JP2010061487A - Broadband transmission method of measurement data from rotating object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a data transmission system for a reliable wireless measurement signal at high-speed in tens of megabits or more per second from a rotating object to the non-rotating measuring instrument in the high resolution measuring for axial torque associated with the rotation of the high-speed rotating object. <P>SOLUTION: The transmission method between the rotating object and the non-rotating object, as the data transmission system, is performed by leak electromagnetic field coupling of a strip line nonresonant transmission line terminated by the terminating resistance, in which the strip line structure is formed in a circular arc shape in direction toward the rotation circumference of the axis of the rotation on a printed board with a pattern, by placing the rotating object opposite to the non-rotating object, the broadband, for enabling the high-speed data transmission in the tens of megabits or more per second, and the stable transmission characteristics accompanying the rotation are attained and the transmission method is achieved. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention relates to a method for digitally transmitting high-resolution and high-speed measurement data measured by a sensor mounted on a rotating part of a rotating object to an external measuring device.

      Recently, along with miniaturization and high performance of sensors and electronic circuit components, sensors and measurement circuits are mounted on the rotating parts of rotating objects, and measurement data is digitally transmitted to external measurement devices.

      The measurement items when a sensor and a measurement circuit are mounted on the rotating part of the rotating object include distortion (displacement amount, vibration), temperature, and rotation speed / angle. These measurements cannot be performed accurately from the outside of the non-rotating part, and it is necessary to install sensors and measuring circuits on the rotating part and transmit the measurement data from the rotating object to the measuring equipment outside the non-rotating part. There is.

      In addition, due to the necessity of high-resolution measurement accompanying rotation, for example, when measuring the transmission torque of a rotating shaft accompanying rotation, a plurality of strain gauges are mounted on the rotating object, and the transmission torque of six component forces is measured. In this measurement, as described later, the amount of measurement data increases to 10 Mbps (bit / sec) or more.

      Conventionally, as a method of transmitting measurement data and control signals for measurement from a rotating object to a non-rotating external measuring device, transmission by connecting a direct signal line such as a slip ring or wireless transmission has been used. Yes.

      In addition, a method using optical transmission in which an electric signal is converted into an optical signal by an electro-optical converter and transmitted is also proposed as a transmission method. However, the optical transmission method cannot be said to be a stable data transmission method in a field where an obstacle of an optical transmission path such as a scattered object accompanying rotation of oil or the like peculiar to a high-speed rotating object is assumed.

      As these prior documents, Document 1 uses a wireless transmission system as a transmission system, and uses the short transmission distance to save power, such as omitting the power amplifier at the final transmission stage. However, as a wireless transmission method, a normal transmission method in which FM modulation is performed on a frequency in the vicinity of a transmission frequency of 27 MHz is used as shown in the example, and the transmission band is assumed to be a narrow band signal transmission of about 100 KHz at most. is doing. The antenna shape is disclosed by an example of a structural diagram, but is not intended for wideband data transmission in consideration of transmission characteristics accompanying rotation.

      Further, in Document 2, it is disclosed that data transmission is performed by a wireless transmission method using a transmission antenna and a reception antenna in a plane perpendicular to the rotation axis, but a transmission method and a detailed method for the antenna are disclosed in particular. Therefore, it is considered that data transmission by a normal wireless transmission method is not intended for broadband data transmission.

-------- JP-A-8-35895 -------- JP 2001-304985 A

As described above, according to past literatures, it is known to transmit data of shaft torque measurement data by a wireless transmission method. However, as in the present invention, for example, past literature intended for a transmission method for transmitting data obtained by measuring a transmission torque of a six component force of a rotating object rotating at a high speed of, for example, 10,000 rpm with a high resolution of 0.5 degrees or more is available. I can't find it.

      In the present invention, a sensor and a measurement circuit are mounted on a rotating object that rotates at high speed, and the transmission characteristics between the rotating object and the non-rotating object are several tens of Mbps in order to wirelessly transmit measurement data to an external non-rotating measuring instrument. Based on the fact that a stable transmission method is required by having a wide bandwidth of, a small fluctuation in transmission characteristics with rotation, enabling high-speed transmission, and reducing the number of circuit elements mounted on a rotating object. It was made.

      As a stable data transmission method, the transmission method between rotating and non-rotating objects is coupled with leakage electromagnetic field coupling of the transmission line of the non-resonant circuit to realize wide bandwidth and stable transmission characteristics associated with rotation, enabling high-speed transmission In order to reduce the number of circuit elements mounted on the rotating object, the modulation method at the time of transmission is realized as ASK.

Furthermore, in order to ensure the electromagnetic coupling associated with the rotation of the rotating object around the rotating shaft, a strip line is used as the transmission line, the rotating object is formed in an arc shape in the rotating circumferential direction of the rotating shaft, and the rotating object , And a non-rotating object.

      As a method for solving these problems, a sensor mounted on a rotating object and a rotating object measuring device that digitally transmits measurement data of a measurement circuit to an external measuring device are perpendicular to the transmission axis direction of a strip line mounted on the rotating object. A large amount at high speed from a high-speed rotating object by performing digital transmission by electromagnetic coupling with a surface direction perpendicular to the transmission axis direction of a strip line arranged in parallel as a non-rotating object with a predetermined distance in the surface direction. Measurement data can be transmitted.

      Preferably, the strip line structure mounted on the rotating object and arranged as the non-rotating object can be realized by forming a wiring pattern on the printed board.

      In order to ensure transmission with respect to rotation, the shape of the strip line mounted on the rotating object and arranged as the non-rotating object is such that the transmission line has an arc shape in the rotation circumferential direction of the rotating shaft of the rotating object. The strip lines which are formed in the above and are mounted on a rotating object and arranged as a non-rotating object are configured to face each other.

      Further, the number of strip lines mounted on the rotating object or arranged as the non-rotating object can be widened by configuring a plurality of strip lines so that a transmission coupling coefficient accompanying rotation has a predetermined flatness. Transmission certainty having a wide frequency range can be realized.

      Preferably, the number of the strip lines mounted on the rotating object or arranged as the non-rotating object is symmetric with respect to the rotation center axis so that a transmission coupling coefficient with rotation has a predetermined flatness. It can also be realized as a configuration with four.

      In addition, a signal supply method or a signal reception method to the plurality of striplines mounted on the rotating object or arranged as the non-rotating object includes a stripline distributor, a resistor distributor, or You may connect by a transformer coupling type distributor.

      Further, the measurement data of the sensor mounted on the rotating object and the measurement circuit may include axial torque measurement data of the rotating object.

      Furthermore, the data transmission method from the rotating object can also perform bidirectional data transmission between the sensor and measurement circuit mounted on the rotating object, and the external measuring device. Thereby, a control signal such as a measurement start signal can be transmitted to a measuring instrument attached to the rotating object, and more complicated measurement can be realized.

In addition, the sensor mounted on the rotating object and the power supply method used in the measurement circuit can be used for wireless transmission of measurement data by supplying power with a coupling method different from the data transmission method from the rotating object. Transmission coherence associated with rotation of the power supply method can be eliminated.

      According to the present invention, when a sensor and a measurement circuit are mounted on a rotating object that rotates at high speed, and measurement data is digitally transmitted to an external measurement device, a phenomenon associated with rotation of a wide band of several tens of MHz or more is obtained. By transmitting data measured at high speed and high resolution to an external non-rotating measurement device using a transmission method that is not affected by high-speed rotation, it becomes possible to measure phenomena that can be performed only at the rotating part.

In particular, the generation of jitter in the demodulation with the ASK modulation method for circuit simplification is achieved by using the leakage electromagnetic field coupling of stripline non-resonant transmission lines in a plurality of transmission distance fluctuations with the rotation direction. Wideband digital wireless transmission with a bit rate of 10 MHz or more is realized by reducing transmission distance fluctuation and flattening coupling characteristics.

      The necessity of high-speed data transmission of measurement data, which is the basis of the present invention, will be described using an example of a 6-component force measurement device mounted on a rotating object. Normally, 6-component force measurement measures the signals of a plurality of strain gauges mounted on the circumference symmetrically with respect to the rotation axis of the rotating object by means of a bridge circuit, an amplifier circuit, and an AD converter.

      For example, 120,024 data / sec is measured to measure the distortion characteristics of a rotating object rotating at 10,000 rpm with an angular resolution of 0.5 degrees, and further, 16 bits (65,536) resolution is measured for serial transmission. 1,920,384 data / sec · ch data. Furthermore, if simultaneous measurement of eight strain gauges is required for 6 component force measurement, a data transmission rate of 15,363,072 bps (16 Mbps) is required for 8 channels.

      When performing some transmission coding, for example, transmission with Manchester code, a data transmission signal of 16 Mbps in NRZ requires a transmission clock of 20 MHz.

      When these high-capacity high-speed signals are transmitted wirelessly, there is a method of compressing the frequency band by the modulation method and transmitting it. However, as in the present invention, a sensor and a measurement circuit are attached to a high-speed rotating object, and measurement data is transmitted. In order to perform wireless transmission of external measuring equipment, the number of parts to be mounted on the rotating object is as small as possible due to changes in the transmission distance due to rotational fluctuations due to rotation and the effects on parts due to rotational centrifugal force. It is desirable to be simple.

      In the present invention, as one method of high-speed and large-capacity data transmission, an ASK modulation method using a serial Manchester code is used for a baseband signal for wireless transmission that is the simplest in circuit configuration.

      In order to realize high-speed digital transmission with a transmission clock of 20 M or more from these rotating objects rotating at 10,000 rpm, the transmission / reception system using the transmission antenna and the reception antenna used in the conventional wireless transmission has a length of wavelength. It is known that when performing the following close-and-separated transmissions, it is limited to standing waves generated in the antenna and the flatness of the communication band cannot be maintained, and a transmission gap occurs in the transmission characteristics between the antenna and the antenna accompanying rotation. .

      As a method for eliminating the transmission gap of the proximity distance, paying attention to the fact that the transmission distance between the rotating object and the non-rotating external device is at most several centimeters, a predetermined direction in the surface direction perpendicular to the transmission axis direction of the stripline is determined. A method of performing digital transmission by electromagnetic coupling with a surface direction perpendicular to the transmission axis direction of a strip line arranged as a non-rotating object having a distance was used.

      This method degrades the power efficiency of transmission compared to transmission using the antenna system, but leaks electromagnetic waves while maintaining the non-resonant flat transmission characteristics of the stripline terminated by the terminating resistor at the transmission end. The field is received by a strip line having a non-resonant flat transmission characteristic that is terminated by a similar terminating resistance at the receiving end, so that the flatness of the coupled transmission frequency region is maintained, and transmission and reception associated with rotation are maintained. Compared to fluctuations in the transmission characteristics associated with standing waves in the antenna system in the relative position fluctuations of the stripline, a short-range broadband data transmission system from a rotating object with less coupling characteristic fluctuations is realized.

      FIG. 2 shows a schematic diagram of the electromagnetic coupling method in the stripline. FIG. 2 shows that the final stage transmission signal at the transmission end is connected to the strip line and is terminated by a termination resistor connected to the tip of the strip line. By matching the characteristic impedance of the strip line and the value of the termination resistor, the transmitted signal will be extinguished by the termination resistor while maintaining the flatness of the frequency characteristic. The signal transmitted through the strip line depends on the frequency of the signal. Non-resonant flat characteristics.

      Usually, a strip line is described as a transmission line that is transmitted in a TEM mode in which a flat transmission line is sandwiched between ground conductors and a homogeneous dielectric on both sides. As a modification, a strip line is a micro that uses one of the dielectric transmission lines as the atmosphere. In the present invention, a microstrip line is used as a coupler and a strip line is used as a distributor as an example. However, a strip line is used as a generic name here.

      The strip line on the receiving side has a predetermined distance in the surface direction perpendicular to the transmission axis direction of the strip line on the transmission side, and the strip line on the reception side extends in the same direction as the transmission side on the surface direction perpendicular to the transmission axis direction of the strip line. 2 is connected to the terminating resistor so that electromagnetic coupling can be caused by a leakage electromagnetic field induced in the vertical surface direction of the strip line on the transmission side, and a signal is transmitted to the strip line on the reception side in FIG. Coupled and transmitted, and transmitted while maintaining a flat frequency characteristic.

This transmission system is a low characteristic impedance circuit in which the transmission unit and the reception unit also have termination resistors. Further, the characteristic impedance of the strip line and the combined transmission power efficiency vary depending on the spatial distance between the transmission and reception strip lines, but the spatial distance is a predetermined distance, for example, a distance of several mm or more in the case of a transmission frequency of 300 MHz in the present invention, However, the combined transmission power efficiency is deteriorated as compared with the conventional antenna transmission, but the coupling can be performed without affecting the characteristic impedance of the stripline. Although this transmission method is limited to a transmission distance of several centimeters or less, it can be said that this method is extremely effective as a method that can realize a connection method that rotates a wideband connection of several tens of MHz or more.

      Since this transmission system is composed of the same terminating resistor and stripline in both the transmission unit and the reception unit, it has a feature that bidirectional transmission can be performed only by switching the transmission / reception function.

      In this method, since the coupling part is not an antenna structure, the transmission impedance is low and the termination is terminated by a terminating resistor. Therefore, the electromagnetic field generated outside from the measuring instrument is extremely low, and it is necessary to receive a signal. However, because of its low impedance, it is less susceptible to noise from outside.

      In addition, when this stripline coupler is wirelessly transmitted from a rotating object to a non-rotating object, the stripline coupler is placed on an arc in order to use the schematic diagram of the coupling method shown in FIG. 2 for the rotating object. ing. This coupling method is shown in the example of FIG.

      FIG. 3 shows a coupling method when the stripline coupler performs wireless transmission from a rotating object to a non-rotating object. In the example of FIG. 3, the transmission strip line is arranged in an arc shape in the circumferential direction of the rotating object, and the strip line on the non-rotating side, here the receiving side, is similarly arranged at a position facing the vertical surface direction of this strip line. It shows that they are arranged in an arc shape. The vertical distance between the transmission stripline and the reception-side stripline is the transmission distance.

      FIG. 3 shows an enlarged view of a cross section when this coupling is performed. Each strip line on the transmission / reception side includes a dielectric layer and a ground plane. It shows how they are arranged. As described above, the strip line is formed on the circular arc in the circumferential direction of the rotation shaft and is disposed so as to face each other, so that a flat coupling characteristic with respect to the rotation can be obtained.

      Further, when this arc-shaped strip line is used as a method for transmitting a rotating object, the coupling partner strip line to which the relative position between the transmission and reception strip lines is coupled by rotation changes sequentially. By arranging a plurality of transmission strip lines in the circumferential direction of the rotating object for this coupling switching phenomenon, a flat transmission of the coupling coefficient accompanying this rotation can be performed.

FIG. 4 shows an example in which four transmission strip lines are arranged symmetrically about the axial center and used to connect transmission signals via amplifiers and distributors. In addition, it is shown that the same termination resistor and strip line of the receiving unit are coupled to the outer periphery by one.
As a result, even if the rotating object on the transmission side rotates, the stripline to be combined is always connected while switching with the stripline of the receiving unit, and the flatness of the transmission characteristics accompanying the rotation is maintained. it can.

      By this method, the spacing in the circumferential direction of four or a plurality of strip lines is reduced to such an extent that mutual interference does not occur, and the transfer characteristics due to standing waves due to the antenna method are also changed. In comparison, flat joint flatness is obtained.

      Further, in FIG. 5, in order to obtain transmission flatness due to the rotation of four or a plurality of strip lines, in order to reduce the influence of disturbance of the electromagnetic field at the feeding end and the terminating resistance portion to the strip lines. Shows a method of connecting the connecting portions at partial positions of the stripline. This method can reduce phase fluctuation when the coupling relationship with the strip line on the receiving side is switched by a plurality of transmission side strip lines due to rotation.

      In FIG. 4, four strip lines are arranged on the transmission side, but in order to further improve transmission flatness and phase flatness, eight strip lines are arranged symmetrically around the axis in the same manner. You can also Further, four strip lines may be arranged on the receiving side, or four or plural strip lines may be arranged on both the transmitting and receiving sides. In this case, in addition to FIG. 4, it is necessary to pass a distributor on the receiving side.

      The distributor shown in FIG. 4 may be any of a stripline type distributor, a resistor divider type, and a transformer type divider, and the strip arranged on the circumference by taking impedance matching between the amplifier, the stripline, and the terminating resistor. Any method may be used as long as the signal is transmitted with the same signal intensity on the line.

FIG. 6 shows a stripline type distributor used as the distributor of FIG. 4 as an example. In FIG. 6, by utilizing the fact that the characteristic impedance of the strip line is determined by the line width, one output impedance 1 is formed by strip lines having three different characteristic impedances Z ₀ , 1 / 2Z ₀ , 1 / 4Z ₀ . The signal of the transmitting amplifier of / 4Z ₀ is distributed to the four terminating resistors of the characteristic impedance Z ₀ and the strip line.

As a result, impedance matching is performed by the distributor, and the signal of the transmission side amplifier is transmitted to the terminating resistor and the strip line without reflection, thereby preventing a standing wave from being generated on the strip line and flat coupling flat. Sex is obtained. In addition, this stripline type distributor may be realized only by a printed pattern without using electronic circuit components, and has a feature that a component can be realized thinly with little deterioration due to rotational vibration.

      Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is an example of a configuration of a rotary component force measuring apparatus using a stripline coupling method according to the present invention. The rotary component force measuring device 1 shown in FIG. 1 is installed in a rotating unit that is a measurement object, and outputs an output signal of a torque sensor 11 configured by a bridge circuit configured for each of eight sensing units. It is mounted on a rotating object composed of a data collection unit 21 that samples in accordance with a measurement start signal of the above or a timing signal obtained from a shaft rotation angle detection signal and a sending unit 23 that transmits the measured measurement data. The rotation measuring unit, the receiving unit 24 that does not rotate outside the rotating unit, and the signal processing unit 25 that controls the received data are configured.

      The data collection unit 21 is a unit that inputs eight output signals from the torque sensor 11, performs sampling and AD conversion according to the timing signal of the measurement start signal 21a, and outputs the AD converter 21b and the AD converter output. The transmission unit 23 is configured by an electronic circuit such as a data conversion unit 21c that converts serial data for ASK modulation.

      The sending unit 23 is means for sending the output signal collected by the data collecting unit 21 to the non-rotating unit by the coupler 23c, and the receiving unit 24 receives the output signal sent from the sending unit 23 by the coupler 24a. It is means to do.

      The sending unit 23 has a rotary encoder 23d for detecting the rotation angle of the shaft that is a measurement object by detecting the relative positions of the rotation unit and the non-rotation unit. The rotation angle is detected by the detector 24d of the reception unit 24. Detected as information. This rotation angle detection method can be realized by an encoder-type detector using light, magnetism, and electromagnetics, and is realized by using a conventionally known method.

      For example, an optical encoder type angle detection unit fixes a circular slit plate with a slit on the outer circumference at each rotation reference position and detection angle (for example, 1 degree) to the rotation measurement unit, By arranging a light projecting element and a light receiving element, rotation reference position information and angle information are output as a pulse train according to the rotation angle, read by a pulse counter, and combined with the rotation reference position information, 0 to 360 degrees. A rotation angle timing signal is obtained for each minute angle.

      In addition, when sampling according to the timing signal obtained from the rotation angle detection signal by the AD converter, it is necessary to transmit the rotation angle information from the non-rotation receiving / feeding unit to the rotation measuring unit. The unit 23 and the receiving unit 24 are coupled bidirectionally, and this can be easily realized by a normal wireless transmission method using a duplexer.

      The measurement rotating unit receives AC power supplied from the non-rotating receiving / feeding unit in a non-contact manner using the power receiving coil 42, and is used as power used by the rotating measuring unit after rectification / stable power supply. A rotating power receiving unit 40 is included. The supply of AC power supplied from the non-rotating receiving / feeding unit generates an AC signal by the transmitter in the non-rotating feeding unit 50 and is sent out using the feeding coil 51 after amplification.

      This non-contact power feeding method using alternating current is performed by electromagnetic induction using alternating current of several 350 kHz, but the frequency used does not affect the transmission frequency band of several hundred MHz used in the stripline coupling method according to the present invention. Any device that uses the frequency domain may be used and can be realized by a known technique not related to the present invention.

      Further, the rotary component force measuring device 1 of FIG. 1 will be described in detail. In the rotary component force measuring device 1, forces Fx, Fy, Fz applied to the rotation coordinate axis 3 direction of the rotation center axis of the rotation object and the torque acting around these axes as the rotation object is mounted. The Mx, My, and Mz Cartesian coordinate system 6 component force is measured using a strain gauge in which a torque sensor 11 fixed to the rotating shaft is arranged at a sensitive part and a bridge circuit composed of the strain gauge.

      The torque sensor 11 for the shaft torque is attached by providing a sensitive part between the drive side and the load side and attaching a strain gauge to the sensitive part. Here, as an example of a method for forming a sensitive part, a method for providing an arm sensitive part between the driving ring on the driving side and the load ring on the load side will be described from the simplicity of the description of the measurement of the six-component force of the shaft torque. To do.

      FIG. 7 is a view showing an example of the arrangement of the strain gauges A1 to H4 arranged in the sensitive part of the torque sensor 11 in the rotary component force measuring apparatus 1 of the present invention, and FIG. Is an xz plan view, and FIG. 7B is a yz side sectional view as seen from the x-axis direction.

      In FIG. 7, the torque sensor 11 is composed of a load ring 13 on the load side and four T-shaped arms 14 arranged in a cross shape between the drive ring 12 on the drive side. It is integrally formed.

      The arm 14 is a strain-sensitive part of the drive ring 12 between the load ring 13, and a torque sensor (orthogonal shear type strain gauges A1 to H4 in this embodiment) is attached to the sensitive surface. It arranges and detects distortion applied in the direction perpendicular to the sensitive surface. The sensor type may be other than the strain gauge, and the strain gauge may be a beam type in addition to the orthogonal shear type.

The arm 14 of this embodiment is composed of two sensing beams, a first sensing beam 16 and a second sensing beam 15.
The first sensitive beam 16 is a rectangular column connected to the drive ring 12 and is a thin plate-like elastic joint in which strain gauges E1 to H4 are bonded to two opposing surfaces of the rectangular column.

      The second sensation beam 15 has an I-shaped cross-section 15b in which one end is connected to the first sensation beam 16 and the other end is connected to the load ring 13, and two recesses 15a are formed on the two opposing surfaces. The cross section shear beam type sensing beam has orthogonal shear type strain gauges A1 to D4 attached to both bottom surfaces of the concave portion 15a which is an elastic portion.

      As shown in FIG. 7, the second sensing beam 15 has a rectangular columnar constricted portion that is thinner than the outer diameter of the I-shaped section 15 b at both ends connected to the load ring 13 and the first sensing beam 16. 15c may be included.

      In FIG. 7, only one of the four arms 14 is given a detailed reference numeral, but the remaining arms 14 are the same and will be omitted.

      A specific method of attaching the strain gauge will be described. The strain gauges A1 to A4, D1 to D4 are respectively opposed to both bottom surfaces of the two recesses 15a of the second sensing beam 15 (sensing part). It is pasted at the position. In the present embodiment, for example, A1 and A2 are juxtaposed along the longitudinal direction of the first sensing beam 16 on one side, A3 and A4 are pasted on the other side, and A1 and A3, A2 and A4 are respectively Opposite.

      In addition, the strain gauges E1 to E4 to H1 to H4 are attached to opposite ends of the front and back surfaces of the surface forming the first sensitive beam 16 (sensitive part). In the present embodiment, for example, E1 and E2 are pasted on one surface, E3 and E4 are pasted on the other surface, and E1 and E3, E2 and E4 face each other.

      Thus, each arm 14 has two sensing beams 15 and 16, and in this embodiment, the torque sensor 11 is formed on each of the eight sensing beams 15 and 16 in total. There are a total of 8 sensing parts. Then, the strain gauge signals obtained from each of the sensing units (sensing beams 15 and 16) are extracted as output signals from a total of eight bridge circuits configured for each of the sensing units.

      The torque sensor 11 shown in FIG. 7 has a structure with four T-shaped arms 14 arranged in a cross shape between a load ring 13 on the load side and a drive ring 12 on the drive side. However, the present invention is not limited to this structure, and the strain sensing part between the driving ring and the load ring of the rotating object, for example, a thin shaft part between the driving ring and the load ring is used as a sensing part. This can be achieved by attaching the gauge.

      The output signal from the bridge is sent to the data collection unit 21 and sampled by the AD converter 21b according to the timing signal from the measurement start signal 21a. In this embodiment, the AD converter 21b measures a rotating object at a resolution of 16 bits (65,536) and a rotational speed of 10,000 rpm every 0.5 degrees in order to obtain a torque measurement accuracy of 0.01% / FS. In order to measure the sampling rate of 120 KHz and the 6 component torque of the shaft torque, AD conversion is simultaneously performed for 8 channels.

      When this AD converted signal is taken out in real time as a serial signal, it becomes a data transmission rate signal of 15,363,072 bps (16 Mbit / sec) by simple calculation.

      In order to convert the serial signal from the AD converter 21b into a modulated signal having certainty of the transmission bit rate, the data converter 21c adds an AD parity signal and performs Manchester encoding.

      In the present embodiment, as described above, the wireless transmission system is used from a rotating object to a non-rotating object, and the ASK modulation system is used from the simplicity and certainty of the circuit configuration of the transmission method accompanying rotation. 23, the carrier signal of the transmitter 23b is modulated by the ASK modulator 23a and sent to the receiver 24 by the coupler 23c. Specifically, a signal band having a carrier frequency of 305 MHz and a transmission band of 265 to 345 MHz is used.

      The signal from the sending unit 23 is coupled to the receiving unit 24 through the coupler 23c. The positional relationship of the rotary component force measuring apparatus 1 that transmits data from the rotating object to the non-rotating object by a wireless transmission method will be described with reference to FIG. In FIG. 8, the torque sensor 11 is used as a strain detection structure, and the structure of the drive ring 12 and the load ring 13 shown in FIG. 7 is not an arm structure, but a thin shaft part is provided on the rotating shaft part and a strain gauge is used. As shown in the pasting method, it is the same that a plurality of strain gauges are attached to the sensing part and 6-component force measurement is performed.

      In FIG. 8, rotational torque is applied to the drive ring 12 from the left direction, load torque (not shown) is applied to the right-side load ring 13, and torque transfer characteristics associated with rotation during that time are pasted to the sensing part. 6 component force measurement is performed from the signal measurement from the attached strain gauge.

      The detected signal from the strain gauge is sent out by a feeder structure printed board 65, a power receiving coil support dielectric 62, a power receiving coil 42, and a sending part by a support structure 67 made of metal on the driving ring 12 of the strain detecting part. The coupler printed board 61 is fixed in a stacked manner.

      This sending part distributor printed board 65 has a three-layer structure with copper thin on both sides, a central wiring pattern is formed in a sandwich structure with a dielectric, a central wiring pattern, and a copper thin film on both sides with a stripline structure, A stripline distributor is arranged. In addition, a terminating resistor, a distribution core, a resistor, or the like is disposed in the thin copper portion. The power receiving coil support dielectric 62 is a component for fixing the power receiving coil 42 and is formed of a dielectric having a thickness of about 3 mm, and the power receiving coil 42 is fixedly held by a cut-out hole.

      Further, a sending unit coupler printed board 61 is laminated on the power receiving unit coil supporting dielectric 62. The sending unit coupler is patterned on the sending unit coupler printed board 61 as a strip line. In this coupler, the ground plane is made thin on the sending part distributor printed board 65, the dielectric part of the power receiving part coil supporting dielectric 62 and the sending part coupler printed board 61 is a dielectric, and the sending part coupler printed board 61. The surface pattern 61c is formed as a strip line using a transmission line.

      Signal transmission / reception among the sending section distributor printed board 65, the power receiving section coil supporting dielectric 62, the power receiving coil 42, and the sending section coupler printed board 61 is connected by through holes and connection lines of the respective printing boards.

      Further, the coupler pattern on the surface of the sending unit coupler printed board 61 is combined with the coupler pattern 61 c on the surface of the receiver coupler printed board 71. In the receiving unit 24 of FIG. 1, similarly to the sending unit 23, a receiving unit circuit printed board 75, a feeding unit coil support dielectric 72, a feeding coil 51, and a receiving unit coupler printed board 71 are fixed in a stacked manner. Moreover, this wiring is connected by the through-hole of each printed board and a connection line like the sending part 23, and you may provide a support structure separately.

      Further, in FIG. 8, the interval between the sending unit coupler printed board 61 and the receiving unit coupler printed board 71 is 2 mm, and the interval variation with rotation shows a characteristic of ± 0.5 mm or less.

      FIG. 10 shows an example of the transmission coupling coefficient accompanying the shaft rotation according to this embodiment. FIG. 10 shows the coupling coefficient in the direction extending from the center point with the rotation angle from 0 to 360 degrees in the counterclockwise direction, and the coupling coefficient at the transmission frequency of 300 MHz according to the present embodiment accompanying the rotation is ± 1 dB line. Together with In the method of the present invention, the fluctuation due to the rotation of the coupling coefficient shows a good result that is less than or equal to ± 1 dB of the jitter generation education limit due to amplitude fluctuation in wireless transmission.

      Further, the electrical components for calibrating the data collection unit 21, the sending unit 23, the rotating power receiving unit 40, etc. shown in FIG. 1 mounted on the rotating object are mounted on the rotating unit measuring circuit (82 in FIG. 8).

      The positional relationship of the rotary component force measuring apparatus 1 shown in FIG. 8 is that the signal data from the rotating object is smoothly coupled with the coupling of the sending unit coupler printed board 61 and the receiving unit coupler printed board 71 with rotation. This is an example of the structure to be changed, and can be changed as appropriate by changing the production method of the coupler, the number of couplers sending and receiving units, the distributor method, and the like.

      The signal received by the receiving unit combiner 24 a is amplified and filtered by the receiving unit 24, converted to a digital signal by the demodulator / shape unit 24 b, and created in the signal processing unit 25. The signal processing unit 25 demodulates the output signals of the eight torque sensors and further converts them into six component forces in the orthogonal coordinate system at the axis center.

      An example of a detailed configuration of the signal processing unit 25 is shown in FIG. The signal processing unit 25 shown in the figure includes a data demodulation circuit, a signal correction circuit, a coordinate conversion circuit, and a filter. In addition, the following description of each part is performed as one Example in the case of calculating | requiring 6 component force concerning a rotating body.

      The data demodulating circuit converts a modulated output signal (in this embodiment, one 8-channel multiplexed signal) into a total of eight output signals (A, B, C, D, E, F, G, H)).

      The signal correction circuit is means for correcting the output signal based on correction information (correction coefficient) for each angular position of the rotational torque sensor 11 stored in advance. The presence or absence of the signal correction circuit is arbitrary. The signal correction circuit may be configured using a known technique. For example, the output signal of the torque sensor 11 when a known output signal is applied as a load is read, and a correction coefficient representing cross-correlation is obtained by comparing these signals and stored in a memory or the like. It can be easily realized.

      This output signal is input to the signal correction circuit while having the characteristics of the strain gauge for each sensitive part and the interference characteristic (error) of the strain gauge between different sensitive parts. Correct correction is performed in accordance with different deformations for each characteristic and sensor, and the subsequent calculation of the component force is performed with high accuracy. For the correction, only linear linear correction is sufficient, and no advanced correction is particularly required.

      In order to reduce the calculation error of the component force, the coefficient of the correction information is adjusted so that each output signal is closest to the theoretical value, or the n-th order term and the product of each term of each output signal are set. Correction may be performed in addition to the correction term. At this time, the correction terms may be collectively calculated as a correction matrix. Furthermore, high-order correction incorporating rotational deformation according to the rotation of the torque sensor 11 may be performed.

      In this way, before the component force calculation but after the component force calculation, the detection independence for each sensitive part, the non-interference between different sensitive parts is maintained, the characteristics of the strain gauge for each output signal, Since correction is performed according to different deformations for each sensitive part, the correction calculation is easily performed, the validity of the correction is increased, and a correct and accurate component force is required.

The coordinate conversion circuit is a means for performing coordinate conversion of the demodulated total of eight output signals into six component forces in an orthogonal coordinate system at the axis center for each rotation angle. The presence or absence of the signal correction circuit is arbitrary. In this embodiment, the conversion is performed by a matrix operation represented by the following equation.

      Here, Fx to Mz are forces Fx, Fy, and Fz applied in the x, y, and z axis directions of the orthogonal coordinate system, and six component forces of torques Mx, My, and Mz that act around these axes, and A to H are Since the output signal is input to the signal correction circuit while having the characteristics of the strain gauge for each sensitive part and the interference characteristic (error) of the strain gauge between different sensitive parts, the characteristics of the strain gauge for each output signal. Correct correction is performed according to different deformations for each sensitive part, which contributes to correct component force calculation. Output signals K11 to K68 for each sensing unit are conversion matrices (matrix for conversion).

      This conversion matrix applies a known 6 component force as a load torque from the load side for each rotation angle (for example, 1 degree) of the drive system in a stationary state with respect to the torque sensor 11 to be used in advance, and the output signal A at that time ˜H are measured, and these correlations are obtained, and the obtained transformation matrix is stored in a memory or the like as one piece of correction information. Note that the transformation matrix in this embodiment is as follows.

      By obtaining the conversion matrix in advance in this way, the conversion from the eight output signals to the 6 component force is performed quickly, which contributes to speeding up the signal processing.

      The filter is a means for converting from the six component forces in the orthogonal coordinate system of the axis center obtained by the coordinate conversion circuit to the component force in the actual rotating coordinate system including the measurement object in order to obtain torque data during rotation. It is. In addition, the presence or absence of a filter is arbitrary.

      The configuration of the rotary component force measuring device 1 described above has the following merits as compared with a conventionally used device. That is, conventionally, since the measurement signal from the rotating object is wirelessly transmitted as a low-speed signal, the average rotational torque associated with the rotation has been measured. However, according to the present invention, the measurement signal is rotated at 10,000 rpm. In order to realize high-speed digital transmission with a transmission clock of 20 MHz or more from a rotating object that rotates, the transmission distance between the rotating object and the non-rotating external device is at most a number as a method for eliminating the transmission gap in the transmission characteristics accompanying rotation. Paying attention to the centimeter, it is electromagnetically coupled to the surface direction perpendicular to the transmission axis direction of the stripline arranged as a non-rotating object having a predetermined distance in the surface direction perpendicular to the transmission axis direction of the stripline. By implementing a digital transmission method, a method that enables broadband transmission of measurement data on a high-speed rotating body is realized. The distortion characteristic of the 6 component force of a rotating object to rotate it becomes possible to measure an angle resolution of 0.5 degrees 0 rpm.

The method of performing digital transmission by electromagnetically coupling with the surface direction perpendicular to the transmission axis direction of the stripline arranged as a non-rotating object having a predetermined distance in the surface direction perpendicular to the transmission axis direction of the stripline is as follows. This is a data transmission method that enables high-speed, high-resolution measurement of high-speed rotating objects. By changing the sensor mounted on the rotating object to vibration, sound, etc., measurement from various rotating objects is possible. It is what.

It is a figure which shows schematic structure of the rotation type | mold component measuring device which implement | achieves the data transmission from a rotating body. It is the schematic which shows the coupling | bonding method of the wideband coupler concerning this invention. It is the schematic of the mounting system to the rotary body of the broadband coupler concerning this invention. It is the schematic of the example using four couplers as a mounting system to the rotary body of the broadband coupler concerning this invention. It is the schematic of the modification of the example using four couplers as a mounting system to the rotary body of the broadband coupler concerning this invention. It is an example of the stripline distributor of the distribution method to several broadband couplers. It is a figure which shows one Example of arrangement | positioning of the strain gauge arrange | positioned in the sensitive site | part of a torque sensor of the rotary type | mold component force measuring apparatus concerning this invention. It is one Example which shows the positional relationship of the rotary object of the rotation type | mold component force measuring device concerning this invention, and a non-rotation object. It is an example which shows the Example of the signal processing part of the rotary type | mold component measuring device concerning this invention. It is an example which shows the coupling | bonding characteristic accompanying the rotation from the rotary body of the rotary component force measuring apparatus concerning this invention to a non-rotation rotary body.

Explanation of symbols

1: Rotary component force measuring device 11: Torque sensor 12: Drive ring 13: Load ring 14: Arm 15: Second sensitive beam 16: First sensitive beam 21: Data collecting unit 23: Sending unit 24: Receiving unit 25: signal processing unit 40: rotating power receiving unit 42: power receiving coil 50: non-rotating power feeding unit 51: power feeding coil 61: sending unit coupler printed board 62: power receiving unit coil support dielectric 65: sending unit distributor printed board 67 : Support structure 71: Receiver coupler printed board 72: Feeder coil support dielectric 75: Receiver circuit printed board 82: Rotating part measurement circuit

Claims (9)

In a rotating object measuring device that digitally transmits measurement data of a sensor mounted on a rotating object and measurement circuit to an external measuring device, a predetermined distance is set in the surface direction perpendicular to the transmission axis direction of the strip line attached to the rotating object. A method of transmitting data from a rotating object, wherein the digital transmission is performed by electromagnetic coupling with a surface direction perpendicular to the transmission axis direction of a strip line arranged in parallel as a non-rotating object.         2. The data transmission from the rotating object according to claim 1, wherein the strip line structure mounted on the rotating object and arranged as the non-rotating object is formed in a wiring pattern on a printed board. Method.         The shape of the strip line that is attached to the rotating object and arranged as the non-rotating object is such that the transmission line is formed in an arc shape in the rotation circumferential direction of the rotating shaft of the rotating object, and is attached to the rotating object. The data transmission method from the rotating object according to claim 1, wherein the strip lines arranged and arranged as a non-rotating object are arranged to face each other.         The strip line mounted on the rotating object or arranged as the non-rotating object has a plurality of strip lines so that a transmission coupling coefficient accompanying rotation has a predetermined flatness. The method for transmitting data from a rotating object according to any one of claims 1 to 3.         The number of strip lines mounted on the rotating object or arranged as the non-rotating object is four symmetrically with respect to the rotation center axis so that the transmission coupling coefficient with rotation has a predetermined flatness. 5. The data transmission method from a rotating object according to claim 1, wherein the data transmission method is configured.         A method for supplying or receiving a signal to the plurality of strip lines mounted on the rotating object or arranged as the non-rotating object is a strip line type distributor, a resistance type distributor, or a transformer coupling. 6. The method for transmitting data from a rotating object according to claim 1, wherein the data are connected by a mold distributor.         7. The data transmission method from a rotating object according to claim 1, wherein the measurement data of the sensor mounted on the rotating object and the measurement circuit includes axial torque measurement data of the rotating object.         8. The data transmission method from the rotating object according to claim 1, wherein bidirectional data transmission is performed between a sensor and a measurement circuit mounted on the rotating object, and the external measuring device. Data transmission method from rotating objects.         The power supply method used in the sensor mounted on the rotating object and the measurement circuit is supplied by a coupling method different from the data transmission method from the rotating object. The method for transmitting data from the article according to claim 8.

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