TW201428249A - Detection and collection method for shaft torque and system information and apparatus thereof - Google Patents
Detection and collection method for shaft torque and system information and apparatus thereof Download PDFInfo
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本發明係關於一種具動力轉軸工作機器的轉軸扭力暨系統資訊的檢知、收集方法及其裝置，尤指安裝於一定子、一轉子以及其信號以非接觸式傳輸的一種技術範疇。The invention relates to a method for detecting and collecting shaft torque and system information of a power rotating shaft working machine, and a device thereof, in particular, a technical field installed in a certain stator, a rotor and a signal thereof in non-contact transmission.
按，扭力檢知測量係為旋轉扭力系統中最頻繁運用的參數之一，傳統上較常運用扭轉角相位差的感測原理如本國發明專利證書號第112925號，該原理係在轉子(rotor)的兩端安裝著兩組光柵圓盤，並在位於各光柵圓盤的外側的定子(stator)上分別安裝有一接近磁或光的感應元件(sensor)。當該轉子受扭轉力作用時，根據這兩組感應元件的脈波之相位差可估算得轉軸所承受的扭力值，而此方法的優點：實現了扭力信號的非接觸檢知，檢測信號為數位信號，缺點：其一:體積較大，不易安裝，其二:可獲得的扭力精度低，其三:必須使用多顆發射器及接收器耦合，成本較高。According to the torsion detection system is one of the most frequently used parameters in the rotating torsion system. The sensing principle of the torsion angle phase difference is traditionally used, such as the national invention patent number No. 112925, which is based on the rotor. Two sets of grating discs are mounted at both ends, and a magnet or light sensing element is respectively mounted on a stator located outside the grating discs. When the rotor is subjected to a torsional force, the torque value of the rotating shaft can be estimated according to the phase difference of the pulse waves of the two sets of sensing elements, and the advantage of the method is that the non-contact detection of the torque signal is realized, and the detection signal is Digital signal, disadvantages: First: large size, difficult to install, second: the available torque accuracy is low, the third: must use multiple transmitters and receiver coupling, the cost is higher.
而扭力檢知比較成熟的檢測手段為應變電測技術，它具有精度高、頻響快、可靠性好、壽命長等優點，係將專用的測扭力應變規粘貼在轉軸子表面上並組成應變橋，若向應變橋提供工作電源即可獲得該轉軸受扭力的電信號。這就是基本的扭力檢知模式，但是在旋轉軸扭力負載傳遞系統中，最棘手的問題是轉子上的應變橋的電源輸入及檢測到的應變信號輸出如何可靠地在旋轉部分與靜止部分之間傳遞，通常的做法是用導電滑環來完成，但由於導電滑環是屬於一種摩擦接觸，因此不可避免地存在著磨損並發熱，因而限制了轉子的轉速上限及導電滑環的使用壽命，以及由於因接觸不可靠而引起信號傳輸品質下降，甚至導致扭力檢知失敗，如本國新型專利第M410879號。The more mature detection method of torsion detection is strain electrical measurement technology, which has the advantages of high precision, fast frequency response, good reliability and long service life. It is a special torsion strain gauge attached to the surface of the rotating shaft and forms strain. The bridge can obtain the electrical signal of the torsion of the rotating shaft if the working power is supplied to the strain bridge. This is the basic torsion detection mode, but the most difficult problem in rotary shaft torque load transfer systems is how the power supply input of the strain bridge on the rotor and the detected strain signal output are reliably between the rotating and stationary parts. Transfer, the usual practice is to use conductive slip ring to complete, but because the conductive slip ring is a kind of frictional contact, there is inevitably wear and heat, thus limiting the upper limit of the rotor speed and the service life of the conductive slip ring, and The signal transmission quality is degraded due to unreliable contact, and even the torque detection fails, such as the domestic new patent No. M410879.
另，美國專利申請號US20060207347揭露了一種轉軸扭力量測的方法，其主要藉由一般應變電測技術，透過將轉子上應變橋感測出來的轉軸扭力電信號經一放大器放大，其後再經一電壓/頻率轉換器變換為頻率脈波，並輔以一相鎖迴路的同步電路以抑制變換頻率信號之顫動現象，亦即促使該變換頻率信號與數位扭力值兩者之間呈一穩定的相對應的比例關係，再藉由一組同軸線圈以電磁感應原理並以非接觸方式將此頻率信號傳送至定子微電腦處理後，即得扭力值顯示給使用者查看。此方法雖然可比一般應變電測技術透過導電滑環傳輸信號來得可靠與穩定，然由於頻率脈波傳輸，為了獲得高解析度，得使用較高的頻率作業，亦即一筆數位扭力值傳出需要較多脈波數目，將會有較耗電的缺點；再者，頻率方式只能傳輸轉子扭力值這單一項資訊。In addition, U.S. Patent Application No. US20060207347 discloses a method for measuring the torsion force of a shaft, which is mainly amplified by an amplifier through a strain electric signal sensed by a strain bridge on a rotor, and then passed through an amplifier. A voltage/frequency converter is converted into a frequency pulse wave, and is supplemented by a phase-locked loop synchronization circuit to suppress the chattering phenomenon of the converted frequency signal, that is, to promote a stable relationship between the converted frequency signal and the digital torque value. Corresponding proportional relationship, after a series of coaxial coils are transmitted to the stator microcomputer by electromagnetic induction principle and in a non-contact manner, the torque value is displayed for the user to view. Although this method can be reliable and stable compared with the general strain measurement technology through the conductive slip ring transmission signal, due to the frequency pulse wave transmission, in order to obtain high resolution, it is necessary to use a higher frequency operation, that is, a digital torque value needs to be transmitted. More pulse waves will have the disadvantage of more power consumption; in addition, the frequency mode can only transmit a single piece of information about the rotor torque value.
又為了克服上述導電滑環的缺陷，還有另一做法就如本國新型專利第M419918號所採用無線電遙測(RF)的方法:係將扭力應變信號在旋轉軸上放大並進行類比/數位轉換成數位扭力值，通過載波調製用無線電波發射的方法從旋轉軸上發射至軸外，在定子上再用無線電波接收的方法，就可以得到旋轉軸受扭的扭力值，另轉子上的能源供應是固定在轉軸上的電池。此方法雖克服了導電滑環的缺陷，且RF傳輸內容不但可為扭力值亦可包含轉子其他資訊、以及雙向傳輸等等優點，但也存在著三個不足之處，其一：RF傳輸速度慢，要完成一筆資料交易往往需要至少數十毫秒以上，致使檢知到的轉子扭力之響應較慢，所以此技術受限只能應用於某些場合；其二：RF傳輸很耗電，電池供電僅能維持數十小時工作，實用性極受限制；其三：RF傳輸電路之成本較高。In order to overcome the defects of the above-mentioned conductive slip ring, there is another method such as the radio telemetry (RF) method adopted in the domestic new patent No. M419918: the torque strain signal is amplified on the rotating shaft and analog/digital converted into The digital torque value is transmitted from the rotating shaft to the off-axis by means of carrier wave modulation by radio wave transmission, and the torque value of the rotating shaft is obtained by receiving the radio wave on the stator. The energy supply on the other rotor is A battery that is attached to the shaft. Although this method overcomes the defects of the conductive slip ring, and the RF transmission content can not only have the torque value but also other information of the rotor, and two-way transmission, etc., but there are also three shortcomings, one of which: RF transmission speed Slow, it takes at least tens of milliseconds to complete a data transaction, resulting in a slower response to the detected rotor torque, so this technology can only be applied to certain occasions; second: RF transmission is very power-consuming, battery The power supply can only last for dozens of hours, and the practicality is extremely limited. Third, the cost of the RF transmission circuit is high.
本發明的一目的在於:較為省電能的轉軸扭力暨系統資訊的檢知、收集方法及其裝置。本發明的另一目的在於:提供結構簡單、成本低的轉軸扭力暨系統資訊的檢知、收集方法及其裝置。本發明再一目的在於: 精度高、可靠度高、智能高且用途更為廣泛的一種轉軸扭力暨系統資訊的檢知、收集方法及其裝置。One object of the present invention is to provide a method for detecting and collecting shaft torque and system information that is more energy-saving. Another object of the present invention is to provide a method for detecting and collecting shaft torque and system information with simple structure and low cost. Another object of the present invention is to provide a method for detecting and collecting shaft torque and system information with high precision, high reliability, high intelligence and wide application.
本發明的一種轉軸扭力的檢知方法，係包含下列步驟: (a).在一轉子上設有一檢知件及一第一電路基板;(b).該檢知件得測出該轉子受扭力的一類比信號，並在該第一電路基板上將該類比信號放大；(c).放大後之類比信號經轉換成數位扭力值後，再經UART收發模組以非同步串列數據傳輸信號，然後再經PPM調變成脈衝信號；(d).該串列脈衝信號經一對同軸線圈以電磁感應方式耦合至定子；(e).耦合後的脈衝信號經定子的第二電路基板的PPM解調成非同步串列數據傳輸信號；及(f).再從該非同步串列數據信號解析而獲得扭力值輸出。The method for detecting the torque of the rotating shaft of the present invention comprises the following steps: (a) providing a detecting member and a first circuit substrate on a rotor; (b) detecting the rotor of the detecting member a type of torque signal, and the analog signal is amplified on the first circuit substrate; (c) the amplified analog signal is converted into a digital torque value, and then transmitted through the UART transceiver module in asynchronous serial data. The signal is then modulated by the PPM into a pulse signal; (d) the serial pulse signal is electromagnetically coupled to the stator via a pair of coaxial coils; (e) the coupled pulse signal is passed through the second circuit substrate of the stator The PPM is demodulated into a non-synchronized serial data transmission signal; and (f) is further analyzed from the asynchronous serial data signal to obtain a torque value output.
本發明的一種轉軸系統資訊的收集方法，係包含下列步驟:(a').在一轉子上設有一第一電路基板;(b').該第一電路基板儲存有至少一轉軸系統資訊，該資訊係經UART收發模組以非同步串列數據傳輸信號傳輸，並經PPM調變成串列脈衝信號；(c').該串列脈衝信號經一轉子線圈將信號耦合至一定子線圈，且再經第二電路基板的PPM解調成非同步串列數據傳輸信號；及(d').再將該非同步串列數據信號解析而獲得一轉軸系統資訊並輸出。The method for collecting information of the shaft system of the present invention comprises the following steps: (a'). providing a first circuit substrate on a rotor; (b'). the first circuit substrate stores at least one shaft system information, The information is transmitted by the UART transceiver module in a non-synchronized serial data transmission signal, and is converted into a serial pulse signal by PPM; (c'). The serial pulse signal is coupled to a certain sub-coil via a rotor coil. And then demodulating into a non-synchronized serial data transmission signal via the PPM of the second circuit substrate; and (d'), parsing the asynchronous serial data signal to obtain a shaft system information and outputting.
其中該步驟(d')的轉軸系統資訊係設為一轉子序號、轉子異常碼、轉子控制參數、暫存器資料或轉子溫度等任一資訊或組合資訊。The information of the shaft system of the step (d') is set to any information or combination information such as a rotor number, a rotor abnormal code, a rotor control parameter, a register data or a rotor temperature.
本發明的轉軸扭力檢知裝置，係包含有:一種轉軸扭力檢知裝置，係包含有:一轉子，係該轉子設有一第一電路基板，且該第一電路基板的一側分別電性連接有一轉子線圈，又該第一電路基板上設有一放大器、一微電腦、一UART收發模組及一PPM調變/解調單元，且四者彼此作電性連結；一檢知件，係該檢知件貼設於轉子表面上，且與該第一電路基板作電性連接；一定子，係該定子設有一第二電路基板，且該第二電路基板的一側分別電性連接有一定子線圈，又該第二電路基板上設有一PPM調變/解調單元；及一電能單元，係提供電源給該第一電路基板之需要。The shaft torque detecting device of the present invention comprises: a rotating shaft torque detecting device, comprising: a rotor, wherein the rotor is provided with a first circuit substrate, and one side of the first circuit substrate is electrically connected There is a rotor coil, and the first circuit substrate is provided with an amplifier, a microcomputer, a UART transceiver module and a PPM modulation/demodulation unit, and the four are electrically connected to each other; The affixing member is disposed on the surface of the rotor and electrically connected to the first circuit substrate; the stator is provided with a second circuit substrate, and one side of the second circuit substrate is electrically connected to a stator The coil is further provided with a PPM modulation/demodulation unit on the second circuit substrate; and an electric energy unit is required for supplying power to the first circuit substrate.
本發明的一種轉軸系統資訊收集裝置，係包含有:一轉子，係該轉子設有一第一電路基板，且該第一電路基板的一側電性連接有一轉子線圈，又該第一電路基板上設有一微電腦、一UART收發模組及一PPM調變/解調單元，且三者彼此作電性連結，又該微電腦儲存有至少一資訊；一定子，係該定子設有一第二電路基板，且該第二電路基板的一側電性連接有一定子線圈，又該第二電路基板上設有一PPM調變/解調單元；及一電能單元，係提供電源給該第一電路基板。其中該轉子的第一電路基板的微電腦內的資訊係設為一轉子序號、轉子異常碼、轉子控制參數、暫存器資料或轉子溫度等任一資訊或組合資訊。A rotating shaft system information collecting device of the present invention comprises: a rotor, wherein the rotor is provided with a first circuit substrate, and one side of the first circuit substrate is electrically connected to a rotor coil, and the first circuit substrate is further a microcomputer, a UART transceiver module and a PPM modulation/demodulation unit are provided, and the three are electrically connected to each other, and the microcomputer stores at least one information; and the stator is provided with a second circuit substrate. The second circuit substrate is electrically connected to a stator coil, and the second circuit substrate is provided with a PPM modulation/demodulation unit; and an electric energy unit supplies power to the first circuit substrate. The information in the microcomputer of the first circuit substrate of the rotor is set to any information or combination information such as a rotor number, a rotor abnormal code, a rotor control parameter, a register data or a rotor temperature.
因此本發明相較於先前技術，具有如下的功效之增進:Therefore, the present invention has the following effects as compared with the prior art:
1.本發明係將轉子扭力值暨系統資訊經UART和PPM調變成短脈衝(shortpulse)形式之串列脈衝信號，然後信號透過轉子線圈耦合至定子線圈，進行非接觸式的信號傳輸，本發明能以較少數目的脈衝，達到扭力檢知目的，相較先前技術的頻率調變方式，本發明較為省電能。1. The present invention converts the rotor torque value and system information into a short pulse (short pulse) serial pulse signal via UART and PPM, and then the signal is coupled to the stator coil through the rotor coil for non-contact signal transmission. The invention can achieve the purpose of torsion detection with a small number of pulses, and the present invention saves power compared to the frequency modulation method of the prior art.
2.對於軸旋轉機械，欲從轉子傳送信號到定子，若使用紅外線得必須使用多顆發射器或接收器進行耦合，成本會較高，而本發明係以同軸的轉子線圈與定子線圈耦合，有構造簡單與成本低等優點。2. For a shaft rotating machine, if a signal is to be transmitted from the rotor to the stator, it is necessary to use a plurality of transmitters or receivers for coupling, and the cost is higher, and the present invention couples the coaxial rotor coil to the stator coil. It has the advantages of simple structure and low cost.
3.相較於先前技術的頻率調變方式傳輸信號，本發明可以擷取到更豐富與彈性的轉子資訊，做法是在轉子與定子之間的傳輸資料可定義一通訊協定，此傳輸資料中的資料不但可包含扭力值亦可包含轉軸系統資訊，例如:轉子序號、異常狀況、控制參數、暫存器資料或溫度等任一資訊或組合資訊；又，根據通訊協定，接收方亦可對接收到的傳輸資料進行偵誤並剔除掉傳輸失敗者，因而可以提高傳輸資料的可靠度，再加上扭力檢知件應變橋具有穩定與精確特性，所以整個檢知結果可以獲得的轉子扭力是精確度高且可靠度高；另一方面此傳輸過程可設定為單工(轉子單向傳輸到定子)作業，亦可設定為半雙工作業(在非同一時間，轉子傳輸到定子，或者定子傳輸到轉子)，使本發明創作物具有更高智能，以增進其更為廣泛用途之功效者。3. Compared with the prior art frequency modulation mode transmission signal, the present invention can obtain more abundant and flexible rotor information, wherein the transmission data between the rotor and the stator can define a communication protocol, in which the data is transmitted. The data may include not only the torque value but also the information of the shaft system, such as: rotor number, abnormal condition, control parameters, register data or temperature, etc.; and, according to the communication agreement, the receiver may also The received transmission data is detected and the transmission failure is eliminated, so that the reliability of the transmission data can be improved, and the torsion detection component strain bridge has stable and precise characteristics, so the rotor torque obtained by the whole detection result is High precision and high reliability; on the other hand, the transmission process can be set to simplex (rotor to unidirectional transmission to the stator), or set to half-duplex (at different times, the rotor is transmitted to the stator, or the stator Transfer to the rotor) to make the inventive object more intelligent to enhance its efficacy for a wider range of uses.
為進一步說明本發明上述目的、所運用技術手段、方法及其達成功效，本發明人將舉實施例予以詳細說明如后:In order to further illustrate the above object of the present invention, the technical means, the method, and the effect thereof, the inventors will describe the embodiments in detail as follows:
首先，請參閱第1圖、第2圖所示，本發明係關於一種轉軸扭力的檢知方法包含下列步驟:(a).在一轉子1上設有一檢知件2及一第一電路基板11;(b).該檢知件2得測出該轉子1的一扭力類比信號，並電性接至第一電路基板11一放大器111放大該類比信號；(c).放大後之類比信號經轉換成數位扭力值後，再經UART收發模組113以非同步串列數據傳輸信號傳輸，然後再經PPM調變/解調單元114調變成串列脈衝信號；(d).該串列脈衝信號經一轉子線圈12將信號耦合至一定子線圈32；(e).耦合後的串列脈衝信號經定子3的第二電路基板311的PPM調變/解調單元313解調成非同步串列數據傳輸信號；及(f).再將該非同步串列數據信號解析而獲得扭力值輸出。First, referring to FIG. 1 and FIG. 2, the present invention relates to a method for detecting a torque of a rotating shaft, comprising the following steps: (a) providing a detecting member 2 and a first circuit substrate on a rotor 1. 11; (b) The detecting component 2 has measured a torsion analog signal of the rotor 1, and is electrically connected to the first circuit substrate 11 and an amplifier 111 amplifies the analog signal; (c) an amplified analog signal After being converted into a digital torque value, the UART transceiver module 113 transmits the signal in a non-synchronized serial data transmission, and then is modulated into a serial pulse signal by the PPM modulation/demodulation unit 114; (d). The pulse signal is coupled to the certain sub-coil 32 via a rotor coil 12; (e) the coupled serial pulse signal is demodulated into a non-synchronized by the PPM modulation/demodulation unit 313 of the second circuit substrate 311 of the stator 3. The serial data transmission signal; and (f). The non-synchronized serial data signal is further parsed to obtain a torque value output.
請參閱第3圖所示，其中步驟(c)所述之轉換放大後之類比信號先轉換成數位信號，再以非同步串列數據傳輸，並經PPM調變成脈衝信號，其中該非同步串列數據傳輸係為UART收發模組113透過通訊協定將該數位信號轉變為UART形式信號傳輸，再透過該PPM調變/解調單元114將信號調變為串列脈衝信號。而所謂UART收發模組113(Universal Asynchronous Receiver/Transmitter 簡稱UART，中文全名:通用非同步收發傳輸器)係將數位資料以UART形式信號的一種串列傳輸，以達到非同步串列數據傳輸，又該UART收發模組113將並列數位資料轉換成串列數位信號，該串列傳輸係包含:起始位元(start bit)、資料(data)、停止位元(stop bit)等，其中起始位元=0，停止位元=1，例如:該圖式中要傳送數位資料的一位元組(byte)的data= 1010 0110(Bin)= A6(Hex)。Bin為二進制，Hex為十六進制。Referring to FIG. 3, the analog signal converted by the conversion in step (c) is first converted into a digital signal, then transmitted in asynchronous serial data, and modulated into a pulse signal by PPM, wherein the asynchronous serial The data transmission system converts the digital signal into a UART-type signal transmission through the communication protocol by the UART transceiver module 113, and then converts the signal into a serial pulse signal through the PPM modulation/demodulation unit 114. The so-called UART transceiver module 113 (Universal Asynchronous Receiver/Transmitter referred to as UART, Chinese full name: universal non-synchronous transceiver) is a serial data transmission of digital data in UART format to achieve asynchronous serial data transmission, The UART transceiver module 113 converts the parallel digital data into a serial digital signal, and the serial transmission system includes: a start bit, a data, a stop bit, and the like. The starting bit=0, the stopping bit=1, for example, the data of one byte (byte) of the data to be transmitted in the figure is 1010 0110(Bin)= A6(Hex). Bin is binary and Hex is hexadecimal.
本發明可在轉子與定子之間的傳輸資料定義一通訊協定，以便擷取到更豐富與彈性的轉子資訊。通訊協定是指一筆傳輸資料可以包含多個位元組所組成，不但可包含檢知件2所測出轉子1的信號經放大器111放大及類比/數位轉換後的數位扭力值，亦可包含轉子1其它資訊，以及通訊偵誤碼等，例如轉子(傳送方)一筆傳輸資料=12,34,0C,C7(Hex)，其中轉子扭力值為1234(Hex)，偵誤碼為0C,C7。根據通訊偵誤原理，定子(接收方)可以對該次接收到的傳輸資料與偵誤碼進行偵誤檢出並剔除掉該次傳輸失敗者，因而可以提高傳輸資料的可靠度，再加上由於扭力檢知件2應變橋具有穩定與精確特性，所以整個結果可以獲得的轉子1扭力值是精確度高且可靠度高。The present invention defines a communication protocol for the transmission of data between the rotor and the stator to extract more abundant and flexible rotor information. The communication protocol means that a transmission data may comprise a plurality of byte groups, and may include not only the signal of the rotor 1 detected by the detecting unit 2, but also the digital torque value after amplification and analog/digital conversion, and may also include a rotor. 1 Other information, as well as communication error detection codes, etc., such as rotor (transmitter) one transmission data = 12, 34, 0C, C7 (Hex), in which the rotor torque value is 1234 (Hex), the error code is 0C, C7. According to the principle of communication detection, the stator (receiver) can detect and detect the received transmission data and the error code, and eliminate the failure of the transmission, thereby improving the reliability of the transmission data, plus Since the torsion detecting member 2 strain bridge has stable and precise characteristics, the torque value of the rotor 1 which can be obtained as a whole is high in accuracy and high in reliability.
請參閱第4圖所示，其中步驟(c)的PPM調變係設為將UART形式信號經脈衝位置調變為串列脈衝波形式信號的過程，本發明較佳實施例係以類似IrDA之調變為最佳，所謂IrDA為InfraredData Association的簡稱，即應用在各種機器產品間的紅外線通訊規格，IrDA屬於 PPM調變(Pulse Position Modulation）的一種，例如兩支手機間對傳資料、手機與筆記電腦對傳資料。如第4圖的UART對IrDA之調變的原理是:遇bit=0則調變為"1"脈衝，脈衝寬度(pulse width)可設為3/16位元時間或數微秒到數十微秒，遇bit=1則調變為"0"脈衝(無脈衝)。也就是本發明將UART信號經PPM調變/解調(modulation/demodulation)單元114為串列脈衝式信號後，再將該一位元組的資料例如:1010 0110(Bin)經由如第2圖所示的轉子1的轉子線圈12耦合而傳送至定子3的定子線圈32後，再經第二電路基板31的PPM調變/解調單元313將串列脈衝信號解調成非同步串列數據傳輸信號(UART形式信號)後，再經第二電路基板31上的微電腦311解析處理，最後即獲得轉子1上的檢知件2所感測到轉子1扭力值資訊。但本發明所採行技術與IrDA還是有差異的，因為IrDA使用紅外線傳輸，而紅外線具有指向性，應用在轉軸信號傳輸必需多顆紅外線傳輸器與接收器耦合，成本較高，而本發明是以電磁線圈耦合傳輸，只要一對同軸線圈即可，具有構造簡單、成本低的功效。Please refer to FIG. 4, wherein the PPM modulation of step (c) is set to a process of converting a UART-form signal into a tandem pulse wave form signal by a pulse position, and the preferred embodiment of the present invention is similar to IrDA. The adjustment is the best. The so-called IrDA is the abbreviation of InfraredData Association, which is the infrared communication specification applied between various machine products. IrDA belongs to PPM modulation (Pulse Position Modulation), for example, the transmission data between two mobile phones, mobile phones and The notes are on the computer. The principle of the UART to IrDA modulation as shown in Fig. 4 is: when bit=0, it is changed to "1" pulse, and the pulse width can be set to 3/16 bit time or several microseconds to tens of In microseconds, when bit=1, it is changed to "0" pulse (no pulse). That is, after the UART signal is subjected to the PPM modulation/demodulation unit 114 as a serial pulse signal, the data of the one-bit tuple is, for example, 1010 0110 (Bin) via the second figure. The illustrated rotor coil 12 of the rotor 1 is coupled and transmitted to the stator coil 32 of the stator 3, and then demodulated into a non-synchronized serial data via the PPM modulation/demodulation unit 313 of the second circuit substrate 31. After transmitting the signal (the UART-form signal), the microcomputer 311 on the second circuit substrate 31 analyzes the processing, and finally, the information of the rotor 1 torque value sensed by the detecting member 2 on the rotor 1 is obtained. However, the technique adopted by the present invention is different from that of IrDA, because IrDA uses infrared transmission, and infrared rays have directivity. The application of multiple infrared transmitters and receivers in the transmission of the shaft signal transmission is costly, and the present invention is The electromagnetic coil is coupled and transmitted, as long as a pair of coaxial coils can be used, and has the advantages of simple structure and low cost.
請參閱第1-1圖及第2-1圖所示，為本發明關於一種轉軸系統資訊的收集方法，係包含下列步驟:(a').在一轉子1上設有一第一電路基板11;(b').該第一電路基板11後儲存有至少一轉軸系統資訊，再經UART收發模組113以非同步串列數據傳輸信號傳輸，並經PPM調變/解調單元114調變成串列脈衝信號；(c').該串列脈衝信號經一轉子線圈12將信號耦合至一定子線圈32，且再經第二電路基板31的PPM調變/解調單元313解調成非同步串列數據傳輸信號；及(d').再將該非同步串列數據信號解析而獲得至少一轉軸系統資訊並輸出。Please refer to FIG. 1-1 and FIG. 2-1 for the method for collecting information about the shaft system of the present invention, which comprises the following steps: (a'). A first circuit substrate 11 is disposed on a rotor 1. (b'). The first circuit substrate 11 is stored with at least one spindle system information, and then transmitted by the UART transceiver module 113 in an asynchronous serial data transmission signal, and is modulated by the PPM modulation/demodulation unit 114. The serial pulse signal; (c'). The serial pulse signal is coupled to the certain sub-coil 32 via a rotor coil 12, and is demodulated into a non-PPM modulation/demodulation unit 313 by the second circuit substrate 31. Synchronizing the serial data transmission signal; and (d'). parsing the non-synchronized serial data signal to obtain at least one spindle system information and outputting.
其中該轉軸系統資訊的收集方法設定為半雙工(half- duplex)信號傳輸作業型態，半雙工係指在非同一時間轉子線圈12與定子線圈32之間信號可以雙向傳輸作業，也就是說在一時間可將資料從定子3傳輸到轉子1完成後，在另一時間亦可將資料從轉子1傳輸到定子3。The method for collecting the information of the shaft system is set to a half-duplex signal transmission operation mode, and the half-duplex means that the signals can be bidirectionally transmitted between the rotor coil 12 and the stator coil 32 at different times, that is, After the data can be transferred from the stator 3 to the rotor 1 at a time, the data can be transferred from the rotor 1 to the stator 3 at another time.
又，該轉軸系統資訊的收集方法的轉子1、定子3間的信號傳輸的方式與上述"轉軸扭力的檢知方法"相同，差異僅在其未經類比信號的放大及類比/數位轉換，而直接擷取到轉軸系統資訊的相關信號後，以相同傳輸模式從轉子1耦合至定子3後傳輸並輸出，而其所獲得的轉軸系統資訊係可包含轉子序號、轉子異常碼、轉子控制參數、轉子溫度等任一資訊或組合資訊等。但上述方法中，除了轉子溫度需要檢知件2之外，其餘諸如轉子序號、轉子規格、轉子異常碼、轉子控制參數或暫存器資料等任一資訊或組合資訊係可經使用者介面儲存於第一電路基板11上的微電腦，而無須動用該檢知件2的功能或甚至可以直接省略該檢知件2。Moreover, the manner of signal transmission between the rotor 1 and the stator 3 of the method of collecting the shaft system information is the same as the above-mentioned "detection method of the shaft torque", and the difference is only in the amplification and analog/digital conversion of the analog signal. After directly capturing the relevant signals of the information of the rotating shaft system, the same transmission mode is coupled from the rotor 1 to the stator 3, and then transmitted and outputted, and the obtained shaft system information may include the rotor serial number, the rotor abnormal code, the rotor control parameter, Any information or combination information such as rotor temperature. However, in the above method, in addition to the rotor temperature requiring the detecting member 2, any information or combination information such as the rotor number, the rotor specification, the rotor abnormal code, the rotor control parameter or the register data may be stored through the user interface. The microcomputer on the first circuit substrate 11 does not need to use the function of the detecting member 2 or even directly omit the detecting member 2.
請再配合參閱第5圖及第6圖所示，係為本發明的一種轉軸扭力檢知裝置A，係包含有:一轉子1、一檢知件2及一定子3；其中，Referring to FIG. 5 and FIG. 6 together, the present invention relates to a rotating shaft torque detecting device A according to the present invention, which comprises: a rotor 1, a detecting member 2 and a stator 3;
該轉子1，係該轉子1設有一第一電路基板11，且該第一電路基板11的一側電性連接有一轉子線圈12，其中該第一電路基板上11設有一放大器111、一微電腦112、一UART收發模組113及一PPM調變/解調單元114，且四者彼此作電性連結；The rotor 1 is provided with a first circuit substrate 11 , and one side of the first circuit substrate 11 is electrically connected to a rotor coil 12 . The first circuit substrate 11 is provided with an amplifier 111 and a microcomputer 112 . a UART transceiver module 113 and a PPM modulation/demodulation unit 114, and the four are electrically connected to each other;
該檢知件2，係該檢知件2貼設於轉子1的轉軸表面上，且與前述的第一電路基板11作電性連接，且該檢知件2最佳係設為應變規或扭力感應片之任一種；The detecting member 2 is attached to the surface of the rotating shaft of the rotor 1 and electrically connected to the first circuit substrate 11 as described above, and the detecting member 2 is preferably set as a strain gauge or Any of a torque sensor;
該定子3，係該定子3設有一第二電路基板31，且該第二電路基板31的一側電性連接有一定子線圈32，其中該第二電路基板31上設有一微電腦311及一PPM調變/解調單元313，且該定子3設有一凹槽34供以第二電路基板31放入；及The stator 3 is provided with a second circuit substrate 31, and one side of the second circuit substrate 31 is electrically connected to a stator coil 32. The second circuit substrate 31 is provided with a microcomputer 311 and a PPM. a modulation/demodulation unit 313, and the stator 3 is provided with a recess 34 for being placed in the second circuit substrate 31;
該電能單元，如第2圖所示，係提供電源給該第一電路基板11，其中該電能單元可以是電池型式而設於第一電路基板11上。或該電能單元更包含有一電能傳送器33及一電能接收器13，其中該電能傳送器33係設於定子3上且與第二電路基板31作電性連結，而該電能接收器13係設於轉子1上且與第一電路基板11作電性連結，又該電能傳送器33及電能接收器13之間係以接觸式或非接觸式作電源傳送給第一電路基板11的作用，其中可以一組導電滑環實現電能傳送器33及電能接收器13之間的接觸式傳送電源，或是以一組同軸線圈變壓器實現電能傳送器33及電能接收器13之間的非接觸式傳送電能。The power unit, as shown in FIG. 2, supplies power to the first circuit substrate 11, wherein the power unit can be provided on the first circuit substrate 11 in a battery type. Or the power unit further includes a power transmitter 33 and a power receiver 13 , wherein the power transmitter 33 is disposed on the stator 3 and electrically connected to the second circuit substrate 31 , and the power receiver 13 is configured On the rotor 1 and electrically connected to the first circuit substrate 11, the power transmitter 33 and the power receiver 13 are connected to the first circuit substrate 11 by a contact or non-contact power source, wherein The contact transmission power between the power transmitter 33 and the power receiver 13 can be realized by a set of conductive slip rings, or the non-contact transmission power between the power transmitter 33 and the power receiver 13 can be realized by a set of coaxial coil transformers. .
請參閱第2圖、第6圖及第7圖所示者，本發明的轉軸扭力檢知裝置A的使用方式，係在其轉子1的一端接設有一動力馬達4的轉軸端41，另一端則軸接設有一負載裝置5的轉軸端51，亦即該動力馬達4的動力傳輸至負載裝置5，因此，本發明的轉軸扭力檢知裝置A的轉子1勢必承受一扭力負載，透過該轉子1表面貼設有一檢知件2感測出該轉子1所承受的扭力值，藉由第一電路板11上的放大器111及微電腦112，然後再由該UART收發模組113以非同步串列信號，並經該PPM調變/解調單元114的調變成串列脈衝式信號，接著藉由轉子線圈12及定子線圈32耦合，傳輸信號至定子3後，再經第二電路基板31上PPM調變/解調單元313將串列脈衝信號解調成非同步串列數據，再經微電腦311解析處理而獲得扭力值輸出，亦即可檢知轉子1的扭力值。Referring to Figures 2, 6 and 7, the spindle torque detecting device A of the present invention is used by connecting a shaft end 41 of a power motor 4 to one end of the rotor 1 at the other end. Then, the shaft end is connected with the shaft end 51 of the load device 5, that is, the power of the power motor 4 is transmitted to the load device 5. Therefore, the rotor 1 of the shaft torque detecting device A of the present invention is bound to withstand a torsional load through the rotor. 1 is attached with a detecting component 2 to sense the torque value of the rotor 1 , and is asynchronously arranged by the amplifier 111 and the microcomputer 112 on the first circuit board 11 and then by the UART transceiver module 113 The signal is modulated by the PPM modulation/demodulation unit 114 into a serial pulse signal, and then coupled by the rotor coil 12 and the stator coil 32 to transmit a signal to the stator 3, and then to the PPM via the second circuit substrate 31. The modulation/demodulation unit 313 demodulates the serial pulse signal into the asynchronous serial data, and then obtains the torque value output through the analysis processing of the microcomputer 311, and the torque value of the rotor 1 can be detected.
特別再一提，在檢知方法中步驟(c)的串列脈衝信號，可以由以下幾種方式產生，由第一電路基板的UART收發模組113與PPM調變/解調單元114係可設為內建於該微電腦112內部韌體產生之，或者由獨立於微電腦112外部的一種硬體裝置產生之，或者直接由微電腦112的程式模擬產生之，均可達成本發明之扭力值之數據傳輸。In particular, the serial pulse signal of step (c) in the detecting method can be generated by the following methods: the UART transceiver module 113 of the first circuit substrate and the PPM modulation/demodulation unit 114 can be The data of the torque value of the present invention can be achieved by being built into the internal firmware of the microcomputer 112, or generated by a hardware device independent of the microcomputer 112, or directly generated by the simulation of the microcomputer 112. transmission.
請再參閱第2-1圖及第6-1圖所示者，係為本發明的一種轉軸系統資訊的收集裝置，其與前述的"轉軸扭力檢知裝置A"的結構差異在於該轉軸系統資訊的收集裝置省略了放大器111，其餘元件的組合方式兩者均相同，其所檢測到信號係以未經類比信號的放大及類比/數位轉換，而直接擷取該轉軸系統資訊的相關信號後，以相同傳輸模式從轉子1耦合至定子3後傳輸並輸出，而其所獲得的至少一轉軸系統資訊，且該轉軸系統資訊係可包含有轉子序號、異常碼、控制參數或溫度等任一資訊或組合資訊等。Referring to FIG. 2-1 and FIG. 6-1, it is a collecting device for the information of the rotating shaft system of the present invention, and the structural difference between the above-mentioned "rotating shaft torque detecting device A" is that the rotating shaft system The information collecting device omits the amplifier 111, and the combination of the remaining components is the same. The detected signal is amplified by the analog signal and the analog/digital conversion, and the relevant signal of the information of the rotating shaft system is directly captured. Transmitting and outputting from the rotor 1 to the stator 3 in the same transmission mode, and obtaining at least one shaft system information, and the shaft system information may include any one of a rotor serial number, an abnormal code, a control parameter, or a temperature. Information or combination information, etc.
必須說明的是上述轉軸系統資訊的收集裝置中，除了轉子溫度需要檢知件2之外，其餘諸如轉子序號、轉子規格、轉子異常碼、轉子控制參數或暫存器資料等任一資訊或組合資訊係可經使用者介面儲存於第一電路基板11上的微電腦112，而無須動用該檢知件2的功能或甚至可省略該檢知件2。It should be noted that in the collecting device of the above-mentioned shaft system information, in addition to the rotor temperature requiring the detecting member 2, any information or combination such as the rotor number, the rotor specification, the rotor abnormal code, the rotor control parameter or the register data may be described. The information can be stored in the microcomputer 112 on the first circuit substrate 11 via the user interface without the function of the detecting member 2 or even the detecting member 2 can be omitted.
其中上述的轉軸扭力檢知裝置A轉子1的轉子線圈12與定子3的定子線圈32之間設定為單工(simplex)信號傳輸作業，單工係指信號由轉子線圈12單向傳輸至定子線圈32；另者上述的轉軸系統資訊的收集裝置則設定為半雙工(half-duplex)信號傳輸作業型態，半雙工係指在非同一時間轉子線圈12與定子線圈32之間信號可以雙向傳輸作業，也就是說在一時間可將資料從第二電路基板31傳輸到第一電路基板11完成後，在另一時間亦可將資料從第一電路基板11傳輸到第二電路基板31。基於半雙工傳輸作業原理，可將轉軸扭力檢知裝置及轉軸系統資訊收集裝置合成單一裝置，進而使該裝置可收集扭力值及轉子序號、異常碼、控制參數或溫度等組合資訊。The above-mentioned shaft torque detecting device A is arranged as a simplex signal transmission operation between the rotor coil 12 of the rotor 1 and the stator coil 32 of the stator 3, and the simplex finger signal is unidirectionally transmitted from the rotor coil 12 to the stator coil. 32; The above-mentioned collecting device information of the rotating shaft system is set to a half-duplex signal transmission operation mode, and the half-duplex means that the signal between the rotor coil 12 and the stator coil 32 can be bidirectional at different times. The transfer operation, that is, the transfer of the material from the second circuit substrate 31 to the first circuit substrate 11 at a time, can also be carried out from the first circuit substrate 11 to the second circuit substrate 31 at another time. Based on the principle of half-duplex transmission operation, the shaft torque detecting device and the shaft system information collecting device can be combined into a single device, so that the device can collect the combined information of the torque value and the rotor serial number, abnormal code, control parameter or temperature.
綜合以上所述實施例，本發明係關於一種『轉軸扭力暨系統資訊的檢知、收集方法及其裝置』，係將所感測到的扭力轉子類比信號予以調變為串列脈衝波式數位信號，並藉電磁感應線圈耦合傳送信號至定子，可較頻率調變方式省電能，且改善紅外線傳輸的指向性的缺失，又運用UART型式的通信協定，加上轉子線圈、定子線圈之間可作半雙工作業，使本發明實現了可對動力傳輸之主軸檢知轉子扭力且收集更多的轉軸系統資訊，其組成具有構造簡單、精度高、可靠度高及智能高等優點，且構成之裝置、方法及其所達成的功效均未曾見於書刊或公開使用，誠符合發明專利申請要件，懇請鈞局明鑑，早日准予專利，至為感禱；又若依本發明之構想所作的簡易改變，其所產生之功效仍未超本發明所涵蓋之精神時，均應在本發明所保護的範圍內。In combination with the above-mentioned embodiments, the present invention relates to a method for detecting and collecting shaft torque and system information, and transforming the sensed torque rotor analog signal into a serial pulse wave type digital signal. And the electromagnetic induction coil is coupled to transmit the signal to the stator, which can save power compared with the frequency modulation method, and improve the lack of directivity of the infrared transmission, and uses the UART type communication protocol, and can be used between the rotor coil and the stator coil. The semi-double working industry enables the invention to detect the rotor torque of the power transmission spindle and collect more information of the shaft system, and has the advantages of simple structure, high precision, high reliability and high intelligence, and the device is composed. The methods, methods and their effects have not been seen in books or public use, and are in line with the requirements for invention patent applications. They are requested to express their patents as soon as possible, and to pray; if they make simple changes according to the concept of the present invention, The effects produced should not be beyond the scope of the invention, and should be within the scope of the invention.
(a)、(b)、(c)、(d)、(e)、(f)、(a')、(b')、(c')、(d')．．．方法步驟(a), (b), (c), (d), (e), (f), (a'), (b'), (c'), (d'). . . Method step
A．．．轉軸扭力檢知裝置A. . . Rotary shaft torque detecting device
1．．．轉子1. . . Rotor
11．．．第一電路基板11. . . First circuit substrate
111．．．放大器111. . . Amplifier
112．．．微電腦112. . . Microcomputer
113．．．UART收發模組113. . . UART transceiver module
114．．．PPM調變/解調單元114. . . PPM modulation/demodulation unit
12．．．轉子線圈12. . . Rotor coil
13．．．電能接收器13. . . Power receiver
2．．．檢知件2. . . Inspection piece
3．．．定子3. . . stator
31．．．第二電路基板31. . . Second circuit substrate
311．．．微電腦311. . . Microcomputer
312．．．UART收發模組312. . . UART transceiver module
313．．．PPM調變/解調單元313. . . PPM modulation/demodulation unit
32．．．定子線圈32. . . Stator coil
33．．．電能傳送器33. . . Power transmitter
34．．．凹槽34. . . Groove
4．．．動力馬達4. . . Power motor
41．．．轉軸端41. . . Rotary end
5．．．負載裝置5. . . Load device
51．．．轉軸端51. . . Rotary end
第1圖:係為本發明轉軸扭力的檢知方法步驟流程圖。Fig. 1 is a flow chart showing the steps of the method for detecting the torque of the rotating shaft of the present invention.
第1-1圖:係為本發明轉軸系統資訊的收集方法步驟流程圖。Figure 1-1 is a flow chart showing the steps of collecting the information of the shaft system of the present invention.
第2圖:係為本發明轉軸扭力檢知裝置之架構圖。Fig. 2 is a structural diagram of the torsion detecting device of the present invention.
第2-1圖:係為本發明轉軸系統資訊收集裝置之架構圖。Figure 2-1 is an architectural diagram of the information collection device of the hinge system of the present invention.
第3圖:係為本發明關於非同步收發傳輸器(UART收發模組)的每一位元組的資料傳輸之示意圖。Figure 3 is a schematic diagram of data transmission for each tuple of a non-synchronous transceiver (UART transceiver module) of the present invention.
第4圖:係為本發明關於非同步串列數據傳輸信號與PPM調變原理之示意圖。Fig. 4 is a schematic diagram showing the principle of non-synchronized serial data transmission signal and PPM modulation according to the present invention.
第5圖:係為本發明轉軸扭力檢知裝置之立體外觀圖。Fig. 5 is a perspective view showing the shaft torque detecting device of the present invention.
第6圖:係為本發明轉軸扭力檢知裝置的內部構造圖。Fig. 6 is a view showing the internal structure of the spindle torque detecting device of the present invention.
第6-1圖:係為本發明轉軸系統資訊收集裝置的實施態樣圖。Figure 6-1 is a view showing an embodiment of the information collecting device of the hinge system of the present invention.
第7圖:係為本發明轉軸扭力檢知裝置的實施態樣圖。Fig. 7 is a view showing an embodiment of the spindle torque detecting device of the present invention.
1．．．轉子1. . . Rotor
11．．．第一電路基板11. . . First circuit substrate
111．．．放大器111. . . Amplifier
112．．．微電腦112. . . Microcomputer
113．．．UART收發模組113. . . UART transceiver module
114．．．PPM調變/解調單元114. . . PPM modulation/demodulation unit
12．．．轉子線圈12. . . Rotor coil
13．．．電能接收器13. . . Power receiver
2．．．檢知件2. . . Inspection piece
3．．．定子3. . . stator
31．．．第二電路基板31. . . Second circuit substrate
311．．．微電腦311. . . Microcomputer
313．．．PPM調變/解調單元313. . . PPM modulation/demodulation unit
32．．．定子線圈32. . . Stator coil
33．．．電能傳送器33. . . Power transmitter
Claims (10)
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| TW102100579A TW201428249A (en) | 2013-01-08 | 2013-01-08 | Detection and collection method for shaft torque and system information and apparatus thereof |
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| TW102100579A TW201428249A (en) | 2013-01-08 | 2013-01-08 | Detection and collection method for shaft torque and system information and apparatus thereof |
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| TWI650539B (en) * | 2017-09-07 | 2019-02-11 | 期美科技股份有限公司 | Twisting force measuring system and body trainer having the same |
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| TWM301338U (en) * | 2006-01-02 | 2006-11-21 | Jing-Yi Guo | Non-contact type rotational torque gauge |
| CN101617204B (en) * | 2007-02-16 | 2014-11-26 | 芙罗服务管理公司 | Non-contact torque sensing for valve actuators |
| US8682555B2 (en) * | 2009-03-17 | 2014-03-25 | Flanders' Mechatronics Technology Centre Vzw | Method for controlling a torque transmitting device with learning function |
| TW201135206A (en) * | 2010-04-15 | 2011-10-16 | Hon Hai Prec Ind Co Ltd | System and method for testing torque of a hinge |
| TWM410879U (en) * | 2011-02-21 | 2011-09-01 | meng-hao Ji | Torque sensing apparatus disposed in exercise apparatus or two-wheel vehicle |
| TW201250217A (en) * | 2011-06-15 | 2012-12-16 | meng-hao Ji | Torque sensor and method thereof |
| TW201224419A (en) * | 2011-10-07 | 2012-06-16 | li-he Yao | Torque sensor |
| TWM435942U (en) * | 2012-04-19 | 2012-08-21 | Tonic Fitness Technology Inc |
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