CN117007221A - Non-contact torque sensor based on planar spiral coil - Google Patents
Non-contact torque sensor based on planar spiral coil Download PDFInfo
- Publication number
- CN117007221A CN117007221A CN202310837661.9A CN202310837661A CN117007221A CN 117007221 A CN117007221 A CN 117007221A CN 202310837661 A CN202310837661 A CN 202310837661A CN 117007221 A CN117007221 A CN 117007221A
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- shaft
- torque sensor
- planar spiral
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- 238000001514 detection method Methods 0.000 claims abstract description 31
- 229910000808 amorphous metal alloy Inorganic materials 0.000 claims abstract description 16
- 230000005284 excitation Effects 0.000 claims abstract description 12
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 claims description 6
- 239000010949 copper Substances 0.000 claims description 6
- 238000004026 adhesive bonding Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 4
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000009467 reduction Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 14
- 230000005291 magnetic effect Effects 0.000 description 8
- 239000000463 material Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 3
- 230000005415 magnetization Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a non-contact torque sensor based on a planar spiral coil, which comprises a shell, a stepped shaft, a middle shaft, an amorphous alloy detection sheet, a circuit board, a plurality of detection and excitation coils and a coil bracket, wherein the stepped shaft is arranged on the middle shaft; the detection and excitation coil and the circuit board are fixed on the coil bracket; the coil bracket is fixed on the torque sensitive element; the stepped shaft comprises an input disc, an elastic shaft and a fixed disc, which are integrally formed; the amorphous alloy detection piece is arranged on the elastic shaft; the shell is fixed through a fixed flange outside the input disc; by adopting the magneto-elastic non-contact torque measurement, the control error caused by the reduction of the rigidity of the system can be effectively reduced. The invention detects the torsion force based on the inverse magnetostriction effect, has simple installation and maintenance, strong anti-interference capability and good durability, can realize non-contact measurement, is easy to develop to miniaturization, and is particularly suitable for online monitoring of torque.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a non-contact torque sensor based on a planar spiral coil.
Background
A torque sensor is a device and apparatus that senses torque and converts it into a usable signal according to a certain rule, and is generally composed of a sensing element and an elastic element. The moment sensor is widely applied in the technical field of robots, is generally arranged in each joint of the robot, can comprehensively sense the magnitude of moment born by the robot when the robot interacts with the external environment, and provides force sense information for the flexible control of the robot.
At present, the main methods for measuring the moment comprise strain type, photoelectric type, capacitance type, electromagnetic type, magneto-elastic type and the like, and each method has the special advantages, has the respective defects and is suitable for different application fields.
The moment measurement of the strain gauge sensor is realized by sticking a strain gauge on an elastic shaft to form a measuring bridge, and when the elastic shaft is subjected to tiny deformation caused by the torque, the resistance value of the bridge is changed, and the change of the resistance of the strain bridge is converted into the change of an electric signal. The method has the advantages of high precision sensitivity and low cost; the disadvantage is that the structure is added in the rotating shaft, and the dynamic balance problem exists at high rotating speed.
The photoelectric torque sensor fixes two disc-shaped gratings with the same number of openings on the rotating shaft, and respectively fixes the photoelectric element and the fixed light source on two sides of the gratings, and bright and dark stripes of the two gratings are staggered when the rotating shaft has no torque effect, so that the light path is completely blocked. When torque is applied, the sections of the two disc-shaped gratings generate relative rotation angles, the light and dark fringes partially coincide, and part of light rays penetrate the gratings to irradiate the photosensitive elements to output electric signals. The magnitude of the applied torque can be measured by measuring the output electrical signal. The method has the advantages of real-time monitoring and quick response; the defects are complex structure, difficult static marking, poor reliability and poor anti-interference capability.
The magnetoelectric moment sensor is characterized in that two groups of gears with identical teeth numbers, shapes and installation angles are installed at two ends of an elastic shaft, and a near magnetic strength sensor is installed at the outer side of each gear. When the elastic shaft rotates, the two groups of sensors can measure two groups of pulse waves, and the torque quantity born by the elastic shaft can be calculated by comparing the phase difference of the front edge and the rear edge of the two groups of pulse waves. The method has the advantages of high precision, low cost and reliable performance; the defects are that the response time is longer, the measured shaft is changed greatly, and the system is influenced.
The magneto-elastic torque sensor is characterized in that a magnetostrictive material is stuck on a test shaft, the sticking material is strained after torque is applied on the shaft, a magnetic field is changed, and the magneto-elastic torque sensor is characterized by an induction coil. However, the current magneto-elastic torque sensor is huge in size due to the design of the detection coil probe and the elastic body, and is difficult to be applied to application scenes with strict limitation on the size.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the non-contact torque sensor based on the planar spiral coil, and the intermediate shaft is designed into a hollow structure to adapt to shafts with different diameters of different objects, so that the cost can be effectively reduced, the sensitivity and response speed can be improved, the universality of the sensor can be improved, and the structural strength of the sensor can be improved.
The invention adopts the following technical scheme:
a non-contact torque sensor based on a planar spiral coil comprises a shell, a stepped shaft, a middle shaft, an amorphous alloy detection sheet, a circuit board, a plurality of detection and excitation coils and a coil bracket; the detection and excitation coil and the circuit board are fixed on the coil bracket; the coil bracket is fixed on the torque sensitive element; the stepped shaft comprises an input disc, an elastic shaft and a fixed disc, which are integrally formed; the amorphous alloy detection piece is arranged on the elastic shaft; the housing is secured by a mounting flange external to the input disc.
Further, the middle shaft is of a hollow structure for placing objects with different diameters.
Further, the input disc is provided with 4 threaded holes along the circumferential direction; a circle of fixed flange is arranged outside the input disc; the fixing flange is provided with 10 threaded holes along the circumferential direction.
Further, the fixed disc is provided with an inner circle of threaded holes and an outer circle of threaded holes along the circumferential direction, the number of the threaded holes of the inner circle is 10, and the number of the threaded holes of the outer circle is 12.
Further, the number of the coil supports is 2-6; the bottom of coil support sets up 3 screw holes, and the side sets up 4 screw holes.
Further, the detection and excitation coil is fixed on the side edge of the coil bracket through a screw; the circuit board is fixed on the coil bracket through the copper column and the screw.
Further, the amorphous alloy detection piece is fixed on the elastic shaft through gluing.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention adopts magneto-elastic non-contact torque measurement, and can effectively reduce control errors caused by system rigidity reduction.
2. The invention detects the torsion force based on the inverse magnetostriction effect, has simple installation and maintenance, strong anti-interference capability and good durability, can realize non-contact measurement, is easy to develop to miniaturization, and is particularly suitable for online monitoring of torque.
Drawings
Fig. 1 is a schematic perspective view of a non-contact torque sensor based on a planar spiral coil according to the present invention.
Fig. 2 is a perspective internal shell-less structural view of a planar spiral coil-based non-contact torque sensor according to the present invention.
Fig. 3 is a perspective internal shell-free and circuit-board-free structural diagram of a planar spiral coil-based non-contact torque sensor according to the present invention.
Fig. 4 is a schematic diagram of the explosion structure of a non-contact torque sensor based on a planar spiral coil according to the present invention.
Fig. 5 is a perspective structural cross-sectional view of a non-contact torque sensor based on a planar spiral coil in accordance with the present invention.
The labels in the figures are: 1-a stepped shaft; 2-coil support; 3-detecting and exciting the coil; 4-a circuit board; 5-a housing; 6-a housing set screw; 7-a circuit board fixing screw; 8-fixing copper columns on the circuit board; 9-coil set screws; 10-bracket set screw.
Detailed Description
The technical scheme of the invention is further described below with reference to the embodiment examples and the attached drawings.
Example 1
As shown in fig. 1-5, the present embodiment provides a non-contact torque sensor based on a planar spiral coil, which comprises a stepped shaft (1), a housing (5), a middle shaft, an amorphous alloy detection sheet, a detection and excitation coil (3), a coil bracket (2) and a circuit board (4) for signal processing.
The stepped shaft (1) comprises an input disc, an elastic shaft and a fixed disc, which are integrally formed.
The bottom of the stepped shaft (1) is a fixed disc, the middle part is of a hollow structure, a plurality of threaded holes are formed in the circumferential direction of the stepped shaft, and 10 threaded holes of the inner ring are holes fixed with the outside. The outer ring is provided with 12 threaded holes for fixing the coil brackets (2), and the coil brackets (2) are connected with the stepped shaft (1) through bracket fixing screws (10).
The top of the stepped shaft (1) is an input disc, and a plurality of threaded holes are also formed in the circumferential direction of the input disc. The inner ring is provided with 10 threaded holes for connecting an external input torque transmission device; the outer ring is provided with 4 threaded holes, and is connected with the shell (5) through shell fixing screws (6).
The cylinder in the middle of the stepped shaft (1) is an elastic shaft of a sensor detection part, and an amorphous alloy detection piece is stuck on the surface of the cylinder through an adhesive process.
The lower end of the coil bracket (2) is contacted with the top of the fixed disc of the stepped shaft (1), the lower end is provided with 3 threaded holes in total, two threaded holes close to the side wall are holes fixed with the stepped shaft (1), and the threaded holes close to the outer side are circuit board fixed copper columns (8) for installing and supporting the circuit board (4). The detection and excitation coils (3) are arranged on the outer side of the side wall of the coil bracket (2), and 4 threaded holes are formed in the side wall to fix the detection and excitation coils (3) through coil fixing screws (9).
The coil support (2) and the detection and excitation coil (3) form a system which is uniformly distributed and installed on the circumference of a fixed disc in the stepped shaft (1), and 2-6 groups are installed according to requirements.
A signal processing system is mounted on a circuit board (4), 4 mounting holes are formed in the circuit board (4), and the circuit board is mounted on a coil bracket (2) through circuit board fixing screws (7) and circuit board fixing copper columns (8). The circuit board (4) is lifted by a certain space through the support of the fixed copper column (8) of the circuit board, so that the allowance is reserved for the chip on the circuit board (4), and the installation is convenient.
The shell (5) is of a sensor protection structure, the disc at the upper end of the shell (5) is contacted with the top of the outer ring of the input disc of the stepped shaft (1), and the shell is fixed through a shell fixing screw (6). The side edge of the shell (5) is embedded into the concave part of the fixed disc of the stepped shaft (1).
The specific working principle of the invention is as follows:
when the non-contact torque sensor based on the planar spiral coil is used, the torque can cause the middle elastic shaft in the stepped shaft (1) to generate stress strain, and the amorphous alloy detection sheet is caused to generate stress, so that the magnetic flux of the amorphous alloy detection sheet is changed in an alternating magnetic field generated by the exciting coil, and the detection coil detects the change of the magnetic flux and converts the change into an electrical signal to express the change of the applied torque.
When a non-contact torque sensor based on a planar spiral coil receives torsion force, the torsion force is transmitted to an elastic shaft in the middle of a stepped shaft (1) through a screw, and the elastic shaft is subjected to torsion deformation, so that stress and strain are generated.
When stress is generated on the elastic shaft, the amorphous alloy detection piece stuck on the surface of the elastic shaft can cause a reverse magnetostriction effect (Vilary effect); the amorphous alloy detecting sheet is a magnetostrictive material in nature and is characterized in that when being stressed, the amorphous alloy detecting sheet can cause the change of a magnetic field.
The change in magnetization state of the elastic shaft material can be seen as a result of the change in permeability. The elastic shaft characterizes the change of the stress state by measuring the change of the magnetization intensity of the elastic shaft when the elastic shaft is loaded with the torque or the stress by utilizing the magneto-elastic effect of the ferromagnetic material, so that the problem of measuring the torque is converted into the problem of measuring the magnetization intensity of the material. The detection on the coil support (2) and the exciting coil in the exciting coil (3) can continuously attach a stable alternating magnetic field to the amorphous alloy detection sheet, when the elastic shaft has stress change, the surface magnetostriction material can cause the magnetic field change, and the detection on the coil support (2) and the detecting coil in the exciting coil (3) can identify the change and convert the change into an electric signal to be transmitted to a unit on the circuit board (4) for processing. Because the sensor is of a hollow structure, measurement can be realized for different objects which can be placed in the sensor.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A non-contact torque sensor based on planar spiral coils, characterized in that: the device comprises a shell, a stepped shaft, a middle shaft, an amorphous alloy detection sheet, a circuit board, a plurality of detection and excitation coils and a coil bracket; the detection and excitation coil and the circuit board are fixed on the coil bracket; the coil bracket is fixed on the torque sensitive element; the stepped shaft comprises an input disc, an elastic shaft and a fixed disc, which are integrally formed; the amorphous alloy detection piece is arranged on the elastic shaft; the housing is secured by a mounting flange external to the input disc.
2. A planar spiral coil based non-contact torque sensor as claimed in claim 1, wherein: the middle shaft is of a hollow structure for placing objects with different diameters.
3. A planar spiral coil based non-contact torque sensor as claimed in claim 1, wherein: the input disc is provided with 4 threaded holes along the circumferential direction; a circle of fixed flange is arranged outside the input disc; the fixing flange is provided with 10 threaded holes along the circumferential direction.
4. A planar spiral coil based non-contact torque sensor as claimed in claim 1, wherein: the fixed disk is provided with an inner circle of threaded holes and an outer circle of threaded holes along the circumferential direction, the number of the threaded holes of the inner circle is 10, and the number of the threaded holes of the outer circle is 12.
5. A planar spiral coil based non-contact torque sensor as claimed in claim 1, wherein: 2-6 coil brackets; the bottom of coil support sets up 3 screw holes, and the side sets up 4 screw holes.
6. A planar spiral coil based non-contact torque sensor as claimed in claim 1, wherein: the detection and excitation coil is fixed on the side edge of the coil bracket through a screw; the circuit board is fixed on the coil bracket through the copper column and the screw.
7. A planar spiral coil based non-contact torque sensor as claimed in claim 1, wherein: the amorphous alloy detection sheet is fixed on the elastic shaft through gluing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310837661.9A CN117007221A (en) | 2023-07-10 | 2023-07-10 | Non-contact torque sensor based on planar spiral coil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310837661.9A CN117007221A (en) | 2023-07-10 | 2023-07-10 | Non-contact torque sensor based on planar spiral coil |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117007221A true CN117007221A (en) | 2023-11-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310837661.9A Pending CN117007221A (en) | 2023-07-10 | 2023-07-10 | Non-contact torque sensor based on planar spiral coil |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117007221A (en) |
-
2023
- 2023-07-10 CN CN202310837661.9A patent/CN117007221A/en active Pending
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