CN1908606A - Torque detection apparatus and acting force detection apparatus - Google Patents

Torque detection apparatus and acting force detection apparatus Download PDF

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Publication number
CN1908606A
CN1908606A CN 200610104268 CN200610104268A CN1908606A CN 1908606 A CN1908606 A CN 1908606A CN 200610104268 CN200610104268 CN 200610104268 CN 200610104268 A CN200610104268 A CN 200610104268A CN 1908606 A CN1908606 A CN 1908606A
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China
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detecting element
lateral load
rotated
load detecting
reverse rotation
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CN 200610104268
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Chinese (zh)
Inventor
矶野宏
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Toyota Motor Corp
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Toyota Motor Corp
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Abstract

The torque detection apparatus has a detector (A1) and a computing unit (B). The detector (A1) includes a first rotating member (12) and a second rotating member (11) that are coaxially disposed, and that are capable of transferring torque and being relatively rotated in a forward rotation direction and a reverse rotation direction, a forward rotation-side load detection element (S1a to S4a) that is mounted on a forward rotation transfer side of each of the two rotating members (11, 12), and a reverse rotation-side load detection element (S1b to S4b) that is mounted on a reverse rotation transfer side of each of the two rotating members. The entire amount of the transfer torque transferred between the two rotating members (11, 12) is transferred via the forward rotation-side load detection element (S1a to S4a) and the reverse rotation-side load detection element (S1b to S4b).

Description

Torque master and acting force detection apparatus
Technical field
Relate generally to of the present invention can detect the detector means of the transmission load of transmitting between first rotating member and second rotating member, wherein said first rotating member and the second rotating member coaxial arrangement and being arranged so that along forward and reverse rotation direction can be rotated and can transmitting torque relatively.
Background technology
Example as this torque master and acting force detection apparatus, for example, Japanese Patent Application Publication No.JP-A-2003-14563 (calling " open No.2003-14563 " in the following text) discloses a kind of device with detecting device, this device comprises: be rotated in the forward the lateral load detecting element, its be installed in first rotating member and second rotating member each be rotated in the forward the transmission side, and output is transmitted the electric signal of load corresponding to being rotated in the forward side; Reverse rotation lateral load detecting element, side is transmitted in its each reverse rotation that is installed in first rotating member and second rotating member, and the electric signal of load is transmitted in output corresponding to the reverse rotation side; And computing unit, calculate the transmitting torque that transmits between first rotating member and second rotating member and normal load (on exert oneself) based on the output that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element.
In the torque master of in above-mentioned open No.2003-14563, describing (wheel acting force detection apparatus), wheel side movable part and retainer side shifting part (first rotating member and second rotating member) mechanically are coupled by coupling mechanism, and this coupling mechanism is resiliently deformable when the relative displacement of member.Integral installation is a detecting element (strainometer, piezoelectric element etc.) and another detecting element (strainometer, piezoelectric element etc.) on the elastically deformable coupling mechanism, a described detecting element is owing to coupling mechanism produces strain towards the elastic deformation of a side, the elastic deformation of this coupling mechanism be based on the wheel side movable part from its neutral state with respect to the relative displacement of retainer side shifting part towards a side, this detecting element will change into electric signal towards the transmission load of a side and export this electric signal; Described another detecting element is owing to coupling mechanism produces strain towards the elastic deformation of opposite side, the elastic deformation of this coupling mechanism be based on the wheel side movable part from its neutral state with respect to the relative displacement of retainer side shifting part towards opposite side, this detecting element will change into electric signal towards the transmission load of opposite side and export this electric signal.
Yet, the structure of describing among the open No.2003-14563 has such possibility: when wheel side movable part during with retainer side shifting part (first rotating member and second rotating member) relative rotation, coupling mechanism is along the sense of rotation elastic deformation, and radially is out of shape with axial elasticity.Therefore, be difficult to comprise sense of rotation load on the transmission of torque part of coupling mechanism (be rotated in the forward side is transmitted load and the reverse rotation side is transmitted load) and to act on the normal load of load transfer on partly that comprises coupling mechanism with the good accuracy detection effect.
In addition, in the structure that open No.2003-14563 describes, the part of the transmitting torque that transmits between wheel side movable part and retainer movable part (first rotating member and second rotating member) is via the detecting element transmission, but the remainder of transmitting torque is not by the detecting element transmission.Therefore, be difficult to detect transmitting torque with pinpoint accuracy.In addition, the part of the normal load of transmitting between wheel side movable part and the retainer side shifting part (first rotating member and second rotating member) is via the detecting element transmission, but the remainder of normal load is not by the detecting element transmission.Therefore, be difficult to detect the transmission normal load with pinpoint accuracy.
Summary of the invention
A kind of torque master according to first aspect present invention comprises detecting device, this detecting device comprises coaxial arrangement and can be along being rotated in the forward direction and reverse rotation direction transmitting torque and can counterrotating first rotating member and second rotating member, be installed on each be rotated in the forward to transmit and be rotated in the forward the lateral load detecting element on the side in first rotating member and second rotating member, and be installed on each reverse rotation in first rotating member and second rotating member and transmit reverse rotation lateral load detecting element on the side, the side that is rotated in the forward that increases when this is rotated in the forward the lateral load detecting element and will be rotated in the forward and reduce during reverse rotation is transmitted load and is changed into electric signal, and export this electric signal, this reverse rotation lateral load detecting element increases during with reverse rotation and the reverse rotation side that reduces when being rotated in the forward is transmitted load and changed into electric signal, and exports this electric signal.Torque master also comprises computing unit, and computing unit calculates transmitting torque between first rotating member and second rotating member based on the output of output that is rotated in the forward the lateral load detecting element and reverse rotation lateral load detecting element.This torque master has such feature: the total amount of the transmitting torque that transmits between first rotating member in the detecting device and second rotating member is via being rotated in the forward lateral load detecting element and the transmission of reverse rotation lateral load detecting element.
In the torque master according to first aspect, the total amount of the transmitting torque that transmits between first rotating member and second rotating member is via being rotated in the forward lateral load detecting element and the transmission of reverse rotation lateral load detecting element.Therefore, by detecting device based on the output that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element detect be rotated in the forward side transmit load and reverse rotation side transmit load can be with high Precision Detection.Therefore, can provide with high precision by the transmitting torque that calculating obtained in the computing unit.
In first aspect, detecting device can have the load bringing device, this load bringing device can apply and is rotated in the forward side and transmits load to being rotated in the forward the lateral load detecting element, and can apply the reverse rotation side to reverse rotation lateral load detecting element and transmit load.
According in this respect, the load bringing device also is a restraint device, this restraint device is used to limit the relative rotation between first rotating member and second rotating member, and can apply and be rotated in the forward side and transmit load to being rotated in the forward the lateral load detecting element thus, also apply the reverse rotation side and transmit load to reverse rotation lateral load detecting element.Even do not having under the situation of torque load(ing), can obtain each the stable output in the detecting element.In addition, the working load bringing device can be eliminated between first rotating member and second rotating member beating and shake along sense of rotation.Therefore, can eliminate owing to above-mentionedly beat and shake the undesired noise that causes or the generation of friction.
In aspect above-mentioned, the load bringing device can its load that applies by screw adjusted.In this case, being applied to the load that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element can be regulated continuously, and when not having torque load(ing), the output that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element can optimally be provided with (for example, the intermediate value between maximum output valve and the minimum output valve).
In addition, in aspect above-mentioned, be rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element and can be arranged on the same circumference of the rotation center of first rotating member and second rotating member, and the absolute value of the slope of the output corresponding with the load on being rotated in the forward the lateral load detecting element and can be provided with to such an extent that equate substantially with the absolute value of the slope of the corresponding output of the load on the reverse rotation lateral load detecting element.
According in this respect, the transmission load between first rotating member and second rotating member can easily be calculated based on the output that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element.Based on the transmission load of calculating, the transmitting torque between first rotating member and second rotating member can easily be calculated by computing unit.
In addition, aspect above-mentioned, the rotation center of first rotating member and second rotating member can along continuous straight runs extends, and every pair of being rotated in the forward at least one pair of and the reverse rotation lateral load detecting element in the lateral load detecting element at least one pair of can be furnished with 180 ° differing along sense of rotation.
According in this respect, the normal load that is input to the normal load that is rotated in the forward the lateral load detecting element and is input to reverse rotation lateral load detecting element can cancel each other out, and by being rotated in the forward of being rotated in the forward that the lateral load detecting element detects side transmits load and transmits load by the reverse rotation side that reverse rotation lateral load detecting element detects can be with high Precision Detection.
In aspect above-mentioned, be rotated in the forward in lateral load detecting element and the reverse rotation lateral load detecting element each and be at least one in strainometer and the piezoelectric element.
Torque detection method according to second aspect present invention comprises: read the average output that is rotated in the forward the lateral load detecting element and the average output of reverse rotation lateral load detecting element; Forward rotation lateral load detecting element and reverse rotation lateral load detecting element are carried out non-positive tropism to be determined; The result who determines based on non-positive tropism calculates corresponding to the magnitude of voltage that transmits load, and calculates the transmission load based on magnitude of voltage; Multiply by from rotation center to the distance calculation transmitting torque that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element by transmitting load.
In this second aspect, if be rotated in the forward the lateral load detecting element and reverse rotation lateral load detecting element both is a forward, then can use equation Vt=(Va1-Vb1)/2 to calculate based on the currency Vb1 of the average output Vb of the currency Va1 of the average output Va that is rotated in the forward the lateral load detecting element and reverse rotation lateral load detecting element corresponding to the magnitude of voltage Vt that transmits load F.
In this second aspect, if being rotated in the forward the lateral load detecting element is forward, and reverse rotation lateral load detecting element is non-forward, then can be based on currency Va1 and the fixed value Va2f of the average output Va that is rotated in the forward the lateral load detecting element of forward corresponding to the magnitude of voltage Vt that transmits load F, Vb2f uses equation Vt=(Va2f-Vb2f)/2+ (Va1-Va2f) to calculate, wherein, fixed value Va2f, Vb2f is the average output that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element under the situation when being rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element and at last being forward.
In this second aspect, if be rotated in the forward the lateral load detecting element is non-forward, and reverse rotation lateral load detecting element is when being forward, then can be based on currency Vb1 and the fixed value Va2f of the average output Vb of the reverse rotation lateral load detecting element of forward corresponding to the magnitude of voltage Vt that transmits load F, Vb2f uses equation Vt=(Va2f-Vb2f)/2+ (Vb1-Vb2f) to calculate, wherein, fixed value Va2f, Vb2f is the average output that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element under the situation when being rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element and at last being forward.
Acting force detection apparatus according to third aspect present invention comprises following feature: first rotating member, and it integrally keeps rotary body, and rotary body has annular earthed surface in its periphery, and first rotating member rotation when earthed surface rolls; Second rotating member, it is set to and can relatively rotates with respect to first rotating member, and with respect to the radially displacement relatively of first rotating member, and second rotating member integrally is supported on the supporter; At least three coupling support sections, along the circumferential direction with arranged at predetermined intervals, each coupling support section has a pair of power bang path that along the circumferential direction faces with each other and arrange and can transmit rotary load and normal load between first rotating member and second rotating member, and at least three coupling support sections be coupled first rotating member and second rotating members make it possible to transmit rotary load and normal load on first rotating member and second rotating member; Be rotated in the forward the lateral load detecting element, it places of a pair of power bang path, and it will be rotated in the forward side transmission load and change into electric signal and export this electric signal, wherein, be rotated in the forward the side transmission and load on when first rotating member and rotate relatively in one direction with respect to second rotating member and increase when being rotated in the forward, and when reverse rotation, reduce; Reverse rotation lateral load detecting element, it places a pair of power bang path another, and it transmits load with the reverse rotation side and changes into electric signal and export this electric signal, wherein, the transmission of reverse rotation side load on when first rotating member with respect to the relatively rotation and increasing when carrying out reverse rotation on another direction of second rotating member, and when being rotated in the forward, reduce; And normal load calculation element, the normal load of transmitting between first rotating member and second rotating member is calculated in its output based on output that is rotated in the forward the lateral load detecting element and reverse rotation lateral load detecting element in the structure below, in this structure, the entire portion of the normal load of transmitting between first rotating member and second rotating member is rotated in the forward lateral load detecting element and the transmission of reverse rotation lateral load detecting element via the power bang path and via what place the power bang path respectively.
In the acting force detection apparatus according to the third aspect, the whole normal load of transmitting between first rotating member and second rotating member is via being rotated in the forward lateral load detecting element and the transmission of reverse rotation lateral load detecting element.Therefore, owing to be used for calculating the normal load calculation element of the normal load between first rotating member and second rotating member based on the output that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element, normal load between first rotating member and second rotating member can be with high precision computation, and the normal load between first rotating member and second rotating member can be with high Precision Detection.
In this third aspect, four coupling support sections are along the circumferential direction with equidistant layout.
According to this aspect, each has the coupling support section that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element and is furnished with 90 ° differing.Therefore, normal load between first rotating member and second rotating member can make in the following method and easily calculate: promptly, use square root sum square of the count value that obtains by the difference between the output difference that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element of calculating 180 ° of two coupling support sections that differ.
In addition, in practice of the present invention, predetermined load can by be arranged in the power bang path at least one on the load bringing device be applied at least one that is rotated in the forward in lateral load detecting element and the reverse rotation lateral load detecting element.In this case, each power bang path can have with detecting element in a corresponding joint ball and ball can be pushed to one screw corresponding in the detecting element, and the initial value of the transmission load between first rotating member and second rotating member can be regulated by the amount of the propelling/indentation of screw.
According to above-mentioned aspect, the load bringing device can be proofreaied and correct the output that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element, and the accurate original state of regulating action force checking device.In addition, make the firmly screw of bang path, can eliminate between first rotating member and second rotating member along sense of rotation and beating and shake radially.Therefore, can eliminate owing to above-mentionedly beat and shake the undesired noise that causes or the generation of friction.
In aspect above-mentioned, the center of ball and a centrally aligned device of aiming at of screw are arranged between screw and the ball by the press contacts load.In addition, the centrally aligned device can be the spherical surface seat that is arranged on the end of ball side of screw, and the curvature of spherical surface seat is set to less than the curvature of ball, and screw contacts ball on its spherical surface seat.In addition, the ball seat that can transmit load places between corresponding one of ball and detecting element, and is used for being arranged between ball seat and the ball by the centrally aligned device that the press contacts load is aimed at the axle of the center of ball and ball seat.The centrally aligned device can be the spherical surface seat that is arranged on the end of ball side of ball seat, and the curvature of spherical surface seat is set to less than the curvature of ball, and ball seat contacts ball on its spherical surface seat.In addition, the centrally aligned device can be the conical seat that is arranged on the end of ball side of ball seat.
According to above-mentioned aspect, ball and member on the centrally aligned device (spherical surface seat) have and contact, and this allows to improve the operability of regulating the transmission load initial value that transmits between first rotating member and second rotating member by the propelling/indentation amount of screw.
In addition, in the third aspect, acting force detection apparatus can also comprise: the rotary load calculation element, calculate the rotary load that transmits between first rotating member and second rotating member based on the output of output that is rotated in the forward the lateral load detecting element and reverse rotation lateral load detecting element in its structure below, in this structure, the entire portion of the rotary load that transmits between first rotating member and second rotating member is rotated in the forward lateral load detecting element and the transmission of reverse rotation lateral load detecting element via the power bang path and via what place the power bang path respectively.In this case, the rotary load between first rotating member and second rotating member can be calculated based on the output that is rotated in the forward lateral load detecting element and reverse load side detecting element by the rotary load calculation element.Be rotated in the forward the lateral load detecting element and reverse load side detecting element not only can be used for the detection of normal load, and can be used for the detection of rotary load.
Description of drawings
With reference to the accompanying drawings, by the description of following preferred embodiment, above-mentioned and/or other purpose, feature and advantage of the present invention can be more clear, and in the accompanying drawings, similar label is represented similar element, wherein:
Fig. 1 is the vertical sectional side view that illustrates according to first embodiment of detecting device in the torques/forces pick-up unit of the present invention;
Fig. 2 is the vertical section front elevation of part in the detecting device shown in Fig. 1;
Fig. 3 is illustrating according to the electricity structure of the torques/forces pick-up unit of the detecting device shown in Fig. 1 and 2;
Fig. 4 shows the curve map that concerns between the voltage that obtains by each load detecting element and the load;
Fig. 5 manages the process flow diagram of the performed program of the microcomputer of device outward by being arranged at signal in the computing unit shown in Figure 3;
Fig. 6 is the vertical sectional side view that illustrates according to second embodiment of detecting device in the torques/forces pick-up unit of the present invention;
Fig. 7 is the vertical sectional side view that illustrates according to the 3rd embodiment of detecting device in the torques/forces pick-up unit of the present invention;
Fig. 8 is the vertical section front elevation of the part of the detecting device shown in Fig. 7;
Fig. 9 manages the process flow diagram of the performed program of the microcomputer of device outward by being arranged at signal in the computing unit shown in Figure 3; And
Figure 10 is the amplification view that modification is shown, in modification, ball seat place the ball of each power bang path and be rotated in the forward the lateral load detecting element and reverse rotation lateral load detecting element between.
Embodiment
Embodiments of the invention are described below with reference to the accompanying drawings.
Various details first embodiment.Fig. 1-5 illustrates first embodiment.The torque master of first embodiment comprises the detecting device A1 between each wheel (not shown) that is installed on vehicle and wheel propeller boss 22 (see figure 2)s and is installed in computing unit B (see figure 3) on the car body side.
Each detecting device A1 comprises as the hub side body 11 of second rotating member with as the wheel side body 12 of first rotating member, and comprise two to (promptly, four) be rotated in the forward lateral load detecting element S1a-S4a and two to (promptly, four) reverse rotation lateral load detecting element S1b-S4b, every pair is furnished with differing of 180 degree in same circumference (as shown in Figure 2, having radius R 1) the upper edge sense of rotation around the horizontally extending rotation center of hub side body 11 and wheel side body 12.
Hub side body 11 and wheel side body 12 coaxial arrangement, and can be along being rotated in the forward direction (clockwise direction among Fig. 1) and reverse rotation direction (counter clockwise direction among Fig. 1) transmitting torque, and can rotate relatively.Four transmission of torque fractional t1-T4 are arranged between hub side body 11 and the wheel side body 12, and arrange with uniformly-spaced (90 ° of intervals) on sense of rotation.
Each transmission of torque fractional t1-T4 is included between hub side body 11 and the wheel side body 12 along a pair of ball 13 of sense of rotation with arranged at predetermined intervals, and hub side body 11 is integrally formed and insert outshot 11a between the ball 13, and with the integrally formed a pair of maintenance wall 12a of wheel side body 12,12b, this is to keeping wall 12a, 12b can transmit or be delivered to outshot 11a via ball 13 from outshot 11a with torque, each transmission of torque fractional t1-T4 comprises also that the ball receiving position that is installed on outshot 11a (each position receives corresponding in ball 13) locates is rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b, so that detect the sense of rotation load that is delivered to corresponding ball 13 or transmits from corresponding ball 13.
Hub side body 11 four flange portion 11b places of hub side body 11 integrally be installed on can the wheel propeller boss 22 of rotation in wheel shaft housing 21 on, four flange portion 11b of hub side body 11 are along being provided with uniformly-spaced (90 ° of intervals) on the sense of rotation.Wheel side body 12 is via being installed on four hub bolt 14 support wheel (not shown) on the flange portion 12c, and these four flange portion 12c are provided with uniformly-spaced (90 ° of intervals) on sense of rotation.
Ball 13 constitutes ball thrust bearing with hub side body 11 and wheel side body 12.When ball 13 remains in the guide channel 11c with V-shaped section, ball 13 engages with other side 12d of wheel side body 12, so that on the 12d of other side, can roll, guide channel 11c is formed at that (composition surface that engages with ball 13 in the axial direction as shown in Figure 2) is R1 (ball 13 is limited) from the rotation center radius on hub side body 11 1 sides in moving radially.
In first embodiment, many balls 15, step sleeve 16 and set nut 17 assemblings are used for hub side body 11 and wheel side body 12.Hub side body 11 and ball 13-13,15-15 radially remain between wheel side body 12 and the step sleeve 16.
Ball 15 constitutes angular ball bearing with step sleeve 16 and hub side body 11.Ball 15 is kept by retainer (unshowned retainer) with basic equal intervals along sense of rotation, simultaneously, each ball 15 engages with annular outer shroud orbital plane 11d with the single-point way of contact, this annular outer shroud orbital plane 11d is arranged at the opposite side of the interior circumferential portion (the interior circumferential portion among Fig. 2) of hub side body 11, each ball 15 engages with loop orbit face 16a, 16b in the annular with the two point way of contact, and loop orbit face 16a, 16b are arranged on the periphery of step sleeve 16 in this annular.
Step sleeve 16 has the male thread part 16c that is formed on the left end side periphery, as shown in Figure 2.Male thread part 16c is coupled to box thread part 12e by this way, and it makes the amount of being threaded can regulate in the axial direction, and box thread 12e was formed on the interior week of wheel side body 12.Step sleeve 16 is by set nut 17 fixing and maintenances, and set nut 17 is screwed on the male thread part 16c.Step sleeve 16 is in the face of the end surfaces of wheel propeller boss 22, and has little gap therebetween in the axial direction, though make with the screw thread couple of wheel side body 12 lax, the end surfaces of these step sleeve 16 contact wheel propeller boss 22 and therefore prevent to come off.
In first embodiment, the whole transmitting torque (the whole transmitting torque during being rotated in the forward and the whole transmitting torque during the reverse rotation) that transmits between hub side body 11 and wheel side body 12 is rotated in the forward lateral load detecting element S1a-S4a via four and four reverse rotation lateral load detecting element S1b-S4b transmit.
Each is rotated in the forward the side that is rotated in the forward that lateral load detecting element S1a-S4a is installed on hub side body 11 and wheel side body 12, and with the sense of rotation load (at ball 13 and be rotated in the forward transmit between the lateral load detecting element S1a-S4a be rotated in the forward the side transmitting torque) change into electric signal (voltage V1) and export this electric signal, this sense of rotation loads on when being rotated in the forward to be increased, and reduces when reverse rotation.Each is rotated in the forward lateral load detecting element S1a-S4a for example is strainometer, piezoelectric element etc.Each is rotated in the forward lateral load detecting element S1a-S4a is that line connects, and makes its output (voltage V1) be delivered to detector body 30, as shown in Figure 3.
Each reverse rotation lateral load detecting element S1b-S4b is installed on the reverse rotation side of hub side body 11 and wheel side body 12, and sense of rotation load (the reverse rotation side transmitting torque that transmits between ball 13 and reverse rotation lateral load detecting element S1b-S4b) changed into electric signal (voltage V2) and export this electric signal, increase when wherein sense of rotation loads on reverse rotation, and when being rotated in the forward, reduce.Each reverse rotation lateral load detecting element S1b-S4b for example is strainometer, piezoelectric element etc.Each reverse rotation lateral load detecting element S1b-S4b is that line connects, and makes its output (voltage V2) be delivered to detector body 30, as shown in Figure 3.
In addition, in first embodiment, as shown in Figure 4, with each be rotated in the forward the corresponding output of sense of rotation load (transmission load) on the lateral load detecting element S1a-S4a slope absolute value and be provided with to such an extent that equate substantially each other with the absolute value of slope of the corresponding output of sense of rotation load (transmission load) on each reverse rotation lateral load detecting element S1b-S4b.In addition, when not having torque load(ing) (when transmitting load when being zero), each output that is rotated in the forward lateral load detecting element S1a-S4a and each reverse rotation lateral load detecting element S1b-S4b is arranged at the intermediate value Vo between maximum output valve Vmax and the minimum output valve Vmin.
Detector body 30 comprises signal processing circuit 31, transmitter 32 and electric power source 33 etc., as the institute of the structural drawing among Fig. 3 conceptual illustration.Detector body 30 overall fixed are to hub side body 11.The average output Vb that signal processing circuit 31 is calculated the output of the average output Va of four outputs that are rotated in the forward lateral load detecting element S1a-S4a and four reverse rotation lateral load detecting element S1b-S4b will on average export Va, Vb then and be supplied to transmitter 32.Transmitter 32 is emitted to average output Va, the Vb of load detecting element S1a-S4a, the S1b-S4b of supply the receiver 41 of computing unit B as electromagnetic wave.The needed electric power of operation such as electric power source 33 supply each load detecting element S1a-S4a, S1b-S4b, signal processing circuit 31, transmitter 32.
As structural drawing institute conceptual illustration among Fig. 3, computing unit B comprises receiver 41, signal processing apparatus 42 etc., and is installed on the car body side, is connected to controller of vehicle C.Receiver 41 will be fed to signal processing apparatus 42 from average output Va, the Vb that transmitter 32 receives.
Signal processing apparatus 42 has microcomputer, and microcomputer repeats the program corresponding with the process flow diagram of Fig. 5 in each predetermined very short computation cycles.Hub side body 11 that signal processing apparatus 42 will calculate based on average output Va, the Vb from receiver 41 and the transmitting torque supply (output) between the wheel side body 12 are to controller of vehicle C.Controller of vehicle C comprises the controller (not shown) of the state of the actuator (not shown) of controlling vehicle-state and driving actuator and controlling and driving actuator.
In the torque master of first embodiment that constructs as mentioned above, when the ignition switch (not shown) of vehicle is opened, the microcomputer of signal processing apparatus 42 repeats the program corresponding with the process flow diagram of Fig. 5 in each predetermined very short computation cycles, to calculate the transmitting torque that needs in controller of vehicle C place based on average output Va, Vb from receiver 41, and it is stored in the signal processing apparatus 42, it is supplied to controller of vehicle C.
Step 101 place of the microcomputer of signal processing apparatus 42 in Fig. 5 begins to handle, read the average output Va that is rotated in the forward lateral load detecting element S1a-S4a and the average output Vb of reverse rotation lateral load detecting element S1b-S4b, and will on average export and be stored as currency Va1, Vb1.At step 103 place, microcomputer is determined any one the non-forward (abforward) whether among the reverse rotation lateral load detecting element S1b-S4b.At step 104 place, microcomputer determines to be rotated in the forward any one the non-forward whether among the lateral load detecting element S1a-S4a.
If reverse rotation lateral load detecting element S1b-S4b is a forward, then make determining of "No" at step 103 place.If be rotated in the forward lateral load detecting element S1a-S4a and be forward, then make determining of "No" at step 104 place.Then, execution in step 105-110.If any one the non-forward among the reverse rotation lateral load detecting element S1b-S4b is then made determining of "Yes" at step 103 place.Then, execution in step 111-114.After this, execution in step 107-110.If reverse rotation lateral load detecting element S1b-S4b is a forward, and be rotated in the forward among the lateral load detecting element S1a-S4a any one be non-forward, then make determining of "Yes" at step 104 place.Then, execution in step 121-124.After this, execution in step 107-110.
At step 103 place, determine the currency Va1 of the currency Vb1 of average output Vb of reverse rotation lateral load detecting element S1b-S4b and poor (Vb1-Vb2) between the preceding value Vb2 (only in initial cycle, being initial value Vo) and the average output Va that is rotated in the forward lateral load detecting element S1a-S4a and the ratio (Vb1-Vb2)/(Va1-Va2) between poor (Va1-Va2) between the preceding value Va2 (only being initial value Vo in initial cycle) whether at-α 1 to the scope of+α 1 (α 1=0.2), and determine whether (Va1 ≠ Va2).If these are determined all is "Yes", then make determining of "Yes" at step 103 place; Otherwise, make determining of "No" at step 103 place.
At step 104 place, determine to be rotated in the forward the currency Vb1 of the currency Va1 of average output Va of lateral load detecting element S1a-S4a and poor (Va1-Va2) between the preceding value Va2 (only in initial cycle, being initial value Vo) and the average output Vb of reverse rotation lateral load detecting element S1b-S4b and the ratio (Va1-Va2)/(Vb1-Vb2) between poor (Vb1-Vb2) between the preceding value Vb2 (only being initial value Vo in initial cycle) whether at-α 1 to the scope of+α 1 (α 1=0.2), and determine whether (Vb1 ≠ Vb2).If these are determined all is "Yes", then make determining of "Yes" at step 104 place; Otherwise, make determining of "No" at step 104 place.
Therefore, if load detecting element S1a-S4a, S1b-S4b are forwards, at step 105 place, serve as that calculate from following equation 1 on the basis with the currency Vb1 of the average output Vb of the currency Va1 of the average output Va that is rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b corresponding to the magnitude of voltage Vt that transmits load F.
Vt=(Va1-Vb1)/2 (equation 1)
In addition, at step 106 place, the count value Ca of first counter that comprises in signal processing apparatus 42 and the count value Cb of second counter are reset to zero.Then at step 107 place, the currency Va1 that is rotated in the forward the average output Va of lateral load detecting element S1a-S4a is stored as preceding value Va2, and the currency Vb1 of the average output Vb of reverse rotation lateral load detecting element S1b-S4b is stored as preceding value Vb2.At step 108 place, transmit load F and calculate with reference to " figure that concerns between expression magnitude of voltage and the transmission load " (corresponding to figure of the pre-stored of Fig. 4) to serve as the basis corresponding to the magnitude of voltage that transmits load F.At step 109 place, calculate transmitting torque based on transmitting load F, that is, calculate by multiply by radius R 1 (distance of position) from rotation center to detecting element S1, S2 with transmission load F, export transmitting torque then.At step 110 place, program implementation finishes.
If being rotated in the forward lateral load detecting element S1a-S4a is forward, and any one reverse rotation lateral load detecting element S1b-S4b is non-forward, then the count value Ca of first counter increases at step 111 place, determines at step 112 place then whether the count value Ca of first counter is " 1 ".Change to from the positive tropism non-positive tropism's the initial cycle at reverse rotation lateral load detecting element S1b-S4b and then, the count value Ca of first counter is " 1 "; Therefore, make the definite of "Yes" at step 112 place, execution in step 113 and 114.In the circulation outside initial cycle, the count value Ca of first counter is " 2 " or bigger; Therefore, make determining of "No" at step 112 place, execution in step 114 then, and execution in step 113 not.
At step 113 place, preceding value Va2, the Vb2 that on average exports Va, Vb is stored as fixed value Va2f, Vb2f.At step 114 place, be to serve as basicly to calculate from following equation 2 with the currency Va1 of the average output Va that is rotated in the forward lateral load detecting element S1a-S4a (it be a forward) and the fixed value Va2f, the Vb2f that obtain at step 113 place corresponding to the magnitude of voltage Vt that transmits load F.
Vt=(Va2f-Vb2f)/2+ (Va1-Va2f) (equation 2)
Incidentally, execution in step 107-110 is followed in execution in step 114 backs.
Any one is non-forward among the lateral load detecting element S1a-S4a if be rotated in the forward, and reverse rotation lateral load detecting element S1b-S4b is a forward, then the count value Cb of second counter increases at step 121 place, determines at step 122 place then whether the count value Cb of second counter is " 1 ".Change to from the positive tropism non-positive tropism's the initial cycle and then being rotated in the forward lateral load detecting element S1a-S4a, the count value Cb of second counter is " 1 "; Therefore, make the definite of "Yes" at step 122 place, execution in step 123 and 124.In the circulation outside initial cycle, the count value of second counter is " 2 " or bigger; Therefore, make determining of "No" at step 122 place, execution in step 124 then, and execution in step 123 not.
At step 123 place, preceding value Va2, the Vb2 that on average exports Va, Vb is stored as fixed value Va2f, Vb2f.At step 124 place, be serve as basic from 3 calculating of following equation with the currency Vb1 of the average output Vb of reverse rotation lateral load detecting element S1b-S4b (it be a forward) and fixed value Va2f, the Vb2f that obtains at step 123 place corresponding to the magnitude of voltage Vt that transmits load F.
Vt=(Va2f-Vb2f)/2+ (Vb1-Vb2f) (equation 3) incidentally follows execution in step 107-110 after the execution in step 124.
In the torque master of first embodiment, the whole transmitting torque that transmits between hub side body 11 and the wheel side body 12 transmits via being rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b.Therefore, owing to be rotated in the forward average output Va, the Vb of lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b, can detect with pinpoint accuracy by detecting device A1 and be rotated in the forward side transmission load and reverse rotation side transmission load.Therefore, the transmitting torque that obtains by the calculating among the computing unit B can become the pinpoint accuracy value.
In addition, be rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b and be arranged on the same circumference of the rotation center of hub side body 11 and wheel side body 12, and the absolute value of the slope of the output corresponding with the sense of rotation load that is rotated in the forward lateral load detecting element S1a-S4a and be provided with to such an extent that equate substantially each other with the absolute value of the slope of the corresponding output of the sense of rotation load of reverse rotation lateral load detecting element S1b-S4b.Therefore, the transmission load F between hub side body 11 and the wheel side body 12 can easily calculate (seeing step 105 and 108 among Fig. 5) based on the average output Va, the Vb that are rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b.In addition, based on the transmission load F that calculates, can easily calculate the transmitting torque (seeing step 109) between hub side body 11 and the wheel side body 12.
In addition, the rotation center of hub side body 11 and wheel side body 12 extends in the horizontal direction, and every pair is furnished with 180 ° along sense of rotation and differs among the two couples of forward rotation lateral load detecting element S1a-S4a and the two couples of reverse rotation lateral load detecting element S1b-S4b.Therefore, the normal load that is input to the normal load that is rotated in the forward lateral load detecting element S1a-S4a and is input to reverse rotation lateral load detecting element S1b-S4b can cancel each other out, and is transmitted load and transmitted load by the reverse rotation side that reverse rotation lateral load detecting element S1b-S4b detects and can detect with pinpoint accuracy by the side that is rotated in the forward that is rotated in the forward that lateral load detecting element S1a-S4a detects.
In the detecting device A1 of first embodiment, load detecting element S1a-S4a, S1b-S4b are installed on the position that along the circumferential direction receives ball 13 on the outshot 11a of hub side body 11, so that realize the present invention.Yet load detecting element S1a-S4a, S1b-S4b can also be installed on the position that along the circumferential direction receives ball 13 on maintenance wall 12a, the 12b that takes turns side body 12, so that realize the present invention.
The second embodiment of the present invention is described below.In the detecting device A1 of first embodiment, the ball 13 among each transmission of torque fractional t1-T4 only is inserted in and keeps between wall 12a, 12b and load detecting element S1a-S4a, the S1b-S4b, as shown in fig. 1.Yet, the detecting device A2 of second embodiment that also can be as shown in Figure 6 embodies the present invention, and wherein, each keeps wall 12b to be provided with set screw 18 and set nut 19 (promptly, the load bringing device is to be used to limit counterrotating restraint device between hub side body 11 and the wheel side body 12).In this case, by advancing with respect to limiting wall 12b or indentation adjusting bolt 18, this can be regulated the joint load between detecting element S1a-S4a, the S1b-S4b continuously to ball 13,13 and this, and the state after the adjusting can be by set nut 19 fixing and maintenances.
Therefore,, can transmit load and be applied to and be rotated in the forward lateral load detecting element S1a-S4a, simultaneously the reverse rotation side be transmitted load and be applied to reverse rotation lateral load detecting element S1b-S4b being rotated in the forward side if use the detecting device A2 of second embodiment.Even when not having torque load(ing), load can be applied to each detecting element S1a-S4a, S1b-S4b.Therefore, even when not having torque load(ing), can obtain the stable output of each detecting element S1a-S4a, S1b-S4b.In addition, use set screw 18 and set nut 19 (load bringing device), hub side body 11 and the relative rotation of wheel between the side body 12 can be limited, to eliminate between hub side body 11 and the wheel side body 12 beating (play) and shake (rattle) along sense of rotation.Therefore, can eliminate owing to above-mentionedly beat and shake the undesired noise that causes or the generation of friction.
In addition, for the detecting device A2 of second embodiment, load regulation can be undertaken by propelling and indentation set screw 18.Therefore, being applied to each the load that is rotated in the forward among lateral load detecting element S1a-S4a and the reverse rotation lateral load detecting element S1b-S4b can regulate continuously.Therefore, when not having torque load(ing), each the output that is rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b can easily be arranged at the intermediate value Vo between for example maximum output valve Vmax and the minimum output valve Vmin.
Though in a second embodiment, each keeps wall 12b to be provided with set screw 18 and set nut 19 (load bringing device), make that being applied to each the load that is rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b can regulate continuously, but each that also can keep wall 12b and keep wall 12a is provided with set screw 18 and set nut 19 (load bringing device), makes that being applied to each the load that is rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b can regulate continuously.
In addition, though in first and second embodiment, the average output Va of load detecting element S1a-S4a and the average output Vb of load detecting element S1b-S4b can calculate in the signal processing circuit 31 of detector body 30, but also can calculate the average output Va of load detecting element S1a-S4a and the average output Vb of load detecting element S1b-S4b in the signal processing apparatus 42 of computing unit B.In this case, average output Va, the Vb of load detecting element S1a-S4a, S1b-S4b calculated before the step 102 shown in the execution graph 5.
Further, though in first and second embodiment, the present invention is applied to detect the transmitting torque that transmits between wheel and wheel propeller boss, and the present invention can also be applied to be different from the various transmitting torques test section of first and second embodiment.
Various details the 3rd embodiment.Fig. 3,4 and 7-9 diagram according to acting force detection apparatus of the present invention.This acting force detection apparatus comprises each wheel 51 and detecting device A3 (see figure 8) between the wheel propeller boss 61 that is installed on vehicle and the computing unit B (see figure 3) that is installed on the car body side.Wheel propeller boss 61 rotatably is supported on the wheel shaft housing 62.In the description of present embodiment, use the description of the detecting device A1 shown in Fig. 3, wherein utilize detecting device A3 to replace detecting device A1.
Each detecting device A3 has as the wheel side body 71 of first rotating member with as the second hub side body 72 that changes member.Wheel side body 71 has a plurality of flange portion 71a.At flange portion 71a place, wheel side body 71 integrally keeps wheel 51 via bolt 73 and nut (not shown).Wheel 51 is the rotary bodies that have annular earthed surface 51a in its outer circumference, rotation when rotary body rolls on its earthed surface 51a.Hub side body 72 is set to can relatively rotate scheduled volume with respect to wheel side body 71, and can be with respect to wheel side body 71 (diametric(al)) displacement scheduled volume relatively radially.Hub side body 72 has a plurality of flange portion 72a.Hub side body 72 is its flange portion 72a place integrally is supported on flange portion (not shown) as the wheel propeller boss 61 of supporting member via screw bolt and nut (any is not shown) on.
Wheel side body 71 and hub side body 72 coaxial arrangement, and coupling, so that can transmit rotary load and normal load via four coupling support section TS1-TS4, coupling support section TS1-TS4 along the circumferential direction uniformly-spaced arranges (90 ° at interval).As shown in Figure 7, each coupling support section TS1-TS4 is provided with a pair of power bang path Ta, Tb and is rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b.
Every couple of power bang path Ta, Tb is positioned opposite along the circumferential direction, and can transmit rotary load and normal load between wheel side body 71 and hub side body 72.A power bang path Ta of every centering has ball (steel ball) 74a and screw 75a, and be provided with insertion be rotated in the forward lateral load detecting element S1a-S4a.Another power bang path Tb also has ball (steel ball) 74b and screw 75b, and is provided with the reverse rotation lateral load detecting element S1b-S4b of insertion.
Each is rotated in the forward lateral load detecting element S1a-S4a and will be rotated in the forward side and transmits load and change into electric signal and export this electric signal, wherein, when wheel side body 71 with respect to hub side body 72 along the relatively rotation and when being rotated in the forward (among Fig. 7 of a direction, when wheel side body 71 rotates counterclockwise relatively), be rotated in the forward side and transmit the load increase, and when reverse rotation (among Fig. 7, when wheel side body 71 rotation relatively clockwise), be rotated in the forward side transmission load and reduce.Each is rotated in the forward lateral load detecting element S1a-S4a for example is strainometer, piezoelectric element etc.Each is rotated in the forward lateral load detecting element S1a-S4a is that line connects, and makes its output (voltage) through detector body 30, as shown in Figure 3.In addition, be rotated in the forward lateral load detecting element S1a-S4a along being provided with uniformly-spaced (at interval 90 °) on the same circumference, this circumference (as shown in Figure 7, have radius R 3) be to form around the horizontally extending rotation center Lo that takes turns side body 71 and hub side body 72, and each that is rotated in the forward lateral load detecting element S1a-S4a is fixed to the right end surfaces of circumferential surface of radially outstanding teat 72b, and teat 72b is formed on the hub side body 72.
Each screw 75a screws in the wheel side body 71, so that can advance and indentation.Each screw 75a can be along promoting towards the direction that is rotated in the forward lateral load detecting element S1a-S4a and be rotated in the forward ball (steel ball) 74a that lateral load detecting element S1a-S4a engages, and can apply predetermined load to being rotated in the forward lateral load detecting element S1a-S4a.The end of the ball 74a side of each screw 75a has spherical surface seat 75a1, and the curvature of this spherical surface seat 75a1 is less than the curvature on ball 74a surface.At its spherical surface seat 75a1 place, screw 75a contact ball 74a.The screw coupling position of each screw 75a can be fixed by set nut 76a.
Each reverse rotation lateral load detecting element S1b-S4b transmits load with the reverse rotation side and changes into electric signal and export this electric signal, wherein, when wheel side body 71 carries out reverse rotation with respect to hub side body 72 along the relative rotation of another direction, the reverse rotation side is transmitted load to be increased, and reverse rotation side transmission load reduces when being rotated in the forward.Each reverse rotation lateral load detecting element S1b-S4b for example is strainometer, piezoelectric element etc.Each reverse rotation lateral load detecting element S1b-S4b is that line connects, and makes its output (voltage) through detector body 30, as shown in Figure 3.In addition, reverse rotation lateral load detecting element S1b-S4b is provided with uniformly-spaced (at interval 90 °) on same circumference, this circumference (as shown in Figure 7, have radius R 3) be to form around the horizontally extending rotation center Lo that takes turns side body 71 and hub side body 72, and each of reverse rotation lateral load detecting element S1b-S4b is fixed to the right end surfaces of circumferential surface of radially outstanding teat 72b, and teat 72b is formed on the hub side body 72.
Each screw 75b screws in the wheel side body 71, so that can advance and indentation.Ball (steel ball) 74b that each screw 75b can engage with reverse rotation lateral load detecting element S1b-S4b along the direction promotion towards reverse rotation lateral load detecting element S1b-S4b, and can apply predetermined load to reverse rotation lateral load detecting element S1b-S4b.The end of the ball 74b side of each screw 75b has spherical surface seat 75b1, and the curvature of this spherical surface seat 75b1 is less than the curvature on ball 74b surface.At its spherical surface seat 75b1 place, screw 75b contact ball 74b.The screw coupling position of each screw 75b can be fixed by set nut 76b.
In addition, wheel side body 71 and hub side body 72 are via ball (steel ball) 74a and ball (steel ball) 74b and a plurality of ball (steel ball) 77 and 78 couplings of step sleeve of four coupling support section TS1-TS4, so that can radially transmit load.
Ball 74a and 74b are kept by wheel side body 71 and hub side body 72 diametrically, and have single-point with the vertical surface 71c that is arranged at wheel side body 71 and contact, have single-point with the vertical surface 72c that is arranged at hub side body 72 and contact in the face of on the end surfaces of wheel side body 71 in the face of on the end surfaces of hub side body 72.In this structure, can between wheel side body 71 and hub side body 72, transmit axial load, but cannot between wheel side body 71 and hub side body 72, transmit rotary load or normal load.
Ball 77 is kept by step sleeve 78 and hub side body 72 in the axial direction, and along the circumferential direction keep by retainer (unshowned retainer) with the basic interval that equates, and have single-point with annular vertical surface 72 in the inside circumference part that is arranged at hub side body 72 and contact, have single-point with the surperficial 78a of the annular vertical on the neighboring part that is arranged at step wheel shaft 78 and contact.In this structure, can between wheel side body 71 and hub side body 72, transmit axial load, but cannot between wheel side body 71 and hub side body 72, transmit rotary load or normal load.
Step sleeve 78 has the male thread part 78b on the periphery of the small diameter portion of being formed at.Male thread part 78b is coupled to the box thread part 71b on the interior week that is formed at wheel side body 71 in such a manner, makes the screw-in amount to regulate in the axial direction.Step sleeve 78 is by the set nut 79 fixing and maintenances that are screwed into male thread part 78b.Step sleeve 78 is in the face of the end surfaces of wheel propeller boss 61, and has little gap therebetween in the axial direction, even make with the screw thread couple of wheel side body 71 laxly, step sleeve 78 is the end surfaces of contact wheel propeller boss 61 also, and will stop thus and come off.
In the detecting device A3 of structure as mentioned above, whole normal load of transmitting between wheel side body 71 and the hub side body 72 and whole rotary load via be arranged at a pair of power bang path Ta, the Tb among each coupling support section TS1-TS4 and be inserted among power bang path Ta, the Tb be rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b transmits.In addition, the whole axial load of transmitting between wheel side body 71 and hub side body 72 is via ball 74a, 74b and ball 77 and 78 transmission of step sleeve.
In this embodiment, be similar to first and second embodiment, with each be rotated in the forward the corresponding output of transmission load on the lateral load detecting element S1a-S4a slope absolute value and be set to equate substantially each other with the absolute value of the slope of the corresponding output of the transmission load on each reverse rotation lateral load detecting element S1b-S4b, as shown in Figure 4.In addition, when transmission from one channel to another is passed load when being zero, each output that is rotated in the forward lateral load detecting element S1a-S4a and each reverse rotation lateral load detecting element S1b-S4b is set to be in the intermediate value Vo between maximum output valve Vmax and the minimum output valve Vmin.
Similar among detecting device A3 among the 3rd embodiment and computing unit B and first and second embodiment.Detecting device A1 is corresponding to the detecting device A3 in the present embodiment among Fig. 3.Detector body 30 comprises signal processing circuit 31, transmitter 32 and electric power source 33 etc., illustrates as structural drawing institute concept nature among Fig. 3.Detector body 30 overall fixed are to hub side body 72.Signal processing circuit 31 will be rotated in the forward the output V1a-V4a of lateral load detecting element S1a-S4a and the output V1b-V4b of reverse rotation lateral load detecting element S1b-S4b is fed to transmitter 32.The output V1b-V4b of the reverse rotation lateral load detecting element S1b-S4b of output V1a-V4a that is rotated in the forward lateral load detecting element S1a-S4a that transmitter 32 will be supplied and supply is transmitted into the receiver 41 of computing unit B as electromagnetic wave.Electric power source 33 supplies are rotated in the forward the needed electric power of operation such as lateral load detecting element S1a-S4a, reverse rotation lateral load detecting element S1b-S4b, signal processing circuit 31, transmitter 32.
Illustrate as structural drawing institute concept nature among Fig. 3, computing unit B comprises receiver 41, signal processing apparatus 42 etc., and is installed on the car body side, and is connected to controller of vehicle C.Output V1a-V4a and output V1b-V4b that receiver 41 will be received from transmitter 32 are fed to signal processing apparatus 42.
Signal processing apparatus 42 has microcomputer, and it repeats the program corresponding with the process flow diagram of Fig. 9 in each predetermined very short computation cycles.Based on the wheel side body 71 and normal load Fz between the hub side body 72 and the rotary load F θ that calculate from the output V1a-V1a of receiver 41 and output V1b-V1b be supplied (output) based on the transmitting torque Tt that the radius R shown in rotary load F θ and Fig. 83 calculates and arrive controller of vehicle C.Controller of vehicle C comprises the controller (not shown) of the state of the actuator (not shown) of controlling vehicle-state and driving actuator and controlling and driving actuator.
In the acting force detection apparatus of as above constructing, when the ignition switch (not shown) of vehicle is opened, repeat the program corresponding in the very short circulation that the microcomputer of signal processing apparatus 42 is scheduled to the process flow diagram of Fig. 9 on each, to calculate normal load Fz and rotary load F θ and the transmitting torque Tt that needs in controller of vehicle C place based on output V1a-V4a and output V1b-V4b from receiver 41, and they are stored in the signal processing apparatus 42, then they are fed to controller of vehicle C.
Step 201 place of the microcomputer of signal processing apparatus 42 in Fig. 9 begins to handle.At step 202 place, microcomputer reads and stores the output V1a-V4a that is rotated in the forward lateral load detecting element S1a-S4a and the output V1b-V4b of reverse rotation lateral load detecting element S1b-S4b.Then, the microcomputer of signal processing apparatus 42 calculates at step 203 place and storage normal load Fz, calculate and storage rotary load F θ at step 204 place, calculate and storage transmitting torque Tt at step 205 place, at step 206 place output normal load Fz, rotary load F θ and transmitting torque Tt.At step 207 place, program is carried out and is finished.
Normal load Fz is calculated by following equation 4 at step 203 place.Rotary load F θ is calculated by following equation 5 at step 204 place.Transmitting torque Tt is calculated by following equation 6 at step 205 place.
Fz=Kz*{ (XZ1-XZ3) 2+ (XZ2-XZ4) 2} 1/2(equation 4)
Wherein, Kz is by experiment or analyzes predetermined correction factor; And
XZ1＝(V1a-V1b)，XZ2＝(V2a-V2b)，
XZ3＝(V3a-V3b)，XZ4＝(V4a-V4b)。
F θ=K θ * (XZ1+XZ2+XZ3+XZ4) (equation 5)
Wherein, K θ is by experiment or analyzes predetermined correction factor.
Tt=Kt*F θ * R3 (equation 6)
Wherein Kt is by experiment or analyzes predetermined correction factor.
Incidentally, in the acting force detection apparatus of present embodiment, whole normal load of transmitting between wheel side body 71 and the hub side body 72 and whole rotary load via be arranged among a pair of power bang path Ta, Tb among each coupling support section TS1-TS4 and insertion force bang path Ta, the Tb be rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b transmits.Therefore, at step 203 place of calculating the normal load Fz between wheel side body 71 and the hub side body 72 based on the output V1a-V4a that is rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b and V1b-V4b, can take turns normal load Fz between side body 71 and the hub side body 72 with high precision computation.Therefore, can take turns normal load Fz between side body 71 and the hub side body 72 with high Precision Detection.
In addition, in the acting force detection apparatus of present embodiment, four coupling support section TS1-TS4 along the circumferential direction go up uniformly-spaced to be provided with.Therefore, each all has the coupling support section TS1-TS4 that is rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b and is provided with 90 ° differing.Therefore, normal load Fz between wheel side body 71 and the hub side body 72 can easily calculate by following: promptly, use by calculating square root sum square that is rotated in the forward the count value that the difference between the output difference between lateral load detecting element S1a-S4a and the reverse rotation lateral load detecting element S1b-S4b obtains of 180 ° of two coupling support section TS1-TS4 that differ.
Further, in the acting force detection apparatus of present embodiment, each power bang path Ta, Tb of each coupling support section TS1-TS4 are provided with screw 75a, 75b (load bringing device), and making can be to being rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b applies predetermined load.Therefore, the initial value of the transmission load between wheel side body 71 and the hub side body 72 can be regulated based on the advancing of each screw 75a, 75b/indentation amount.
Therefore, screw 75a, 75b make and can proofread and correct output V1a-V4a and the V1b-V4b that is rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b, and the original state of regulating action force checking device accurately.In addition, make firmly screw 75a, the 75b of bang path Ta, Tb, can eliminate between wheel side body 71 and the hub side body 72 beating and shake and radially along sense of rotation.Therefore, can eliminate by above-mentioned and beat and shake the undesired noise that causes or the generation of friction.
In the acting force detection apparatus of present embodiment, the end of the ball side of each screw 75a, 75b is provided with spherical surface seat 75a1, the 75b1 of curvature less than the curvature on the surface of each ball 74a, 74b.On spherical surface seat 75a1,75b1, corresponding ball 74a, the 74b of each screw 75a, 75b contact.Therefore, ball 74a, 74b and spherical surface seat 75a1,75b1 have and contact, and this allows to improve the operability of coming the transmission load initial value between regulating wheel side body 71 and the hub side body 72 by propelling/indentation amount of screw 75a, 75b.
In addition, the acting force detection apparatus of present embodiment has step 204, at step 204 place, calculate the rotary load F θ that takes turns between side body 71 and the hub side body 72 based on output V1a-V4a that is rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b and V1b-V4b, therefore, can calculate rotary load F θ.In addition, the acting force detection apparatus of present embodiment can will be rotated in the forward lateral load detecting element S1a-S4a and reverse rotation lateral load detecting element S1b-S4b not only is used for the detection of normal load, and is used for the detection of rotary load.
In the detecting device A3 of the foregoing description, ball 74a, 74b be rotated in the forward lateral load detecting element S1a-S4a and directly engage (directly contacting) with reverse rotation lateral load detecting element S1b-S4b.Yet, ball seat BS can also be inserted ball 74a, 74b (for example, the ball 74a among Figure 10) and be rotated in the forward lateral load detecting element S1a-S4a or reverse rotation lateral load detecting element S1b-S4b between.
In this case, the end of the ball side of ball seat BS can be provided with spherical surface seat BS1 as the centrally aligned device that is used to make ball center and ball seat BS centrally aligned.In this structure, the curvature of spherical surface seat BS1 is less than the curvature of ball 74a, and ball seat BS contacts ball 74a on its spherical surface seat BS1.Incidentally, the spherical surface seat BS1 as the centrally aligned device of the centrally aligned of center that is used to make ball 74a and ball seat BS can be substituted by conical seat.
Further, in the detecting device A3 of the foregoing description, wheel side body 71 and hub side body 72 are via four coupling support section TS1-TS4 coupling.Yet the quantity of the coupling support section of be used to be coupled wheel side body 71 and hub side body 72 is not limited to four.Its quantity be three or more also be suitable.In this case, be rotated in the forward wherein that the lateral load detecting element does not differ arranged with 180 ° and reverse rotation lateral load detecting element does not differ arranged with 180 °, therefore what be necessary is to be rotated in the forward the lateral load detecting element and the rotatable phase of reverse rotation lateral load detecting element when calculating should detect via angle transducer, and the output that is rotated in the forward lateral load detecting element and reverse rotation lateral load detecting element should be proofreaied and correct separately according to rotatable phase.
In the detecting device A3 of the foregoing description, each power bang path Ta, Tb are provided with screw 75a, 75b (load bringing device).Yet, in practice of the present invention, can also only be that in two power bang paths one is provided with a load bringing device (screw) or does not revolve feeder apparatus (screw) in the power bang path any is provided with load.
In the detecting device A3 of the foregoing description, the end of the ball side of each screw 75a, 75b is provided with spherical surface seat 75a1,75b1, this spherical surface seat 75a1,75b1 are as the centrally aligned device of the centrally aligned of the center that makes ball 74a, 74b by the press contacts load and screw 75a, 75b, and the curvature of each spherical surface seat 75a1,75b1 is less than the surface curvature of each ball 74a, 74b.Yet, be arranged among each screw 75a, 75b and ball 74a, the 74b that to be used between corresponding one making the centrally aligned device of the centrally aligned of the center of ball 74a, 74b and screw 75a, 75b by the press contacts load can be conical seat, rather than spherical surface seat 75a1,75b1.
In above-mentioned the 3rd embodiment, the present invention is used to detect the acting force that transmits between wheel 51 and the wheel propeller boss 61 textural being embodied in.Yet, except that the foregoing description, the present invention also be embodied in embodiment in essentially identical mode or motive power test section through suitably revising.

Claims (20)

1. torque master is characterized in that comprising:
Detecting device (A1 A2), comprising: first rotating member (12) and second rotating member (11), and its coaxial configuration, and can be along being rotated in the forward direction and reverse rotation direction transmitting torque and relative rotation; Be rotated in the forward lateral load detecting element (S1a-S4a), its be installed in described first rotating member (12) and described second rotating member (11) each be rotated in the forward the transmission side, and the side transmission load that is rotated in the forward that increases will be rotated in the forward the time and reduce during reverse rotation changes into electric signal, and exports described electric signal; And reverse rotation lateral load detecting element (S1b-S4b), side is transmitted in its each reverse rotation that is installed in described first rotating member (12) and described second rotating member (11), and the reverse rotation side that increases during with reverse rotation and reduce when being rotated in the forward transmits load and changes into electric signal, and exports described electric signal; And
Computing unit (B), the transmitting torque between described first rotating member (12) and described second rotating member (11) is calculated in its output based on described output that is rotated in the forward lateral load detecting element (S1a-S4a) and described reverse rotation lateral load detecting element (S1b-S4b)
Wherein (A1, A2) total amount of the described transmitting torque that transmits between described first rotating member (12) in and described second rotating member (11) is rotated in the forward lateral load detecting element (S1a-S4a) and described reverse rotation lateral load detecting element (S1b-S4b) transmission via described at described detecting device.
2. torque master according to claim 1, wherein, described detecting device (A1, A2) has load bringing device (18,19), this load bringing device (18,19) can apply and is rotated in the forward side and transmits load to the described lateral load detecting element (S1a-S4a) that is rotated in the forward, and can apply the reverse rotation side to described reverse rotation lateral load detecting element (S1b-S4b) and transmit load.
3. torque master according to claim 2, wherein, described load bringing device (18,19) can be regulated the load that it applies by screw (18).
4. according to each described torque master among the claim 1-3, wherein, described lateral load detecting element (S1a-S4a) and the described reverse rotation lateral load detecting element (S1b-S4b) of being rotated in the forward is arranged on the common circumference that the rotation center around described first rotating member (12) and described second rotating member (11) forms, and, be set to substantially with the absolute value of the described slope that is rotated in the forward the corresponding output of load on the lateral load detecting element (S1a-S4a) with the absolute value of the slope of the corresponding output of the load on the described reverse rotation lateral load detecting element (S1b-S4b) and equate.
5. torque master according to claim 4, wherein, the described rotation center along continuous straight runs of described first rotating member (12) and described second rotating member (11) extends, and in described at least one pair of and the described reverse rotation lateral load detecting element (S1b-S4b) that is rotated in the forward in the lateral load detecting element (S1a-S4a) at least one pair of every pair is furnished with 180 ° differing along described sense of rotation.
6. torque master according to claim 1, wherein, described each that is rotated in the forward in lateral load detecting element (S1a-S4a) and the described reverse rotation lateral load detecting element (S1b-S4b) is at least one in strainometer and the piezoelectric element.
7. torque detection method of using torque master according to claim 4 is characterized in that comprising:
Read described the be rotated in the forward average output (Va) of lateral load detecting element (S1a-S4a) and the average output (Vb) of described reverse rotation lateral load detecting element (S1b-S4b);
Described lateral load detecting element (S1a-S4a) and the described reverse rotation lateral load detecting element (S1b-S4b) of being rotated in the forward carried out non-positive tropism and determine;
Calculate described transmission load (F) based on result's calculating that described non-positive tropism determines corresponding to the magnitude of voltage (Vt) that transmits load (F) and based on described magnitude of voltage; And
Calculate transmitting torque by described transmission load (F) being multiply by to the described distance (R1) that is rotated in the forward lateral load detecting element (S1a-S4a) and described reverse rotation lateral load detecting element (S1b-S4b) from described rotation center.
8. torque detection method according to claim 7, wherein, if describedly be rotated in the forward lateral load detecting element (S1a-S4a) and described reverse rotation lateral load detecting element (S1b-S4b) both is a forward, then the currency (Vb1) that is based on the average output (Vb) of the currency (Va1) of the described average output (Va) that is rotated in the forward lateral load detecting element (S1a-S4a) and described reverse rotation lateral load detecting element (S1b-S4b) corresponding to the described magnitude of voltage (Vt) of described transmission load (F) uses equation Vt=(Va1-Vb1)/2 to calculate.
9. torque detection method according to claim 7, wherein, if described to be rotated in the forward lateral load detecting element (S1a-S4a) be forward, and described reverse rotation lateral load detecting element (S1b-S4b) is non-forward, then be based on the described currency (Va1) and the fixed value (Va2f that is rotated in the forward the average output (Va) of lateral load detecting element (S1a-S4a) of forward corresponding to the described magnitude of voltage (Vt) of described transmission load (F), Vb2f) use equation Vt=(Va2f-Vb2f)/2+ (Va1-Va2f) to calculate, wherein, (Va2f is to be rotated in the forward lateral load detecting element (S1a-S4a) and described reverse rotation lateral load detecting element (S1b-S4b) both are the described average output that is rotated in the forward lateral load detecting element (S1a-S4a) and described reverse rotation lateral load detecting element (S1b-S4b) under the situation of forward at last described Vb2f) to described fixed value.
10. torque detection method according to claim 7, wherein, if the described lateral load detecting element (S1a-S4a) that is rotated in the forward is non-forward, and described reverse rotation lateral load detecting element (S1b-S4b) is a forward, then be based on the currency (Vb1) and the fixed value (Va2f of average output (Vb) of the described reverse rotation lateral load detecting element (S1b-S4b) of forward corresponding to the described magnitude of voltage (Vt) of described transmission load (F), Vb2f) use equation: Vt=(Va2f-Vb2f)/2+ (Vb1-Vb2f) to calculate, wherein, (Va2f is to be rotated in the forward lateral load detecting element (S1a-S4a) and described reverse rotation lateral load detecting element (S1b-S4b) both are the described average output that is rotated in the forward lateral load detecting element (S1a-S4a) and described reverse rotation lateral load detecting element (S1b-S4b) under the situation of forward at last described Vb2f) to described fixed value.
11. an acting force detection apparatus comprises:
First rotating member (71), it integrally keeps rotary body (51), and rotary body (51) has annular earthed surface in its periphery, and described first rotating member (71) rotation when described earthed surface rolls;
Second rotating member (72), it is set to and can relatively rotates with respect to described first rotating member (71), and with respect to described first rotating member (71) displacement relatively diametrically, and described second rotating member (72) integrally is supported on the supporter (61);
At least three coupling support sections (TS1-TS4), it is along the circumferential direction with arranged at predetermined intervals, each described coupling support section has a pair of power bang path (Ta that along the circumferential direction faces with each other and arrange and can transmit rotary load and normal load between described first rotating member (71) and described second rotating member (72), Tb), and described at least three coupling support sections (TS1-TS4) coupling described first rotating member (71) and described second rotating member (72) make it possible to transmit described rotary load and described normal load on described first rotating member (71) and described second rotating member (72);
Be rotated in the forward lateral load detecting element (S1a-S4a), it places described a pair of power bang path (Ta, Tb) in one in, and it will be rotated in the forward side transmission load and change into electric signal and export described electric signal, wherein said be rotated in the forward the side transmission load on when described first rotating member (71) with respect to described second rotating member (72) relatively rotation and increasing when being rotated in the forward in one direction, when reverse rotation, reduce;
Reverse rotation lateral load detecting element (S1b-S4b), it places described a pair of power bang path (Ta, Tb) in another in, and it transmits load with the reverse rotation side and changes into electric signal and export described electric signal, wherein, the transmission of described reverse rotation side load on when described first rotating member (71) with respect to described second rotating member (72) relatively rotation and increasing when carrying out reverse rotation on another direction, when being rotated in the forward, reduce; And
Normal load calculation element (B), calculate the normal load of transmitting between described first rotating member (71) and described second rotating member (72) based on the output of output that is rotated in the forward lateral load detecting element (S1a-S4a) and reverse rotation lateral load detecting element (S1b-S4b) in its structure below, in described structure, the entire portion of the normal load of transmitting between described first rotating member (71) and described second rotating member (72) is via described power bang path (Ta, Tb), and via placing described power bang path respectively (Ta, described in Tb) is rotated in the forward lateral load detecting element (S1a-S4a) and described reverse rotation lateral load detecting element (S1b-S4b) transmits.
12. acting force detection apparatus according to claim 11, wherein, four coupling support sections (TS1-TS4) are along the circumferential direction with equidistant layout.
13. according to claim 11 or 12 described acting force detection apparatus, wherein, predetermined load can be by being arranged at described power bang path (Ta, Tb) (75a 75b) is applied on described at least one that is rotated in the forward in lateral load detecting element (S1a-S4a) and the described reverse rotation lateral load detecting element (S1b-S4b) the load bringing device at least one in.
14. acting force detection apparatus according to claim 13, wherein, each power bang path (Ta, Tb) have and described detecting element (S1a-S4a, S1b-S4b) ball (74a of a corresponding joint in, 74b) and described ball can be pushed to described detecting element (S1a-S4a, S1b-S4b) one screw (75a of correspondence described in, 75b), and the initial value of the described transmission load between described first rotating member (71) and described second rotating member (72) can (75a, the amount of propelling/indentation 75b) be regulated by described screw.
15. acting force detection apparatus according to claim 14 wherein, makes ball (74a by the press contacts load, center 74b) and screw (75a, the centrally aligned device (BS1) that axle 75b) is aimed at be arranged at described screw (75a, 75b) and described ball (74a, 74b) between.
16. acting force detection apparatus according to claim 15, wherein, described centrally aligned device (BS1) is to be arranged at described screw (75a, ball (74a 75b), 74b) the spherical surface seat on the end of side (75a1,75b1), and described spherical surface seat (75a1, curvature 75b1) is set to less than described ball (74a, curvature 74b), (75a is 75b) at its described spherical surface seat (75a1 for described screw, the described ball of contact 75b1) (74a, 74b).
17. acting force detection apparatus according to claim 14, wherein, the ball seat (BS) that can transmit load places described ball (74a, 74b) with described detecting element (S1a-S4a, S1b-S4b) between one of middle correspondence, and be used for by the press contacts load make described ball (74a, the centrally aligned device (BS1) that the axle of center 74b) and described ball seat (BS) is aimed at be arranged at described ball seat (BS) and described ball (74a, 74b) between.
18. acting force detection apparatus according to claim 17, wherein, described centrally aligned device (BS1) be the ball that is arranged at described ball seat (BS) (74a, 74b) the spherical surface seat on the end of side (75a1,75b1), and described spherical surface seat (75a1, curvature 75b1) is set to less than described ball, and (described ball seat (BS) is at its described spherical surface seat (75a1 for 74a, curvature 74b), the described ball of contact 75b1) (74a, 74b).
19. acting force detection apparatus according to claim 17, wherein, described centrally aligned device (BS1) is ball (74a, 74b) conical seat on the end of side that is arranged at described ball seat (BS), and described ball seat (BS) on its described conical seat, contact described ball (74a, 74b).
20., it is characterized in that also comprising according to claim 11 or 12 described acting force detection apparatus:
Rotary load calculation element (B), calculate the rotary load that transmits between described first rotating member (71) and described second rotating member (72) based on the output of described output that is rotated in the forward lateral load detecting element (S1a-S4a) and described reverse rotation lateral load detecting element (S1b-S4b) in its structure below, in described structure, the entire portion of the rotary load that transmits between described first rotating member (71) and described second rotating member (72) is via described power bang path (Ta, Tb), and via placing described power bang path respectively (Ta, described in Tb) is rotated in the forward lateral load detecting element (S1a-S4a) and described reverse rotation lateral load detecting element (S1b-S4b) transmits.
CN 200610104268 2005-08-05 2006-08-07 Torque detection apparatus and acting force detection apparatus Pending CN1908606A (en)

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CN102445289A (en) * 2010-10-05 2012-05-09 杨锦堂 Torsion sensor
CN105784247A (en) * 2016-03-25 2016-07-20 哈尔滨工业大学 Five-dimensional force detector based on spatial overlay method
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Publication number Priority date Publication date Assignee Title
CN102235926A (en) * 2010-03-30 2011-11-09 索尼公司 Torque sensor and robot apparatus
CN102445289A (en) * 2010-10-05 2012-05-09 杨锦堂 Torsion sensor
CN102445289B (en) * 2010-10-05 2013-07-03 杨锦堂 Torsion sensor
CN108885156A (en) * 2016-02-03 2018-11-23 克诺尔轨道车辆系统有限公司 The device and method of measuring force for test braking force platform
CN108885156B (en) * 2016-02-03 2021-12-10 克诺尔轨道车辆系统有限公司 Device and method for measuring forces for a braking force test stand
CN105784247A (en) * 2016-03-25 2016-07-20 哈尔滨工业大学 Five-dimensional force detector based on spatial overlay method
CN110462357A (en) * 2017-08-25 2019-11-15 非夕机器人有限公司 With appropriateness high reliability torque sensor flexible
CN110462357B (en) * 2017-08-25 2022-01-25 非夕机器人有限公司 High reliability torque sensor with moderate flexibility
CN110926923A (en) * 2019-11-25 2020-03-27 青海大学 Load detachable test system for testing torsion-tension characteristics of bolt
CN110926923B (en) * 2019-11-25 2021-10-29 青海大学 Load detachable test system for testing torsion-tension characteristics of bolt

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