CN2804805Y

CN2804805Y - Raster torque sensor

Info

Publication number: CN2804805Y
Application number: CN 200520102749
Authority: CN
Inventors: 冯浩; 曹文明; 胡香玲
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2005-06-07
Filing date: 2005-06-07
Publication date: 2006-08-09
Anticipated expiration: 2015-06-07

Abstract

The utility model relates to a raster torque sensor, which comprises a shell body and a base, wherein the center of the shell body is provided with a horizontal rotating shaft; both of the two ends of the rotating shaft are exposed to the shell body; one end of the rotating shaft is connected with a power source, and the other end is connected with a measured load; the shell body is fixed on the base; an asynchronous motor and a sensing element are arranged in the shell body; a rotor of the asynchronous motor is movably sheathed on the rotating shaft; the sensing element comprises two pairs of raster groups and two pairs of photoelectric emission and receiving devices; the raster groups are respectively near to the two sides of the shell body and are composed of a pair of inner and outer raster sheets which are mutually matched with each other; the outer raster sheets are fixed on the rotating shaft, and the inner raster sheets are positioned on the inner side of the outer raster sheets and fixed with the rotor of the asynchronous motor; the photoelectric emission and receiving devices comprise photoelectric emission pipes and photoelectric receiving pipes; the raster groups are arranged between the photoelectric emission pipes and the photoelectric receiving pipes at intervals; the lead ends of the photoelectric receiving pipes are connected with a tester which is arranged on the outside of the utility model. The utility model can measure the rotary torque and the still torque.

Description

Grating torque sensor

(一)技术领域(1) Technical field

本实用新型涉及一种传感器，尤其是一种通过光栅来采集信号的光栅转矩传感器。The utility model relates to a sensor, in particular to a grating torque sensor which collects signals through a grating.

(二)背景技术(2) Background technology

目前，公知公用的转矩传感器主要有两大类：第一类是通过磁电感应获取信号的(齿)栅式转矩传感器。这类传感器输出的信号是两路具有相位差的角位移信号，对信号进行组合处理得到转矩信息。其缺点是体积大，不能测量静止转矩，只能进行静态转矩和动态平均转矩的测量。第二大类是以电阻应变片为敏感元件的转矩传感器。它在转轴或与转轴串接的弹性轴上安装四片精密电阻应变片，并把它们连接成惠思顿电桥。轴的变形会引起应变片的阻值发生变化，电桥输出信号与转矩成比例。其缺点是它的测量精度与贴片工艺密切相关，精度较低，且过载能力较小。At present, there are two main types of known and commonly used torque sensors: the first type is a (tooth) grid type torque sensor that obtains signals through magnetoelectric induction. The signals output by this type of sensor are two angular displacement signals with phase difference, and the torque information is obtained by combining the signals. Its disadvantage is that it is bulky and cannot measure static torque, but can only measure static torque and dynamic average torque. The second category is a torque sensor with a resistance strain gauge as a sensitive element. It installs four precision resistance strain gauges on the rotating shaft or the elastic shaft connected in series with the rotating shaft, and connects them into a Whiston bridge. The deformation of the shaft will cause the resistance value of the strain gauge to change, and the output signal of the bridge is proportional to the torque. Its disadvantage is that its measurement accuracy is closely related to the SMT process, the accuracy is low, and the overload capacity is small.

(三)发明内容(3) Contents of the invention

本实用新型克服了目前转矩传感器不能同时测量静止转矩和静(动)态转矩、测量精度低、过载能力小的缺点，提供了一种测量精度高、结构简单、可同时测量静止转矩和静(动)态转矩的转矩传感器。The utility model overcomes the shortcomings that the current torque sensor cannot measure static torque and static (dynamic) torque at the same time, has low measurement accuracy and small overload capacity, and provides a torque sensor with high measurement accuracy, simple structure, and simultaneous measurement of static torque. Torque sensors for torque and static (dynamic) torque.

为此，本实用新型采取以下技术方案：For this reason, the utility model takes the following technical solutions:

光栅转矩传感器，包括有壳体、底座，所述壳体的中心设有一水平转轴，所述转轴的两端露出壳体，一端连接动力源，另一端连接被测负载；所述壳体固定在底座上，所述壳体内还设有异步电动机和传感元件，所述异步电动机的转子活动套接在所述转轴上；所述传感元件包括二对光栅组和二对光电发射接收装置，所述光栅组分别靠近壳体两侧，由一对互相配合的内、外光栅片组成，外光栅片固定在转轴上，内光栅片位于外光栅片内侧并与异步电动机的转子固定；所述光电发射接收装置包括光电发射管和光电接收管，所述光电发射管、光电接收管之间间隔所述的光栅组，所述光电发射管、光电接收管的引出端与外置测试仪连接。进一步，所述转子采用铁磁材料或笼型转子。进一步，所述转轴的两端比中间部分粗。The grating torque sensor includes a housing and a base. The center of the housing is provided with a horizontal rotating shaft. The two ends of the rotating shaft are exposed from the housing. On the base, an asynchronous motor and a sensing element are also arranged in the housing, and the rotor of the asynchronous motor is movably socketed on the rotating shaft; the sensing element includes two pairs of grating groups and two pairs of photoelectric transmitting and receiving devices , the grating group is close to the two sides of the housing respectively, and consists of a pair of inner and outer grating sheets that cooperate with each other, the outer grating sheet is fixed on the rotating shaft, and the inner grating sheet is located inside the outer grating sheet and fixed with the rotor of the asynchronous motor; The photoelectric transmitting and receiving device comprises a photoelectric transmitting tube and a photoelectric receiving tube, the grating group is separated between the photoelectric transmitting tube and the photoelectric receiving tube, and the leading ends of the photoelectric transmitting tube and the photoelectric receiving tube are connected to an external tester . Further, the rotor adopts a ferromagnetic material or a cage rotor. Further, the two ends of the rotating shaft are thicker than the middle part.

采用本实用新型具有以下优点：1、该转矩传感器具备测量静止转矩的功能。设转轴的一端与负载相连，另一端与动力源相连，此时使异步电动机断开电源，转轴在动力源的带动下旋转，同时带动外光栅片旋转，而转子不转动，即内光栅片不转动，内外光栅片做相对运动，可测量电动机的静、动态转矩；当转轴的一端断开动力源，另一端连负载时，使异步电动机接通电源，则转子开始转动，内侧光栅片在转子的带动下旋转，而外侧光栅片则静止不动，所以二者同样做相对运动，可以测量静止转矩。即：本实用新型所述的转矩传感器是一种通用转矩测量装置，既能测量静、动态转矩，也能测量静止转矩；2、采用光栅采集信号，所以精度高，并且结构简单、体积小、成本低、有较高的经济价值。Adopting the utility model has the following advantages: 1. The torque sensor has the function of measuring static torque. Assume that one end of the rotating shaft is connected to the load, and the other end is connected to the power source. At this time, the asynchronous motor is disconnected from the power supply. The rotating shaft rotates under the drive of the power source, and at the same time drives the outer grating to rotate, but the rotor does not rotate, that is, the inner grating does not rotate. When rotating, the inner and outer gratings move relative to each other, which can measure the static and dynamic torque of the motor; when one end of the shaft is disconnected from the power source and the other end is connected to the load, the asynchronous motor is powered on, and the rotor starts to rotate, and the inner grating is Driven by the rotor, it rotates, while the outer grating sheet is stationary, so the two also perform relative motion, and the static torque can be measured. That is: the torque sensor described in the utility model is a universal torque measuring device, which can measure both static and dynamic torque, and can also measure static torque; 2. The grating is used to collect signals, so the precision is high and the structure is simple , small size, low cost, and high economic value.

(四)附图说明(4) Description of drawings

图1为本实用新型的纵剖面构造图Fig. 1 is the longitudinal section structural diagram of the utility model

图2为是本实用新型的波形图Fig. 2 is the waveform diagram of the utility model

(五)具体实施方式(5) Specific implementation methods

光栅转矩传感器，包括有壳体2、底座8，所述壳体的中心设有一水平转轴1，所述转轴的两端露出壳体，一端连接动力源，另一端连接被测负载；所述壳体固定在底座8上，所述壳体内还设有异步电动机和传感元件，所述异步电动机的转子5活动套接在所述转轴上；所述传感元件包括二对光栅组和二对光电发射接收装置，所述光栅组分别靠近壳体两侧，分别由一对互相配合的内、外光栅片组成，外光栅片6固定在转轴上，内光栅片7位于外光栅片内侧并与异步电动机的转子5固定；所述光电发射接收装置包括光电发射管3和光电接收管4，所述光电发射管、光电接收管之间间隔所述的光栅组，所述光电发射管、光电接收管的引出端与外置测试仪连接。所述转轴的两端比中间部分粗。The grating torque sensor includes a housing 2 and a base 8. A horizontal rotating shaft 1 is provided at the center of the housing. The two ends of the rotating shaft are exposed from the housing, one end is connected to a power source, and the other end is connected to a load to be measured; The casing is fixed on the base 8, and an asynchronous motor and a sensing element are also arranged in the casing, and the rotor 5 of the asynchronous motor is movably socketed on the rotating shaft; the sensing element includes two pairs of grating groups and two For photoelectric transmitting and receiving devices, the grating groups are respectively close to the two sides of the housing, and are respectively composed of a pair of inner and outer grating sheets that cooperate with each other. The outer grating sheet 6 is fixed on the rotating shaft, and the inner grating sheet 7 is located on the inner side of the outer grating sheet. Fixed with the rotor 5 of the asynchronous motor; the photoelectric transmitting and receiving device comprises a photoelectric transmitting tube 3 and a photoelectric receiving tube 4, the photoelectric transmitting tube and the photoelectric receiving tube are spaced apart from the grating group, the photoelectric transmitting tube, the photoelectric receiving tube The leading end of the receiving tube is connected with an external tester. The two ends of the rotating shaft are thicker than the middle part.

转轴1的一端连动力源，另一端连负载。当异步电动机切断电源时，此时转轴在动力源的带动下旋转，则与转轴相连的外侧光栅片6在转轴的带动下旋转，而转子5不旋转，所以内侧光栅片7静止不动，内外侧光栅片做相对运动，可以测量静动态转矩；当转轴1的一端断开动力源，另一端连负载时，使异步电动机接通电源，则转子5开始转动，内侧光栅片7在转子的带动下旋转，而外侧光栅片6则静止不动，二者同样做相对运动，可以测量静止转矩。如图2所示，当内外侧光栅片做相对运动时，光电发射管3发出的光被光栅片时挡时通，则光电接收管4接收到此光，时断时通。当相对运动速度较高时，光电接收管输出端输出电压的交流信号波形为正弦波，当相对运动速度较低时，光电接收管输出端输出电压的交流信号波形为三角波。设转轴不连负载，即转轴没有应变时，两对光栅组产生的波形A、B有一初始相位差Q₁，当转轴连接负载，即转轴产生应变时，两对光栅组产生的波形A、B’相位错位增大至Q₂，则错位增量与轴应变扭矩角存在一定的关系。两对光栅组产生的正弦波形经波形变换电路，变换成矩形波A^*、B^*，然后，将B^*的方波取反后再与A^*的方波相与，输出波形为C。C的脉宽即为A^*、B^*两相脉冲的相位差。C^*为负载轴应变所对应的错位增量，脉宽为σQ＝Q₂-Q₁。对脉宽σQ进行高频脉冲插值，这样，通过测量两对光栅的输出信号的相位差对应的高频计数值M_m就可测量转矩T。One end of the rotating shaft 1 is connected with the power source, and the other end is connected with the load. When the asynchronous motor cuts off the power supply, the rotating shaft rotates under the drive of the power source, and the outer grating sheet 6 connected with the rotating shaft rotates under the driving of the rotating shaft, while the rotor 5 does not rotate, so the inner grating sheet 7 is still, and the inner grating sheet 7 is still. The outer grating piece makes relative motion, which can measure the static and dynamic torque; when one end of the rotating shaft 1 is disconnected from the power source and the other end is connected to the load, the asynchronous motor is powered on, and the rotor 5 starts to rotate, and the inner grating piece 7 is in the position of the rotor. Driven to rotate, while the outer grating sheet 6 is stationary, the two also perform relative motion, and the static torque can be measured. As shown in Figure 2, when the inner and outer grating sheets move relative to each other, the light emitted by the photoelectric emitting tube 3 is blocked by the grating sheet and on and off, and the light received by the photoelectric receiving tube 4 is on and off. When the relative motion speed is high, the AC signal waveform of the output voltage of the photoelectric receiving tube output terminal is a sine wave, and when the relative motion speed is low, the AC signal waveform of the output voltage of the photoelectric receiving tube output terminal is a triangular wave. Assuming that the rotating shaft is not connected to the load, that is, when the rotating shaft has no strain, the waveforms A and B produced by the two pairs of grating groups have an initial phase difference Q ₁ . 'When the phase misalignment increases to Q ₂ , there is a certain relationship between the misalignment increment and the shaft strain torque angle. The sinusoidal waveforms generated by the two pairs of grating groups are transformed into rectangular waves A ^* and B ^* by the waveform transformation circuit, and then the square wave of B ^* is reversed and then ANDed with the square wave of A ^* , and the output waveform is C. The pulse width of C is the phase difference of the two-phase pulses of A ^* and B ^* . C ^* is the dislocation increment corresponding to the load axis strain, and the pulse width is σQ=Q ₂ -Q ₁ . Perform high-frequency pulse interpolation on the pulse width σQ, so that the torque T can be measured by measuring the high-frequency count value M _m corresponding to the phase difference of the output signals of two pairs of gratings.

本实用新型所述的转矩传感器是一种通用的转矩测量装置，既能测量静、动态转矩，又能测量静止转矩。与普通的转矩传感器相比，其精度高、信号易于处理、抗干扰能力强，而且结构简单，成本低，有较高的经济价值。The torque sensor described in the utility model is a universal torque measuring device, which can not only measure static and dynamic torque, but also measure static torque. Compared with ordinary torque sensors, it has high precision, easy signal processing, strong anti-interference ability, simple structure, low cost and high economic value.

Claims

1. The grating torque sensor includes a housing and a base. The center of the housing is provided with a horizontal rotating shaft. The two ends of the rotating shaft are exposed from the housing. The body is fixed on the base, and it is characterized in that: an asynchronous motor and a sensing element are also arranged in the housing, and the rotor of the asynchronous motor is movably socketed on the rotating shaft; the sensing element includes two pairs of grating groups and Two pairs of photoelectric transmitting and receiving devices, the grating groups are respectively close to the two sides of the housing, and the grating groups cooperate with the photoelectric transmitting and receiving devices;

The grating group is composed of a pair of inner and outer grating sheets that cooperate with each other, the outer grating sheet is fixed on the rotating shaft, and the inner grating sheet is located inside the outer grating sheet and fixed with the rotor of the asynchronous motor;

The photoelectric transmitting and receiving device comprises a photoelectric transmitting tube and a photoelectric receiving tube, the grating group is separated between the photoelectric transmitting tube and the photoelectric receiving tube, and the leading ends of the photoelectric transmitting tube and the photoelectric receiving tube are connected with the external tester connect.

2. The grating torque sensor according to claim 1, wherein the rotor is made of ferromagnetic material or a cage-type rotor.

3. The grating torque sensor according to claim 1 or 2, characterized in that: the two ends of the rotating shaft are thicker than the middle part.