TWI801828B - Torque measuring device and system thereof - Google Patents

Torque measuring device and system thereof Download PDF

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TWI801828B
TWI801828B TW110111058A TW110111058A TWI801828B TW I801828 B TWI801828 B TW I801828B TW 110111058 A TW110111058 A TW 110111058A TW 110111058 A TW110111058 A TW 110111058A TW I801828 B TWI801828 B TW I801828B
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torque
force
force sensor
measuring device
arm assembly
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TW110111058A
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TW202238089A (en
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廖志勇
俞賢來
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東元電機股份有限公司
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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

轉矩量測裝置及系統Torque measurement device and system

本發明係有關於一種裝置及系統,尤其是指一種轉矩量測裝置及系統。The present invention relates to a device and system, in particular to a torque measuring device and system.

馬達為一種常見的旋轉動力機械,又稱電動機、電動馬達,是一種將電能轉換成動能,可用來驅動其他裝置的電器設備,在現今生活中被廣泛地應用。馬達的原理與發電機大致相同,主要差異在於能源轉換的不同。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.

對於馬達這種旋轉動力機械而言,若要獲取馬達的轉動輸出軸的輸出扭力,先前技術的做法是使用扭力計(Torque Meter)。扭力計會架設在馬達與一負載之間,並利用有線傳輸方式將偵測到的輸出扭力的扭力資訊傳送出。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.

然而,扭力計的價格昂貴、需要整個完整配套的周邊設備並且需要針對兩側的馬達與負載進行對心作業後,才能執行輸出扭力的偵測作業。不同的扭力計所能承受的輸出扭力上限以及轉速上限都不同,因此,因應不同的輸出扭力或轉速,還需要另外更換成適合的扭力計。此外,先前技術中的扭力計採用有線傳輸方式將扭力資訊傳送出,所以扭力計必須設計成不會隨馬達的轉動輸出軸旋轉,設計與製程的複雜度較高。因此,先前技術中的扭力計存在改善的空間。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.

有鑒於在先前技術中,扭力計存在價格昂貴、需要和馬達與負載進行對心作業、需要完整配套的周邊設備才能偵測、需要因應不同的輸出扭力或是轉速更換適合的扭力計、有線傳輸造成的設計與製程複雜度較高等問題。本發明之一主要目的係提供一種轉矩量測裝置,用以解決先前技術中的至少一個問題。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.

本發明為解決先前技術之問題,所採用之必要技術手段為提供一種轉矩量測裝置,係可旋轉地設置於一馬達與一負載之間,具有一中心軸,並包含一本體、一第一連結軸、一力臂組件、一力量感測器、一第二連結軸、一微控制器、一無線通訊模組與一供電模組。本體具有一第一端部與一第二端部,並且開設有一容置空間。第一連結軸位於第一端部,連結固定於本體與馬達之一轉動輸出軸。力臂組件連結固定於第一連結軸,位於容置空間內,並且與中心軸之間存在一力臂。力量感測器連結固定力臂組件,用以在馬達運作時感測力臂組件以力臂施加在力量感測器上之一轉動推力。第二連結軸位於第二端部,並連結固定於本體與負載。微控制器位於容置空間內,連結本體、力臂組件與力量感測器中之一者,電性連接力量感測器,用以依據力臂與轉動推力計算出馬達所輸出之一輸出扭力之一扭力資訊。無線通訊模組位於容置空間內,連結本體、力臂組件與力量感測器中之一者,電性連接微控制器,用以接收扭力資訊,並利用無線通訊方式將輸出扭力之扭力資訊傳送出。供電模組位於容置空間內,連結本體、力臂組件與力量感測器中之一者,並與無線通訊模組分別設置中心軸之兩側,且用以對力量感測器、微控制器與無線通訊模組進行供電。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.

在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使轉矩量測裝置中之本體,係具有二固定板,固定板位於中心軸之一側,用以固定力量感測器。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.

在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使轉矩量測裝置中之力臂組件,包含一第一力臂段、一第二力臂段與一連結段。第一力臂段位於中心軸之另一側。第二力臂段相對第一力臂段而設置,且位於上述中心軸之另一側,藉以連結固定力量感測器。連結段連結固定第一連結軸,且連結第一力臂段與第二力臂段。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.

在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使轉矩量測裝置中之本體,係具有一第一重心軸,力臂組件係具有一第二重心軸,第一重心軸係偏離於中心軸,且第二重心軸係相對第一重心軸而偏離於中心軸。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.

在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使轉矩量測裝置中之力量感測器,係包含至少一應變規。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.

在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使轉矩量測裝置中之力量感測器,係一荷重元。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.

在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使轉矩量測裝置中之力量感測器,係一剪切梁型荷重元。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.

在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使轉矩量測裝置中之無線通訊模組,係一NRF24L01 2.4G無線傳輸器。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.

本發明為解決先前技術之問題,所採用之必要技術手段為另外提供一種轉矩量測系統,包含一轉矩量測裝置與一電子裝置。轉矩量測裝置,係可旋轉地設置於一馬達與一負載之間,具有一中心軸,並包含一本體、一第一連結軸、一力臂組件、一力量感測器、一第二連結軸、一微控制器、一無線通訊模組與一供電模組。本體具有一第一端部與一第二端部,並且開設有一容置空間。第一連結軸位於第一端部,連結固定於本體與馬達之一轉動輸出軸。力臂組件連結固定於第一連結軸,並且位於容置空間內。力量感測器連結固定力臂組件。第二連結軸位於第二端部,並連結固定於本體與負載。微控制器位於容置空間內,連結本體、力臂組件與力量感測器中之一者,電性連接力臂組件與力量感測器,用以偵測計算出馬達所輸出之一輸出扭力之一扭力資訊。無線通訊模組位於容置空間內,連結本體、力臂組件與力量感測器中之一者,電性連接微控制器,用以接收扭力資訊,並利用無線通訊方式將輸出扭力之扭力資訊傳送出。供電模組位於容置空間內,連結本體、力臂組件與力量感測器中之一者,並與無線通訊模組對應中心軸而對稱地設置,且用以對力量感測器、微控制器與無線通訊模組進行供電。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.

電子裝置無線通訊連結轉矩量測裝置,並包含一接收模組與一顯示模組。接收模組用以接收扭力資訊。顯示模組電性連接接收模組,用以顯示扭力資訊。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.

承上所述,本發明所提供之轉矩量測裝置及系統,利用本體、第一連結軸與第二連結軸可旋轉地設置於馬達與負載之間,並利用力臂組件、力量感測器、微控制器與無線通訊模組偵測並傳送出馬達所輸出的輸出扭力的扭力資訊,相較於先前技術,本發明所提供之轉矩量測裝置可以隨著馬達一起旋轉,並且利用無線通訊方式將馬達所輸出的輸出扭力的扭力資訊傳送出來,因此,本發明可以達到降低價格、製程簡單等功效,也不需要如先前技術的完整配套的周邊設備、進行對心作業才可以進行量測。此外,本發明因為利用無線通訊方式傳送扭力資訊,故也不用像先前技術一樣需要進行佈線等作業。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.

下面將結合示意圖對本發明的具體實施方式進行更詳細的描述。根據下列描述和申請專利範圍,本發明的優點和特徵將更清楚。需說明的是,圖式均採用非常簡化的形式且均使用非精準的比例,僅用以方便、明晰地輔助說明本發明實施例的目的。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.

請參閱第一圖至第三圖,其中,第一圖係顯示本發明較佳實施例所提供之轉矩量測裝置之立體圖;第二圖係顯示本發明較佳實施例所提供之轉矩量測裝置之分解圖;以及,第三圖係顯示第二圖之上視圖。如圖所示,一種轉矩量測裝置1包含一本體11、一第一連結軸12、一力臂組件13、一力量感測器14、一第二連結軸15、一微控制器16(標示於第七圖)、一無線通訊模組17(標示於第七圖)與一供電模組18,並具有一中心軸X。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.

本體11具有一第一端部E1與一第二端部E2,並且開設有一容置空間S1。在本實施例中,本體11更包含一本體端板111與二固定板112a、112b。固定板112a、112b位於中心軸X的一側。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.

第一連結軸12位於本體11的第一端部E1,並且連結固定於本體11。在本實施例中,第一連結軸12連結固定於本體11的本體端板111。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 .

力臂組件13連結固定於第一連結軸12,位於本體11的容置空間S1內,並且與中心軸X之間存在一力臂。在本實施例中,力臂組件13包含一第一力臂段131、一第二力臂段132與一連結段133。第一力臂段131與第二力臂段132彼此相對應而設,且第一力臂段131與第二力臂段132兩者皆位於中心軸X的另一側。連結段133連結第一力臂段131與第二力臂段132,並且連結固定第一連結軸12。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 .

更詳細的說明,本體11因為固定板112a、112b的關係,因此,本體11的一第一重心軸X1會偏離於中心軸X;力臂組件13也會因為第一力臂段131、一第二力臂段132與一連結段133的關係,因此,力臂組件13的一第二重心軸X2會偏離於中心軸X。如第三圖所示,第一重心軸X1會位於中心軸X的一側,第二重心軸X2會相對於第一重心軸X1而位於中心軸X的另一側。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.

力量感測器14連結固定於力臂組件13。在本實施例中,部分的力量感測器14受到固定板112a、112b固定,部分的力量感測器14受到第一力臂段131與第二力臂段132固定。力量感測器14用以感測力臂組件13施加的一轉動推力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

第二連結軸15位於本體11的第二端部E2,並且連結固定於本體11。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 .

微控制器16位於容置空間S1內,並且連結本體11、力臂組件13與力量感測器14中的一者。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 .

無線通訊模組17位於容置空間S1內,並且連結本體11、力臂組件13與力量感測器14中的一者。需說明的是,無線通訊模組17連結本體11、力臂組件13與力量感測器14中的一者並沒有限定成要與微控制器16所連結的一者相同。無線通訊模組17電性連接微控制器16。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 .

供電模組18位於容置空間S1內,並且連結本體11、力臂組件13與力量感測器14中的一者。需說明的是,供電模組18連結本體11、力臂組件13與力量感測器14中的一者並沒有限定成要與微控制器16所連結的一者或是無線通訊模組17所連結的一者相同。供電模組18用以對力量感測器14、微控制器16與無線通訊模組17進行供電。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 .

需說明的是,在本實施例中,微控制器16與無線通訊模組17結構一體化成一控制通訊組件160。供電模組18和控制通訊組件160會分別設置於中心軸X的兩側,在本實施例中,供電模組18和控制通訊組件160會以中心軸X為中心,彼此對稱地設置。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.

接著,請一併參閱第一圖、第四圖與第五圖,其中,第四圖係顯示第一圖之A─A剖面圖;以及,第五圖係顯示第一圖之B─B剖面圖。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.

如第四圖所示,固定板112a、112b會與第一力臂段131、第二力臂段132錯位,彼此不會重疊,藉以連結固定於力量感測器14。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 .

在本實施例中,力量感測器14是一剪切梁型荷重元(Load Cell),通常包含至少一應變規與橋式電路。如第五圖所示,力量感測器14為一對稱結構,並且以中心軸X為對稱軸。供電模組18、微控制器16、無線通訊模組17也會彼此對應中心軸X而設置於中心軸X的兩側。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.

因此,如上所述,轉矩量測裝置1以中心軸X為中心進行配重,將有利於旋轉。Therefore, as mentioned above, the torque measuring device 1 is counterweighted around the central axis X, which facilitates the rotation.

最後,請一併參閱第一圖與第四圖至第七圖,其中,第六圖係顯示本發明較佳實施例所提供之轉矩量測裝置設置於馬達與負載之間之示意圖;以及,第七圖係顯示本發明較佳實施例所提供之轉矩量測系統之方塊圖。如圖所示,一種轉矩量測系統100包含轉矩量測裝置1與一電子裝置2。電子裝置2係無線通訊連結轉矩量測裝置1,並包含一接收模組21與一顯示模組22。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 .

轉矩量測裝置1可旋轉地設置於一馬達M與一負載L之間,其中,第一連結軸12於第一端部E1連結馬達M的一轉動輸出軸,第二連結軸15則是於第二端部E2連結負載L。實務上,負載L可以是減速機。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.

當馬達M運轉時,轉動輸出軸會隨之旋轉。第一連結軸12連結固定於馬達M的轉動輸出軸,因此,第一連結軸12會帶動整個轉矩量測裝置1一起旋轉。因為轉矩量測裝置1是以中心軸X為中心進行配重,將有利於與馬達M一起旋轉。需說明的是,圖式僅為示意,不應以此為限制,實務上,轉矩量測裝置1就是設置於馬達M與負載L之間,並且會與馬達M一起旋轉。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.

力臂組件13(標示於第二圖)會受到第一連結軸12帶動而旋轉,並且會接觸到力量感測器14。此時,微控制器16便可以利用力量感測器14與力臂組件13,藉以計算出馬達M的轉動輸出軸所輸出的一輸出扭力的一扭力資訊。在本實施例中,微控制器16會利用力量感測器14所感測到的轉動推力以及力臂組件13的力臂,進而計算出上述的輸出扭力。接著,無線通訊模組17便會利用無線通訊的方式將輸出扭力的扭力資訊傳送出。在本實施例中,無線通訊模組17係採用一NRF24L01 2.4G無線傳輸器,但不以此為限。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.

電子裝置2的接收模組21則會接收上述扭力資訊。顯示模組22電性連接接收模組21,用以顯示上述扭力資訊,藉以供一使用者得知馬達M所輸出的輸出扭力。電子裝置2可為電腦、筆電、手機等可以無線通訊連結轉矩量測裝置1的裝置。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.

綜上所述,本發明所提供之轉矩量測裝置及系統,利用本體、第一連結軸與第二連結軸可旋轉地設置於馬達與負載之間,並利用力臂組件、力量感測器、微控制器與無線通訊模組偵測並傳送出馬達所輸出的輸出扭力的扭力資訊,相較於先前技術,本發明所提供之轉矩量測裝置可以隨著馬達一起旋轉,並且利用無線通訊方式將馬達所輸出的輸出扭力的扭力資訊傳送出來,因此,本發明可以達到降低價格、製程簡單等功效,也不需要如先前技術的完整配套的周邊設備、進行對心作業才可以進行量測。此外,本發明因為利用無線通訊方式傳送扭力資訊,故也不用像先前技術一樣需要進行佈線等作業。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.

藉由以上較佳具體實施例之詳述,係希望能更加清楚描述本發明之特徵與精神,而並非以上述所揭露的較佳具體實施例來對本發明之範疇加以限制。相反地,其目的是希望能涵蓋各種改變及具相等性的安排於本發明所欲申請之專利範圍的範疇內。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:轉矩量測系統 1:轉矩量測裝置 11:本體 111:本體端板 112a,112b:固定板 12:第一連結軸 13:力臂組件 131:第一力臂段 132:第二力臂段 133:連結段 14:力量感測器 15:第二連結軸 160:控制通訊組件 16:微控制器 17:無線通訊模組 18:供電模組 2:電子裝置 21:接收模組 22:顯示模組 E1:第一端部 E2:第二端部 L:負載 M:馬達 S1:容置空間 X:中心軸 X1:第一重心軸 X2:第二重心軸 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

第一圖係顯示本發明較佳實施例所提供之轉矩量測裝置之立體圖; 第二圖係顯示本發明較佳實施例所提供之轉矩量測裝置之分解圖; 第三圖係顯示第二圖之上視圖; 第四圖係顯示第一圖之A─A剖面圖; 第五圖係顯示第一圖之B─B剖面圖; 第六圖係顯示本發明較佳實施例所提供之轉矩量測裝置設置於馬達與負載之間之示意圖;以及 第七圖係顯示本發明較佳實施例所提供之轉矩量測系統之方塊圖。 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:轉矩量測裝置 1: Torque measuring device

11:本體 11: Ontology

111:本體端板 111: body end plate

112a,112b:固定板 112a, 112b: fixed plate

12:第一連結軸 12: The first connecting shaft

13:力臂組件 13: arm assembly

131:第一力臂段 131: The first moment arm section

132:第二力臂段 132: Second moment arm section

133:連結段 133: link segment

14:力量感測器 14: Force sensor

15:第二連結軸 15: The second connecting shaft

160:控制通訊組件 160: Control communication components

18:供電模組 18: Power supply module

S1:容置空間 S1: storage space

X:中心軸 X: central axis

Claims (9)

一種轉矩量測裝置,係可旋轉地設置於一馬達與一負載之間,具有一中心軸,並包含: 一本體,係具有一第一端部與一第二端部,並且開設有一容置空間; 一第一連結軸,係位於該第一端部,連結固定於該本體與該馬達之一轉動輸出軸; 一力臂組件,係連結固定於該第一連結軸,位於該容置空間內,並且與該中心軸之間存在一力臂; 一力量感測器,係連結固定該力臂組件,用以在該馬達運作時感測該力臂組件以該力臂施加在該力量感測器上之一轉動推力; 一第二連結軸,係位於該第二端部,並連結固定於該本體與該負載; 一微控制器,係位於該容置空間內,連結該本體、該力臂組件與該力量感測器中之一者,電性連接該力量感測器,用以依據該力臂與該轉動推力計算出該馬達所輸出之一輸出扭力之一扭力資訊; 一無線通訊模組,係位於該容置空間內,連結該本體、該力臂組件與該力量感測器中之一者,電性連接該微控制器,用以接收該扭力資訊,並利用無線通訊方式將該輸出扭力之該扭力資訊傳送出;以及 一供電模組,係位於該容置空間內,連結該本體、該力臂組件與該力量感測器中之一者,並與該無線通訊模組分別設置該中心軸之兩側,且用以對該力量感測器、該微控制器與該無線通訊模組進行供電。 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. 如請求項1所述之轉矩量測裝置,其中,該本體係具有二固定板,該二固定板係位於該中心軸之一側,用以固定該力量感測器。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. 如請求項2所述之轉矩量測裝置,其中,該力臂組件包含: 一第一力臂段,係位於該中心軸之另一側; 一第二力臂段,係相對該第一力臂段而設置,且位於上述該中心軸之另一側,藉以連結固定該力量感測器;以及 一連結段,係連結固定該第一連結軸,且連結該第一力臂段與該第二力臂段。 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. 如請求項3所述之轉矩量測裝置,其中,該本體係具有一第一重心軸,該力臂組件係具有一第二重心軸,該第一重心軸係偏離於該中心軸,且該第二重心軸係相對該第一重心軸而偏離於該中心軸。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. 如請求項1所述之轉矩量測裝置,其中,該力量感測器包含至少一應變規。The torque measuring device as claimed in claim 1, wherein the force sensor includes at least one strain gauge. 如請求項5所述之轉矩量測裝置,其中,該力量感測器係一荷重元。The torque measuring device according to claim 5, wherein the force sensor is a load cell. 如請求項6所述之轉矩量測裝置,其中,該力量感測器係一剪切梁型荷重元。The torque measuring device as claimed in claim 6, wherein the force sensor is a shear beam load cell. 如請求項1所述之轉矩量測裝置,其中,該無線通訊模組係一NRF24L01 2.4G無線傳輸器。The torque measuring device as described in Claim 1, wherein the wireless communication module is a NRF24L01 2.4G wireless transmitter. 一種轉矩量測系統,包含: 一轉矩量測裝置,係設置於一馬達與一負載之間,具有一中心軸,並包含: 一本體,係具有一第一端部與一第二端部,並且開設有一容置空間; 一第一連結軸,係位於該第一端部,連結固定於該本體與該馬達之一轉動輸出軸; 一力臂組件,係連結固定於該第一連結軸,位於該容置空間內,並且與該中心軸之間存在一力臂; 一力量感測器,係連結固定該力臂組件,用以在該馬達運作時感測該力臂組件以該力臂施加在該力量感測器上之一轉動推力; 一第二連結軸,係位於該第二端部,並連結固定於該本體與該負載; 一微控制器,係位於該容置空間內,連結該本體、該力臂組件與該力量感測器中之一者,電性連接該力量感測器,用以依據該力臂與該轉動推力計算出該馬達所輸出之一輸出扭力之一扭力資訊; 一無線通訊模組,係位於該容置空間內,連結該本體、該力臂組件與該力量感測器中之一者,電性連接該微控制器,用以接收該扭力資訊,並利用無線通訊方式將該輸出扭力之該扭力資訊傳送出;以及 一供電模組,係位於該容置空間內,連結該本體、該力臂組件與該力量感測器中之一者,並與該無線通訊模組分別設置該中心軸之兩側,且用以對該力量感測器、該微控制器與該無線通訊模組進行供電;以及 一電子裝置,係無線通訊連結該轉矩量測裝置,並包含: 一接收模組,係用以接收該扭力資訊;以及 一顯示模組,係電性連接該接收模組,用以顯示該扭力資訊。 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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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW543774U (en) * 2002-08-15 2003-07-21 Univ Nat Central Torque measure apparatus
TWM398115U (en) * 2010-07-12 2011-02-11 Legend Lifestyle Products Corp Multifunctional Torsion test apparatus
US20180149533A1 (en) * 2016-11-30 2018-05-31 Prodrives & Motions Co., Ltd. Axial rotation type torque sensor

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW543774U (en) * 2002-08-15 2003-07-21 Univ Nat Central Torque measure apparatus
TWM398115U (en) * 2010-07-12 2011-02-11 Legend Lifestyle Products Corp Multifunctional Torsion test apparatus
US20180149533A1 (en) * 2016-11-30 2018-05-31 Prodrives & Motions Co., Ltd. Axial rotation type torque sensor

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