JPH0493628A - Torque measurement device - Google Patents

Abstract

PURPOSE:To enable torque to be detected in a non-contact condition with the simple construction of a detecting device by providing a rotary shaft at one side with a thrust detection section comprising a joint body of a thrust detection section and a structure equivalent to a vertical deflection structure. CONSTITUTION:Torque acts between shaft sections 1a and 1b in an arrow H-direction. A deflection conversion structure A is twisted in the same direction, according to the torque. Concurrently with twisting, the structure A is displaced in a contracting direction by a distance corresponding to the torque. As a result, a rigid section 2b, a torque transmission section B and another rigid section 2c are pulled in an upward direction. This pulling force is transmitted to a vertical deflection structure C and as a result, this structure C elongates, due to the deflection beam C3 thereof. The torque transmission section B is displaced in an upward direction, according to acting torque and a distance between the surface b1 thereof and a detector 3 increases, according to the extent of the displacement. The detector 3 senses the displacement and outputs and electrical signal corresponding thereto.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a torque detection device for detecting torque acting on a rotating shaft used in various fields.

[Background Art] In today's industrial society, there are an extremely large number of machines and devices that use rotating shafts. In these machines and devices, means are often used to detect torque acting on a rotating shaft and use the detected torque to control the machine or device or prevent accidents. For example, in a vehicle, a means is adopted to efficiently control the operation of the vehicle using the detected value of the torque acting on the axle, and for example, in a machine tool, the torque acting on the rotating shaft is controlled. Measures are adopted to detect and prevent damage to tools and workpieces.

Conventionally, as a device for detecting the torsion acting on the rotating shaft in this way, (a) a strain gauge is attached to the rotating shaft and the change in resistance value due to the torsion is extracted to the outside by a pickpocket ring (b) Means for outputting the change in resistance value in the above (a) to the outside by radio waves (C) Two disks are fixed at different positions in the axial direction of the rotating shaft, one radial cotton is drawn on these disks, and both Means for extracting the phase difference between lines using a proximity switch, an optical fiber, etc. has been proposed.

[Problems to be Solved by the Invention] However, each of the means listed in (a) to (c) above has the following disadvantages.

That is, in the method (a), since a contact portion such as a pickpocket ring is involved in extracting the signal, it is impossible to avoid a decrease in accuracy due to failure occurrence or noise contamination.

Although the method (b) is an excellent method, it is too expensive to be practical.

The means (c) cannot be used when the rotational speed is low.

As described above, none of the above means is satisfactory as a torque detection means.

The purpose of the present invention is to solve the problems in the above-mentioned prior art,
It is an object of the present invention to provide a torque detection device that has an extremely simple structure and can detect torque without contact.

[Means to solve the problem]

In order to achieve the above object, the present invention provides a torque detection device that detects torque acting on a rotating shaft. a displacement transmitting section connected to the deflection converting structure and producing a displacement equal to the displacement thereof; a vertical deflecting structure coupled to the displacement transmitting section producing deflection only in the axial direction of the rotating shaft; The displacement transmitting section 4 is fixed to the system, and the displacement transmitting section 4 is located in the space (1), and the detecting section facing each other is configured.

Furthermore, in the present invention, when torque acts on the rotating shaft, the rotational displacement of the rotating shaft in the circumferential direction is not restricted, but the rotational displacement of the rotating shaft is opposite to that of the displacement transmitting portion of the deflection displacement structure. The present invention is characterized in that a support member is provided to restrict the distance between the fixed end on the side and the fixed end on the side opposite to the displacement transmitting portion of the vertical deflection structure.

Furthermore, the present invention provides the above torque detection device,
The invention is characterized in that a thrust detection section comprising a connecting body having a structure equivalent to the displacement transmission section and the vertical deflection structure is interposed on the rotation shaft on one of the two sides.

[Effect]

When torque acts on the rotating shaft, the deflection converting structure causes deflection in the circumferential direction of the rotating shaft, and at the same time, is displaced in the axial direction due to this deflection. This displacement stripe is transmitted to the displacement transmitting section and absorbed by the vertical deflection structure. The displacement of the displacement transmission part is detected by a detection part fixed to the stationary system.
Detected without contact.

In this case, the rotating shaft is supported by the support member without any problem in transmitting torque to the torque detection device.

Further, by providing a thrust detection section together with a torque detection device, thrust pressure can be detected at the same time as torque.

〔Example〕

Hereinafter, the present invention will be explained based on illustrated embodiments.

FIG. 1 is a side view of a torque detection device according to an embodiment of the present invention. In the figure, 1 is a rotating shaft, and 2 is a torque detection device attached to the rotating shaft 1. 1a and 1b are torque detection devices 2
Each shaft section of the shaft 1 on both sides of the shaft 1 is shown. 2a, 2b, 2C
12d is a rigid body portion of the torque detection device 2. Rigid body part 2a
, 2d are coupled to the shaft portions 1a and 1b, respectively. A
, B, and C are a deflection conversion structure, a torque transmission section, and a vertical deflection structure, which constitute the torque detection device 2, respectively.
is interposed between the rigid body parts 2b and 20, and the vertical deflection structure C is interposed between the rigid body part 2C12d. Details of these will be described later. D is a support that supports the shaft 1, and includes a cylinder (or frame) d7, a protrusion d2, and a hair ring d.
Consists of 3.

Reference numeral 3 denotes a detection section fixed to the protrusion d2, and is fixed at a position opposite to the face of the torque transmission section B.

Figures 2 (a) and (b) are the deflection conversion structure A shown in Figure 1.
FIG. 2 is a developed view of the same structure and a developed view of another deflection conversion structure A1. In each figure, a1sa+1 is a flexible beam connected between the rigid body parts 2a and 2b. pI represents the connection point between the flexible beam a, %all and the rigid body part 2a, and p2 represents the connection point between the rigid body part 2b. The connection points p1, p2 are arranged at a predetermined distance #1, #1, . The height is off. As a result, when a torque is applied between the rigid body parts 2a and 2b, both of them are twisted in the circumferential direction of the shaft 1 according to the torque, and at the same time, due to this twisting, a displacement corresponding to the torsion is caused in the axial direction of the shaft 1. occurs. In the end, this displacement corresponds to the torque.

3(a) is a perspective view of the vertical bending structure C shown in FIG. 1, and FIG. 3(b) is a sectional view taken along line mb-mb shown in FIG. 3(a). In each figure, CC2 ha l'l body part 2 c
, 2d and a rigid ring connected to c, J! Rinse one body C
+, ring-shaped flexible beam located between C2, C4, c
Reference numeral 5 denotes a rigid column that connects the rigid parts c, , c, and the flexible beam c3. As shown in FIG. 3(b), the rigid columns c, , and Cs are arranged with their positions shifted in the circumferential direction.

FIGS. 3(c) and 3(d) are a sectional view and a side view showing two modified examples of the vertical deflection structure C. In the vertical deflection structure shown in FIG. 3(c), the number of rigid columns c4C3 is doubled. Vertical deflection structure c1 shown in Figure 3(d)
is the rigid column Cl01 deflecting beam c connected to the rigid body part 2c.
3 degrees, a rigid column C4 degree that connects the rigid column C3 degree and the flexible beam c3 degree, and a rigid support part C5G that connects the flexible beam c3 degree and the rigid body part 2d.

The above-mentioned vertical deflection structures C, C do not change in any way even when torque is applied, but when a force in one direction of the axis is applied, the deflection beams C3, C3° deform and the vertical deflection structures C, C
, expands and contracts in accordance with the force.

FIGS. 4(a) and 4(b) are perspective views of other supports, D, which are different from the support shown in FIG.

In FIG. 4(a), dlo and dll are respectively the shaft portion 1a,
The rigid ring connected to lb, d, and each rigid ring d
, is a radial deflection beam connected between the DLLs.

The radial deflection beam d1° is formed along a direction extending radially from the central axis (coinciding with the center of the axis l) of the rigid rings dlo and dll. These radial deflection beams d, □ are d in the axial direction
l. , dll. In the figure, four radial deflection beams d12 are provided, but the number can be arbitrarily selected.

The shaft 1 is supported by rigid rings d1° and dll.

and a rigid ring d,. , 68, circumferential deflection occurs in the radial deflection beam d12,
The distance between the body rings dlosd11 does not change. That is, this support has the same function as the support shown in FIG.

On the other hand, in Fig. 4(b), d2° is the inner rigid body, and d! 1 is an outer rigid body, which is connected to the axes 1a and 1b, respectively. d3° is a radial flexible beam connected between the inner rigid body d2° and the outer rigid body d21, and extends radially from the center. It is clear that the function of this support D20 is the same as that of the support D1 shown in FIG. 4(a).

Above, the structures of the deflection conversion structure A, the vertical deflection structure B, and the support body and other structures having the same functions as these have been described.

Further, the torque transmission section B is composed of a rigid disk or ring. These deflection conversion structure A, torque transmission section B, vertical deflection structure C1, and support structure all have rigid bodies at their connecting ends, so each structure is independent from the other, so they can be combined into blocks. It can be illustrated.

Figure 5 (a), (b), Figure 6 (a), (b), (c)
It is a block diagram showing the configuration of a deflection conversion structure A, a torque transmission section B, a vertical deflection structure C1, and a support body. FIG. 5(a) shows a configuration in which the torque detection device 2 is interposed on the shaft 1, that is, the same configuration as shown in FIG. 1, and FIG. 5(b) shows the same configuration as shown in FIG. 5(a). FIG. 3 is a diagram showing a configuration in which the torque detection device 2 is arranged outside the support body instead of the configuration shown in FIG. The support body and shafts 1a and 1b are shown in Fig. 5 (
Like the one shown in a), they are connected via bearings. Moreover, FIGS. 6(a), (b), and (C) are configuration diagrams when the support D1 shown in FIG. 4(a) is used as a support, and FIG. The configuration is such that the torque detection device 2 is interposed on the shaft 1, and the configuration shown in FIG. 6(b) is a diagram showing a configuration in which the torque detection device 2 is disposed outside the shaft 1. The configuration when using the support D2 shown in FIG. 4(b) is also similar to these. Figure 4(c) is similar to Figure 6(b).
) is a configuration without the radial bending beam d12, that is, a configuration in which the rigid rings d and d'11 are directly connected. This configuration is used when the torque acting on the shaft 1 is large. When the torque is large, the portion d1□ where the radial deflection beam d1□ is removed.

is sufficiently twisted, so the amount of twist is detected by the deflection conversion structure A, the torque transmission section B, and the vertical deflection structure C. The operation is the same for both configurations, so below:
The operation of this embodiment will be explained with reference to the configuration shown in FIG. 1 (FIG. 5(a)).

Suppose now that a torque in the direction of arrow H shown in FIG. 1 is applied between the shaft portion 1a and the shaft portion 1b. Due to this torque, the deflection conversion structure A is twisted in the same direction according to the torque,
Simultaneously with this twisting, the deflection conversion structure A is displaced in the direction of contraction in accordance with the torque. As a result, the rigid body part 2b,
The torque transmitting part B and the rigid body part 2c are pulled upward in the figure.

The force due to this tension is transmitted to the vertical flexure structure C,
As a result, the vertical deflection structure C is elongated due to the deflection of its deflection beam C8.

Due to the above action, the torque transmission section B is displaced upward in accordance with the applied torque, and the distance between the face and the detector 3 increases by the amount of the displacement. The detector 3 detects this displacement and outputs an electric signal corresponding to this displacement.

Note that the detector 3 includes an eddy current detector, a detector using light reflection, a detector using magnetic change, a detector that blows out air and uses its pressure change, and a detection that uses change in capacitance. Various types of transformers, differential transformers, etc. can be used.

In this way, in this embodiment, the torque detection device is configured by sequentially combining the deflection conversion structure, the torque transmission section, and the vertical deflection structure, so that torque can be detected without contact and with a simple structure. .

Next, a specific example in which this embodiment is applied to an actual device will be described.

FIG. 7 is a partially cutaway sectional view of a torque detection device for a rotary tool according to a specific example of the above embodiment. In the figure, 11 is a holder main body rotated by a drive source (not shown), and 12 is a cylindrical body fixed to a proper position of the holder main body 11 by welding or the like. Radial bending portions (details will be described later) are provided at both ends of the cylindrical body 12.>D
z is formed. Reference numeral 13 designates a shaft welded and fixed to a predetermined location of the cylindrical body 12, and reference numeral 13a designates a tool attachment portion at the tip of the shaft 13. A tool such as a drill is attached to the tool attachment m 13 a using a chuck or the like. 14 indicates a welded portion.

C is a cylindrical vertical bending structure whose one end is supported by the holder body 11 (details will be described later), B is a vertical bending structure C
b is a ring-shaped torque transmitting portion fixed to the other end of the torque transmitting portion B, A2 is a conversion deflection structure fixed to the end of the radial deflection portion D2 via a retaining ring 15a; (Details will be described later), 15b is the conversion deflection structure A
This is a holding ring that fixes the upper ring No. 2 (details will be described later) to the torque transmission section B. 16 is a cover fixed to the tip of the holder main body 11. 17 is a rubber seal.

Reference numeral 3 denotes a detection section fixed to a stationary system (not shown) outside the holder main body 11 and disposed opposite the end surface b1 with a predetermined space therebetween.

Note that, in order to avoid complicating the illustration, the vertical deflection structure C and the conversion deflection structure A2 are not shown in accurate cross sections, but only their structural positional relationships are shown.

FIG. 8 is a perspective view of the radial deflection portion D2 shown in FIG. 7. This radial flexure D2 has the same structure as the support shown in FIG. That is, d2°, d2dt□ in Fig. 7
are the rigid ring d1°, the rigid ring d, and the radial flexure beam d12 shown in FIG. 4, respectively. d23 is a central through hole, and d2 and dZS are horizontal and vertical notches communicating with the through hole d23, respectively. Through hole d21, notch d24
, (izs allows the radial deflection beam d2□ to be easily formed.

FIGS. 9(a) and 9(b) are a perspective view and a manufacturing process plan view of the conversion deflection structure A2 shown in FIG. 7, respectively. 9th
In figure (b), a and work are, for example, discs made of steel plates, and a2
2 is a slit of the shape shown formed in the disk all, aZ
3 is a circular opening formed in the center, aza and ass
The mounting holes are formed at the locations shown. ao, az?
are an upper ring and a lower ring, respectively, and aze is a flexible beam, and it becomes clear from the completed view of the converted flexible structure A2 shown in FIG. 9(a) that these become rings and flexible beams, respectively.

Now, if the lower ring aZ'l is held down and the upper ring a26 is pulled forward in the direction perpendicular to the page, the upper ring a26 will move toward the front in the page due to the presence of the slit azz.

At this time, the upper ring a26 and the lower ring a27 are connected by the flexible beam a2B. This state is shown in Figure 9 (
a), which constitutes a conversion deflection structure A2. The conversion flexure structure A2 is connected to the rigid ring d2° of the radial flexure portion D2 through a hole aza, and to the torque transmission portion through a hole a25.

Here, in FIG. 9 (a>), if the lower ring a27
When the upper ring a26 is rotated in the direction of the arrow shown in FIG. 9(a), the upper ring a26 rotates and the lower ring 2
is displaced in the direction of 'l (vertically downward). When turned in the direction opposite to the above arrow, the upper ring a26 is displaced vertically upward while rotating. That is, this deflection conversion structure A2
Deflection conversion structures A and A I shown in figures (a) and (b)
It is clear that the structure is equivalent to or equivalent to .

Next, the operation of the specific example shown in FIG. 7 will be explained.

When installing a tool, a drill is attached to the part 13a via a chuck, and the holder body 11 is rotated to machine the workpiece. The power is transmitted to the drill via the d2 shaft 13, and the drill rotates. When the drill is in contact with the workpiece and in the machining state, the radial flexure D2 has a one-piece ring d2'. Torque generated by the above processing acts between the rigid ring d2+ and the rigid ring d2+, and both continue to rotate while maintaining a rotational displacement in the circumferential direction proportional to this torque.

When the rotational displacement in the circumferential direction occurs, this displacement is transmitted between the upper ring a26 and the lower ring a27 of the conversion deflection structure A2, and a similar circumferential displacement occurs between them. As a result, upper ring aZ6 becomes lower ring a2? , resulting in a vertical displacement approaching towards , which is transmitted to the torque transmitting part B, causing it to be displaced downwards in the figure. At this time, the vertical deflection structure C is displaced downward while the vertical deflection beam C3 is deflected together with the displacement of the torque transmission part B. Due to the existence of this vertical deflection structure C, the entire torque transmission section B is evenly supported and can be displaced without twisting or the like.

Due to the displacement of the torque transmitting part B, its end face is similarly displaced, and the amount of this displacement is detected by the detection part 3 and outputted as an electric signal proportional to the amount of displacement. That is, the torque generated by machining is taken out to the outside as an electrical signal proportional to the torque.

By the way, in many cases, the end surface b1 of the torque transmission part B is not necessarily formed into a uniform surface all around, and therefore,
The distance between the detector 3 and the detector 3 also changes over the entire circumference of the end face. Since this makes it impossible to detect torque, this specific example is configured to extract the detection signal of the detection section 3 in synchronization with the rotation of the torque transmission section B by a circuit not shown.

As a result, the detection unit 3 detects only the same predetermined portion of the end face b1, and the above-mentioned inconvenience caused by the non-uniform surface is eliminated.

Although only one radial deflection portion D2 may be provided, by providing it above and below as shown in the figure, other displacements such as shaft inclination can be prevented from occurring, and only rotational displacement can be reliably generated.

FIGS. 10(a) to 10(c) are graphs of detected torque using the torque detecting device of this specific example. In each figure, time is plotted on the horizontal axis and torque is plotted on the vertical axis.

This detection was performed using a drill diameter of 1.5fi and a rotation speed of 184°rp.
m, feed rate 0. 06n+/r e v, hole depth 8
The work was carried out using a crane and the work material 550C (rope material). Figure 10 (
a) is the third cutting, with a maximum torque of 0°52Nm, and Fig. 10(b) is the fourth cutting, with a maximum torque of 0.4O.
Nm, Figure 10 (C) is the 5th cutting, the maximum torque is 0.69. It was Nm.

This drill broke at point S in the fifth cutting. As is clear from the figure, the torque increases rapidly just before the breakage. Therefore, either set a certain torque level in advance and immediately stop the rotation when the torque reaches this level, or set a level higher than the above level so that the torque reaches this level a predetermined number of times. Performs processing to stop rotation when the rotation occurs. This makes it possible to avoid accidents caused by breakage.

FIG. 11 is a partially cutaway sectional view of a load detection device for a rotary tool according to another specific example. In the figure, 21 is a holder main body rotated by a drive source (not shown), and 22 is a shaft fixed to a proper position of the holder main body 11 by press fitting or the like. 22a is axis 2
The tip 22b is a through hole formed near the tip 22a. A radial flexure portion D1 is formed at a predetermined location on the shaft 22. The shaft 22 has a radial bending portion, and is divided into a side for tool attachment and a side for attachment to the holder main body. 2
3 is a chuck attached to the tip 22a, 24 is its fastener, and 25 is a tool such as a drill held by the chuck 23. A2' is one side of the radial deflection part DI (tip 22
This is a deflection converting structure fixed to the shaft 22 (on the opposite side of A), and has a structure that is upside down from the deflection converting structure At shown in FIG. 9(a). C is deflection conversion structure A2
', B is a cylindrical torque transmitting part fixed to the lower flange of the vertical flexible structure C, and bl is a torque displacement end fixed at a predetermined position on the periphery of the torque transmitting part B. be.

26 is a cylindrical thrust transmission section connected to the upper part of the vertical deflection structure C, and 27 is a thrust displacement end fixed at a predetermined position on the periphery of the thrust transmission section 26. 28 is a cover; 29 is attached to the cover 28 and is connected to the through hole 2 of the shaft 22;
A stopper 30 inserted into 2b is a rubber seal.

Reference numeral 3 indicates a torque detecting section disposed opposite to the torque displacement end b1 with a predetermined space therebetween, and reference numeral 31 indicates a thrust detecting section disposed opposite to the thrust displacement end 27 with a predetermined space therebetween. Note that, as in the case of the previous specific example, the deflection conversion structure A2' and the vertical deflection structure C are not shown as accurate cross-sections, but only their structural positional relationships are shown to avoid complicating the illustration. stop.

Next, the operation of this specific example will be explained. As shown in the figure, if the tool 25 is attached to the tip 22a via the chuck 23 and the holder main body 21 is rotated to machine the workpiece, the rotation of the holder main body 21 is controlled by the tool 25 via the shaft 22. 2
5, and the tool 25 rotates. When the tool 25 is in a machining state in contact with a workpiece, torque and/or thrust generated by machining acts on the radial flexure portion 20.

Here, as in the previous specific example, the torque component is determined by the expansion and contraction of the deflection conversion structure A2', the absorption of the expansion and contraction by the vertical deflection structure C, the axial displacement due to the expansion and contraction by the torque transmission part, and the detection unit 3. It is extracted by detecting the displacement.

Next, the operation of displacement due to the thrust component will be explained. When the thrust component acts, the radial flexure beam of the radial flexure portion D1 slightly expands and contracts in the axial direction, and the dimensions of the radial flexure beam are selected in advance so that this expansion and contraction is possible. ),
The tip 22a side of the shaft 22 is displaced in the axial direction (vertical direction) with respect to the holder main body 21 side of the shaft 22. This displacement is transmitted to the vertical flexure structure C, which is displaced in the axial direction. This displacement is transmitted to the thrust transmission section 26, causing it to be displaced downward in the figure, and therefore the thrust displacement end 27 is also displaced downward. This displacement is detected by the detection section 31.

Detection by each of the detection sections 3 and 31 is configured to be performed in synchronization with the rotation of the torque transmission section B and the thrust transmission section 26 by a circuit not shown.

Note that when torque and thrust are occurring simultaneously, both are detected simultaneously by the above operation. Also,
It is not always necessary to provide two detecting sections, and it is also possible to configure one detecting section to detect each displacement end 27, bl during one rotation.

Here, you can set a certain torque level (thrust level) and immediately stop the rotation when the torque (thrust) reaches this level, or you can set a level lower than the above level and increase the torque (thrust level). By performing a process of stopping the rotation when the rotation is at this level a predetermined number of times, accidents due to breakage can be avoided.

FIG. 12 is a block diagram of another specific example of the torque/thrust detection device. In the figure, E is a vertical deflection structure, which is the same structure as the vertical deflection structure C described earlier. Further, F is a thrust transmission section, which has the same structure as the torque transmission section B. The other configurations are the same as those shown in No. 61E] (b). By interposing the vertical deflection structure E and the thrust transmission section F in the shaft portion 1a, both torque and thrust can be detected, similar to what is shown in FIG. In this case, the radial deflection beam of the support is the 11th
It does not need to be constructed to the specific dimensions as shown in the figures.

FIG. 13 is a block diagram of yet another specific example. 35
36 is a wheel, and 37 is a rear wheel axle which connects the wheel 36 and is driven by the differential gear. A, B, and C are respectively a deflection conversion structure, a torque transmission section, and a vertical deflection structure interposed in the rear wheel axle 37, and D is connected to the case 35 at one end and connected to the rear wheel via a hair ring. This is a support that is connected to the axle 37. This configuration is equivalent to the configurations shown in FIGS. 1 and 5. 3B is a detection unit that detects torque, and 3C is a detection unit that detects displacement of the rear wheel axle 37 in the axial direction.

Here, the detection section 3C is installed because the rear wheel axle 37 often undergoes axial displacement while the automobile is running, and the true torque can be determined from the detection value of the detection section 3B by the detection section 3C. This is the value obtained by subtracting the detected value of .

With the above configuration, it is possible to detect the torque generated while the vehicle is running, and by using this as data for driving control of the vehicle, appropriate control can be performed.

Note that torque detection while the vehicle is running can be obtained by applying a similar configuration not only to the rear wheel axle but also to the engine output shaft and the propeller shaft. Furthermore, in the above case, all of the torque is configured to pass through the rows of the deflection conversion structure A, the torque transmission section B, and the vertical deflection structure C. However, in this example, since the torque is large, the main torque transmission linkage is transferred to the rear wheels. It is obvious that the structure shown in FIG. 6(C) may be used, in which the axle is used as an axle, and the deflection converting structure A, the torque transmitting section B, and the vertical deflection structure C are arranged around the axle.

FIG. 14 is a configuration diagram of a specific example of a torque detection device for a high-speed rotating shaft on which a large torque acts. In the figure, 1 is the axis, 1a,
Reference numeral 1b indicates shaft portions on both sides of the torque detection device on the shaft 1, and reference numeral 3 indicates a detection portion (described later) using a differential transformer. A is a deflection conversion structure, with a deflection beam a3° and a slit a3
Consists of 1. B.

is a torque transmitting portion, C1 is a vertical deflection structure equivalent to that shown in FIG. 3(d), and C3° is its deflection beam. 40
It is a rigid column connected to the deflection conversion structure A3 and the vertical deflection structure C1, and the torque transmission section B1 is fitted and fixed to the small diameter portion at the tip. The detection unit 3 is composed of a shaft side 3a and a fixed side 3b, and the shaft side 3a has a ring-shaped insulating plate 4.
1 and a ring-shaped magnetic plate 42 are alternately stacked. On the other hand, the fixed side 3b has an insulator 43 and a core 44.
．． It is composed of a differential transformer including a primary coil 45 and secondary coils 46 and 47. Such differential transformers are well known. T1 is a primary terminal drawn out from the coil 45, and T2 and Tt□ are secondary terminals drawn out from the coils 46 and 47. g+ and gz indicate the gap between the upper and lower magnetic plates 42 and the torque transmission section B1 on the fixed side 3a.

In the above configuration, when a torque acts on the shaft 1, this torque is converted into an axial displacement by the deflection conversion structure A3, for example, displacing the rigid column 40 upward. This upward displacement is absorbed by the deflection of the deflection beam C30 of the vertical deflection structure C3 and is transmitted to the torque transmission section B, thereby decreasing the gap g+ and increasing the gap g2. As a result, the voltages output from the terminals T21 and T22 change with respect to each voltage before the torque transmission section B1 is displaced, and therefore the voltage difference between the respective voltages also changes. This amount of change corresponds to the applied torque, and the torque will be detected.

In addition, since the torque acting on the shaft 1 of the above configuration is large,
A radial deflection beam on the support is not required, and therefore no support is required. Further, the magnetic plate on the fixed side 3a does not necessarily have to face the upper and lower surfaces of the torque transmitting part B1,
It may be configured to face the side surface of the torque transmission section B.

〔Effect of the invention〕

As described above, in the present invention, the torque detection device is configured by the deflection conversion structure, the torque transmission section, the vertical deflection structure, and the detection section fixed to the stationary system and disposed facing the torque transmission section at a distance. , Torque can be detected without contact and with a simple configuration.

[Brief explanation of the drawing]

Figure 1 is a side view of a torque detection device according to an embodiment of the present invention, Figures 2 (a) and (b) are developed views of the deflection conversion structure, and Figures 3 (a), (b), and (C). , ('d'') are respectively a perspective view, a sectional view, a sectional view of another embodiment, and a side view of another embodiment of the vertical deflection structure, and FIGS. 4(a) and 4(b) are perspective views of the support body. , Fig. 5 (a), (b), Fig. 6 (a), (b)
) and (c) are respectively configuration diagrams of the torque detection device of the present invention, and FIG. 7 is a partially cutaway sectional view of a specific example of the torque detection device.
Figure 8 is a perspective view of the radial deflection section shown in Figure 1, and Figure 9 (
a) and (b) are perspective views and plan views of the deflection conversion structure shown in FIG. 7, FIG. 10 <a>, (b), and (c) are graphs of detected torque, and FIGS. 11 and 12 are A partially cutaway sectional view and configuration diagram of a specific example of a torque/thrust detection device,
13 and 14 are a side view and a sectional view, respectively, of different specific examples of the torque detection device. A: Deflection conversion structure, B: Torque transmission section, C: Vertical deflection structure, D:
-Support body, 1...shaft, 2...torque detection device, 3...detection section. Figure Figure Figure Figure (b) and Figure C Figure 20: Radial deflection part L f and E five e also E five → to E figure (σji figure (b)) figure figure figure a

Claims (7)

[Claims] (1) A torque detection device that detects torque acting on a rotating shaft, which includes a deflection conversion structure that generates a displacement proportional to the torque in the axial direction of the rotating shaft when torque is applied, and a deflection conversion structure connected to the deflection conversion structure. a displacement transmitting section that produces a displacement equal to the displacement of the rotary shaft, a vertical deflection structure that is connected to the displacement transmitting section and that deflects only in the axial direction of the rotating shaft, and a vertical deflection structure that is fixed to a stationary system with respect to the rotating shaft and that A torque detection device characterized by comprising a detection section facing each other with a space between them. (2) In claim (1), the deflection conversion structure:
A torque detection device comprising a plurality of flexible beams whose ends are fixed at offset positions with respect to the axial direction of the rotating shaft. (3) In claim (1), the vertical deflection structure:
The thin part has a surface perpendicular to the rotating shaft and is thin in the axial direction of the rotating shaft, and the vertical part is connected at different positions on both sides of the thin part and extends along the axial direction. A torque detection device characterized by: (4) In the torque detection device according to claim (1), when torque acts on the rotating shaft, rotational displacement of the rotating shaft in the circumferential direction is not restricted, but is opposite to the displacement transmitting portion of the deflection displacement structure. 1. A torque detection device comprising a support member for restricting a distance between a fixed end on a side of the vertical deflection structure and a fixed end on a side opposite to the displacement transmission section of the vertical deflection structure. (5) The torque detection device according to claim (4), wherein the support member is configured to rotatably support the rotating shaft on both sides of the torque detection device. (6) In claim (4), the support member includes a plurality of radial deflection beams connected in parallel with the torque detection device and extending radially in the axial direction of the rotating shaft. Characteristic torque detection device. (7) In the torque detecting device according to claim (1), a thrust detecting section consisting of a connecting body having a structure equivalent to the displacement transmitting section and the vertical deflection structure is interposed on the rotating shaft on one side of both sides thereof. A torque detection device characterized by: