TWI801828B - Torque measuring device and system thereof - Google Patents

Abstract

A torque measuring device is disclosed in the present invention. The torque measuring device includes a main body, a first shaft, a moment arm assembly, a load cell, a second shaft, a microcontroller, a wireless communication module, and a battery. The torque measuring device is rotately set between a motor and a load. The torque measuring device is utilized to measure an output torque from the motor, and transmit torque information by wireless communication. A torque measuring system is disclosed in the present invention.

Description

Torque measurement device and system

The present invention relates to a device and system, in particular to a torque measuring device and system.

A motor is a common rotating power machine, also known as an electric motor or an electric motor. It is an electrical device that converts electrical energy into kinetic energy and can be used to drive other devices. It is widely used in today's life. The principle of the motor is roughly the same as that of the generator, the main difference is the difference in energy conversion.

For a rotary power machine such as a motor, to obtain the output torque of the rotating output shaft of the motor, the prior art method is to use a torque meter (Torque Meter). The torque meter is set up between the motor and a load, and transmits the torque information of the detected output torque through a wired transmission method.

However, the torque meter is expensive, requires a complete set of peripheral equipment, and needs to be aligned with the motors and loads on both sides before the detection of the output torque can be performed. Different torque meters can bear different upper limit of output torque and speed. Therefore, in response to different output torque or speed, it is necessary to replace it with a suitable torque meter. In addition, the torque meter in the prior art uses a wired transmission method to transmit the torque information, so the torque meter must be designed so that the output shaft does not rotate with the rotation of the motor, and the design and manufacturing complexity is relatively high. Therefore, there is room for improvement in prior art torque gauges.

In view of the fact that in the prior art, the torque meter is expensive, needs to be centered with the motor and the load, needs a complete set of peripheral equipment to detect, needs to be replaced with a suitable torque meter in response to different output torque or speed, and wired transmission The resulting design and process complexity are relatively high. One of the main objectives of the present invention is to provide a torque measuring device to solve at least one problem in the prior art.

In order to solve the problems of the prior art, the necessary technical means adopted by the present invention is to provide a torque measuring device, which is rotatably arranged between a motor and a load, has a central axis, and includes a body, a first A connecting shaft, a force arm assembly, a force sensor, a second connecting shaft, a microcontroller, a wireless communication module and a power supply module. The body has a first end and a second end, and defines an accommodating space. The first connecting shaft is located at the first end, and is connected and fixed to the body and one of the rotating output shafts of the motor. The moment arm assembly is connected and fixed to the first connecting shaft, located in the accommodating space, and there is a moment arm between the central axis. The force sensor is connected with the fixed force arm assembly, and is used for sensing a rotational thrust exerted by the force arm on the force sensor by the force arm assembly when the motor is running. The second connecting shaft is located at the second end, and is connected and fixed to the body and the load. The microcontroller is located in the accommodation space, connected to one of the main body, the force arm assembly and the force sensor, and electrically connected to the force sensor to calculate an output torque output by the motor based on the force arm and the rotational thrust One of torque information. The wireless communication module is located in the accommodation space, and is connected to one of the main body, the force arm assembly and the force sensor, and is electrically connected to the microcontroller to receive torque information, and use the wireless communication method to output the torque information of the torque send out. The power supply module is located in the accommodating space, and is connected to one of the main body, the force arm assembly and the force sensor, and is set on both sides of the central axis with the wireless communication module, and is used to control the force sensor, micro-controller The device and the wireless communication module provide power.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the body of the torque measuring device have two fixing plates, and the fixing plates are located on one side of the central axis to fix the force sensor. device.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the moment arm assembly in the torque measuring device include a first moment arm section, a second moment arm section and a connecting section. The first arm segment is located on the other side of the central axis. The second moment arm section is arranged opposite to the first moment arm section, and is located on the other side of the central axis, so as to connect with the fixed force sensor. The connecting section is connected and fixed to the first connecting shaft, and connects the first moment arm section and the second moment arm section.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the body of the torque measuring device have a first center of gravity axis, the moment arm assembly has a second center of gravity axis, and the first The center of gravity axis deviates from the central axis, and the second center of gravity axis deviates from the central axis relative to the first center of gravity axis.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the force sensor in the torque measuring device comprise at least one strain gauge.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the force sensor in the torque measuring device a load cell.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the force sensor in the torque measuring device a shear beam type load cell.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the wireless communication module in the torque measuring device a NRF24L01 2.4G wireless transmitter.

In order to solve the problems of the prior art, the necessary technical means adopted by the present invention is to provide a torque measurement system, which includes a torque measurement device and an electronic device. The torque measuring device is rotatably arranged between a motor and a load, has a central shaft, and includes a body, a first connecting shaft, a moment arm assembly, a force sensor, a second Connect the shaft, a microcontroller, a wireless communication module and a power supply module. The body has a first end and a second end, and defines an accommodating space. The first connecting shaft is located at the first end, and is connected and fixed to the body and one of the rotating output shafts of the motor. The moment arm assembly is connected and fixed to the first connection shaft and is located in the accommodation space. The force sensor is connected to the fixed arm assembly. The second connecting shaft is located at the second end, and is connected and fixed to the body and the load. The microcontroller is located in the accommodation space, and is connected to one of the main body, the force arm component and the force sensor, and is electrically connected to the force arm component and the force sensor to detect and calculate an output torque output by the motor One of torque information. The wireless communication module is located in the accommodation space, and is connected to one of the main body, the force arm assembly and the force sensor, and is electrically connected to the microcontroller to receive torque information, and use the wireless communication method to output the torque information of the torque send out. The power supply module is located in the accommodating space, and is connected to one of the main body, the force arm assembly and the force sensor, and is arranged symmetrically with the wireless communication module corresponding to the central axis, and is used to power the force sensor, micro-controller The device and the wireless communication module provide power.

The electronic device is connected to the torque measuring device through wireless communication, and includes a receiving module and a display module. The receiving module is used to receive torque information. The display module is electrically connected to the receiving module for displaying torque information.

Based on the above, the torque measurement device and system provided by the present invention use the main body, the first connecting shaft and the second connecting shaft to be rotatably arranged between the motor and the load, and use the moment arm assembly, force sensing The device, microcontroller and wireless communication module detect and transmit the torque information of the output torque output by the motor. Compared with the prior art, the torque measurement device provided by the present invention can rotate with the motor and use The wireless communication method transmits the torque information of the output torque output by the motor. Therefore, the present invention can achieve the effects of lowering the price and simplifying the manufacturing process, and does not need complete supporting peripheral equipment and centering operations as in the prior art. Measure. In addition, because the present invention uses wireless communication to transmit torque information, it does not need wiring and other operations like the prior art.

The specific implementation manner of the present invention will be described in more detail below with reference to schematic diagrams. The advantages and features of the present invention will be more clear from the following description and claims. It should be noted that all the drawings are in very simplified form and use imprecise scales, which are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention.

Please refer to the first figure to the third figure, wherein, the first figure shows the perspective view of the torque measuring device provided by the preferred embodiment of the present invention; the second figure shows the torque provided by the preferred embodiment of the present invention An exploded view of the measuring device; and, the third figure shows the top view of the second figure. As shown in the figure, a torque measuring device 1 includes a body 11, a first connecting shaft 12, a moment arm assembly 13, a force sensor 14, a second connecting shaft 15, and a microcontroller 16 ( marked in the seventh figure), a wireless communication module 17 (marked in the seventh figure) and a power supply module 18, and has a central axis X.

The main body 11 has a first end portion E1 and a second end portion E2, and defines an accommodating space S1. In this embodiment, the body 11 further includes a body end plate 111 and two fixing plates 112a, 112b. The fixing plates 112a, 112b are located on one side of the central axis X. As shown in FIG.

The first connecting shaft 12 is located at the first end E1 of the body 11 and is connected and fixed to the body 11 . In this embodiment, the first connecting shaft 12 is connected and fixed to the body end plate 111 of the body 11 .

The moment arm component 13 is connected and fixed to the first connecting shaft 12 , located in the accommodating space S1 of the main body 11 , and has a moment arm between the central axis X. In this embodiment, the moment arm assembly 13 includes a first moment arm section 131 , a second moment arm section 132 and a connecting section 133 . The first arm section 131 and the second arm section 132 are arranged corresponding to each other, and both the first arm section 131 and the second arm section 132 are located on the other side of the central axis X. The connection section 133 connects the first moment arm section 131 and the second moment arm section 132 , and connects and fixes the first connection shaft 12 .

In more detail, due to the relationship between the fixing plates 112a and 112b of the main body 11, a first center of gravity axis X1 of the main body 11 will deviate from the central axis X; The relationship between the two moment arm sections 132 and a connecting section 133 , therefore, a second barycentric axis X2 of the moment arm assembly 13 deviates from the central axis X. As shown in the third figure, the first center-of-gravity axis X1 is located on one side of the central axis X, and the second center-of-gravity axis X2 is located on the other side of the central axis X relative to the first center-of-gravity axis X1.

The force sensor 14 is connected and fixed to the arm assembly 13 . In this embodiment, part of the force sensor 14 is fixed by the fixing plates 112 a and 112 b , and part of the force sensor 14 is fixed by the first moment arm section 131 and the second moment arm section 132 . The force sensor 14 is used for sensing a rotational thrust exerted by the arm assembly 13

The second connecting shaft 15 is located at the second end E2 of the body 11 and is connected and fixed to the body 11 .

The microcontroller 16 is located in the accommodating space S1 and connected to one of the main body 11 , the force arm assembly 13 and the force sensor 14 .

The wireless communication module 17 is located in the accommodating space S1 and is connected to one of the body 11 , the force arm assembly 13 and the force sensor 14 . It should be noted that the connection of the wireless communication module 17 to the main body 11 , the force arm assembly 13 and the force sensor 14 is not limited to be the same as the connection to the microcontroller 16 . The wireless communication module 17 is electrically connected to the microcontroller 16 .

The power supply module 18 is located in the accommodating space S1 and is connected to one of the main body 11 , the moment arm assembly 13 and the force sensor 14 . It should be noted that one of the power supply module 18 connected to the main body 11, the arm assembly 13 and the force sensor 14 is not limited to the one connected to the microcontroller 16 or the one connected to the wireless communication module 17. The linked ones are the same. The power supply module 18 is used to supply power to the force sensor 14 , the microcontroller 16 and the wireless communication module 17 .

It should be noted that, in this embodiment, the microcontroller 16 and the wireless communication module 17 are structurally integrated into a control communication component 160 . The power supply module 18 and the control communication component 160 are respectively arranged on both sides of the central axis X. In this embodiment, the power supply module 18 and the control communication component 160 are symmetrically arranged around the central axis X.

Next, please refer to the first figure, the fourth figure and the fifth figure together, wherein, the fourth figure shows the A-A sectional view of the first figure; and the fifth figure shows the B-B sectional view of the first figure picture.

As shown in FIG. 4 , the fixing plates 112 a , 112 b are misaligned with the first moment arm section 131 and the second moment arm section 132 , and will not overlap each other, so as to be connected and fixed to the force sensor 14 .

In this embodiment, the force sensor 14 is a shear beam load cell (Load Cell), which usually includes at least one strain gauge and a bridge circuit. As shown in FIG. 5 , the force sensor 14 is a symmetrical structure with the central axis X as the axis of symmetry. The power supply module 18 , microcontroller 16 , and wireless communication module 17 are also arranged on both sides of the central axis X corresponding to each other.

Therefore, as mentioned above, the torque measuring device 1 is counterweighted around the central axis X, which facilitates the rotation.

Finally, please refer to the first figure and the fourth figure to the seventh figure together, wherein, the sixth figure is a schematic diagram showing that the torque measuring device provided by the preferred embodiment of the present invention is arranged between the motor and the load; and , the seventh figure is a block diagram showing the torque measurement system provided by the preferred embodiment of the present invention. As shown in the figure, a torque measurement system 100 includes a torque measurement device 1 and an electronic device 2 . The electronic device 2 is connected to the torque measuring device 1 through wireless communication, and includes a receiving module 21 and a display module 22 .

The torque measuring device 1 is rotatably arranged between a motor M and a load L, wherein the first connecting shaft 12 is connected to a rotary output shaft of the motor M at the first end E1, and the second connecting shaft 15 is A load L is connected to the second end E2. In practice, the load L can be a reducer.

When the motor M is running, the rotating output shaft will rotate accordingly. The first connecting shaft 12 is connected and fixed to the rotation output shaft of the motor M, therefore, the first connecting shaft 12 will drive the entire torque measuring device 1 to rotate together. Because the torque measuring device 1 is counterweighted around the central axis X, it will be beneficial to rotate together with the motor M. It should be noted that the figures are only for illustration and should not be taken as a limitation. In practice, the torque measuring device 1 is disposed between the motor M and the load L and rotates together with the motor M.

The force arm assembly 13 (marked in the second figure) is driven to rotate by the first connecting shaft 12 and contacts the force sensor 14 . At this time, the microcontroller 16 can use the force sensor 14 and the moment arm assembly 13 to calculate a torque information of an output torque output by the rotating output shaft of the motor M. In this embodiment, the microcontroller 16 uses the rotational thrust sensed by the force sensor 14 and the moment arm of the moment arm assembly 13 to calculate the aforementioned output torque. Then, the wireless communication module 17 transmits the torque information of the output torque by means of wireless communication. In this embodiment, the wireless communication module 17 adopts an NRF24L01 2.4G wireless transmitter, but it is not limited thereto.

The receiving module 21 of the electronic device 2 receives the above torque information. The display module 22 is electrically connected to the receiving module 21 for displaying the torque information, so that a user can know the output torque output by the motor M. The electronic device 2 can be a computer, a laptop, a mobile phone, etc., which can be connected to the torque measuring device 1 through wireless communication.

To sum up, the torque measurement device and system provided by the present invention use the main body, the first connecting shaft and the second connecting shaft to be rotatably arranged between the motor and the load, and use the moment arm assembly, force sensing The device, microcontroller and wireless communication module detect and transmit the torque information of the output torque output by the motor. Compared with the prior art, the torque measurement device provided by the present invention can rotate with the motor and use The wireless communication method transmits the torque information of the output torque output by the motor. Therefore, the present invention can achieve the effects of lowering the price and simplifying the manufacturing process, and does not need complete supporting peripheral equipment and centering operations as in the prior art. Measure. In addition, because the present invention uses wireless communication to transmit torque information, it does not need wiring and other operations like the prior art.

Through the above detailed description of the preferred embodiments, it is hoped that the characteristics and spirit of the present invention can be described more clearly, and the scope of the present invention is not limited by the preferred embodiments disclosed above. On the contrary, the intention is to cover various changes and equivalent arrangements within the scope of the claimed patent scope of the present invention.

100: Torque measurement system 1: Torque measuring device 11: Ontology 111: body end plate 112a, 112b: fixed plate 12: The first connecting shaft 13: arm assembly 131: The first moment arm section 132: Second moment arm section 133: link segment 14: Force sensor 15: The second connecting shaft 160: Control communication components 16: Microcontroller 17: Wireless communication module 18: Power supply module 2: Electronic device 21: Receiving module 22: Display module E1: first end E2: second end L: load M: motor S1: storage space X: central axis X1: the first axis of gravity X2: Second axis of gravity

The first figure is a perspective view showing the torque measuring device provided by the preferred embodiment of the present invention; The second figure is an exploded view showing the torque measuring device provided by the preferred embodiment of the present invention; The third figure shows the view above the second figure; The fourth figure shows the section A─A of the first figure; The fifth figure shows the B─B sectional view of the first figure; The sixth figure is a schematic diagram showing that the torque measuring device provided by the preferred embodiment of the present invention is arranged between the motor and the load; and The seventh figure is a block diagram showing the torque measurement system provided by the preferred embodiment of the present invention.

1: Torque measuring device

11: Ontology

111: body end plate

112a, 112b: fixed plate

12: The first connecting shaft

13: arm assembly

131: The first moment arm section

132: Second moment arm section

133: link segment

14: Force sensor

15: The second connecting shaft

160: Control communication components

18: Power supply module

S1: storage space

X: central axis

Claims (9)

A torque measuring device is rotatably disposed between a motor and a load, has a central axis, and includes: A body has a first end and a second end, and defines an accommodating space; A first connecting shaft, located at the first end, is connected and fixed between the body and a rotating output shaft of the motor; a moment arm assembly, connected and fixed to the first connecting shaft, located in the accommodating space, and has a moment arm between the central axis; A force sensor, which is connected and fixed to the force arm assembly, is used to sense a rotational thrust of the force arm assembly exerted by the force arm on the force sensor when the motor is in operation; A second connecting shaft is located at the second end and connected and fixed between the body and the load; A micro-controller is located in the accommodating space, connects the main body, the force arm assembly and one of the force sensor, and is electrically connected to the force sensor, for controlling the force arm and the rotation The torque information of the output torque output by the motor is calculated from the thrust; A wireless communication module is located in the accommodating space, connects the main body, the moment arm assembly and one of the force sensors, and is electrically connected to the microcontroller to receive the torque information and utilize The torque information of the output torque is transmitted by wireless communication; and A power supply module is located in the accommodating space, connects the main body, the arm assembly and one of the force sensors, and is respectively arranged on both sides of the central axis with the wireless communication module, and used To supply power to the force sensor, the microcontroller and the wireless communication module. The torque measuring device as described in claim 1, wherein the main system has two fixing plates, and the two fixing plates are located on one side of the central axis for fixing the force sensor. The torque measuring device as described in claim 2, wherein the moment arm assembly includes: A first moment arm section is located on the other side of the central axis; A second moment arm section is arranged opposite to the first moment arm section, and is located on the other side of the above-mentioned central axis, so as to connect and fix the force sensor; and A connection section is connected and fixed to the first connection shaft, and connects the first moment arm section and the second moment arm section. The torque measuring device as claimed in claim 3, wherein the body has a first center of gravity axis, the moment arm assembly has a second center of gravity axis, the first center of gravity axis deviates from the center axis, and The second center-of-gravity axis system deviates from the central axis relative to the first center-of-gravity axis. The torque measuring device as claimed in claim 1, wherein the force sensor includes at least one strain gauge. The torque measuring device according to claim 5, wherein the force sensor is a load cell. The torque measuring device as claimed in claim 6, wherein the force sensor is a shear beam load cell. The torque measuring device as described in Claim 1, wherein the wireless communication module is a NRF24L01 2.4G wireless transmitter. A torque measurement system comprising: A torque measuring device is disposed between a motor and a load, has a central axis, and includes: A body has a first end and a second end, and defines an accommodating space; A first connecting shaft, located at the first end, is connected and fixed between the body and a rotating output shaft of the motor; a moment arm assembly, connected and fixed to the first connecting shaft, located in the accommodating space, and has a moment arm between the central axis; A force sensor, which is connected and fixed to the force arm assembly, is used to sense a rotational thrust of the force arm assembly exerted by the force arm on the force sensor when the motor is in operation; A second connecting shaft is located at the second end and connected and fixed between the body and the load; A micro-controller is located in the accommodating space, connects the main body, the force arm assembly and one of the force sensor, and is electrically connected to the force sensor, for controlling the force arm and the rotation The torque information of the output torque output by the motor is calculated from the thrust; A wireless communication module is located in the accommodating space, connects the main body, the moment arm assembly and one of the force sensors, and is electrically connected to the microcontroller to receive the torque information and utilize The torque information of the output torque is transmitted by wireless communication; and A power supply module is located in the accommodating space, connects the main body, the arm assembly and one of the force sensors, and is respectively arranged on both sides of the central axis with the wireless communication module, and used to provide power to the force sensor, the microcontroller and the wireless communication module; and An electronic device is wirelessly connected to the torque measuring device, and includes: a receiving module for receiving the torque information; and A display module is electrically connected to the receiving module for displaying the torque information.

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