CN116929615B - Electromagnetic type composite multi-axis torque sensor and torque measurement method - Google Patents
Electromagnetic type composite multi-axis torque sensor and torque measurement method Download PDFInfo
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- CN116929615B CN116929615B CN202311201124.1A CN202311201124A CN116929615B CN 116929615 B CN116929615 B CN 116929615B CN 202311201124 A CN202311201124 A CN 202311201124A CN 116929615 B CN116929615 B CN 116929615B
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- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/0005—Geometrical arrangement of magnetic sensor elements; Apparatus combining different magnetic sensor types
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
- G01R33/07—Hall effect devices
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Abstract
The invention discloses an electromagnetic composite multi-axis torque sensor and a torque measurement method, which particularly comprise a magnetic field generating component; the magnetic field generating assembly comprises a first end and a second end; the shaft connecting piece is arranged outside the first end part and the second end part in a surrounding manner, the shaft connecting piece outside the first end part is connected with the first shaft piece, and the shaft connecting piece outside the second end part is connected with the second shaft piece; each shaft connecting piece is respectively connected with a magnetic guiding component, the magnetic guiding component outside the first end part is correspondingly provided with a first magnetic detecting component, and the magnetic guiding component outside the second end part is correspondingly provided with a second magnetic detecting component; the first magnetic detection assembly comprises a first magnetism gathering part and a first magnetism induction unit which are oppositely arranged, the second magnetic detection assembly comprises a third magnetism gathering part and a second magnetism induction unit which are oppositely arranged, and a third magnetism induction unit is arranged between the first magnetism gathering part and the third magnetism gathering part. Because the magnetic field generating component is shared, the difference between the first magnetic detection component and the second magnetic detection component is reduced, and therefore the precision is improved.
Description
Technical Field
The invention relates to the technical field of torque sensor structures, in particular to an electromagnetic composite multi-axis torque sensor and a torque measurement method.
Background
The torque sensor comprises a static torque sensor, an electromagnetic torque sensor and the like, wherein the static torque sensor converts strain generated by torque moment into an electric signal in linear relation with the electric signal according to a resistance strain principle so as to measure the torque, and the torque electromagnetic torque sensor can measure the torque in a non-contact and indirect mode by measuring the change in a magnetic circuit. Specifically, the electromagnetic torque sensor comprises a magnetic field source, a magnetic rotor and a Hall sensor, wherein the magnetic rotor is connected with a shaft to be measured, and when the shaft to be measured rotates, the magnetic rotor is driven to rotate, so that the magnetic field changes, the Hall sensor can detect the change of magnetic flux and generate an electric signal, and the electric signal is in direct proportion to the torque, so that the torque of the shaft to be measured can be measured.
Currently, when the electromagnetic torque sensors on the market face detection scenes of a plurality of shafts to be detected, particularly, a scene that whether the respective torques of the plurality of shafts to be detected are equal needs to be checked, and a corresponding number of electromagnetic torque sensors need to be input correspondingly to respectively match the shafts to be detected so as to respectively measure the torques of the shafts to be detected; however, the electromagnetic torque sensors have differences in the actual processing and assembling processes, and even if the torques born by the shafts to be tested are the same, different results of the torques of the shafts to be tested can be obtained, namely the electromagnetic torque sensors at present have the technical problem of insufficient precision.
Disclosure of Invention
The invention aims to provide an electromagnetic type composite multi-axis torque sensor and a torque measurement method, which solve the problem that the existing electromagnetic type torque sensor has insufficient precision.
To achieve the purpose, the invention adopts the following technical scheme:
an electromagnetic compound multi-axis torque sensor, comprising:
the magnetic field generating assembly is cylindrical and is used for generating a magnetic field; the magnetic field generating assembly includes a first end and a second end;
the shaft connecting piece is arranged outside the first end part in a surrounding mode and used for connecting a first shaft piece, and the shaft connecting piece is arranged outside the second end part in a surrounding mode and used for connecting a second shaft piece;
the magnetic guiding assembly is fixedly connected to the shaft connecting piece;
a first magnetic detection assembly disposed outside the first end for detecting a change in magnetic flux of the magnetic guide assembly outside the first end;
the second magnetic detection assembly is arranged outside the second end part and is used for detecting the magnetic flux change of the magnetic guiding assembly outside the second end part;
the first magnetic detection assembly comprises a first magnetic gathering part and a first magnetic induction unit which are oppositely arranged, the second magnetic detection assembly comprises a third magnetic gathering part and a second magnetic induction unit which are oppositely arranged, and a third magnetic induction unit is arranged between the first magnetic gathering part and the third magnetic gathering part.
Optionally, the magnetic field generating assembly includes first magnetic poles and second magnetic poles staggered along a circumferential direction, the number of the first magnetic poles and the number of the second magnetic poles are multiple, and the polarities of the first magnetic poles and the second magnetic poles are opposite;
the magnetic guiding assembly comprises a first magnetic guiding ring part which is arranged on the outer side of the first end part in a surrounding mode, and the first magnetic guiding ring part is connected with the first shaft piece through the corresponding shaft connecting piece; the first magnetic guiding ring part is convexly provided with a first magnetic difference part, and the projection area of the first magnetic difference part falling into the first magnetic pole is the same as the projection area of the first magnetic difference part falling into the second magnetic pole;
the magnetic guiding assembly further comprises a third magnetic guiding ring part which is arranged on the outer side of the second end part in a surrounding mode, and the third magnetic guiding ring part is connected with the second shaft part through the corresponding shaft connecting piece; the third magnetic guiding ring part is convexly provided with a third magnetic difference part, and the projection area of the third magnetic difference part falling into the first magnetic pole is the same as the projection area of the third magnetic difference part falling into the second magnetic pole;
wherein the first differential magnetic portions and the third differential magnetic portions are alternately arranged along the circumferential direction; the first magnetism gathering part is arranged on the outer side of the first magnetism guiding ring part in a surrounding mode, and the third magnetism gathering part is arranged on the outer side of the third magnetism guiding ring part in a surrounding mode.
Optionally, the first magnetic focusing part comprises a first magnetic focusing ring which is annularly arranged at the outer side of the first magnetic guiding ring part, and the third magnetic focusing part comprises a third magnetic focusing ring which is annularly arranged at the outer side of the third magnetic guiding ring part;
the first magnetism gathering ring is provided with a first magnetism gathering plate in a protruding mode, the third magnetism gathering ring is provided with a second magnetism gathering plate in a protruding mode, the first magnetism gathering plate and the second magnetism gathering plate are arranged oppositely, and the third magnetism induction unit is arranged between the first magnetism gathering plate and the second magnetism gathering plate.
Optionally, a third magnetic focusing plate is further convexly arranged on the first magnetic focusing ring;
the magnetic guiding assembly further comprises a second magnetic guiding ring part which is arranged on the outer side of the first end part in a surrounding mode, a second differential magnetic part is arranged on the second magnetic guiding ring part in a protruding mode, and the projection area of the second differential magnetic part falling into the first magnetic pole is identical to the projection area of the second differential magnetic part falling into the second magnetic pole; the first differential magnetic part and the second differential magnetic part are symmetrically arranged;
the first magnetic detection assembly further comprises a second magnetic focusing part, the second magnetic focusing part comprises a second magnetic focusing ring which is annularly arranged on the outer side of the second magnetic guiding ring part, and a fourth magnetic focusing plate is convexly arranged on the second magnetic focusing ring;
the first magnetic induction unit is arranged between the third magnetic focusing plate and the fourth magnetic focusing plate.
Optionally, a fifth magnetism collecting plate is further convexly arranged on the third magnetism collecting ring;
the magnetic guiding assembly further comprises a fourth magnetic guiding ring part which is arranged on the outer side of the second end part in a surrounding mode, a fourth magnetic difference part is arranged on the fourth magnetic guiding ring part in a protruding mode, and the projection area of the fourth magnetic difference part falling into the first magnetic pole is identical to the projection area of the fourth magnetic difference part falling into the second magnetic pole; the fourth differential magnetic part and the third differential magnetic part are symmetrically arranged;
the second magnetic detection assembly further comprises a fourth magnetic focusing part, the fourth magnetic focusing part comprises a fourth magnetic focusing ring which is annularly arranged on the outer side of the fourth magnetic guiding ring part, and a sixth magnetic focusing plate is convexly arranged on the fourth magnetic focusing ring;
the second magnetic induction unit is arranged between the fifth magnetic focusing plate and the sixth magnetic focusing plate.
Optionally, the first magnetic focusing plate extends from the first magnetic focusing ring to a direction close to the second magnetic focusing ring along the axial direction; the second magnetic focusing plate extends along the axial direction from the second magnetic focusing ring to the direction close to the first magnetic focusing ring;
wherein the third magnetic induction unit is inserted between the first magnetic focusing plate and the second magnetic focusing plate along the axial direction.
Optionally, the first magnetism collecting plate extends outwards from the first magnetism collecting ring along the radial direction, and the second magnetism collecting plate extends outwards from the second magnetism collecting ring along the radial direction;
wherein the third magnetic induction unit is inserted between the first magnetic focusing plate and the second magnetic focusing plate in a radial direction.
Optionally, the shaft connecting piece comprises a connecting base surrounding the outer side of the magnetic field generating assembly, and a plurality of connecting column parts are arranged on the connecting base at intervals along the circumferential direction;
the connecting base is provided with a connecting groove, and the connecting column part is inwards provided with a connecting part in a protruding mode, wherein the bottom of the connecting groove and the connecting part are both used for being connected with the magnetic guiding assembly.
A torque measurement method is applied to the electromagnetic composite multi-axis torque sensor, and comprises the following steps:
acquiring a first magnetic flux corresponding to the first shaft element through the first magnetic induction unit, and acquiring a second magnetic flux corresponding to the second shaft element through the second magnetic induction unit;
obtaining a first torque according to a preset first relation and the first magnetic flux; obtaining a second torque according to a preset second relation and the second magnetic flux;
the first relation is a mapping relation between the first magnetic flux and the first torque, and the second relation is a mapping relation between the second magnetic flux and the second torque.
Optionally, the acquiring, by the first magnetic induction unit, the first magnetic flux corresponding to the first shaft element, and the acquiring, by the second magnetic induction unit, the second magnetic flux corresponding to the second shaft element further includes:
performing torque correction on the electromagnetic composite multi-axis torque sensor, acquiring a first test array B1 through the first magnetic induction unit, acquiring a second test array B2 through the second magnetic induction unit, and acquiring a first difference value array B3 through the third magnetic induction unit;
setting an objective function F, wherein the objective function f=a×b1+b×b2-B3, a is a first optimization parameter, and B is a second optimization parameter;
performing minimum optimization on the objective function to update a first optimization parameter a and a second optimization parameter b;
and multiplying the first optimized parameter a by the first relational expression to obtain an optimized first relational expression, and multiplying the second optimized parameter b by the second relational expression to obtain an optimized second relational expression.
Compared with the prior art, the invention has the following beneficial effects:
according to the electromagnetic type composite multi-axis torque sensor and the torque measuring method, on one hand, magnetic flux is generated through the magnetic guide assemblies at the two ends of the magnetic field generating assembly, the positions of the magnetic field generating assemblies are respectively corresponding to the magnetic flux of the magnetic guide assemblies, when the first shaft piece rotates, the corresponding magnetic flux of the magnetic guide assemblies changes, the corresponding first magnetic detection assembly detects the magnetic flux change so as to detect the first torque of the first shaft piece, and when the second shaft piece rotates, the corresponding magnetic guide assembly changes so as to detect the magnetic flux change so as to detect the second torque of the second shaft piece; at this time, the magnetic field generating assembly is shared, so that the difference between the first magnetic detection assembly and the second magnetic detection assembly can be reduced, and the accuracy of the torque sensor is improved; on the other hand, through utilizing the magnetism portion that gathers in first magnetism detection component and the second magnetism detection component, be convenient for third magnetism sense unit detects the moment of torsion difference between first axle spare and the second axle spare, can utilize moment of torsion difference to compensate correction to above-mentioned first moment of torsion and second moment of torsion this moment, wherein, only need introduce third magnetism sense unit, less to holistic influence to can more accurately adjust electromagnetic type compound multiaxis torque sensor for electromagnetic type compound multiaxis torque sensor's precision obtains further improving.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
The structures, proportions, sizes, etc. shown in the drawings are shown only in connection with the present disclosure, and are not intended to limit the scope of the invention, since any modification, variation in proportions, or adjustment of the size, etc. of the structures, proportions, etc. should be considered as falling within the spirit and scope of the invention, without affecting the effect or achievement of the objective.
Fig. 1 is a schematic diagram of the overall structure of an electromagnetic composite multi-axis torque sensor according to the present embodiment;
fig. 2 is a schematic partial structure of an electromagnetic composite multi-axis torque sensor according to the present embodiment;
fig. 3 is an exploded schematic view of the electromagnetic composite multi-axis torque sensor according to the present embodiment;
FIG. 4 is a schematic view showing the overall structure of the shaft coupling in the present embodiment;
FIG. 5 is a schematic diagram showing the overall structure of the first magnetic detection assembly and the second magnetic detection assembly in the present embodiment;
FIG. 6 is a partially developed schematic illustration of the magnetic field generating assembly and the magnetic guide assembly in this embodiment;
FIG. 7 is a schematic diagram of a first detecting structure of a third magnetic induction unit in the present embodiment;
fig. 8 is a schematic diagram of a second detection structure of the third magnetic induction unit in the present embodiment.
Illustration of: 10. a magnetic field generating assembly; 11. a first magnetic pole; 12. a second magnetic pole;
20. a shaft connection; 201. a first connector; 202. a second connector; 21. the base is connected; 22. a connecting column part; 23. a connecting groove; 24. a connection part;
30. a magnetic guide assembly; 311. a first magnetic ring portion; 312. a first differential magnetic section; 321. a second magnetic ring portion; 322. a second differential magnetic section; 331. a third magnetic ring portion; 332. a third differential magnetic section; 341. a fourth magnetic ring portion; 342. a fourth differential magnetic section;
40. a first magnetic detection assembly; 41. a first magnetism collecting part; 411. a first magnetism collecting ring; 412. a first magnetic focusing plate; 413. a third magnetic plate; 42. a second magnetism collecting part; 421. a second magnetic ring; 422. a fourth magnetic focusing plate;
50. a second magnetic sensing assembly; 51. a third magnetic part; 511. a third magnetic ring; 512. a second magnetic plate; 513. a fifth magnetic focusing plate; 52. a fourth magnetism collecting part; 521. a fourth magnetism collecting ring; 522. a sixth magnetic focusing plate;
60. a third magnetic induction unit; 70. a magnetically susceptible housing.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. It is noted that when one component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
As shown in fig. 1 to 8, fig. 1 is a schematic overall structure of an electromagnetic composite multi-axis torque sensor provided in this embodiment, fig. 2 is a schematic partial structure of an electromagnetic composite multi-axis torque sensor provided in this embodiment, fig. 3 is a schematic explosion structure of an electromagnetic composite multi-axis torque sensor provided in this embodiment, fig. 4 is a schematic overall structure of a shaft connecting member in this embodiment, fig. 5 is a schematic overall structure of a first magnetic detection assembly and a second magnetic detection assembly in this embodiment, fig. 6 is a schematic partial unfolding structure of a magnetic field generating assembly and a magnetic guiding assembly in this embodiment, fig. 7 is a schematic first detection structure of a third magnetic induction unit in this embodiment, and fig. 8 is a schematic second detection structure of a third magnetic induction unit in this embodiment.
Example 1
The electromagnetic type composite multi-axis torque sensor provided by the embodiment is suitable for torque scenes of a plurality of shafts to be detected, and improves the specific structure of the sensor aiming at the scene (such as a mechanical balance test, a transmission structure synchronism test and the like) for detecting whether the torques of two shafts to be detected are equal, so that the precision of the electromagnetic type composite multi-axis torque sensor is improved.
As shown in fig. 1 to 3, the electromagnetic composite multi-axis torque sensor in the present embodiment includes a magnetic field generating component 10, a shaft connecting piece 20, a magnetic guiding component 30, a first magnetic detecting component 40 and a second magnetic detecting component 50, wherein the first magnetic detecting component 40 and the second magnetic detecting component 50 are installed in a magnetic induction housing 70, and the magnetic field generating component 10 is cylindrical and is used for generating a magnetic field; the magnetic field generating assembly 10 includes a first end and a second end; at least two shaft connectors 20 are provided, at least one shaft connector is a first connector 201, at least one shaft connector is a second connector 202, at least one first connector 201 of the shaft connectors 20 is arranged on the outer side of a first end part in a surrounding mode and used for being connected with a first shaft, and at least one second connector 202 of the shaft connectors 20 is arranged on the outer side of the second end part in a surrounding mode and used for being connected with a second shaft; the first end part is externally and circumferentially provided with a first connecting piece 201 for connecting a first shaft part, the second end part is externally and circumferentially provided with a second connecting piece 202 for connecting a second shaft part, namely the first shaft part is rotationally connected with the first end part through the first connecting piece 201, and the second shaft part is rotationally connected with the second end part through the second connecting piece 202 so as to respectively transmit torque; the magnetic guiding assembly 30 is fixedly connected to the shaft connecting piece 20, namely, the magnetic guiding assembly 30 can synchronously rotate with the corresponding shaft piece through the shaft connecting piece 20; the first magnetic detection assembly 40 is disposed outside the first end portion, and is used for detecting the magnetic flux change of the magnetic guiding assembly 30 outside the first end portion; the second magnetic detection assembly 50 is disposed outside the second end portion, and is used for detecting the magnetic flux change of the magnetic guiding assembly 30 outside the second end portion.
The first magnetic detection assembly 40 includes a first magnetic focusing portion 41 and a first magnetic induction unit that are disposed opposite to each other, the second magnetic detection assembly 50 includes a third magnetic focusing portion 51 and a second magnetic induction unit that are disposed opposite to each other, and a third magnetic induction unit 60 is disposed between the first magnetic focusing portion 41 and the third magnetic focusing portion 51, and the magnetic induction units are hall sensors. Specifically, on the one hand, magnetic flux is generated by the magnetic guide assemblies 30 at the two ends of the magnetic field generating assembly 10, and the positions of the magnetic field generating assemblies 10 are respectively corresponding to the positions of the magnetic field generating assemblies 10, when the first shaft member rotates, the corresponding magnetic guide assemblies 30 change in magnetic flux, the corresponding first magnetic detection assemblies 40 detect the magnetic flux change so as to detect the first torque of the first shaft member, and when the second shaft member rotates, the corresponding magnetic guide assemblies 30 change in magnetic flux, the corresponding second magnetic detection assemblies 50 detect the magnetic flux change so as to detect the second torque of the second shaft member; at this time, the magnetic field generating unit 10 is shared, so that the difference between the first magnetic detecting unit 40 and the second magnetic detecting unit 50, that is, the measurement environment of the first torque is similar to the measurement environment of the second torque, can be reduced, and the accuracy of the torque sensor can be improved, particularly, the accuracy in the scenes such as the mechanical balance test and the transmission structure synchronism test can be improved; on the other hand, by using the magnetism collecting parts in the first magnetic detecting unit 40 and the second magnetic detecting unit 50, the third magnetic induction unit 60 is convenient to detect the torque difference between the first shaft member and the second shaft member, and the torque difference can be used for compensating and correcting the first torque and the second torque, wherein only the third magnetic induction unit 60 is needed to be introduced, the influence on the whole is small, and the electromagnetic composite multi-shaft torque sensor can be adjusted more accurately, so that the precision of the electromagnetic composite multi-shaft torque sensor is further improved.
Specifically, as shown in fig. 3, the magnetic field generating assembly 10 includes first magnetic poles 11 and second magnetic poles 12 that are staggered in the circumferential direction, the number of the first magnetic poles 11 and the second magnetic poles 12 is plural, and the polarities of the first magnetic poles 11 and the second magnetic poles 12 are opposite; the magnetic field generating assembly 10 further comprises a mounting seat, an annular groove is formed in the mounting seat, the first magnetic pole 11 and the second magnetic pole 12 are arranged in the annular groove along the circumferential direction, the mounting seat can be used for being connected with a rack in a testing environment, the magnetic field generating assembly 10 is fixed, and a shaft to be tested can drive the magnetic guiding assembly 30 to rotate relative to the magnetic field generating assembly 10. As shown in fig. 2, 3, 5 and 6, the magnetic guiding assembly 30 is made of materials such as iron, silicon steel, nickel-iron alloy and the like, so as to ensure the transmission efficiency of magnetic flux, and the magnetic guiding assembly 30 comprises a first magnetic guiding ring portion 311 circumferentially arranged at the outer side of the first end portion, wherein the first magnetic guiding ring portion 311 is connected with the first shaft member through a corresponding first connecting piece 201; the first magnetic guiding ring part 311 is convexly provided with a first differential magnetic part 312, and the projection area of the first differential magnetic part 312 falling into the first magnetic pole 11 is the same as the projection area of the first differential magnetic part 312 falling into the second magnetic pole 12; the magnetic guiding assembly 30 further comprises a third magnetic guiding ring part 331 surrounding the outer side of the second end part, and the third magnetic guiding ring part 331 is connected with the second shaft member through a corresponding second connecting member 202; the third magnetic guiding ring portion 331 is provided with a third magnetic difference portion 332 in a protruding mode, and the projection area of the third magnetic difference portion 332 falling into the first magnetic pole 11 is the same as the projection area of the third magnetic difference portion 332 falling into the second magnetic pole 12.
As shown in fig. 6, the first differential magnetic portions 312 and the third differential magnetic portions 332 are alternately arranged in the circumferential direction; the first magnetic focusing part 41 is annularly arranged outside the first magnetic guiding part 311, and the third magnetic focusing part 51 is annularly arranged outside the third magnetic guiding part 331. For example, when the first shaft member and the second shaft member do not rotate, as shown in fig. 6, the first magnetic difference portion 312 and the second magnetic difference portion 322 are located between the two N poles and the S poles, and for the magnetic difference portions, since the scalar amounts of the magnetic fluxes received by the N poles and the S poles are equal, the magnetic fluxes are equal to 0 for the first magnetic focusing portion 41 and the third magnetic focusing portion 51, and therefore the magnetic fluxes measured by the third magnetic induction unit 60 are 0, that is, the torque difference is 0; when the first shaft member and the second shaft member rotate synchronously, since the first magnetic difference portion 312 and the third magnetic difference portion 332 are alternately arranged along the circumferential direction, the magnetic fluxes of the first magnetic difference portion 312 and the third magnetic difference portion 332 are equal, but the directions are opposite, so that the magnetic flux measured by the third magnetic induction unit 60 is 0 at this time, that is, the torque difference is 0; it can be seen that when the first shaft member and the second shaft member rotate relatively, the magnetic fluxes are unequal, so that the torque difference can be measured, for example, the first differential magnetic portion 312 rotates rightwards, the second differential magnetic portion 322 rotates leftwards, the first differential magnetic portion 312 generates the magnetic flux corresponding to the S-pole direction, the second differential magnetic portion 322 also generates the magnetic flux corresponding to the S-pole direction, and the third magnetic induction unit 60 measures the sum of the magnetic fluxes, i.e. the torque difference.
In this embodiment, as shown in fig. 3 and 5, the first magnetism collecting part 41 includes a first magnetism collecting ring 411 that is annularly disposed outside the first magnetism guiding ring part 311, and the third magnetism collecting part 51 includes a third magnetism collecting ring 511 that is annularly disposed outside the third magnetism guiding ring part 331; the first magnetic focusing ring 411 is provided with a first magnetic focusing plate 412 in a protruding manner, the third magnetic focusing ring 511 is provided with a second magnetic focusing plate 512 in a protruding manner, the first magnetic focusing plate 412 and the second magnetic focusing plate 512 are arranged opposite to each other, and the third magnetic induction unit 60 is arranged between the first magnetic focusing plate 412 and the second magnetic focusing plate 512; that is, the magnetic flux of the first magnetic flux guiding ring portion 311 is concentrated by the first magnetic concentrating ring 411 and the first magnetic concentrating plate 412, and the magnetic flux of the third magnetic flux guiding ring portion 331 is concentrated by the third magnetic concentrating ring 511 and the second magnetic concentrating plate 512, so that the magnetic flux is concentrated on both sides of the third magnetic induction unit 60, interference from the outside can be reduced, and the measurement accuracy of the third magnetic induction unit 60 can be ensured.
In a specific embodiment, as shown in fig. 7, the first magnetic focusing plate 412 extends from the first magnetic focusing ring 411 to a direction approaching the second magnetic focusing ring 421 along the axial direction; the second magnetic focusing plate 512 extends from the second magnetic focusing ring 421 along the axial direction to the direction close to the first magnetic focusing ring 411; the third magnetic induction unit 60 is axially inserted between the first magnetic focusing plate 412 and the second magnetic focusing plate 512, so that the electromagnetic composite multi-axis torque sensor is more compact.
In another particular embodiment, the first magnetic focusing plates 412 extend radially outward from the first magnetic focusing ring 411 and the second magnetic focusing plates 512 extend radially outward from the second magnetic focusing ring 421; wherein the third magnetic induction unit 60 is interposed between the first magnetic focusing plate 412 and the second magnetic focusing plate 512 in a radial direction.
Further, as shown in fig. 2 to 6, a third magnetic concentrating plate 413 is further protruding on the first magnetic concentrating ring 411; the magnetic guiding assembly 30 further comprises a second magnetic guiding ring portion 321 which is arranged on the outer side of the first end in a surrounding mode, a second differential magnetic portion 322 is arranged on the second magnetic guiding ring portion 321 in a protruding mode, and the projection area of the second differential magnetic portion 322 falling into the first magnetic pole 11 is identical to the projection area of the second differential magnetic portion 322 falling into the second magnetic pole 12; the first differential magnetic part 312 and the second differential magnetic part 322 are symmetrically arranged; the first magnetic detection assembly 40 further comprises a second magnetic focusing part 42, the second magnetic focusing part 42 comprises a second magnetic focusing ring 421 which is annularly arranged at the outer side of the second magnetic guiding ring part 321, and a fourth magnetic focusing plate 422 is convexly arranged on the second magnetic focusing ring 421; the first magnetic induction unit is disposed between the third magnetic focusing plate 413 and the fourth magnetic focusing plate 422. Through the arrangement, the first magnetic induction unit is arranged between the two magnetic focusing plates, so that the detection precision of the first magnetic induction unit is ensured.
Further, as shown in fig. 2 to 6, a fifth magnetic focusing plate 513 is further protruded on the third magnetic focusing ring 511; the magnetic guiding assembly 30 further comprises a fourth magnetic guiding ring part 341 which is arranged on the outer side of the second end part in a surrounding mode, a fourth differential magnetic part 342 is arranged on the fourth magnetic guiding ring part 341 in a protruding mode, and the projection area of the fourth differential magnetic part 342 falling into the first magnetic pole 11 is identical to the projection area of the fourth differential magnetic part 342 falling into the second magnetic pole 12; the fourth differential magnetic part 342 and the third differential magnetic part 332 are symmetrically arranged; the second magnetic detection assembly 50 further includes a fourth magnetic focusing portion 52, where the fourth magnetic focusing portion 52 includes a fourth magnetic focusing ring 521 disposed around the outer side of the fourth magnetic guiding ring portion 341, and a sixth magnetic focusing plate 522 is protruding on the fourth magnetic focusing ring 521; the second magnetic induction unit is disposed between the fifth magnetic focusing plate 513 and the sixth magnetic focusing plate 522.
In this embodiment, the differential magnetic portion is in the shape of an isosceles triangle, so that when the differential magnetic portion is located between two magnetic poles, the scalar quantities of the magnetic fluxes received by the N pole and the S pole can be equalized.
In this embodiment, as shown in fig. 4, the shaft connector 20 includes a connection base 21 circumferentially surrounding the outside of the magnetic field generating assembly 10, and a plurality of connection column portions 22 are circumferentially provided on the connection base 21 at intervals; the connecting base 21 is provided with a connecting groove 23, and the connecting column 22 is provided with a connecting part 24 inwards in a protruding way, wherein the bottom of the connecting groove 23 and the connecting part 24 are both used for being connected with the magnetic guiding assembly 30.
In summary, the electromagnetic composite multi-axis torque sensor provided in this embodiment has the advantages of high precision, compact structure, and the like.
Example two
The torque measurement method provided in the present embodiment is applied to the electromagnetic composite multi-axis torque sensor in the first embodiment, and includes:
s100, acquiring a first magnetic flux corresponding to a first shaft element through a first magnetic induction unit, and acquiring a second magnetic flux corresponding to a second shaft element through a second magnetic induction unit;
s200, obtaining a first torque according to a preset first relation and a first magnetic flux; obtaining a second torque according to a preset second relation and a second magnetic flux;
the first relation is a mapping relation between the first magnetic flux and the first torque, and the second relation is a mapping relation between the second magnetic flux and the second torque.
Further, step S100: the method comprises the steps of obtaining a first magnetic flux corresponding to a first shaft element through a first magnetic induction unit, obtaining a second magnetic flux corresponding to a second shaft element through a second magnetic induction unit, and further comprising:
s001, performing torque correction on the electromagnetic type composite multi-axis torque sensor, acquiring a first test array B1 through a first magnetic induction unit, acquiring a second test array B2 through a second magnetic induction unit, and acquiring a first difference value array B3 through a third magnetic induction unit 60; the torque correction refers to performing a plurality of numerical tests on the electromagnetic composite multi-axis torque sensor, obtaining respective magnetic flux values through the first magnetic induction unit, the second magnetic induction unit and the third magnetic induction unit 60, and forming an array from the respective magnetic flux values;
s002, setting an objective function F, where f=a×b1+b×b2-B3, a is a first optimization parameter, and B is a second optimization parameter; it can be understood that the vector sum of the torque of the first shaft element and the torque of the second shaft element should be the same as the torque difference, and in this regard, the optimal first optimization parameter a and the second optimization parameter b can be measured by a gradient descent method, a newton method and the like, so that the objective function approaches to 0 most;
s003, performing minimum optimization on the objective function to update a first optimization parameter a and a second optimization parameter b;
s004, multiplying the first optimization parameter a by a first relational expression to obtain an optimized first relational expression, and multiplying the second optimization parameter b by a second relational expression to obtain an optimized second relational expression; in the subsequent step S200, the correction of the first magnetic flux and the second magnetic flux is equivalent to improving the measurement accuracy; moreover, since the three magnetic fluxes are all set based on the magnetic field generating assembly 10, the influence of environmental factors is reduced, and the precision is further improved.
Through the steps, the electromagnetic type composite multi-axis torque sensor can be adjusted to various different testing environments, so that the measurement accuracy of the electromagnetic type composite multi-axis torque sensor is ensured.
In summary, the torque measurement method provided in the embodiment has the advantages of high accuracy, high adaptability, and the like.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An electromagnetic compound multi-axis torque sensor, comprising:
a magnetic field generating assembly (10), the magnetic field generating assembly (10) being cylindrical and for generating a magnetic field; the magnetic field generating assembly (10) includes a first end and a second end;
a shaft connecting piece (20), at least one shaft connecting piece (20) is arranged on the outer side of the first end part in a surrounding way and used for connecting a first shaft piece, and at least one other shaft connecting piece (20) is arranged on the outer side of the second end part in a surrounding way and used for connecting a second shaft piece;
the magnetic guiding assembly (30), the magnetic guiding assembly (30) is fixedly connected to the shaft connecting piece (20);
a first magnetic detection assembly (40), the first magnetic detection assembly (40) being disposed outside the first end for detecting a change in magnetic flux of a magnetic guide assembly (30) outside the first end;
a second magnetic detection assembly (50), the second magnetic detection assembly (50) being disposed outside the second end for detecting a change in magnetic flux of the magnetic guide assembly (30) outside the second end;
the first magnetic detection assembly (40) comprises a first magnetic focusing part (41) and a first magnetic induction unit which are oppositely arranged, the second magnetic detection assembly (50) comprises a third magnetic focusing part (51) and a second magnetic induction unit which are oppositely arranged, and a third magnetic induction unit (60) is arranged between the first magnetic focusing part (41) and the third magnetic focusing part (51).
2. The electromagnetic compound multiaxial torque sensor as claimed in claim 1, wherein the magnetic field generating assembly (10) comprises first magnetic poles (11) and second magnetic poles (12) which are staggered along a circumferential direction, the number of the first magnetic poles (11) and the number of the second magnetic poles (12) are plural, and the polarities of the first magnetic poles (11) and the second magnetic poles (12) are opposite;
the magnetic guiding assembly (30) comprises a first magnetic guiding ring part (311) which is arranged on the outer side of the first end part in a surrounding mode, and the first magnetic guiding ring part (311) is connected with the first shaft piece through the corresponding shaft connecting piece (20); the first magnetic guiding ring part (311) is convexly provided with a first magnetic difference part (312), and the projection area of the first magnetic difference part (312) falling into the first magnetic pole (11) is the same as the projection area of the first magnetic difference part (312) falling into the second magnetic pole (12);
the magnetic guiding assembly (30) further comprises a third magnetic guiding ring part (331) which is arranged on the outer side of the second end part in a surrounding mode, and the third magnetic guiding ring part (331) is connected with the second shaft part through the corresponding shaft connecting piece (20); the third magnetic guiding ring part (331) is convexly provided with a third magnetic difference part (332), and the projection area of the third magnetic difference part (332) falling into the first magnetic pole (11) is the same as the projection area of the third magnetic difference part (332) falling into the second magnetic pole (12);
wherein the first differential magnetic portions (312) and the third differential magnetic portions (332) are alternately arranged in the circumferential direction; the first magnetism collecting part (41) is arranged on the outer side of the first magnetism guiding ring part (311) in a surrounding mode, and the third magnetism collecting part (51) is arranged on the outer side of the third magnetism guiding ring part (331) in a surrounding mode.
3. An electromagnetic compound multi-axis torque sensor as claimed in claim 2, wherein the first magnetism collecting portion (41) includes a first magnetism collecting ring (411) which is annularly arranged outside the first magnetism guiding ring portion (311), and the third magnetism collecting portion (51) includes a third magnetism collecting ring (511) which is annularly arranged outside the third magnetism guiding ring portion (331);
the first magnetism gathering ring (411) is provided with a first magnetism gathering plate (412) in a protruding mode, the third magnetism gathering ring (511) is provided with a second magnetism gathering plate (512) in a protruding mode, the first magnetism gathering plate (412) and the second magnetism gathering plate (512) are arranged oppositely, and the third magnetism induction unit (60) is arranged between the first magnetism gathering plate (412) and the second magnetism gathering plate (512).
4. An electromagnetic composite multi-axis torque sensor as claimed in claim 3 wherein said first magnetic focusing ring (411) further comprises a third magnetic focusing plate (413) thereon;
the magnetic guiding assembly (30) further comprises a second magnetic guiding ring part (321) which is arranged on the outer side of the first end part in a surrounding mode, a second differential magnetic part (322) is arranged on the second magnetic guiding ring part (321) in a protruding mode, and the projection area of the second differential magnetic part (322) falling into the first magnetic pole (11) is the same as the projection area of the second differential magnetic part (322) falling into the second magnetic pole (12); the first differential magnetic part (312) and the second differential magnetic part (322) are symmetrically arranged;
the first magnetic detection assembly (40) further comprises a second magnetic focusing part (42), the second magnetic focusing part (42) comprises a second magnetic focusing ring (421) which is annularly arranged on the outer side of the second magnetic guiding ring part (321), and a fourth magnetic focusing plate (422) is convexly arranged on the second magnetic focusing ring (421);
the first magnetic induction unit is arranged between the third magnetic focusing plate (413) and the fourth magnetic focusing plate (422).
5. An electromagnetic composite multi-axis torque sensor as claimed in claim 3 wherein a fifth magnetic focusing plate (513) is further provided on said third magnetic focusing ring (511);
the magnetic guiding assembly (30) further comprises a fourth magnetic guiding ring part (341) which is arranged on the outer side of the second end part in a surrounding mode, a fourth magnetic difference part (342) is arranged on the fourth magnetic guiding ring part (341) in a protruding mode, and the projection area of the fourth magnetic difference part (342) falling into the first magnetic pole (11) is the same as the projection area of the fourth magnetic difference part (342) falling into the second magnetic pole (12); the fourth differential magnetic part (342) and the third differential magnetic part (332) are symmetrically arranged;
the second magnetic detection assembly (50) further comprises a fourth magnetic focusing part (52), the fourth magnetic focusing part (52) comprises a fourth magnetic focusing ring (521) which is annularly arranged on the outer side of the fourth magnetic guiding ring part (341), and a sixth magnetic focusing plate (522) is convexly arranged on the fourth magnetic focusing ring (521);
the second magnetic induction unit is disposed between the fifth magnetic focusing plate (513) and the sixth magnetic focusing plate (522).
6. The electromagnetic composite multi-axis torque sensor according to claim 4, wherein the first magnetic focusing plate (412) extends from the first magnetic focusing ring (411) to a direction approaching the second magnetic focusing ring (421) along an axial direction; the second magnetic focusing plate (512) extends from the second magnetic focusing ring (421) to a direction approaching the first magnetic focusing ring (411) along the axial direction;
wherein the third magnetic induction unit (60) is inserted between the first magnetic focusing plate (412) and the second magnetic focusing plate (512) along the axial direction.
7. The electromagnetic compound multiaxial torque sensor of claim 4 where the first magnetic focusing plate (412) extends radially outward from the first magnetic focusing ring (411) and the second magnetic focusing plate (512) extends radially outward from the second magnetic focusing ring (421);
wherein the third magnetic induction unit (60) is inserted between the first magnetic focusing plate (412) and the second magnetic focusing plate (512) in a radial direction.
8. An electromagnetic compound multiaxial torque sensor as claimed in claim 2, wherein the shaft connection member (20) comprises a connection base (21) circumferentially arranged outside the magnetic field generating assembly (10), and a plurality of connection column portions (22) are arranged on the connection base (21) at intervals along the circumferential direction;
the connecting base (21) is provided with a connecting groove (23), and the connecting column part (22) is internally provided with a connecting part (24) in a protruding mode, wherein the groove bottom of the connecting groove (23) and the connecting part (24) are both used for being connected with the magnetic guiding assembly (30).
9. A torque measurement method, applied to the electromagnetic composite multi-axis torque sensor according to any one of claims 1 to 8, comprising:
acquiring a first magnetic flux corresponding to the first shaft element through the first magnetic induction unit, and acquiring a second magnetic flux corresponding to the second shaft element through the second magnetic induction unit;
obtaining a first torque according to a preset first relation and the first magnetic flux; obtaining a second torque according to a preset second relation and the second magnetic flux;
the first relation is a mapping relation between the first magnetic flux and the first torque, and the second relation is a mapping relation between the second magnetic flux and the second torque.
10. The method of claim 9, wherein said obtaining a first magnetic flux corresponding to said first shaft member by said first magnetic induction unit and obtaining a second magnetic flux corresponding to said second shaft member by said second magnetic induction unit further comprises:
performing torque correction on the electromagnetic composite multi-axis torque sensor, acquiring a first test array B1 through the first magnetic induction unit, acquiring a second test array B2 through the second magnetic induction unit, and acquiring a first difference value array B3 through the third magnetic induction unit;
setting an objective function F, wherein the objective function f=a×b1+b×b2-B3, a is a first optimization parameter, and B is a second optimization parameter;
performing minimum optimization on the objective function to update a first optimization parameter a and a second optimization parameter b;
and multiplying the first optimized parameter a by the first relational expression to obtain an optimized first relational expression, and multiplying the second optimized parameter b by the second relational expression to obtain an optimized second relational expression.
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| JP2006308407A (en) * | 2005-04-28 | 2006-11-09 | Mitsubishi Electric Corp | Torque sensor |
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| CN112114278A (en) * | 2019-06-21 | 2020-12-22 | 迈来芯电子科技有限公司 | Magnetic field sensor arrangement, magnetic torque sensor arrangement and method for determining stray field immunity of magnetic flux |
| CN112805546A (en) * | 2018-08-15 | 2021-05-14 | 法雷奥开关和传感器有限责任公司 | Torque sensor device, method for determining torque, stator and stator arrangement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006308407A (en) * | 2005-04-28 | 2006-11-09 | Mitsubishi Electric Corp | Torque sensor |
| CN101980915A (en) * | 2008-06-26 | 2011-02-23 | 大星电机工业株式会社 | Contactless torque sensor for steering mechanism |
| CN103162886A (en) * | 2011-12-16 | 2013-06-19 | 株式会社电装 | Torque sensor apparatus |
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