FR3137421A1 - Rotating machine comprising a housing and a shaft - Google Patents

Abstract

The rotating machine (6) comprises: - a casing (8), and - at least one gauge (16) directly fixed to the casing and arranged to detect a stress applied to the casing at a distance from the gauge and/or a variation of a shape of the housing. Abstract Figure: Fig. 2

Description

Rotating machine comprising a housing and a shaft FIELD OF INVENTION

The invention relates to rotating machines, in particular hydraulic machines.

STATE OF THE ART

We know rotary movement transmission machines for vehicles or machines, for example hydraulic or electric machines, which are motors forming part of a movement transmission chain and comprise a fixed part and a rotating part between which are placed a or several bearings comprising bearings. Each motor is linked by its fixed part to a chassis and to a source of electrical or hydraulic energy, and by its rotating part to an element to be driven. The energy source can be a storage battery and its control electronics, or a hydraulic pump.

For example, it is a hydraulic wheel motor in which the fixed part comprises hydraulic pipes and a rotating part comprises a cylinder block with pistons and connected to an output shaft receiving a wheel. The pistons of the cylinder block are in contact with a corrugated cam carried by the fixed part. Pressurizing the machine allows the movement of the pistons on the cam, which generates the rotational movement of the engine. The machine comprises a casing comprising parts for fixing to the frame, such as flanges.

As the machine produces a wheel motor, the vehicle or machine rests on the structure of the machine, while the bearing of the machine ensures the rotational movement while carrying the necessary weight or transverse forces. The machine bearing therefore absorbs not only the rotational torque but also the radial and axial forces due to loads external to the machine. However, these efforts and these loads can disrupt the control of the machine.

One aim of the invention is to improve the control of rotating machines.

According to the invention, a rotating machine is provided comprising:

- a casing, and

- at least one gauge directly fixed to the casing and arranged to detect a stress applied to the casing at a distance from the gauge and/or a variation in a shape of the casing.

Thus, the detection of the stress or the variation in shape takes place directly at the level of the casing or carcass, therefore as close as possible to the bearing formed by the machine and in real time. This detection is therefore carried out with good reliability. The invention provides access to information, some of which was previously difficult to obtain with precision. It uses housing deformations to measure loads, including during machine use.

If necessary, measuring from two gauges along two axes allows vector composition (ideally four gauges on two axes, or three gauges on three axes, etc.). Depending on the elongation or compression of each gauge, all the components of the forces tending to deform the casing are determined.

If we are in the presence of a machine comprising wheels each actuated by a machine according to the invention, the latter makes it possible to control the traction of the machine for each wheel. It can be used to manage the traction of the machine, in particular to control the traction on the motor in question, depending on whether the wheel is heavily loaded or lightly loaded. For example to carry out a crossing or an anti-slip function, the invention makes it possible to drive a wheel which has little support less, and vice versa for example for a wheel in a rut or on an obstacle. It also makes it possible to drive the wheels of the machine in a differentiated manner on a slope by choosing the distribution of the drive between the front and the rear or between the right and the left. The same goes for braking. The invention allows instantaneous control of the machine, which is more precise than a measurement on suspensions, on a chassis or by an inertial unit, and makes it possible to avoid errors.

It allows operation at very low speed (or creep drive in English), for example to overcome a specific obstacle, such as a rut or a curb. It also allows traction to be adapted to a variable load on the machine such as a sprayer tank, a grain silo or a spreader load being emptied. It also makes it possible to manage unequal width loadings on the machine, and also monitor the load of each wheel of the machine following slopes or slopes.

Thanks to this load measurement, the invention makes it possible to improve the control of the machine, to improve the distribution of traction torques on several wheels if necessary as well as stability on slopes. It also makes it possible to better predict the lifespan of the machine. It makes it possible to improve the control of the machine by having precise information on its operation and its condition.

The processing of the signals provided by the gauge(s) to determine the forces is carried out by automated means which can be incorporated into the automated control means of the machine, or even of the machine itself.

The invention allows access to information previously difficult to obtain with traditional measuring means which are bulky and usable only on a fixed installation or on a test bench. It does not require the addition of bulky additional parts to the machine.

The placement of the gauge(s) on the casing allows measurements to be taken on a unique and characteristic part of each machine model.

The invention is not intrusive. It is included in the dimensions of the machine. It can be standard on a machine (it will still be necessary to carry out a calibration depending on the machine). It can be easily dedicated in that the gauges would be placed according to the positioning of the machine, for example the angular position of the engine on the chassis of the machine.

The instrumentation used does not pose any problem of sizing, compatibility with oil, pressure resistance or sealing. The gauge(s) do not pose a problem of clogging due to metallic pollution, nor do they disrupt the chain of transmission of forces within the machine.

We can predict that the machine is hydraulic.

But otherwise it could be an electric machine.

It could be a motor or a pump.

We can predict that the gauge or at least one of the gauges:

- includes a piezoelectric sensor;

- is a resistive gauge;

- is a multiaxial gauge;

- is located in a vertical plane occupied by an axis of rotation of the machine, and/or

- is located in a horizontal plane occupied by an axis of rotation of the machine.

The words “strain gauges” and “strain gauge” are considered synonymous here. The stress can be accessed if the extensometry gauge has been calibrated. For example, if we know the elongation of the material, we know the stress. Then, in a subcategory, “resistive gauge” and “piezoelectric gauge” are two ways of measuring extensometry.

The machine can be provided with two gauges located in a plane occupied by an axis of rotation of the machine, the gauges being located on either side of the axis.

We can predict that the plane is vertical or horizontal.

The machine can be expected to include:

- two gauges located in a first plane occupied by an axis of rotation of the machine, the gauges being located on either side of the axis; And

- two gauges located in a second plane occupied by the axis, the gauges of the second plane being located on either side of the axis;

the two planes being intersecting.

Thus, for a vehicle or machine on wheels, four gauges on two axes for one wheel make it possible to measure all the stresses due to the wheel. For another machine (training an arm for example), four gauges on two perpendicular axes also make it easy to see all the components of the efforts. In all cases, a vector composition of the measurements makes it possible to determine all the efforts, even if an axis is not vertical and if the axes are not absolutely perpendicular or if there are more than four gauges.

In the case where there are few gauges, for example two gauges on two axes at 90°, the use of rosette or multiaxial gauges which give the measurements oriented in the plane at the location of the gauge makes it possible to know all the information including for example the bending torque of the casing.

The machine can be expected to include at least one of the following characteristics:

- it includes at least two gauges extending in the same plane perpendicular to an axis of the machine;

- it includes three gauges forming a triangle seen from one end of a shaft of the machine, the shaft being in the triangle;

- the gauge or at least one of the gauges is fixed directly to a flange for fixing the machine to an element external to the machine;

- the gauge or at least one of the gauges is located to the right of a bearing of the machine; And

- the gauge or at least one of the gauges is located to the right of a zone located between a bearing of the machine and a flange fixing the machine to an element external to the machine.

For example, the or each gauge is stuck to the crankcase.

The casing may have a flat surface, a cylindrical surface or facets for receiving the gauge.

It can be provided that the gauge or at least one of the gauges is located on an external face of the casing.

Thus, detection takes place outside the Faraday cage that certain machines constitute. This allows wireless transmission outside the machine of detection information.

It can be provided that the gauge or at least one of the gauges extends against a facet of planar or cylindrical shape, the facet being located in a face of the casing having a shape other than a planar or cylindrical shape, the gauge forming especially a ribbon.

Such a facet facilitates the installation of the gauge, particularly when the latter forms a ribbon. Indeed, such a gauge is flexible and can bend but not extend. It cannot therefore be fixed on a left surface. In the presence of a left casing face (for example conical), we can therefore provide a facet in the face as indicated above, for example by machining it in the face. This also applies when several gauges forming a continuous ribbon must be attached to the crankcase.

According to the invention, a device is also provided comprising:

- a main part and

- a member mounted movable relative to the main part by means of a machine according to the invention.

According to the invention, a machine is also provided comprising a chassis and wheels, at least one of the wheels being connected to the chassis by a machine according to the invention.

According to the invention, a method is also provided in which a stress applied to the casing at a distance from a detection zone and/or a variation in a shape of the casing is detected at least once on a casing of a rotating machine. .

The process may also have at least one of the following characteristics:

- the machine is stopped during the detection step or one of the detection steps;

- the machine turns during the detection step or one of the detection steps;

- we measure the amplitudes of at least two stresses or two deformations in two respective predetermined zones of the casing and we determine by means of the amplitudes at least one intensity of a force or a torque exerted on the machine from the outside of the machine ; And

- the machine is controlled according to the intensity or torque.

In particular, detection on the machine when stopped on flat ground makes it possible to measure the weight of the machine and configure the process. A software acquisition step when stopped allows this calibration.

Finally, according to the invention, there is provided a method of controlling a machine comprising two rotating machines connecting wheels to a chassis of the machine, in which:

- the wheels are controlled individually from each other and

- each wheel is controlled by means of a method according to the invention as a function of at least one intensity of a force or a torque exerted on the wheel.

In fact, knowing the load on each machine, we are able to distribute the driving force between the wheels for better grip or better traction.

These steps are for example implemented in automated processing means by means of a computer program comprising code instructions capable of controlling the steps of the process.

DESCRIPTION OF FIGURES

We will now present embodiments of the invention by way of non-limiting examples in support of the drawings in which:

- there is an elevation view of a machine comprising motors forming machines according to one embodiment of the invention;

- there is a simplified axial sectional view of one of the engines of the machine of the ;

- there is a view analogous to the showing another embodiment of the engine;

- Figures 4 and 5 are two views illustrating two circumstances of use of the engine of the ;

- there is a view analogous to the showing another embodiment of the engine;

- Figures 7 to 9 are axial sectional views of machines according to embodiments of the invention showing different examples of positioning of the gauges; And

- there illustrates a gauge attached to the casing in one embodiment of the invention.

We illustrated at a device forming a machine 2 according to one embodiment of the invention. In this case it is an excavator but the invention applies to many other types of machines, for example tractors, trailers, etc. It also applies to devices without wheels and in which a load is supported by means of a machine according to the invention. It may for example be a robot equipped with at least one handling arm. There illustrates a reference in which the x direction is the horizontal forward direction of the machine 2, y is the transverse horizontal direction and z the vertical direction.

In the present example, the machine 2 comprises a chassis 3 or main part and wheels 4, here four in number, this number not being limiting. Each wheel 4 is connected to the chassis 3 by its own rotating machine 6 according to the invention forming a motor, these machines 6 therefore being here four in number. These are hydraulic machines.

In reference to the , each machine 6 comprises a casing 8 comprising a wall 11 having an external face 12 exposed to the external environment and an internal face 14 oriented towards the internal components of the machine.

This machine includes gauges 16 directly fixed to the casing 8 and arranged to detect a stress applied to the casing at a distance from the gauge and/or a variation in a shape of the casing. Each gauge 16 may include a piezoelectric sensor. This may be a resistive gauge. The gauge can be multiaxial.

Figures 2, 3 and 6 to 9 show different examples of positioning of the gauges 16 on the casing 8.

Machine of Figures 1 and 2

Thus, with reference to Figures 1 and 2, the positioning of the gauges 16 on the left rear wheel 4 visible on the is the next :

- at least two gauges 16 are located in a radial vertical plane yz occupied by an axis of rotation Y-Y of the machine, the gauges being located on either side of the axis, therefore one above the axis, the other below; And

- at least two other gauges 16 are located in a radial horizontal plane xy occupied by the axis Y-Y, these gauges being located on either side of the axis, therefore one at the front of the axis, the other at the rear of the axle. The Y-Y axis forms the intersection of these two planes.

In this embodiment, as illustrated in , three gauges 16 are located in the radial vertical plane and are on the same side of the axis.

One 16 of the gauges is fixed directly to a flange 18 for fixing the casing 8 to an element external to the machine, in this case to the chassis 3 of the machine. This flange is formed here by ears of the housing.

Another 16 of the gauges are located to the right of a bearing 20 of the machine with reference to the Y-Y axis. We observe that we are here in the presence of a machine with two bearings 20 located in this example at two respective axial ends of the casing.

Another 16 of the gauges is located to the right of an area located between the other bearing 20 and the fixing flange 18.

It is advantageous for the machine to include three other symmetrical gauges relative to the Y-Y axis, therefore under the latter.

The machine comprises a shaft 36 which comprises a flange 50 in the form of a plate for the rigid connection of the shaft to the wheel 4. Generally speaking, the output shaft comprises a drive element at its outer end, flange or keyed or splined drive shaft, to drive a rotating object.

In this example, there are therefore eight 16 gauges. The number and arrangement of the gauges may vary from one wheel to another.

In this example, each gauge 16 is glued to the casing as illustrated in . The gauges 16 are rigidly and directly fixed to the external face 12 of the casing and arranged to detect a stress on this face and/or a variation in its shape. This deformation is proportional to the intensity of the stress.

Each gauge 16 is for example a piezoelectric gauge. It delivers a tension representing the constraint it undergoes. Alternatively, an extensometry gauge such as a resistive gauge can be used. Strain or extensometry gauges have an electrical resistance which increases with the deformation they undergo. Alternatively, multiaxial gauges, such as rosettes, can be used.

For example, we can use gauges or sensors supplied by the companies HBK or KYOWA.

Alternatively, the invention can be implemented by means of gauges deposited on a support strip, for example made of polymer, a strip which is then fixed to the casing on its external face. The strip may for example have a cylindrical configuration on a cylindrical portion of the casing. For example, we could use sensor printing technology marketed by the company Arc en ciel.

In each case, all gauges are connected to an electronic circuit configured to receive signals from the gauges and perform the calculations presented below. These arrangements each make it possible to obtain the measurements for the implementation of the different functions presented in this mode of implementation of the process. These detections and determinations are made by automated calculation means receiving the signals from the gauges and processing them in real time using appropriate programming.

Figure 3 machine

In the embodiment of the , four gauges 16 are located in a radial plane, in this case vertical, occupied by the axis of rotation YY and are on the same upper side of the axis.

Two of the gauges 16 are fixed directly to the fixing flange 18, on external faces thereof opposite one to the other.

Another 16 of the gauges are located to the right of a bearing 20 of the machine with reference to the Y-Y axis. Here we are in the presence of a machine with two bearings 20 located in this example at the same axial end of the casing 8 closest to the wheel 4. This gauge is located here to the right of the bearing 20 closest to the wheel.

Another of the 16 gauges is located to the right of an area located between the two bearings 20.

It is advantageous for the machine to include other gauges that are symmetrical with respect to the Y-Y axis, therefore under the latter.

Process

On the , P represents the stress constituted by the weight of the machine. A fraction of this request is transmitted by each machine 6 to the wheel 4 concerned. R represents the reaction of the ground on wheel 4, transmitted from the wheel to the machine, directed upwards.

In a static situation, that is to say stopped, the machine 6 thus carries a fraction of the weight P of the machine and undergoes the reaction R of the ground. In a dynamic situation, when the machine 2 is in use and for example when the machine 6 is moving, the machine 6 also receives forces along each of the three axes x, y and z (axial and radial forces with reference to the Y-Y axis) as well as the torques exerted around the x and z axes, knowing that the bearings 20 normally prevent the transmission of a torque around the y axis. We therefore see that machine 6, in addition to constituting a motor, ensures the support of part of machine 2 and the handling of various stresses. All these stresses, forces and torques, are transmitted to the casing 8 via the flanges 18, 50 for fixing the wheel and the chassis to the machine.

There illustrates in rear view of the machine the application of lateral forces in the direction y forming a bending torque M around the axis x on the casing. These forces appear in the wheel 4 which they tend to rotate around the axis x, and are transmitted by the shaft 36 of the machine to the casing and the chassis. In the upper part of the casing, the wall therefore undergoes stretching forces E and in the lower part compression forces C. These forces are detected by the gauges 16 located in the vertical plane radial to the axis YY.

A similar situation is illustrated in but this time on sloping ground. In other words, the vehicle is tilted along the YY axis, towards the left. This time, the bending torque M is supplemented by axial forces A along the shaft 36 which result in compressive forces in the wall 11 of the casing, above the axis YY and below, these efforts being more intense below than above. Again, they are detected by gauges 16.

In the present mode of implementation of the method of the invention, by means of each gauge 16, a stress applied to the casing at a distance from the gauge and/or a variation of a shape of the casing. In the aforementioned examples, the gauge(s) 16 located in the vertical plane radial to the Y-Y axis make it possible to know the static load corresponding to the weight of the machine as well as the vertical forces transmitted. The gauge(s) located in another plane radial to the Y-Y axis, in particular a horizontal plane, make it possible to see other forces.

During a first detection step, the machine is stopped, which allows the measurements to be calibrated.

Then, during subsequent detection stages, the machine is in operation or even running.

In this mode of implementation:

- the amplitudes of the stresses or deformations are measured in respective predetermined zones of the casing, where the gauges are; And

- we determine by means of the amplitudes the intensity of one or more forces or one or more torques exerted on the machine from outside the machine.

Then, we control each machine according to these intensities.

More precisely, for the control of the machine of the :

- we control the wheels 4 individually from one another and

- each wheel 4 is controlled according to at least one intensity of effort or torque exerted on the wheel.

The machine 2 includes automated processing means capable of implementing this command taking into account the signals sent by the gauges 16. These signals are transmitted by wired or wireless transmission means.

Advantageously, a calibration of the signals from the gauges 16 is first carried out on a test bench during which the values provided by the gauges are measured in the presence of predetermined constraints. To do this, calibrated forces are exerted using two cylinders on machine 6 placed on a calibration bench. This assembly makes it possible to apply forces identical to those generated during use on the machine. The machine can be stopped or running. We then acquire the signals provided by the gauges 16. This makes it possible to obtain a law or a correspondence table giving the forces as a function of the signals from the gauges. Then, on the machine 6 in operation, in particular rolling, that is to say in use, we collect by the gauges a value of stress or deformation, we consult the table, and we obtain the intensity of the corresponding stress .

The process makes it possible to identify the wheels which are more or less loaded and to manage traction (particularly in traction control mode). It allows you to know the state of charge of the engine and to record its load. Knowing its endurance, we can determine its aging, that is to say its wear. We can determine the loads seen by the motor and estimate its lifespan to manage its maintenance.

Figure 6 machine

In the embodiment of the , the machine includes three gauges 16 forming a triangle when viewed from one end of the shaft 36 of the machine, as in the figure, the shaft being in the triangle. The three gauges 16 are preferably in the same vertical plane perpendicular to the axis YY.

This arrangement of the gauges also allows a vectorial recomposition of the forces seen by the gauges in order to determine their direction and intensity.

Figure 7 machine

There shows in more detail an exemplary embodiment of a hydraulic machine 6 according to the invention with its main constituents. Its characteristics are applicable to the previous embodiments. The same goes for the following,

The machine 6 comprises a casing 8 in two parts 30, 32 fixed to each other by members 34 such as screws. It comprises a shaft 36 of which a longitudinal axis forms the Y-Y axis. The machine is generally rotationally symmetrical around this axis. Bearings 20 serve to support the shaft mounted to rotate in the casing 8. There are for example two of the bearings 20 and include cylindrical or frustoconical bearings. The two bearings 20 are in this case in direct support against part 32 of the casing.

The machine comprises a cylinder block 38 having housings 40 radial to the axis, the cylinder block being integral in rotation with the shaft 36. Pistons 42 are received in the respective housings and mounted movable to slide radially at the axis in these accommodations.

The machine comprises a cam 44 rigidly fixed to the casing 8 and which has an internal face forming a rolling track for rollers connected to the respective pistons 42. The pistons bear on the cam 44 via the rollers. The track has lobes whose alternation around the axis corresponds to a back and forth movement of the pistons during the rotation of the shaft 36 relative to the casing 8.

The machine includes a distributor 46 capable of putting the housings 10 of the pistons in communication with a high pressure fluid circuit and with a low pressure fluid circuit. Depending on the command applied to it, the machine can operate in traction or in hold, that is to say provide a positive or negative rotation torque, and this in one of the two possible directions of rotation. .

A more detailed description of these elements of the machine will be found in application FR-2 796 886.

The casing 8 is fixed to the chassis 3 by its flange 18 and the shaft 36 is fixed to the wheel 4 by its own flange 50. The upper and lower parts of the figure show two respective different configurations of the flange 18 of the chassis, respectively connected directly to the part 30 of the casing furthest from the wheel and to its part 32 closest to the wheel.

The machine includes above the Y-Y axis two gauges 16, one of which is located to the right of the bearing 20 closest to the flange 50 of the shaft and the other is located to the right of a zone located between the two bearings 20. It preferably comprises two other gauges symmetrical to the previous ones with respect to the Y-Y axis. All four gauges are in the same radial vertical plane.

The casing of the machine being of generally symmetrical shape of revolution, but left, it is a priori difficult to place gauges there which are carried by a flexible support in the form of a ribbon. They naturally have a flat shape, and they can also be given an arc-shaped bend in one direction. To remedy this, as illustrated in the upper part of the , at least some of the gauges 16 extend against a facet 13 of planar or cylindrical shape. The facet 13 is located in one face of the casing 8 having a shape other than a planar or cylindrical shape, for example conical. Thus, to easily receive these gauges, locations forming a plane or a cylinder surface are machined. The left or conical surfaces of the housing are arranged in this way to create the desired gauge locations. The other machines presented can also receive these adjustments. The gauges can form a ribbon.

Figure 8 machine

In this example and the next, we only present the differences between the example considered and that of the .

The machine includes discs forming a brake 52 of the shaft 36 against its rotation relative to the casing. The two bearings 20 are located in this case on either side of the brake 52.

The machine includes above the axis two gauges 16, one of which is located to the right of the bearing 20 closest to the flange 50 of the shaft and the other is located to the right of the bearing 20 furthest from the flange 50 of the shaft. It preferably includes two other gauges symmetrical to the previous ones with respect to the Y-Y axis.

Figure 9 machine

In the embodiment of the , the machine comprises a single bearing 20, formed by a ball bearing in the present example.

The machine includes above the axis a gauge 16 located to the right of the bearing 20. It preferably includes another gauge symmetrical to the first with respect to the Y-Y axis.

Numerous modifications can be made to the invention without departing from its scope. We can vary the number and arrangement of the gauges. A reduced number of gauges can be provided on the machine, for example two or even just one.

Claims (26)

Rotating machine (6) comprising:
- a casing (8), and
- at least one gauge (16) directly fixed to the casing and arranged to detect a stress applied to the casing at a distance from the gauge and/or a variation in a shape of the casing. Machine according to the preceding claim, the machine (6) being hydraulic. Machine according to at least one of the preceding claims in which the gauge or at least one of the gauges (16) comprises a piezoelectric sensor. Machine according to at least one of the preceding claims in which the gauge or at least one of the gauges (16) is a resistive gauge. Machine according to at least one of the preceding claims in which the gauge or at least one of the gauges (16) is a multiaxial gauge. Machine according to at least one of the preceding claims in which the gauge or at least one of the gauges (16) is located in a vertical plane (yz) occupied by an axis (Y-Y) of rotation of the machine. Machine according to at least one of the preceding claims in which the gauge or at least one of the gauges (16) is located in a horizontal plane (xy) occupied by an axis (Y-Y) of rotation of the machine. Machine according to at least one of the preceding claims which comprises two gauges (16) located in a plane (xy, yz) occupied by an axis (Y-Y) of rotation of the machine, the gauges being located on either side of the axis. Machine according to the preceding claim in which the plane (yz) is vertical. Machine according to preceding claim 8 in which the plane (xy) is horizontal. Machine according to at least one of the preceding claims which comprises:
- two gauges (16) located in a first plane (xy) occupied by an axis of rotation of the machine, the gauges being located on either side of the axis; And
- two gauges (16) located in a second plane (yz) occupied by the axis, the gauges of the second plane being located on either side of the axis;
the two planes (xy, yz) being intersecting. Machine according to at least one of the preceding claims which comprises at least two gauges (16) extending in the same plane (xz) perpendicular to an axis (Y-Y) of the machine. Machine according to at least one of the preceding claims which comprises three gauges (16) forming a triangle seen from one end of a shaft (36) of the machine, the shaft being in the triangle. Machine according to at least one of the preceding claims in which the gauge or at least one of the gauges (16) is fixed directly to a flange (18) for fixing the machine to an element (3) external to the machine. Machine according to at least one of the preceding claims in which the gauge or at least one of the gauges (16) is located in line with a bearing (20) of the machine. Machine according to at least one of the preceding claims in which the gauge or at least one of the gauges (16) is located to the right of a zone located between a bearing (20) of the machine and a flange (18) of fixing the machine to an element (3) external to the machine. Machine according to at least one of the preceding claims in which the gauge or at least one of the gauges (16) is located on an external face (12) of the casing (8). Machine according to at least one of the preceding claims in which the gauge or at least one of the gauges (16) extends against a facet (13) of planar or cylindrical shape, the facet being located in one face of the casing ( 8) having a shape other than a planar or cylindrical shape, the gauge notably forming a ribbon. Device (2) comprising:
- a main part (3) and
- a member (4) mounted movable relative to the main part by means of a machine (6) according to any one of the preceding claims. Machine (2) comprising a chassis (3) and wheels (4), at least one of the wheels being connected to the chassis by a machine (6) according to any one of claims 1 to 18. Method in which a stress applied to the casing at a distance from a detection zone and/or a variation in a shape of the casing is detected at least once on a casing (8) of a rotating machine (6). Method according to the preceding claim in which the machine (6) is stopped during the detection step or one of the detection steps. Method according to at least one of claims 21 to 22 in which the machine (6) rotates during the detection step or one of the detection steps. Method according to at least one of claims 21 to 23 in which:
- the amplitudes of at least two stresses or two deformations are measured in two respective predetermined zones of the casing (8); And
- we determine by means of the amplitudes at least one intensity of a force or a torque exerted on the machine (6) from outside the machine. Method according to at least one of claims 21 to 24 in which the machine (6) is controlled as a function of the intensity or the torque. Method for controlling a machine (2) comprising two rotating machines (6) connecting wheels (4) to a chassis (3) of the machine, in which:
- the wheels are controlled individually from each other and
- each wheel is controlled by means of a method according to the preceding claim as a function of at least one intensity of a force or a torque exerted on the wheel.