WO2015032445A1 - Rouleau à capteur et ensemble de palier - Google Patents

Rouleau à capteur et ensemble de palier Download PDF

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Publication number
WO2015032445A1
WO2015032445A1 PCT/EP2013/068599 EP2013068599W WO2015032445A1 WO 2015032445 A1 WO2015032445 A1 WO 2015032445A1 EP 2013068599 W EP2013068599 W EP 2013068599W WO 2015032445 A1 WO2015032445 A1 WO 2015032445A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
roller
cage
sensor roller
generator
Prior art date
Application number
PCT/EP2013/068599
Other languages
English (en)
Inventor
Andreas Clemens Van Der Ham
Nicolaas Simon Willem Den Haak
Armin Olschewski
Alexander De Vries
Sebastian Ziegler
Original Assignee
Aktiebolaget Skf
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 Aktiebolaget Skf filed Critical Aktiebolaget Skf
Priority to DE112013007416.8T priority Critical patent/DE112013007416B4/de
Priority to PCT/EP2013/068599 priority patent/WO2015032445A1/fr
Publication of WO2015032445A1 publication Critical patent/WO2015032445A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0009—Force sensors associated with a bearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/34—Rollers; Needles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/46—Cages for rollers or needles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
    • F16C41/004—Electro-dynamic machines, e.g. motors, generators, actuators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
    • F16C41/008—Identification means, e.g. markings, RFID-tags; Data transfer means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/04—Bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/24—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for radial load mainly
    • F16C19/26—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for radial load mainly with a single row of rollers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/52—Bearings with rolling contact, for exclusively rotary movement with devices affected by abnormal or undesired conditions

Definitions

  • the invention relates to a sensor roller and to a bearing assembly including such a sensor roller.
  • the document EP 0637 734 A1 discloses a device for load measurement in roller bearings whereby the measurement is carried out by means of sensors arranged to measure forces applied on the bearing.
  • the sensors communicate with means for recording, processing and evaluation of signals emitted from the sensors, which are representative of the bearing load.
  • At least one roller body per roller body row is provided with a bore in which is provided at least one sensor, as well as means for amplification and transmission of signals emitted from said sensor to a receiver.
  • the receiver is provided at the nonrotating bearing ring of the bearing. The signals received by the receiver are forwarded to further external means for signal processing.
  • the energy supply of the transmission and amplification means is achieved by means of a small coil mounted in connection to the amplifier/transmitter in the bore of the roller and the end thereof protrudes outside the end of the roller.
  • This coil is arranged in the sensor roller so as to communicate with a large, stationary coil provided at the stationary bearing ring.
  • the stationary coil provides the coil arranged in the roller with energy, and the coil arranged in the bore sends continuous load data, in the form of strain values from the sensors.
  • EP 0637 734 A1 has drawbacks in that the amount of energy which can be supplied to the small coil is limited, in particular in the case of low rotation speeds of the bearing.
  • the document DE69828236 T2 teaches a bearing assembly with a roller having a bore, wherein a generator and a gearbox is provided inside of the bore. The gearbox is connected to a cage of the bearing with an elastic coupling member.
  • the solution proposed in the DE69828236 T2 has drawbacks in terms of robustness and lifetime of the elastic coupling member. Further, the elastic connection does not allow for overlooking or slippage protecting the internal parts of the roller from damages in the case of shocks or excessively high rotation speeds and the elastic properties of the elastic coupling member are sensitive to temperature changes and subject to ageing.
  • the invention starts from a sensor roller for a bearing including an inner ring, an outer ring and a plurality of rollers including said sensor roller is arranged in a cage between the inner ring and the outer ring, wherein the sensor roller is provided with a bore accommodating a sensor unit and at least a part of a generator assembly and wherein said part of the generator assembly is configured to interact with said cage in order to generate energy out of a relative rotation between the cage and the roller.
  • the interaction is a magnetic interaction.
  • the use of a magnetic coupling instead of an elastic coupling element enables a practically wear-free operation and long lifetime.
  • the magnetic properties are less susceptible to external influences than elastic properties of an elastic coupling member. Further, the magnetic interaction may be easily generated with permanent magnets and may contribute to the magnetic flux circuits used by the generator.
  • the invention is applicable to large-size roller bearings such as bearings for wind turbines which need to be monitored. Limitations are imposed by the maximum degree of miniaturization available for the generator assembly to be fitted into the bore of the roller and the amount of power that is to be generated at a certain rotational speed.
  • the bearings may be single- or multiple-row roller bearings and may be equipped with one or more sensor rollers per row.
  • the sensor unit may comprise strain sensors, temperature sensors, vibration sensors or other sensors desired.
  • said part of a generator assembly includes a generator shaft provided with a magnet at its shaft end, wherein said magnet is configured to interact with a further magnet provided on the cage.
  • This embodiment enables the use of an off-the shelf generator, which only has to be equipped with a preferably disk-shaped permanent magnet at the end of its shaft connected to a rotor of the generator, whereas the body of the generator including the stator can be fitted into the bore and fixed therein in a non-rotating manner.
  • the generator assembly comprises a brushless DC generator and an AC-DC converter and energy storage circuit.
  • the AC-DC converter and energy storage module can be a simple rectifier with voltage output regulator (buck/boost), or a voltage multiplier circuit and a voltage regulator or battery charger circuit.
  • buck/boost voltage output regulator
  • the person skilled in the art will select the type of storage cell dependent on the intended usage profile in combination with the roller speed profile. E.g. for bearing defects detection, it only makes sense to measure when the bearing is moving. For static measurements: temperature, strain, angle, etc., it is necessary to rely on the energy storage capacity of the module.
  • the type of energy storage means depends on the usage (measurement and transmission) profile in combination with the rotational speed profile. Strategies can be developed to only measure and transmit when there is enough power from the generator and that the data is backed up in non-volatile memory during conditions where the power is insufficient. In that case a small storage cell, e.g. a capacitor can be used to cover the energy request while the data is backed up.
  • said sensor unit comprises a wireless transmitter unit for transmitting sensor signals to a receiving unit.
  • the invention is applicable to other types of rollers such as toroidal rollers or conical rollers, it is preferred the sensor roller is a cylindrical roller in view of the wide field of applicability thereof.
  • the part of the generator assembly comprises a gearbox provided between an input shaft interacting with the cage and a rotor of a generator.
  • the gearbox comprises preferably a planetary gear arranged coaxially to the generator shaft.
  • sensor unit, the part of the generator assembly and eventually the gear box in the bore are encapsulated, preferably using a Polyurethane (PUR) potting compound in order to avoid corrosion by aggressive ingredients of lubricants used for the roller.
  • PUR Polyurethane
  • a further aspect of the invention relates to a bearing assembly including an inner ring, an outer ring, a plurality of rollers including at least one sensor roller as described above and a cage guiding said plurality of rollers, wherein the cage is configured to magnetically interact with the part of the generator assembly of the sensor roller.
  • the cage is provided with a permanent magnet located adjacent to the sensor roller such that an air gap is formed between the permanent magnet and a magnetically interacting portion of the generator assembly.
  • the width of the air gap is 1 mm or less. Larger gaps do not enable a sufficiently strong interaction at a given size and strength of the permanent magnets such that slippage may occur or - if the cage or parts of the cage act as a yoke for the generator - the loss of the magnetic field is too important.
  • Fig. 1 is a schematic view of a roller bearing including a sensor roller according to the invention.
  • Fig. 2 is a schematic sectional view of the sensor roller of the bearing of Fig. 1.
  • Fig. 3 is a schematic sectional view of the sensor roller of a bearing according to a second embodiment of the invention.
  • Fig. 1 is a schematic view of a roller bearing including a sensor roller 10a according to the invention.
  • the bearing is a single-row roller bearing including one sensor roller 10a communicating in a wireless way with a remote receiver unit 12, which may be fixed e.g. to the stationary ring 14 of the bearing or to a housing or shaft retaining the stationary ring 14.
  • the receiver unit 12 may have integrated data processing means or an interface for forwarding the received data to a further control- and monitoring unit (not shown) which processes the sensor data as desired.
  • the bearing includes an inner ring 16, an outer ring 14 and a plurality of cylindrical rollers 10 including the sensor roller 10a.
  • the outer ring 14 is the stationary ring.
  • the rollers 10 are arranged in a cage 18 between the inner ring 16 and the outer ring 14.
  • the cage 18 is provided with a disk-shaped permanent magnet 20 such that the symmetry axis of the disk-shape of the permanent magnet 20 coincides with the rotation axis of the roller in the cage 18.
  • the magnetization direction 22 of the permanent magnet 20 is illustrated with an arrow in Fig. 1 and is perpendicular to the symmetry axis and to the rotation axis.
  • the orientation of the magnetization axis within the plane perpendicular to the symmetry axis and to the rotation axis is chosen to be the circumferential direction of the bearing in this embodiment, but may be chosen otherwise if desired.
  • Fig. 2 is a schematic sectional view of the sensor roller 10a of the bearing of Fig. 1.
  • the sensor roller 10a is provided with a bore 24 accommodating a sensor unit 26 and at least a part of a generator assembly 28.
  • the part of the generator assembly 28 integrated in the sensor roller 10a is configured to interact with the cage 18 in order to generate energy out of a relative rotation between the cage 18 and the sensor roller 10a.
  • the generator assembly 28 includes a generator 30 proper, which is preferably formed as a brushless DC generator, an AC-DC and energy storage circuit 32 and a wireless monitoring node 34.
  • the wireless monitoring node 34 includes the sensor unit 26 and a wireless transmitter unit 36 for transmitting the sensor signals to the receiver unit 12 in a wireless way.
  • the AC-DC and energy storage circuit 32 comprises a simple rectifier 38 with voltage output regulator (buck/boost) and the energy storage is achieved with a simple capacitor 40, wherein more complicated tasks may require more complicated energy storage solutions.
  • buck/boost voltage output regulator
  • a generator shaft 42 of the generator 30 is provided with a permanent magnet 44 at its shaft end, wherein said magnet 44 is configured to interact with the magnet 20 provided on the cage 18 described above.
  • the permanent magnet 20 of the cage 18 located adjacent to the sensor roller 10a such that an air gap is formed between the permanent magnet 20 one the cage 18 and the permanent magnet 44 on the shaft hand, the latter being the magnetically interacting portion of the generator assembly 28.
  • the width of the air gap is set to 1 mm or less, e.g. 0.2 mm.
  • the shapes and magnetization of the two magnets 20, 44 are identical, wherein a relative rotation is possible if a magnetic force generating an angular momentum is overcome.
  • the angular momentum restores the relative orientation of the magnets 20, 44 toward the rest configuration with minimum magnetic field energy, i.e. to the configuration illustrated in Fig. 2 in which the magnetization directions of the two magnets 20, 44 are opposite to one another.
  • the width of the air gap is chosen such that the magnetic interaction or restoration force is sufficiently strong to keep the magnets 20, 44 in the or close to the rest configuration as described above, whereas an overlocking or slipping is possible if angular momenta other than the angular momentum 5 generated by the magnetic interaction acting on the generator shaft 42
  • the wireless monitoring node 34 including the sensor unit 26 and the generator assembly 28 in the bore 24 are encapsulated using a PUR potting i o compound in order to avoid corrosion by aggressive ingredients of lubricants used for the roller.
  • Figure 3 shows a further possible embodiment of the invention.
  • the following description focuses on differences to the embodiment of 15 Figure 1 and 2 and the reader is referred to the description of Figures 1 and 2 for features which are similar or identical.
  • the same or similar reference numbers are employed for features having identical or very similar functions.
  • Fig. 3 is a schematic sectional view of the sensor roller 10a of a bearing according to a second embodiment of the invention.
  • the part of the generator assembly 28 arranged inside of the bore 24 comprises a gearbox 46 provided between an input shaft interacting with the cage 18 and a rotor of a generator 30.
  • 25 magnet 44 is mounted on the end of a shaft 48 of the gearbox 46.
  • the gearbox 46 enables an adaptation of the typical rotation speed of the roller to an optimum speed range of the generator in cases where the latter two ranges of rotation speeds differ too much.
  • the invention allows to dispense with an external power source and the power can be internally generated for the entire lifetime of the bearing. Compared to an embedded eccentric

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Rolling Contact Bearings (AREA)

Abstract

La présente invention concerne un rouleau à capteur (10a) et un ensemble de palier, l'ensemble de palier comprenant un anneau interne (16), un anneau externe (14) et une pluralité de rouleaux 10 comprenant ledit rouleau à capteur (10a) sont agencés dans une cage (18) entre l'anneau interne (16) et l'anneau externe (14), le rouleau à capteur (10a) étant pourvu d'un alésage (24) contenant une unité de capteur (26) et au moins une partie d'un ensemble de générateur (28) et ladite partie de l'ensemble de générateur (28) est configurée pour interagir avec ladite cage (18) afin de générer de l'énergie à partir d'une rotation relative entre la cage (18) et le rouleau. Il est proposé que ladite interaction soit une interaction magnétique.
PCT/EP2013/068599 2013-09-09 2013-09-09 Rouleau à capteur et ensemble de palier WO2015032445A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112013007416.8T DE112013007416B4 (de) 2013-09-09 2013-09-09 Sensorwälzkörper und Lageranordnung
PCT/EP2013/068599 WO2015032445A1 (fr) 2013-09-09 2013-09-09 Rouleau à capteur et ensemble de palier

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2013/068599 WO2015032445A1 (fr) 2013-09-09 2013-09-09 Rouleau à capteur et ensemble de palier

Publications (1)

Publication Number Publication Date
WO2015032445A1 true WO2015032445A1 (fr) 2015-03-12

Family

ID=49118539

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2013/068599 WO2015032445A1 (fr) 2013-09-09 2013-09-09 Rouleau à capteur et ensemble de palier

Country Status (2)

Country Link
DE (1) DE112013007416B4 (fr)
WO (1) WO2015032445A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015216472A1 (de) * 2015-08-28 2017-03-02 Aktiebolaget Skf Lageranordnung mit einem Sensorwälzkörper
DE102015218626A1 (de) 2015-09-28 2017-03-30 Aktiebolaget Skf Signalübertragungsvorrichtung für Lager
US10082178B2 (en) * 2016-06-29 2018-09-25 Aktiebolaget Skf Roller with integrated load cell
US20180340575A1 (en) * 2017-05-24 2018-11-29 Aktiebolaget Skf Rolling-element bearing assembly
US20190203773A1 (en) * 2018-01-03 2019-07-04 Aktiebolaget Skf Roller with integrated load detection
DE102020202692A1 (de) 2020-03-03 2021-09-09 Aktiebolaget Skf Sensorrolle für ein Lager, die eine integrierte Energiegewinnungsvorrichtung hat
WO2024141499A1 (fr) * 2022-12-29 2024-07-04 Liebherr-Components Biberach Gmbh Palier à roulement

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016116118A1 (de) * 2016-08-30 2018-03-01 Thyssenkrupp Ag Wälzkörper zur Verwendung in einem Wälzlager

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0637734A1 (fr) 1993-08-06 1995-02-08 Ab Skf Palier avec capteur de charge
EP0908714A1 (fr) * 1997-10-10 1999-04-14 Rks S.A. Palier à roulement
DE102012202522A1 (de) * 2012-02-20 2013-08-22 Schaeffler Technologies AG & Co. KG Sensorlager

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010038393A1 (de) 2010-07-26 2012-01-26 Aktiebolaget Skf Wälzkörper für eine Wälzlagerung
WO2012069066A1 (fr) 2010-11-25 2012-05-31 Aktiebolaget Skf Détection de la rotation d'un rouleau dans un palier en utilisation opérationnelle
DE102012200774A1 (de) 2012-01-20 2013-07-25 Aktiebolaget Skf Wälzlagereinheit

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0637734A1 (fr) 1993-08-06 1995-02-08 Ab Skf Palier avec capteur de charge
EP0908714A1 (fr) * 1997-10-10 1999-04-14 Rks S.A. Palier à roulement
DE69828236T2 (de) 1997-10-10 2005-12-08 Rks S.A., Avallon Lageranordnung
DE102012202522A1 (de) * 2012-02-20 2013-08-22 Schaeffler Technologies AG & Co. KG Sensorlager

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015216472A1 (de) * 2015-08-28 2017-03-02 Aktiebolaget Skf Lageranordnung mit einem Sensorwälzkörper
GB2542266A (en) * 2015-08-28 2017-03-15 Skf Ab Bearing arrangement having a sensor rolling element
US9816896B2 (en) 2015-08-28 2017-11-14 Aktiebolaget Skf Bearing arrangement having a sensor rolling element
GB2542266B (en) * 2015-08-28 2018-05-09 Skf Ab Bearing arrangement having a sensor rolling element
DE102015216472B4 (de) * 2015-08-28 2018-05-17 Aktiebolaget Skf Lageranordnung mit einem Sensorwälzkörper
DE102015218626A1 (de) 2015-09-28 2017-03-30 Aktiebolaget Skf Signalübertragungsvorrichtung für Lager
US10082178B2 (en) * 2016-06-29 2018-09-25 Aktiebolaget Skf Roller with integrated load cell
US10371206B2 (en) 2016-06-29 2019-08-06 Aktiebolaget Skf Sensorized roller
US20180340575A1 (en) * 2017-05-24 2018-11-29 Aktiebolaget Skf Rolling-element bearing assembly
US10508690B2 (en) * 2017-05-24 2019-12-17 Aktiebolaget Skf Rolling-element bearing assembly
US20190203773A1 (en) * 2018-01-03 2019-07-04 Aktiebolaget Skf Roller with integrated load detection
US10767703B2 (en) * 2018-01-03 2020-09-08 Aktiebolaget Skf Roller with integrated load detection
DE102020202692A1 (de) 2020-03-03 2021-09-09 Aktiebolaget Skf Sensorrolle für ein Lager, die eine integrierte Energiegewinnungsvorrichtung hat
US11415177B2 (en) 2020-03-03 2022-08-16 Aktiebolaget Skf Sensorized roller for a bearing having integrated energy harvesting device
WO2024141499A1 (fr) * 2022-12-29 2024-07-04 Liebherr-Components Biberach Gmbh Palier à roulement

Also Published As

Publication number Publication date
DE112013007416B4 (de) 2023-01-26
DE112013007416T5 (de) 2016-06-09

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