WO2012076408A1 - Dispositif et procédé pour la mesure d'un angle de torsion - Google Patents

Dispositif et procédé pour la mesure d'un angle de torsion Download PDF

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Publication number
WO2012076408A1
WO2012076408A1 PCT/EP2011/071611 EP2011071611W WO2012076408A1 WO 2012076408 A1 WO2012076408 A1 WO 2012076408A1 EP 2011071611 W EP2011071611 W EP 2011071611W WO 2012076408 A1 WO2012076408 A1 WO 2012076408A1
Authority
WO
WIPO (PCT)
Prior art keywords
measuring
gear
measuring gear
shaft
sensor element
Prior art date
Application number
PCT/EP2011/071611
Other languages
German (de)
English (en)
Inventor
Ronny Ludwig
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2012076408A1 publication Critical patent/WO2012076408A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields

Definitions

  • the invention relates to a device for measuring a torsion angle and to a method for measuring a torsion angle.
  • magnetoresistive sensor elements and / or Hall sensors are used to read one or more ring-shaped arranged around the shaft magnetic code tracks.
  • a code track consists of a counter-polarized magnetic ring with a sequence of magnetic north and south poles. The changing magnetic field of a code track during a rotational movement is detected by the sensors and the resulting signal is converted into a torsional or torque signal.
  • the inventive device for measuring a torsion angle between a first shaft and a second shaft, which are interconnected via a torsion element has the advantage that it is simple and inexpensive, has a low axial extent and thereby achieves high accuracy and angular resolution ,
  • the device has a first sprocket, which is arranged on the first shaft, and a second sprocket which is arranged on the second shaft. Furthermore, the device comprises a first measuring gear which is assigned to the first toothed rim and a second measuring toothed wheel, which corresponds to the second toothed wheel
  • Sprocket is assigned, wherein in each case at least one permanent magnet is arranged on the first measuring gear and on the second measuring gear.
  • one or more sensor elements are provided which detect the alignment of at least one of the magnetic fields of the permanent magnets.
  • the first measuring tooth wheel touchingly engages in the
  • the second measuring gear engages in contact with the ring gear of the second shaft. A rotation of the first ring gear thus causes a rotation of the first measuring gear, a rotation of the second
  • Measuring gears thus have axes of rotation which are arranged parallel but offset from the axis of rotation of the first and second shaft.
  • the two sprockets and the two measuring gears are dimensioned so that the transmission ratio of the first sprocket to the first measuring gear is equal to the transmission ratio of the second sprocket to the second measuring gear.
  • the measuring method according to the invention thus works as follows. If a torsion occurs between both shafts, the sprockets rotate in Dependence of the torsion angle relative to each other. Depending on
  • Gear ratio to the measuring gears this twist is amplified.
  • the sensor elements deliver signals depending on the angle of rotation between the two measuring gears. From the angle of rotation can be calculated by means of the transmission ratio of the torsion angle.
  • the advantage of the invention is that with a simple mechanical structure and a few sensor elements, a torsion measurement with high
  • the permanent magnets which are arranged in or on the measuring gears, simple dipole magnets and thus cost in the
  • magnetoresistive sensors such as ARM sensors (“anisotropy magnetoresistance”), can be used as sensor elements.
  • Such sensors can measure the alignment of a magnetic field in an angular range of 0 ° to 180 ° with high accuracy over the known anisotropic magnetoresistive effect.
  • the accuracy with which the torsion angle can be determined by the device according to the invention or the method according to the invention depends significantly on the selected transmission ratio between the
  • the ratio is preferably greater than or equal to 5: 1 selected.
  • the number of teeth of the first ring gear is equal to the number of teeth of the second ring gear, and the number of teeth of the first measuring gear equal to the number of teeth of the second
  • Measuring gear Such a symmetrical construction results in a particularly compact and cost-saving design of the device according to the invention.
  • a further improvement of the accuracy can be achieved in an advantageous manner by one or both measuring gears are biased by a spring against the respective associated sprocket. This reduces the influence of the bearing and gear play on the measurement of the torsion angle.
  • the axis of rotation of the first measuring gear and the axis of rotation of the second measuring gear are a preferred embodiment of a device according to the invention.
  • Measuring gear offset from each other is associated with at least one sensor element which detects the orientation of the respective measuring gear. Without torsion, the signals of both measuring gears or both sensor elements are substantially the same. A torsion of the waves causes a phase shift of the two measuring signals to each other. This relative phase shift is a measure of the torsion generated by the
  • Translation ratio can be calculated from the phase shift.
  • An advantage of this embodiment of the invention is that the influence of ambient conditions, for example due to thermal expansion with temperature fluctuations, is very low, since the measurement principle is based on the detection of a relative angular change between the two measuring gears, which results in environmental effects on the measurement almost cancel. Also, the temperature dependence of the sensor has for this reason only a small influence on the measurement
  • each of the measuring gears can be provided on each of the measuring gears, as well as two, each offset by 90 ° arranged sensor elements per measuring gear can be provided.
  • the alignment of each individual measuring gear can be determined by averaging the signals of both the measuring elements associated with the measuring gear with higher accuracy.
  • the first measuring gear, the second measuring gear and a sensor element are arranged coaxially one above the other.
  • the first measuring gear and the second measuring gear over a plain bearing directly superimposed.
  • Each measuring gear has a permanent magnet, wherein the permanent magnets are preferably formed differently strong, so that the farther permanent magnet of the second Meß leopardrads may have a correspondingly larger magnetic field designed stronger than the closer to the sensor element permanent magnet of the first measuring gear.
  • the two permanent magnets are preferably arranged in close proximity to each other.
  • the sensor element detects a resulting
  • resulting magnetic field is directly dependent on the angle of rotation between the first measuring gear and the second measuring gear. From the sensor signal can according to the invention by means of the transmission ratio of the
  • Torsion angle can be calculated.
  • a large transmission ratio advantageously greater than or equal to 10: 1, increases the resolution here.
  • the advantage of this design is that for measuring the angle of rotation between the first and the second measuring gear only a single
  • the first measuring gear and the second measuring gear can be braced against each other via a spring element.
  • Figure la shows a section through an arrangement according to a first
  • Figure lb shows a side view of the arrangement according to the first
  • Figure lc shows a plan view of the arrangement according to the first
  • FIG. 2 shows exemplary sensor signals that can be measured with the arrangement of FIG.
  • Figure 3a shows a side view of the arrangement according to a second embodiment of the invention.
  • Figure 3b shows a plan view of the arrangement according to the first
  • Figure 4a shows a side view of the arrangement according to a third
  • Figure 4b shows a plan view of the arrangement according to the third
  • Figure 4c shows the measuring gears of the arrangement according to the third
  • FIG. 4d illustrates the overlapping magnetic fields of the measuring gears of the arrangement according to the third exemplary embodiment of the invention.
  • Figure 5 illustrates the measuring principle according to the third embodiment of the invention.
  • Embodiments of the invention 1 shows a first embodiment of an inventive
  • Figure la shows the arrangement in section.
  • a first shaft 12 is connected to a second shaft 14 via a torsion element 13.
  • the torsion element 13 is formed in this example as a torsion bar on the second shaft 14, which in a
  • the first shaft 12 has a first toothed rim 22, which is fixedly connected to the shaft 12.
  • the second shaft 14 has a second ring gear 24 in the same way.
  • the sprockets 22 and 24 are at a short distance concentric with each other, the axis of rotation 100 is the same for both sprockets 22 and 24.
  • both sprockets 22 and 24 have substantially the same diameter and have the same number of teeth.
  • Both sprockets 22 and 24 respectively drive a measuring gear 32 and 34, respectively.
  • the measuring gears 32 and 34 are the same size, and in particular have the same number of teeth.
  • the mechanical gear ratio of ring gear 22 to gauge wheel 32 is thus equal to the gear ratio of ring gear 24 to gauge 34.
  • both sprockets 22 and 24 respectively drive a measuring gear 32 and 34, respectively.
  • the measuring gears 32 and 34 each have a permanent magnet 42 and 44. Both permanent magnets 42 and 44 are formed as simple dipole magnets and have the same orientation. In the illustrated embodiment, the measuring gears 32 and 34 each have an elongated base 32a and 34a, respectively. The permanent magnets 42 and 44 are arranged in the respective base 32a and 34a, that they are arranged substantially at the same height, above the sprockets 22 and 24. Directly above the permanent magnets 42 and 44, a circuit board 60 is arranged.
  • the measuring gears 32 and 34 and the associated pedestals 32a and 34a have bearing journals 35, 36 and are mounted in a carrier 70 and in metallized bores 62 and 64 of the printed circuit board 60.
  • the printed circuit board 60 is fixed to the carrier 70, for example by means of hot caulking. But there are also other mounting options conceivable.
  • On the circuit board 60 is still a light barrier 56. By a rotating "finger" 52 on the ring gear 22 thus can be counted in addition to the revolutions of the shaft 12.
  • the bores 62 and 64 are arranged so that the axes of rotation 102 and 104 of the measuring gears 32 and 34 and the axis of rotation 100 of the shafts 12 and 14 form an angle of 90 °.
  • other angles can be selected. From a manufacturing point of view, however, offers an angle of 90 °. The angle should not be too small, so that the
  • Magnetic fields of the two permanent magnets 42 and 44 do not influence each other. Too large an angle (from 120 °) can cause problems during assembly, for example during lateral joining.
  • the printed circuit board 60 is shaped accordingly.
  • sensor elements 82 and 84 which are each arranged exactly above the bearing bores 62 and 64 and are aligned in parallel.
  • the sensor elements 82 and 84 are designed, for example, as AMR sensors. Alternatively, other sensor types suitable for measuring magnetic field orientation, such as GMR sensors, may be used.
  • the sensor elements 82 and 84 are designed as SMD ("Surface Mounted Device") components
  • Rotation of a measuring toothed wheel 32 or 34 can thus be measured by measuring the orientation of the respective permanent magnet 42 or 44 with the respective sensor element 82 or 84.
  • the clearance and / or gear play between the respective sprocket 22 and 24 and the associated measuring gear 32 and 34 has a direct Influence on the resolution or error of the measurement.
  • Gear play and bearing clearance can increase the resolution through a larger
  • the respective measuring gear 32 and 34 is biased against the associated sprocket 22 and 24, respectively.
  • the preload is achieved by a revolving coil spring 57 having one end on the carrier 70 and the other on the measuring gear 32.
  • FIG. 1 shows how additionally or alternatively a preload is applied by a radially acting one Span spring 58 can be achieved.
  • the chip spring 58 is to one end to a
  • Fastener 71 is attached to the carrier 70 and at the other end to the measuring gear 34.
  • FIG. 2 shows typical measuring signals which supply the sensor elements 82 and 84 of the arrangement shown in FIG. 1 and from which the torsion angle between the first and second shafts 12 and 14 can be determined.
  • An AMR element typically provides two, 90 ° to each other
  • the first measuring gear 32 produces the two measuring curves 112 and 113 on the sensor element 82.
  • the signals of both measuring gears 32 and 34 or both sensor elements 82 and 84 lie exactly above one another. If a torsion occurs, the sprockets 22 and 24 rotate differently depending on the torsion angle relative to each other. Depending on the gear ratio to the measuring gears 32 and 34, this rotation is amplified. With an exemplary torsion angle of 3 ° in the positive direction, and a transmission ratio of 5: 1 results in a rotation angle of 15 ° between the first measuring gear 32 and the second measuring gear 34. There is a phase shift of the signals of both sensor elements to each other. The twist angle is expressed in one
  • Phase shift of the signals 202 and 212 of the second sensor element 84 relative to the signals 112 and 113 of the first sensor element 82 is a measure of the torsion. Analog arise at a Torsion angle of 3 ° in the negative direction, the signals 204 and 214 of the second sensor element 84, relative to the signals 112 and 113 of the first
  • Sensor element 82 are phase-shifted by a corresponding amount in the negative direction.
  • FIG. 3a shows a side view of the device
  • Figure 3b is a plan view.
  • the structure essentially corresponds to the construction shown in FIG. 1, and the same elements are given the same reference numerals.
  • this device has a second printed circuit board 61, which is arranged below the second toothed rim 24.
  • the second circuit board 61 is congruent with the first circuit board 60 and has two metallized holes 65 and 66 which receive the lower bearing journals 36 of the two measuring gears 32 and 34.
  • the upper bearing journals 35 of the measuring gears 32 and 34 are, analogously to the embodiment of FIG. 1, rotatably mounted in the bores 62 and 64 of the printed circuit board 60.
  • the printed circuit board 61 can be connected to a plastic carrier 70, for example via hot caulking pins. But there are also other mounting options conceivable. For example, both circuit boards 60 and 61 by means of
  • the carrier 70 superimposed on a not shown in this view sleeve of the second ring gear 24 between the two sprockets 22 and 24 and is mounted for example via a plain bearing.
  • the two measuring gears 32 and 34 each have an additional measuring gear
  • Permanent magnets 42 'and 44' on.
  • the permanent magnets 42 'and 44' are located directly above the printed circuit board 61, respectively in the socket 32a and 34a.
  • the permanent magnets 42 'and 44' are also formed as simple dipole magnets.
  • the permanent magnets 42 and 42 'of the first measuring gear 32 face each other and are in
  • a further sensor element 83 and 85 are arranged directly below the bearing bores 65 and 66, respectively.
  • the sensor element 83 is rotated by 90 ° to the
  • the signals of the sensor element 83 are accordingly 90 ° out of phase with the signals of the sensor element 82.
  • the sensor element 85 is rotated by 90 ° to the sensor element 84 mounted. The signals of the sensor element 85 are therefore 90 °
  • the overall resolution of the device can be improved by calculating the relative phase shift on torsion from the average of the signals of the sensor elements 82 and 83 and the average of the signals of the signals Sensor elements 84 and 85 is determined.
  • FIG. 4 shows a third embodiment of a device according to the invention for measuring a torsion angle.
  • Figure 4a shows a side view of the device
  • Figure 4b is a plan view.
  • the first shaft 12 has a first sprocket 22, which is fixedly connected to the shaft 12 on.
  • the second shaft 14 has a second ring gear 24 in the same way.
  • the sprockets 22 and 24 are at a short distance concentric with each other, the axis of rotation 100 is the same for both sprockets 22 and 24.
  • the sprockets 22 and 24 have substantially the same diameter and have the same number of teeth.
  • Both sprockets 22 and 24 each drive an exactly equal sized measuring gear 32 and 34 at.
  • the mechanical transmission ratio of the first ring gear 22 to the first measuring gear 32 is equal to
  • the first measuring gear 32 and the second measuring gear 34 are mounted coaxially and thus have the same axis of rotation 103. As shown in detail in FIG. 4 c, the first measuring gear 32 is mounted directly on the second measuring gear 34. For this purpose, a between the measuring gears 32 and 34
  • the first measuring gear 32 has for this purpose a hollow cylindrical portion 32b. Section 32b intervenes
  • both measuring gears 32 and 34 are slightly braced against each other. This ensures that at the respective sprockets 22 and 24, respectively always a toothed edge of the respective measuring gear 32 and 34 is applied. The influence of the gear play on the accuracy of the angle measurement is thereby reduced.
  • Both measuring gears 32 and 34 each include a permanent magnet 42 and 44, wherein the permanent magnet 44 in the second measuring gear 34 advantageously has a higher magnetic field strength. In the illustration of FIG. 4c, this is abstracted by the apparently larger dimensions of the permanent magnet 44.
  • the measuring gears 32 and 34 continue to have bearing journals 35 and 36 and are in a carrier 70 and in a metallized bore 62 a
  • Printed circuit board 60 On the printed circuit board 60 arranged above the first measuring gear 32, a single AMR sensor element 80 is located exactly above the bearing bore 62 for the first measuring gear 32.
  • the two permanent magnets 42 and 44 in the measuring gears 32 and 34 are in close proximity to one another and also in the immediate vicinity of the sensor element 80 due to the superposition of the two measuring gears 32 and 34. If no torsion occurs
  • the permanent magnets 42 and 44 are magnetically aligned the same.
  • the field lines 172 and 174 of the permanent magnets 32 and 34 are shown schematically.
  • the field lines are superimposed to form a resulting magnetic field 176, whose orientation with the sensor element 80 can be measured. If a torsion is applied to the first shaft 12 (typically between 0 and +/- 4 °), the gear ratio of the ring gear 22 to the first measuring gear 32 is rotated by the ratio factor.
  • Permanent magnets 42 and 44 of measuring gear 32 and measuring gear 34 differ.
  • the superimposed from the two different Field directions or vector components resulting field direction in the region of the sensor element 80 represents a measure of the torsion angle.
  • FIG. 5a shows the alignment of the two permanent magnets 42 and 44 at a torsion angle of 0 °.
  • the two permanent magnets 42 and 44 lie one above the other in the same orientation, the angle of rotation ot a between the two measuring gears is 0 °.
  • the resulting magnetic field direction 76a measured by the sensor element 80 coincides with the alignment of the two
  • Permanent magnets 42 and 44 match.
  • FIG. 5b shows the alignment of the two permanent magnets 42 and 44 at a torsion angle of 2 °. With the gear ratio results from between the two permanent magnets 42 and 44, a twist angle ot b of
  • the resulting magnetic field direction 76b which is measured by the sensor element 80, results from the vector sum of the magnetic fields of the two permanent magnets 42 and 44 in the region of the sensor element 80. In this example, it is 10 °.
  • FIG. 5c shows the alignment of the two permanent magnets 42 and 44 at a torsion angle of 4 °. With the gear ratio results from between the two permanent magnets 42 and 44, a twist angle ot c of 40 °. The resulting magnetic field direction 76b, which is measured by the sensor element 80 is now 20 °.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

Le dispositif selon l'invention pour la mesure d'un angle de torsion entre un premier arbre et un deuxième arbre, qui sont reliés l'un à l'autre via un élément de torsion, présente une première couronne dentée disposée sur le premier arbre et une deuxième couronne dentée disposée sur le deuxième arbre. En outre, le dispositif comprend une première roue dentée de mesure associée à la première couronne dentée et une deuxième roue dentée de mesure associée à la deuxième couronne dentée, au moins un aimant permanent étant disposé à chaque fois sur la première roue dentée de mesure et la deuxième roue dentée de mesure. Un ou plusieurs éléments capteurs détectent l'orientation absolue ou relative des roues dentées de mesure, en détectant l'orientation d'au moins un des champs magnétiques des aimants permanents. Les deux couronnes dentées ainsi que les deux roues dentées de mesure sont dimensionnées de manière telle que le rapport de transmission de la première couronne dentée à la première roue dentée de mesure est identique au rapport de transmission de la deuxième couronne dentée à la deuxième roue dentée de mesure.
PCT/EP2011/071611 2010-12-10 2011-12-02 Dispositif et procédé pour la mesure d'un angle de torsion WO2012076408A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010062776.3 2010-12-10
DE201010062776 DE102010062776A1 (de) 2010-12-10 2010-12-10 Vorrichtung und Verfahren zur Messung eines Torsionswinkels

Publications (1)

Publication Number Publication Date
WO2012076408A1 true WO2012076408A1 (fr) 2012-06-14

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PCT/EP2011/071611 WO2012076408A1 (fr) 2010-12-10 2011-12-02 Dispositif et procédé pour la mesure d'un angle de torsion

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WO (1) WO2012076408A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016111097A1 (de) 2016-06-17 2017-12-21 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Sensoranordnung zur Winkelerfassung und Schaltgetriebe

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19818799A1 (de) 1997-12-20 1999-06-24 Daimler Chrysler Ag Verfahren und Vorrichtung zum Messen von Winkeln
DE19834322A1 (de) * 1998-07-30 2000-02-03 Bosch Gmbh Robert Verfahren und Vorrichtung zur Ermittlung des auf eine Welle wirkenden Drehmoments
DE19835694A1 (de) * 1998-08-07 2000-02-10 Bosch Gmbh Robert Sensoranordnung zur Erfassung eines Drehwinkels und/oder eines Drehmoments
US20070246290A1 (en) * 2006-03-31 2007-10-25 Sona Koyo Steering Systems Ltd. Torque sensor for electric power steering system
DE102009022712A1 (de) * 2009-05-26 2010-12-02 Bourns, Inc., Riverside Torsionswinkelsensor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19818799A1 (de) 1997-12-20 1999-06-24 Daimler Chrysler Ag Verfahren und Vorrichtung zum Messen von Winkeln
DE19834322A1 (de) * 1998-07-30 2000-02-03 Bosch Gmbh Robert Verfahren und Vorrichtung zur Ermittlung des auf eine Welle wirkenden Drehmoments
DE19835694A1 (de) * 1998-08-07 2000-02-10 Bosch Gmbh Robert Sensoranordnung zur Erfassung eines Drehwinkels und/oder eines Drehmoments
US20070246290A1 (en) * 2006-03-31 2007-10-25 Sona Koyo Steering Systems Ltd. Torque sensor for electric power steering system
DE102009022712A1 (de) * 2009-05-26 2010-12-02 Bourns, Inc., Riverside Torsionswinkelsensor

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