WO2001067059A1 - Detecteur de rotation - Google Patents
Detecteur de rotation Download PDFInfo
- Publication number
- WO2001067059A1 WO2001067059A1 PCT/JP2001/001777 JP0101777W WO0167059A1 WO 2001067059 A1 WO2001067059 A1 WO 2001067059A1 JP 0101777 W JP0101777 W JP 0101777W WO 0167059 A1 WO0167059 A1 WO 0167059A1
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- WO
- WIPO (PCT)
- Prior art keywords
- rotation sensor
- rotation
- sensor according
- magnetic material
- rotor
- Prior art date
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
- G01L3/101—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means
- G01L3/105—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means involving inductive means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
- G01D5/2053—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by a movable non-ferromagnetic conductive element
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
- G01L3/109—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving measuring phase difference of two signals or pulse trains
Definitions
- the present invention relates to a rotation sensor that detects a relative rotation angle and a rotation angle between two members that rotate relatively.
- a rotation sensor that detects the relative rotation angle between two members that rotate relative to each other
- a fixed magnetic member 1 having an excitation coil and a magnetic material rotor 2 having irregularities on the outer periphery are used.
- a rotation sensor in which a metal opening 3 having a plurality of metal teeth 3a is arranged at a predetermined gap, for example, for detecting torque acting on a steering shaft of an automobile.
- the excitation coil is electrically connected to the oscillation circuit and the signal detection circuit, and an alternating current of a constant frequency is caused to flow, whereby an alternating magnetic field is formed in a magnetic circuit arranged around the coil.
- a plurality of metal teeth 3a are arranged at equal intervals in the circumferential direction.
- the detection device detects the change in the impedance of the coil by the signal detection circuit, and thereby determines the relative rotation angle of the two ports 1, 2, that is, the relative rotation angle between the two relatively rotating members. Detected (
- the impedance of the coil fluctuates due to disturbances such as fluctuations in environmental temperature, electromagnetic noise, fluctuations in the oscillation frequency in the oscillation circuit, power supply voltage, and assembly errors. There was a problem that it was difficult to accurately detect the relative rotation angle and the rotation angle.
- the present invention has been made in view of the above points, and it is an object of the present invention to provide a rotation sensor capable of detecting a relative rotation angle and a rotation angle accurately with little change in detection accuracy even when various disturbances are present. With the goal. Disclosure of the invention
- a first rotation sensor of the present invention has an insulating magnetic material layer and a first conductor layer, and has an axis of one of a first and a second rotation shaft that rotates relative to each other.
- a first rotor mounted at a predetermined position in a direction, two excitation coils arranged at a predetermined interval in an axial direction of a rotation axis of the mouth, and a core body accommodating the excitation coil.
- a rotation sensor for detecting a relative rotation angle of Fluctuation detecting means for detecting fluctuations of the respective impedances generated in the two excitation coils according to the magnitude of the eddy current generated by the first and second rows, and a difference between the detected fluctuations in the impedance.
- the first rotor comprises: One conductor layer is disposed on at least one side of the insulating magnetic material layer as viewed in the rotation axis direction, and is provided at a predetermined interval in a circumferential direction;
- the core body containing the two exciting coils is arranged plane-symmetrically with respect to a plane perpendicular to the plane, and the second conductor layer corresponds to the first conductor layer in the second port. That is, it is configured to be provided on the outer periphery at intervals.
- the rotation sensor is attached to a rotation shaft, and the insulating magnetic material layer is provided at a central angle of 180 degrees in the insulating magnetic material layer.
- a rotor having a first conductor layer, two excitation coils arranged at a predetermined interval in an axial direction of the rotating shaft of the rotor, and a core body accommodating the excitation coils;
- a second conductor layer is provided in a range of a central angle of 180 degrees on at least one of the excitation coil and the core body as viewed in the direction of the rotation axis, and the excitation is performed on a plane orthogonal to the rotation axis.
- a core body accommodating a coil is disposed symmetrically with respect to a plane, and a fixed core attached to a fixing member; an oscillating means electrically connected to each of the excitation coils to oscillate an oscillation signal of a specific frequency; Depending on the size of the flow A fluctuation detecting means for detecting a fluctuation of each impedance generated in the two exciting coils; a difference detecting means for obtaining a difference between the detected impedance fluctuation amounts; and a rotation based on the detected difference. It is provided with measuring means for measuring the angle, and is configured to detect the rotation angle of the rotary shaft.
- a third rotation sensor of the present invention has a configuration in which the first rotation sensor and the second rotation sensor are combined.
- FIG. 1 is an exploded perspective view showing a rotation sensor according to a first embodiment of the present invention
- FIG. 2 is a cross-sectional view of the rotation sensor shown in FIG. 1 cut along a diameter direction
- FIG. FIG. 4 is a development view showing a positional relationship between a first conductor layer provided on the first rotor and a second conductor layer provided on the second rotor in a state in which the first rotor is developed
- FIG. FIG. 5 is a circuit diagram showing an example of a relative rotation angle measuring device used in the rotation sensor shown in FIG. 1.
- FIG. 5 is a circuit diagram showing voltage values S 1, S 2 and voltage obtained by the relative rotation angle measuring device shown in the circuit diagram in FIG. FIG.
- FIG. 6 is a voltage characteristic diagram showing a relationship between signals Tl and T2 relating to values and relative rotation angles of the first and second ports.
- FIG. 6 is a cross-sectional view of a rotation sensor according to a second embodiment of the present invention.
- FIG. 7 is a front view of the rotation sensor of FIG. 6, and
- FIG. Fig. 8 is a developed view showing the positional relationship with the conductor layers of Fig. 2 as both conductor layers are expanded
- Fig. 8 is a circuit diagram showing an example of a rotation angle measuring device used in the rotation sensor of Fig. 6, and
- Fig. 9 is a diagram of Fig. FIG.
- FIG. 8 is a circuit diagram showing a voltage characteristic diagram showing the relationship between the voltages S 1 and S 2 obtained by the rotation angle measuring device and the signal T 1 relating to the voltage value and the rotation angle of the rotor
- FIG. FIG. 11 is a cross-sectional front view of a rotation sensor according to the third embodiment
- FIG. 11 is a circuit diagram showing an example of a relative rotation angle and rotation angle measurement device
- the rotation sensor 10 includes a first rotor 11, a fixed core 12, a second rotor 13, and a relative rotation angle measuring device 14.
- the driven shaft rotates relative to the driven shaft within a range of ⁇ 8 °.
- the first rotor 11 is made of an electrically insulating thermoplastic synthetic resin such as nylon, polypropylene (PP), polyphenylene sulfide (PPS), or ABS resin, and is made of Ni—Zn or Mn—Zn. It is formed into a cylindrical shape by an insulating magnetic material in which a soft magnetic material powder made of ferrite is mixed at a content of 10 to 70% by volume, and is attached to a predetermined position in the axial direction of the rotating main shaft. As shown in Fig. 1, the first opening 11 is arranged on the outer periphery in two stages in the direction of the rotation axis A rt, and at a predetermined interval in the circumferential direction, for example, the center angle is alternately shifted vertically. A plurality of copper foils 11a are provided at intervals of 30 °.
- the copper foil 11a may be disposed on at least one of the outer circumferences divided into upper and lower stages in the direction of the rotation axis Art, and may be provided at predetermined intervals in the circumferential direction. Therefore, the copper foil 11a is provided on the upper or lower side only at a predetermined interval, or is provided on the upper or lower side at a predetermined interval, and is provided on the lower or upper side over the entire circumference. You may.
- the conductor layer is made of a nonmagnetic conductor, other materials such as aluminum and silver can be used in addition to copper. These conductor layers including the copper foil 11a are formed inside the insulating magnetic material.
- the material may be embedded in the material, or a material obtained by pressing a thin plate made of such a material may be used.
- these conductive layers are about 0.1 to 0.5 mm when shielding the high-frequency magnetic field, taking into account the magnetic resistance based on the radial gap between the first rotor 11 and the fixed core 12. Is desirable. Change In theory, the number of the copper foil 11a as the conductor layer increases in theory as the center angle is reduced and the arrangement interval is reduced. For this reason, the rotation sensor 10 increases the amount of change in the total eddy current (in proportion to the number of conductor layers) induced in each copper foil 11a, thereby increasing the relative rotation angle detection sensitivity. The relative rotation angle range that can be measured becomes smaller.
- the fixed core 12 is arranged with a slight gap of about several millimeters in the radial direction from the first opening 11 and fixed to a fixed member (not shown) located near the steering shaft.
- the fixed core 12 includes two core bodies 12 a made of the same insulating magnetic material as the first rotor 11, and an excitation coil 12 housed in each core body 12 a. b, and a shielding case (hereinafter simply referred to as “case”) 12 c for accommodating both core bodies 12 a.
- Each excitation coil 12b is connected to a signal processing circuit (not shown) by a power line 12d (see Fig. 1) extending from the case 12c to the outside, and an alternating current flows from the signal processing circuit.
- the case 12c is made of a metal such as aluminum, copper, or iron having a shielding property against an alternating magnetic field, and is formed in a ring shape having two recesses 12e for accommodating each core body 12a.
- the fixed core 12 faces the two core bodies 12 a and the case 12 c containing the excitation coil 12 b with respect to a plane orthogonal to the rotation axis A rt. Place them symmetrically.
- the two excitation coils 1 2b can be set in the opposite winding direction or in the direction in which the alternating current flows, so that the magnetic circuit formed between May be reversed.
- the second rotor 13 is made of a synthetic resin having electrical insulation properties and excellent moldability, and is arranged on the outer periphery of the flange 13 a in parallel with the rotation axis Art.
- the plurality of blades 13 b are arranged uniformly.
- Each wing plate 13b is formed at an interval corresponding to each copper foil 11a, and a copper foil 13c is provided on the outer surface. Therefore, the copper foil 11a and the copper foil 13c provided in the first rotor 11 at upper and lower two stages at a predetermined interval in the circumferential direction are shown in a state where the first rotor 11 is unfolded as shown in FIG. become that way.
- the positions of the copper foil 11a and copper foil 13c shown in Fig. 3 are the reference positions for the relative rotation between the first mouth 11 and the second mouth 13; in other words, the relative rotation is zero. Position.
- the second row 13 is made of a conductor layer with a certain thickness (for example, a 0.2 mm copper layer) on the inner surface of each blade 13 b or the inner surface or inside of a cylindrical body made of insulating material. Foil or a material such as aluminum or silver) may be evenly arranged corresponding to 1 la of copper foil, or the whole may be formed of metal. It is.
- the second rotor 13 is disposed between the first opening 11 and the fixed core 12, and is attached to the driven shaft that rotates relative to the driving shaft.
- the first rotor 11 is attached to the driven shaft
- the second rotor 13 is attached to the driven shaft
- the fixed core 12 is fixed. It is fixed to members and assembled to the steering system.
- FIG. 4 is a circuit diagram showing an example of a relative rotation angle measuring device 14 of the rotation sensor.
- a measuring device 14 constitutes the oscillating means of claim 1, and includes an oscillating circuit 14a for oscillating an oscillating signal and a component for dividing the oscillating signal to output a pulse signal of a specific frequency.
- the phase shift means of claim 1 and each of the two exciting coils 12 b
- a phase shifter 14c for shifting the phase of the generated pulse signal, and a shift amount detecting means according to claim 1, wherein the first and second shifts detect each of the detected phase shift amounts.
- the first and second shift level adjusting units 14 h and 14 i for adjusting the level and the first shift amount difference detecting means according to claim 1 are constituted, and the first and second shift level adjusting units 14 h and 14 i are connected to each other. 2.
- a first shift amplifier 14j for obtaining a difference between a voltage corresponding to the shift amount and a voltage adjusted from the second shift level adjuster 14i, and a second shift amount difference detecting means according to claim 1.
- the oscillation circuit 14a outputs a pulse signal of a specific frequency to the phase shift unit 14c via the frequency dividing circuit 14b.
- the phase shift section 14c is configured such that the first exciting coils 12b and 12 of the present invention are connected in series, and the series-connected capacitor C1, resistor R1 and capacitor C2 are connected to the exciting coil 12b. , 1 2 b in parallel.
- the exciting coils 12b and 12b are wound around the fixed core 12 and an alternating current is passed through them.
- a magnetic circuit is formed in cooperation with the first row 11b.
- the phase shifter 14 c inputs from the frequency divider circuit 14 b connected between the excitation coils 12 b and 12 b according to the magnitude of the eddy current generated in the second port 13 Shifts the phase of the pulse signal.
- the first and second shift amount detectors 14 d and 14 e are provided with respective excitation coils 1 2 b is connected to one end.
- the first shift amount detector 14d calculates the amount of phase shift of the pulse signal between points A and B
- the second shift amount detector 14d calculates the amount of phase shift between points A and C. , The phase shift amount of the pulse signal is detected.
- the first and second comparators 14f and 14g convert the detected phase shift amounts into corresponding voltage values S1 and S2.
- the change in the total area of shielding magnetic flux by the plurality of copper foils 11a and the plurality of copper foils 13c is as shown in FIG.
- the gradient is reversed as shown in Fig. 5 because the upper excitation coil 12b and the lower excitation coil 12b are reversed.
- the shift level adjusters 14 h and 14 i adjust the shift levels of the voltage level signals S 1 and S 2 output from the converters 14 i and 14 g to adjust the shift levels of the first and second differential amplifiers 14.
- Output to j, 14k The first differential amplifier 14 j obtains the difference Tl between the voltage level signal S 1 from the comparator 14 f and the output signal from the shift level adjuster 14 i, and outputs the difference Tl to the relative rotation angle measuring unit 14 m. I do.
- the second differential amplifier 14k calculates the difference T2 between the voltage level signal S2 from the comparator 14g and the output signal from the shift level adjuster 14h to obtain the relative rotation angle. Output to measuring section 14m. At this time, since the gradients of the voltage level signal S1 and the voltage level signal S2 are opposite, the gradient of the difference T1 and the difference T2 is twice the gradient of the voltage level signals S1 and S2, respectively.
- the relative rotation angle measurement unit 14m measures the relative rotation angle of the two rows with high precision in the range of 18 ° to 18 ° based on the voltage values of these signals Tl and ⁇ 2. I do. Therefore, based on the relative rotation angle, the rotation sensor 10 operates based on the relationship between the previously determined torque acting between the drive shaft and the driven shaft and the relative rotation angle between the two shafts. You can find the torque you are working on.
- the relative rotation angle between the mouth and the mouth in the range of 18 ° to + 8 ° is obtained based on the voltage value of the signal Tl and ⁇ 2.
- the present invention is not limited to this.
- the relative rotation angle can be obtained based on one of the voltage values of the signals Tl and ⁇ 2.
- the rotation sensor 10 is configured such that, with respect to the plane orthogonal to the rotation axis A r U, the two core bodies 12 a and the case 12 c that house the excitation coil 12 b Are arranged in plane symmetry. For this reason, when measuring the relative rotation angle by the relative rotation angle measuring device 14, the rotation sensor 10 detects the fluctuation of the environmental temperature generated in the two excitation coils 12 b, the electromagnetic noise, and the oscillation frequency of the oscillation circuit. Disturbances such as fluctuations, power supply voltage, and assembly errors are canceled.
- the two exciting coils 12b can be set in the opposite direction to each other by setting the winding direction to the opposite direction or by passing the alternating current in the opposite direction. The direction may be reversed.
- the rotation sensor 10 does not include the influence of the disturbance in the signal Tl, ⁇ 2, even if various disturbances occur, the detection accuracy does not fluctuate much, and the relative rotation angle, and therefore the torque, can be accurately determined. Can be detected.
- the driving shaft and the driven shaft Figures 6 to 9 show the rotation sensor that detects the rotation angle between It will be described based on the following.
- the rotation sensor 20 includes a mouth 21, a fixed core 22, and a rotation angle measuring device 23.
- Rho 21 is attached to a steering shaft, and is formed into a cylindrical shape from the same insulating magnetic material as the first rotor 11 of the rotation sensor 10.
- Rho 21 has a copper foil 21a provided in a range of a central angle of 180 degrees on the upper side as viewed in the direction of the rotation axis Art and all around the lower side.
- the copper foil 21a may be provided at least in the range of the central angle of 180 degrees when viewed in the rotation direction. This is the same for the copper foil 31 g of the rotation sensor 30.
- a conductor layer for example, a material such as aluminum or silver can be used in place of the copper foil 21a as in the case of the rotary sensor 10, and these conductors including the copper foil 21a can be used.
- the layer may be embedded in the insulating magnetic material, or a thin plate made of such a material may be pressed.
- the fixed core 22 is arranged outside the rotor 21 with a slight gap of about several mm in the radial direction, and is fixed to a fixed member (not shown) located near the steering shaft.
- the fixed cores 22 are provided with two core bodies 2 2a arranged at a predetermined interval in the direction of the rotation axis A rt and an excitation coil 2 housed in each core body 2 2a. 2 b and a shielding case (hereinafter simply referred to as “case”) 22 c for accommodating both core bodies 22 a.
- Each excitation coil 22b is connected to a signal processing circuit (not shown) by an electric wire (not shown) extending from the case 22c to the outside, and an alternating current flows from the signal processing circuit.
- a copper foil 22 d is provided on the inner periphery of the core body 22 a and the excitation coil 22 b located at the upper side in a range of a central angle of 180 degrees as shown in FIG. 6. . Therefore, the rotor 21 The copper foil 21 a provided and the copper foil 22 d provided on the fixed core 22 are shown in FIG. 7 when the copper foils 21 a and 22 d are shown in an expanded state.
- the rotation sensor 20 sets a state in which the copper foil 21a and the copper foil 22d are overlapped with each other within the range of the central angle 9 Q degrees as the position where the rotation angle of the rotor 21 is zero. Since the lower side of the copper foil 21 a is provided over the entire circumference, when the roll 21 rotates, the area where the copper foil 21 a and the copper foil 22 d overlap is the copper foil 21 a In the upper part of the copper foil 21a, it fluctuates in proportion to the rotation angle, but does not fluctuate in the lower part of the copper foil 21a. Thus, the impedance of the upper excitation coil 22b fluctuates due to the rotation of the mouthpiece 21, but the impedance of the lower excitation coil 22b does not fluctuate due to the rotation of the mouthpiece 21.
- the copper foil 22 d may be provided on the upper side and similarly provided on the lower side with a phase shift of 180 ° of the central angle. The same applies to the copper foil 32 k in the rotation sensor 30 described below.
- the case 22c is made of a metal such as aluminum, copper, or iron having an AC magnetic field shielding property, and is formed in a ring shape having two recesses 22e for accommodating each core body 22a.
- the fixed core 22 couples the two core bodies 22 a and the case 22 c accommodating the exciting coil 12 b with respect to a plane perpendicular to the rotation axis A rt. Place them in plane symmetry.
- the winding directions of the two exciting coils 2 2 b to be reversed or by reversing the direction in which the alternating current flows, the direction of the magnetic circuit formed between the two exciting coils 2 2 b and the rotor 21 is reversed. You may.
- the rotor 21 is attached to the steering shaft, and the fixed core 22 is fixed to the fixed member, and is assembled to the steering device.
- FIG. 8 is a circuit diagram showing an example of the rotation angle measuring device 23 of the rotation sensor.
- a measuring device 23 constitutes the oscillating means of claim 2 according to the present invention, and an oscillating circuit 23 a for oscillating an oscillating signal, and outputs a pulse signal of a specific frequency by dividing the oscillating signal
- a frequency divider circuit 23b, a phase shifter 23c that constitutes the phase shift means of claim 2 and shifts the phase of the oscillation signal generated in each of the two exciting coils, and a shift amount according to claim 2.
- a first and a second shift amount detecting section for detecting each of the detected phase shift amounts; and converting the detected shift amounts to corresponding voltage values.
- the difference detection means is composed of a voltage corresponding to the shift amount from the first comparator 23 f and a voltage corresponding to the shift amount.
- a differential amplifier for obtaining a difference from the adjusted voltage from the shift level adjuster, a differential amplifier for digitally converting the difference, and a rotation angle measuring unit according to claim 2.
- a rotation angle measuring unit 23k for measuring the rotation angle of the mouth 21 based on the detected difference.
- the oscillation circuit 23a outputs a pulse signal of a specific frequency to the phase shift unit 23c via the frequency dividing circuit 23.
- the phase shift unit 23c is configured by connecting the exciting coils 22b and 22b in series, and connecting the capacitor C3, the resistor R2 and the capacitor C4 connected in series to the exciting coils 22b and 22b in parallel. Be composed.
- the exciting coils 22 b and 22 b are wound around a fixed core, and an alternating current is passed therethrough.
- the exciting coils 22 b and 22 b form a magnetic circuit in cooperation with the terminal 21.
- the phase shifter 23c is connected between the exciting coils 22b and 22b according to the magnitude of the eddy current generated in the rotor 21.
- the phase of the pulse signal input from the succeeding frequency dividing circuit 23 b is shifted.
- the first and second shift amount detectors 23d and 23e are respectively connected to one end of each excitation coil 22b, and the first shift amount detector 23d is connected between the points A and B.
- the second shift amount detector 23d detects the phase shift amount of the pulse signal between the points A and C, respectively.
- the first and second comparators 23 3 and 23g convert the shift amounts detected as described above into corresponding voltage values S 1 and S 2.
- the voltage value S 1 fluctuates with the rotation of the mouth 21, but the voltage value S 2 does not fluctuate.
- the shift level adjuster 23h adjusts the shift level of the voltage value S2 of the pulse signal input from the comparator 23g and outputs it to the differential amplifier 23i.
- the differential amplifier 23 i calculates the difference between the voltage value S 1 of the pulse signal from the comparator 23 and the voltage value S 2 of the pulse signal from the shift level adjuster 23 h to obtain a signal T. 1 (voltage value) is output to the rotation angle measurement unit 23 k via the A / D converter 23 j.
- the rotation angle measurement unit 23k can measure the rotation angle of the rotor with high accuracy in the range of 190 ° to + 90 ° based on the voltage value of the signal T1. Therefore, the rotation angle of the steering shaft can be obtained based on the rotation angle.
- the value is 190 based on the voltage value of the signal T1.
- the rotation angle of the rotor in the range of up to 90 ° was obtained.
- the present invention is not limited to this.
- a shift level adjusting unit for adjusting the shift level of the voltage value of the pulse signal from the comparator 23 f is separately provided, and the voltage value from the shift level adjusting unit is different from the shift level adjusting unit.
- FIG. 10 shows an embodiment of a rotation sensor capable of detecting the torque and the rotation angle by integrating the respective rotation sensors for detecting the relative rotation angle and the rotation angle of the steering shaft. This will be described with reference to FIG.
- the rotation sensor 30 includes a first rotor 31, a fixed core 32, a second port 33, and an angle measuring device 34.
- the first opening 31 is attached to a driven shaft Sdvn of the steering shaft, and has two shaft portions 3lb and 31c having different radii on a base 31a.
- the shaft portion 31b is provided with a plurality of first copper foils 31e outside the first insulating magnetic material layer 31d.
- the plurality of first copper foils 31e are arranged in two stages in the direction of the rotation axis Art, similarly to the first mouth 11 of the rotation sensor 10, and at predetermined intervals in the circumferential direction, for example, up and down. 6 sheets are provided at a central angle of 30 ° at alternately shifted positions.
- the shaft portion 31c is formed radially outside the shaft portion 31b, and the second copper foil 31g is provided outside the shaft portion 31b via the second insulating magnetic material layer 31 #.
- the second copper foil 31 g is provided in a lower central angle range of 180 and in the entire upper periphery as viewed in the direction of the rotation axis Art.
- the second copper foil 31 g only needs to be provided in a range of a central angle of 180 degrees on at least one of the upper and lower outer peripheries as viewed in the rotation axis direction.
- the first and second insulating magnetic material layers 3 Id and 31 f are formed in a cylindrical shape from the same material as the first row 11 of the rotation sensor 10.
- a conductor layer for example, a material such as aluminum or silver can be used in place of the first copper foil 31e or the second copper foil 31g, similarly to the rotation sensor 10.
- These conductor layers, including the first copper foil 31 e and the second copper foil 31 g, are It may be embedded in the part, or a thin plate made of such a material may be pressed.
- the fixed core 32 is arranged with a slight gap of about several mm in the radial direction from the first row 31 and fixed to a fixed member (not shown) located near the steering shaft.
- the fixed core 32 includes two first core bodies 32 a, first excitation coils 32 b accommodated in each first core body 32 a, and two second cores.
- the first core body 3 2a is
- the copper foil 3 2 has a central angle of 180 degrees in the inner periphery of the second core body 32 c and the second exciting coil 32 d arranged on the lower side. k is provided.
- each of the first and second excitation coils 32b and 32d is connected to a signal processing circuit (not shown) by an electric wire (not shown) extending from the case 32e to the outside. Alternating current is flowing from the circuit.
- the case 32e is made of a metal such as aluminum, copper, or iron having a shielding property against an alternating magnetic field, and is formed of a recess 32f for accommodating the first and second core bodies 32a, 32c.
- Each of the first core bodies 32a is disposed on the inner peripheral side of each of the second core bodies 32c.
- the fixed core 32 has two first and second core bodies 32 a and 32 c and a case 32 e with respect to a plane perpendicular to the rotation axis A rt. Are arranged in plane symmetry. Further, the first and second exciting coils 32b and 32d, respectively, have their winding directions set in the opposite direction or the direction in which the alternating current flows is reversed, so that the first opening and closing coils are turned off. 3 1st 1st and 2nd The direction of the magnetic circuit formed between the insulating magnetic material layers 31 d and 31 ⁇ is reversed.
- the fixed core 32 has a printed circuit board 32h on which various electric components are mounted, and a synthetic resin lid 32j is placed on the upper and lower sides. .
- the second row 33 is made of a synthetic resin having electrical insulation properties and excellent moldability, and as shown in FIG. 10, a cylindrical base 33 a attached to the driving shaft Sdv i
- Six blades 33 b parallel to the rotation axis A rt are uniformly arranged on the outer periphery of the blade.
- Each of the blades 33 b is formed at an interval corresponding to each of the first copper foils 31 e of the first rotor 31, and a copper foil 33 c is provided on the outer surface.
- the second row 33 is composed of a conductor layer of a certain thickness (for example, a copper foil of 0.2 mm, on the inner surface of each blade 33 b or on the inner surface or inside of a cylindrical body made of insulating material.
- a material such as aluminum or silver may be evenly arranged in correspondence with the first copper foil 31e.
- the angle measurement device 34 includes a relative rotation angle measurement device 35 and a rotation angle measurement device 36, which are each a relative rotation angle measurement device 1 of the rotation sensor 10. 4 and the same as the rotation angle measuring device 23 of the rotation sensor 20. Therefore, in FIG. 11, the same components as those of the relative rotation angle measuring device 14 and the rotation angle measuring device 23 are denoted by the corresponding reference numerals, and detailed description thereof will be omitted.
- the rotation sensor 30 configured as described above includes the first rotor 31 on the driven shaft Sdvn of the steering shaft, and the second port 33 on the driven shaft Sdvi, respectively.
- the rotation sensors 10, 20, 30 of each of the above-described embodiments are used to Although the description has been given of the case where the present invention is used in a ringing device, it can be used in any device that obtains a relative rotation angle, a rotation angle, and a torque between rotating shafts rotating with each other, such as a robot arm. .
- the rotation sensor 20 has a rotation angle of 190 to 90 degrees as a detection range, but if an absolute rotation position sensor is provided, the detection range is extended to 180 to 180 degrees. be able to.
- the first rotor 11 is used as the driving shaft of the steering shaft
- the second rotor 13 is used as the driven shaft
- the first rotor 31 is used as the driving shaft.
- the second shaft, 33 was attached to the driven shaft Sdvvn and the driven shaft Sdvn, respectively.
- the first core body 32 a is positioned radially inward of the second core body 32 c. Although it is arranged, it may be arranged outside on the contrary.
- the two core bodies that house the excitation coils may be integrated.
- variation detecting means has been described as an example in which the phase shift amount of the oscillation signal is detected.
- the present invention is not limited to this.
- the variation of the effective value of the signal, the variation of the amplitude value of the signal, May detect fluctuations c Industrial applicability
- a rotation sensor capable of detecting a relative rotation angle and a rotation angle accurately with little variation in detection accuracy even when various disturbances are present. be able to.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Power Steering Mechanism (AREA)
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA2373426A CA2373426C (en) | 2000-03-09 | 2001-03-07 | Rotation sensor |
JP2001565983A JP4629946B2 (ja) | 2000-03-09 | 2001-03-07 | 回転センサ |
DE60143337T DE60143337D1 (de) | 2000-03-09 | 2001-03-07 | Rotationssensor |
EP01912155A EP1186872B1 (en) | 2000-03-09 | 2001-03-07 | Rotation sensor |
US10/010,578 US6532831B2 (en) | 2000-03-09 | 2001-11-08 | Rotation sensor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000-65258 | 2000-03-09 | ||
JP2000065258 | 2000-03-09 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/010,578 Continuation US6532831B2 (en) | 2000-03-09 | 2001-11-08 | Rotation sensor |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001067059A1 true WO2001067059A1 (fr) | 2001-09-13 |
Family
ID=18584821
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2001/001777 WO2001067059A1 (fr) | 2000-03-09 | 2001-03-07 | Detecteur de rotation |
Country Status (7)
Country | Link |
---|---|
US (1) | US6532831B2 (ja) |
EP (1) | EP1186872B1 (ja) |
JP (1) | JP4629946B2 (ja) |
KR (1) | KR100748045B1 (ja) |
CA (1) | CA2373426C (ja) |
DE (1) | DE60143337D1 (ja) |
WO (1) | WO2001067059A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6860159B2 (en) | 2000-12-21 | 2005-03-01 | The Furukawa Electric Co., Ltd. | Rotation sensor |
US6925893B2 (en) | 2002-09-17 | 2005-08-09 | The Furukawa Electric Co., Ltd. | Rotation sensor |
JP2009541769A (ja) * | 2006-06-26 | 2009-11-26 | ケイエスアール テクノロジーズ カンパニー | ステアリング角度センサ |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7053602B2 (en) * | 2002-03-25 | 2006-05-30 | The Furukawa Electric Co., Limited | Rotation sensor and method for detecting a rotation angle of a rotating member |
JP2004020527A (ja) * | 2002-06-20 | 2004-01-22 | Nippon Soken Inc | トルクセンサ |
US7180534B2 (en) * | 2003-08-07 | 2007-02-20 | Hewlett-Packard Development Company, L.P. | Scanning assemblies, printing devices, and related methods |
DE10338841A1 (de) * | 2003-08-23 | 2005-03-17 | Hella Kgaa Hueck & Co. | Sensoranordnung mit zumindest zwei kontaktlosen Winkelsensoren und Anordnung mit einer derartigen Sensoranordnung |
JP3984213B2 (ja) * | 2003-10-17 | 2007-10-03 | ミネベア株式会社 | タンデム型回転検出装置 |
EP2034267A4 (en) * | 2006-06-14 | 2011-04-27 | Furukawa Electric Co Ltd | ANGLE DETECTOR |
DE102009020921A1 (de) * | 2009-05-12 | 2010-11-18 | Krones Ag | Vorrichtung und Verfahren zum Ausrichten von Behältern, insbesondere Flaschen, in einer Etikettiermaschine |
KR101283893B1 (ko) | 2012-03-29 | 2013-07-16 | 대성전기공업 주식회사 | 자기장을 이용한 비접촉식 회전각 검출기 |
DE102014217458A1 (de) * | 2014-09-02 | 2016-03-03 | Schaeffler Technologies AG & Co. KG | Encoder und Sensorvorrichtung für ein drehbares Maschinenteil |
CN105333982B (zh) * | 2015-11-26 | 2017-10-27 | 哈尔滨力盛达机电科技有限公司 | 一种用于汽车eps系统的立式非接触电磁感应扭矩传感器 |
EP3483567A1 (de) * | 2017-11-08 | 2019-05-15 | Siemens Aktiengesellschaft | Winkelsensor mit ringförmigem hohlleiter als massverkörperung |
CN109813483B (zh) * | 2019-03-28 | 2024-08-23 | 交通运输部公路科学研究所 | 一种开环可调式索力测量装置及其测量方法 |
USD949030S1 (en) * | 2020-02-24 | 2022-04-19 | Martin Engineering Company | Sensor device that measures shaft rotation |
CN115313749B (zh) * | 2022-10-11 | 2023-03-14 | 沈阳微控新能源技术有限公司 | 飞轮储能装置 |
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US5083468A (en) * | 1987-09-02 | 1992-01-28 | Robert Bosch Gmbh | Device for measuring rotation angle and/or torque |
US5796014A (en) | 1996-09-03 | 1998-08-18 | Nsk Ltd. | Torque sensor |
JP2001004314A (ja) * | 1999-06-21 | 2001-01-12 | Furukawa Electric Co Ltd:The | 相対回転角度検出装置 |
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JPS6457136A (en) * | 1987-05-12 | 1989-03-03 | Nippon Denso Co | Torque detecting apparatus |
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2001
- 2001-03-07 EP EP01912155A patent/EP1186872B1/en not_active Expired - Lifetime
- 2001-03-07 WO PCT/JP2001/001777 patent/WO2001067059A1/ja active Application Filing
- 2001-03-07 JP JP2001565983A patent/JP4629946B2/ja not_active Expired - Fee Related
- 2001-03-07 KR KR1020017014292A patent/KR100748045B1/ko not_active IP Right Cessation
- 2001-03-07 DE DE60143337T patent/DE60143337D1/de not_active Expired - Lifetime
- 2001-03-07 CA CA2373426A patent/CA2373426C/en not_active Expired - Fee Related
- 2001-11-08 US US10/010,578 patent/US6532831B2/en not_active Expired - Fee Related
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US2498282A (en) * | 1942-09-15 | 1950-02-21 | Westinghouse Electric Corp | Torque measuring device for shafts |
US5083468A (en) * | 1987-09-02 | 1992-01-28 | Robert Bosch Gmbh | Device for measuring rotation angle and/or torque |
US4907460A (en) | 1987-10-30 | 1990-03-13 | Koyo Seiko Co., Ltd. | Torque sensor |
US5796014A (en) | 1996-09-03 | 1998-08-18 | Nsk Ltd. | Torque sensor |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6860159B2 (en) | 2000-12-21 | 2005-03-01 | The Furukawa Electric Co., Ltd. | Rotation sensor |
US6925893B2 (en) | 2002-09-17 | 2005-08-09 | The Furukawa Electric Co., Ltd. | Rotation sensor |
US7360459B2 (en) | 2002-09-17 | 2008-04-22 | The Furukawa Electric Co., Ltd. | Rotation sensor mounted on a shaft |
US8001851B2 (en) | 2002-09-17 | 2011-08-23 | The Furukawa Electric Co., Ltd. | Rotation sensor mounted on a shaft |
JP2009541769A (ja) * | 2006-06-26 | 2009-11-26 | ケイエスアール テクノロジーズ カンパニー | ステアリング角度センサ |
Also Published As
Publication number | Publication date |
---|---|
CA2373426C (en) | 2010-09-21 |
EP1186872A1 (en) | 2002-03-13 |
KR20020012572A (ko) | 2002-02-16 |
US20020043115A1 (en) | 2002-04-18 |
KR100748045B1 (ko) | 2007-08-09 |
US6532831B2 (en) | 2003-03-18 |
EP1186872A4 (en) | 2004-04-21 |
DE60143337D1 (de) | 2010-12-09 |
CA2373426A1 (en) | 2001-09-13 |
EP1186872B1 (en) | 2010-10-27 |
JP4629946B2 (ja) | 2011-02-09 |
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