EP4370887A1 - Procédé de détermination d'une force et/ou d'un couple agissant sur un composant, agencement de capteur et utilisation associée - Google Patents

Procédé de détermination d'une force et/ou d'un couple agissant sur un composant, agencement de capteur et utilisation associée

Info

Publication number
EP4370887A1
EP4370887A1 EP21742388.8A EP21742388A EP4370887A1 EP 4370887 A1 EP4370887 A1 EP 4370887A1 EP 21742388 A EP21742388 A EP 21742388A EP 4370887 A1 EP4370887 A1 EP 4370887A1
Authority
EP
European Patent Office
Prior art keywords
component
sensor arrangement
reference body
sensor
force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21742388.8A
Other languages
German (de)
English (en)
Inventor
Peter Zankl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Omnitron Peter Zankl
Original Assignee
Omnitron Peter Zankl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Omnitron Peter Zankl filed Critical Omnitron Peter Zankl
Publication of EP4370887A1 publication Critical patent/EP4370887A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0028—Force sensors associated with force applying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers

Definitions

  • the present invention relates to a method for determining force and/or torque acting on a component in a mechanical system and to a sensor arrangement that can be used for this purpose and use of the sensor arrangement in different areas.
  • sensors for detecting torques, sensors for measuring the gravitational force of objects, ie scales and pressure sensors for determining a force in relation to a defined area are known.
  • sensors include a sensitive area with a sensor system that differs in terms of the technology used and an evaluation unit that converts the measurable variable into an electrical variable converts, which can be transmitted to a control system by means of a signal output.
  • sensors designed as force transducers with strain gauges (DMS) or alternatively piezoelectric elements can be used for force measurement tasks. Indicated by the force and/or load effect or a generated mechanical deformation, their electrical properties change, i.e. the electrical resistance or the charge distribution and these changes can be detected by the sensor and evaluated by an evaluation unit.
  • optical sensors with a transmitter and receiver can also be used, which detect position displacements and/or deformations of defined surfaces induced by the application of force.
  • sensors that derive a mechanical stress from a detectable mechanical resonance frequency of an element are already known.
  • sensors which use a reference body and detection means in order to determine a relative position of the reference body in relation to the object being observed and to derive a force and/or load effect on the object from this.
  • a sensor is known from WO 2017/162634, which has a recess with reference surfaces separated by a defined distance on a support element of a trailer hitch in an area where a load occurs.
  • the sensor includes two separate sensor elements that measure the changing distance between the reference surfaces under load.
  • the sensor elements can capacitively, inductively, optically and/or etc. detect the gap width that is located between them and deforms under load.
  • the arrangement of the sensor requires a certain design of the measurement location, which in this case can lead to a weakening of the support element due to the recess.
  • the method can also be used if the location of the load or the loaded component itself is not accessible or not suitable.
  • the sensor arrangement can also be attached subsequently to the component or in a mechanical system without the system itself being adversely affected, even if only marginally.
  • the objects are achieved in particular by the features of a method according to claim 1, a sensor arrangement according to claim 8 and uses of the sensor arrangement according to claims 14 to 18.
  • Advantageous developments of the invention are reflected in the dependent claims.
  • the method according to the invention for determining force and/or torque acting on a component in a mechanical system uses a reference body that can be clamped or fixed to the component with a first end, whose geometry and/or position relative to the component can be determined by means of an or relative to the sensor unit that can be arranged is detected and the acting force and/or the acting torque can be determined by means of an evaluation.
  • the sensor unit can determine a geometry and/or a relative position of the reference body and define this as a reference value.
  • the geometry and/or the position of the reference body relative to the component changes under load or when the load on the mechanical system or the component changes and can be detected by the sensor unit as a measured value.
  • the difference between the reference value and the measured value can be a linear displacement along a longitudinal axis of the component, an inclination against a longitudinal axis of the component and/or a change in circumference or etc.
  • a load on a component can also be detected optically by means of a pattern shift.
  • the component can have a line pattern or grid and the reference body can have a structure in the form of a grid, which when superimposed form a defined optical pattern that changes under load.
  • the relative change in position of the reference body can be detected optically, e.g. in the form of a moiré effect.
  • An evaluation of the determined difference is based on certain relationships between the difference and the force, load, torque and/or pressure acting on the component.
  • the method is based on a measurement of an acting force and/or a torque not at the point of application of the force, or not in the Power flow itself, but rather at a location that can be chosen as desired within limits, at which the force can be felt in the mechanical system or on the component, also known as the measuring body.
  • the force effect can be detected and determined by means of a relative position and/or a geometry.
  • the method can be based on the detection of relative positions and/or deformations or displacements of geometries.
  • the method is based on an indirect determination of an acting force, load and/or torque by means of an easily detectable effect of the force, load and/or torque.
  • the detectable effect of the force, load and/or torque on the component under consideration can be determined by means of a geometry and/or a relative position, in particular a surface and/or a structure, for example an edge, of the reference body in relation to the component or component under consideration. a pattern provided thereon can be easily detected by the sensor unit.
  • the reference body arranged on the component under consideration which can preferably only be firmly connected to the component on one side, can be regarded as largely unloaded when the component is acted upon. Accordingly, the reference body serves as an unloaded reference object for the loaded component.
  • the advantageous result here is that the mechanical system itself is not influenced or is only marginally influenced by a sensor arrangement based on the method.
  • the sensor arrangement is designed in particular in such a way that its mass is low, electrical contacting or optical contacting or data transmission to an evaluation unit has no influence on the function of the component under consideration, while at the same time the load can be clearly determined.
  • the method can also be used for an already existing mechanical system, which can be retrofitted with a corresponding sensor arrangement.
  • the reference body which can be fixed at its first end to the component under consideration, can extend with a free length largely parallel to the component up to a second end.
  • the second end is a free end and has a defined structure, edge, and/or face Mistake. The defined edge, area and/or structure at the second end of the reference body facilitates a position and/or geometry determination by the sensor unit.
  • the reference body can be designed as a U-shaped profile, with a first end being able to be fixed to the component.
  • the connection can be made by pressing, gluing and/or by means of an aid, e.g. a clamp or screw connection, so that the first end is fixed to the component and the free length of the reference body extends largely parallel to it.
  • the second end of the reference body rests on part of a surface of a sensor surface of the sensor unit positioned on the component, for example an optical sensor unit.
  • the sensor unit can include a commercially available camera image sensor, i.e. CCD or CMOS sensors, with pixel sizes from 1.5 micrometers, which are important with regard to the resolution and thus with regard to a load to be recorded.
  • another type of sensor can be used, which can then be combined with a reference body matched to it.
  • the second end of the reference body can also be fixed to the component under consideration, with the free length of the reference body extending largely parallel to the component. Accordingly, in certain mechanical systems, an increased effect under load on the component can be detected by means of the sensor unit provided.
  • a display element can be provided on the reference body, the displacement of which, induced by a relative elongation of the reference body with a changing load on the component, can be detected by means of the sensor unit that can be arranged accordingly.
  • the detectable geometry and/or the relative position of the reference body is on the one hand a reference value in an unloaded state or in a basic state and on the other hand, a measured value under load or changing load.
  • a change in the force and/or torque acting on the component can be determined from the difference between the reference value and the measured value.
  • the difference can be a path length and/or an angle or also an optical effect such as a moiré effect.
  • the evaluation of the values that can be determined is based on a relationship to be defined and varies depending on the mechanical system and application. For example, there can be a proportional relationship between the determined difference in the relative positions and the acting force, which can be described with a linear function. In the simple case of a linear position change due to an axially acting load on the component considered as the measuring body, this is proportional to the acting force, proportional to the free length of the reference body and inversely proportional to a spring constant of the measuring body. In other cases, the relationship between the relative
  • the evaluation can be based on a mathematical model that describes the acting force and/or the torque as a function of the recorded values and characteristics of the component. Alternatively, the evaluation can also be based on a previous
  • the sensor unit which can be arranged on the component under consideration in a position such that it detects geometries and/or relative positions, can be designed as an inductive, magnetic, optical, capacitive sensor unit or the like.
  • a suitable sensor unit can be selected that can be fixed directly to the component. It can also be provided that the sensor unit is not arranged directly on the component under consideration, but by means of a connecting means in an area can be arranged, in which the load acting on the component under consideration can be detected at least indirectly. It is advantageous that the sensor technology used by the sensor arrangement according to the invention is irrelevant to its functioning. Accordingly, a suitable sensor technology can be selected and used depending on the application or location.
  • the method according to the invention can be used universally. With the embodiments of the method, both linear, axial forces acting on a component and transverse forces acting transversely or at an angle to a longitudinal axis of the component, torques on a component designed as a longitudinal shaft and pressure forces, for example acting on and/ or in a component formed as a tube or container.
  • the method can also be used universally in the sense that it is used when the component under consideration is difficult or impossible to access and/or when the component's functionality would be impaired at the point of loading by a placed sensor arrangement.
  • the present invention also relates to a sensor arrangement based on the method according to the invention.
  • the sensor arrangement comprises a reference body, one end of which is fixed and which extends to a second end with a free length, and a sensor unit, which can be arranged on the component relative to the reference body, so that it is set up to have a geometry and /or to determine a relative position and/or structure of the reference body.
  • the sensor unit can be attached directly to the component.
  • the sensor unit for example designed as an optical sensor or a camera, can be arranged relative to the component and the second end of the reference body such that a relative displacement between the second end and the component under consideration can be detected.
  • the second end of the reference body has a structure which corresponds to a pattern or grid or structure provided on the component, so that when there is a relative change in position, there is an effect that can be optically detected by the sensor unit that can be arranged independently.
  • the senor arrangement it can be arranged on the component of the mechanical system, the reference body being fixable on the component with the first end, the free length extending largely parallel to a surface of the component and the sensor unit on the component or relative to the Component can be arranged to determine the changing geometry and / or relative position of the reference body.
  • the sensor arrangement is the
  • Reference body designed in the form of a rod or a plate with the first end, which can be fixed to a component of a mechanical system.
  • the reference body can also have another suitable form, for example a slotted sleeve and can be fixed to the component under consideration by means of a clamp connection.
  • the free length of the reference body can extend from the first fixed end to the second end, substantially parallel to the component under consideration.
  • the reference body can also be shaped in such a way that it is adapted to a surface of the component under consideration.
  • the second end of the reference body can according to a
  • Embodiment be formed as a free second end and have a defined structure, edge and / or surface, by means of which changes in geometry or shifts in relative positions can be detected.
  • the second end can also be clamped to the component, so that a kind of amplification of the measurement signal can be achieved.
  • a longitudinal extent of the free length of the reference body, in particular parallel to the component under consideration, can be selected such that when a force and/or load is applied, a relative movement of the reference body that can be measured by the sensor unit is generated.
  • the measuring sensitivity of the included sensor unit is too consider.
  • the free length of the reference body must be selected in such a way that even minimal changes in the component under consideration can be detected by the sensor unit.
  • Reference body an edge, surface and / or structure may be provided, which supports a determination of geometry and / or relative positions.
  • the reference body can be made of a material which has a coefficient of thermal expansion which corresponds to that of the component for which the load is from the
  • Sensor arrangement is verified. It is thus possible for the reference body and the loaded component of a mechanical system to experience comparable deformation and/or expansion due to thermal effects. According to one embodiment of the sensor arrangement
  • Sensor unit is designed as an inductive sensor, a magnetic sensor, capacitive sensor or an optical sensor.
  • the present invention relates to a use of the sensor arrangement.
  • the sensor arrangement can be used to determine a linear axial force acting on a linear measuring body.
  • the component When the component is subjected to an axially acting force, or a tensile or compressive force, the component referred to as the measuring body experiences a change in its length.
  • the reference body which is connected or clamped to the loaded component at its first end and extends with its free length approximately parallel to the longitudinal component, does not change its length or does not change its length to the same extent.
  • the force acting on the component in the longitudinal direction can accordingly be determined from the relative positions that can be determined by the sensor unit.
  • the force to be determined is proportional to the length of the reference body and inversely proportional to a Spring constant of the component. From the proportional relationship between the force to be determined and the free length of the reference body, it can be deduced that this value can be adjusted in order to achieve greater measurement accuracy.
  • the sensor arrangement is suitable for transverse force measurements, for example on a beam or beam which rests on bearings with its two ends. When the beam is loaded in a direction perpendicular to its longitudinal axis, the beam will deform to a certain extent, whereby the longitudinal axis of the beam assumes a curved course under load with a progressively changing inclination to the original position of the longitudinal axis.
  • a sensor arrangement arranged on the beam behaves differently under load.
  • the reference body which is detachably connected to the beam at the first end, also undergoes a change in position, with the longitudinal axis of the reference body having a constant value depending on the fastening position
  • Angle of inclination to the original position of the longitudinal axis includes.
  • the second free end of the reference body is shifted relative to the component designed as a measuring body.
  • the displacement can be detected by means of the sensor unit, which can be arranged on the component in a determinable position. From the displacement determined, an evaluation algorithm based on a mathematical model and/or based on a calibration of the system, comprising the sensor arrangement and the component designed as a measuring body, can be used to determine a relationship between the displacement or the measurement signal generated therefrom of the at least one sensor arrangement force and/or load acting on the beam.
  • the sensor arrangement can be used to measure a torque which acts on a shaft.
  • the sensor arrangement is arranged on the shaft so that, starting from the first fixable end of the reference body, its free length extends approximately parallel to the longitudinal axis of the shaft to its second free end.
  • the reference body When the shaft is twisted by a torque acting on it, the reference body remains in its position elongated shape.
  • a change in position of the second free end of the reference body relative to the peripheral surface of the shaft can be detected by the sensor unit. The change in position is proportional to the torque acting on the shaft and the measurement signal from the sensor unit can be evaluated accordingly.
  • a further example of use is the use of the sensor arrangement for determining rope loads, for example for a safety net or a safety net.
  • the sensor arrangement is advantageously designed in such a way that it can be subsequently arranged on a cable, the reference body being able to be placed on the cable with a first end by means of a detachable clamp connection and the sensor unit being able to be placed by means of a detachably attachable connecting means.
  • the sensor unit can be designed in such a way that it detects a position of a flag formed on the second end of the reference body, preferably without contact.
  • the sensor arrangement can also be used
  • Measurement of pressure are used.
  • the pressure that can deform the component in all three dimensions can be recorded on a container that can be pressurized with fluid or a pipe.
  • this can include, for example, a reference body which is in the tangential direction around the
  • the reference body of the sensor arrangement can also be used to detect an expansion of a pipe to which fluid is applied in all three dimensions and to evaluate it accordingly.
  • the sensor arrangement can also be used to
  • the measuring point does not allow a sensor arrangement to be placed without disturbing the function and/or the movement sequence of the component under consideration or the mechanical system and/or due to an intolerable load on the component under consideration at this point.
  • a conventional sensor in a system comprising a gripper of a robot and a gripped by this and object to be held cannot be placed without affecting the operation of the gripper.
  • the sensor arrangement according to the invention allows placement and arrangement outside of the power flow. Accordingly, the sensor arrangement can be positioned outside the gripping space, for example on components of the mechanical system following the gripper. The forces and deformations that occur when the gripper is actuated can also be detected at this position.
  • FIG. 1a shows a schematic perspective view of a
  • FIG. 1b shows a schematic side view of the sensor arrangement of the first embodiment in a first application
  • 1 c shows a schematic side view of the sensor arrangement of the first embodiment in a measurement situation
  • FIG. 2a shows a schematic side view of a sensor arrangement in a second application
  • FIG. 2b a schematic side view of the sensor arrangement according to FIG. 2a in a measuring situation
  • FIG. 3 shows a schematic perspective view of a sensor arrangement according to a second embodiment in an application
  • 4a shows a schematic perspective view of a sensor arrangement according to the first embodiment in a third application
  • FIG. 4b shows a schematic detailed plan view of the sensor arrangement according to FIG. 4a;
  • FIG. 4c shows a schematic detailed plan view of the sensor arrangement according to FIG. 4a in a measuring situation
  • 5a shows a schematic view of a sensor arrangement according to a third embodiment in an application
  • 5b shows a schematic view of a sensor arrangement according to FIG
  • 6a shows a schematic perspective view of a sensor arrangement in a measurement situation
  • FIG. 6b shows a schematic detailed view of the sensor arrangement according to FIG. 6a;
  • FIG. 7 shows a schematic plan view of a further embodiment of the sensor arrangement in an initial situation and a measurement situation.
  • FIG. 1a shows a schematic perspective view of a sensor arrangement 1.
  • the sensor arrangement 1 comprises a reference body 10 and at least one sensor unit 20.
  • the reference body 10 can be designed in a variety of shapes and dimensions.
  • the reference body 10 is designed as an elongated body, for example as a plate or rod.
  • a first end 12 of the reference body 10 is designed to be clamped to a component 100 of a mechanical system.
  • the first end 12 is detachably attached to the component 100 by means of a clamp and/or screw connection and/or non-detachably by means of adhesive bonding or welding.
  • a free length 13 of the reference body 10 extends, starting from the clampable first end 12, to a second end 14, which is designed as a free second end 14 in the exemplary embodiment shown.
  • the second free end 14 of the reference body 10 has an edge 15 which is suitable for defining a definable relative position in relation to the component 100 .
  • the edge 15 can also be a surface or an end region 16 with a scaling or structure 17 (shown in FIG. 1b) which is suitable for determining a relative position of this edge 15 or surface 16 in relation to the component 100 to determine.
  • the free length 13 of the reference body 10 is substantially parallel to the component 100 in the direction of a longitudinal axis 18 of the component 100.
  • the distance between the free length 13 of the reference body 10 and a surface of the component 100 should be as small as possible to be able to use the sensor arrangement 1 for small installation situations.
  • the sensor arrangement 1 also includes the sensor unit 20, which can be arranged relative to the reference body 10, in particular on or in relation to the component 100 referred to as the measuring body
  • Sensor unit 20 is set up to determine a relative position and/or a geometry of reference body 10 .
  • the sensor unit 20 can be designed as an optical, magnetic, capacitive or inductive sensor unit 20 .
  • the sensor unit 20 can be attached to the component 100 relative to the second free end 14 of the reference body 10, for example by gluing or in another suitable manner.
  • FIG. 1b shows a side view of the sensor arrangement 1 according to FIG. 1a in an initial situation.
  • the reference body 10 extends from its fixable first end 12 with the free length 13 to its second free end 14 largely parallel to the component 100 and at the second free end 14 the edge 15 is defined.
  • the sensor unit 20 arranged on the component 100 is set up to determine a reference value 30 of the edge 15 and/or a surface 16 and/or structure 17 of the reference body 10 .
  • FIG. 1c A measurement situation of the sensor arrangement 1 in relation to the component 100 is shown in FIG. 1c. If the elongate component 100 is loaded axially, i.e. subjected to a tensile or compressive force, the length of the elongate component 100 changes along the longitudinal axis 18. In contrast, the length of the reference body 10 remains largely constant despite loading.
  • the position and/or geometry of the reference body 10 that can be detected under load, i.e. the second free end 14, or the edge 15, surface 16 and/or structure 17 formed thereon, is determined by the
  • Sensor unit 20 is recorded as a measured value 32 and is related to the reference value 30 . From a difference 33, which in this case is a path length, the force acting on the elongate component 100 in the axial direction can be determined on the basis of a mathematical function. A displacement can also be in the form of an angle between longitudinal
  • Axes are determined, and the load forces and/or load torques acting on the component 100 are determined by means of an evaluation.
  • FIG. 2a shows a further application of the sensor arrangement 1 according to the invention according to the first embodiment.
  • the measuring body is an elongated one
  • Component 100 for example a carrier in a mechanical system, which is stored in end areas.
  • the first end 12 of the reference body 10 of the sensor arrangement 1 is connected to the component 100, it being possible for the connection to be a detachable attachment or a welded or adhesive connection or the like.
  • the reference body 10 extends with its free length 13 in the direction of the longitudinal axis 18 and largely parallel to the surface of the component 100 at a certain distance and ends in the second free end 14.
  • On the component 100 reference is made in the region of the second free end 14 arranged the sensor unit 20, for example by means of adhesion or by means of a connecting means.
  • the second free end 14 can comprise an edge 15, a structure or scaling 17 and/or a surface 16 which can be detected by the sensor unit 20 in order to be able to detect values which change when component 100 is loaded.
  • a reference value 30 can be recorded, to which further measured values 32 to be recorded can be related.
  • the reference value 30 is a distance between the edge 15 and the sensor unit 20, but it can also designate a different value, for example a position.
  • FIG. 2b shows a measurement situation of component 100, which is mounted on two bearings.
  • This application example is representative of a supported beam or beam in a building structure.
  • Transverse forces act on such a carrier or beam, i.e. forces transverse to the longitudinal axis 18 of the elongate component 100.
  • a sensor arrangement 1 that can be arranged on this component 100 comprises the reference body 10, which extends largely parallel to the longitudinal axis 18 and only by means of its first end 12 associated with this.
  • the loading of the mounted component 100 by transverse forces increasingly leads to a deflection of the component 100, the longitudinal axis 18 being at a constantly changing angle relative to its horizontal initial position.
  • the reference body 10 connected to the component 100 at the first end 12 assumes a position under load which can be described by a constant angle of inclination to the horizontal initial position.
  • This relative shift between the reference value 30 that can be detected by means of the sensor unit 20 arranged on the component 100 and a measured value 32 can be a difference 33 or can be described in the form of an angle.
  • This angle also referred to as differential angle 33, can be evaluated using a mathematical function in order to determine the value or values of the prevailing transverse forces.
  • FIG. 3 shows a second embodiment of the sensor arrangement 1 in an application example.
  • the sensor arrangement 1 according to the invention is arranged here in order to detect an internal pressure in a tube which can be acted upon by a fluid and which represents the component 100 designed as a measuring body.
  • a fluid-carrying pipe expands in all three dimensions under pressure.
  • the reference body 10 of Sensor arrangement 1 in the form of an open ring can be arranged on the circumference of the pipe and connected to the first end 12 thereon.
  • the reference body 10, designed as an open ring ends at the second end 14, on which an edge 15 is formed, which is positioned relative to the sensor unit 20 (not shown).
  • When fluid is applied to the tube the tube can expand, which can be detected by means of the arranged sensor arrangement 1 .
  • the change in pipe circumference can be considered to be largely proportional to the pressure.
  • other arrangements of the sensor arrangement 1 are also conceivable, which are suitable for detecting a change in the diameter and/or an axial dimension of the pipe to which fluid is
  • FIG. 4a shows the sensor arrangement 1 according to the first embodiment in a further application example.
  • the component 100 that can be referred to as a measuring body is a shaft that extends along a longitudinal axis 18 and is acted upon by torsional forces.
  • a shaft clamped on one side is shown, but shafts supported on both sides can also be considered as component 100.
  • the reference body 10 clamped on one side at the first end 12 can be regarded as unloaded, with the torsional forces and/or torques acting on the component 100 leading to a twisting of the shaft, which is compensated by the sensor arrangement 1 at the second end 14 by means of the sensor unit 20 are detectable.
  • FIG. 4b an unloaded position of the components 100 and the sensor arrangement 10 arranged thereon is shown in a detailed view.
  • the second free end 14 of the reference body 10 with its edge 15 or surface 16 formed thereon and the structure 17 can be seen.
  • the structure 17 is shown as an arrow, but can have a large number of shapes.
  • the sensor unit 20 is arranged on the component 100 under consideration in a position which is related to the second free end 14 . In this situation shown in FIG. 4b, the reference value 30 can be determined.
  • FIG. 4c A measurement situation is shown in FIG. 4c.
  • component 100 When component 100 is loaded, there is a relative change in position of edge 15, Surface 16 and/or structure 17, formed on the reference body 10, which can be detected by the sensor unit 20 positioned at a suitable point.
  • a torque acting on the component 100 under consideration causes a torsion which can be identified in the form of a differential angle 33 between the reference body 10 and the component 100 or between the reference value 30 and the measured value 32 .
  • the acting forces and/or torques can be determined by means of a mathematical relationship or by means of a calibration, with an evaluation taking place in a suitable unit to which the measurement data determined can be transmitted.
  • FIG. 5a shows a further embodiment of the sensor arrangement 1, which is arranged on a component 100 designed as a gripper.
  • the sensor arrangement 1 is not arranged directly in the stressed area, i.e. in the area where the component 100 designed as a gripper is operatively connected to a part 40 to be gripped, but rather in an area of the component 100 which is at least indirectly load is affected.
  • the sensor arrangement 1 is arranged laterally on the component 100 designed as a gripper, with the sensor unit 20 being detachably or non-detachably attached to it. If the position of gripper 100 changes, there is a relative displacement between reference body 10 clamped on one side at first end 12 and gripper 100 . As shown in Figure 5b, the position of the
  • Reference body 10 relative to the related with this gripper 100, so that the sensor unit 20, a measured value 32 can be detected.
  • This measured value 32, related to the reference value 30, can be evaluated.
  • the evaluation can be carried out in such a way that a value for the load on the gripper 100 can be generated from it.
  • FIG. 6a another example of use of a sensor assembly 1 is shown, wherein the component 100 as a cable and the Reference body 10 are designed as a slotted sleeve, which extends from the first fixed end 12 to the second end 14 with the free length 13.
  • the fixation of the first end 12 of the reference body 10 is solved in the illustrated embodiment by a simple clamp and screw connection.
  • a type of flag 11 with the defined edge 15 is formed at the second end 14 and extends from the reference body 10 .
  • the sensor unit 20 is detachably arranged on the component 100 by means of a connecting means 21, so that the lug 11 of the reference body 10 is arranged without contact between the legs of the sensor unit 20, as is shown in FIG. 6b.
  • the position of the lug 11 or the edge 15 (not shown) of the reference body 10 changes between the legs of the sensor unit 20, so that a measurement signal can be detected, which evaluates information about the load or a change in the Load in the form of a change in length of the rope-like component 100 there.
  • the sensor arrangement 1 or the sensor unit 20 is shown in detail in FIG. 6b.
  • the sensor unit 20 is arranged on the component 100 by means of a connecting means 21 .
  • the connecting means 21 is designed as a clamping sleeve which can be arranged on the component 100 designed as a cable by means of screw connections.
  • the free end 14 of the reference body 10 includes the lug 11, which protrudes tangentially and is accommodated between the legs of the sensor unit 20 without contact. If the component 100 shifts under load, in particular in the longitudinal direction, the position of the lug 11 changes relative to the legs of the sensor unit 20, which can be embodied as an optical sensor, for example.
  • a changing overlap between a light source and a receiver, arranged in the opposite legs of the sensor unit 20, allows conclusions to be drawn about the load acting in the cable in the axial direction.
  • FIG. 7 shows a further embodiment of the sensor arrangement 1 for a specific application, which once again illustrates how universally the method according to the invention can be used.
  • the component 100 that can be designated as a measuring body is a washer which is configured with an at least partially annular recess 110 in which the first end 12 of the reference body 10 is fixed.
  • the free length 13 of the reference body 10 runs largely in an arcuate manner within the recess 110 and ends in the second free end 14 with the edge 15 or a structure 17.
  • the load can be a compressive force acting on the washer 100, with the washer having a minimal elongation in learns radial direction, as indicated by the arrows F.
  • the sensor unit 20 (not shown) is placed in such a way that a change in position of the second end 14 of the reference body 10 generated when the washer 100 is loaded can be detected by the sensor unit 20 .
  • a difference value 33 between the reference value 30 in the unloaded state of the component 100 and the measured value 32 under load represents an initial value for determining the load, in this case a pressure load on the component 100 designed as a washer.
  • the reference body 10 can also be used as a type Measuring indicator can be viewed, the changing position of which can be detected and the values determined can be evaluated in terms of the method in order to verify the acting load. As can be seen from this or other examples, the
  • Dimension of the sensor arrangement can be adapted to the circumstances, with both miniaturized and correspondingly large-sized forms of the sensor arrangement 1 and/or the component 100 being conceivable.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

L'invention concerne un procédé permettant de déterminer une force et/ou un couple agissant sur un composant (100) dans un système mécanique au moyen d'un élément de référence (10) qui peut être serré sur le composant (100) par une première extrémité (12) et dont la géométrie et/ou la position relative par rapport au composant (100) est détectée par une unité de capteur (20), la force et/ou le couple effectif étant déterminé par une évaluation.
EP21742388.8A 2021-07-12 2021-07-12 Procédé de détermination d'une force et/ou d'un couple agissant sur un composant, agencement de capteur et utilisation associée Pending EP4370887A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2021/069331 WO2023284939A1 (fr) 2021-07-12 2021-07-12 Procédé de détermination d'une force et/ou d'un couple agissant sur un composant, agencement de capteur et utilisation associée

Publications (1)

Publication Number Publication Date
EP4370887A1 true EP4370887A1 (fr) 2024-05-22

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Application Number Title Priority Date Filing Date
EP21742388.8A Pending EP4370887A1 (fr) 2021-07-12 2021-07-12 Procédé de détermination d'une force et/ou d'un couple agissant sur un composant, agencement de capteur et utilisation associée

Country Status (3)

Country Link
US (1) US20240319028A1 (fr)
EP (1) EP4370887A1 (fr)
WO (1) WO2023284939A1 (fr)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1129583A (en) * 1965-04-15 1968-10-09 Saunders Roe Dev Ltd Improvements in or relating to torque meters
US4281537A (en) * 1979-08-07 1981-08-04 Mcnab, Incorporated Strain meter
US8943905B2 (en) * 2012-03-22 2015-02-03 David H. Theiss Torsion measurement device
DE102016110460A1 (de) 2016-03-23 2017-09-28 Westfalia-Automotive Gmbh Tragelement mit einem Sensor

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WO2023284939A1 (fr) 2023-01-19
US20240319028A1 (en) 2024-09-26

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