals generated by the receiving coil a or the receiving coil B, namely the torsion angle theta of the rotating shaft 1;
step seven: the torque is calculated according to the following formula,
theta-the twist angle of the axis of rotation; t is the load torque; l is the effective length of the torsion bar; g-shear modulus of the torsion bar material; i isp-torsion bar section polar moment of inertia.
Step eight: when the receiving coil A acquires the induced voltage and the receiving coil B does not have the voltage, the rotating shaft 1 rotates forwards; when the receiving coil B collects the induced voltage and the receiving coil A does not have the voltage, the rotating shaft 1 rotates reversely.
The above embodiment may be provided with a feedback device on the exciting coil 6, and the amplitude and frequency of the exciting voltage are collected and compared with the designed target magnetic field, so as to perform adjustment.
The magnetic precise constraint type magnetic focusing torque sensor and the torque calculation method provided by the invention are described in detail, and the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. A magnetic precision-constrained magnetic focusing torque sensor is characterized in that: the device comprises a rotating shaft (1) and a collecting mechanism, wherein the two ends of the rotating shaft (1) are respectively provided with a shaft input end (2) and a shaft output end (3), the collecting mechanism is respectively arranged at the shaft input end (2) and the shaft output end (3), the collecting mechanism comprises a receiving mechanism (4), a rotor circuit board (5), an exciting coil (6), a magnetizer (7) and a housing (8), the receiving mechanism (4) is printed on the rotor flexible circuit board, a signal processing circuit is printed on the rotor flexible circuit board, the receiving mechanism (4) is of a double-layer plate structure, a receiving coil A and a receiving coil B are respectively arranged on the double-layer plate structure, the receiving coil A and the receiving coil B are of a structure that a plurality of rectangles are connected end to end, a rectangle is staggered between the receiving coil A and the receiving coil B, the receiving mechanism (4) and the rotor circuit board (5) are attached to the shaft input end (2) and the shaft output end (3), rotates along with the rotating shaft (1); exciting coil (6) are the crooked form of rectangle, exciting coil (6) are printed on stator flexible circuit board, and every layer of stator flexible circuit board prints one exciting coil (7), and the stator flexible circuit board on a plurality of layers superposes layer upon layer, forms the arrangement of inverted pyramid, stator flexible circuit board is fixed in housing (8), be provided with mount (9) and handle (10) on housing (8), be provided with magnetizer (7) in mount (9), magnetizer (7) are located between exciting coil (6) and rotation axis (1), exciting coil (6) are to the crooked form of magnetizer (7), be provided with stator treatment circuit in handle (10).
2. A magnetic precision-binding magnetic focusing torque transducer according to claim 1, wherein: the shape and the area of the bottom end of the magnetizer (7) are consistent with those of rectangles in the receiving coil A and the receiving coil B.
3. A magnetic precision-binding magnetic focusing torque transducer according to claim 1, wherein: the bottom end of the magnetizer (7) is round, rectangular or oval.
4. A magnetic precision-binding magnetic focusing torque transducer according to claim 1, wherein: the stator processing circuit comprises an oscillating circuit and a wireless power supply transmitting circuit.
5. A magnetic precision-binding magnetic focusing torque transducer according to claim 1, wherein: a sinusoidal voltage of 10MHz is applied to the excitation coil (6).
6. A magnetic precision-binding magnetic focusing torque transducer according to claim 1, wherein: the signal processing circuit comprises a signal acquisition module, a signal processing module, a wireless power supply module and a wireless transmission module.
7. A magnetic precision-binding magnetic focusing torque transducer according to claim 1, wherein: the handle (10) is provided with a fixing hole (13), a screw is arranged in the fixing hole (13), and the stator flexible circuit board and the stator processing circuit are fixed through the screw.
8. A magnetic precision-binding magnetic focusing torque transducer according to claim 1, wherein: the handle (10) is provided with an opening for leading out a lead.
9. A torque calculation method using a magnetic precision-constrained magnetic focusing torque transducer as claimed in claim 1, characterized in that: it comprises the following steps:
the method comprises the following steps: applying alternating current to the exciting coil (6), generating an alternating magnetic field in space, and focusing the magnetic field on one point on the rotating shaft (1) through the guidance of a magnetizer (7) according to the spatial distribution of the exciting coil (6), wherein the point is a magnetic focusing point which is positioned in the rectangular interior of the receiving mechanism (4);
step two: with the rotation of the rotating shaft (1), the track of the magnetic focusing point is a circle, when the magnetic focusing point is in the rectangular interior of the receiving mechanism (4), due to the change of magnetic flux in the receiving mechanism (4), induced voltage is generated on the receiving mechanism (4), and the magnitude of the induced voltage is related to the coupling area of the bottom end of the magnetizer (7) and the receiving mechanism (4);
step three: when the magnetic focusing point is positioned between the two rectangles, the magnetic flux quantity of the receiving mechanism (4) is changed into 0, and the induced voltage of the receiving mechanism (4) is zero;
step four: a receiving coil A and a receiving coil B in the receiving mechanism (4) are both of a structure that a plurality of rectangles are connected end to end, and according to a formula:
in the formula: b is magnetic induction intensity, S is the area of a rectangle, U is induced voltage of a receiving mechanism (4), t is time, phi is magnetic flux, and the formula shows that under the condition of certain magnetic induction intensity, the induced voltage is in direct proportion to the area of the rectangle in a certain time, and the change of the area of the rectangle causes the change of the induced voltage of a receiving coil;
step five: the rotation of the rotating shaft (1) can generate a deformation angle, and the shaft input end (2) and the shaft output end (3) are respectively provided with a receiving mechanism (4);
step six: when the rotating shaft (1) is static, signals acquired by the receiving mechanisms (4) of the shaft input end (2) and the shaft output end (3) are 0, when the rotating shaft (1) rotates, the receiving mechanisms (4) of the shaft input end (2) and the shaft output end (3) simultaneously generate signals, and the signals generated by the receiving coil A or the receiving coil B are subjected to difference, namely the torsion angle theta of the rotating shaft (1);
step seven: the torque is calculated according to the following formula,
in the formula: theta-the twist angle of the axis of rotation; t is the load torque; l is the effective length of the torsion bar; g-shear modulus of the torsion bar material; i isp-torsion bar section polar moment of inertia;
step eight: when the receiving coil A acquires the induced voltage and the receiving coil B does not have the voltage, the rotating shaft (1) rotates forwards; when the receiving coil B collects the induced voltage and the receiving coil A does not have the voltage, the rotating shaft (1) rotates reversely.
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| CN115452221A (en) * | 2022-08-18 | 2022-12-09 | 东北林业大学 | Single-C-shaped/double-C-shaped focusing magnetic field excitation device applied to shafting torque measurement |
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| CN115452221A (en) * | 2022-08-18 | 2022-12-09 | 东北林业大学 | Single-C-shaped/double-C-shaped focusing magnetic field excitation device applied to shafting torque measurement |
| CN115452221B (en) * | 2022-08-18 | 2024-05-24 | 东北林业大学 | Single C-shaped/double C-shaped focusing magnetic field excitation device applied to shafting torque measurement |
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