JP2020071063A - Twist detecting mechanism of rotary shaft member - Google Patents
Twist detecting mechanism of rotary shaft member Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 description 7
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Abstract
Description
本発明は回転運動の検出技術に関し、特に回転軸部材のねじれ検出機構に関するものである。 The present invention relates to a rotational movement detection technique, and more particularly to a twist detection mechanism for a rotary shaft member.
工作機械、主軸、モータ又はシャフトなどの回転軸部材の運動状況を知るために、従来ではロータリエンコーダで回転軸部材の回転角度を測定し、且つ測定した回転角度を基に計算することで角度、速度及び位置などのデータを得ることができ、自動制御のパラメータとすることができる技術が開示されている。 In order to know the motion status of a rotary shaft member such as a machine tool, a spindle, a motor, or a shaft, conventionally, the rotary encoder measures the rotation angle of the rotary shaft member, and the angle is calculated based on the measured rotation angle. A technique has been disclosed in which data such as speed and position can be obtained and used as a parameter for automatic control.
従来技術では回転軸部材の回転状況を検出可能な技術内容が幾つか開示されてはいるものの、精密性の要求が日増しに高まる自動制御技術においては、回転軸部材の回転角度を知る必要があるだけでなく、回転軸部材のねじれ状況を自動制御技術中の制御パラメータとして組み入れなければならず、従来技術にはこうした回転軸部材のねじれ検出技術についての良い設計がなかった。 Although the prior art discloses some technical contents that can detect the rotation state of the rotary shaft member, in the automatic control technology in which the demand for precision increases day by day, it is necessary to know the rotation angle of the rotary shaft member. Not only that, the twisting condition of the rotary shaft member must be incorporated as a control parameter in the automatic control technique, and the prior art did not have a good design for such a twist detecting technique of the rotary shaft member.
よって、本発明は、回転軸部材の回転時におけるねじれ状況を検出してねじり力の解析に供することが可能な、回転軸部材のねじれ検出機構を提供することを目的としている。 Therefore, an object of the present invention is to provide a twist detection mechanism for a rotary shaft member, which is capable of detecting a twist state during rotation of the rotary shaft member and used for analysis of a twisting force.
上記目的を達成するために、本発明が提供する回転軸部材のねじれ検出機構の主な技術的特性は、回転軸部材の少なくとも２箇所の異なる部分に対してそれぞれの回転角度を検出し、且つ２箇所の異なる部位の回転角度差に基づきゼロリセット時の基準と比較することで、回転軸部材が回転運動時にねじれ状況が生じているか否かを確認することができ、さらに回転角度差によって回転軸部材のねじり力を解析することができるというものである。 In order to achieve the above-mentioned object, the main technical characteristics of the twist detection mechanism of a rotary shaft member provided by the present invention are to detect respective rotation angles of at least two different parts of the rotary shaft member, and By comparing with the reference at the time of zero reset based on the rotation angle difference between two different parts, it is possible to check whether the rotating shaft member is twisted or not during the rotational movement, and further rotate according to the rotation angle difference. The torsional force of the shaft member can be analyzed.
技術的特性の具体化として、従来のロータリエンコーダが提供する回転角度検出技術において応用することができ、少なくとも２つのロータリエンコーダで回転軸部材の２箇所の異なる部分に対して検知を行い、且つ２箇所の異なる部分を回転軸部材の回転軸方向上で互いに離隔させることで、回転軸部材の入力端付近部分と出力端付近部分において、回転軸部材の回転時における回転角度の差異を検出する。 The technical characteristics can be applied to the rotation angle detection technology provided by the conventional rotary encoder, and at least two rotary encoders detect two different portions of the rotary shaft member, and By separating the different portions in the rotation axis direction of the rotation shaft member from each other, the difference in the rotation angle of the rotation shaft member at the time of rotation of the rotation shaft member is detected between the input end vicinity portion and the output end vicinity portion.
その中で、ロータリエンコーダは、光学式インクリメンタル型ロータリエンコーダ、光学式アブソリュート型ロータリエンコーダ、磁気式インクリメンタル型ロータリエンコーダ、又は磁気式アブソリュート型ロータリエンコーダでよい。 Among them, the rotary encoder may be an optical incremental rotary encoder, an optical absolute rotary encoder, a magnetic incremental rotary encoder, or a magnetic absolute rotary encoder.
回転軸部材の回転状況をより一層把握するため、各ロータリエンコーダにインクリメンタルコード又はアブソリュートコードを具備させるほかにも、出力端付近を検出するためのロータリエンコーダに環状磁区をさらに含めることができ、それは回転軸部材の回転軸と同軸であり、且つロータリエンコーダの検出ユニットにより磁区の磁極変化を検出する。 In order to better understand the rotation status of the rotary shaft member, each rotary encoder can be provided with an incremental code or an absolute code, and further, the rotary encoder for detecting the vicinity of the output end can further include an annular magnetic domain. It is coaxial with the rotary shaft of the rotary shaft member, and the detection unit of the rotary encoder detects a magnetic pole change in the magnetic domain.
まず、図１と図２を参照して、本発明の第１の好ましい実施例が提供する回転軸部材のねじれ検出機構（１０）には、主に回転軸部材（２０）及び２つのロータリエンコーダ（３０）が含まれる。 First, referring to FIGS. 1 and 2, the first embodiment of the present invention provides a rotary shaft member twist detection mechanism (10) mainly including a rotary shaft member (20) and two rotary encoders. (30) is included.
回転軸部材（２０）は、直柱形状を呈した物品であり、モータ、主軸、シャフト又は工作機械などにおいて回転運動を伝達するための伝動部材とすることができ、従来技術において既に開示されたものに属するため、本案では説明を省略する。 The rotary shaft member (20) is an article in the shape of a straight column, and can be a transmission member for transmitting rotary motion in a motor, a spindle, a shaft, a machine tool or the like, and has been disclosed in the prior art. Since it belongs to a thing, the explanation is omitted in this proposal.
ロータリエンコーダ（３０）は、従来の磁気式ロータリエンコーディング検出技術における回転角度解析の従来技術を基に、回転軸部材（２０）の回転角度を検出するのに用いるが、１つのロータリエンコーダだけで回転運動時の回転角度を検出する従来技術とは異なり、本実施例では、少なくとも２つのロータリエンコーダを並存させる必要があり、且つ２つのロータリエンコーダ（３０）それぞれに回転軸部材（２０）の異なる部分の回転角度を検出させて、さらに図３が示すように、回転軸部材（２０）の異なる部分を検出することで同一時間における回転角度差が事前のゼロリセットを行い校正した時の基準値と同じかどうかの判定を行うことができ、回転角度差と基準値が異なる場合には検出した２箇所の異なる部分同士にねじれがあることを意味し、且つ回転角度差と基準値間の差異に基づき、さらに回転軸部材（２０）のねじり力を解析することで、産業における制御用パラメータとすることができる。 The rotary encoder (30) is used to detect the rotation angle of the rotary shaft member (20) based on the conventional technique of rotation angle analysis in the conventional magnetic rotary encoding detection technique, but only one rotary encoder is used for rotation. Unlike the prior art that detects the rotation angle during movement, in this embodiment, at least two rotary encoders need to coexist, and two rotary encoders (30) each have different portions of the rotary shaft member (20). 3 by detecting the rotation angle of the rotary shaft member (20), the difference in the rotation angle at the same time can be compared with the reference value at the time of calibrating by performing zero reset in advance. It is possible to judge whether or not they are the same, and if the rotation angle difference and the reference value are different, twist the detected two different parts. Means that, and based on a difference between the rotational angle difference and the reference value, by further analyzing the torsional force of the rotary shaft member (20) can be a control parameter in the industry.
具体的には、各ロータリエンコーダ（３０）は、エンコーディング部材（３１）及び検出を行うための検出ユニット（３２）を有する。 Specifically, each rotary encoder (30) has an encoding member (31) and a detection unit (32) for performing detection.
その中で、各エンコーディング部材（３１）は、回転軸部材（２０）の円柱軸と同軸に回転軸部材（２０）上に固設された円盤形状のボディ部（３１１）と、回転軸部材（２０）の円柱軸と同軸にボディ部（３１１）の片側面上に設けられた、インクリメンタルコードであり且つ環状の符号区（３１２）と、符号区（３１２）と同軸にボディ部（３１１）の片側面上に設けられた環状の磁区（３１３）とを有する。 Among them, each encoding member (31) includes a disc-shaped body portion (311) fixedly mounted on the rotary shaft member (20) coaxially with the cylindrical axis of the rotary shaft member (20), and the rotary shaft member (31). 20) is an incremental code and has an annular code section (312) provided on one side surface of the body section (311) coaxially with the cylindrical axis, and the body section (311) is coaxial with the code section (312). And an annular magnetic domain (313) provided on one side surface.
検出ユニット（３２）は、固定位置にて外部の固着部材（図示しない）上に位置決め固着されて、回転軸部材（２０）の回転に伴って動く符号区（３１２）及び磁区（３１３）を検出し、生成された各検出信号に基づき、符号区（３１２）からは解析により回転軸部材（２０）の回転角度が得られ、磁区（３１３）からは解析により回転軸部材（２０）の変位量が得られる。 The detection unit (32) is positioned and fixed on an external fixing member (not shown) at a fixed position and detects a code domain (312) and a magnetic domain (313) that move with the rotation of the rotary shaft member (20). Then, based on each generated detection signal, the rotation angle of the rotary shaft member (20) is obtained from the code section (312) by analysis, and the displacement amount of the rotary shaft member (20) is obtained from the magnetic domain (313) by analysis. Is obtained.
さらに、検出ユニット（３２）は、ホール素子又は磁気抵抗素子などの磁気変化を検出するための従来技術でよく、符号区（３１２）の符号は上記のアブソリュートコード以外に、インクリメンタルコード方式でもよく、それらは回転角度を知るための磁気式検出技術であって、いずれも従来技術において開示されているため、ここでは説明を省略する。 Further, the detection unit (32) may be a conventional technique for detecting a magnetic change such as a Hall element or a magnetoresistive element, and the code of the code section (312) may be an incremental code system other than the absolute code. These are magnetic detection techniques for knowing the rotation angle, and all of them are disclosed in the prior art, so the description thereof will be omitted here.
ただし、本実施例で開示するのは、ボディ部（３１１）をそれぞれ同軸に回転軸部材（２０）の軸方向の両端上に設け、且つ互い同士を固定の所定距離で離隔させており、これにより回転軸部材（２０）の回転運動にねじれが発生したかどうかによって各検出ユニット（３２）が各ボディ部（３１）上の各符号区（３１２）に対する検出結果に違いが生じるようにし、回転軸部材（２０）の回転運動においてねじれ状況が発生していない場合には、各ロータリエンコーダ（３０）が検出して得たそれぞれの回転角度の差値と、ゼロリセットを行い校正した時に得た基準差値が同じになり、反対に、回転軸部材（２０）の回転運動においてねじれが発生した場合には、検出で得た２つの回転角度の差値と基準差値とが異なるので、さらに回転角度の差値及び所定距離に基づいて回転軸部材のねじり力を解析することができる、というものである。 However, the present embodiment discloses that the body portions (311) are coaxially provided on both ends of the rotary shaft member (20) in the axial direction, and are separated from each other by a fixed predetermined distance. The detection unit (32) causes a difference in the detection result for each code section (312) on each body part (31) depending on whether or not the rotational movement of the rotary shaft member (20) is twisted. When the twisting condition does not occur in the rotational movement of the shaft member (20), the difference value between the respective rotation angles detected by the rotary encoders (30) and the value obtained when calibrating by performing zero reset are obtained. When the reference difference values are the same, and conversely, when twist occurs in the rotational movement of the rotary shaft member (20), the difference value between the two rotation angles obtained by the detection is different from the reference difference value. Angle of rotation The torsional force of the rotating shaft member can be analyzed based on the difference value and the predetermined distance, is that.
また、磁区（３１３）は、同心円環状に配列された複数の磁極を有し、且つ円心を回転軸部材（２０）の円柱軸上に位置させており、これにより回転軸部材（２０）の回転運動時にラジアル変位が発生していない場合には、磁極が回転軸部材に伴い回転する軸心はそれ自身の円心と同じであり、回転軸部材（２０）の回転運動時にラジアル変位が発生した場合には、磁極の回転する軸心が自身の円心と異なるようになり、この時、検出ユニット（３２）が即時に磁極の変動を検出して対応する検出信号を生成し、回転軸部材（２０）にラジアル変位が発生しているかどうか、及びその変位量の判断に供することができる。 Further, the magnetic domain (313) has a plurality of magnetic poles arranged in a concentric annular shape, and the circular center is located on the columnar axis of the rotary shaft member (20). When the radial displacement does not occur during the rotational movement, the axial center of the magnetic pole that rotates with the rotary shaft member is the same as its own circular center, and the radial displacement occurs during the rotational motion of the rotary shaft member (20). In this case, the axis of rotation of the magnetic pole becomes different from the center of the circle itself, and at this time, the detection unit (32) immediately detects the variation of the magnetic pole and generates a corresponding detection signal. It can be used to judge whether or not the radial displacement has occurred in the member (20) and the amount of the displacement.
また、エンコーディング部材の構造に関しては、上述した第１の好ましい実施例で開示した以外に、図４及び図５が示す本発明の第２の好ましい実施例が開示するようなものでもよく、各エンコーディング部材（３１a）が有するボディ部（３１１a）は円環形状を呈し、固定片（３１４a）によって回転軸部材（２０a）上に固定され、同時に符号区（３１２a）及び磁区（３１３a）がボディ部（３１１a）の円環の外周側面上に設けられ、且つ符号区（３１２a）はアブソリュートコードの実施形態とすることで、本実施例が提供する回転軸部材のねじれ検出機構（１０a）は、第１の好ましい実施例のように、検出ユニット（３２a）が回転軸部材（２０a）にねじれ状況が存在するかどうか、さらにはそのねじり力の検出を実現できるだけでなく、磁区（３１３a）の複数の磁極が回転軸部材（２０a）の軸方向に沿って順に配列された分布パターンであることにより、磁極の変動を検出することで回転軸部材（２０a）に軸方向の変位が生じていないかどうか、さらにはその変位量を解析することができ、これにより第１の好ましい実施例と同じ効果が実現される。 The structure of the encoding member may be the one disclosed in the second preferred embodiment of the present invention shown in FIGS. 4 and 5, in addition to the one disclosed in the first preferred embodiment described above. The body portion (311a) of the member (31a) has an annular shape and is fixed on the rotary shaft member (20a) by a fixing piece (314a), and at the same time, the code domain (312a) and the magnetic domain (313a) are formed. 311a) is provided on the outer peripheral side surface of the ring, and the code section (312a) is an absolute code embodiment, so that the twist detection mechanism (10a) of the rotary shaft member provided in this embodiment is the first. As in the preferred embodiment of the present invention, not only can the detection unit (32a) detect the presence of a twisting condition in the rotary shaft member (20a) and further the detection of the twisting force, Since the plurality of magnetic poles of the magnetic domain (313a) have a distribution pattern in which they are sequentially arranged along the axial direction of the rotary shaft member (20a), it is possible to detect the variation of the magnetic poles so that the rotary shaft member (20a) has the axial direction. It is possible to analyze whether or not the displacement has occurred, and further the amount of the displacement, whereby the same effect as that of the first preferred embodiment is realized.
Claims (10)
それぞれが前記回転軸部材の2箇所の異なる部分において各回転角度を検出且つ取得し、且つ各被検出部分は前記回転軸部材の円柱軸方向において固定間隔で離隔されており、各ロータリエンコーダは前記被検出部分となる環形状の符号区、環形状の磁区、及び前記符号区と前記磁区を検出するための検出ユニットを有し、且つ前記符号区と前記磁区とは互いに前記回転軸部材の円柱軸と同軸である２つの前記ロータリエンコーダとを含み、
これにより、各前記被検出部分の回転角度同士の差値がゼロリセットを行い校正した時に得た基準値と異なる場合には、前記回転軸部材にねじれが生じており、且つ前記差値及び前記固定間隔に基づいて前記回転軸部材のねじり力を解析することができることを特徴とする回転軸部材のねじれ検出機構。 A rotating shaft member having a cylindrical shape and capable of rotating about its own cylindrical axis as a rotating shaft,
Each detects and obtains each rotation angle in two different parts of the rotary shaft member, and each detected part is separated by a fixed interval in the cylindrical axis direction of the rotary shaft member, each rotary encoder is the It has a ring-shaped code domain to be a detected part, a ring-shaped magnetic domain, and a detection unit for detecting the code domain and the magnetic domain, and the code domain and the magnetic domain are mutually circular cylinders of the rotating shaft member. Two rotary encoders coaxial with the axis,
Thereby, when the difference value between the rotation angles of the detected portions is different from the reference value obtained when the calibration is performed by performing the zero reset, the rotation shaft member is twisted, and the difference value and the A twist detection mechanism for a rotary shaft member, wherein the twisting force of the rotary shaft member can be analyzed based on a fixed interval.
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| JPS62138721A (en) * | 1985-12-12 | 1987-06-22 | Hitachi Ltd | position detection sensor |
| JP2015055560A (en) * | 2013-09-12 | 2015-03-23 | Ntn株式会社 | Torque sensor unit |
| US20150362388A1 (en) * | 2012-12-21 | 2015-12-17 | Continental Teves Ag & Co. Ohg | Method for detecting a torque applied to a shaft |
| JP2017015696A (en) * | 2015-06-26 | 2017-01-19 | 日本精工株式会社 | Relative angle detection device, torque sensor, electric power steering device, and vehicle |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62138721A (en) * | 1985-12-12 | 1987-06-22 | Hitachi Ltd | position detection sensor |
| US20150362388A1 (en) * | 2012-12-21 | 2015-12-17 | Continental Teves Ag & Co. Ohg | Method for detecting a torque applied to a shaft |
| JP2015055560A (en) * | 2013-09-12 | 2015-03-23 | Ntn株式会社 | Torque sensor unit |
| JP2017015696A (en) * | 2015-06-26 | 2017-01-19 | 日本精工株式会社 | Relative angle detection device, torque sensor, electric power steering device, and vehicle |
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