TW201723449A - Gear type torque sensing device including an input shaft gear, an output shaft gear, and a planetary gear unit - Google Patents

Abstract

A gear type torque sensing device includes an input shaft gear, an output shaft gear, and a planetary gear unit. The planetary gear unit includes a ring gear engaged with the input shaft gear, a sun gear, a carrier gear engaged with the output shaft gear, and a plurality of planetary gears arranged on the carrier gear and engaged with the ring gear and the sun gear. The ring gear has outer ring teeth engaged with the input shaft gear, and inner ring teeth engaged with the planetary gears. When the input shaft gear is rotated relative to the output shaft gear by a relative rotation angle, a rotation angle of the linked sun gear is a predetermined number of times the relative rotation angle, and the sun gear is rotated in a reverse direction. Through the arrangement of the planetary gear unit and the matching of tooth numbers of all gears, the relative rotation angle between the input shaft gear and the output shaft gear can be enlarged through the sun gear, so as to facilitate the calculation of the torque.

Description

Gear type torque sensing device

The invention relates to a gear type torque sensing device, in particular to a gear type torque sensing device capable of linearly amplifying a torsion bar angle range.

Referring to Figure 1, in order to make the driver easily control the vehicle, the vehicle steering system will have the power assist function, and the existing vehicles on the market are mostly equipped with an electric motor type power assist steering system 91, which may be generated depending on the electric motor installation position. Different types of steering systems, but collectively referred to as Electric Power Steering (EPS), wherein the torque sensor 92 is a key component in the electric assisted steering system.

The main function of the torsion sensor 92 is to sense the steering torque of the driver turning the steering wheel 93. The method is implemented by locating the sensor 92 at a position of a torsion bar (not shown) to sense a change in the torsion angle of the torsion bar. Output a signal corresponding to the change.

At present, the torsion sensor on the market is mostly represented by Hall induction. Referring to FIG. 2, it is a torsion angle sensor using the Hall induction principle. The torsion angle sensor has a rotor 95 and two stators 96. And a Hall element 97, the The rotor 95 is fixed to one end of a torsion transmitting device (not shown) having a torsion bar, the outer ring is covered with magnets, and the NS poles are arranged in series. The stators 96 each have a claw shape and are fixed to the torque transmitting device. The other end of the material is magnetically conductive. The Hall element 97 is fixed on the sensor shell to sense the magnitude of the magnetic flux. The torque transmitting device is subjected to a torsion force to cause an angular difference between the input shaft and the output shaft. The rotor 95 and the stators 96 are relatively displaced, thereby causing a change in magnetic flux, and the Hall element 97 can sense the change in the magnetic flux to thereby interpret the torque value.

Although the Hall element 97 can be used to interpret the torque according to the angular difference of the input shaft of the torsion transmitting device with respect to the output shaft, the angular difference of the angular difference of the input shaft of the torque transmitting device with respect to the output shaft is very It is so small that the precision of the Hall element 97 and the mating parts is very high.

Another type of torsion sensor, as shown in the patent number CN101825425B, is that the sun gears of the two sets of planetary gear sets are respectively driven by opposite ends of the torsion bar, and then respectively linked to two induction gears with different numbers of teeth. The change of the rotation angle of each of the induction gears and the difference of the gear ratios thereof are measured, and the torsion angle of the torsion bar is calculated, and the change of the torsion force can be known.

However, the aforementioned torsion sensor uses two sets of planetary gears, which are not only complicated in structure, but also can not reduce the cost, and the calculation method of the difference of the rotation angle of the induction gears and the difference of the gear ratios thereof is also quite complicated. It is very inconvenient to use.

Accordingly, it is an object of the present invention to provide a gear type torque sensing device that is convenient to use and that can linearly amplify the sensing range to improve sensing accuracy.

Accordingly, the gear type torque sensing device of the present invention is applied to a torque transmitting device including a rotatable input shaft and an output shaft rotatable relative to the input shaft, the torque sensing device The utility model comprises an input shaft gear, an output shaft gear, and a planetary gear unit.

The input shaft gear is sleeved on the input shaft, the output shaft gear is sleeved on the output shaft, the planetary gear unit includes a ring gear meshing with the input shaft gear, and a sun gear located in the ring gear a carrier gear that meshes with the output shaft gear, and a plurality of planetary gears rotatably disposed on the carrier gear and respectively disposed between the ring gear and the sun gear and meshing the ring gear and the sun gear, The ring gear has an outer ring tooth that meshes with the input shaft gear, and an inner ring tooth that meshes with the planetary gears, wherein when the input shaft gear generates a relative rotation angle with respect to the output shaft gear, The rotation angle of the sun gear is a predetermined multiple of the relative rotation angle, and the rotation direction is reverse.

The effect of the present invention is that, by the arrangement of the planetary gear unit, and the matching of the number of teeth between the inner ring gear of the ring gear, the sun gear, the carrier gear, the input shaft gear and the output shaft gear, The input shaft and the output shaft The angle of rotation between the two is amplified by the sun gear, and the sensing range is linearly amplified to improve the sensing accuracy, thereby facilitating the calculation of the torque.

200‧‧‧Gear type torque sensing device

2‧‧‧Input shaft gear

21‧‧‧First mounting hole

22‧‧‧First convex

3‧‧‧ Output shaft gear

31‧‧‧Second mounting hole

32‧‧‧second convex

4‧‧‧ planetary gear unit

41‧‧‧ring gear

411‧‧‧ outer ring teeth

412‧‧‧ Inner ring teeth

42‧‧‧Sun Gear

43‧‧‧ planet carrier gear

44‧‧‧ planetary gear

5‧‧‧ Corner measuring unit

51‧‧‧First magnet

52‧‧‧First magnetic induction module

6‧‧‧Computation unit

7‧‧‧ Angle measuring unit

71‧‧‧First gear

72‧‧‧second gear

73‧‧‧Second magnet

74‧‧‧ Third magnet

75‧‧‧Second magnetic induction module

76‧‧‧ Third magnetic induction module

8‧‧‧Torque transmission device

81‧‧‧Input shaft

811‧‧‧first body

812‧‧‧First channel

82‧‧‧ Output shaft

821‧‧‧Second body

822‧‧‧Second guiding channel

83‧‧‧Flexible torsion bar

Other features and effects of the present invention will be apparent from the following description of the drawings, wherein: FIG. 1 is a schematic diagram showing a set position of a conventional torsion sensor; FIG. 2 is a Hall sensing 3 is an exploded perspective view of a torque sensor of the present invention; FIG. 3 is a perspective view of an embodiment of the gear type torque sensing device of the present invention; FIG. 4 is a perspective view of the embodiment; Figure 6 is a schematic view of the embodiment, illustrating the connection relationship between the gears; Figure 7 is a cross-sectional view of the embodiment; and Figure 8 is a schematic view showing the position of a first gear and a second gear .

Referring to Figures 3, 4 and 5, an embodiment of the gear type torque sensing device 200 of the present invention is applied to a torque transmitting device 8, the torque transmitting device 8 including a rotatable input shaft 81, An output shaft 82 for inputting the rotation of the shaft 81, and a flexible torsion bar 83 connected between the input shaft 81 and the output shaft 82, the input The shaft 81 has a first rod body 811, and two first guiding grooves 812 of the first rod body 811. The output shaft rod 82 has a second rod body 821, and two of the second rod bodies 821. Second guiding groove 822.

The flexible torsion bar 83 can be regarded as a torsion spring, which has the same physical characteristics as the torsion spring, that is, the torque is equal to the product of the rigidity and the torsion angle, and the input shaft 81 and the output shaft 82 have a stop mechanism (Fig. Not shown), the stop mechanism limits the angle of rotation of the flexible torsion bar 83, and is generally designed to be between +/- 5 degrees.

If the output shaft 82 is not under load, the input shaft 81 is rotated at this time, the flexible torsion bar 83 is not deformed, and the input shaft 81 and the output shaft 82 rotate synchronously.

When the output shaft 82 is under load, the input shaft 81 is rotated at this time, and the flexible torsion bar 83 is deformed. The input shaft 81 and the output shaft 82 are twisted according to the magnitude of the torque, and are subjected to the deformation. Limited to the stop mechanism, the angular difference is between +/- 5 degrees, and the relationship between the torque and the torsion angle is linear.

The gear type torque sensing device 200 includes an input shaft gear 2, an output shaft gear 3, a planetary gear unit 4, a corner measuring unit 5, a calculating unit 6, and an angle measuring unit 7.

The input shaft gear 2 is sleeved on the input shaft 81 and includes a first mounting hole 21 through which the first rod body 811 is bored, and two adjacent first mounting holes 21 are engaged in the first shaft A first convex portion 22 of a guide groove 812.

The output shaft gear 3 is sleeved on the output shaft 82 and includes a second mounting hole 31 through which the second rod body 821 is inserted, and a second protrusion 32 that is inserted into the second guiding groove 822. .

Referring to Figures 5, 6, and 7, the planetary gear unit 4 includes a ring gear 41 that meshes with the input shaft gear 2, a sun gear 42 located in the ring gear 41, and a meshing engagement with the output shaft gear 3. The carrier gears 43 and the two are rotatably disposed on the carrier gears 43 and are respectively disposed between the ring gear 41 and the sun gear 42 and mesh with the ring gear 41 and the planetary gears 44 of the sun gear 42.

The ring gear 41 has an outer ring tooth 411 that meshes with the input shaft gear 2, and an inner ring tooth 412 that meshes with the planetary gears 44.

The number of teeth of the outer ring gear 411 of the ring gear 41 is the same as the number of teeth of the input shaft gear 2, that is, T _(E) = T _(I) is satisfied, where T _{(E) is} the outer ring tooth 411 of the ring gear 41 The number of teeth and T _{(I) are} the number of teeth of the input shaft gear 2. In the present embodiment, the number of teeth of the outer ring gear 411 of the ring gear 41 is sixty-two teeth equal to the number of teeth of the input shaft gear 2.

The number of teeth of the inner ring gear 412 of the ring gear 41 is a predetermined multiple of the number of teeth of the sun gear 42, that is, T _(R) = T _(S) × K, where T _{(R) is} the ring gear 41 The number of teeth of the inner ring teeth 412, T _{(S) is} the number of teeth of the sun gear 42, and K is the predetermined multiple. In this embodiment, the preset multiple is fifteen times, the number of teeth of the sun gear 42 is six teeth, and the number of teeth of the inner ring teeth 412 of the ring gear 41 is ninety teeth.

The teeth of the carrier gear 43 are located at the outer circumference, and the number of teeth multiplied by the predetermined multiple is equal to the sum of the number of teeth of the output shaft gear 3 multiplied by the predetermined multiple and the number of teeth of the output shaft gear 3, that is, T _(P) × K = T _(O) × (K + 1) is satisfied, where T _{(P) is} the number of teeth of the carrier gear, and T _{(O) is} the number of teeth of the output shaft gear. In the present embodiment, the number of teeth of the carrier gear 43 is sixty-four teeth, and the number of teeth of the output shaft gear 3 is sixty teeth.

The corner measuring unit 5 includes a first magnet 51 disposed on the sun gear 42 and a pair of first magnetic induction modules 52 that are disposed on the first magnet 51 to measure the rotation angle of the first magnet 51.

The calculating unit 6 is electrically connected to the corner measuring unit 5, and calculates the torque of the input shaft 81 relative to the output shaft 82 according to the rotation angle of the first magnet 51 measured by the first magnetic sensing module 52.

Referring to FIGS. 5, 6, and 8, the angle measuring unit 7 includes a first gear 71 and a second gear 72 that are engaged with the carrier gear 43 and are respectively disposed on the first gear 71 and the second gear 72. a second magnet 73 and a third magnet 74, a second magnetic sensor module 75 electrically connected to the computing unit 6 and corresponding to the second magnet 73 for measuring the rotation angle of the second magnet 73, and an electrical connection The calculating unit 6 and the third magnetic induction module 76 corresponding to the third magnet 74 for measuring the rotation angle of the third magnet 74.

The number of teeth of the first gear 71 is different from the number of teeth of the second gear 72. In the embodiment, the number of teeth of the first gear 71 is nineteen teeth, and the number of teeth of the second gear 72 is seventeen teeth.

Referring to FIGS. 5 , 6 , and 7 , the calculating unit 6 calculates the torque transmitting device according to the rotation angles of the second magnet 73 and the third magnet 74 measured by the second magnetic sensing module 75 and the third magnetic sensing module 76 . The angle of rotation of 8.

Referring to Figures 3, 5 and 6, in use, the torque transmitting device 8 is generally for a vehicle, the input shaft 81 is coupled to a steering wheel (not shown), and the output shaft 82 is coupled to a steering machine ( If the output shaft 82 is not subjected to a load, rotating the steering wheel causes the input shaft 81 and the output shaft 82 to rotate simultaneously. At this time, the input shaft 81 and the output shaft 82 are not A relative rotation angle is generated, and when the output shaft 82 is subjected to a load, the flexible torsion bar 83 is deformed at this time, and the input shaft 81 generates a relative rotation angle C with respect to the output shaft 82. The relative rotation angle is C is the torsion angle generated by the deformation of the flexible torsion bar 83. According to the physical property of the product of the torsion force equal to the stiffness and the torsion angle, the relative torsion bar C can be obtained by measuring the relative rotation angle C. Torque.

It should be noted that when the input shaft gear 2 is sleeved on the input shaft 81, the first convex portion 22 of the input shaft gear 2 is engaged with the first guiding groove 812 of the input shaft 81. When the output shaft gear 3 is sleeved on the output shaft 82, the second protrusions 32 of the output shaft gear 3 are locked to the second of the output shaft 82. The guide groove 822 can be easily fixed to achieve a fixed effect on the mounting, and since the first convex portion 22 and the second convex portion 32 are simple protruding structures, it is also very easy to process. Can reduce production costs.

When the input shaft 81 and the output shaft 82 rotate, respectively, the ring gear 41 and the carrier gear 43 are respectively rotated to rotate the planetary gears 44, and finally the planetary gears 44 are linked by the sun. The gear 42 rotates.

According to the equation of motion of the planetary gear: ψ _(S) = ((T _(R) / T _(S) ) +1) ψ _(P) - (T _(R) / T _(S) ) ψ _(R) (1)

Where T _(S) is the number of teeth of the sun gear 42, T _(R) is the number of teeth of the inner ring gear 412 of the ring gear 41, ψ _(S) is the angle of rotation of the sun gear 42, and ψ _(P) is the carrier gear 43 The angle of rotation, ψ _(R), is the angle of rotation of the ring gear 41.

If the input shaft 81 and the output shaft 82 rotate simultaneously and there is no relative rotation angle, the flexible torsion bar 83 does not deform at this time. Since the number of teeth of the sun gear 42 is six teeth, the ring gear 41 The number of teeth of the inner ring teeth 412 is ninety teeth, so that ψ _(S) = 16 ψ _(P) -15 ψ _(R) (2) can be obtained.

Since the number of teeth of the carrier gear 43 is sixty-four teeth, the number of teeth of the output shaft gear 3 is sixty teeth, so that the relationship between the rotation angle and the number of teeth can be obtained as ψ _(P) / ψ _(R) = 15 /16 (3), brought into the formula (2), the result of ψ _(S) =0, that is, the sun gear 42 does not rotate, and the first magnet 51 does not rotate, the first magnetic induction module 52 senses Since the first magnet 51 does not rotate, it can be known that no torque is generated between the input shaft 81 and the output shaft 82.

When the input shaft 81 generates the relative rotation angle C with respect to the output shaft 82, the flexible torsion bar 83 is deformed at this time, and the input shaft gear 2 generates the relative rotation angle C with respect to the output shaft gear 3. Then you can get the result of ψ _(S) =16 ψ _(P) -15(ψ _(R) +C) (4). Further substituting the formula (3) into the formula (4), you can get ψ _(S) =- The formula of 15C (5), that is, the relative rotation angle C of the linked sun gear 42 is fifteen times, and the rotation direction is reversed, so the input shaft 81 and the output shaft 82 The relative rotation angle C between the two magnets 51 can be enlarged, and the first magnet 51 rotates with the sun gear 42. After the first magnetic induction module 52 senses the rotation angle of the first magnet 51, The torque between the input shaft 81 and the output shaft 82 is calculated via the calculation unit 6. In this embodiment, the sun gear 42 can be rotated in a range of +/- 120 degrees, that is, the relative rotation angle C is +/- 8 degrees, because the torsion angle of the flexible torsion bar 83 is Limited to +/- 5 degrees, so meet the design needs.

In addition, when the torsion transmitting device 8 rotates, the first gear 71 and the second gear 72 rotate when the carrier gear 43 rotates, because the number of teeth of the first gear 71 and the second gear 72 are different. Therefore, the rotation angles of the second magnets 73 and the third magnets 74 that are respectively linked are different, and the second magnets 73 and the third magnetic sensor modules 76 are respectively measured by the second magnetic sensor module 75 and the third magnetic sensor module 76. third After the rotation angle of the magnet 74, the calculating unit 6 can calculate the torque transmitting device according to the difference of the rotation angle of the second magnet 73 and the third magnet 74 and the gear ratio of the first gear 71 and the second gear 72. The angle of rotation of 8.

In short, since the number of teeth of the first gear 71 is nineteen teeth, the number of teeth of the second gear 72 is seventeen teeth, so when the first gear 71 rotates seventeen turns, the second gear 72 will rotate ten Nine laps, at this time, the first gear 71 and the second gear 72 can each be rotated back to the position where the origin coincides, so the torque can be calculated by the difference of the rotation angles of the second magnet 73 and the third magnet 74. The angle of rotation of the transfer device 8.

In this embodiment, since the gear ratio of the carrier gear 43 and the output shaft gear 3 is 64/60, the rotation ratio is 60/64, that is, 0.9375, and the rotation angle of the output shaft gear 3 is set to at least ± 800 degrees, that is, the total angle range is at least 1600 degrees, so that it can be defined that the maximum rotation angle of the output shaft gear 3 is between 1900 and 3000 degrees, so the maximum rotation angle of the carrier gear 43 is Between (1900 × 0.9375) ~ (3000 × 0.9375) degrees, that is, between 1781 ~ 2812 degrees, further expressed by the number of turns, then between (1781/360) ~ (2812/360) circle, that is, 4.9 ~ 7.8 laps.

Therefore, the least common multiple of the number of teeth of the first gear 71 and the second gear 72 should be between (4.9×64 and 7.8×64), that is, between 314 and 499, based on the least common multiple 323. The number of teeth of the first gear 71 is nineteen teeth, and the number of teeth of the second gear 72 is seventeen teeth.

It should be noted that the combination of the input shaft gear 2 and the ring gear 41, and the combination of the output shaft gear 3 and the carrier gear 43 can be replaced by a pulley or by using a gear. The manner of the sprocket is matched, and similar effects can be obtained.

In addition, the number of teeth of each pair of cooperating gears can be matched with the number of teeth of other multiples in addition to the number disclosed in the present case. In this embodiment, all the gears are made of plastic material, but not limited thereto.

In practical applications, the present invention is applicable to various electronically assisted power vehicles, such as electric bicycles, electric wheelchairs, and the like.

Therefore, the present invention has the following advantages over the existing torsion sensor:

1. The present invention can enlarge the relative rotation angle C so that the angle that can be sensed is linearly amplified by fifteen times, so that the sensing range is linearly expanded, and the sensing precision is greatly improved, so that compared with the Hall element type Torque sensors, the accuracy of the present invention is higher.

2. The present invention amplifies the relative rotation angle C in a mechanical manner, thereby avoiding the problem that the Hall element type torsion sensor is susceptible to external electrical interference.

Third, the Hall element type torque sensor measures the original rotation angle, so the measurement angle is very small, so the mechanism assembly and the Hall element The accuracy requirement is high, and the design of the claw-shaped stator needs to be subjected to magnetic circuit analysis and manufacturing parts which are difficult to process, and the claw-shaped stator has the disadvantage of being easily deformed during production and assembly, and the present invention is Linking with plastic gears, because the production of gears is a very mature technology, production design is relatively easy.

4. Compared with the existing torque sensor, in addition to the disadvantage that the cost of the two sets of planetary gears cannot be reduced, the two induction gears must be combined with two sensors that sense the change of the rotation angle. To measure the angle change and calculate the rotation angle according to the difference of the gear ratio, the calculation method is quite complicated, and the present invention only uses a set of planetary gears, and linearly amplifying the relative rotation angle C is more convenient to measure. The angle of rotation makes the structure simpler and reduces costs.

In summary, the arrangement of the planetary gear unit 4, and the inner ring gear 412 of the ring gear 41, the sun gear 42, the carrier gear 43, the input shaft gear 2 and the output shaft gear 3 The matching of the number of teeth can enlarge the relative rotation angle C between the input shaft 81 and the output shaft 82 via the sun gear 42, thereby conveniently calculating the torque, compared with the existing torque using the Hall induction principle. The sensor can enlarge the relative rotation angle C, thereby avoiding the high cost problem caused by the high-precision Hall element and the matching component, and further comparing with another existing torque sensing In the present invention, only one set of planetary gears is used, and the relative rotation angle C is enlarged to make it easier to measure the rotation angle, so that the structure is simpler and the cost can be reduced, and the torque is more easily calculated, so that it can be achieved. The object of the invention.

However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the equivalent equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still The scope of the invention is covered.

200‧‧‧Gear type torque sensing device

2‧‧‧Input shaft gear

21‧‧‧First mounting hole

22‧‧‧First convex

3‧‧‧ Output shaft gear

31‧‧‧Second mounting hole

32‧‧‧second convex

4‧‧‧ planetary gear unit

41‧‧‧ring gear

42‧‧‧Sun Gear

43‧‧‧ planet carrier gear

44‧‧‧ planetary gear

5‧‧‧ Corner measuring unit

51‧‧‧First magnet

52‧‧‧First magnetic induction module

6‧‧‧Computation unit

7‧‧‧ Angle measuring unit

71‧‧‧First gear

72‧‧‧second gear

73‧‧‧Second magnet

74‧‧‧ Third magnet

75‧‧‧Second magnetic induction module

76‧‧‧ Third magnetic induction module

Claims (10)

A gear type torque sensing device is applied to a torque transmitting device, the torque transmitting device includes a rotatable input shaft, and an output shaft rotatable relative to the input shaft, the gear type torque sensing device includes An input shaft gear is sleeved on the input shaft; an output shaft gear is sleeved on the output shaft; and a planetary gear unit includes a ring gear meshing with the input shaft gear, and a ring gear is located at the ring a sun gear in the gear, a carrier gear meshing with the output shaft gear, and a plurality of rotatably disposed on the carrier gear and respectively disposed between the ring gear and the sun gear and meshing the ring gear and the sun a planetary gear of the gear, the ring gear having an outer ring gear meshing with the input shaft gear, and an inner ring tooth meshing with the planetary gear; wherein the input shaft gear produces a relative rotation with respect to the output shaft gear At an angle, the angle of rotation of the coupled sun gear is a predetermined multiple of the relative rotation angle, and the direction of rotation is reverse. The gear type torque sensing device according to claim 1, wherein the number of teeth of the outer ring teeth of the ring gear is the same as the number of teeth of the input shaft gear, and the number of teeth of the inner ring teeth of the ring gear is the number of teeth of the sun gear. The preset multiple, the number of teeth of the carrier gear multiplied by the preset multiple is equal to the sum of the number of teeth of the output shaft gear multiplied by the preset multiple and the number of teeth of the output shaft gear, that is, the following formula is satisfied: T _(E) = T _(I) ; T _(R) = T _(S) × K; and T _(P) × K = T _(O) × (K + 1); where T _{(E) is} the ring gear The number of teeth of the outer ring gear, T _{(I) is} the number of teeth of the input shaft gear, T _{(R) is} the number of teeth of the inner ring gear of the ring gear, T _{(S) is} the number of teeth of the sun gear, and K is the preset The multiple, T _{(P) is} the number of teeth of the carrier gear, and T _{(O) is} the number of teeth of the output shaft gear. The gear type torque sensing device of claim 2, further comprising a corner measuring unit, and a calculating unit electrically connected to the corner measuring unit, the corner measuring unit comprising a first one disposed on the sun gear a magnet, and a pair of first magnetic induction modules disposed on the first magnet to measure a rotation angle of the first magnet, the calculation unit calculating the input according to a rotation angle of the first magnet measured by the first magnetic induction module The torsion of the shaft relative to the output shaft. The gear type torque sensing device of claim 3, further comprising an angle measuring unit, the angle measuring unit comprising a first gear and a second gear meshed with the carrier gear, the first gear The number of teeth is different from the number of teeth of the second gear. The gear type torque sensing device of claim 4, wherein the angle measuring unit further comprises a second magnet and a third magnet respectively disposed on the first gear and the second gear, and electrically connecting the calculation a second magnetic induction module corresponding to the unit and configured to measure the rotation angle of the second magnet, and a first portion electrically connected to the calculation unit and corresponding to the third magnet to measure the rotation angle of the third magnet a three-magnetic induction module, the second magnetic component measured by the calculation unit according to the second magnetic induction module and the third magnetic induction module The rotation angle of the iron and the third magnet calculates the rotation angle of the input shaft and the output shaft. The gear type torque sensing device of claim 2, wherein the preset multiple is fifteen times. The gear type torque sensing device of claim 2, wherein the number of teeth of the outer ring teeth of the ring gear is sixty-two teeth, and the number of teeth of the sun gear is six teeth, the ring The number of teeth of the inner ring teeth of the gear is ninety teeth, the number of teeth of the carrier gear is sixty-four teeth, and the number of teeth of the output shaft gear is sixty teeth. The gear type torque sensing device of claim 4, wherein the first gear has a number of teeth of nineteen teeth and the second gear has seventeen teeth. The gear type torque sensing device of claim 2, wherein the input shaft has a first rod body, and a first guiding groove located in the first rod body, the output shaft rod having a second rod And a second guiding slot located in the second rod body, the input shaft gear includes a first mounting hole for the first rod body to be pierced, and a first protrusion that is engaged with the first guiding groove The output shaft gear includes a second mounting hole for the second rod to pass through, and a second protrusion that is engaged with the second guiding groove. The gear type torque sensing device of claim 2, wherein the teeth of the carrier gear are located at an outer circumference.