JPS6330735A - Torque detector - Google Patents

Abstract

PURPOSE:To improve torque response and to smoothly apply load to a motor, by bonding a leaf spring having a brake lining mounted thereto the a drum under pressure by a gear motor and a screw jack. CONSTITUTION:A connection shaft 3 is pivotally supported in a freely rotatable manner by the bearing of a housing 1 and a drum 5 is concentrically mounted to said shaft 3. A gear motor 13 is fixed to a support plate 12 in an inverted state in the housing 1 at the rear part thereof an linear guide tables 15, 16 are provided up and down on the left side of the motor 13. The tables 15, 16 respectively consist of fixed rails 17, 18 and movable rails 19, 20 and leaf springs 32, 33 are fixed to the step parts 19B, 20B of the rails 19, 20 and displacement sensors 38, 39 detecting the bending quantities of the leading ends of said springs 32, 33 are mounted thereon. When the motor 13 is driven, the rails 19, 20 slide on the rails 17, 18 and brake linings 6, 7 press the drum surface 5a by strong press bonding force. At this time, since the springs 32, 33 are bent, the bending quantities thereof are detected by the sensors 38, 39.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The water valve 1 relates to a torque detection device for detecting the torque of a motor or the like, and particularly relates to a torque detection device 4 that is useful for torque responsiveness.

BACKGROUND ART [0003] As a torque detection device for detecting the torque of a secondary motor, etc., the one shown in Fig. 7n7 is known.

In FIG. 7, for example, the motor whose torque is measured is
Connected to @61 with drum 80 attached, this drum 8
0 by the load mechanism 62, the torque of the motor is measured.

When the load mechanism 62 is explained as IJ+, the threaded rod g4 on the gear motor 63 is J! I! By rotating this threaded rod 84, a bracket 68 with 44 nuts 65 removed.
This bracket 88 performs a back and forth stroke motion.
The bottles 67 and 68 that were planted in the 3rd part of 9J are attached to the spindle 6.
Arm 7I pivotally supported at 9.70, elongated hole 73.7 of 72
4, and the stroke movement of the Plaque Toro 6 is converted into a lever movement of the arms 71, 72. Also, the arm 71.72 is equipped with a crimp pin 75.78, and the lever movement of the arm 71.72 allows the support shaft 7
The brake lining 78.80, which is pivoted at 7.78, is pressed against the drum 80 side with a strong force. This pressing force on the drum 80 causes a load to be applied to the motor whose torque is measured.

In addition, one end of a coil spring (not shown) is attached to the bracket 8B, and the other end of the coil spring is fixed to the housing.
When the pressing force is applied to the drum 8θ, the load mechanism 62
The whole body rotates by reaction until it comes into positive opposition with the coil spring.

The torque is measured by detecting this rotation with an angle sensor such as a ra% meter and converting it into a voltage proportional to the torque through an electric circuit.

[Problems to be Solved by Issue 1411] By the way, in the above torque detection device, the entire Fl load mechanism 82 is constrained by a coil spring, and the inertia seen from the motor whose torque is detected is large. There is a problem with the torque response. Particularly when trying to detect the torque of a stepping motor, if the inertia is large, the motor will not be able to follow the drive pulse signal 1) and the motor will step out, causing a problem that the torque cannot be detected accurately.

Further, in the work load mechanism 62, there is a problem that the transmission path of the force applying the pressing force to the drum 60 is long, and the load cannot be smoothly applied to the motor.

Further, in the load mechanism 62, there is a force loss in the transmission path, so when the load is increased by rTf, there is a delay in transmission time, resulting in a problem of poor load response.

Therefore, the end of the month was proposed to solve these conventional problems, and it can reduce the inertia seen from the motor where torque is detected, and has good torque response. The purpose of the present invention is to provide a torque detecting device that can smoothly apply a load to a motor.

[Means to solve the problem] In order to achieve this purpose, I will complete the process! The torque detection device of I consists of a drum that rotates by connecting a connecting shaft to the rotating shaft of a detection rotary machine, a plate spring attached to the end of the drum, and a brake shining that applies horizontal pressure to the drum surface of the drum. , a fixed rail, and a movable rail that straightly extends the fixed rail to the drum surface, and the plate 7 is attached to the movable rail.
The other end of the screw is attached by a linear guide table that supports the leaf spring above the drum surface, and a fiber screw formed perpendicularly to the drum surface in the moving wheel. A screw cup with a 6-coupling spur gear attached to the part, a gear motor with a screwed gear attached to this spur gear, and a sensor mounting plate supported at the other end of the above plate and the above temporary spring surface. The IA of one end of the above plate spring is installed vertically against the other side.
the gear motor is driven to press the brake lining onto the drum, and the displacement sensor detects the amount of deflection of the leaf spring to determine the torque of the rotating machine to be detected. It is characterized by detecting.

Accordingly, in the present invention, a brake lining of one digit length attached to a leaf spring is crimped onto a drum, and the torque of a rotating machine to be detected such as a motor is detected by detecting the tension of the leaf spring. , the load seen from the rotating machine to be detected becomes smaller and the torque response is improved.

Also, since the load is applied using a gear motor and screws, 11 loads can be applied smoothly to the drum.

Examples Hereinafter, embodiments of the present invention will be described in detail based on the drawings.

First, the basic idea of the present invention will be explained with reference to Figures 5 and 6.

In the figure, a rotating shaft of a rotating machine to be detected, such as a motor whose torque is to be measured, is connected to a connecting shaft 103 on which a drum 105 is attached. This drum again
A strong pressing force is applied from above and below to the brake lining 108 and 107 attached to the plate springs 132 and 133 via plate holders 140 and 145. This pressing force is applied using a leaf spring 132.133
Support point 01.

0? This is done using a screw jack and gear installed on the side. The reason why leaf springs 132 and 131 are provided at the top and bottom is to apply pressure evenly to the top and bottom of the drum 105 to balance the force, and also to be able to measure torque in both rotational directions. It's for a reason.

Here, the diameter of the drum 105 is calculated, and the pressing force (total legal pressure) by the brake lining 108, +07 is P.
, the pressing force P applies a force F in the tangential direction of the drum 105, and the drum 105 and the brake liner 103'
107 III (1) If the f'i 1M coefficient is R, and the torque acting on the drum 105 is IT, then the torque T is as follows: T=FD=Final P@D From this equation, the pressing force P By increasing the value or increasing the friction coefficient pot, the direct 1%D of drum +05
can be made smaller. In detecting the torque T, it is necessary to reduce the inertia seen from the motor side, so it is necessary to make the drum 105 as small as possible by reducing the diameter.

In addition, the above plate springs 132 and 133 are temporary springs because A is proportional to the force F acting in the tangential direction.
The spring stiffness is K, and the deflection of the leaf spring 132.133 is δ.
Then, this distance δ becomes F δ based on δ=. From this equation, F=□, and by substituting this into the previous equation, the torque T becomes T = −−D.

Therefore, by detecting the value δ of the leaf springs 132 and 133, the torque T of the motor can be measured.

This engagement δ is the displacement sensor 138, 1 such as a magnetic displacement sensor disposed on the side of the tip of the reciprocal bar* 132, 133.
In the illustrated example, since the drum 105 is rotating in the right direction, the deflection δ of the leaf spring 133, which is deflected far away from the senna, is detected by the displacement sensor -39. I'm trying to detect it.

The displacement sensor -38,139 is located at the support point o1 of the leaf spring 132°133. o7. It is attached to the senna mounting plate, which is fixed via a spacer at the center.

In addition, brake linings 106 and 107 are drums.
When pressed against 105, the leaf springs 132 and 133 rotate about the support points 0+ and 02 (l), but the leaf spring
If the length of 132.133 is made sufficiently large compared to the amount of deflection δ, it can be regarded as a linear displacement.

In this way, the torque detection device described in Text II does not rotate the entire negative load mechanism B2 as in the conventional case, but instead uses a leaf spring 13 that trades between the brake linings 106 and 107.
2,133 is only displaced, the inertia seen from the motor where the torque is detected is small, and the torque response is good.
It is.

Next, an embodiment of the torque detecting device will be described with reference to a side view in Fig. m1, a plan view in Fig. 2, and a front view showing the bottom part in Fig. 17S3.

In the figure, a connection 4! is made by bearings 2, 2 provided on the 1iit face plate 1a of the casing l. +13 is rotatably supported, and an attachment 4 is attached to the tip of the connecting shaft 3 to which the rotating shaft of the detected rotating machine of the motor T whose torque is to be measured is connected. Further, a drum 5 having a plurality of fin structures is concentrically attached to the connection Ifth3, and this drum 5 is housed in a casing l. Since the drum 5 has a fin structure as described above, the heat generated when the drum 5 is strongly pressed by the brake lining 6.7 of 71' tB can be effectively dissipated. The rear end portion of the connecting shaft 3 is pivotally supported by a bearing 9 provided on a support plate 8. Also, the support plate 8
A rotary encoder 10 is installed behind the rotary encoder 10 to measure the rotation speed of the motor connected to the connection @l13.The rotation speed is detected by using a hole in the disc 11 attached to the end of the connection shaft 3. This is done by detecting it with a photo sensor, etc.

Further, in the rear part of the body 1, a gear motor 13 is fixed upside down to a support plate 12, and a pinion gear 14 is attached to the drive shaft of the gear motor 13. On the left side of this gear motor 13 in the figure, there is a linear guide table 15.
．． 16 are provided above and below. The linear guide tables 15.18 each consist of a fixed rail 17.18 and a moving rail 19.20. A left-hand thread, for example, is formed in the protrusion i'jll19A of the upper moving rail 19, and a reverse thread, for example, a right-hand thread, is formed in the protrusion 20A of the lower moving rail 20. Further, threaded rods 22 that are threaded into respective reverse threads in these projections +9A and 20A are rotatably supported by a bearing 23 of the support plate 12 and a bearing 24 of the support plate 21 above it. M7 threads with reverse threads are formed on the top and bottom of this threaded rod 22. Above protrusion +9A and support k l
21iil, a coil spring 25 that biases the moving rail 19 upward is provided on the outer periphery of the threaded rod 22, and a coil spring 25 that biases the moving rail 20 downward is provided between the protrusion 20A and the support plate 21. 26 is provided on the outer periphery of the screw forest 22. The threaded rod 22 has the binion gear 1
An f-gear 27 matching 4 and +1 is mounted between the support plates 12.21. As a result, the gear motor 13 rotates, [J4 constant rail 17.184 2 is moved to the moving rail + 3
．． 20 is! Either slide toward the L or move away from each other. 1m of this moving rail 19.20
The upper F limit of vJ is detected by the stand interrupter 28,29.

Further, plate springs 32.33 are attached to the stepped portions 19B and 20B of the moving rail 19.20 by screws 30.31 [,! i
1 has been added. Further, on the protruding portions +9A and 2OA of the moving rail 19.20, a sensor mounting &38.37 is fixed to the right side of the leaf spring 32.33 by screws 34, 35. This sensor mounting plate 38.37 has a leaf spring 3.
2. Displacement sensor 38 for detecting [A grinding] at the tip of 33.
39 is attached perpendicularly to the planes of the leaf springs 32 and 33.

Further, a brake holter 40 to which a brake lining 6 is attached is slidably mounted on the drum 5 side end of the upper plate spring 32 via a bush 41 and a pin 42 . This brake/key holder 40 is provided with slide 2 adjustment screws 43 and 44 on the left and right sides for aligning the center of the brake running 6 and the center of the drum 5.

Similarly, a brake holder 45 with a brake lining 7 attached thereto is provided at the tip end of the lower plate spring 33 on the drum 5 side by a pinot 47 via a bush 46. A slide adjustment screw 4, 4a is provided.

Brake linings 6 arranged above and below the drum 5.
7 is made of urethane rubber, asbestos, hard carbon, etc., which have a high coefficient of friction and are less deformed in the compression direction.

In the torque detection device configured in this manner, when the gear motor 13 is driven so that the temporary springs 32, 33 approach each other, the movable rail 19, 20 slides while being guided on the fixed rail 17, 18, and the brake The lining 6.7 presses against the drum surface 5a of the drum 5 with strong pressure. At this time, the plate springs 32 and 33 are deflected in proportion to the torque of the motor connected to the connection @3, so by detecting this deflection with the displacement sensor 38 and 39, the starting torque or rotational torque of the motor can be determined. A total of A- is possible.

For example, a leaf spring 32.33 has a thickness of 211 layers and a width of 14 layers.
Theory, when the distance from the support point of plate/-ne 32.33 to the center of drum 5 is 70w, the torque is 800g.
-C11, the rod margin is, for example, 0.3 mm.

For example, 0 to 1* of this I bias amount is detected by the displacement sensor 38, 33 having a resolution of, for example, 1 inch.

This is because the torque detecting device uses a linear 4'r idle table 15.18.

The support points of the leaf springs 32 and 33 do not wobble, and even pressure is applied to the top and bottom of the drum 5.

In addition, the pressing force is applied to the drum 5 by doubling the force using a gear motor [3] and a screw jack.

The gap between the brake lining 6.7 and the drum 5 is set narrow, and the change in the direction of the drum 5 after crimping (Qc) is extremely small, so the gear ratio of the gear motor 13 and the spur gear 27 and the binion gear 14 is It is also possible to set the thread pitch of the threaded rod 22 so that the pressing force is further increased.

Furthermore, since the leaf springs 32 and 33 move up and down in the f-row with the sensor mounting plates 36 and 37, only the rotational torque component can be detected without introducing noise components.

In addition, the conventional torque measurement time (scan time) took nearly 1 minute, but with the above torque detection device, the gear motor 1
The rotation of 3 is transmitted to the 1α threaded rod 22 and also to the brake lining 6.7 that presses the drum 5.
Torque measurement time is shortened to about 5 seconds.

Next, a circuit for converting the sensor output from the displacement sensors 38 and 39 into a voltage proportional to the torque will be explained with reference to FIG.

In FIG. 4, the output from the displacement sensor 38 or 33 is output by a dedicated amplifier 50. '2' PIJ, and is converted into a voltage proportional to the torque by an operational amplifier 51 located at the rear. Then, a 1-lux detection signal is output from the output terminal -f52. I
=rfK resistor 53 is for zero point adjustment.

Note that the present invention can be used to detect the torque of not only motors but also rotating machines to be detected that are auxiliary to internal combustion engines.

``Effects of the Invention'' As explained above, in the present invention, a temporary spring with a brake lining attached is pressed onto a drum using a gear motor and screws, and the The torque is set to the needle side.

Therefore, the load seen from the motor whose torque is detected is reduced, and torque responsiveness is improved. Particularly, when the torque detection device of "Unreleased 1" is used to detect the torque of the stepping motor, the torque can be detected satisfactorily without causing step-out.

Additionally, since the pressing force is applied to the drum using a gear motor and a screw jack, the load can be applied smoothly and the time required to measure torque can be shortened.

4 Brief explanation of drawings 1!1 Figure 1 is 1I of the torque detection device of one embodiment of the text IJI.
Il! Fig. 2 is a sectional view of the torque detection device seen from above, Fig. 3 is a front view showing the main parts of the torque detection device, and Fig. 4 shows the deflection of the leaf spring in the torque detection device. Detection circuit diagram used for detection, Figure 5 is a front view for explaining the concept of the present invention. 7S6 figure is 47%
FIG. 5 is a perspective view of FIG.

FIG. 7 is a perspective view showing the main parts of a conventional torque detection system ``Ic;!t''.

3, +03...Connection shaft 4...Attachment 5.
105--Drum 6.7, IO2, 107e brake lining 13.
Gear motor +4-/binion gear 15.1G-
Φ Linear guide cheagle 17. 18 @ 9 fixed rail 19. 20... moving rail 22 - threaded rod 27... spur gear 32, 33.
132, 133...Plate spring 38, 37...Sensor mounting plate 38, 39, 138, 139 Φ...Displacement center 4
0, 45, 140, 145... Player holder 42
．． 47--Pin 43.44.48.49・Fist slide adjustment screw 50...
Dedicated amplifier 51-, operational amplifier 52, Φ output terminal [
−

Claims (1)

[Claims] A drum that rotates by connecting a connecting shaft to the rotating shaft of the rotating machine to be detected, a leaf spring with a brake lining attached to one end that is pressed horizontally to the drum surface of the drum, a fixed rail, and a fixed rail that connects the drum to the drum surface. A linear guide table comprising a moving rail that slides perpendicularly to the drum surface, the other end of the leaf spring is attached to the moving rail, and a linear guide table that supports the leaf spring horizontally to the drum surface; A threaded rod with a flat gear screwed onto a female thread formed perpendicular to the drum surface, a gear motor with a gear screwed onto the flat gear, and a screw rod supported at the other end of the leaf spring. and a displacement sensor that is mounted perpendicularly to the plate spring surface on the sensor mounting plate and detects the amount of deflection of one end of the plate spring without contact, and drives the gear motor to move the brake lining to the drum. A torque detection device characterized in that the torque of the rotating machine to be detected is detected by detecting the amount of deflection of the plate spring with the displacement sensor.