JP6235927B2 - Angular acceleration detector - Google Patents

Description

  The present invention relates to a technique for detecting angular acceleration.

  The angular acceleration of the measurement object can be detected by connecting a torsion bar to the measurement object and detecting a change in the torsion angle of the torsion bar accompanying a change in the angular acceleration of the measurement object.

  Here, as a technique for detecting a change in the torsion angle of the torsion bar, there is known a torque sensor that detects a relative rotation phase difference between two rotating bodies fixed to both ends of the torsion bar as a torsion angle of the torsion bar. (For example, Patent Documents 1 and 2).

FIG. 4 shows the configuration of this torque sensor.
Here, in FIG. 4, FIG. 4 a schematically illustrates a front surface of the torque sensor, and FIG. 4 b schematically illustrates a cross section of the torque sensor.
As shown in the figure, this torque sensor applies a torque to be measured as a force in a twisting direction between an input side (left side in FIGS. 4a and 4b) end and an output side (right side in FIGS. 4a and b). A torsion bar 410, an inner cylinder 421 fixed to the output side of the torsion bar 410, an outer cylinder 422 fixed to the input side of the torsion bar 410, a first drive coil 431, a second drive coil 432, A first detection coil 441, a second detection coil 442, and a measurement circuit 450 are included.

Here, the inner cylinder 421 and the outer cylinder 422 are formed using a nonmagnetic conductor.
Further, as shown in FIG. 4c and FIG. 4d, respectively, the outer cylinder 422 and the inner cylinder 421 have a plurality of slits 461, 462, 463, and 464 on their peripheral surfaces. As shown in FIG. 4E, the inner cylinder 421 is arranged in a form inserted coaxially inside the outer cylinder 422.

The first drive coil 431, the first detection coil 441, the second drive coil 432, and the second detection coil 442 are provided to face each other so that the inner cylinder 421 and the outer cylinder 422 are positioned therebetween. . The first drive coil 431 and the second drive coil 432 are AC driven by the measurement circuit 450 to generate magnetic flux. The first detection coil 441 detects the magnetic flux generated by the first drive coil 431 and passed through the inner cylinder 421 and the outer cylinder 422, and the second detection coil 442 generates the second drive coil 432, The measuring circuit 450 detects the magnetic flux that has passed through the cylinder 421 and the outer cylinder 422. The measurement circuit 450 detects the first detection coil 441 and the second detection coil in accordance with the change in the positional relationship of the slits generated following the torsion of the torsion bar 410. From the phase change of the signal detected at 442, the rotational phase difference between the inner cylinder 421 and the outer cylinder 422 is detected. Here, the rotational phase difference between the inner cylinder 421 and the outer cylinder 422 represents the torsion angle of the torsion bar 410, and this torque sensor calculates the torque applied to the torsion bar 410 from the torsion angle of the torsion bar 410. is there.

JP 2010-091506 A JP 2010-085155 A

  According to the above-described technology for detecting the angular acceleration of the rotating shaft from the torsion angle of the torsion bar, the torsion bar requires a capacity greater than the transmission torque, and therefore follows minute fluctuations in angular velocity and fluctuations in high frequency. It is difficult to configure the torsion bar so as to generate the twist angle well. For this reason, according to this technology, it is difficult to accurately detect minute fluctuations of high frequency of angular acceleration.

  Accordingly, an object of the present invention is to provide an angular acceleration detector that can accurately detect angular acceleration that causes minute fluctuations in angular velocity and fluctuations in high frequency.

  In order to achieve the above object, the present invention provides an angular acceleration detector that detects angular acceleration of a measured object, a main body, a shaft that is pivotally supported by the main body, and the measured object is connected to one end; A first rotating body fixed to the shaft body, a second rotating body provided coaxially with the shaft body and rotatable independently of the shaft body, and between the first rotating body and the second rotating body An angular acceleration detecting means for detecting an angular acceleration of the object to be measured according to the detected rotational phase difference, a first magnet group fixed to the first rotating body, and the first Provided is an angular acceleration detector comprising a second magnet group that forms a magnetic coupling between the first rotating body and the second rotating body together with the first magnet group fixed to the two rotating body. To do.

Here, in such an angular acceleration detector, one set of the set of the first magnet group and the second rotating body, and the set of the second magnet group and the first rotating body. Alternatively, both sets may form a magnetic damper between the first rotating body and the second rotating body.
In the angular acceleration detector described above, the second rotating body may be pivotally supported on the shaft body so as to be rotatable coaxially with the shaft body.
In the angular acceleration detector described above, the relative rotational movement between the first rotating body and the second rotating body is determined based on the rotational position between the first rotating body and the second rotating body. Limiting means for limiting the phase difference from exceeding a predetermined value may be provided.

  According to the angular acceleration detector as described above, due to the magnetic coupling, the second rotating body rotates following the first rotating body, but the second rotating body functions as a mass of Seismo system. The second rotating body does not follow the fluctuation of the high-frequency angular velocity of the first rotating body. Therefore, when high-frequency angular velocity fluctuations occur in the first shaft body, there is a rotational phase difference corresponding to the angular acceleration of the first shaft body between the first rotating body and the second rotating body. The angular acceleration of the first shaft body can be measured by detecting this rotational phase difference.

  Therefore, by connecting the object to be measured to the first shaft body, it is possible to accurately detect the angular acceleration of the object to be measured that causes a change in angular velocity at a high frequency in the shaft body. In addition, since magnetic coupling is used instead of the torsion bar, the angular acceleration of the measured object that causes minute fluctuations in the angular velocity can be measured without any trouble.

  As described above, according to the present invention, it is possible to provide an angular acceleration detector that can accurately detect angular acceleration that causes minute fluctuations in angular velocity and fluctuations in high frequency.

It is a section lineblock diagram of an angular acceleration detector concerning an embodiment of the present invention. It is a perspective half sectional view of the outer cylinder and the inner cylinder of the angular acceleration detector according to the embodiment of the present invention. It is a figure which shows the arrangement | positioning relationship of the outer cylinder and inner cylinder of the angular acceleration detector which concerns on embodiment of this invention. It is a figure which shows a well-known torque sensor.

Hereinafter, embodiments of the angular acceleration detector of the present invention will be described.
FIG. 1 shows a cross-sectional configuration of the angular acceleration detector according to the present embodiment.
As shown in the figure, the angular acceleration detector includes a case 1, a shaft body 2 having a substantially cylindrical shape arranged so as to penetrate the case 1 from side to side, an outer cylinder 3 formed of a nonmagnetic conductor, and nonmagnetic. An inner cylinder 4 formed of a conductor is provided.

  Here, the shaft body 2 is pivotally supported on the case 1 by left and right shaft body ball bearings 5 so as to be rotatable around a rotation axis AA in the figure, and the right end of the shaft body 2 is the input end. Become. The outer cylinder 3 is pivotally supported on the shaft body 2 by an outer cylinder ball bearing 6 so as to be rotatable around the rotation axis AA at the left end. The inner cylinder 4 is fixed to the shaft body 2 at the right end with the arrangement in which the outer cylinder 3 is inserted.

The member 7 fixed to the shaft body 2 is a member for fixing the inner ring of the shaft body ball bearing 5 in the left-right direction.
Next, the angular acceleration detector includes two drive coils 11 and two detection coils 12 supported by a support cylinder 10 fixed to the case 1. Here, the drive coil 11 and the detection coil 12 are coils wound around the rotation axis AA.

Further, the angular acceleration detector includes a measurement unit (not shown), and the measurement unit is electrically connected to the drive coil 11 and the detection coil 12.
Next, FIG. 2 a shows a perspective half sectional view of the outer cylinder 3.
As shown in the figure, the outer cylinder 3 has a cylindrical shape with no right bottom surface, and a central hole provided on the left bottom surface is fixed to the outer ring of the outer cylinder ball bearing 6. Is fixed to the shaft body 2 so that the outer cylinder 3 is rotatably supported by the shaft body 2.

A plurality of slits 31 are provided on the side surface of the outer cylinder 3 along the circumferential direction.
Four driven magnets 32 are fixed to the bottom surface on the left side of the outer cylinder 3 at equal angular intervals along the circumferential direction.
Further, four stopper holes 33 are provided on the left bottom surface of the outer cylinder 3 at equal angular intervals along the circumferential direction.
Next, FIG. 2 b shows a perspective half sectional view of the inner cylinder 4.
As shown in the drawing, the inner cylinder 4 has an inner cylinder part 42 which is a hollow cylindrical part without both bottom surfaces in a central hole on the left side of the outer cylinder part 41 which is a hollow cylindrical part without a right bottom surface. Is inserted so that it protrudes somewhat to the left, and the outer cylinder part 41 and the inner cylinder part 42 are connected.

The right end of the inner cylinder portion 42 of the inner cylinder 4 is fixed to the shaft body 2.
A plurality of slits 31 are provided on the side surface of the inner cylinder 4 along the circumferential direction.
A disk-shaped magnet base 45 is fixed to a portion 43 of the inner cylinder 42 that protrudes to the left from the outer cylinder 41, and the magnet base 45 is equiangularly spaced along the circumferential direction. The four main driving magnets 46 are fixed.

Further, the inner cylinder 4 is provided with four stoppers 47 that are erected in the left direction from the left bottom surface along the circumferential direction at equal angular intervals.
Next, FIG. 2c shows the positional relationship between the outer cylinder 3 and the inner cylinder 4 in the angular acceleration detector.
FIG. 3 a shows the arrangement relationship between the outer cylinder 3 and the inner cylinder 4 as viewed from the left.
3b is a cross-sectional view of the angular acceleration detector in which the outer cylinder 3 and the inner cylinder 4 are rotated 45 degrees around the rotation axis AA from the state of the sectional configuration diagram of the angular acceleration detector in FIG. A block diagram is shown.
As shown in the drawing, the outer cylinder 3 and the inner cylinder 4 are arranged such that the four stoppers 47 of the inner cylinder 4 are inserted into the four stopper holes 33 of the outer cylinder 3. The magnitude of the rotational phase difference is limited to the range in which the stopper 47 moves within the stopper hole 33.

  Further, the four driven magnets 32 of the outer cylinder 3 and the four main driving magnets 46 of the inner cylinder 4 correspond one-to-one, and this is possible when the stopper 47 is at the center position in the stopper hole 33. The driven magnets 32 and the main driving magnets 46 are arranged so that the driven magnets 32 and the main driving magnets 46 face each other. In addition, the polarities of the opposing surfaces of the driven magnet 32 and the main driving magnet 46, that is, the right side surface of each driven magnet 32 and the left side surface of the main driving magnet 46 are the same as those of the corresponding driven magnet 32 and main driving magnet. The magnets 46 are different so as to attract each other. For example, when the right surface of each driven magnet 32 is an S pole, the left surface of each main drive magnet 46 is an N pole.

  Here, in such an arrangement of the outer cylinder 3 and the inner cylinder 4, the driven magnet 32 and the main driving magnet 46 constitute a magnetic coupling that attracts each other. The driven magnet 32 and the magnet base 45, or the main driving magnet 46 and the outer cylinder 3, or the driven magnet 32, the magnet base and the main driving magnet 46, and the outer cylinder 3 constitute a magnetic damper. A magnetic damper is a damper that utilizes the fact that when a magnet is moved relative to a conductor, an induced current is generated in the conductor, and a force acts in the direction opposite to the direction of motion due to the induced current. In the detector, the main driving magnet 46 and the driven magnet 32 correspond to magnets, and the outer cylinder 3 and the magnet base 45 correspond to conductors.

  Now, referring back to FIG. 1, the two drive coils 11 are arranged in a form wound around the outer axis of the outer cylinder 3 having the shape as shown in FIG. Further, the two detection coils 12 are provided between the outer cylinder portion 41 of the inner cylinder 4 and the inner cylinder portion 42 of the inner cylinder 4 having the shape as shown in FIG. 41 is disposed in a form wound around the rotation axis AA as a central axis so as to face the drive coil 11 with the 41 in between.

  Therefore, according to such an angular acceleration detector, similarly to the torque sensor shown in FIG. 4, the outer coil 3 and the inner cylinder 4 are detected by the detection coil 12 by driving the drive coil 11 with alternating current to generate magnetic flux. The magnetic flux that has passed through the outer cylinder portion 41 can be detected. The rotational phase difference between the inner cylinder 4 and the outer cylinder 3 can be detected on the basis of the phase change of the signal detected by the detection coil 12 that occurs according to the change in the positional relationship between the slit 31 and the slit 44. .

Next, the operation of angular acceleration detection by the angular acceleration detector as described above will be described.
First, in the present embodiment, the rotational inertia mass of the outer cylinder 3 and the characteristics of the magnetic coupling and the magnetic damper are not affected by the fluctuation of the angular velocity of the inner cylinder 4 above a predetermined frequency. It is set as follows.

  That is, in the present embodiment, the outer cylinder 3 functions as a seismo system mass in the rotating system, the magnetic coupling functions as an seismo system elastic element in the rotating system, and the magnetic damper serves as a seismo system damping element in the rotating system. Function. The outer cylinder 3 which is the mass of Seismo system in the rotating system is not affected by resonance with respect to fluctuations in angular velocity of a frequency sufficiently higher than the resonance point of Seismo system.

  The magnetic damper formed by the driven magnet 32 and the main driving magnet 46 may not be formed. Even in this way, the seismo system is established, and the outer cylinder 3 functions as the mass of the seismo system in the rotating system.

Now, the angular acceleration detection by the angular acceleration detector is performed by connecting a measurement object such as a rotating shaft of a motor to an input body which is the right end of the shaft body 2 and rotating the measurement object.
Here, when the measured object rotates, the shaft body 2 and the inner cylinder 4 fixed to the shaft body 2 rotate, and the outer side is magnetically coupled by the inner cylinder 4, the driven magnet 32, and the main driving magnet 46. The cylinder 3 also rotates.

  When the measured object is rotating at a constant speed, the inner cylinder 4 and the outer cylinder 3 rotate in the same phase, and the rotational phase difference between the inner cylinder 4 and the outer cylinder 3 is detected from the signal detected by the detection coil 12. Not.

  On the other hand, when a change in the high-frequency angular velocity occurs in the measured object, the angular velocity of the shaft body 2 connected to the measured object and the inner cylinder 4 fixed to the shaft body 2 also varies. On the other hand, the outer cylinder 3 is not affected by fluctuations in angular velocity at a frequency higher than a predetermined frequency as described above.

  Therefore, when a change in angular velocity higher than a predetermined frequency occurs in the measured object, a rotational phase difference corresponding to the angular acceleration is generated between the inner cylinder 4 and the outer cylinder 3, and from this rotational phase difference. The angular acceleration generated in the measured object can be calculated.

  Therefore, at the time of angular acceleration detection, the measurement unit acquires a signal detected by the detection coil 12 while AC driving the drive coil 11, and the inner cylinder 4 and the outer cylinder 3 indicated by the phase change of the acquired signal. And the angular acceleration generated in the object to be measured.

  Here, since the upper limit of the rotational phase difference between the inner cylinder 4 and the outer cylinder 3 is limited by the stopper 47 and the stopper hole 33 described above, the rotational phase difference between the inner cylinder 4 and the outer cylinder 3 becomes large, and the follower is used. The one-to-one correspondence between the magnet 32 and the main driving magnet 46 is broken, that is, the driven magnet 32 moves away from the position of the corresponding main driving magnet 46 as the rotational phase difference between the inner cylinder 4 and the outer cylinder 3 increases. Coupling with the main driving magnet 46 adjacent to the main driving magnet 46 is suppressed.

  The embodiment of the present invention has been described above.

  DESCRIPTION OF SYMBOLS 1 ... Case, 2 ... Shaft body, 3 ... Outer cylinder, 4 ... Inner cylinder, 5 ... Shaft body ball bearing, 6 ... Outer cylinder ball bearing, 10 ... Support cylinder, 11 ... Drive coil, 12 ... Detection coil, 31 ... Slit, 32 ... driven magnet, 33 ... stopper hole, 41 ... outer cylinder portion, 42 ... inner cylinder portion, 45 ... magnet base, 46 ... main drive magnet, 47 ... stopper.

Claims (4)

An angular acceleration detector for detecting the angular acceleration of a measured object,
The body,
A shaft body that is pivotally supported by the main body and to which an object to be measured is connected to one end;
A first rotating body fixed to the shaft body;
A second rotating body provided coaxially with the shaft body and rotatable independently of the shaft body;
Angular acceleration detecting means for detecting a rotational phase difference between the first rotating body and the second rotating body, and calculating an angular acceleration of the measured object according to the detected rotational phase difference;
A first magnet group fixed to the first rotating body;
An angle having a second magnet group that forms a magnetic coupling between the first rotating body and the second rotating body together with the first magnet group, which is fixed to the second rotating body. Accelerometer. The angular acceleration detector according to claim 1,
One set of the set of the first magnet group and the second rotating body, the set of the second magnet group and the first rotating body, or both sets are set in the first rotation. An angular acceleration detector, wherein a magnetic damper is formed between the body and the second rotating body. The angular acceleration detector according to claim 1 or 2,
The angular acceleration detector, wherein the second rotating body is pivotally supported on the shaft body so as to be rotatable coaxially with the shaft body. The angular acceleration detector according to claim 1, 2, or 3,
The relative rotational movement between the first rotating body and the second rotating body is limited so that the rotational phase difference between the first rotating body and the second rotating body does not exceed a predetermined value. An angular acceleration detector comprising a limiting means.