CN112504525B - Passive low-power-consumption torque sensor of vehicle transmission shaft - Google Patents
Passive low-power-consumption torque sensor of vehicle transmission shaft Download PDFInfo
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- JRPBQTZRNDNNOP-UHFFFAOYSA-N barium titanate Chemical compound [Ba+2].[Ba+2].[O-][Ti]([O-])([O-])[O-] JRPBQTZRNDNNOP-UHFFFAOYSA-N 0.000 claims description 3
- 229910002113 barium titanate Inorganic materials 0.000 claims description 3
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- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
- G01L3/108—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving resistance strain gauges
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K35/00—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit
- H02K35/02—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit with moving magnets and stationary coil systems
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/18—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing electrical output from mechanical input, e.g. generators
- H02N2/183—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing electrical output from mechanical input, e.g. generators using impacting bodies
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- Engineering & Computer Science (AREA)
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Abstract
Description
技术领域Technical Field
本发明属于传感器测量领域，具体地涉及一种车辆传动轴的无源低功耗扭矩传感器。The invention belongs to the field of sensor measurement, and in particular relates to a passive low-power torque sensor for a vehicle transmission shaft.
背景技术Background technique
扭矩传感器在汽车、拖拉机、工程车辆等车辆领域的可靠性、耐久性测试中应用非常广泛。车辆传动轴扭矩测试主要有两个目的：第一是研究车辆的加速性能、爬坡性能和动力匹配等动力特性；第二是应用在道路载荷谱采集试验和台架疲劳试验，研究车辆的疲劳耐久性。Torque sensors are widely used in reliability and durability testing of vehicles such as automobiles, tractors, and engineering vehicles. The vehicle drive shaft torque test has two main purposes: the first is to study the vehicle's dynamic characteristics such as acceleration performance, climbing performance, and power matching; the second is to use it in road load spectrum acquisition tests and bench fatigue tests to study the vehicle's fatigue durability.
根据测试原理，扭矩传感器可分为应变式、转角相位差式和磁电式等。其中，应变式扭矩传感器是国内外技术最成熟、应用最广泛的一种。随着新技术的发展，近年来出现了光纤式、无线无源声表面波(SAW)式、激光多普勒式等新型扭矩传感器。According to the test principle, torque sensors can be divided into strain type, angle phase difference type and magnetoelectric type. Among them, strain type torque sensor is the most mature and widely used one at home and abroad. With the development of new technologies, new torque sensors such as optical fiber type, wireless passive surface acoustic wave (SAW) type and laser Doppler type have emerged in recent years.
然而，扭矩传感器在电源供电和信号无线传输等方面仍存在问题。However, torque sensors still have problems in terms of power supply and wireless signal transmission.
国内的无线扭矩传感器多采用电池供电、信号发信器功耗高，且体积大、安装不方便；充电式扭矩传感器供电时间短，不适用于长时间测试。国外的传感器产品包括滑环式和无线遥测式扭矩传感器，滑环式扭矩传感器因导电滑环和碳刷之间的磨损发热影响使用寿命、测量精度。除上述方式之外，旋转变压器的供电方式对现场环境的使用安装要求高；射频耦合的方式需要解决耦合效率、稳定性等问题。Domestic wireless torque sensors are mostly powered by batteries, and the signal transmitters have high power consumption, large size, and inconvenient installation. Rechargeable torque sensors have a short power supply time and are not suitable for long-term testing. Foreign sensor products include slip ring and wireless telemetry torque sensors. The slip ring torque sensor has a wear and heat generation between the conductive slip ring and the carbon brush, which affects the service life and measurement accuracy. In addition to the above methods, the power supply method of the rotary transformer has high requirements for the use and installation of the on-site environment; the RF coupling method needs to solve problems such as coupling efficiency and stability.
目前，大多数扭矩传感器常用于机械设备的工业监控。如中国发明专利申请(申请号：201210118608.5)公开了一种应变式无线传感器，提出了扭矩-转速测试系统完善的解决方案，但无源供电的问题没有解决且通信模块的功耗相对较高，无法完成长时间测试。考虑到扭矩传感器的供电和无线传输等问题，国内没有合适的产品能够满足像拖拉机等非道路车辆在恶劣田间作业下进行长时间数据采集和动力系统故障监测。At present, most torque sensors are commonly used for industrial monitoring of mechanical equipment. For example, a Chinese invention patent application (application number: 201210118608.5) discloses a strain type wireless sensor and proposes a complete solution for the torque-speed test system, but the problem of passive power supply is not solved and the power consumption of the communication module is relatively high, which makes it impossible to complete long-term testing. Considering the power supply and wireless transmission of torque sensors, there are no suitable products in China that can meet the needs of non-road vehicles such as tractors for long-term data collection and power system fault monitoring in harsh field operations.
发明内容Summary of the invention
针对上述技术问题，本发明的目的是提供一种车辆传动轴的无源低功耗扭矩传感器，能够满足汽车、拖拉机等车辆中轴类零件测试的需要，解决传感器供电、低功耗无线传输、长时间测试的问题，尤其为拖拉机田间作业载荷谱采集和故障监测提供有力工具。In view of the above technical problems, the purpose of the present invention is to provide a passive low-power torque sensor for a vehicle drive shaft, which can meet the needs of testing axle parts in vehicles such as automobiles and tractors, solve the problems of sensor power supply, low-power wireless transmission, and long-term testing, and especially provide a powerful tool for load spectrum collection and fault monitoring of tractor field operations.
为了实现上述目的，本发明提供了如下技术方案：In order to achieve the above object, the present invention provides the following technical solutions:
一种车辆传动轴的无源低功耗扭矩传感器，设置在车辆传动轴1上，该扭矩传感器包括应变片2、连接导线3、信号处理与低功耗发射模块4、蓄能器5和供电模块6。A passive low-power torque sensor for a vehicle transmission shaft is arranged on a vehicle transmission shaft 1. The torque sensor comprises a strain gauge 2, a connecting wire 3, a signal processing and low-power transmission module 4, an accumulator 5 and a power supply module 6.
所述应变片2沿车辆传动轴1的轴线粘贴在车辆传动轴1上；所述信号处理与低功耗发射模块4、蓄能器5和供电模块6分别固接在车辆传动轴1上；其中，信号处理与低功耗发射模块4和蓄能器5缠绕在车辆传动轴1上；所述应变片2与信号处理与发射模块4之间、信号处理与低功耗发射模块4与蓄能器5之间、蓄能器5与供电模块6之间均通过连接导线3连接。The strain gauge 2 is pasted on the vehicle drive shaft 1 along the axis of the vehicle drive shaft 1; the signal processing and low-power transmission module 4, the accumulator 5 and the power supply module 6 are respectively fixed on the vehicle drive shaft 1; wherein, the signal processing and low-power transmission module 4 and the accumulator 5 are wound on the vehicle drive shaft 1; the strain gauge 2 and the signal processing and transmission module 4, the signal processing and low-power transmission module 4 and the accumulator 5, and the accumulator 5 and the power supply module 6 are all connected through connecting wires 3.
所述供电模块6包括安装外壳7、压电材料8、离心磁力块9、电源导线10、感应线圈11和弹簧12；所述安装外壳7呈圆环状，包括两个可拆分组合的半圆环：第一半圆环A和第二半圆环B；所述第一半圆环A和第二半圆环B环绕车辆传动轴1布置，通过螺栓紧固连接在车辆传动轴1上；所述安装外壳7的内部，沿其周向均匀设有多个卡槽，每个卡槽内均布置有一组离心磁力块9和压电材料8，所述离心磁力块9和压电材料8沿安装外壳7的径向由内向外间隔一定距离依次布置；每个离心磁力块9的内端通过弹簧12与安装外壳7的内环壁连接，且在弹簧12的行程范围内，离心磁力块9能够碰击压电材料8；每个卡槽的内壁上固接一与安装外壳7的径向垂直的感应线圈11，感应线圈11环绕在离心磁力块9的外部，离心磁力块9在沿安装外壳7的径向往复运动的过程中，做切割感应线圈11产生的磁感线运动；各压电材料8之间通过电源导线10并联。The power supply module 6 includes a mounting shell 7, a piezoelectric material 8, a centrifugal magnetic block 9, a power supply wire 10, an induction coil 11 and a spring 12; the mounting shell 7 is in a circular ring shape, including two detachable semicircular rings: a first semicircular ring A and a second semicircular ring B; the first semicircular ring A and the second semicircular ring B are arranged around the vehicle transmission shaft 1 and are fastened to the vehicle transmission shaft 1 by bolts; the interior of the mounting shell 7 is evenly provided with a plurality of slots along its circumference, and a group of centrifugal magnetic blocks 9 and piezoelectric materials 8 are arranged in each slot, and the centrifugal magnetic blocks 9 and piezoelectric materials 8 are arranged along the The mounting shell 7 is radially arranged in sequence from the inside to the outside at a certain distance; the inner end of each centrifugal magnetic block 9 is connected to the inner ring wall of the mounting shell 7 through a spring 12, and within the travel range of the spring 12, the centrifugal magnetic block 9 can hit the piezoelectric material 8; an induction coil 11 perpendicular to the radial direction of the mounting shell 7 is fixed to the inner wall of each slot, and the induction coil 11 surrounds the outside of the centrifugal magnetic block 9. The centrifugal magnetic block 9 cuts the magnetic flux lines generated by the induction coil 11 during the radial reciprocating motion along the mounting shell 7; the piezoelectric materials 8 are connected in parallel through the power supply wire 10.
所述安装外壳7的内部设有10个卡槽。The installation housing 7 is provided with 10 slots inside.
所述连接导线3和电源导线10都为同一材质的铜丝导线。The connecting wire 3 and the power supply wire 10 are both copper wires made of the same material.
所述压电材料8为钛酸钡或二维过渡金属碳/氮化物。The piezoelectric material 8 is barium titanate or two-dimensional transition metal carbon/nitride.
所述离心磁力块9为两端分别为N极和S极的长条形磁铁。The centrifugal magnetic block 9 is a long strip magnet with an N pole and an S pole at both ends.
所述信号处理与低功耗发射模块4包括信号处理单元和低功耗信号发射器。The signal processing and low-power transmission module 4 includes a signal processing unit and a low-power signal transmitter.
与现有技术相比，本发明的有益效果在于：Compared with the prior art, the present invention has the following beneficial effects:
1、采用“压电材料-离心磁力块-弹簧”组合发电的模式，充分利用车辆传动轴在复杂工况下转动的离心力和振动，实现了扭矩传感器的无源供电。同时，弹簧缓冲了离心磁力块运动，使供电过程更平稳，避免压电材料损伤。1. The "piezoelectric material-centrifugal magnetic block-spring" combined power generation mode is adopted to fully utilize the centrifugal force and vibration of the vehicle drive shaft rotating under complex working conditions to achieve passive power supply of the torque sensor. At the same time, the spring buffers the movement of the centrifugal magnetic block, making the power supply process smoother and avoiding damage to the piezoelectric material.
2、压电材料分组布置并采用并联的连接方式，空间布置更紧凑，而且弥补了其“高电压低电流”的缺点，满足扭矩传感器的供电要求。2. The piezoelectric materials are arranged in groups and connected in parallel, which makes the spatial arrangement more compact and makes up for its disadvantage of "high voltage and low current", meeting the power supply requirements of the torque sensor.
3、提出“供电模块-蓄能器-低功耗发射器”这种新型供电传输模式，实现了信号的无线传输，定量存储电能，缓冲脉冲电流的冲击，使系统的电量消耗降至最低，信号传输过程更加平稳。3. A new power supply transmission mode of "power supply module-energy accumulator-low power transmitter" is proposed to realize wireless transmission of signals, quantitatively store electrical energy, buffer the impact of pulse current, minimize the power consumption of the system, and make the signal transmission process smoother.
4、从根本上解决了传统商业扭矩传感器因考虑电源、有线传输等因素，而导致测试场景受限的问题，实现了扭矩传感器在车辆传动轴上的长时间测试。4. It fundamentally solves the problem of traditional commercial torque sensors being limited in testing scenarios due to factors such as power supply and wired transmission, and realizes long-term testing of torque sensors on vehicle drive shafts.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明的扭矩传感器在车辆传动轴1上的安装示意图；FIG1 is a schematic diagram of the installation of a torque sensor of the present invention on a vehicle transmission shaft 1;
图2是本发明的供电模块的剖面结构示意图；FIG2 is a schematic cross-sectional view of a power supply module of the present invention;
图3是本发明的扭矩传感器的系统电路图。FIG. 3 is a system circuit diagram of the torque sensor of the present invention.
其中的附图标记为：The accompanying drawings are denoted as follows:
1 车辆传动轴 2 应变片1 Vehicle drive shaft 2 Strain gauge
3 连接导线 4 信号处理与低功耗发射模块3 Connecting wires 4 Signal processing and low power transmission module
5 蓄能器 6 供电模块5 Accumulator 6 Power supply module
7 安装外壳 8 压电材料7 Mounting housing 8 Piezoelectric material
9 离心磁力块 10 电源导线9 Centrifugal magnet 10 Power lead
11 感应线圈 12 弹簧11 Induction coil 12 Spring
A 第一半圆环 B 第二半圆环A The first half of the circle B The second half of the circle
具体实施方式Detailed ways
下面结合附图和实施例对本发明进行进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
如图1所示，一种车辆传动轴的无源低功耗扭矩传感器，设置在车辆传动轴1上。该扭矩传感器包括应变片2、连接导线3、信号处理与低功耗发射模块4、蓄能器5和供电模块6。As shown in FIG1 , a passive low-power torque sensor for a vehicle transmission shaft is provided on a vehicle transmission shaft 1. The torque sensor comprises a strain gauge 2, a connecting wire 3, a signal processing and low-power transmission module 4, an accumulator 5 and a power supply module 6.
所述应变片2沿车辆传动轴1的轴线通过胶水粘贴在车辆传动轴1上。所述信号处理与低功耗发射模块4、蓄能器5和供电模块6分别固接在车辆传动轴1上。其中，信号处理与低功耗发射模块4和蓄能器5通过胶带紧密缠绕在车辆传动轴1上。所述应变片2与信号处理与发射模块4之间、信号处理与低功耗发射模块4与蓄能器5之间、蓄能器5与供电模块6之间均通过连接导线3连接。The strain gauge 2 is glued to the vehicle transmission shaft 1 along the axis of the vehicle transmission shaft 1. The signal processing and low-power transmission module 4, the accumulator 5 and the power supply module 6 are respectively fixed to the vehicle transmission shaft 1. Among them, the signal processing and low-power transmission module 4 and the accumulator 5 are tightly wound on the vehicle transmission shaft 1 by tape. The strain gauge 2 and the signal processing and transmission module 4, the signal processing and low-power transmission module 4 and the accumulator 5, and the accumulator 5 and the power supply module 6 are all connected by connecting wires 3.
其中，所述信号处理与低功耗发射模块4包括信号处理单元和低功耗信号发射器。The signal processing and low-power transmission module 4 includes a signal processing unit and a low-power signal transmitter.
所述蓄能器5起到蓄电、稳压稳流的作用。The energy accumulator 5 plays the role of storing electricity, stabilizing voltage and current.
如图2所示，所述供电模块6包括安装外壳7、压电材料8、离心磁力块9、电源导线10、感应线圈11和弹簧12。所述安装外壳7呈圆环状，包括两个可拆分组合的半圆环：第一半圆环A和第二半圆环B。所述第一半圆环A和第二半圆环B环绕车辆传动轴1布置，通过螺栓紧固连接在车辆传动轴1上。所述安装外壳7的内部，沿其周向均匀设有多个卡槽，每个卡槽内均布置有一组离心磁力块9和压电材料8，所述离心磁力块9和压电材料8沿安装外壳7的径向由内向外间隔一定距离依次布置。每个离心磁力块9的内端通过弹簧12与安装外壳7的内环壁连接，且在弹簧12的行程范围内，离心磁力块9能够碰击压电材料8。每个卡槽的内壁上固接一与安装外壳7的径向垂直的感应线圈11，感应线圈11环绕在离心磁力块9的外部，离心磁力块9在沿安装外壳7的径向往复运动的过程中，做切割感应线圈11产生的磁感线运动。各压电材料8之间通过电源导线10并联。As shown in FIG2 , the power supply module 6 includes a mounting shell 7, a piezoelectric material 8, a centrifugal magnetic block 9, a power supply wire 10, an induction coil 11 and a spring 12. The mounting shell 7 is in the shape of a ring, and includes two detachable semicircular rings: a first semicircular ring A and a second semicircular ring B. The first semicircular ring A and the second semicircular ring B are arranged around the vehicle transmission shaft 1 and are fastened to the vehicle transmission shaft 1 by bolts. The interior of the mounting shell 7 is evenly provided with a plurality of slots along its circumference, and a group of centrifugal magnetic blocks 9 and piezoelectric materials 8 are arranged in each slot, and the centrifugal magnetic blocks 9 and piezoelectric materials 8 are arranged in sequence from the inside to the outside at a certain distance along the radial direction of the mounting shell 7. The inner end of each centrifugal magnetic block 9 is connected to the inner ring wall of the mounting shell 7 through a spring 12, and within the travel range of the spring 12, the centrifugal magnetic block 9 can hit the piezoelectric material 8. An induction coil 11 perpendicular to the radial direction of the mounting housing 7 is fixedly connected to the inner wall of each slot. The induction coil 11 surrounds the outside of the centrifugal magnetic block 9. The centrifugal magnetic block 9 cuts the magnetic flux lines generated by the induction coil 11 during the radial reciprocating motion along the mounting housing 7. The piezoelectric materials 8 are connected in parallel through power supply wires 10.
优选地，所述安装外壳7的内部设有10个卡槽。Preferably, 10 card slots are provided inside the installation shell 7 .
如图2所示，安装外壳7随车辆传动轴1旋转，所述供电模块6的发电方式有两种：一是通过离心磁力块9在旋转离心运动和振动的作用下碰击压电材料8产生电流；二是利用离心磁力块9在径向运动时被感应线圈11切割磁感线产生电流。以上产生的电流均通过连接导线3输出至蓄能器5。As shown in FIG2 , the mounting housing 7 rotates with the vehicle transmission shaft 1, and the power supply module 6 generates electricity in two ways: one is to generate current by the centrifugal magnetic block 9 hitting the piezoelectric material 8 under the action of rotating centrifugal motion and vibration; the other is to generate current by using the centrifugal magnetic block 9 to generate current by cutting the magnetic flux lines by the induction coil 11 during radial motion. The above generated currents are all output to the accumulator 5 through the connecting wire 3.
所述连接导线3和电源导线10都为同一材质的铜丝导线。The connecting wire 3 and the power supply wire 10 are both copper wires made of the same material.
所述压电材料8为钛酸钡或二维过渡金属碳/氮化物(MXene)。The piezoelectric material 8 is barium titanate or two-dimensional transition metal carbon/nitride (MXene).
所述离心磁力块9为两端分别为N极和S极的长条形磁铁。The centrifugal magnetic block 9 is a long strip magnet with an N pole and an S pole at both ends.
如图3所示，为无源低功耗扭矩传感器的系统电路图。在本实施例中，包括应变片2、信号处理与低功耗发射模块4、蓄能器5、供电模块6在内的电路均按照此电路图连接。应变片2中的电阻R1、R2与信号处理与低功耗发射模块4的内置的电阻R3、R4构成惠斯通电桥的桥路；应变片2共有三路引线：信号输出+、信号输出-和信号输出公共端，分别与信号处理与低功耗发射模块4的Sx+、Sx-和AGND相接；供电模块6的各发电部分通过并联的方式将电能输送至蓄能器5，蓄能器5的供电正负极分别接信号处理与低功耗发射模块4的VEXC+和VEXC-。As shown in FIG3 , it is a system circuit diagram of a passive low-power torque sensor. In this embodiment, the circuits including the strain gauge 2, the signal processing and low-power transmission module 4, the accumulator 5, and the power supply module 6 are connected according to this circuit diagram. The resistors R1 and R2 in the strain gauge 2 and the built-in resistors R3 and R4 of the signal processing and low-power transmission module 4 form a bridge circuit of a Wheatstone bridge; the strain gauge 2 has three leads: signal output +, signal output -, and signal output common, which are respectively connected to Sx+, Sx-, and AGND of the signal processing and low-power transmission module 4; the power generation parts of the power supply module 6 transmit electric energy to the accumulator 5 in parallel, and the positive and negative power supply poles of the accumulator 5 are respectively connected to VEXC+ and VEXC- of the signal processing and low-power transmission module 4.
本发明的工作过程如下：The working process of the present invention is as follows:
在车辆传动轴1承受转矩负载的转动中，基于惠斯通桥路的电测原理，应变片2开始采集扭转应变信号并输至信号处理与低功耗发射模块4，模拟电压信号经信号放大、滤波、模数转换后，通过低功耗无线发射器发送至信号接收端。此过程中，离心磁力块9在离心力的作用下碰击压电材料8发电，并且在弹簧12作用下离心磁力块9在感应线圈11中作往复运动，产生的电能通过电源导线10流入蓄能器5。弹簧12对压电材料8受到的冲击也起到一定保护作用。然后，在蓄能稳流后将电能供给应变片2和信号处理与低功耗发射模块4。在整个过程中，只要在车辆传动轴1保持一定速度的转动，供电模块6就会源源不断为系统供电，并实现信号的无线传输。When the vehicle transmission shaft 1 is rotating under torque load, based on the electrical measurement principle of the Wheatstone bridge, the strain gauge 2 starts to collect torsional strain signals and transmits them to the signal processing and low-power transmission module 4. After the analog voltage signal is amplified, filtered, and converted into analog to digital, it is sent to the signal receiving end through the low-power wireless transmitter. In this process, the centrifugal magnetic block 9 hits the piezoelectric material 8 under the action of centrifugal force to generate electricity, and under the action of the spring 12, the centrifugal magnetic block 9 reciprocates in the induction coil 11, and the generated electric energy flows into the accumulator 5 through the power supply wire 10. The spring 12 also plays a certain protective role against the impact on the piezoelectric material 8. Then, after the energy storage stabilizes the flow, the electric energy is supplied to the strain gauge 2 and the signal processing and low-power transmission module 4. In the whole process, as long as the vehicle transmission shaft 1 keeps rotating at a certain speed, the power supply module 6 will continuously supply power to the system and realize the wireless transmission of signals.
上述为本发明的最佳实施方式，但本发明的实施方式并不受上述内容的限制，其它任何在本发明的精神实质和原理下所作的改变、修改、替代、简化，均为等效的置换方式，都包含在本发明的保护范围之内。The above is the best implementation mode of the present invention, but the implementation mode of the present invention is not limited to the above content. Any other changes, modifications, substitutions, and simplifications made under the spirit and principles of the present invention are equivalent replacement methods and are included in the protection scope of the present invention.
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| CN114204716B (en) * | 2021-10-29 | 2022-12-23 | 东风商用车有限公司 | Power supply device for dynamic torque signal acquisition of transmission shaft |
| CN115165177B (en) * | 2022-07-06 | 2023-06-20 | 中机生产力促进中心有限公司 | Belt pulley type wireless torque measuring sensor for rotary shaft system |
| CN115077756A (en) * | 2022-07-25 | 2022-09-20 | 吴泽 | A measuring device for the torque and rotational speed of the rotary table of an oil drilling rig |
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