WO2007004472A1 - 磁歪式荷重センサおよびそれを備えた移動体 - Google Patents
磁歪式荷重センサおよびそれを備えた移動体 Download PDFInfo
- Publication number
- WO2007004472A1 WO2007004472A1 PCT/JP2006/312816 JP2006312816W WO2007004472A1 WO 2007004472 A1 WO2007004472 A1 WO 2007004472A1 JP 2006312816 W JP2006312816 W JP 2006312816W WO 2007004472 A1 WO2007004472 A1 WO 2007004472A1
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- WO
- WIPO (PCT)
- Prior art keywords
- load
- magnetostrictive
- housing
- load sensor
- magnetic path
- Prior art date
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/12—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress
- G01L1/127—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress by using inductive means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/12—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress
- G01L1/125—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress by using magnetostrictive means
Definitions
- Magnetostrictive load sensor and moving body having the same
- the present invention relates to a magnetostrictive load sensor that electromagnetically detects a load using a magnetostrictive effect and a moving body including the same.
- a load sensor used for a moving body such as a motorcycle, a water bike, a movable shelf, a transportation device, an electric bicycle, or an electric wheelchair is required to be downsized.
- a small load sensor As a small load sensor
- Magnetostrictive load sensors have been put into practical use.
- a change in magnetic characteristics of a member to which a load is applied is converted into a change in voltage, and the load is detected based on the change in voltage.
- Patent Document 1 discloses a load detection device that is a magnetostrictive load sensor.
- the load detection device of Patent Document 1 includes a rod-shaped magnetic body, an excitation coil, a detection coil, and a magnetic scenario case.
- the rod-shaped magnetic body is made of a magnetic material.
- the magnetic shield case is made of a magnetic material and houses a magnetic body, an excitation coil, and a detection coil.
- One end of the magnetic body protrudes above the hole force provided in the upper part of the magnetic shield case.
- a joint is provided at the upper end of the magnetic body.
- a load is applied to the magnetic body through the joint while the magnetic body is magnetized by the exciting coil.
- the magnetic body is compressed.
- the impedance of the load detection device changes due to the inverse magnetostriction effect, and the voltage at both ends of the detection coil changes. Therefore, the load applied to the magnetic body is calculated based on the voltage change in the detection coil.
- Patent Document 1 Japanese Patent Laid-Open No. 11-241955
- the magnetic shield case formed of a magnetic material supports the lower end portion of the rod-shaped magnetic body and the outer peripheral portion, upper portion and lower portion of the excitation coil and the detection coil. Covering. As a result, the magnetic shield case functions as a magnetic path when the magnetic material is magnetized by the exciting coil.
- the magnetic shield case supports the lower end of the magnetic body. Therefore, when a load is applied to the upper end of the magnetic body, stress also acts on the contact portion between the lower end of the magnetic body and the magnetic shield case.
- the contact portion of the magnetic shield case with the magnetic body is also A stress concentration portion corresponding to the position and size of the stress concentration portion generated in the magnetic material is generated.
- the magnetic characteristics vary depending on the position and size of the stress concentration portion generated in the magnetic material.
- the voltage change at both ends of the detection coil may be affected by variations in the magnetic characteristics at the lower end of the magnetic body and variations in the magnetic characteristics of the magnetic shield case. It varies. As a result, the output variation of the load detection device becomes large, and the reliability of the load detection device decreases.
- An object of the present invention is to provide a magnetostrictive load sensor in which variation in output change due to stress concentration is prevented, reliability and manufacturing yield are improved, and a moving body including the magnetostrictive load sensor.
- a magnetostrictive load sensor forms a coil having a through hole, a load detection member inserted into the through hole, and a magnetic path through which a magnetic flux generated by the coil passes. And both ends of the load detection member project outward from the partial paths of the magnetic path formation member facing the through-hole, and load applied from the outside is at least one end of the load detection member. And a supporting member for supporting the magnetic path forming member and the load transmitting member.
- the magnetic path forming member and the load transfer member are supported by the support member.
- a magnetic field is generated by passing a current through the coil.
- the load detection member made of a magnetic material is magnetized.
- both end portions of the load detecting member protrude outside the magnetic path forming member.
- the both ends of the load detection member are located outside the magnetic path formed by the magnetic path forming member.
- the output of the magnetostrictive load sensor is prevented from being affected by the stress concentration portion generated at the end of the load detection member, so that the output of the magnetostrictive load sensor is stabilized.
- the support member may support the load detection member via the load transmission member so that the load detection member can move within a certain range.
- the support member may support the load detection member via the load transfer member so that the load detection member and the magnetic path forming member do not come into contact with each other.
- the magnetic resistance is prevented from changing significantly between the load detection member and the magnetic path forming member.
- the output change of the magnetostrictive load sensor is prevented from varying due to the influence of the change in magnetoresistance between the load detection member and the magnetic path forming member.
- An interval forming member having a nonmagnetic material force may be provided between the load detection member and the magnetic path forming member.
- contact between the magnetic path forming member and the load detecting member is reliably prevented during operation of the magnetostrictive load sensor.
- the load detection member and the magnetic The magnetic resistance is reliably prevented from changing significantly with respect to the passage forming member.
- the shift amount of the positional relationship between the load detection member and the magnetic path forming member is limited to be small by the interval forming member.
- the change in the impedance of the coil due to the shift in the positional relationship between the magnetic path forming member and the load detecting member is sufficiently reduced.
- the output stability of the magnetostrictive load sensor is improved.
- the support member may support the load transmission member so that the load transmission member can move within a certain range.
- the load transmitting member can move within a certain range, the stress concentration generated at the end of the load detecting member due to the direction in which the load is applied is reduced. As a result, variations in output changes of the magnetostrictive load sensor are sufficiently prevented. In addition, the manufacturing yield of the magnetostrictive load sensor is further improved.
- the support member may support the load transmitting member via an elastic body.
- the load transmitting member is supported by the support member via the elastic body, so that the load transmitting member can move within a certain range.
- the support member may include a coil, a magnetic path forming member, a load detection member, and a housing that houses the load transmission member.
- the coil, the magnetic path forming member, the load detecting member, and the load transmitting member are accommodated in the housing. This facilitates handling of the magnetostrictive load sensor.
- the coil, the magnetic path forming member, the load detecting member, and the load transmitting member can be prevented from being contaminated, and deterioration of the magnetostrictive load sensor can be prevented.
- the magnetic path forming member has first and second openings at portions opposed to both end portions of the through hole, and includes an outer surface of the load detection member and inner surfaces of the first and second openings.
- a first gap is formed between the load detection member and load transmission member.
- the width of the second gap formed may be equal to or less than the width of the first gap.
- the first gap allows the load detection member to move in the direction intersecting the axis of the through hole of the coil within the first and second openings of the magnetic path forming member. Further, the second gap allows the load transmitting member to move in the direction intersecting the axis of the coil through hole in the third opening of the housing.
- the load transmission member and the load detection member force are supported while being movably supported in a direction crossing the axis of the through hole of the coil. Contact with the magnetic path forming member is prevented.
- the stress concentration generated at the end of the load detection member due to the direction in which the load is applied is reduced.
- variations in output changes of the magnetostrictive load sensor are sufficiently prevented.
- the manufacturing yield of the magnetostrictive load sensor is further improved.
- the magnetic resistance is prevented from changing significantly between the load detection member and the magnetic path forming member.
- the change in output of the magnetostrictive load sensor is prevented from varying due to the influence of the change in magnetoresistance between the load detection member and the magnetic path forming member.
- the magnetic path forming member does not have a stress concentration portion due to contact with the load detecting member, the magnetic characteristics of the magnetic path forming member do not vary. As a result, variation in output of the magnetostrictive load sensor is prevented from varying.
- the magnetostrictive load sensor may further include a load applying member that is movable within a certain range and that can contact the load transmitting member, and that applies a load to the load detecting member through the load transmitting member. Good.
- the load is applied to the load detection member by the load application member through the load transmission member.
- a load can be reliably applied to the load detection member.
- the magnetic path forming member has first and second openings at portions opposed to both end portions of the through hole, and the outer surface of the load detecting member and the first and second openings are provided.
- a first gap is formed between the inner surface and the inner surface, and the housing includes a load detection member and a load transmission member.
- the load transmission member has a third opening, and the second opening is provided between the outer surface of the load transmission member and the inner surface of the third opening.
- the width of the second gap is equal to or less than the width of the first gap, and further includes a load application member that applies a load to the load detection member through the load transmission member. It may be provided so as to be movable within a range larger than the width of the first gap in a direction orthogonal to the axial direction.
- the load detecting member in the direction intersecting with the axis of the through hole of the coil, is placed on the axis of the through hole of the coil in the first and second openings of the magnetic path forming member by the first gap. It can move in the intersecting direction.
- the second gap allows the load transmitting member to move in the direction intersecting the axis of the coil through-hole in the third opening of the housing.
- the load detection member and the load transmission member move integrally within the housing.
- the range in which the load detection member can move is equal to or less than the range in which the load transmission member can move in the direction intersecting the axis of the through hole of the coil.
- the load transmitting member and the load detecting member force are supported so as to be movable in a direction intersecting the axis of the through hole of the coil. Contact between the load detection member and the magnetic path forming member is prevented.
- a load is applied to the load detection member through the load transmission member by the load application member.
- the load application member can move within a range larger than the width of the first gap in the direction intersecting the axis of the through hole of the coil. Therefore, in the direction intersecting the axis of the through hole of the coil, the movable range of the load transmitting member is equal to or smaller than the movable range of the load applying member.
- the movable range of the load transmitting member becomes less than the movable range of the load applying member, whereby the load applying member becomes the load transmitting member.
- the amount of movement of the load transfer member is less than the amount of movement of the load application member.
- the load that can be applied to the load detection member by the load transmission member is less than the range in which the load transmission member can be moved. Is inclined with respect to the axis of the through-hole of the coil, The amount of movement of the load detection member is equal to or less than the amount of movement of the load transmission member.
- the load transmission member may include first and second load transmission members that transmit a load applied from the outside to one end and the other end of the load detection member, respectively.
- the magnetostrictive load sensor can detect the loads held at one end and the other end of the load detection member.
- the load that can be obtained from two directions can be detected by one magnetostrictive load sensor. Therefore, since it is not necessary to prepare a magnetostrictive load sensor corresponding to each direction in order to detect a load applied from two directions, the number of parts is reduced. As a result, the magnetostrictive load sensor can be reduced in size and weight.
- two magnetostrictive load sensors can be used as in the case of preparing two magnetostrictive load sensors. Sensitivity adjustment and selection of two magnetostrictive load sensors are not required. As a result, the number of manufacturing steps and the manufacturing cost of the device are reduced, and the manufacturing yield is improved.
- the magnetostrictive load sensor is provided so as to be movable within a certain range and to be able to contact the load transmission member, and through one of the first and second load transmission members, one end of the load detection member and A first load application member and a second load application member for applying a load to the other end portion may be further provided.
- the first and second load application members apply loads to both ends of the load detection member through the first and second load transmission members, respectively. Thereby, a load can be reliably applied to the both ends of the load detection member.
- the first and second load applying members and the first and second load transmitting members are arranged symmetrically about the load detecting member along the axis of the through hole of the coil. Also good.
- the housing has a third opening into which the load transmission member is fitted, and the load transmission member includes a flange portion facing or contacting one end surface on the inner side of the housing and one end portion of the load detection member. You may have a recessed part to fit.
- one end of the load detection member is fitted into the recess of the load transmission member, the load transmission member is fitted into the third opening of the housing, and the flange portion is opposed to one end surface inside the housing. Or touch.
- the load detection member and the load transmission member are held in the housing so as to be movable in the axial direction. Therefore, the load can be accurately detected with a simple structure.
- a gap is formed between the inner surface of the third opening of the housing and the outer surface of the load transmission member, and the magnetostrictive load sensor is configured so that the load transmission member is in the axial direction of the through hole with respect to the housing. You may further provide the elastic member hold
- the load detection member includes first and second load transmission members that respectively transmit a load applied from the outside to one end and the other end of the load detection member, and the housing includes a first load A third opening into which the load transmitting member fits and a fourth opening into which the second load transmitting member fits in.
- the first load transmitting member faces or contacts one end surface on the inner side of the housing.
- the first flange portion and the load detecting member have a first recess into which one end portion is fitted, and the second load transmitting member is opposed to or in contact with the other end surface on the inner side of the housing. You may have the 2nd recessed part which the other end part of a detection member fits.
- one end of the load detection member is fitted into the first recess of the first load transmission member, the first load transmission member is fitted into the third opening of the housing, and the first The flange part faces or comes into contact with one end face inside the housing.
- the second load transmission member The other end of the load detection member is fitted into the second recess, the second load transmission member is fitted into the fourth opening of the housing, and the second flange portion is opposed to the other end surface inside the housing.
- a gap is formed between the inner surface of the third opening of the housing and the outer surface of the first load transmission member, and the inner surface of the fourth opening of the housing and the second load transmission member
- the magnetostrictive load sensor is formed with a first elastic member that holds the first load transmission member movably in a direction perpendicular to the axial direction of the through hole with respect to the housing.
- the second load transmission member may further include a second elastic member that holds the second load transmission member so as to be movable in a direction orthogonal to the axial direction of the through hole with respect to the housing.
- the load detection member and the load transmission member may be joined.
- a compressive load can be applied to the load detection member through the load transmission member on the axis of the through hole of the coil, and a tensile load can be captured to the load detection member through the load transmission member. Therefore, it is possible to detect a compressive load and a tensile load while preventing variations in output change due to stress concentration.
- the load detection member has a cylindrical shape, and both ends of the load detection member have a length equal to or greater than the diameter of the axial cross section, and the first and second openings of the magnetic path forming member. Force may protrude.
- both ends of the load detection member have a length equal to or greater than the diameter of the load detection member. Since the protrusion protrudes from the opening, the stress spreads over the entire surface within the protrusion of the load detection member. As a result, in the portion of the load detection member covered by the magnetic path forming member, the load detection unit The stress distribution of the material becomes almost uniform. As a result, variations in the output of the magnetostrictive load sensor are sufficiently prevented from varying due to the influence of the stress concentration portion generated at the end of the load detection member.
- a moving body includes a main body, a driving unit that moves the main body, a magnetostrictive load sensor that detects a load, and a load detected by the magnetostrictive load sensor.
- a magnetostrictive load sensor that forms a coil having a through hole, a load detection member inserted into the through hole, and a magnetic path through which the magnetic flux generated by the coil passes. And both end portions of the load detection member project outwardly from the partial force of the magnetic passage formation member facing the through hole, and transmit the externally applied load to at least one end portion of the load detection member.
- a load transmission member that supports the magnetic path, a magnetic path forming member, and a support member that supports the load transmission member.
- the load is detected by the magnetostrictive load sensor, and the drive unit is controlled by the control unit based on the detected load. Thereby, the main body is moved by the drive unit.
- both end portions of the load detecting member protrude outside the magnetic path forming member.
- the output of the magnetostrictive load sensor is prevented from being influenced by the stress concentration portion generated at the end of the load detection member, so that the output of the magnetostrictive load sensor is stabilized.
- the moving body using the magnetostrictive load sensor can be controlled with high accuracy, and the reliability of the moving body is improved.
- FIG. 1 is a diagram for explaining a basic configuration of a magnetostrictive load sensor according to a first embodiment.
- FIG. 2 is a diagram showing the direction of the magnetic field in the magnetostrictive load sensor of FIG.
- FIG. 3 is a cross-sectional view showing a first specific example of the magnetostrictive load sensor according to the first embodiment.
- FIG. 4 is a view for explaining the support state of each component member in the housing of the magnetostrictive load sensor of FIG. 3.
- FIG. 5 is a diagram for explaining the impedance of the sensor component that changes in accordance with the positional relationship between the rod-shaped member and the magnetic path forming member in FIG. 3.
- FIG. 6 is a view for explaining a portion of a bar-shaped member protruding from an opening force of a magnetic path forming member of the magnetostrictive load sensor of FIG.
- FIG. 7 is a diagram for explaining the relationship between the inclination angle in the direction in which the load is applied to the central axis of the rod-shaped member and the sensitivity of the magnetostrictive load sensor.
- FIG. 8 is a cross-sectional view showing a second specific example of the magnetostrictive load sensor according to the first embodiment.
- FIG. 9 is a cross-sectional view showing a third specific example of the magnetostrictive load sensor according to the first embodiment.
- FIG. 10 is a sectional view showing a fourth specific example of the magnetostrictive load sensor according to the first embodiment.
- FIG. 11 is a sectional view showing a fifth specific example of the magnetostrictive load sensor according to the first embodiment.
- FIG. 12 illustrates the basic configuration of a magnetostrictive load sensor according to a second embodiment.
- FIG. 13 is a top view showing a specific example of a magnetostrictive load sensor according to a second embodiment.
- FIG. 14 is a diagram for explaining a basic configuration of a magnetostrictive load sensor according to a third embodiment.
- FIG. 15 is a cross-sectional view showing a specific example of a magnetostrictive load sensor according to a third embodiment.
- FIG. 16 is a block diagram showing a schematic configuration of a load detection circuit using the magnetostrictive load sensor according to the above embodiment.
- FIG. 17 is a plan view of a personal watercraft using the magnetostrictive load sensor of FIG.
- FIG. 18 is a block diagram showing a control system of the personal watercraft shown in FIG.
- FIG. 19 is a side view of an electric bicycle using the magnetostrictive load sensor of FIG.
- FIG. 20 is a cross-sectional view showing a configuration of a power unit used in the electric bicycle shown in FIG.
- a magnetostrictive load sensor according to an embodiment of the present invention will be described.
- FIG. 1 is a diagram for explaining a basic configuration of the magnetostrictive load sensor according to the first embodiment.
- the magnetostrictive load sensor 100 includes a coil A, a magnetic path forming member made of a magnetic material, a rod-like member made of a magnetic material, and a non-magnetic material.
- the rod-like member C functions as a load detection member that detects a load that can be held by the magnetostrictive load sensor 100.
- the magnetic material refers to a material having a property of being magnetized when placed in a magnetic field.
- magnetic materials include iron-based materials, iron-chromium-based materials, iron-nickel-based materials, iron-cobalt-based materials, iron-caine-based materials, iron-aluminum-based materials, pure iron, permalloy or giant magnetostrictive materials, ferrite-based stainless steel ( For example, SUS430) is used.
- the relative permeability of iron, which is a magnetic material ratio to the permeability of vacuum
- 200 is 200.
- the non-magnetic material is a material other than the magnetic material, for example, a material having a relative permeability of about 1.
- the relative magnetic permeability of austenitic stainless steel (for example, SUS304), aluminum, and copper, which are nonmagnetic materials, is 1 to 1.01.
- the coil A has a through hole Ah.
- a magnetic path forming member B is formed so as to cover the outer periphery and both ends of the coil A. Openings Bha and Bhb are formed in the center of both ends of the magnetic path forming member B, respectively.
- the rod-like member C is inserted into the through hole Ah and the openings Bha and Bhb! In this state, both ends of the rod-shaped member C also project the opening Bha and Bhb forces. More specifically, the rod-like member extends outwardly (outside in the longitudinal direction of the rod-like member C) from lines Bhae and Bhbe connecting the outer ends of the openings Bha and Bhb. Further, the distance Mg between the magnetic path forming member B and the rod-like member C is larger than the distance Md between the housing E and the load transmitting members Da and Db. As a result, the rod-like member C is disposed so as not to contact the magnetic path forming member B.
- One end of the rod-like member C is fitted into a load transmitting member Da made of a nonmagnetic material.
- the other end of the rod-like member C is fitted into the load transmitting member Db made of a nonmagnetic material.
- a coil A In the housing E, a coil A, a magnetic path forming member, a rod-shaped member C, and two load transfer members Da and Db are accommodated. Openings Eha and Ehb are formed in the center of both ends of the housing E, respectively.
- a load applying member Fa is arranged so as to be able to contact the load transmitting member Da protruding from the opening Eha.
- the load applying member Fb is disposed so as to be able to contact the load transmitting member Db that also projects the opening Ehb force.
- the lead wire extending in the coil A force is drawn out of the housing E.
- the lead wire pulled out from the housing E is an oscillation circuit (not shown) and current detection. It is connected to peripheral circuits (load detection circuit) such as voltage detector, rectifier circuit, amplifier circuit and central processing circuit (CPU).
- load detection circuit such as voltage detector, rectifier circuit, amplifier circuit and central processing circuit (CPU).
- an alternating current is supplied to the coil A through a lead wire by an oscillation circuit of a peripheral circuit (not shown).
- the coil A is driven.
- the coil A functions as an exciting coil
- the rod-like member C is magnetized.
- the magnetic path forming member B functions as a magnetic path.
- FIG. 2 shows the direction of the magnetic field in the magnetostrictive load sensor 100 of FIG.
- the direction of the magnetic field in the magnetostrictive load sensor 100 when the coil A is driven is indicated by a thick arrow.
- a load is applied to the load transmitting member Da by the load applying member Fa. Then, the load held in the load transmitting member Da is transmitted to one end of the rod-shaped member C.
- a compressive force acts on the rod-shaped member C.
- the permeability of the rod-shaped member C changes due to the inverse magnetostrictive effect, and the impedance of the sensor component including the coil A, the magnetic path forming member B, and the rod-shaped member C force also changes. To do.
- coil A functions as a detection coil.
- the voltage at coil A is detected by a peripheral circuit via a lead wire (not shown). Based on the detected voltage change of coil A, load transmission member
- the load stored in Da is detected.
- the direction of the load held on the load transmission member Da or the load transmission member Db is a rod shape. If it deviates from the axial direction of the member c, the stress distribution at both ends of the rod-shaped member c becomes non-uniform, and a stress concentration portion is generated.
- both end portions of the rod-like member C protrude outside the magnetic path forming member B.
- both end portions of the rod-shaped member C are located outside the magnetic path formed by the magnetic path forming member B.
- the output of the magnetostrictive load sensor 100 is not affected by the stress concentration portions generated at both ends of the rod-shaped member C, so that the output of the magnetostrictive load sensor 100 is stabilized.
- the rod-shaped member C is provided so as not to contact the magnetic path forming member B. Therefore, the magnetic resistance is prevented from changing significantly between the magnetic path forming member B and the rod-like member C. As a result, the output change of the magnetostrictive load sensor 100 is prevented from varying due to the influence of the change in magnetic resistance between the magnetic path forming member B and the rod-like member C.
- the rod-shaped member C becomes the magnetic path forming member. Do not contact B. As a result, the magnetic path forming member B does not have a stress concentration portion due to contact with the rod-like member C. Therefore, the magnetic characteristics of the magnetic path forming member B do not vary. As a result, variations in the output of the magnetostrictive load sensor 100 are prevented from varying.
- Magnetic path forming member B and rod member C do not contact each other, one end of rod member C and the load
- the connection part between the transmission member Da and the connection part between the other end of the rod-like member C and the load transmission member Db are located outside the magnetic path forming member B.
- the output of the magnetostrictive load sensor 100 is stabilized because it is not affected by the stress concentration portions generated at both ends of the rod-like member C.
- the manufacturing yield of the magnetostrictive load sensor 100 is improved.
- the magnetostrictive load sensor 100 it is possible to detect the loads applied to one end and the other end of the rod-shaped member C, respectively. As a result, a load applied from two directions can be detected by one magnetostrictive load sensor 100. Therefore, it is not necessary to provide a separate load sensor in order to detect the load that can be obtained from the two directions, so the number of parts is reduced. As a result, the magnetostrictive load sensor 100 can be reduced in size and weight.
- the load transmitting member Da transmits the load applied by the load applying member Fa to the rod-shaped member C and receives the load transmitted to the rod-shaped member C through the load transmitting member Db. [0111] Further, the load transmitting member Db transmits the load applied by the load applying member Fb to the rod-shaped member and receives the load transmitted to the rod-shaped member C through the load transmitting member Da.
- the load transmitting members Da and Db have functions of transmitting a load and receiving the load.
- the magnetostrictive load sensor 100 is arranged such that a plurality of constituent members are symmetrical with respect to the center thereof. Therefore, the load is transmitted to the rod-shaped member C through a symmetrical path when the load is applied to one end of the rod-shaped member C and when the load is applied to the other end of the rod-shaped member C. Therefore, it is possible to detect the load obtained from the two directions with the same accuracy.
- the load is detected by the inverse magnetostrictive effect.
- the load can be detected with extremely high sensitivity (several tens to several hundred times) compared to a strain gauge load cell.
- the sensitivity for detecting the load is high as described above, it is not necessary to make the rod-like member C thin or thin in order to improve the sensitivity unlike the strain gauge type load cell. Therefore, the strength of the magnetostrictive load sensor 100 does not decrease. Thereby, sufficient durability can be ensured.
- FIG. 3 is a sectional view showing a first specific example of the magnetostrictive load sensor 100 according to the first embodiment.
- the magnetostrictive load sensor 100a according to the first specific example includes a coil 10, a magnetic path forming member 20, a rod-shaped member 30, two load transmitting members 40a, 40b, and Includes housing 50.
- These coil 10, magnetic path forming member 20, rod-shaped member 30, two load transmission members 40a and 40b, and nosing 50 are respectively composed of coil A, magnetic path forming member, rod-shaped member, and two loads. Corresponds to transmission members Da, Db and Nosing E.
- an assembly including the coil 10, the magnetic path forming member 20, and the rod-shaped member 30 corresponds to the above-described sensor component. Therefore, also in the following description, an assembly including the coil 10, the magnetic path forming member 20, and the rod-shaped member 30 is referred to as a sensor component.
- the coil 10 is composed of a conducting wire 11 and a bobbin 12.
- the bobbin 12 has a longitudinal shape and includes flange portions at both ends thereof.
- Conductor 11 is wound between the two flanges of bobbin 12!
- a through hole 10h is formed in the axial center of the bobbin 12!
- the magnetic path forming member 20 includes a cylindrical first casing member 21 having an outer peripheral surface and one end surface, and a substantially disk-shaped second casing member 22.
- the first casing member 21 and the second casing member 22 are made of a magnetic material. Thus, during the operation of the magnetostrictive load sensor 100a, each of the first casing member 21 and the second casing member 22 functions as a magnetic path.
- the coil 10 is inserted into the first casing member 21 via the annular elastic member 19.
- a second casing member 22 is connected to the other end of the first casing member 21. As a result, the coil 10 is accommodated in the magnetic path forming member 20.
- a circular opening 21h is formed at the center of one end surface of the first casing 21, and a circular opening 22h is formed at the center of the second casing 22.
- Spacers SP are attached to the openings 21h and 22h, respectively.
- the spacer SP is made of a nonmagnetic material.
- a rod-shaped member 30 having a cylindrical shape is inserted into the through hole 10h and the openings 21h and 22h.
- the rod-shaped member 30 is made of a magnetic material.
- the rod-shaped member 30 is magnetized by the coil 10 during the operation of the magnetostrictive load sensor 100a.
- the diameter of the rod-shaped member 30 is smaller than the inner diameters of the through holes 10h and the openings 21h and 22h.
- the outer surface of the rod-shaped member 30, the through hole 10h, and the opening 2 A gap is formed between the inner surfaces of lh and 22h. This prevents the rod-shaped member 30 from coming into contact with the magnetic path forming member 20.
- the spacer SP described above restricts the movement of each member so that the rod-shaped member 30, the coil 10, and the magnetic path forming member 20 are arranged in a predetermined positional relationship. Details will be described later.
- One end 30a of the rod-shaped member 30 protrudes from the opening 22h by a length longer than the diameter of the rod-shaped member 30, and the other end 30b of the rod-shaped member 30 extends from the opening 21h by a length greater than the diameter of the rod-shaped member 30. It protrudes. Details will be described later.
- the rod-shaped member 30 is supported by load transmission members 40a and 40b described later so that the central axis thereof coincides with the axis connecting the centers of the through hole 10h and the openings 21h and 22h.
- the load transmitting member 40a has a cylindrical shaft portion 41a and a flange portion 42a.
- a flange portion 42a is formed at one end of the cylindrical shaft portion 41a, and a circular recess 43a is formed at the center of the flange portion 42a.
- the load transmitting member 40b has a cylindrical shaft portion 4 lb and a flange portion 42b.
- a flange portion 42b is formed at one end of the cylindrical shaft portion 41b, and a circular recess 43b is formed in the center of the flange portion 42b.
- These load transmission members 40a and 40b are made of a non-magnetic material.
- One end 30a of the rod-shaped member 30 is inserted into and connected to the recess 43a of the load transmitting member 40a.
- the other end 30b of the rod-shaped member 30 is inserted into and connected to the recess 43b of the load transmitting member 40b.
- the housing 50 includes a cylindrical first housing 51 having an outer peripheral surface and one end surface, and a substantially disk-shaped second housing 52.
- the first housing 51 and the second housing 52 are made of a nonmagnetic material.
- the first housing 51 and the second housing 52 are provided with a plurality of O-rings 01 to 04 made of an elastic resin or the like.
- the first casing member 21, the second casing member 22, and the rod-shaped portion examples include iron-based material, iron-chromium-based material, iron-nickel-based material, iron-cobalt-based material, iron-caine-based material, iron-aluminum-based material, pure iron, permalloy, and giant magnetostriction
- the material include ferritic stainless steel (for example, SUS430).
- the first casing member 21, the second casing member 22, and the rod-shaped member 30 are preferably formed of the same magnetic material. In the present embodiment, SUS430 is used for the first casing member 21, the second casing member 22, and the rod-shaped member 30.
- the load transmitting members 40a and 40b, the first housing 51 and the second housing 52 for example, austenitic stainless steel, aluminum or Copper etc. are mentioned.
- SUS304 force S is used for the load transmitting members 40a and 40b
- aluminum is used for the first housing 51 and the second housing 52.
- FIG. 4 is a view for explaining the supporting state of each component member in the housing 50 of the magnetostrictive load sensor 100a of FIG.
- a circular opening 51h is formed at the center of one end surface of the first housing 51. As shown in FIG. The diameter of the opening 51h is larger than the diameter of the shaft portion 41b of the load transmitting member 40b. An annular groove 51m is formed on the inner peripheral surface of the opening 51h.
- the diameter of the cross section of the O-ring Ol is larger than the depth of the groove 51m.
- the shaft portion 41b of the load transmitting member 40b is supported by the O-ring Ol having elasticity. Therefore, when the load transmitting member 40b is manufactured, even if an error occurs in the shape and dimensions of the load transmitting member 40b, the load transmitting member 40b is accommodated in the housing while the influence of the error is absorbed by the O-ring Ol. Supported within 50. As a result, the shape and dimensional accuracy of the load transmitting member 40b are relaxed. In this state, the gap G1 between the outer peripheral surface of the shaft portion 41b and the inner peripheral surface of the opening 51h is, for example, about 0.1 mm.
- a circular opening 52 h is also formed in the center of the second housing 52.
- the diameter of the opening 52 h is larger than the diameter of the shaft portion 41 a of the load transmitting member 40 a.
- An annular groove 52m is formed on the inner peripheral surface of the opening 52h.
- the diameter of the cross section of the O-ring 04 is larger than the depth of the groove 52m. Accordingly, the shaft portion 41a of the load transmitting member 40a is supported by the O-ring 04 having elasticity. Therefore, when the load transmitting member 40a is manufactured, even if an error occurs in the shape and dimensions of the load transmitting member 40a, the load transmitting member 40a is accommodated in the housing while the influence of the error is absorbed by the O-ring 04. Supported within 50. As a result, the shape and dimensional accuracy of the load transmitting member 40a are relaxed. In this state, the gap G2 between the outer peripheral surface of the shaft portion 41a and the inner peripheral surface of the opening 52h is, for example, about 0.1 mm.
- the load transmitting members 40a and 40b that support the rod-shaped member 30 are positioned by the housing 50 via the O-rings Ol and 04, respectively.
- the load transmitting members 40a and 40b are allowed to move within the housing 50 with a slight displacement in a direction perpendicular to the central axis of the magnetostrictive load sensor 100a (the central axis of the nosing 50).
- the load transmitting member 40a or the load transmitting member 40b is not attached to the O-ring Ol, 04. Move inertially. Therefore, the stress concentration generated in the one end 30a and the other end 30b of the rod-shaped member 30 due to the direction in which the load is applied is reduced. As a result, variations in output changes of the magnetostrictive load sensor 100a are sufficiently prevented.
- the first housing 51 has a first outer peripheral wall 511 on one end side in the longitudinal direction, and a second outer peripheral wall 512 on the other end side.
- the second outer peripheral wall 512 is larger than the first outer peripheral wall 511.
- the second housing 52 has a disk part 521 and an annular guide part 522. Disc part 52
- the opening 52h is formed in the center of 1.
- the guide portion 522 is formed so as to protrude from one surface of the disk portion 521 !.
- An annular groove 522m is formed on the outer peripheral surface of the guide 522.
- the O-ring 03 is attached to the groove 522m, and the first housing 51 and the second housing 52 are fitted. Thereby, the sealing property of the housing 50 is improved.
- the first housing 51 and the second housing 52 are manufactured, an error may occur in the fitting portion between the first housing 51 and the second housing 52. Even in this case, the first housing 51 and the second housing 52 are fitted together while the influence of the error is absorbed by the O-ring 02. As a result, the shape and dimensional accuracy of the first housing 51 and the second housing 52 are relaxed.
- An annular groove 511m is formed on one end surface of the first outer peripheral wall 511.
- the diameter of the cross section of the O-ring 02 is larger than the depth of the groove 511m.
- the second casing member 22 is supported by being sandwiched between the O-ring 02 and the guide portion 522 having elasticity.
- First housing 51 and second case When the single member 22 is manufactured, there may be an error in the shape and dimensions of the first housing 51 and the second casing member 22. Even in that case, the second casing member 22 is supported in the housing 50 while the influence of the error is absorbed by the O-ring 02.
- the gap G3 between one surface of the second casing member 22 and the end surface of the first outer peripheral wall 511 is, for example, about 0.2 mm.
- the magnetic path forming member 20 is inertially supported by the O-ring 02 in the housing 50.
- vibration or impact generated in the magnetic path forming member 20 is absorbed by the O-ring 02.
- the output change of the magnetostrictive load sensor 100a is sufficiently prevented from varying due to the vibration or impact generated in the rod-shaped member 30.
- the positional relationship between the magnetic path forming member 20 and the rod-shaped member 30 may be shifted. Further, even when a load is applied in a direction inclined with respect to the central axis of the magnetostrictive load sensor 100a, the positional relationship between the magnetic path forming member 20 and the rod-shaped member 30 may be shifted. Even in such a case, as described above, since both the magnetic path forming member 20 and the rod-shaped member 30 are supported inertially in the housing 50, the impedance of the sensor component is increased according to the amount of deviation. Change.
- FIG. 5 is a diagram for explaining the impedance of the sensor component that changes in accordance with the positional relationship between the rod-shaped member 30 and the magnetic path forming member 20 in FIG.
- FIG. 5 (a) shows an enlarged view around the one end 30a of the rod-shaped member 30 of FIG.
- the rod-shaped member 30 is placed in the magnetic path forming member 20 so that the central axis of the rod-shaped member 30 is positioned at the center of the opening 22h of the second casing member 22. Deploy. In this case, if the spacer SP is not provided in the opening 22h, the rod-like member 30 is allowed to shift by an interval W between its outer peripheral surface and the inner peripheral surface of the opening 22h.
- the spacer SP is provided in the opening 22h! / Deviation of the distance V between the outer peripheral surface and the inner peripheral surface of the spacer SP is allowed.
- the interval V is smaller than the interval W by the thickness of the spacer SP.
- the spacer SP limits the amount of deviation of the positional relationship between the magnetic passage forming member 20 and the rod-shaped member 30 to be small.
- FIG. 5 (b) shows the relationship between the position of the central axis of the rod-shaped member 30 relative to the magnetic path forming member 20 and the impedance of the sensor component.
- the vertical axis represents the impedance of the sensor component
- the horizontal axis represents the position of the central axis of the rod-shaped member 30 in the opening 22h.
- the symbol X indicates the center of the opening 22h.
- the impedance of the sensor component is minimized when the central axis of the rod-shaped member 30 is located at the center X of the opening 22h.
- the impedance of the sensor component increases in a quadratic function as the central axis of the rod-shaped member 30 moves away from the center X force of the opening 22h.
- the spacer SP limits the amount of deviation of the positional relationship between the magnetic path forming member 20 and the rod-shaped member 30 to be small. As a result, the change in impedance of the sensor component due to the positional relationship between the magnetic path forming member 20 and the rod-shaped member 30 is sufficiently reduced. As a result, the output stability of the magnetostrictive load sensor 100a is improved.
- the spacer SP is not necessarily provided. Even when the spacer SP is not provided, the same effect as described above can be obtained by setting the gaps between the constituent members in the housing 50 as follows.
- the gaps Gl and G2 allow the load transmitting members 4 Oa and 40b that support the rod-like member 30 to move in a direction intersecting the central axis of the magnetostrictive load sensor 100a. Further, the gaps G4 and G5 allow the rod-like member 30 to move in a direction intersecting the central axis of the magnetostrictive load sensor 10 Oa within the gap. [0175] Here, in the housing 50, the gaps G4 and G5 are located inside the gaps Gl and G2. Thus, since the rod-shaped member 30 is supported by the load transmitting members 40a and 40b, when the gaps Gl, G2, G3, and G4 satisfy the above relationship, the allowable movement amount of the rod-shaped member 30 is the gaps Gl, G2 Limited by.
- the magnetostriction due to the positional deviation of the rod-shaped member 30 is set by setting the widths of the gaps Gl and G2 in consideration of the amount of movement of the rod-shaped member 30 allowed in the housing 50 in advance.
- the fluctuation of the output of the load sensor 100a can be reduced.
- FIG. 6 is a view for explaining a portion of the rod-like member 30 protruding from the opening 22h of the magnetic path forming member 20. As shown in FIG. In FIG. 6, the spacer SP is omitted.
- the one end 30a of the rod-shaped member 30 protrudes from the opening 22h by a length equal to or greater than the diameter of the rod-shaped member 30. This is due to the following reason.
- the stress acting locally concentrates spreads in a range of about 45 ° on both sides around an axis parallel to the central axis of the rod-shaped member 30.
- one end 30a of the rod-shaped member 30 protrudes by a length / 3 that is equal to or larger than the diameter a of the rod-shaped member 30.
- the stress acting on the rod-shaped member 30 is rod-shaped. Spreads across the entire member 30. Therefore, the stress distribution of the rod-shaped member 30 is almost uniform. This prevents the coil 10 in the magnetic path forming member 20 from being affected by the uneven stress distribution of the rod-shaped member 30. As a result, the output of the magnetostrictive load sensor 100 is prevented from being affected by the stress concentration portion generated in the rod-like member C, so that the output of the magnetostrictive load sensor 100 is stabilized.
- the other end 30b of the rod-shaped member 30 also protrudes from the opening 21h by a length equal to or greater than the diameter of the rod-shaped member 30.
- the output of the magnetostrictive load sensor 100 is prevented from being affected by the stress concentration portion generated in the rod-like member C, so that the output of the magnetostrictive load sensor 100 is sufficiently stabilized.
- the rod-shaped member 30 has a cylindrical shape, but the rod-shaped member 30 may have a polygonal column shape. In this case, it is preferable that both end portions of the rod-shaped member 30 protrude from the magnetic path forming member 20 by a length equal to or longer than the diameter of the polygon circumscribed circle.
- the tilt angle refers to an angle with respect to the central axis of the magnetostrictive load sensor of the example and the comparative example.
- the inventor produced an example magnetostrictive load sensor 100a having the structure shown in FIG. Therefore, a predetermined load was applied to the load transmitting member 40b of the magnetostrictive load sensor 100a at various inclination angles, and the relative sensitivity to the sensitivity of the magnetostrictive load sensor 100a when the inclination angle was 0 ° was measured.
- sensitivity refers to the amount of change in impedance of the sensor component (impedance change ⁇ Z) when a predetermined load is applied to the magnetostrictive load sensor 100a, to the magnetostrictive load sensor 100a. When no load is applied, it is obtained by dividing by the impedance of the sensor component (initial impedance Z).
- Relative sensitivity refers to "magnetostriction when a predetermined load is applied at an arbitrary inclination angle" with respect to "sensitivity of magnetostrictive load sensor 100a when a predetermined load is applied at an inclination angle of 0 °".
- FIG. 7 (a) shows the relationship between the tilt angle and the relative sensitivity when the magnetostrictive load sensor 100a of the embodiment is used.
- the vertical axis represents relative sensitivity
- the horizontal axis represents the tilt angle.
- the magnetostrictive load sensor 100a of the example has a force of about 6% even when the tilt angle changes from 0 ° force to 30 °. The power that changed. A relative sensitivity change of about 6% is not a problem in practice. For this reason, the magnetostrictive load sensor 100a of the example has been found to be stable in output, improving yield and reducing cost.
- the present inventor manufactured a magnetostrictive load sensor of a comparative example, and performed almost the same experiment as the magnetostrictive load sensor 100a of the example.
- the magnetostrictive load sensor of the comparative example used in the experiment does not have an opening 22h in the second casing member 22 of the magnetic path forming member 20 in FIG. 3, and the second casing member 22 is one end 30a of the rod-shaped member 30. It has the structure which supports.
- the configuration of the other parts of the magnetostrictive load sensor of the comparative example is the same as that of the magnetostrictive load sensor of FIG.
- Fig. 7 (b) shows the relationship between the tilt angle and the relative sensitivity when the magnetostrictive load sensor of the comparative example is used.
- the vertical axis represents relative sensitivity
- the horizontal axis represents the tilt angle.
- the magnetostrictive load sensor 100a of the example is less susceptible to the influence of the tilt angle than the magnetostrictive load sensor of the comparative example.
- the magnetostrictive load sensor according to the second specific example differs from the magnetostrictive load sensor 100a according to the first specific example in the following points.
- FIG. 8 is a sectional view showing a second specific example of the magnetostrictive load sensor 100 according to the first embodiment.
- the first housing 51 is not formed with the groove 51m of FIG. Groove 5 In is formed. Further, in the second housing 52, an annular groove 52 ⁇ is formed on one surface side of the disk portion 521 instead of forming the groove 52m of FIG.
- an O-ring 05 is attached to the groove 51 ⁇ . .
- the diameter of the cross section of the O-ring 05 is larger than the depth of the groove 51n.
- the O-ring 06 is attached to the groove 52 ⁇ .
- the diameter of the cross section of the collar ring 06 is larger than the depth of the groove 52 ⁇ .
- the load transmitting member 40b that supports the other end 30b of the rod-shaped member 30 is supported by the O-ring 05 having elasticity. Further, the load transmitting member 40a that supports the one end 30a of the rod-shaped member 30 is supported by an O-ring 06 that has elastic force.
- the O-ring 05 urges the load transmitting member 40b toward the center of the rod-shaped member 30 in the direction of the force.
- the O-ring 06 also biases the load transmitting member 40a in the direction toward the center of the rod-shaped member 30.
- the rod-shaped member 30 is supported in a state where the elastic force of the O-rings 05 and 06 is applied in the axial direction thereof. Therefore, even when vibration or impact is applied to the magnetostrictive load sensor 100b, the rod-shaped member 30 is prevented from rattling in the axial direction, and the rod-shaped member 30 is prevented from being damaged.
- the rod-shaped member 30, the housing 50, and the load transmitting members 40a, 40b are manufactured, even if an error occurs in the shape and dimensions of each member, the rod-shaped member 30, the load transmitting members 40a, 40b are O-rings 05 and 06 are supported in the housing 50 while the influence of error is absorbed. Therefore, the shape and dimensional accuracy of the rod-shaped member 30, the housing 50, and the load transmitting members 40a and 40b are relaxed.
- FIG. 9 is a sectional view showing a third specific example of the magnetostrictive load sensor 100 according to the first embodiment.
- the second outer peripheral wall 512 of the first housing 51 is sufficiently larger than the second outer peripheral wall 512 of the second specific example of FIG. It is thick.
- annular groove portion 512m is formed on one end surface of the second outer peripheral wall 512.
- the O-ring 07 is attached to the groove 512m.
- the diameter of the cross section of the O-ring 07 is larger than the depth of the groove 512m.
- the O-ring is not provided on one end surface of the first outer peripheral wall 511 of the first housing 51. Therefore, the second casing member 22 is supported by the one end surface of the first outer peripheral wall 511 and the guide portion 522 of the second housing 52.
- the magnetic path forming member 20 can be firmly fixed in the housing 50. Therefore, when the magnetostrictive load sensor 100c is used in an environment where vibration and impact do not occur in the housing 50, the magnetic path forming member 20 is accurately arranged in the housing 50. Therefore, the measurement accuracy of the magnetostrictive load sensor 100c is improved.
- the magnetostrictive load sensor according to the fourth specific example differs from the magnetostrictive load sensor 100c according to the third specific example in the following points.
- FIG. 10 is a sectional view showing a fourth specific example of the magnetostrictive load sensor 100 according to the first embodiment.
- the second outer peripheral wall 512 of the first housing 51 is the second outer peripheral wall of the second specific example, as in the third specific example. It is sufficiently thicker than 512. Further, the first outer peripheral wall 511 and the second outer peripheral wall 512 are formed so that the inner peripheral surfaces thereof are flush with each other.
- annular groove 51lk is formed on the inner peripheral surface of the first outer peripheral wall 511, and an annular groove 512k is formed on the inner peripheral surface of the second outer peripheral wall 512.
- O-rings 08 and 09 are attached to the grooves 511k and 512k, respectively.
- the O-rings 08 and 09 have a cross-sectional diameter greater than the depth of the groove portions 511k and 512k. As a result, the O-rings 08 and 09 also project the inner peripheral surface force of the first housing 51 to the inside thereof.
- the second casing member 22 of the magnetic path forming member 20 is formed so as to have the same shape as the one end surface of the first casing member 21. Therefore, the outer peripheral surface of the magnetic path forming member 20 is flush.
- the magnetic path forming member 20 When the magnetic path forming member 20 is inserted into the first housing 51, the outer peripheral surface of the magnetic path forming member 20 contacts the O-rings 08 and 09. Thereby, the magnetic path forming member 20 is supported in the housing 50.
- the magnetic path forming member 20 is supported by the O-rings 08 and 09.
- the outer diameter of the second casing member 22 is formed large, and the second housing member 52 is moved between the first housing 51 and the second housing 52.
- a structure that sandwiches the peripheral edge of the casing member 22 is not necessary.
- the inner peripheral surface between the first outer peripheral wall 511 and the second outer peripheral wall 512 of the first housing 51 is not required to provide the second housing 52 with the guide portion 522 of FIG. There is no need to provide a step on the surface. Therefore, the outer diameter of the magnetostrictive load sensor lOOd can be reduced. As a result, the magnetostrictive load sensor lOOd is downsized.
- a fifth specific example of the magnetostrictive load sensor 100 according to the first embodiment will be described.
- the magnetostrictive load sensor according to the fifth specific example is different from the magnetostrictive load sensor 100a according to the first specific example in the following points.
- FIG. 11 is a cross-sectional view showing a fifth specific example of the magnetostrictive load sensor 100 according to the first embodiment.
- the magnetostrictive load sensor 100e according to the fifth specific example is provided with load transmitting members 400a and 400b having different shapes from the load transmitting members 40a and 40b in place of the load transmitting members 40a and 40b in FIG. It has been.
- the load transmitting members 400a and 400b each have a cylindrical shape.
- a circular flange 443a, 443b force S is formed at the center of one end face of the load transmitting members 400a, 400b, respectively.
- One end 30a of the rod-shaped member 30 is inserted into the recess 443a of the load transmitting member 400a, and the load transmitting member 400a and the rod-shaped member 30 are joined.
- the load transmitting member 400a and the rod-shaped member 30 are joined by screwing, press fitting, adhesion, welding, brazing, or the like.
- the other end 30b of the rod-shaped member 30 is inserted into the recess 443b of the load transmitting member 400b, and the load transmitting member 400b and the rod-shaped member 30 are joined.
- the load transmitting member 400b and the rod-shaped member 30 are also joined by screwing, press fitting, adhesion, welding, brazing, or the like.
- the load transmitting members 400a and 400b support the rod-shaped member 30 in the housing 50. This state In this state, each of the load transmitting members 400a and 400b is located in the openings 52h and 51h, and is supported by the elastic force of the O-rings 04 and O1.
- Each of the load transmission members 400a, 400b is formed with a load transmission shaft 410a, 410b extending outward of the magnetostrictive load sensor 100e on the shaft of the rod-shaped member 30. Further, annular members 41 la and 41 lb are formed at the ends of the load transmission shafts 410a and 410b.
- the magnetic permeability of the rod-shaped member 30 changes not only when a compressive force acts on the rod-shaped member 30 but also when a tensile force acts. Therefore, the impedance of the sensor component changes according to the compressive force and tensile force acting on the rod-shaped member 30.
- the magnetostrictive load sensor according to the second embodiment differs from the magnetostrictive load sensor 100 according to the first embodiment in the following points.
- FIG. 12 is a diagram for explaining the basic configuration of the magnetostrictive load sensor according to the second embodiment.
- a magnetostrictive load sensor 200 according to the second embodiment is provided on a base CB, and in addition to the configuration of the magnetostrictive load sensor 100 according to the first embodiment.
- Two arms Ga, Gb and a rotation axis H are provided.
- the housing E, the rotating shaft H, and the force are arranged at a predetermined interval.
- the two arms Ga and Gb are connected to each other so as to form a substantially U-shape, and are rotatably supported on the base CB by the rotating shaft H at the connecting portion.
- Load applying members Fa and Fb are attached to the respective ends of the two arms Ga and Gb.
- the load applying members Fa and Fb are obtained by rotating the arms Ga and Gb about the rotation axis H as follows. Abuts on load transmitting members Da and Db supported by housing E.
- the two extension portions E a extending in the direction perpendicular to the axial direction of the rod-like member C at both ends of the housing E , Eb.
- the lead wire R drawn from the coil A is connected to the substrate SU.
- the substrate SU is connected to an external device or the like (not shown) via the cable L.
- the direction and position of the load applied to the load transmitting members Da and Db are symmetric, and a load is applied to one end of the rod-shaped member C and a load is applied to the other end of the rod-shaped member C.
- the load is transmitted to the bar member C through a symmetrical path.
- FIG. 13 is a top view showing a specific example of a magnetostrictive load sensor 200 according to the second embodiment.
- the magnetostrictive load sensor 200a according to this specific example includes the magnetostrictive load sensor 100a of FIG. 3 described in the first embodiment, and includes an arm 920a.
- the magnetostrictive load sensor 100a in FIG. 13 corresponds to the magnetostrictive load sensor 100 in FIG.
- the arms 920a and 920b and the rotating shaft 910 correspond to the above-described arms Ga and Gb and the rotating shaft H, respectively.
- the magnetostrictive load sensor 200a As shown in FIG. 13, the magnetostrictive load sensor 200a according to the present specific example is provided on a pedestal 990.
- the magnetostrictive load sensor 100a and the rotary shaft 910 shown in Fig. 3 are arranged at a predetermined interval.
- the two arms 920a and 920b are connected to each other so as to have a substantially U shape, and are rotatably supported on the base 990 by a rotating shaft 910 at a connecting portion.
- the two arms 920a and 920b are provided with leaf spring support members 921a and 921b, respectively. Inside the arm 920a, two load limiting members 922a and 923a are provided at predetermined intervals. Two load limiting members 922 b and 923 b are also provided inside the arm 920 b at a predetermined interval.
- One end of a leaf spring 930a, 930b having a longitudinal shape is attached to the leaf spring support member 921a, 921b.
- Protrusions 93 la and 93 lb are formed at portions closer to the other end than the center of the leaf springs 930a and 930b.
- the projection 93la of the leaf spring 930a is located between the two load limiting members 922a and 923a and protrudes toward the inside of the arm 920a. In this state, the leaf spring 930a is urged toward the inside of the arm 92 Oa.
- the protrusion 931b of the leaf spring 930b is located between the two load limiting members 922b and 923b and protrudes toward the inside of the arm 920b. In this state, the leaf spring 930b is biased toward the inside of the arm 92 Ob.
- the protrusions 931a and 931b of the leaf springs 930a and 930b correspond to the load application members Fa and Fb in FIG. Therefore, as shown in FIG. 13, the protrusions 931a and 931b are formed by the load transmitting member 40a of the magnetostrictive load sensor 100a by rotating the arms 920a and 920b. , 40b. As a result, the load force acting on the arms 920a and 920b is transferred to the load transmission members 40a and 40b.
- leaf springs 930a and 930b are elastically deformed as indicated by the arrow Y in FIG.
- the leaf spring 930a and the load limiting members 922a and 923a provided in the force arm 920a described for the function 3b have the same function.
- the magnetostrictive load sensor 200a according to this example has improved durability and extended life.
- the magnetostrictive load sensor according to the third embodiment differs from the magnetostrictive load sensor 100 according to the first embodiment in the following points.
- FIG. 14 is a view for explaining the basic configuration of the magnetostrictive load sensor according to the third embodiment.
- the magnetostrictive load sensor 300 As shown in FIG. 14, the magnetostrictive load sensor 300 according to the third embodiment is provided with only one load transmitting member D and one load applying member F.
- the magnetostrictive load sensor 300 can detect only the load applied from one end side of the rod-shaped member. Thereby, the structure for applying a load to the other end side of the rod-shaped member C becomes unnecessary. As a result, the size of the rod-like member C in the axial direction can be reduced, the configuration is simplified, and low cost is realized. Also, if only a load from one direction is detected, the installation space is reduced.
- both end portions of the rod-like member C protrude outside the magnetic passage forming member B.
- both ends of the rod-like member C are located outside the magnetic path formed by the magnetic path forming member B.
- the output of the magnetostrictive load sensor 300 is prevented from being affected by the stress concentration portions generated at both ends of the rod-like member C, so that the output of the magnetostrictive load sensor 300 is stabilized.
- the magnetostrictive load sensor according to this example is different in configuration from the magnetostrictive load sensor 100a illustrated in Fig. 3 and Fig. 4 described in the first embodiment in the following points.
- FIG. 15 is a cross-sectional view showing a specific example of a magnetostrictive load sensor according to the third embodiment. As shown in FIG. 15, the magnetostrictive load sensor 300a according to this specific example is provided with the load transfer member 40a of FIG.
- a circular recess 52J is formed on one surface thereof.
- the one end 30a of the rod-shaped member 30 is inserted into the recess 52J of the second housing 52.
- the rod-like member 30 has one end 30a supported by the recess 52J of the second housing 52 and the other end 30b supported by the load transmitting member 40b.
- the magnetostrictive load sensor 300a has a load transmitting member 4 protruding from the housing 50.
- the load can be detected only when a load is applied to the portion Ob.
- FIG. 16 is a block diagram showing a schematic configuration of a load detection circuit using the magnetostrictive load sensor 100 according to the above embodiment.
- the magnetostrictive load sensor 100 any one of the magnetostrictive load sensors 100a to 100e can be used.
- the load detection circuit 600 includes an oscillation circuit 610, a magnetostrictive load sensor 100, and a temperature compensation resistance circuit.
- the oscillation circuit 610 provides an oscillation signal to one end of the coil of the magnetostrictive load sensor 100 and one end of the temperature compensation resistance circuit 620.
- the magnetostrictive load sensor 100 detects an external load.
- the current detector 630A converts the current supplied to the other end force of the coil of the magnetostrictive load sensor 100 into a voltage.
- the current detector 630B converts the current supplied from the other end of the temperature compensation resistor circuit 620 into a voltage.
- the rectifier circuit 650A rectifies and smoothes the voltage output from the current detector 630A.
- the rectifier circuit 650B rectifies and smoothes the voltage output from the current detector 630B.
- the amplifier circuit 670 amplifies the difference between the output voltage of the rectifier circuit 650A and the output voltage of the rectifier circuit 650B.
- the load held by the load transmission member Da in FIG. 1 is transmitted to one end of the rod-shaped member C, and a compressive force acts on the rod-shaped member C.
- the magnetic permeability of the rod-shaped member C changes due to the inverse magnetostrictive effect, and the impedance of the sensor component consisting of the coil A, the magnetic path forming member B, and the rod-shaped member C changes.
- An output signal corresponding to this impedance change is obtained by the amplifier circuit 670. In this way, the load can be detected electromagnetically.
- the output signal of the amplification circuit 670 of the load detection circuit 600 is given to the control unit 680.
- the control unit 680 includes a CPU (Central Processing Unit) and RAM (Random Access Memory). The CPU operates according to a control program stored in the RAM.
- the control unit 680 performs a predetermined operation on the output signal of the amplifier circuit 670 and gives a control signal based on the operation result to the actuator 690.
- the actuator 690 generates a driving force in response to the control signal.
- magnetostrictive load sensors 200 (200a), 300 (30 Oa) may be used.
- FIG. 17 is a plan view of a personal watercraft using the magnetostrictive load sensor 200a of FIG.
- FIG. 18 is a block diagram showing a control system of the personal watercraft shown in FIG.
- the personal watercraft 700 includes a hull 702. On the deck 704 at the top of the hull 702, a seat 706 on which the operator is seated is provided. Steps 708 are provided on the left and right sides of the seat 706 for the operator to put his feet on. In front of the seat 706, a steering handle 710 held by the operator is provided. A water jet propulsion device 712 is mounted in the hull 702.
- the water jet propulsion device 712 includes an engine 714 and a jet pump 716, and a nozzle deflector 718 is provided at the rear end of the jet pump 716.
- the water jet propulsion device 712 obtains thrust by sucking water from the bottom of the hull 702 by the power of the engine 714 and ejecting the water backward from the nozzle deflector 718 at the rear end of the jet pump 716.
- the nozzle deflector 718 is supported by the rear end of the jet pump 716 so as to be swingable in the left-right direction, not shown!
- Engine 714 is a multi-cylinder engine and is arranged such that the direction of crankshaft 720 is the front-rear direction of hull 702.
- An intake device 722 is connected to the right side of the hull 702, and an exhaust device (not shown) is connected to the left side of the hull 702.
- the intake device 722 includes a plurality of carburetors corresponding to each cylinder of the engine 714, and fuel is supplied from each carburetor to the corresponding cylinder.
- Each of the devices includes a throttle valve 724 shown in FIG.
- Each throttle valve 724 is biased in a closing direction by a return spring, not shown.
- the steering handle 710 includes a handle bar 734, a steering bearing 738, a rotating shaft (steering shaft) 910, and a pedestal (mounting plate) 990 to be gripped by the operator.
- the rotation shaft 910 is attached to the center portion of the handle bar 734.
- the steering bearing 738 supports the rotating shaft 910 in a freely rotatable manner.
- Pedestal 990 replaces steering bearing 738 with deck 704 Fix it.
- the magnetostrictive load sensor 200a shown in Fig. 13 is mounted on the pedestal 990.
- the arms 920a and 920b of the magnetostrictive load sensor 200a are attached.
- a handle cover 742 is provided so as to cover the handle bar 734 and the rotating shaft 910.
- a push-pull wire for steering is connected to the lower end portion of the rotating shaft 910 via a steering arm (not shown).
- the steering arm rotates in the same direction, and the nozzle deflator 718 swings to the left or right via the push-pull wire.
- the handle bar 734 is provided with a throttle lever 726.
- the throttle valves 724 (FIG. 18) are connected to each other so that the throttle valve 724 located on the most front side of the hull 702 among the throttle valves 724 is connected to the throttle lever 726 of the steering handle 710 and the throttle wire 728 (FIG. 18). ). By operating the throttle lever 726, all the throttle valves 724 are opened and closed in conjunction with each other.
- engine 714 is provided with an engine speed sensor 730 for detecting the speed of crankshaft 720 in FIG.
- the engine speed sensor 730 sends a speed signal indicating the engine speed to the controller 732.
- controller 732 To the controller 732, a servo motor 746 for throttle operation is connected, and a load detection circuit 600 including a magnetostrictive load sensor 100a is connected. Controller 732 is powered by knotter 756.
- the servo motor 746 includes an arm 748, a motor 750, a reduction gear 752, and a feedback potentiometer 754.
- the rotation of the motor 750 is decelerated by the reducer 752 and transmitted to the arm 748.
- Feedback potentiometer 754 detects the actual swing angle of arm 748.
- the controller 732 controls the motor 750 so that the detected swing angle of the arm 748 coincides with the set target angle of the arm 748. In this way, the angle of the arm 748 is feedback controlled in the servo motor 746.
- the throttle valve 724 is connected to the throttle lever 726 via the throttle wire 728.
- the throttle wire 728 is passed through the rotary shaft 910 in FIG.
- Slot Tuttle wire 728 includes an outer tube 728a and an inner wire 728b.
- the water tube 728a is connected to the arm 748 of the servo motor 746, and the inner wire 728b is connected to the throttle valve 724.
- the throttle valve 724 can be opened and closed via the inner wire 728b.
- a controller 732 and a servo motor 746 for throttle operation constitute a steering assist device.
- This steering assist device is used to improve the steering performance during low-speed driving.
- the load signal is output from the load detection circuit 600 to the controller 732.
- the controller 732 outputs a control signal for causing the servo motor 746 to swing the arm 748 when the load indicated by the output signal is larger than a predetermined value.
- the above-mentioned predetermined value is obtained when the ship operator turns the steering wheel 710 in FIG. 17 to the limit (at the maximum steering angle) and further increases the magnetostriction when holding a larger force on the steering wheel 734 than during normal steering.
- Type load sensor 2 Set to the load detected by OOa.
- the controller 732 sets the target angle of the arm 748 of the servo motor 746 based on the load detected by the magnetostrictive load sensor 100a. Then, the controller 732 feedback-controls the servo motor 746 so that the angle of the arm 748 detected by the feedback potentiometer 754 matches this target angle.
- the throttle valve 724 opens at an opening corresponding to the load detected by the magnetostrictive load sensor 100a (corresponding to the force applied by the operator to the steering wheel 710), and the output of the engine 714 is controlled.
- controller 732 force S corresponds to the control unit 680 in FIG. 16, and the servo motor 746 corresponds to the actuator 690.
- the magnetosensors 100b, 100c, and lOOd may be used instead of the magnetostrictive load sensor 100a used in the magnetostrictive load sensor 200a.
- FIG. 19 is a side view of an electric bicycle 800 using the magnetostrictive load sensor 300a of FIG. 20 is a cross-sectional view showing a configuration of a power unit used in the electric bicycle of FIG.
- An electric bicycle 800 shown in FIG. 19 includes a handle 802, a front wheel 804, a down tube 806, a seat tube 808, a seat (saddle) 810, a rear wheel 812, and a wheel sprocket 814.
- a power unit 816 is provided at a substantially central lower portion of the electric bicycle 800.
- the power unit 816 has a driving system by human power and an auxiliary power system by the electric motor 818, and synthesizes and outputs the driver's human power and auxiliary power.
- a crankshaft 820 is rotatably connected to the power unit 816, and cranks 822 are attached to the left and right sides of the crankshaft 820.
- cranks 822 are attached to the left and right sides of the crankshaft 820.
- a pedal 824 is rotatably mounted!
- a controller 826 is connected to the power unit 816.
- the power shoe 816 controls the output (auxiliary power) of the electric motor 818 according to the magnitude of the torque input to the crankshaft 820 by human power.
- a notch box 828 is detachably mounted in a space below the seat 810 and surrounded by the seat tube 808 and the rear wheel 812.
- a Ni—Cd battery (not shown) composed of a plurality of shrink-packed single cells is stored.
- the power unit 816 includes a housing 830.
- an arm 832 connected to the crankshaft 820 and a magnetostrictive load sensor 300a are housed.
- the arm 832 is connected to the roller 834 via a ring gear (not shown) of the planetary gear mechanism.
- the roller 834 contacts the load transmitting member 40b of the magnetostrictive load sensor 300a.
- a reaction force proportional to the torque transmitted from the crankshaft 820 is generated in the ring gear of the planetary gear mechanism, and this reaction force is applied to the load of the magnetostrictive load sensor 300a via the roller 834. It acts on the transmission member 40b.
- the current output from the magnetostrictive load sensor 300a is applied to the load detection circuit 600 in FIG.
- the controller 826 calculates the magnitude of torque based on the output signal of the load detection circuit 600 in FIG. 16, and controls the output (auxiliary power) of the electric motor 818 according to the torque.
- the torque input to the crankshaft 820 can be accurately detected by using the magnetostrictive load sensor 300a.
- controller 826 corresponds to the control unit 680 in FIG. 16
- the electric motor 818 corresponds to the actuator 690.
- magnetostrictive load sensor 300a instead of the magnetostrictive load sensor 300a, use magnetostrictive load sensors 100a, 100b, 100c, 100d!
- Magnetostrictive load sensors 100a, 100b, 100c, 100d, lOOe, 20 0a, 300a are not limited to planing boats and electric bicycles, but are applied to transportation equipment such as motorcycles, water bikes, electric vehicle chairs, etc. It can also be applied to various mobile objects such as mobile shelves as well as transportation equipment.
- the through holes Ah and 10h of the coils A and 10 correspond to the through holes
- the coils A and 10 correspond to the coils
- the openings Bha and 21h correspond to the first openings
- Opening Bhb, 22h corresponds to the second opening.
- the magnetic path forming members B and 20 correspond to magnetic path forming members
- the rod-shaped members C and 30 correspond to load detecting members
- the load transmitting members Da, Db, 40a, and 40b are load transmitting members or first members.
- the housings E and 50 correspond to the first and second load transmitting members, and the housings E and 50 correspond to the supporting members.
- the spacer SP is equivalent to the gap forming member
- the O-rings Ol, 04, 05, 06 are equivalent to the elastic body
- the housings E, 50 are equivalent to the housing
- the gaps G4, G5 are the first ones. It corresponds to the gap.
- the openings Eha, Ehb, 51h, 52h correspond to the third opening and the fourth opening
- the gaps G1, G2 correspond to the second gap
- the recesses 43a, 43b are the recesses or the first openings.
- the load application members Fa and Fb and the protrusions 931a and 931b correspond to the load application member or the first and second load application members.
- the personal watercraft 700 corresponds to a moving body
- the hull 702 corresponds to a main body
- the engine 714 corresponds to a drive unit
- the controller 732 and the servo motor 746 correspond to a control unit.
- the electric bicycle 800 corresponds to a moving body
- the down tube 806 and the seat tube 808 correspond to a main body
- the power unit 816 corresponds to a drive unit
- the controller 826 corresponds to a control unit.
- the present invention can be effectively used to detect loads on various moving bodies such as a planing boat, an electric bicycle, a motorcycle, a water bike, an electric wheelchair, or a mobile shelf.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP06767433.3A EP1909088A4 (en) | 2005-07-01 | 2006-06-27 | MAGNETOSTRICTIVE LOAD SENSOR AND MOBILE BODY USING THE SAME |
US11/994,162 US7677118B2 (en) | 2005-07-01 | 2006-06-27 | Magnetostrictive load sensor and moveable object including the same |
CN2006800241783A CN101213430B (zh) | 2005-07-01 | 2006-06-27 | 磁致伸缩式载荷传感器以及具备该载荷传感器的移动体 |
JP2007523959A JP4731557B2 (ja) | 2005-07-01 | 2006-06-27 | 磁歪式荷重センサおよびそれを備えた移動体 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-193687 | 2005-07-01 | ||
JP2005193687 | 2005-07-01 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007004472A1 true WO2007004472A1 (ja) | 2007-01-11 |
Family
ID=37604341
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/312816 WO2007004472A1 (ja) | 2005-07-01 | 2006-06-27 | 磁歪式荷重センサおよびそれを備えた移動体 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7677118B2 (ja) |
EP (1) | EP1909088A4 (ja) |
JP (2) | JP4731557B2 (ja) |
CN (1) | CN101213430B (ja) |
WO (1) | WO2007004472A1 (ja) |
Cited By (2)
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JP2010038913A (ja) * | 2008-07-10 | 2010-02-18 | Yamaha Motor Co Ltd | 磁歪式荷重センサおよびそれを備えた移動体 |
WO2013150614A1 (ja) * | 2012-04-03 | 2013-10-10 | 公益財団法人地震予知総合研究振興会 | 応力および歪み検出装置 |
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JP2009276290A (ja) | 2008-05-16 | 2009-11-26 | Yamaha Motor Co Ltd | 磁歪式荷重センサおよびそれを備えた移動体 |
WO2010119773A1 (ja) * | 2009-04-17 | 2010-10-21 | 本田技研工業株式会社 | 磁歪式トルクセンサ及び電動パワーステアリング装置 |
US8718813B2 (en) * | 2009-09-21 | 2014-05-06 | GM Global Technology Operations LLC | Mechanical implement utilizing active material actuation |
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CN102519633B (zh) * | 2011-11-30 | 2014-07-16 | 浙江大学 | 磁弹磁电效应式应力监测装置 |
US9316479B2 (en) * | 2012-09-20 | 2016-04-19 | United Technologies Corporation | Capacitance based clearance probe and housing |
US9857244B2 (en) * | 2013-09-04 | 2018-01-02 | Eaton Corporation | In-cylinder pressure measurement utilizing a magneto-elastic element for measuring a force exerted on an engine valve assembly |
WO2015068700A1 (ja) * | 2013-11-05 | 2015-05-14 | 日本精工株式会社 | 力覚センサ |
CN104062610B (zh) * | 2014-06-11 | 2017-01-04 | 温州大学 | 磁致伸缩材料的磁特性测试装置及检测方法 |
US9453769B2 (en) | 2014-08-25 | 2016-09-27 | Maglogix, Llc | Method for developing a sensing system to measure the attractive force between a magnetic structure and its target by quantifying the opposing residual magnetic field (ORMF) |
US11040682B1 (en) * | 2016-03-21 | 2021-06-22 | Paradigm Research and Engineering, LLC | Blast detection and safety deployment system and method for using the same |
CN109085826B (zh) * | 2018-07-20 | 2022-06-17 | 臻迪科技股份有限公司 | 一种无人船探测方法 |
US11287337B2 (en) * | 2019-07-16 | 2022-03-29 | Bently Nevada, Llc | Reference signal compensation for magnetostrictive sensor |
CN111208457B (zh) * | 2019-12-18 | 2021-05-18 | 大连理工大学 | 一种新型的磁致伸缩测量方法及装置 |
CN113805127A (zh) * | 2020-08-06 | 2021-12-17 | 钢铁研究总院 | 一种磁致伸缩材料性能测试装置及方法 |
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Also Published As
Publication number | Publication date |
---|---|
EP1909088A1 (en) | 2008-04-09 |
CN101213430B (zh) | 2010-10-20 |
JP2011095278A (ja) | 2011-05-12 |
JP4731557B2 (ja) | 2011-07-27 |
JPWO2007004472A1 (ja) | 2009-01-29 |
US7677118B2 (en) | 2010-03-16 |
CN101213430A (zh) | 2008-07-02 |
US20090114040A1 (en) | 2009-05-07 |
EP1909088A4 (en) | 2015-12-23 |
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