JP2007205835A - Acting force detection apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately detect a perpendicular load (for example, ground load acting on a wheel) between a first rotating member and a second rotating member disposed relatively rotatably and relatively displaceably in the radial direction. <P>SOLUTION: The first rotating member 31 is connected to the second rotating member 32 through four link support sections T1 to T4 so as to transfer a rotation load and the perpendicular load. The link support sections T1 to T4 comprise: a pair of force transfer systems Ta and Tb that are faced to each other in the circumferential direction and can transfer the rotation load and the perpendicular load between the first rotating member 31 and the second rotating member 32; forward rotation-side load detection elements S1a to S4a that are mounted on one force transfer system Ta and convert a forward rotation-side transfer load to an electric signal and output it; and reverse rotation-side load detection elements S1b to S4b that are mounted on the other force transfer system Tb and convert a reverse rotation-side transfer load to an electric signal and output it. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention includes a first rotating member that has an annular grounding surface on the outer periphery and integrally holds a rotating body (for example, a wheel) that rolls and rotates on the grounding surface, and the first rotating member. A vertical load (for example, a grounding load acting on a wheel) between the second rotating members provided so as to be relatively rotatable with respect to the shaft and relatively displaceable in the radial direction and supported integrally with a support (for example, an axle hub). The present invention relates to an acting force detection device capable of detecting

As one of the acting force detection devices of this type, an electrical signal corresponding to the forward transmission load that increases during forward rotation and decreases during reverse rotation when the first rotating member rotates relative to the second rotating member in one direction is output. A forward-side load detection element that outputs an electrical signal corresponding to a reverse-side transmission load that increases during reverse rotation and decreases during forward rotation when the first rotary member rotates relative to the other of the second rotary member. A detector including an element, and an arithmetic unit for calculating a vertical load (vertical force) between the first rotating member and the second rotating member based on outputs of the forward rotation side load detection element and the reverse rotation side load detection element. For example, it is shown in the following Patent Document 1.
JP 2003-14563 A

  In the tire acting force detection device described in Patent Document 1 described above, a connected body in which the wheel-side moving portion and the holding body-side moving portion (the first rotating member and the second rotating member) are elastically deformable at the time of relative displacement. Are connected mechanically. Further, the elastically deformable coupling body is distorted by elastic deformation of the coupling body to one side based on the relative displacement from the neutral state of the wheel side movement section to the holding body side movement section, and the transmission load to the one side. One of the detection elements (strain gauges, piezoelectric elements, etc.) that convert and output the electric signal to the other side of the connecting body based on the relative displacement from the neutral state of the wheel side moving part to the other side relative to the holding body side moving part The other detection elements (strain gauges, piezoelectric elements, etc.) that are distorted by elastic deformation and convert the transmission load to the other into electrical signals and output are integrally assembled.

  By the way, in the structure of above-mentioned patent document 1, while a connection body elastically deforms in a rotation direction at the time of relative rotation of a wheel side moving part and a holding body side moving part (a 1st rotation member and a 2nd rotation member), radial direction and There is a risk of elastic deformation also in the axial direction, and it is difficult to accurately detect the vertical load acting on the load transmitting portion including the coupling body. In the configuration of Patent Document 1 described above, a part of the vertical load transmitted between the wheel-side moving unit and the holding body-side moving unit (the first rotating member and the second rotating member) is passed through each detection element. Although transmitted, the remainder of the vertical load is transmitted without passing through each detection element, so it is difficult to detect the vertical load with high accuracy.

  The present invention has been made to cope with the above-described problems. In the acting force detection device according to the present invention, a rotating body that has an annular grounding surface on the outer periphery and rotates and rotates on the grounding surface. The first rotating member that integrally holds the first rotating member and the second rotating member that is rotatably supported relative to the first rotating member and that is relatively displaceable in the radial direction and is integrally supported by the support body are Three or more connection support portions arranged at a predetermined interval in the direction are connected so as to be able to transmit a rotational load and a vertical load, and each of the connection support portions is arranged to face each other in the circumferential direction. A pair of force transmission systems capable of transmitting a rotational load and a vertical load between the rotation member and the second rotation member are provided, and the first rotation member is interposed between one of the pair of force transmission systems and the first rotation member Increased during forward rotation relative to one rotation member A forward rotation-side load detecting element that converts a forward rotation-side transmission load that decreases during rolling into an electrical signal and outputs it, and the other one of the pair of force transmission systems, and the first rotation member is the second rotation member In contrast, there is provided a reverse-side load detecting element that converts a reverse-side transmission load that increases at the time of reverse rotation that rotates relative to the other and decreases at the time of forward rotation into an electrical signal, and outputs the electrical signal. All the vertical loads transmitted between the rotating members are transmitted through the force transmission systems, the forward rotation load detecting elements and the reverse load detecting elements interposed therebetween, and the forward rotations. There is a feature in that it includes a vertical load calculating means for calculating a vertical load between the first rotating member and the second rotating member based on outputs of the side load detecting element and the reverse load detecting element.

  In the acting force detection device according to the present invention, all vertical loads transmitted between the first rotating member and the second rotating member are transmitted via the forward rotation side load detection element and the reverse rotation side load detection element. For this reason, in the vertical load calculating means for calculating the vertical load between the first rotating member and the second rotating member based on the outputs of the forward rotation side load detecting element and the reverse rotation side load detecting element, the first rotating member and the first rotating member The vertical load between the two rotating members can be calculated with high accuracy, and the vertical load between the first rotating member and the second rotating member can be detected with high accuracy.

  In carrying out the present invention, it is also possible to arrange four connection support portions at equal intervals in the circumferential direction. In this case, each connection support part provided with the forward rotation side load detection element and the reverse rotation side load detection element is arranged at a phase of 90 degrees. For this reason, by using the square root of the square sum of the calculated values obtained by calculating the output difference between the forward load detecting element and the reverse load detecting element at each connection support portion between the 180 ° phases, the first rotation It is possible to easily calculate the vertical load between the member and the second rotating member.

  Further, when carrying out the present invention, it is possible to apply a predetermined load to the forward rotation side load detection element and the reverse rotation side load detection element by load applying means provided in each force transmission system. In this case, each of the force transmission systems includes a ball that engages with each of the detection elements and a screw that can push the ball toward each of the detection elements. It is also possible to adjust the initial value of the transmission load between the rotating member and the second rotating member.

  In this case, it is possible to correct each output of the forward rotation side load detection element and the reverse rotation side load detection element by the load adding means, and it is possible to accurately adjust the initial state of the acting force detection device. is there. Further, it is possible to eliminate play in the rotational direction and radial direction between the first rotating member and the second rotating member by the screws of each force transmission system. For this reason, it is possible to eliminate the generation of abnormal noise and wear due to the above-described play.

  An aligning means for aligning the center of the ball and the axis of the screw by a pressure load may be provided between the screw and the ball, and the aligning means may be a ball of the screw. It is a spherical seat provided at the side end, and its curvature is set smaller than the curvature of the ball, and the screw can be in contact with the ball at this spherical seat. In addition, a ball sheet capable of transmitting a load is interposed between each of the detection elements and the ball, and the center of the ball and the axis of the ball sheet are placed between the ball sheet and the ball by a pressure load. It is also possible to provide aligning means for aligning, and this aligning means is a spherical seat provided at the ball side end of the ball seat, and its curvature is set smaller than the curvature of the ball. The ball seat may be in contact with the ball at the spherical seat. In these cases, since the ball is in point contact with the opposing member by the aligning means (spherical seat), the initial value of the transmission load between the first rotating member and the second rotating member is determined by the amount of advancement / retraction of the screw. It is possible to improve workability at the time of adjustment.

  In carrying out the present invention, all the rotational loads transmitted between the first rotating member and the second rotating member are the force transmission systems, the forward-side load detecting elements interposed therebetween, and the reverse rotation. The rotation load between the first rotation member and the second rotation member is determined based on the outputs of the forward rotation load detection element and the reverse rotation load detection element. It is also possible to provide rotational load calculation means for calculating. In this case, based on the outputs of the forward rotation side load detection element and the reverse rotation side load detection element, the rotation load between the first rotation member and the second rotation member can also be calculated by the rotation load calculation means. The forward rotation side load detection element and the reverse rotation side load detection element can be shared not only for vertical load detection but also for rotational load detection.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 to 5 show an acting force detection device according to the present invention, and this acting force detection device includes each detector A assembled between each wheel 11 of the vehicle and an axle hub 21 (see FIG. 2), It is comprised so that the calculator B (refer FIG. 3) assembled | attached to the vehicle body side may be included. The axle hub 21 is rotatably supported by the axle housing 22.

  Each detector A includes a wheel side housing 31 as a first rotating member and a hub side housing 32 as a second rotating member. The wheel-side housing 31 has a plurality of flange portions 31a, and the wheels 11 are integrally held by the flange portions 31a via bolts 33 and nuts (not shown). The wheel 11 has an annular ground surface 11a on the outer periphery, and is a rotating body that rolls and rotates on the ground surface 11a. The hub-side housing 32 is provided so as to be rotatable relative to the wheel-side housing 31 by a predetermined amount and to be relatively displaceable by a predetermined amount in the radial direction (radial direction), and has a plurality of flange portions 32a. The flange portion 32a is integrally supported by a flange portion (not shown) of the axle hub 21 as a support body via a plurality of bolts and nuts (both not shown).

  The wheel-side housing 31 and the hub-side housing 32 are coaxially arranged, and rotational load and vertical load are provided by four connection support portions T1 to T4 arranged at equal intervals (interval of 90 degrees) in the circumferential direction. Are communicably linked. As shown in FIG. 1, each of the connection support portions T1 to T4 is provided with a pair of force transmission systems Ta and Tb, and includes forward rotation side load detection elements S1a to S4a and reverse rotation side load detection elements S1b to S4b. Is provided.

  Each of the pair of force transmission systems Ta and Tb is disposed to face each other in the circumferential direction, and can transmit a rotational load and a vertical load between the wheel side housing 31 and the hub side housing 32. One force transmission system Ta is provided with a ball (steel ball) 34a and a screw 35a, and each forward rotation side load detection element S1a to S4a is interposed. The other force transmission system Tb is provided with a ball (steel ball) 34b and a screw 35b, and each of the reverse-side load detecting elements S1b to S4b is interposed.

  Each of the forward rotation side load detection elements S1a to S4a increases during forward rotation when the wheel side housing 31 rotates relative to one side with respect to the hub side housing 32 (when it rotates relative to the counterclockwise direction in FIG. 1) and reverse rotation. For example, a strain gauge, a piezoelectric element, or the like that converts the forward rotation transmission load that decreases when it rotates relative to the clockwise direction in FIG. 1 into an electrical signal and outputs it, and the output (voltage) is shown in FIG. As shown, the wires are connected to the detector main body 40. Further, each of the forward rotation side load detection elements S1a to S4a is equidistant from the rotation center Lo extending in the horizontal direction of the wheel side housing 31 and the hub side housing 32 on the same circumference (radius R1 shown in FIG. 1). It is disposed at (90-degree interval), and is fixed to one circumferential end surface of a protrusion 32b that is formed on the hub-side housing 32 and protrudes in the radial direction.

  Each screw 35a is screwed to the wheel side housing 31 so as to be able to advance and retreat, and a ball (steel ball) 34a engaged with each forward rotation side load detection element S1a to S4a is connected to each forward rotation side load detection element S1a to S4a. And a predetermined load can be applied to each of the forward rotation side load detection elements S1a to S4a. Further, a spherical seat 35a1 having a smaller curvature than the curvature of the surface of the ball 34a is formed at an end of each screw 35a on the ball 34a side, and the screw 35a is in contact with the ball 34a at the spherical seat 35a1. In addition, the screwing position of each screw 35a is configured to be fixable by a lock nut 36a.

  Each of the reverse-side load detecting elements S1b to S4b converts the reverse-side transmission load that increases when the wheel-side housing 31 rotates relative to the other side of the hub-side housing 32 and decreases when the wheel-side housing 31 rotates forward to an electrical signal. For example, a strain gauge, a piezoelectric element, or the like, and its output (voltage) is connected to be transmitted to the detector main body 40 as shown in FIG. Further, the respective reverse load detection elements S1b to S4b are equally spaced on the same circumference (radius R1 shown in FIG. 1) from the rotation center Lo extending in the horizontal direction of the wheel side housing 31 and the hub side housing 32. At an interval of 90 degrees) and is fixed to the other circumferential end surface of the protrusion 32b formed on the hub side housing 32.

  Each screw 35b is screwed to the wheel-side housing 31 so as to be able to advance and retreat, and a ball (steel ball) 34b engaged with each reverse-side load detecting element S1b to S4b is directed to each reverse-side load detecting element S1b to S4b. Thus, a predetermined load can be applied to each of the reverse load detecting elements S1b to S4b. Further, a spherical seat 35b1 having a smaller curvature than the curvature of the surface of the ball 34b is formed at the end of each screw 35b on the ball 34b side, and the screw 35b is in contact with the ball 34b at the spherical seat 35b1. In addition, the screwing position of each screw 35b is configured to be fixable by a lock nut 36b.

  Further, as shown in FIG. 2, the wheel side housing 31 and the hub side housing 32 include the balls (steel balls) 34 a and the balls (steel balls) 34 b in the four connection support portions T1 to T4 described above, A large number of balls (steel balls) 37 and a stepped sleeve 38 are connected so as to be able to transmit an axial load.

  Each of the balls 34a and 34b is sandwiched in the axial direction by the wheel side housing 31 and the hub side housing 32, and comes into contact with a vertical surface 31c provided on an end surface of the wheel side housing 31 facing the hub side housing 32 at one point. In addition, the hub side housing 32 abuts at one point on a vertical surface 32c provided on the end surface of the hub side housing 32 facing the wheel side housing 31. In such a configuration, the axial load between the wheel side housing 31 and the hub side housing 32 can be transmitted, but the rotational load and the vertical load between the wheel side housing 31 and the hub side housing 32 cannot be transmitted.

  Each ball 37 is clamped in the axial direction by the stepped sleeve 38 and the hub side housing 32, and is held in the circumferential direction by the cage (not shown) at a substantially equal interval in the hub side housing. It is in contact with the annular vertical surface 32d provided on the inner peripheral portion 32 at one point and is in contact with the annular vertical surface 38a provided on the outer peripheral portion of the stepped sleeve 38 at one point. In such a configuration, the axial load between the wheel side housing 31 and the hub side housing 32 can be transmitted, but the rotational load and the vertical load between the wheel side housing 31 and the hub side housing 32 cannot be transmitted.

  The stepped sleeve 38 is screwed to an internal threaded portion 31d formed on the inner periphery of the wheel-side housing 31 by an externally threaded portion 38b formed on the outer periphery of the small-diameter portion so that the screwing amount can be adjusted in the axial direction. It is fixed and held by a lock nut 39 screwed to the portion 31d. The stepped sleeve 38 is opposed to the end surface of the axle hub 21 with a slight axial gap, and even if the coupling at the screw coupling portion with the wheel-side housing 31 is loosened, it contacts the end surface of the axle hub 21. It is configured to be retained.

  In the detector A configured as described above, all the vertical loads and all the rotational loads transmitted between the wheel-side housing 31 and the hub-side housing 32 are a pair of forces provided in the connection support portions T1 to T4. The transmission is transmitted through the transmission systems Ta and Tb, the forward rotation side load detection elements S1a to S4a and the reverse rotation side load detection elements S1b to S4b interposed between the force transmission systems Ta and Tb, and the wheel side housing 31. All axial loads transmitted between the hub side housings 32 are transmitted through the balls 34 a and 34 b, the balls 37 and the stepped sleeve 38.

  Moreover, in this embodiment, as shown in FIG. 4, the absolute value of the output gradient according to the transmission load of each normal rotation side load detection element S1a-S4a and the transmission load of each reverse rotation side load detection element S1b-S4b. The absolute values of the output gradients according to the output are set to be substantially the same, and the outputs of the forward rotation side load detection elements S1a to S4a and the reverse rotation side load detection elements S1b to S4b when the transmission load is zero are the maximum output values. It is set to an intermediate value Vo between Vmax and the minimum output value Vmin.

  As conceptually shown in the block diagram of FIG. 3, the detector main body 40 includes a signal processing circuit 41, a transmitter 42, a power source 43, and the like, and is integrally fixed to the hub side housing 32. The signal processing circuit 41 supplies outputs V1a to V4a from the respective forward rotation side load detection elements S1a to S4a and outputs V1b to V4b from the respective reverse rotation side load detection elements S1b to S4b to the transmitter 42. The transmitter 42 receives the outputs V1a to V4a from the supplied forward load detecting elements S1a to S4a and the outputs V1b to V4b from the reverse load detecting elements S1b to S4b as radio waves. 51 is transmitted. The power source 43 supplies electric power necessary for the operation of the forward rotation side load detection elements S1a to S4a and the reverse rotation side load detection elements S1b to S4b, the signal processing circuit 41, the transmitter 42, and the like.

  On the other hand, the arithmetic unit B includes a receiver 51, a signal processing device 52, etc., as conceptually shown in the block diagram of FIG. 3, and is assembled on the vehicle body side and connected to the vehicle control device C. Has been. The receiver 51 supplies outputs V1a to V4a and outputs V1b to V4b received from the transmitter 42 to the signal processing device 52.

  The signal processing device 52 includes a microcomputer that repeatedly executes a program corresponding to the flowchart of FIG. 5 every predetermined minute calculation cycle, and based on the outputs V1a to V4a and the outputs V1b to V4b from the receiver 51. The vehicle control device C uses the vertical load Fz and the rotational load Fθ between the wheel-side housing 31 and the hub-side housing 32 that have been subjected to arithmetic processing, and the transmission torque Tt that has been arithmetically processed based on the rotational load Fθ and the radius R1 shown in FIG. Is supplied (output). The vehicle control device C is configured to include an actuator (not shown) that controls the state of the vehicle, and a controller (not shown) that drives the actuator and controls its driving state.

  In the acting force detection device configured as described above, when the ignition switch (not shown) of the vehicle is in the ON state, the microcomputer of the signal processing device 52 executes a program corresponding to the flowchart of FIG. Are repeatedly executed every minute calculation period, and based on the outputs V1a to V4a and outputs V1b to V4b from the receiver 51, the vehicle control device C calculates the necessary vertical load Fz, rotational load Fθ, and transmission torque Tt. This is stored in the signal processing device 52 and supplied to the vehicle control device C.

  The microcomputer of the signal processing device 52 starts the processing in step 101 of FIG. 5, and in step 102, the outputs V1a to V4a of the respective forward rotation side load detection elements S1a to S4a and the respective reverse rotation side load detection elements S1b to. The outputs V1b to V4b of S4b are read and stored. Further, the microcomputer of the signal processing device 52 calculates and stores the vertical load Fz in Step 103, calculates and stores the rotational load Fθ in Step 104, and calculates the transmission torque Tt in Step 105. In step 106, the vertical load Fz, the rotational load Fθ, and the transmission torque Tt are output. In step 107, the execution of the program is terminated.

In step 103, the vertical load Fz is calculated by the following formula 1, the rotational load Fθ is calculated by the following formula 2 in step 104, and the transmission torque Tt is calculated by the following formula 3 in step 105.
Fz = Kz × {(XZ1-XZ3) ² + (XZ2-XZ4) ² } ^1/2 (Formula 1)
Kz is a correction coefficient obtained in advance by experiments and analysis.
Further, XZ1 = (V1a−V1b), XZ2 = (V2a−V2b),
XZ3 = (V3a−V3b), XZ4 = (V4a−V4b).
Fθ = Kθ × (XZ1 + XZ2 + XZ3 + XZ4) (Formula 2)
Tt = Kt × Fθ × R1 (Formula 3)
However, Kθ and Kt are correction coefficients obtained in advance by experiments and analysis.

  By the way, in the acting force detection apparatus of this embodiment, all the vertical loads and all the rotational loads transmitted between the wheel side housing 31 and the hub side housing 32 are a pair of provided on each of the connection support portions T1 to T4. The force is transmitted through the force transmission systems Ta and Tb, and the forward rotation side load detection elements S1a to S4a and the reverse rotation side load detection elements S1b to S4b interposed in the force transmission systems Ta and Tb. Therefore, the vertical load Fz between the wheel side housing 31 and the hub side housing 32 is determined based on the outputs V1a to V4a and V1b to V4b of the forward rotation side load detection elements S1a to S4a and the reverse rotation side load detection elements S1b to S4b. In the step 103 of calculating, the vertical load Fz between the wheel side housing 31 and the hub side housing 32 can be calculated with high accuracy, and the vertical load Fz between the wheel side housing 31 and the hub side housing 32 is calculated with high accuracy. Can be detected.

  Moreover, in the acting force detection apparatus of this embodiment, each four connection support parts T1-T4 are arrange | positioned at equal intervals in the circumferential direction. For this reason, each connection support part T1-T4 provided with forward rotation side load detection element S1a-S4a and reverse rotation side load detection element S1b-S4b will be arrange | positioned at a 90 degree phase. For this reason, the sum of squares of the calculated values obtained by calculating the output difference between the forward rotation side load detection elements S1a to S4a and the reverse rotation side load detection elements S1b to S4b at 180 degrees in each of the connection support portions T1 to T4. By using the square root (see Equation 1 above), the vertical load Fz between the wheel side housing 31 and the hub side housing 32 can be easily calculated.

  Further, in the acting force detection device of this embodiment, the screws 35a and 35b (load adding means) are provided in the force transmission systems Ta and Tb in the connection support portions T1 to T4, and the forward rotation side load detection is performed. A predetermined load can be applied to the elements S1a to S4a and the reverse side load detection elements S1b to S4b. For this reason, the initial value of the transmission load between the wheel-side housing 31 and the hub-side housing 32 can be adjusted by the advance / retreat amounts of the screws 35a, 35b.

  Accordingly, the respective outputs V1a to V4a and V1b to V4b of the forward rotation side load detection elements S1a to S4a and the reverse rotation side load detection elements S1b to S4b can be corrected by the screws 35a and 35b, and the acting force detection device. It is possible to accurately adjust the initial state. Further, it is possible to eliminate play in the rotational direction and radial direction between the wheel side housing 31 and the hub side housing 32 by the screws 35a and 35b of the force transmission systems Ta and Tb. For this reason, it is possible to eliminate the generation of abnormal noise and wear due to the above-described play.

  Further, in the acting force detection device of this embodiment, spherical seats 35a1 and 35b1 having a curvature smaller than the curvature of the surface of the balls 34a and 34b are formed at the ball side ends of the respective screws 35a and 35b. The screws 35a and 35b are in contact with the balls 34a and 34b at the seats 35a1 and 35b1. For this reason, the balls 34a and 34b and the spherical seats 35a1 and 35b1 are in point contact, and work for adjusting the initial value of the transmission load between the wheel-side housing 31 and the hub-side housing 32 by the amount of advancement and retraction of the screws 35a and 35b. It is possible to improve the property.

  Moreover, in the acting force detection apparatus of this embodiment, the wheel side housing 31 and the hub are based on the outputs V1a to V4a and V1b to V4b of the forward rotation side load detection elements S1a to S4a and the reverse rotation side load detection elements S1b to S4b. Step 104 for calculating the rotational load Fθ between the side housings 32 is provided. Therefore, the rotational load Fθ between the wheel side housing 31 and the hub side housing 32 is determined based on the outputs V1a to V4a and V1b to V4b of the forward rotation side load detection elements S1a to S4a and the reverse rotation side load detection elements S1b to S4b. The forward rotation side load detection elements S1a to S4a and the reverse rotation side load detection elements S1b to S4b can be used not only for vertical load detection but also for rotation load detection.

  In the detector A of the above-described embodiment, each ball 34a, 34b is directly engaged (contacted) with the forward rotation side load detection elements S1a to S4a and the reverse rotation side load detection elements S1b to S4b. The ball 34a is interposed between the balls 34a and 34b and the forward rotation side load detection elements S1a to S4a and the reverse rotation side load detection elements S1b to S4b, as shown in FIG. 6 as an example. Is also possible.

  In this case, a spherical seat BS1 as a centering means for aligning the center of the ball 34a and the center of the ball seat BS is provided at the ball side end of the ball seat BS, and the curvature of the spherical seat BS1 is the surface of the ball 34a. It is also possible to form the ball seat BS so as to be smaller than the curvature of the ball seat BS1 and to contact the ball 34a at the spherical seat BS1. In addition, it is also possible to provide a tapered seat instead of the spherical seat BS1 as an aligning means for aligning the center of the ball 34a and the center of the ball seat BS.

  In the detector A of the above-described embodiment, the wheel side housing 31 and the hub side housing 32 are configured to be connected by the four connection support portions T1 to T4. The number of connection support portions for connecting the hub housing 32 to each other may be three or more, and is not limited to four. In addition, when each forward rotation side load detection element and each reverse rotation side load detection element are not arranged in a phase of 180 degrees, the rotational phase of each forward rotation side load detection element and each reverse rotation side load detection element at each calculation is an angle. It is necessary to correct the output of each forward rotation side load detection element and each reverse rotation side load detection element according to the rotation phase by detecting with a sensor.

  In the detector A of the above-described embodiment, the force transmission systems Ta and Tb are provided with the screws 35a and 35b (load adding means). However, when implementing the present invention, any one of the force transmission systems is performed. It is possible to carry out without providing load applying means (screws) in any force transmission system.

  In the detector A of the above-described embodiment, the center of each ball 34a, 34b and the axis of each screw 35a, 35b are aligned at the ball side end of each screw 35a, 35b by a pressure load. Spherical seats 35a1 and 35b1 are formed as means, and the curvature of each spherical seat 35a1 and 35b1 is set smaller than the curvature of the surface of each ball 34a and 34b, but each screw 35a and 35b and each ball 34a, A taper-shaped seat is provided in place of the spherical seats 35a1 and 35b1 as a centering means for aligning the centers of the balls 34a and 34b and the axes of the screws 35a and 35b by means of a crimping load. It is also possible to do.

  Further, in the above-described embodiment, the present invention is implemented in the embodiment in which the acting force transmitted between the wheel 11 and the axle hub 21 is detected. However, the present invention is also applied to the acting force detection unit other than the above embodiment. It can be implemented in the same manner as in the above embodiment or with appropriate modifications.

It is the vertical side view which showed one Embodiment of the detector in the acting force detection apparatus by this invention. It is a principal part vertical front view of the detector shown in FIG. FIG. 3 is a block diagram schematically showing an electrical configuration of an acting force detection apparatus according to the present invention including the detector shown in FIGS. 1 and 2. It is a graph which shows the relationship between the transmission load obtained by each load detection element shown in FIG. 1, and a voltage. It is a flowchart of the program which the microcomputer of the signal processing apparatus in the arithmetic unit shown in FIG. 3 performs. It is a principal part enlarged view which shows the deformation | transformation embodiment which interposed the ball seat between the ball | bowl of each force transmission system, the normal rotation side load detection element, and the reverse rotation side load detection element.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 ... Wheel (rotary body), 11a ... Grounding surface, 21 ... Axle hub (support body), 31 ... Wheel side housing (1st rotation member), 32 ... Hub side housing (2nd rotation member), 34a, 34b ... Ball, 35a, 35b ... Screw (load adding means), 35a1, 35b1 ... Spherical seat, T1-T4 ... Connection support, Ta, Tb ... Force transmission system, S1a-S4a ... Forward-side load detection element, S1b-S4b ... Reverse load detection element, A ... Detector, B ... Calculator

Claims (9)

  A first rotating member having an annular grounding surface on the outer periphery and integrally holding a rotating body that rolls and rotates on the grounding surface, and is rotatable relative to the first rotating member and in a radial direction The second rotating member which is provided so as to be relatively displaceable and is integrally supported by the support body can transmit a rotational load and a vertical load by three or more connecting support portions arranged at predetermined intervals in the circumferential direction. A pair of force transmission systems that are connected in the circumferential direction and capable of transmitting a rotational load and a vertical load between the first rotating member and the second rotating member are provided in each of the connection support portions. In addition, a forward-side transmission load that is interposed in one of the pair of force transmission systems and that increases during forward rotation when the first rotating member rotates relative to the second rotating member in one direction and decreases during reverse rotation. A forward load detecting element that converts the electric signal into an electric signal and outputs the electric signal; The reverse-side transmission load, which is interposed in the other force transmission system and increases when the first rotating member rotates relative to the other with respect to the second rotating member and decreases during forward rotation, is converted into an electrical signal. A reverse-side load detecting element for output is provided, and all the normal loads transmitted between the first rotating member and the second rotating member are transmitted to the force transmission systems and the forward-side load interposed therebetween. The first rotation member and the second rotation member are configured to be transmitted via the detection element and the reverse rotation load detection element, and based on the outputs of the forward rotation load detection element and the reverse rotation load detection element. An acting force detecting device comprising a vertical load calculating means for calculating a vertical load between the two.   The acting force detection device according to claim 1, wherein four connection support portions are arranged at equal intervals in the circumferential direction.   The acting force detection apparatus according to claim 1 or 2, wherein a predetermined load is applied to the forward rotation side load detection element and the reverse rotation side load detection element by a load addition means provided in each force transmission system. An action force detection device characterized by that.   4. The acting force detection device according to claim 3, wherein each of the force transmission systems includes a ball that engages with each of the detection elements, and a screw that can push the ball toward each of the detection elements. An acting force detecting device characterized in that an initial value of a transmission load between the first rotating member and the second rotating member can be adjusted by an advance / retreat amount of the screw.   5. The acting force detection device according to claim 4, wherein an alignment means is provided between the screw and the ball for aligning the center of the ball and the axis of the screw by a crimping load. Action force detection device.   6. The acting force detection device according to claim 5, wherein the aligning means is a spherical seat provided at a ball side end of the screw, and the curvature thereof is set smaller than the curvature of the ball. And the screw is in contact with the ball.   5. The acting force detection device according to claim 4, wherein a ball sheet capable of transmitting a load is interposed between each of the detection elements and the ball, and the ball is placed between the ball sheet and the ball by a pressure load. And a centering means for aligning the center of the ball seat and the axis of the ball seat.   8. The acting force detection device according to claim 7, wherein the aligning means is a spherical seat provided at a ball side end portion of the ball seat, and the curvature thereof is set smaller than the curvature of the ball. And the ball seat is in contact with the ball. 9. The acting force detection device according to claim 1, wherein all rotational loads transmitted between the first rotating member and the second rotating member are interposed between the force transmission systems and the force transmitting system. The first rotation member is configured to be transmitted via the forward rotation side load detection element and the reverse rotation side load detection element, and based on outputs of the forward rotation side load detection element and the reverse rotation side load detection element. And a rotating load calculating means for calculating a rotating load between the second rotating member and the second rotating member.

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