Transmission shaft torque detection device and system

Abstract

The invention provides a transmission shaft torque detection device and system, and relates to the technical field of sensors. The device comprises a torque sensor tone wheel, a magnetoelectric torque sensor and a torque signal processor. The torque sensor tone wheel is fixedly arranged on the shaft head of the transmission shaft; magnetic steel assemblies are arranged on the torque sensor tone wheel at intervals in the circumferential direction. The acquisition end face of the torque sensor faces the magnetic steel assembly on the torque sensor tone wheel, and the torque sensor is used for acquiring an induced magnetic field generated by the magnetic steel assembly driven by the rotation of the torque sensor tone wheel; the torque signal processor determines a torque signal based on the induced magnetic field and preset calculation parameters; wherein the preset calculation parameters comprise a tail transmission shaft torque rigidity value, a torque maximum value, a rated torque value and a torque angle; through the arrangement of the magnetoelectric torque sensor and the matched induced magnetic field generation assembly and signal processing assembly, the measurement accuracy of the torque of the transmission shaft is greatly improved in a heavily polluted environment.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a transmission shaft torque detection device and system. Background Art

[0002] At present, the measurement of transmission shaft torque is done by photoelectric torque sensors. In addition to avoiding strong vibrations or shocks such as dropping and collision during use or maintenance, special attention should be paid to keeping the glass surface of the photoelectric sensor head's light-transmitting window clean to prevent dust, oil and foreign matter from blocking the passage of the light beam. When the photoelectric detection window is blocked by foreign matter, the light transmittance of the detection window is reduced, affecting the formation of photoelectric pulses, causing large fluctuations in torque data. Photoelectric torque sensors are susceptible to electromagnetic interference and are not easy to install. In the case of high transmission shaft speeds, they may cause dynamic balance problems and low measurement accuracy. Summary of the invention

[0003] The purpose of the present invention is to provide a transmission shaft torque detection device and system, which greatly improves the measurement accuracy of the transmission shaft torque in a heavily polluted environment by providing a magnetoelectric torque sensor and a matching induction magnetic field generating component and a signal processing component.

[0004] In a first aspect, the present invention provides a transmission shaft torque detection device, comprising: a first torque sensor tone wheel, a second torque sensor tone wheel, a first torque sensor, a second torque sensor and a torque signal processor; wherein the first torque sensor and the second torque sensor are both magnetoelectric torque sensors; the first torque sensor tone wheel is fixedly arranged on the shaft head at the first end of the transmission shaft; the second torque sensor tone wheel is fixedly arranged on the shaft head at the second end of the transmission shaft; the transmission shaft drives the first torque sensor tone wheel and the second torque sensor tone wheel to rotate; The first torque sensor tone wheel and the second torque sensor tone wheel are both provided with the same number of magnetic steel components at intervals along the circumferential direction; The collecting end of the first torque sensor faces the magnetic steel assembly on the first torque sensor sound wheel, and the first torque sensor is used to collect the first induced magnetic field generated by the magnetic steel assembly driven by the rotation of the first torque sensor sound wheel; The collecting end of the second torque sensor faces the magnetic steel assembly on the second torque sensor sound wheel, and the second torque sensor is used to collect the second induced magnetic field generated by the magnetic steel assembly driven by the rotation of the second torque sensor sound wheel; The torque signal processor determines the torque signal based on the first induced magnetic field, the second induced magnetic field and preset calculation parameters; wherein the preset calculation parameters include: the torque stiffness value of the tail drive shaft, the maximum torque value, the rated torque value and the torque angle.

[0005] In some preferred embodiments of the present invention, the first torque sensor tone wheel and the second torque sensor tone wheel both include: a mounting plate, a magnetic steel assembly and a screw; The mounting plate is fixedly connected to the shaft head of the transmission shaft; The magnetic steel assembly is evenly mounted on the mounting plate along the circumference of the mounting plate by means of screws; the magnetic steel assembly is used to provide an induced magnetic field.

[0006] In some preferred embodiments of the present invention, the first torque sensor and the second torque sensor each include: a sensor socket, a housing, a heat shrink conduit, a nut, a shielding cover, and a coil assembly; The sensor socket is connected to the torque signal processor via a communication wire; The shell is wrapped around the outside of the heat shrinkable conduit, the shielding cover and the coil assembly; The nut is arranged on the outer side of the shell; The shield is used to isolate the coil assembly from the sensor socket; The coil assembly is connected to the terminal of the sensor socket through wires, and the heat shrink tube is used to protect the wires and the terminal.

[0007] In some preferred embodiments of the present invention, the hardware circuit of the torque signal processor includes: a signal processing circuit, a channel detection circuit, a disconnection detection circuit, a microcontroller, a D / A conversion and output interface circuit, an RS422 interface circuit, and a calibration signal detection circuit; The first torque sensor and the second torque sensor are both connected to one end of the signal processing circuit, and the other end of the signal processing circuit is connected to the microcontroller; The D / A conversion and output interface circuit, RS422 interface circuit, and calibration signal detection circuit are all connected to the microcontroller; Both ends of the channel detection circuit and both ends of the disconnection detection circuit are connected to the microcontroller and the signal processing circuit.

[0008] In some preferred embodiments of the present invention, the signal processing circuit includes: a first signal processing path, a second signal processing path and a phase difference acquisition circuit; The first signal processing path and the second signal processing path both include: an impedance matching circuit, a filtering and amplifying circuit, and a square wave conversion circuit connected in sequence; The output end of the square wave conversion circuit is connected to the phase difference acquisition circuit and the microcontroller; The output end of the phase difference acquisition circuit is connected to the microcontroller.

[0009] In some preferred embodiments of the present invention, the phase difference acquisition circuit includes: two square wave signal processing paths and an XOR comparator; The square wave signal processing path includes: a plurality of resistors, a plurality of capacitors and two comparators connected in sequence; The output ends of the two square wave signal processing paths are both connected to the input ends of the XOR comparator; The output terminal of the XOR comparator is connected to the microcontroller.

[0010] In some preferred embodiments of the present invention, the hardware circuit of the torque signal processor further includes: a power supply circuit; The power supply circuit includes: a filter circuit, an energy storage circuit and a DC / DC module which are connected in sequence.

[0011] In some preferred embodiments of the present invention, the torque signal processor has torque signal processor software solidified on the torque signal processor; The torque signal processor software determines a torque signal based on the first induced magnetic field, the second induced magnetic field and the calculated parameters.

[0012] In some preferred embodiments of the present invention, the torque signal is determined by the following formula: ; in, is the torque signal; is the torque stiffness value of the tail drive shaft; is the maximum torque; is the first torque angle; is the second torque angle; is the rated torque value.

[0013] In a second aspect, the present invention provides a transmission shaft torque detection system, comprising: an external user terminal, a ground adjustment device and the transmission shaft torque detection device provided in the first aspect above.

[0014] The present invention brings the following beneficial effects: The present invention provides a transmission shaft torque detection device and system, the device comprising: a first torque sensor tone wheel, a second torque sensor tone wheel, a first torque sensor, a second torque sensor and a torque signal processor; wherein the first torque sensor and the second torque sensor are both magnetoelectric torque sensors; the first torque sensor tone wheel is fixedly arranged on the shaft head at the first end of the transmission shaft; the second torque sensor tone wheel is fixedly arranged on the shaft head at the second end of the transmission shaft; the transmission shaft drives the first torque sensor tone wheel and the second torque sensor tone wheel to rotate; the first torque sensor tone wheel and the second torque sensor tone wheel are both provided with the same number of magnetic steel components at intervals along the circumferential direction; the collection end of the first torque sensor faces the magnetic steel component on the first torque sensor tone wheel, The first torque sensor is used to collect the first induced magnetic field generated by the magnetic steel assembly driven by the rotation of the first torque sensor sound wheel; the collection end of the second torque sensor faces the magnetic steel assembly on the second torque sensor sound wheel, and the second torque sensor is used to collect the second induced magnetic field generated by the magnetic steel assembly driven by the rotation of the second torque sensor sound wheel; the torque signal processor determines the torque signal based on the first induced magnetic field, the second induced magnetic field and preset calculation parameters; wherein the preset calculation parameters include: the torque stiffness value of the tail drive shaft, the maximum torque, the rated torque value and the torque angle; by setting a magnetoelectric torque sensor and a matching induced magnetic field generating component and a signal processing component, the measurement accuracy of the drive shaft torque is greatly improved in a heavily polluted environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 A schematic diagram of the working principle of a magnetoelectric sensor provided by an embodiment of the present invention; Figure 2 A schematic diagram of the installation of a transmission shaft torque detection device provided by an embodiment of the present invention; Figure 3 A schematic diagram of the installation of a first torque sensor tone wheel and a first torque sensor provided by an embodiment of the present invention; Figure 4 A schematic diagram of the installation of a second torque sensor tone wheel and a second torque sensor provided by an embodiment of the present invention; Figure 5 A schematic diagram of a design of a transmission shaft torque detection device provided by an embodiment of the present invention; Figure 6A schematic diagram of the structure of a torque sensor tone wheel provided by an embodiment of the present invention; Figure 7 A schematic diagram of a torque sensor tone wheel provided by an embodiment of the present invention being installed on a shaft head of a transmission shaft; Figure 8 A schematic diagram of the structure of a magnetoelectric torque sensor provided by an embodiment of the present invention; Fig. 9 A schematic diagram of the hardware circuit principle of a torque signal processor provided by an embodiment of the present invention; Fig.10 A schematic diagram of a power supply circuit in a hardware circuit of a torque signal processor provided by an embodiment of the present invention; Fig.11 A schematic diagram of a processing circuit principle for a torque sensor signal 1 in a hardware circuit of a torque signal processor provided in an embodiment of the present invention; Fig.12 A schematic diagram of a processing circuit principle for a torque sensor signal 2 in a hardware circuit of a torque signal processor provided in an embodiment of the present invention; Fig.13 A schematic diagram of a phase difference acquisition circuit provided by an embodiment of the present invention; Fig.14 A schematic diagram of the functional principle of a torque signal processor software provided by an embodiment of the present invention; Fig.15 A schematic diagram of the structure between a torque sensor and an elastic shaft provided by an embodiment of the present invention; Fig.16 A schematic diagram of an output waveform of a torque sensor provided in an embodiment of the present invention.

[0017] Fig.17 A schematic diagram of a transmission shaft torsional angle displacement provided by an embodiment of the present invention.

[0018] Icon: 1-sensor socket; 2-housing; 3-heat shrink tube; 4-nut; 5-shielding cover; 6-coil assembly; 10-transmission shaft; 20-first torque sensor tone wheel; 30-second torque sensor tone wheel; 40-first torque sensor; 50-second torque sensor; 60-magnetic steel assembly; 70-mounting plate. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0022] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0023] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0024] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] Currently, the torque of the transmission shaft 10 is measured by a photoelectric torque sensor. In many monitoring of the torque of the transmission shaft 10, only the monitoring and measurement parts are used, and the measured values ​​are sometimes not directly used by users.

[0026] The photoelectric torque sensor calculates the torque value by measuring the torsional deformation caused by the force on two sections of the engine transmission shaft 10 at a certain distance. To achieve this measurement, a set of special modulation disks are installed on the transmission shaft 10 to pulse modulate the infrared light beam. The sensor measures and calculates the angular displacement between the modulation disks caused by the force on the transmission shaft 10 by measuring the changes in the photoelectric pulse parameters generated by the infrared light pulse, and obtains the measured torque value data through solution.

[0027] In addition to avoiding strong vibrations or impacts such as dropping and collision during use or maintenance of photoelectric torque sensors, special attention should be paid to keeping the glass surface of the photoelectric sensor head's light-transmitting window clean to prevent dust, oil and foreign matter from blocking the passage of the light beam. When the photoelectric detection window is blocked by foreign matter, the light transmittance of the detection window is reduced, affecting the formation of photoelectric pulses, causing large fluctuations in torque data. Photoelectric torque sensors are susceptible to electromagnetic interference and are not easy to install. In the case of high rotation speed of the rotating shaft, dynamic balance problems may occur.

[0028] In order to solve this situation and problem, taking into account that both ends of the tail drive shaft 10 are lubricated with bearings, the torque sensor is in a more polluted environment, and the tail drive shaft 10 has a certain amount of runout during transmission, the torque sensor uses a magnetoelectric torque sensor that is easy to maintain and more stable.

[0029] Driven by user needs, it is necessary to solve the problems that the speed signal output by the torque sensor is easily interfered, the use environment is more polluted, the signal received by the subsequent processing circuit fluctuates greatly, the measurement accuracy of the data is required to be high, and the signal amplitude affects the measurement accuracy of the torque sensor and the torque signal processor. Based on the original structure and foundation, it is difficult to achieve accurate measurement and subsequent processing of the torque of the tail drive shaft 10 in an environment with heavy pollution and more interference.

[0030] The transmission shaft 10 torque detection device and system provided by the present invention is an integrated technology that includes torque measurement by a magnetoelectric torque sensor, subsequent signal reprocessing and maintenance.

[0031] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0032] Embodiment 1 The embodiment of the present invention provides a transmission shaft torque detection device, comprising: a first torque sensor tone wheel 20, a second torque sensor tone wheel 30, a first torque sensor 40, a second torque sensor 50 and a torque signal processor; wherein the first torque sensor 40 and the second torque sensor 50 are both magnetoelectric torque sensors; the first torque sensor tone wheel 20 is fixedly arranged on the shaft head at the first end of the transmission shaft 10; the second torque sensor tone wheel 30 is fixedly arranged on the shaft head at the second end of the transmission shaft 10; the transmission shaft 10 drives the first torque sensor tone wheel 20 and the second torque sensor tone wheel 30 to rotate; the first torque sensor tone wheel 20 and the second torque sensor tone wheel 30 are both circumferentially spaced with the same number of magnetic steel components 60; the collecting end of the first torque sensor 40 faces the magnetic steel assembly 60 on the first torque sensor sound wheel 20, and the first torque sensor 40 is used to collect the first induced magnetic field generated by the magnetic steel assembly 60 driven by the rotation of the first torque sensor sound wheel 20; the collecting end of the second torque sensor 50 faces the magnetic steel assembly 60 on the second torque sensor sound wheel 30, and the second torque sensor 50 is used to collect the second induced magnetic field generated by the magnetic steel assembly 60 driven by the rotation of the second torque sensor sound wheel 30; the torque signal processor determines the torque signal based on the first induced magnetic field, the second induced magnetic field and the preset calculation parameters; wherein the preset calculation parameters include: the torque stiffness value, the maximum torque, the rated torque value and the torque angle of the tail drive shaft 10.

[0033] For details, see Figure 1 The working principle diagram of a magnetoelectric sensor provided by an embodiment of the present invention is shown. The basic principle of the magnetoelectric torque sensor is to convert the measured torque into two electrical signals with phase difference through magnetoelectric conversion, and the change in the phase difference of the two electrical signals is proportional to the magnitude of the measured torque. The single detection part of the magnetoelectric torque sensor is mainly composed of a permanent magnet and a coil assembly, which works in conjunction with the inductor (gear or grid type). When the inductor rotates, the gear teeth approach the pole shoe, and the magnetic resistance decreases. When the gear teeth deviate from the pole shoe, the magnetic resistance increases. In this way, the magnetic flux passing through the induction coil changes periodically with a period of T, and an induced electromotive force is generated, and the output voltage signal U is a sinusoidal signal. The frequency and amplitude of this induced electromotive force change with the passing frequency of the inductor gear teeth, that is, the higher the speed of the inductor, the higher the frequency of the inductor gear teeth passing through the pole shoe, that is, the faster the change of the magnetic flux, and the higher the voltage output by the speed magnetic sensor. Conversely, the lower the voltage output by the speed magnetic sensor.

[0034] For further information, see Figure 2 The schematic diagram of the installation of a transmission shaft torque detection device provided by an embodiment of the present invention is shown in FIG. Figure 3 A schematic diagram of installing a first torque sensor tone wheel and a first torque sensor provided by an embodiment of the present invention is shown in FIG. Figure 4The embodiment of the present invention provides a schematic diagram of the installation of a second torque sensor tone wheel and a second torque sensor, wherein the torque sensor is installed at both ends of the front axle of the tail transmission shaft 10; the torque sensor tone wheel is installed on the inner side of both ends of the front axle of the tail transmission shaft 10; the installation position of the amplified first torque sensor 40 and the first torque sensor tone wheel 20 is as shown in FIG. Figure 3 The installation position of the second torque sensor 50 and the second torque sensor tone wheel 30 after enlargement is as shown Figure 4 As shown; the torque signal processor is installed on the side wall panel inside the cabin.

[0035] For further information, see Figure 5 The schematic diagram of the design of a transmission shaft torque detection device provided by an embodiment of the present invention is shown, in which two torque sensor sound wheels and two torque sensors are fixed, and the torque sensors receive and output two sensor signals. The two sensor signals are then collected and processed by a torque signal processor, and the signals are resolved and processed by the torque signal processor software. Calibration is also required, and finally the signals are converted into DC voltage signals and output. Changes in the voltage value are used to reflect changes in the torque value of the tail transmission shaft 10.

[0036] Furthermore, in some preferred embodiments of the present invention, the first torque sensor tone wheel 20 and the second torque sensor tone wheel 30 both include: a mounting plate 70, a magnetic steel assembly 60 and screws; the mounting plate 70 is fixedly connected to the shaft head of the transmission shaft 10; the magnetic steel assembly 60 is evenly mounted on the mounting plate 70 along the circumference of the mounting plate 70 by screws; the magnetic steel assembly 60 is used to provide an induced magnetic field.

[0037] For details, see Figure 6 The structural diagram of a torque sensor tone wheel provided by an embodiment of the present invention is shown in FIG. Figure 7 The schematic diagram of a torque sensor tone wheel provided by an embodiment of the present invention installed on a shaft head of a transmission shaft is shown, and the torque sensor tone wheel is mainly composed of a mounting plate 70, a magnetic steel assembly 60, screws, etc. The mounting plate 70 is mounted on the shaft heads at both ends of the tail transmission shaft 10, and the magnetic steel assembly 60 is evenly mounted on the mounting plate by screws to provide the induction magnetic field required by the torque sensor.

[0038] In order to obtain a better and more stable magnetic field and facilitate installation on a cylindrical shaft such as the transmission shaft 10, the torque detection system of the transmission shaft 10 provided in the embodiment of the present invention has a special-shaped structural design for the torque sensor tone wheel structure; in some preferred embodiments of the present invention, a through hole corresponding to the sensor mounting bolt is provided on the mounting plate 70 of the torque sensor tone wheel, and the mounting plate 70 of the torque sensor tone wheel is fixed to the sensor by the sensor mounting bolts. When the transmission shaft 10 is installed in the user's transmission system, the installation space of the original bolt flat washer is utilized to structurally design the torque sensor tone wheel, so that the tone wheel function can be realized without making any changes to the size and structure of the user's original transmission system, which is convenient for users to use, and the magnetic steel is evenly distributed on the circumference of the tone wheel, and the tone wheel is installed on the tail transmission shaft 10.

[0039] Further, in some preferred embodiments of the present invention, the first torque sensor 40 and the second torque sensor 50 both include: a sensor socket 1, a shell 2, a heat shrink tube 3, a nut 4, a shielding cover 5 and a coil assembly 6; the sensor socket 1 is connected to the torque signal processor through a communication wire; the shell 2 is wrapped around the outside of the heat shrink tube 3, the shielding cover 5 and the coil assembly 6; the nut 4 is arranged on the outside of the shell 2; the shielding cover 5 is used to isolate the coil assembly 6 from the sensor socket 1; the coil assembly 6 is connected to the terminal of the sensor socket 1 through a wire, and the heat shrink tube 3 is used to protect the wire and the terminal. For details, see Figure 8 The figure shows a schematic structural diagram of a magnetoelectric torque sensor provided by an embodiment of the present invention.

[0040] Reasonable setting of the installation positions of the two torque sensors can achieve matching of the installation positions of the two torque sensors, greatly reducing the influence of the signal amplitude on the measurement results.

[0041] Furthermore, in some preferred embodiments of the present invention, the hardware circuit of the torque signal processor includes: a signal processing circuit, a channel detection circuit, a disconnection detection circuit, a microcontroller, a D / A conversion and output interface circuit, an RS422 interface circuit, and a calibration signal detection circuit; the first torque sensor 40 and the second torque sensor 50 are both connected to one end of the signal processing circuit, and the other end of the signal processing circuit is connected to the microcontroller; the D / A conversion and output interface circuit, the RS422 interface circuit, and the calibration signal detection circuit are all connected to the microcontroller; both ends of the channel detection circuit and both ends of the disconnection detection circuit are connected to the microcontroller and the signal processing circuit.

[0042] Furthermore, in some preferred embodiments of the present invention, the signal processing circuit includes: a first signal processing path, a second signal processing path and a phase difference acquisition circuit; the first signal processing path and the second signal processing path both include: an impedance matching circuit, a filtering and amplifying circuit and a square wave conversion circuit connected in sequence; the output end of the square wave conversion circuit is connected to the phase difference acquisition circuit and a microcontroller; the output end of the phase difference acquisition circuit is connected to the microcontroller.

[0043] Furthermore, in some preferred embodiments of the present invention, the phase difference acquisition circuit includes: two square wave signal processing paths and an XOR comparator; the square wave signal processing paths include: multiple resistors, multiple capacitors and two comparators connected in sequence; the output ends of the two square wave signal processing paths are both connected to the input ends of the XOR comparator; and the output end of the XOR comparator is connected to a microcontroller.

[0044] Furthermore, in some preferred embodiments of the present invention, the hardware circuit of the torque signal processor further includes: a power supply circuit; The power circuit includes: a filter circuit, an energy storage circuit and a DC / DC module connected in sequence. In some preferred embodiments of the present invention, the torque signal processor is solidified with torque signal processor software; the torque signal processor software determines the torque signal based on the first induced magnetic field, the second induced magnetic field and the calculation parameters.

[0045] Specifically, the torque signal processor is composed of a socket, a conductive square rubber pad, a cover, a box body, a signal processing component, a power component, a wiring piece, a heat shrink tube, an ultra-micro rectangular plug, a grounding wire and a grounding column. Fig. 9 The hardware circuit schematic diagram of a torque signal processor provided by an embodiment of the present invention is shown in FIG. Fig.10 The schematic diagram of the power supply circuit in the hardware circuit of a torque signal processor provided by an embodiment of the present invention is shown, Fig.11 The schematic diagram of the processing circuit principle of the torque sensor signal 1 in the hardware circuit of a torque signal processor provided by an embodiment of the present invention is shown, Fig.12 The schematic diagram of the processing circuit principle of the torque sensor signal 2 in the hardware circuit of a torque signal processor provided by an embodiment of the present invention and Fig.13 The embodiment of the present invention shown in the schematic diagram of a phase difference acquisition circuit provides a torque signal processor hardware circuit including: a signal processing circuit, a disconnection detection circuit, a microcontroller, a D / A conversion and output interface circuit, an RS422 interface circuit, a power supply circuit, etc.

[0046] The signal processing circuit is composed of an impedance matching circuit, a filtering and amplifying circuit, a square wave conversion circuit, and a phase difference acquisition circuit. The signal output by the torque sensor is a frequency signal that is proportional to the rotational speed, and the signal characteristics are similar to a sinusoidal signal. The torque signal processor sends the first torque sensor 40 signal and the second torque sensor 50 signal to the filtering and amplifying circuit through the impedance matching circuit, and amplifies them after filtering out the noise signal. After passing through the impedance matching circuit and the filtering and amplifying circuit, part of the signal interference has been filtered out to a large extent. After that, the amplified signal is converted into a square wave using a square wave conversion circuit, and the phase difference acquisition circuit converts the phase difference of the two square wave signals into a rectangular pulse (i.e., an XOR signal).

[0047] The microcontroller captures and counts the rectangular pulse (i.e., one XOR signal) and converts it into the corresponding torque value. After D / A conversion and output interface circuit, it drives the DA output chip to output a DC voltage signal proportional to the torque value. When powered on, the disconnection detection circuit and channel detection circuit detect whether the connection status (connected or disconnected) between the torque signal processor and the torque sensor and the signal conditioning channel (filter circuit, amplifier circuit, shaping circuit) are normal. The RS422 interface circuit is used for communication transmission and reception, and calibration is performed in the initial state of the entire system.

[0048] After the two torque sensor signals (IN1+, IN2+) pass through the active second-order low-pass filter circuit, they are converted into two square wave signals (sign1, sign2) using a comparison circuit. The phase difference between the two square wave signals is converted into corresponding levels through an XOR gate.

[0049] For further information, see Fig.14The functional principle diagram of a torque signal processor software provided by an embodiment of the present invention is shown. The torque signal processor software is solidified on the torque signal processor. First, the system is initialized; then, the three signals introduced by the microcontroller interrupt I / O port on the hardware are captured and measured, and the filtering processing functions of each channel are used in combination with bubbling, median averaging, recursive averaging filtering, and limiting filtering to obtain a stably changing signal. Then, the frequency calculation function obtains two frequency signal values ​​and one pulse width signal (XOR signal). At the same time, the level is judged through the high and low level judgment port of the I / O port, and the torque angle calculation formula to be selected is judged through the formula judgment function. Then, the torque angle calculation function The torque angle value (in degrees at this time) is calculated; in addition, when the frequency signal is a fixed value (this is the initial state of the entire system), the calibration data is received through RS422 communication; when the calibration is successful, the data to be calibrated is sent through RS422 communication, and the data of the received array is stored and read (including the torque rating, the torque stiffness value of the tail drive shaft 10 (the K value mentioned above), and the initial value of the torque in the initial state), and the read data participates in the voltage calculation; then, according to the corresponding relationship between the torque angle value and the voltage, the voltage calculation function is used to calculate the theoretical voltage to be output, and the voltage chip drive output function is used to drive each pin of the voltage chip to output a DC voltage signal.

[0050] Further, in some preferred embodiments of the present invention, the torque signal is determined by the following formula: ;in, is the torque signal; is the torque stiffness value of the tail transmission shaft 10; Maximum torque; first torque angle; is the second torque angle; is the rated torque value.

[0051] For details, see Fig.15 The schematic diagram of the structure between a torque sensor and an elastic shaft provided by an embodiment of the present invention is shown. Fig.16 The figure shows a schematic diagram of an output waveform of a torque sensor provided by an embodiment of the present invention.

[0052] Two gears are installed at both ends of the elastic shaft, and a magnetoelectric sensor is installed above each gear. When the elastic shaft rotates, due to the change in the air gap magnetic permeability between the magnet and the gear, two potentials are induced in the signal coil. When the external torque is zero, the two potentials have a constant initial phase difference, which is only related to the relative position of the two gears installed on the shaft.

[0053] When an external torque is applied, the elastic shaft undergoes torsional deformation. Within the elastic deformation range, its torsion angle is proportional to the external torque. When the torsion angle changes, the phase difference between the two potentials changes accordingly. The absolute value of this phase difference change is proportional to the magnitude of the external torque.

[0054] Since the frequency of the potential is proportional to the product of the speed and the number of teeth, where the number of teeth is a fixed value, the frequency of the potential is proportional to the speed. In the time domain, the induced signal is a sinusoidal signal. The time history of each alternating cycle varies with the speed, and the phase difference between them is measured. , you can get the torque value.

[0055] See also Fig.17 The embodiment of the present invention provides a schematic diagram of a transmission shaft torsion angle displacement, wherein the torsion angle Phase difference with induced potential The relationship is: ; In the formula, is the number of teeth on the sensor gear.

[0056] From material mechanics, we know that: ; in, is the torsion angle of the elastic axis; is the torque; is the shear modulus; is the diameter of the elastic shaft; l is the working length of the elastic shaft.

[0057] Among them, l, d, and G are all constants. , then: ; In addition, the elastic shaft used to measure torque requires physical amplification of the torsion angle, so the elastic shaft is long, and the normal working environment temperature is high, and the material The shear modulus will change with temperature. Therefore, it is necessary to consider the effect of temperature on measurement accuracy and the temperature coefficient when calculating torque. , then: ; When the shaft is subjected to torque, a relative torsion angle will be generated between any two sections with a distance of l along the axial direction. ,See Fig.16 , whose value is: ; In the formula, is the shear elastic modulus, is the polar moment of inertia of the shaft section. When the shaft is a solid circular section; ; When the shaft body is annular in cross section (outer diameter , inner diameter )hour; ; Torque stiffness of tail drive shaft 10 and torque value The relationship is: ; ; in, is the torque value; is the torque stiffness value of the tail drive shaft; is the torque angle; is the rated torque value; is the torque difference; is the maximum torque; is the converted voltage value, which is the torque signal.

[0058] After calculation and proportional relationship with voltage, the voltage calculation formula output by the torque monitoring system of the tail drive shaft 10 is finally as follows: ; Furthermore, the acquisition of two frequency signal values ​​and one pulse width signal (XOR signal) is achieved by changing the input signal capture trigger mode (stage 1: rising edge trigger is changed to falling edge trigger, during which the high level holding time is measured ; Phase 2: After falling edge trigger, change to rising edge trigger, during which the high level holding time is measured . The input signal period is measured ), the phase difference is measured , the input signal frequency is measured according to the frequency capture interface , thus obtaining the period of the input signal (Right now and with the input signal cycle When the two are close, the measured data is considered valid), and the torque angle value is obtained. Number of teeth.

[0059] The device provided by the embodiment of the present invention is composed of two torque sensor sound wheels, two torque sensors, a torque signal processor and torque signal processor software solidified in the torque signal processor. The torque sensor sound wheel is mainly used to generate an alternating magnetic field when the tail drive shaft 10 rotates, and then the torque sensors installed at both ends of the tail drive shaft 10 collect signals, and then the torque signal processor and the torque signal processor software process the signals, and finally convert them into DC voltage signals and output them. This device is used to monitor the torque load of the tail drive shaft 10 when it is working.

[0060] The key point of the embodiment of the present invention is to integrate the torque detection into a complete set of devices, and carry out systematic correlation design. In addition, a new torque sensor structure design, a new torque sensor tone wheel structure design, a new torque signal processor hardware design, a new torque signal processor software design and a data processing algorithm design are also carried out. Through the magnetic steel and structural optimization design of the torque sensor tone wheel and the torque sensor, the problems of the output speed signal being susceptible to interference and the use environment being polluted are solved from the source. Through the hardware design of the torque signal processor and the design of the torque signal processor software and algorithm compensation, the problem of the influence of the signal amplitude on the accuracy of the measurement result is solved. The system requirements for torque measurement are realized.

[0061] The embodiment of the present invention solves the problem that the torque value of the tail drive shaft 10 is difficult to measure by measuring the phase difference and the tone-wheel ratio between the two torque sensor signals, and processing and solving the phase difference and the tone-wheel ratio through a torque signal processor and torque signal processor software to output a DC signal. At the same time, various functions are integrated. By using this system, a voltage value that has a certain corresponding relationship with the torque can be directly obtained, which makes it more convenient to evaluate the load-bearing capacity and durability of the tail drive shaft 10 during work.

[0062] The torque sensor provided in the embodiment of the present invention is of magnetoelectric type, and is used to collect the torque load of the tail drive shaft 10 when it is working. It has strong pollution resistance, simple maintenance, and no component failure problem.

[0063] The embodiment of the present invention ensures that the installation distance between the torque sensor and the torque sensor tone wheel is about 15 mm through the special structural design of the torque sensor tone wheel. Compared with the torque sensor in the prior art, the magnet is designed inside the torque sensor. In this design, the magnetic flux through the coil is determined by the magnet and remains unchanged. The change of the magnetic flux caused by the tone wheel only causes the external leakage magnetic flux to change periodically, and the change of the magnetic flux of the leakage magnetic flux is not obvious. Therefore, the torque sensor can only be placed close to the tone wheel, and the usual detection distance is about 1 mm. In the transmission shaft torque detection device provided by the embodiment of the present invention, the magnet is installed on the tone wheel, which can make the magnetic flux passing through the torque sensor change from 0 to the maximum, maximize the change rate of the magnetic flux, and improve the detection of the torque sensor, specifically increasing the detection to 15 mm. The installation distance is adjustable to ensure that there is no possibility of collision during the rotation of the tail shaft, thereby solving the problems of inconvenient installation and easy bumping during use.

[0064] The torque signal processor provided in the embodiment of the present invention receives analog data collected by the torque sensor, converts, filters and amplifies the data, and finally processes the data into a voltage that corresponds to the torque for output. The frequency signal conditioning circuit, phase difference acquisition circuit and filtering processing circuit are optimized in the hardware circuit, which greatly reduces the interference of the signal.

[0065] The torque signal processor software provided in the embodiment of the present invention is responsible for the control and data processing of the entire system, completing tasks such as signal acquisition, calculation, conversion, voltage output and communication with the host computer. The data is corrected through filtering and compensation algorithm processing, greatly reducing the impact of interference data.

[0066] The present invention provides a transmission shaft torque detection device, which includes: a first torque sensor tone wheel 20, a second torque sensor tone wheel 30, a first torque sensor 40, a second torque sensor 50 and a torque signal processor; wherein the first torque sensor 40 and the second torque sensor 50 are both magnetoelectric torque sensors; the first torque sensor tone wheel 20 is fixedly arranged on the shaft head of the first end of the transmission shaft 10; the second torque sensor tone wheel 30 is fixedly arranged on the shaft head of the second end of the transmission shaft 10; the transmission shaft 10 drives the first torque sensor tone wheel 20 and the second torque sensor tone wheel 30 to rotate; the first torque sensor tone wheel 20 and the second torque sensor tone wheel 30 are both circumferentially spaced with the same number of magnetic steel components 60; the collection end of the first torque sensor 40 faces the first torque sensor tone wheel 20 The first torque sensor 40 is used to collect the first induced magnetic field generated by the magnetic steel assembly 60 driven by the rotation of the first torque sensor sound wheel 20; the collecting end of the second torque sensor 50 faces the magnetic steel assembly 60 on the second torque sensor sound wheel 30, and the second torque sensor 50 is used to collect the second induced magnetic field generated by the magnetic steel assembly 60 driven by the rotation of the second torque sensor sound wheel 30; the torque signal processor determines the torque signal based on the first induced magnetic field, the second induced magnetic field and the preset calculation parameters; wherein the preset calculation parameters include: the torque stiffness value, the maximum torque, the rated torque value and the torque angle of the tail drive shaft 10; by setting a magnetoelectric torque sensor and a matching induced magnetic field generating component and a signal processing component, the measurement accuracy of the torque of the drive shaft 10 is greatly improved in a heavily polluted environment.

[0067] Embodiment 2 On the basis of the above embodiments, an embodiment of the present invention provides a transmission shaft torque detection system, comprising: an external user terminal, a ground adjustment device and the transmission shaft torque detection device provided in the above embodiments.

[0068] Specifically, the calibration work is carried out in accordance with the provisions of the communication protocol, and the initial position where the tail drive shaft 10 is deformed is considered to be the initial state, and calibration work is performed in this state. The calibration work is only performed when the torque sensor and the torque sensor tone wheel are initially installed or their installation positions are adjusted, and it is no longer performed during subsequent use.

[0069] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the transmission shaft torque detection system described above can refer to the corresponding process in the aforementioned embodiment of the transmission shaft torque detection device, and will not be repeated here.

[0070] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0071] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A transmission shaft torque detection device, characterized in that: include: A first torque sensor tone wheel, a second torque sensor tone wheel, a first torque sensor, a second torque sensor and a torque signal processor; wherein the first torque sensor and the second torque sensor are both magnetoelectric torque sensors; the first torque sensor tone wheel is fixedly arranged on the shaft head at the first end of the transmission shaft; the second torque sensor tone wheel is fixedly arranged on the shaft head at the second end of the transmission shaft; the transmission shaft drives the first torque sensor tone wheel and the second torque sensor tone wheel to rotate; The first torque sensor sound wheel and the second torque sensor sound wheel are both provided with the same number of magnetic steel components at intervals along the circumferential direction; The collecting end of the first torque sensor faces the magnetic steel component on the first torque sensor sound wheel, and the first torque sensor is used to collect the first induced magnetic field generated by the magnetic steel component driven by the rotation of the first torque sensor sound wheel; The collecting end of the second torque sensor faces the magnetic steel component on the second torque sensor sound wheel, and the second torque sensor is used to collect the second induced magnetic field generated by the magnetic steel component driven by the rotation of the second torque sensor sound wheel; The torque signal processor determines a torque signal based on the first induced magnetic field, the second induced magnetic field and preset calculation parameters; wherein the preset calculation parameters include: a tail drive shaft torque stiffness value, a maximum torque value, a rated torque value and a torque angle.

2. The transmission shaft torque detection device according to claim 1, characterized in that: The torque sensor tone wheel and the second torque sensor tone wheel both include: a mounting plate, a magnetic steel assembly and screws; The mounting plate is fixedly connected to the shaft head of the transmission shaft; The magnetic steel assembly is evenly mounted on the mounting plate along the circumference of the mounting plate by means of the screws; the magnetic steel assembly is used to provide an induced magnetic field.

3. The transmission shaft torque detection device according to claim 1, characterized in that: The first torque sensor and the second torque sensor each include: a sensor socket, a housing, a heat shrink tube, a nut, a shielding cover and a coil assembly; The sensor socket is connected to the torque signal processor via a communication wire; The shell is wrapped around the outer side of the heat shrinkable tube, the shielding cover and the coil assembly; The nut is arranged on the outer side of the housing; The shielding cover is used to isolate the coil assembly from the sensor socket; The coil assembly is connected to the terminal of the sensor socket through a wire, and the heat shrink tube is used to protect the wire and the terminal.

4. The transmission shaft torque detection device according to claim 1, characterized in that: The hardware circuit of the torque signal processor includes: a signal processing circuit, a channel detection circuit, a disconnection detection circuit, a microcontroller, a D / A conversion and output interface circuit, an RS422 interface circuit, and a calibration signal detection circuit; The first torque sensor and the second torque sensor are both connected to one end of the signal processing circuit, and the other end of the signal processing circuit is connected to the microcontroller; The D / A conversion and output interface circuit, RS422 interface circuit, and calibration signal detection circuit are all connected to the microcontroller; Both ends of the channel detection circuit and both ends of the disconnection detection circuit are connected to the microcontroller and the signal processing circuit.

5. The transmission shaft torque detection device according to claim 4, characterized in that: The signal processing circuit comprises: a first signal processing path, a second signal processing path and a phase difference acquisition circuit; The first signal processing path and the second signal processing path both include: an impedance matching circuit, a filtering and amplifying circuit, and a square wave conversion circuit connected in sequence; The output end of the square wave conversion circuit is connected to the phase difference acquisition circuit and the microcontroller; The output end of the phase difference acquisition circuit is connected to the microcontroller.

6. The transmission shaft torque detection device according to claim 5, characterized in that: The phase difference acquisition circuit comprises: two square wave signal processing paths and an XOR comparator; The square wave signal processing path includes: a plurality of resistors, a plurality of capacitors and two comparators connected in sequence; The output ends of the two square wave signal processing paths are both connected to the input end of the XOR comparator; The output end of the XOR comparator is connected to the microcontroller.

7. The transmission shaft torque detection device according to claim 4, characterized in that: The hardware circuit of the torque signal processor further includes: a power supply circuit; The power supply circuit comprises: a filter circuit, an energy storage circuit and a DC / DC module which are connected in sequence.

8. The transmission shaft torque detection device according to claim 1, characterized in that: The torque signal processor has torque signal processor software solidified on it; The torque signal processor software determines a torque signal based on the first induced magnetic field, the second induced magnetic field, and the calculated parameters.

9. The transmission shaft torque detection device according to claim 8, characterized in that: The torque signal is determined by the following formula; ； in, is the torque signal; is the torque stiffness value of the tail drive shaft; is the maximum torque; is the first torque angle; is the second torque angle; is the rated torque value.

10. A transmission shaft torque detection system, characterized in that: include: An external user terminal, a ground adjustment device and a transmission shaft torque detection device as described in any one of claims 1-9.

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