JP4317932B2 - Torque detection device - Google Patents
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- JP4317932B2 JP4317932B2 JP2004367476A JP2004367476A JP4317932B2 JP 4317932 B2 JP4317932 B2 JP 4317932B2 JP 2004367476 A JP2004367476 A JP 2004367476A JP 2004367476 A JP2004367476 A JP 2004367476A JP 4317932 B2 JP4317932 B2 JP 4317932B2
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- 238000001514 detection method Methods 0.000 title claims description 52
- 230000005540 biological transmission Effects 0.000 claims description 39
- 238000004364 calculation method Methods 0.000 claims description 34
- 238000003756 stirring Methods 0.000 claims description 34
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 12
- 229910052802 copper Inorganic materials 0.000 claims description 12
- 239000010949 copper Substances 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 6
- 239000007858 starting material Substances 0.000 claims 1
- 239000000463 material Substances 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 8
- 230000006698 induction Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 239000000047 product Substances 0.000 description 4
- 239000012263 liquid product Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000002537 cosmetic Substances 0.000 description 1
- 239000003599 detergent Substances 0.000 description 1
- 239000003995 emulsifying agent Substances 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 239000002453 shampoo Substances 0.000 description 1
- 239000000606 toothpaste Substances 0.000 description 1
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Description
本発明は、トルク検出装置に関し、特に変速機を介して駆動用電動機からの駆動力が伝達されることにより装置本体に設けられた回転軸を回転駆動させる回転駆動装置において、回転軸の回転トルクを検出するためのトルク検出装置に関する。 The present invention relates to a torque detection device, and in particular, in a rotational drive device that rotationally drives a rotational shaft provided in a device body by transmitting a driving force from a drive motor via a transmission, the rotational torque of the rotational shaft The present invention relates to a torque detection apparatus for detecting
例えば流動性を有する洗剤、シャンプー、練り歯磨き、化粧料、食品等の液体製品やゲル状製品を、複数の材料を混合して形成する場合、攪拌羽根を取り付けた回転軸を備える混合攪拌装置が一般的に用いられる。このような混合攪拌装置によれば、材料の種類や濃度によって、攪拌中の混合材料の粘度が相違することになるため、混合材料の粘度や攪拌速度等から予想される回転トルクに充分に耐え得る強度の攪拌羽根や回転軸を使用する必要がある。また、混合材料によって過大な回転トルクが負荷されて、攪拌羽根や回転軸に破損を生じるおそれがある場合には、これをいち早く検知して、攪拌作業を中断する必要がある。特に、攪拌中の混合材料に、例えば乳化剤等が添加されて粘度が著しく増加する場合には、攪拌用の攪拌羽根や回転軸に過度の負荷がかからないようにその回転トルクを適切に管理して、これらの破損を確実に防止できるようにする必要がある。 For example, when liquid products such as detergents, shampoos, toothpastes, cosmetics, foods, etc. that have fluidity are formed by mixing a plurality of materials, a mixing and stirring device including a rotating shaft with stirring blades is provided. Generally used. According to such a mixing and stirring device, the viscosity of the mixed material being stirred differs depending on the type and concentration of the material, and thus sufficiently withstands the rotational torque expected from the viscosity of the mixed material and the stirring speed. It is necessary to use a stirring blade or a rotating shaft with sufficient strength. Further, when an excessive rotational torque is applied by the mixed material and there is a possibility that the stirring blade or the rotating shaft may be damaged, it is necessary to detect this quickly and interrupt the stirring operation. In particular, when the viscosity increases significantly due to the addition of an emulsifier or the like to the mixed material being stirred, the rotational torque should be appropriately controlled so that an excessive load is not applied to the stirring blade for stirring and the rotating shaft. Therefore, it is necessary to reliably prevent these damages.
このような回転軸の回転トルクを管理する方法としては、回転軸に直接、あるいは歯車機構等を介して回転軸と連結する駆動軸に、トルク検出器やトルクリミッター等を取り付け、回転軸に負荷される回転トルクが過度に大きくなった場合には、混合攪拌装置を停止するようにしたものが知られているが、これらのトルク検出器やトルクリミッターは、高価であると共に、特に既存の混合攪拌装置に増設しようとする場合には、大掛かりな移設工事や改造工事が必要になる。 As a method for managing the rotational torque of the rotating shaft, a torque detector or a torque limiter is attached to the rotating shaft directly or to the driving shaft connected to the rotating shaft through a gear mechanism or the like, and the rotating shaft is loaded. When the rotational torque generated becomes excessively large, it is known that the mixing and stirring device is stopped. However, these torque detectors and torque limiters are expensive and particularly existing mixing devices. In order to increase the number of agitators, large-scale relocation work or modification work is required.
一方、例えばホイストクレーンの駆動装置において、ケーブルを巻取る回転軸としてのケーブルドラムの回転トルクを、ホイストクレーンを駆動する誘導電動機への供給電圧や供給電流を検出すると共に誘導電動機の回転数を検出することによって、管理する方法が開示されている（例えば、特許文献１参照）。
特許文献１に記載の回転軸の回転トルクを管理する方法によれば、誘導電動機（駆動用電動機）への供給電圧や供給電流を検出して電気的に処理することにより、検出機構をコンパクトに構成することが可能であるが、誘導電動機に供給される電流と電圧から出力トルクを単に演算するだけでは、演算過程には出力トルクに変換されない誘導電動機の銅損が含まれているので、演算された出力トルクに誘導電送機の銅損に起因する誤差が含まれることになり、正確な出力トルクとはならない。また、単に誘導電動機への入力側の供給電圧や供給電流等を検出するものであるため、例えば電動モータ等の駆動用電動機と装置本体に設けられた回転軸との間に変速機を設けたものの如く、変速機を挟んだ両側の回転トルクの割合が一定になるとは限らない機構の場合には、装置本体における回転軸の回転トルクを正確に管理することが困難である。さらに、特許文献１に記載の回転軸の回転トルクを管理する方法によれば、荷重を降下させる際の着床時におけるケーブルの緩みを検出するためのものであることから、その精度が低く、回転軸に生じた過大な回転トルクによる負荷を精度良く瞬時に検知して、混合攪拌装置の攪拌中における破損を未然に防止するために用いるのには適していない。 According to the method for managing the rotational torque of the rotating shaft described in Patent Document 1, the detection mechanism is made compact by detecting the supply voltage and supply current to the induction motor (drive motor) and electrically processing them. Although it is possible to configure, if the output torque is simply calculated from the current and voltage supplied to the induction motor, the calculation process includes the copper loss of the induction motor that is not converted to the output torque. The generated output torque includes an error due to the copper loss of the induction transmitter, and the output torque is not accurate. In addition, since a supply voltage or supply current on the input side to the induction motor is simply detected, a transmission is provided between a driving motor such as an electric motor and a rotation shaft provided in the apparatus body. In the case of a mechanism such as the one in which the ratio of the rotational torques on both sides of the transmission is not always constant, it is difficult to accurately manage the rotational torque of the rotating shaft in the apparatus main body. Furthermore, according to the method for managing the rotational torque of the rotating shaft described in Patent Document 1, since it is for detecting looseness of the cable at the time of landing when the load is lowered, its accuracy is low, It is not suitable for use in order to detect a load caused by an excessive rotational torque generated on the rotating shaft instantly with high accuracy and to prevent breakage of the mixing and stirring device during stirring.
本発明は、変速機を介して駆動用電動機からの駆動力が伝達される回転軸の回転トルクを精度良く適切に管理できると共に、特に回転軸を備える既存の装置に対しても安価かつコンパクトに取り付けることのできるトルク検出装置を提供することを目的とする。 The present invention can accurately and appropriately manage the rotational torque of the rotating shaft to which the driving force from the driving motor is transmitted via the transmission, and is inexpensive and compact especially for an existing apparatus having the rotating shaft. An object of the present invention is to provide a torque detection device that can be attached.
本発明は、変速機を介して駆動用電動機からの駆動力が伝達されることにより装置本体に設けられた回転軸を回転駆動させる回転駆動装置において、前記回転軸の回転トルクを検出するためのトルク検出装置であって、トルク演算検出器と、前記変速機を挟んだ前記駆動用電動機側に設けられ、駆動時における前記駆動用電動機への供給電圧及び供給電流を検出して検出結果を前記トルク演算検出器に送る電圧・電流検出手段と、前記変速機を挟んだ前記装置本体側に設けられ、前記変速機の出力軸の回転数を検出して検出結果を前記トルク演算検出器に送る回転数検出手段とを備えており、前記トルク演算検出器は、前記電圧・電流検出手段から送られる前記供給電圧及び供給電流に基づいて演算された前記駆動用電動機の入力電力から、予めトルク演算検出器に記憶された前記起動用電動機の巻線抵抗と前記供給電流とから演算された銅損を減算して出力動力を求め、求めた出力動力に基づいて前記回転軸の基礎トルクを演算し、前記回転数検出手段から送られる前記回転数に基づいて前記変速機の効率を鑑みた補正係数を演算し、演算された前記基礎トルクと前記補正係数から前記回転軸の回転トルクを検出するトルク検出装置を提供することにより、上記目的を達成したものである。 The present invention provides a rotational drive device for detecting rotational torque of a rotary shaft in a rotary drive device that rotationally drives a rotary shaft provided in the apparatus body by transmitting a driving force from a driving motor via a transmission. A torque detection device, which is provided on the side of the drive motor across the torque calculation detector and the transmission, detects the supply voltage and supply current to the drive motor at the time of driving and detects the detection result A voltage / current detection means for sending to the torque calculation detector and a device body side sandwiching the transmission, detecting the number of rotations of the output shaft of the transmission and sending the detection result to the torque calculation detector The torque calculation detector comprises an input power of the driving motor calculated based on the supply voltage and supply current sent from the voltage / current detection means, The output power is obtained by subtracting the calculated copper loss from the winding resistance of the starting motor and the supply current stored in the torque calculation detector, and the basic torque of the rotating shaft is determined based on the obtained output power. And a correction coefficient in consideration of the efficiency of the transmission is calculated based on the rotation speed sent from the rotation speed detection means, and the rotation torque of the rotating shaft is calculated from the calculated basic torque and the correction coefficient. The object is achieved by providing a torque detecting device for detection.
本発明のトルク検出装置によれば、変速機を介して駆動用電動機からの駆動力が伝達される回転軸の回転トルクを精度良く適切に管理できると共に、特に回転軸を備える既存の装置に対しても安価かつコンパクトに取り付けることができる。 According to the torque detection device of the present invention, the rotational torque of the rotating shaft to which the driving force from the driving motor is transmitted via the transmission can be accurately and appropriately managed, and particularly for an existing device having the rotating shaft. However, it can be mounted inexpensively and compactly.
本発明の好ましい一実施形態に係るトルク検出装置は、例えば図１に示すように、液体製品やゲル状製品として、例えばシャンプーや練り歯磨き等を複数の材料を混合して製造するための回転駆動装置である３軸式混合攪拌装置１０に設けられ、攪拌装置１０の装置本体である混合ミキサー１１において回転可能に配設された攪拌羽根１２ｂ，１２ｃを有する回転軸１３ｂ，１３ｃが、混合材料の攪拌中に過度の回転トルクが負荷されて破損するのを効果的に防止するために、これらの回転軸１３ｂ，１３ｃの回転トルクをコンパクトな構成によって精度良く適切に管理できるようにすることを目的として採用されたものである。 A torque detector according to a preferred embodiment of the present invention is a rotary drive for producing a liquid product or a gel-like product by mixing a plurality of materials, for example, as a liquid product or a gel-like product, for example, as shown in FIG. Rotating shafts 13b and 13c having stirring blades 12b and 12c that are provided in a three-shaft mixing and stirring device 10 that is a device and are rotatably disposed in a mixing mixer 11 that is a device main body of the stirring device 10 are mixed materials. An object of the present invention is to enable accurate management of the rotational torques of the rotary shafts 13b and 13c with a compact configuration in order to effectively prevent an excessive rotational torque from being damaged during stirring. It was adopted as.
本実施形態によれば、３軸式混合攪拌装置１０の混合ミキサー１１には、下端部分に攪拌羽根１２ａとしてホモタービンやホモディスパーが取り付けられた円柱ロッド状の第１回転軸１３ａと、攪拌羽根１２ｂとして複数のタービンが外周部分に取り付けられた円筒ロッド状の第２回転軸１３ｂと、攪拌羽根１２ｃとして複数のパドルが内周部分に取り付けられた円筒ケーシング状の第３回転軸１３ｃとが設けられており、これらの回転軸１３ａ，１３ｂ，１３ｃは、第１回転軸１３ａの軸心を中心として同心状に配置されている。また、各回転軸１３ａ，１３ｂ，１３ｃは、同心状に配置された、混合ミキサー１１から上方に突出するホモシャフト１４、ステータ回転支持筒１５、及びパドル回転支持筒１６と各々連結されている。 According to the present embodiment, the mixing mixer 11 of the three-shaft mixing and stirring apparatus 10 has a cylindrical rod-shaped first rotating shaft 13a with a homo turbine or a homodisper attached to the lower end portion as a stirring blade 12a, and a stirring blade. A cylindrical rod-shaped second rotating shaft 13b having a plurality of turbines attached to the outer peripheral portion as 12b and a cylindrical casing-shaped third rotating shaft 13c having a plurality of paddles attached to the inner peripheral portion as stirring blades 12c are provided. These rotation shafts 13a, 13b, and 13c are arranged concentrically around the axis of the first rotation shaft 13a. The rotating shafts 13a, 13b, and 13c are connected to a homoshaft 14, a stator rotating support cylinder 15, and a paddle rotating support cylinder 16 that are arranged concentrically and project upward from the mixing mixer 11, respectively.
さらに、本実施形態によれば、第２回転軸１３ｂと連結するステータ回転支持筒１５、及び第３回転軸１３ｃと連結するパドル回転支持筒１６は、各々、例えば傘歯車によるギア機構１７ｂ，１７ｃを介して、第２駆動軸１８ｂ及び第３駆動軸１８ｃと連結されており、これらの第２駆動軸１８ｂと第３駆動軸１８ｃは、変速機１９を介して駆動用電動機としての回転モータ２０と各々連結している。 Further, according to this embodiment, the stator rotation support cylinder 15 connected to the second rotation shaft 13b and the paddle rotation support cylinder 16 connected to the third rotation shaft 13c are respectively provided with gear mechanisms 17b and 17c using bevel gears, for example. Are connected to the second drive shaft 18b and the third drive shaft 18c, and the second drive shaft 18b and the third drive shaft 18c are connected via a transmission 19 to a rotary motor 20 as a drive motor. Are connected to each other.
そして、本実施形態のトルク検出装置は、例えばこのような変速機１９を介して回転モータ２０からの駆動力が伝達されることにより、混合ミキサー１１に設けられた第２回転軸１３ｂ及び第３回転軸１３ｃを回転駆動させる３軸式混合攪拌装置１０において、例えば攪拌羽根１２ｂ，１２ｃが取り付けられた第２回転軸１３ｂや第３回転軸１３ｃによって攪拌中の混合材料が、例えば乳化剤の投入によってその粘度が急激に増大し、回転トルクが上昇して回転軸１３ｂ，１３ｃに予期しない過度の回転荷重が負荷される場合でも、このような過度の回転トルクを電気的に速やかに検知して例えば回転軸１３ｂ，１３ｃの回転駆動を停止することにより、回転軸１３ｂ，１３ｃの破損を効果的に防止することが可能なように設けられたものである。 And the torque detection apparatus of this embodiment is transmitted to the 2nd rotating shaft 13b provided in the mixing mixer 11, and 3rd by the driving force from the rotary motor 20 being transmitted via such a transmission 19, for example. In the triaxial mixing / stirring device 10 that rotationally drives the rotary shaft 13c, for example, the mixed material that is being stirred by the second rotary shaft 13b or the third rotary shaft 13c to which the stirring blades 12b and 12c are attached, Even when the viscosity increases abruptly and the rotational torque rises and an unexpected excessive rotational load is applied to the rotating shafts 13b and 13c, such excessive rotational torque is detected quickly and electrically, for example, It is provided so that breakage of the rotary shafts 13b, 13c can be effectively prevented by stopping the rotational drive of the rotary shafts 13b, 13c. That.
なお、本実施形態によれば、円柱ロッド状の第１回転軸１３ａと連結してこれを支持するホモシャフト１４には、変速機を介することなく、回転ベルト２１を介して回転モータ２２からの駆動力が伝達されるようになっている。 According to the present embodiment, the homo-shaft 14 that is connected to and supports the cylindrical rod-shaped first rotating shaft 13a is connected to the rotating motor 22 via the rotating belt 21 without the transmission. Driving force is transmitted.
また、本実施形態によれば、第２回転軸１３ｂ及び第３回転軸１３ｃの各回転トルクを検出するための機構として、同様の構成のトルク検出装置が各々設けられていることから、以下においては、これらを代表して、第２回転軸１３ｂの回転トルクを検出するための装置について説明する。 In addition, according to the present embodiment, since a torque detecting device having the same configuration is provided as a mechanism for detecting each rotational torque of the second rotating shaft 13b and the third rotating shaft 13c, respectively, Represents a device for detecting the rotational torque of the second rotating shaft 13b as a representative of these.
すなわち、本実施形態のトルク検出装置は、変速機１９を介して回転モータ２０からの駆動力が伝達されることにより混合ミキサー１１に設けられた第２回転軸１３ｂを回転駆動させる混合攪拌装置１０において、第２回転軸１３ｂの回転トルクを検出するための装置であって、図２にも示すように、トルク演算検出器２３と、変速機１９を挟んだ回転モータ２０側に設けられ、駆動時における回転モータ２０への供給電圧及び供給電流を検出して検出結果をトルク演算検出器２３に送る電圧・電流検出手段２４と、変速機１９を挟んだ混合ミキサー１１側に設けられ、変速機１９の出力軸である第２駆動軸１８ｂの回転数を検出して検出結果をトルク演算検出器２３に送る回転数検出手段２５とを備えている。 That is, the torque detection device of the present embodiment is a mixing and stirring device 10 that rotationally drives the second rotating shaft 13 b provided in the mixing mixer 11 by transmitting a driving force from the rotary motor 20 via the transmission 19. 2 is a device for detecting the rotational torque of the second rotary shaft 13b, and is provided on the side of the rotary motor 20 across the torque calculation detector 23 and the transmission 19, as shown in FIG. Voltage / current detection means 24 for detecting the supply voltage and supply current to the rotary motor 20 at the time and sending the detection result to the torque calculation detector 23, and the mixing mixer 11 with the transmission 19 interposed therebetween. Rotational speed detection means 25 for detecting the rotational speed of the second drive shaft 18b as the output shaft 19 and sending the detection result to the torque calculation detector 23.
そして、本実施形態によれば、トルク演算検出器２３は、電圧・電流検出手段２４から送られる検出された供給電圧及び供給電流に基づいて演算された回転モータ２０の入力電力から、予めトルク演算検出器２３に記憶された回転モータ２０の巻線抵抗と供給電流とから演算された銅損を減算して出力動力を求め、求めた出力動力に基づいて第２回転軸１３ｂの基礎トルクとして変速機１９の入力軸の回転トルクを演算し、回転数検出手段２５から送られる検出された回転数に基づいて変速機２５の効率を鑑みた補正係数を演算し、演算された基礎トルクと補正係数から第２回転軸１３ｂの回転トルクを検出するようになっている。 According to the present embodiment, the torque calculation detector 23 calculates the torque in advance from the input power of the rotary motor 20 calculated based on the detected supply voltage and supply current sent from the voltage / current detection means 24. The output power is obtained by subtracting the copper loss calculated from the winding resistance and supply current of the rotary motor 20 stored in the detector 23, and the speed is changed as the basic torque of the second rotating shaft 13b based on the obtained output power. The rotational torque of the input shaft of the machine 19 is calculated, a correction coefficient in consideration of the efficiency of the transmission 25 is calculated based on the detected rotational speed sent from the rotational speed detection means 25, and the calculated basic torque and correction coefficient are calculated. From this, the rotational torque of the second rotary shaft 13b is detected.
本実施形態のトルク検出装置を構成するトルク演算検出器２３は、例えば公知の各種の演算回路やトランスデューサ等を備えており、当該トルク演算検出器２３に組み込まれた各種の演算ソフト等によって、例えば後述する演算方法に従って、電圧・電流検出手段２４から取り込んだ回転モータ２０への供給電圧及び供給電流に基づいて演算された回転モータ２０の入力電力から、予めトルク演算検出器２３に記憶された回転モータ２０の巻線抵抗と供給電流とから演算された銅損を減算して出力動力を求め、求めた出力動力に基づいて第２回転軸１３ｂの基礎トルクを演算することができるようになっている。 The torque calculation detector 23 constituting the torque detection device of the present embodiment includes, for example, various known calculation circuits, transducers, and the like, and various calculation software incorporated in the torque calculation detector 23, for example, The rotation stored in advance in the torque calculation detector 23 from the input power of the rotary motor 20 calculated based on the supply voltage and supply current to the rotary motor 20 taken in from the voltage / current detection means 24 in accordance with the calculation method described later. The output power is obtained by subtracting the copper loss calculated from the winding resistance of the motor 20 and the supply current, and the basic torque of the second rotating shaft 13b can be calculated based on the obtained output power. Yes.
また、トルク演算検出器２３には、例えば変速機１９の製品カタログや説明書に記載されている変速機１９の規格やスペック等に基づいて、変速機１９の入力軸のトルクが変速機１９の出力軸である第２駆動軸１８ｂに伝達される際の回転数と効率との関係を示す数値が入力されると共に、例えば減速機効率、変速機効率、及び減速比を含む一体化した補正係数（η）と、第２駆動軸１８ｂの回転数（ｒｐｍ）との相関関係が、線形補間によって予め演算されて記憶されており、この相関関係に従って、回転数検出手段２５によって検出された第２駆動軸１８ｂの回転数（ｒｐｍ）から、補正係数（η）を容易に演算することができるようになっている。 Further, the torque calculation detector 23 receives the torque of the input shaft of the transmission 19 based on, for example, the specifications and specifications of the transmission 19 described in the product catalog or manual of the transmission 19. A numerical value indicating the relationship between the rotational speed and the efficiency when transmitted to the second drive shaft 18b, which is the output shaft, is input, and an integrated correction coefficient including, for example, a reduction gear efficiency, a transmission efficiency, and a reduction ratio The correlation between (η) and the rotational speed (rpm) of the second drive shaft 18b is calculated and stored in advance by linear interpolation, and the second speed detected by the rotational speed detection means 25 according to this correlation. The correction coefficient (η) can be easily calculated from the rotational speed (rpm) of the drive shaft 18b.
さらに、トルク演算検出器２３は、演算された基礎トルクや回転トルク等をディスプレイ等に表示するモニタ機能を備えていると共に、回転トルクのしきい値が設定されていて、検出された第２回転軸１３ｂの回転トルクが予め設定されたしきい値に達した際に、装置停止信号を発して即座に混合攪拌装置１０を停止させる機能を備えている。 Further, the torque calculation detector 23 has a monitor function for displaying the calculated basic torque, rotation torque, etc. on a display or the like, and a threshold value for rotation torque is set, and the detected second rotation is detected. When the rotational torque of the shaft 13b reaches a preset threshold value, it has a function of issuing a device stop signal and immediately stopping the mixing and stirring device 10.
電圧・電流検出手段２４は、例えば電圧要素用ノイズフィルタや電流要素用ノイズフィルタ等を備えていて、混合攪拌装置１０の駆動時における回転モータ２０への入力側の供給電圧及び供給電流を測定検出すると共に、測定した供給電圧及び供給電流を、トルク演算検出器２３のトランスデューサ等に送って入力することができるようになっている。 The voltage / current detection means 24 includes, for example, a noise filter for voltage elements, a noise filter for current elements, and the like, and measures and detects the supply voltage and supply current on the input side to the rotary motor 20 when the mixing and stirring device 10 is driven. In addition, the measured supply voltage and supply current can be sent to the transducer of the torque calculation detector 23 and input.
回転数検出手段２５は、例えばエンコーダ、電磁式回転検出器、光電式回転検出器等からなり、変速機１９の出力軸である第２駆動軸１８ｂに取り付けられて、当該第２駆動軸１８ｂの回転数（ｒｐｍ）を測定検出すると共に、測定した回転数（ｒｐｍ）をトルク演算検出器２３の演算回路等に送って入力することができるようになっている。なお、第２駆動軸１８ｂと、第２回転軸１３ｂのステータ回転支持筒１５とは、傘歯車によるギア機構１７ｂを介して連結していることにより、そのギア比によって、第２駆動軸１８ｂの回転数から、ステータ回転支持筒１５及び第２回転軸１３ｂの回転数を容易かつ正確に算出可能であると共に、第２駆動軸１８ｂによる回転トルクが、第２回転軸１３ｂに効率良く正確に伝達されるようになっている。 The rotation speed detection means 25 is composed of, for example, an encoder, an electromagnetic rotation detector, a photoelectric rotation detector, and the like, and is attached to the second drive shaft 18b that is the output shaft of the transmission 19, so that the second drive shaft 18b The rotation speed (rpm) is measured and detected, and the measured rotation speed (rpm) can be sent to the calculation circuit of the torque calculation detector 23 and input. The second drive shaft 18b and the stator rotation support cylinder 15 of the second rotation shaft 13b are connected via a gear mechanism 17b using a bevel gear, so that the gear ratio of the second drive shaft 18b The rotation speed of the stator rotation support cylinder 15 and the second rotation shaft 13b can be calculated easily and accurately from the rotation speed, and the rotation torque from the second drive shaft 18b is efficiently and accurately transmitted to the second rotation shaft 13b. It has come to be.
そして、本実施形態のトルク検出装置によれば、トルク演算検出器２３において、電圧・電流検出手段２４によって検出された供給電圧及び供給電流と、回転数検出手段２５によって検出された第２駆動軸１８ｂの回転数とに基づいて、基礎トルクと第２駆動軸１８ｂの回転トルク、及び攪拌羽根１２ｂが取り付けられた第２回転軸１３ｂの回転トルクとが、例えば以下のようにして演算されることになる。 According to the torque detection device of the present embodiment, the torque calculation detector 23 supplies the supply voltage and supply current detected by the voltage / current detection means 24 and the second drive shaft detected by the rotation speed detection means 25. Based on the rotational speed of 18b, the basic torque, the rotational torque of the second drive shaft 18b, and the rotational torque of the second rotational shaft 13b to which the stirring blade 12b is attached are calculated as follows, for example. become.
すなわち、まず測定された供給電圧（Ｖ）及び供給電流（Ｉ）から、例えば下記（式１）によって、回転モータ２０の出力動力（Ｐ）が求められる。 That is, first, the output power (P) of the rotary motor 20 is obtained from the measured supply voltage (V) and supply current (I) by, for example, the following (Equation 1).
また、入力軸を介した変速機１９への入力トルクは、回転モータ２０の出力トルクと等しいことから、（式１）によって求められた回転モータ２０の出力動力（Ｐ）に基づいて、例えば下記（式２）によって、変速機１９への入力トルクが、第２駆動軸１８ｂの基礎トルク（τ'）として求められる。 Further, since the input torque to the transmission 19 via the input shaft is equal to the output torque of the rotary motor 20, based on the output power (P) of the rotary motor 20 obtained by (Equation 1), for example, From (Equation 2), the input torque to the transmission 19 is obtained as the basic torque (τ ′) of the second drive shaft 18b.
ここで、（式１）において、√３・Ｖ・Ｉ・cosθは回転モータ２０の入力電力であり、Ｉ2・Ｒは銅損である。また、銅損は、モータ電流Ｉの２乗に比例するので、モータ電流Ｉの変動に伴って大きく変動するが、（式１）より入力電力からＩ2・Ｒが減算されることによって回転モータ２０の出力動力（Ｐ）には含まれない。したがって、基礎トルク（τ'）は、（式１）において銅損Ｉ2・Ｒを減算された出力動力（Ｐ）に基づいて（式２）より求められるので、モータ電流Ｉの変動により大きく変動する銅損に起因する誤差は含まれない。なお、（式１）において、Ｒ（巻線抵抗（Ω））は、三相モータの場合、線間抵抗の３／２倍となる。 Here, in (Expression 1), √3 · V · I · cos θ is the input power of the rotary motor 20, and I 2 · R is the copper loss. Further, since the copper loss is proportional to the square of the motor current I, it largely fluctuates with the fluctuation of the motor current I, but the rotary motor is obtained by subtracting I 2 · R from the input power from (Equation 1). It is not included in the output power (P) of 20. Therefore, the basic torque (τ ′) is obtained from (Equation 2) based on the output power (P) obtained by subtracting the copper loss I 2 · R in (Equation 1). Errors due to copper loss are not included. In (Equation 1), R (winding resistance (Ω)) is 3/2 times the line resistance in the case of a three-phase motor.
一方、トルク演算検出器２３には、第２駆動軸１８ｂの回転数（ｒｐｍ）と補正係数（η）との相関関係が予め演算されて記憶されており、この相関関係に、回転数検出手段２５によって検出された第２駆動軸１８ｂの回転数（ｒｐｍ）をあてはめることにより、当該回転数（ｒｐｍ）に対する補正係数（η）が容易に演算されると共に、求められた補正係数（η）を基礎トルク（τ'）に乗じることによって、例えば下記（式３）から、第２駆動軸１８ｂの回転トルク（τ）がトルク演算検出器２３において精度良く瞬時に演算されることになる。 On the other hand, in the torque calculation detector 23, the correlation between the rotation speed (rpm) of the second drive shaft 18b and the correction coefficient (η) is calculated and stored in advance. By applying the rotational speed (rpm) of the second drive shaft 18b detected by 25, the correction coefficient (η) for the rotational speed (rpm) is easily calculated, and the obtained correction coefficient (η) is used. By multiplying the basic torque (τ ′), for example, from the following (Equation 3), the rotational torque (τ) of the second drive shaft 18b is instantaneously calculated with high accuracy in the torque calculation detector 23.
また、第２駆動軸１８ｂの回転トルク（τ）が精度良く瞬時に演算されることにより、当該第２駆動軸１８ｂと一定のギア比のギア機構１７ｂを介して連結しているステータ回転支持筒１５及び第２回転軸１３ｂの回転トルクもまた、精度良く瞬時に演算されることになる。 Further, the rotational torque (τ) of the second drive shaft 18b is calculated accurately and instantaneously, whereby the stator rotation support cylinder connected to the second drive shaft 18b via the gear mechanism 17b having a constant gear ratio. 15 and the rotational torque of the second rotating shaft 13b are also calculated instantaneously with high accuracy.
そして、本実施形態のトルク検出装置によれば、変速機１９を介して回転モータ２０からの駆動力が伝達される第２回転軸１３ｂの回転トルクを精度良く適切に管理することができると共に、特に回転トルクが過度に負荷された際に装置を停止させるためのトルク検出器やトルクリミッターを備えていない、既存の混合攪拌装置１０に対しても、安価かつコンパクトに取り付けることができる。すなわち、本実施形態によれば、トルク演算検出器２３と、電圧・電流検出手段２４と、回転数検出手段２５とからなる安価かつ簡易な構成によって、変速機１９の出力軸の回転数と、回転モータ２０の入力電力から銅損を減算した回転モータ２０の動力と、変速機１９の効率とに基づいて、第２駆動軸１８ｂや第２回転軸１３ｂの回転トルクを演算して管理する。また変速機１９を挟んだ回転モータ２０側の供給電圧や供給電圧のみならず、第２回転軸１３ｂの回転トルクが直接反映される変速機１９を挟んだ混合ミキサー１１側の第２駆動軸１８ｂの回転数を検出して回転トルクを管理する。これらによって、回転モータ２０のモータ電流が変動して回転モータ２０の銅損が変動した場合でも、又は回転数によって変速機１９の効率が変化する場合でも、当該回転数から変速機効率等を鑑みた補正係数（η）を演算して、供給電圧や供給電圧から演算された基礎トルクを補正することができるので、回転トルクの高精度の検出、管理を行うことが可能になる。 According to the torque detection device of the present embodiment, the rotational torque of the second rotary shaft 13b to which the driving force from the rotary motor 20 is transmitted via the transmission 19 can be managed accurately and appropriately. In particular, the existing mixing and stirring device 10 that does not include a torque detector or a torque limiter for stopping the device when the rotational torque is excessively loaded can be attached inexpensively and compactly. That is, according to the present embodiment, the rotation speed of the output shaft of the transmission 19 is reduced by an inexpensive and simple configuration including the torque calculation detector 23, the voltage / current detection means 24, and the rotation speed detection means 25. Based on the power of the rotary motor 20 obtained by subtracting the copper loss from the input power of the rotary motor 20 and the efficiency of the transmission 19, the rotational torque of the second drive shaft 18b and the second rotary shaft 13b is calculated and managed. Further, not only the supply voltage and supply voltage on the rotary motor 20 side across the transmission 19, but also the second drive shaft 18b on the mixing mixer 11 side across the transmission 19 directly reflecting the rotational torque of the second rotary shaft 13b. The rotational torque is detected and the rotational torque is managed. Accordingly, even when the motor current of the rotary motor 20 changes and the copper loss of the rotary motor 20 changes, or even when the efficiency of the transmission 19 changes depending on the rotational speed, the transmission efficiency and the like are considered from the rotational speed. Since the correction coefficient (η) can be calculated to correct the supply voltage and the basic torque calculated from the supply voltage, it is possible to detect and manage the rotational torque with high accuracy.
また、本実施形態のトルク検出装置は、電気的に接合されたトルク演算検出器２３と、電圧・電流検出手段２４と、回転数検出手段２５とによって簡易に構成することができるので、各々を所定の場所に取り付けることにより、トルク検出装置を備えていない既存の混合攪拌装置１０に対して当該装置を増設する場合でも、大掛かりな移設工事や改造工事を要することなく容易に設置することが可能になる。 In addition, the torque detection device according to the present embodiment can be simply configured by the electrically operated torque calculation detector 23, the voltage / current detection means 24, and the rotation speed detection means 25. By installing in a predetermined place, even when the device is added to the existing mixing and stirring device 10 that does not have a torque detection device, it can be easily installed without requiring a large-scale relocation or modification work. become.
なお、本発明は、上記実施形態に限定されることなく種々の変更が可能である。例えば補正係数は、製品カタログや説明書に記載された変速機に関する性能表示から得られるものである必要は必ずしもなく、また管理すべき回転軸は、３軸式混合攪拌装置に設けられた回転軸や、その他の攪拌装置に設けられた回転羽根を有する回転軸に限定されることなく、攪拌装置以外の種々の装置に用いられる回転軸の回転トルクを管理するために用いることもできる。 Note that the present invention is not limited to the above embodiment, and various modifications can be made. For example, the correction coefficient does not necessarily have to be obtained from the performance display related to the transmission described in the product catalog or the manual, and the rotation shaft to be managed is the rotation shaft provided in the three-axis mixing and stirring device. In addition, the present invention is not limited to a rotating shaft having a rotating blade provided in another stirring device, and can be used for managing the rotational torque of the rotating shaft used in various devices other than the stirring device.
１０ ３軸式混合攪拌装置
１１ 混合ミキサー（装置本体）
１２ａ，１２ｂ，１２ｃ 攪拌羽根
１３ａ 第１回転軸
１３ｂ 第２回転軸
１３ｃ 第３回転軸
１４ ホモシャフト
１５ ステータ回転支持筒
１６ パドル回転支持筒
１７ｂ，１７ｃ ギア機構
１８ｂ 第２駆動軸
１８ｃ 第３駆動軸
１９ 変速機
２０，２２ 回転モータ
２３ トルク演算検出器
２４ 電圧・電流検出手段
２５ 回転数検出手段
10 Triaxial mixing and stirring device 11 Mixing mixer (device main body)
12a, 12b, 12c Agitating blade 13a First rotating shaft 13b Second rotating shaft 13c Third rotating shaft 14 Homo shaft 15 Stator rotating support cylinder 16 Paddle rotating support cylinder 17b, 17c Gear mechanism 18b Second drive shaft 18c Third drive shaft 19 Transmission 20, 22 Rotation motor 23 Torque calculation detector 24 Voltage / current detection means 25 Rotation speed detection means
Claims (4)
トルク演算検出器と、前記変速機を挟んだ前記駆動用電動機側に設けられ、駆動時における前記駆動用電動機への供給電圧及び供給電流を検出して検出結果を前記トルク演算検出器に送る電圧・電流検出手段と、前記変速機を挟んだ前記装置本体側に設けられ、前記変速機の出力軸の回転数を検出して検出結果を前記トルク演算検出器に送る回転数検出手段とを備えており、
前記トルク演算検出器は、前記電圧・電流検出手段から送られる前記供給電圧及び供給電流に基づいて演算された前記駆動用電動機の入力電力から、予めトルク演算検出器に記憶された前記起動用電動機の巻線抵抗と前記供給電流とから演算された銅損を減算して出力動力を求め、求めた出力動力に基づいて前記回転軸の基礎トルクを演算し、前記回転数検出手段から送られる前記回転数に基づいて前記変速機の効率を鑑みた補正係数を演算し、演算された前記基礎トルクと前記補正係数から前記回転軸の回転トルクを検出するトルク検出装置。 In a rotational drive device that rotationally drives a rotary shaft provided in the apparatus body by transmitting a driving force from a driving motor via a transmission, a torque detection device for detecting rotational torque of the rotary shaft. There,
A torque calculation detector and a voltage that is provided on the drive motor side across the transmission, detects a supply voltage and a supply current to the drive motor during driving, and sends a detection result to the torque calculation detector A current detection means and a rotation speed detection means provided on the apparatus main body side across the transmission and detecting the rotation speed of the output shaft of the transmission and sending the detection result to the torque calculation detector. And
The torque calculation detector includes the starter motor stored in advance in the torque calculation detector based on the input power of the drive motor calculated based on the supply voltage and supply current sent from the voltage / current detection means. Subtracting the copper loss calculated from the winding resistance and the supply current to obtain the output power, calculate the basic torque of the rotating shaft based on the obtained output power, and sent from the rotational speed detection means A torque detection device that calculates a correction coefficient in consideration of the efficiency of the transmission based on the number of rotations, and detects the rotation torque of the rotary shaft from the calculated basic torque and the correction coefficient.
The torque detection device according to claim 1, wherein the device main body is a stirring device that performs stirring by a rotary blade attached to the rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004367476A JP4317932B2 (en) | 2004-12-20 | 2004-12-20 | Torque detection device |
Applications Claiming Priority (1)
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| JP2004367476A JP4317932B2 (en) | 2004-12-20 | 2004-12-20 | Torque detection device |
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