JPS60253942A - Torque detecting device - Google Patents

Abstract

PURPOSE:To enable the application of pulse output to a speed detecting signal by arranging at an equal pitch every other piece with varying a pitch for the projections both adjoining to a pulse generator circular plate and by varying the height of projection of each piece. CONSTITUTION:The number of projections of a magnetic body circular plates 13, 14 of driving side and loading side is two times of the number of projections measurable in torque and the pitches of the adjoining projections at both side are varied and a piece of the projections is made higher (lower) than others at equal pitch every other piece. The integrating output of a pickup signal is full- wave-rectified, the peak is detected to compare with the reference voltage, the lower part of the amplitude of an index is detected and an index signal is obtd. with the waveform signal of the pickup signal and the logical product. The number of pulses of two times the number of projections obtains the arranged wave form by integrating the pickup output and a PG output with OR combination of the waveform arranging signal of the pickup signal.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a torque detection device that can measure torque and obtain the number of pulses required for speed control.

[Technical background of the invention and its problems]

2. Description of the Related Art Conventionally, a circuit configuration of a torque detection mechanism of a motor having a built-in torque detection means, for example, a torque sensor motor, is shown in a block diagram shown in FIG.

``Torsion Noro (捷take, twist υ) né) 100 drive side 100D and 9 load side 100L A rotating disk (disk) that is retracted from a magnetic material with dozens of protrusions on each end.
3. Attach the 'I' and use the output of the electromagnetic pickup/9.2 installed across the gap to each waveform shaper! , B to the phase discriminator 7, its output is calculated via a differential amplifier, and the derived calculated output is passed through a low-pass filter to obtain the torque Va. At this time, the output of the drive-side electromagnetic pickup l is applied as a pulse detection signal PG via a waveform shaper j.

By the way, the amount of twist of the torsion-100 is detected from the phase difference between the outputs of the electromagnetic pickup/2.2. The number of protrusions of Hiro is limited by the amount of twist of the torsion bar-100 at the rated torque.

The amount of twist in the torque measurement range is approximately 2/, j°.

Since the phase discrimination ability of the phase discriminator 7 that detects the phase difference between the outputs of the electromagnetic pickup/2 is ±iro',
The maximum allowable number of protrusions m is 20. Considering the variation in the amount of twist, m==100 (pieces) is the limit.

To control the speed of a motor, it is common to attach a pulse generator to detect the rotational speed.

However, as mentioned earlier, the torque sensor motor seen in this example has a built-in signal generating means, so it is natural that the PG output from the waveform shaper j can also be obtained. Since the limit is ioo pulse//rotation, it cannot be used for speed control.

[Purpose of the invention]

The present invention overcomes the drawbacks of conventional devices and provides an electromagnetic big amplifier in a means for detecting the amount of torsion on the drive side and load side of a magnetic disc with projections mounted on a torsion bar or the like using an electromagnetic pickup. It is an object of the present invention to provide a torque detection device that can apply pulses generated by a motor to speed control of a motor as a drive source.

[Summary of the invention]

The present invention changes the position and shape of the protrusions in a magnetic disk having protrusions from the conventional uniform distribution on the circumference to a unique one,
The output of the electromagnetic pickup is detected through a frequency dividing circuit as a torque output, a cruise output, an index output (rotational position signal of the disk), and one rotation direction output, and in particular, the pulse output can be applied as a speed detection signal. It is a torque detection device.

[Embodiments of the invention]

FIG. 2 is a perspective view showing the main parts of a magnetic disk according to an embodiment of the present invention.

/3 is a magnetic disk on the drive side, /l/- is a magnetic disk on the load side, and the radius of both is usually the same.

The number of protrusions of these magnetic disks /3 and /l/ is twice the number m of protrusions that can be measured with torque, and the pitches of the protrusions on both sides are different (center angles θ1 and 02
), ■ Equal pitch every 7th (θ, and 02 alternate), ■ One of the protrusions is lower in height than the others (it can be higher)
, it's good.

FIG. 3 is a block diagram showing the configuration of the Villafatu signal processing circuit.

, M, and 2/ are frequency dividing circuits, and their functions are the same.

22 is an integrator, 37Fi full-wave rectifier, sword is a peak detector, J is a comparator, vr (1f/ is the first reference voltage, J is one-shot monomulti, $t[[shaper, core is counter l, 36 is a counter 2.2g is a waveform shaper, 2q is an Ex-OR (exclusive OR) circuit, and 30 is an AND
(logical product) circuit, 3/ is a low-pass filter, 32 is a comparator, and vref is determined by the second reference voltage.

This signal processing circuit has ■ torque output and ■ pulse output (1 times the total number of projections (zxm)).
, LXm), ■ Rotation direction for forward/reverse rotation discrimination, [Present] Disc 3. The index of the rotational position signal of ≠ (I
NDEX) signal and are obtained.

Figure ≠(a) J Cb) is a time chart showing the operation of each part of this signal processing circuit.

The operation of the signal processing circuit will be explained with reference to FIG.

First, the index signal is obtained as follows.

Disc 3. The lower brightness of the protrusion on the ring functions as an index indicating the origin of rotation.

At this protrusion, there is a wide gap between the jerk asozo/2 and the protrusion, so the output amplitude of the pickup l1.2 becomes small.

Therefore, in order to detect this, the pickup signal is first integrated by an integrator 2 unit. Integrating it means measuring the magnetic flux φ, so disk 3. A constant amplitude is obtained regardless of the rotational speed of II. However, the output amplitude decreases by /JN only at the origin.

Then, the integral output is full-wave rectified by the full-wave rectifier 37, the peak is detected by the peak detector, and the voltage level of the first reference voltage vrof/ is compared by the comparator 3 to detect the low amplitude of the index. Then, AND the pickup signal with the waveform shaped signal that has passed through the waveform shaper J.
The circuit 30 obtains the INDEX signal.

Next, the PG output will be as follows.

The e-rus number, which is twice the number of protrusions, is obtained by integrating the pick-up output with the integrator U, so that the qo' phase is delayed. Exclusi with waveform shaping signal
The ve-OR combination is taken by FiX-OR circuit 2q, and PG
I get the output.

Therefore, the phase detection range of the phase discriminator 7 is ±/10
'', the string-shaped shaping signal of each pickup/2 outputs is divided into the number of pulses (m pulses//rotation) at which the phase discriminator 7 operates normally: 1.7 counter/(the frequency division ratio is % ).When the total number of protrusions is 2Xm, 36 carantacos are not necessary.When dividing the frequency, use the index signal mentioned above and set the rising edge of the output of the converter J. The one-shot multi 26 is triggered by this signal, and the counters / and 2 are synchronized with this signal.

In the case of forward rotation and reverse rotation, the rotation direction is determined by 27 counters/
Since there is a difference in the duty of the output pulses, this output is smoothed by the low-ξ filter 3/ and converted to a DC voltage, and the voltage corresponding to the smoothed output when the duty is 30% is calculated by the converter ξ-rata 3. (First reference voltage) ■Compare with ref 2 and detect.

The torque output is detected by phase discriminating the divided P live and load side signals using a phase discriminator 7.

In this way, with 7 discs and 7 pickups on each of the F live side and the load side, m number ξ nodes for phase detection and +Xm nodes for speed detection are used for torque detection. It is possible to obtain the ξrus, rotation direction discrimination signal, and index signal.

The following means can be considered as another embodiment of the present invention. So far, the case where the torque can be detected is twice the number of protrusions (m) has been described.

When the total number of protrusions is ≠×m, the total number of protrusions is ≠×m on the disk 3°≠ used, the pitches are all H, and the shape may be the same as that in FIG. 2.

In this case, the frequency divider circuit in Fig. 3 has 36 counters 2.
is necessary, and the output of the waveform shaper J is divided into K.

Therefore, if the total number of protrusions is set to nXm, an even multiple of m (where n is an even number), a counter can be connected in cascade after the waveform shaper J, and the frequency division ratio can be set to /.

〔Effect of the invention〕

Thus, according to the present invention, the following effects can be obtained, which are of great industrial benefit.

■ n of the number of protrusions m that was limited by the amount of twist of the twister
Torque is measured using a disk with (even) times the number of protrusions, and the number of Norms required for speed control (,2Xn
Xm pulse) is obtained.

(2) The rotation direction detection signal and the crab NDBX signal necessary for detecting the rotation angle can be obtained.

■ Generally, in order to detect the rotational direction or obtain twice the number of pulses, for example, two pickups are used on the drive side alone, and the first one is n'' of the pitch of the protrusions + where n' is an integer). Although a shifted second pickup is attached, this is not necessary, and the number of pickups can be increased by using the disc shown in FIG. 2 and the signal processing circuit shown in FIG. 3.

[Brief explanation of drawings]

Fig. 1 is a block diagram of a conventional torque detection mechanism, Fig. 2 is a perspective view showing the main parts of a magnetic disc in an embodiment of the present invention, and Fig. 3 is a block diagram showing the configuration of the pickup signal processing circuit. The arrows in FIGS. /1.2...Pickup, 3. ≠...Magnetic disc, t, +, :w, $・2g...Wave shaper,
7... Phase discriminator, ♂... Differential amplifier, 3/...
...Low pass filter, /3...Magnetic disk of the present invention (drive side) with a different arrangement of protrusions from the conventional one, /Hiroshi...Magnetic disk of the present invention (load side), x, ,2/・
...Frequency divider circuit, u, ,1. ,! ”-'Integrator, oh.
Quad peak detector, 1.1', 32...
Connomitor, Yu 6... One shot mono multi,
! 7, 27'--Counter/, 29-Ex-
OR (exclusive OR) circuit, 30...AND (logical product)
Circuit, 36... Counter, 37... Full wave rectifier,
100... Torsion no ζ- (or torsion spring). Applicant's agent Kiyoshi Inomata

Claims (1)

[Claims] 1. In a torque meter that includes pulse generators at both ends of a rotating torsion node or torsion node, and detects the amount of torsion from the phase difference between both 7e pulse generators, The disc of the pulse generator has a shape in which the pitches are different for the protrusions on both sides, and every other protrusion is arranged at an equal pitch, and the height of one of the protrusions is lower or higher than the others. Torque detection device f! 4-0λ - The output of the Nogle generator and each waveform shaping output of the integrated output are combined by exclusive OR to obtain a Nogle output twice the total number of protrusions of the disk. Torque detection device W according to item 1. 3. Means for full-wave rectifying the integral output to detect the peak value, outputting it, detecting the change in R with a connominator, and calculating the logical product with the waveform shaping output of the pulse generator to detect the rotation origin of the disk. A torque detection device according to claim 1, which is provided with: Claim 1, which comprises means for dividing the waveform-shaped output of the pulse generator into H and smoothing it, and detecting the direction of rotation of the disc from the difference in DC level during forward rotation and reverse rotation. torque detection device. ! , the waveform-shaped output of the output of two pulse generators is divided by a counter from the origin position to a period in which the phase can be determined, the phase is determined, and the torque is measured. The torque detection device described.