WO2016120093A2 - Ensemble capteur permettant une détection indirecte d'un couple de rotation d'un arbre monté rotatif - Google Patents

Ensemble capteur permettant une détection indirecte d'un couple de rotation d'un arbre monté rotatif Download PDF

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Publication number
WO2016120093A2
WO2016120093A2 PCT/EP2016/050739 EP2016050739W WO2016120093A2 WO 2016120093 A2 WO2016120093 A2 WO 2016120093A2 EP 2016050739 W EP2016050739 W EP 2016050739W WO 2016120093 A2 WO2016120093 A2 WO 2016120093A2
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
bearing
arrangement according
torque
sensor arrangement
Prior art date
Application number
PCT/EP2016/050739
Other languages
German (de)
English (en)
Other versions
WO2016120093A3 (fr
Inventor
Frank Klopf
Simon Schneider
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 WO2016120093A2 publication Critical patent/WO2016120093A2/fr
Publication of WO2016120093A3 publication Critical patent/WO2016120093A3/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
    • G01L3/1407—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs
    • G01L3/1428—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers
    • G01L3/1457—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers involving resistance strain gauges
    • 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
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/162—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of piezoresistors
    • 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
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/169—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using magnetic means

Definitions

  • the invention relates to a sensor arrangement for the indirect detection of a torque of a rotatably mounted shaft according to the preamble of independent claim 1.
  • Sensors for detecting torque are important components of engine and transmission test stands of all kinds. They are also an integral part of many large-scale industrial drive systems. With their help, for example, the torques in ship shafts, Windkraftan were monitored or drill pipe. Torque sensors are widely used, but their comparatively complex structure and associated costs have hitherto prevented their use in bulk goods. The measurement of the torque of the drive shaft of electric bicycles represents the first potential mass market for torque sensors, but the sensor concepts used for industrial plants are too expensive for this purpose.
  • the detection of the torque by means of a static pickup is sufficient.
  • the shaft whose torque is to be detected, connected to the one side of a deformation element.
  • the other end of the spring body also called deformation body is connected to a fixed construction element, such as a carrier or a housing part.
  • the applied torque leads to a deformation of the spring body by torsion.
  • the resulting twist is a few degrees and can be detected by a variety of known measuring methods.
  • Magnetic methods which are used to rotate a spring attached to the spring body are generally used here detect magnetic structure relative to a fixed magnetic field sensor. Also optical methods are suitable for this purpose.
  • strain gauges strain gauges
  • the supply is usually accomplished by the transmission of an AC voltage by means of a transformer arrangement in which a coil is wound around the drive shaft and consequently rotates.
  • the other spool stands firm and surrounds the shaft at a slightly greater distance. Together with the shaft, which acts as an iron core, this results in a transformer with comparatively good properties. Since the output signals of strain gage bridges are relatively small, the signal evaluation and amplification in the immediate vicinity of the measuring bridge is thus carried out by a rotating electronics.
  • Piezoresistive as well as magnetoelastic sensors make it very easy to measure the torques on rotating shafts. Their biggest advantage is the direct measuring principle. The torsion of the shaft detected by them is directly related to the torque. But this also causes their biggest disadvantage.
  • the properties of shaft and sensor are inextricably linked. These sensors can not be applied to an existing shaft because the elastic and / or magnetic properties of the shaft dominate the sensor characteristic. The torque sensors are rather part of the shaft itself. Their specific requirements must therefore be considered right from the start in designing the entire drive train. A constructive solution found for a system can not simply be transferred to another application.
  • the sensor arrangement according to the invention for the indirect detection of a torque of a rotatably mounted shaft having the features of independent claim 1 has the advantage that the torque of the shaft are measured indirectly via the detection of the bearing forces of the shaft can.
  • the sensor completely encloses the bearing of the shaft with a specially designed deformation element.
  • the material strains arising in the deformation body due to the bearing forces are preferably detected by means of piezoresistive sensor elements, which can be produced inexpensively in thin-film technology.
  • the torque sensor is also designed modularly, that is, it can be particularly easily equipped with multiple sensor elements, so as to determine the amount and the direction of the acting bearing force exactly. Its use also requires only constructive changes in the field of
  • Embodiments of the present invention provide a sensor arrangement for indirectly detecting a torque of a rotatably mounted shaft with a sensor, which comprises at least one arranged in the region of a bearing of the shaft sensor element which detects a bearing in a predetermined direction bearing force, from which the torque of Wave can be calculated.
  • the sensor has a sensor body, which acts as a deformation body and comprises an inner ring, which encloses the bearing, and an outer ring, which is connected to a supporting structure and connected to the inner ring via at least two webs, wherein the at least one sensor element coupled with one of the webs.
  • the bearing can be pressed into the inner ring of the sensor body. This allows a simple and secure connection of the sensor with the bearing whose bearing forces are to be detected. In addition, it is ensured via press-fit connection that the bearing forces are transmitted to the sensor body with almost no loss.
  • the at least one sensor element can be arranged on the web or integrated into the web.
  • the at least one sensor element is preferably embodied as a piezoresistive sensor element produced in thin-film technology and has a metallic base body on which an insulation layer and a functional layer of piezoresistive materials can be applied, wherein the functional layer can have four resistance structures which are connected to form a Wheatstone bridge can.
  • the webs absorb the force acting on the inner ring of the sensor body from the bearing and divert it via the outer ring to the supporting structure.
  • material stresses occur in the sensor structure, which are concentrated within the webs due to the design chosen.
  • the webs can be made thinner than the inner ring and the outer ring of the sensor body.
  • the resulting from the material stresses strains of the webs are detected for example by means of piezoresistive sensor elements. These are either attached to the webs or introduced or integrated into the webs. In both cases, the compression transfers to the piezoresistive sensor element and leads to a change in the ohmic resistances in the individual resistance structures. Changing the ohmic resistance changes the output voltage of the Wheatstone bridge. From this voltage signal can thus be concluded via a suitable evaluation of the acting torque.
  • the metallic base body can have at least two attachment structures, which can be connected to the web via a mechanical connection.
  • the main body of the sensor element is preferably made of steel, for example in the form of a strip and / or bolt.
  • the at least two connection points can be arranged below a flat surface element and connected to the corresponding web by welding points or welds, for example.
  • a connection by resistance welding is possible.
  • a round shape of this connection structure It is also possible to press into corresponding holes in the bridge. Brazing and gluing are in principle also conceivable, but are not preferable, since a non-positive and stable over the entire life compound can be achieved only with great effort.
  • the metallic base body can be pressed into a corresponding recess in the web to produce the mechanical connection between the sensor element and the web.
  • the base body is preferably made of steel, for example, by turning with a high-precision outer contour.
  • the connection to the sensor body is made by pressing this outer contour in a correspondingly shaped recess in the corresponding web.
  • this high-precision round contour is an arbitrarily shaped contour, which can be used as a stop when pressed in.
  • the sensor element can be additionally secured, for example, by one or more spot welds.
  • the sensor body can have, for example, four webs, wherein two adjacent webs can be arranged substantially perpendicular to one another.
  • the senor is modular, that is, it can be easily equipped with multiple sensor elements.
  • the sensor has only one sensor element, which is connected to a web. This embodiment is sufficient if the direction of the bearing force is known and unchanging.
  • the senor may comprise at least two sensor elements which are connected to different webs and detect bearing forces which act in different directions.
  • bearing forces can also be detected and calculated, the direction of which change depending on the operating situation, as for example in transmissions with multiple gears on a shaft.
  • the useful signal can be better filtered by disturbance variables. be separated.
  • the sensor can also be equipped with more than two sensor elements.
  • the senor may comprise at least one evaluation electronics, which can be electrically connected to at least one sensor element and arranged on the inner ring of the sensor body.
  • the sensor elements are connected, for example by wire bonding, each with a printed circuit board on which there is a suitable evaluation circuit.
  • the senor may comprise a protective housing, which is supported via support points on the inner ring and on the outer ring.
  • the protective housing protects sensor elements and evaluation circuits against environmental influences.
  • the protective housing can be performed with a plug to tap the signals of the sensor.
  • Fig. 1 shows a schematic representation of several shafts and gears to illustrate the conclusion of bearing forces, which can be detected with embodiments of the sensor arrangement according to the invention for the indirect detection of torque of a rotatably mounted shaft.
  • FIG. 2 shows a schematic representation of a first exemplary embodiment of a sensor arrangement according to the invention for the indirect detection of a torque of a rotatably mounted shaft.
  • 3 shows a plan view of an exemplary embodiment of a sensor element which can be used in embodiments of the sensor arrangement according to the invention for the indirect detection of a torque of a rotatably mounted shaft.
  • FIG. 4 shows a sectional view of the sensor element from FIG. 3.
  • FIG. 5 shows a schematic representation of a second exemplary embodiment of a sensor arrangement according to the invention for the indirect detection of a torque of a rotatably mounted shaft.
  • FIG. 6 shows a schematic representation of a third exemplary embodiment of a sensor arrangement according to the invention for the indirect detection of a torque of a rotatably mounted shaft.
  • FIG. 7 shows a sectional illustration of the sensor arrangement according to the invention from FIG. 6.
  • FIG. 8 shows a schematic sectional representation of a fourth exemplary embodiment of a sensor arrangement according to the invention for the indirect detection of a torque of a rotatably mounted shaft.
  • Fig. 1 serves to illustrate the formation of bearing forces.
  • Fig. 1 shows a plurality of waves Wl, W2, W3, which are connected to each other via gears ZI, Z2, Z3.
  • the arrangement serves to transmit a first torque Ml from a first shaft Wl via a second torque M2 of a second shaft W2 to a third shaft W3, which has a third torque M3. This is done by connected to the shafts Wl, W3 gears ZI and Z3 via an intermediate gear Z2, which is connected to the second shaft W2.
  • Two forces act on a bearing of the second shaft W2.
  • a force F i2 or F 2 i acting on the contact point between the first gear ZI and the second gear Z2 also acts on the bearing of the second shaft W2, since the second gear Z2 is mounted there via the second shaft W2.
  • a force F i2 or F 2 i acting on the contact point between the first gear ZI and the second gear Z2 also acts on the bearing of the second shaft W2, since the second gear Z2 is mounted there via the second shaft W2.
  • Gear Z2 acting force F 32 and F 2 3 are absorbed by the camp.
  • the addition of these two forces F i2 and F 32 results in the total bearing force F L2 acting on the bearing of the second shaft W2.
  • the bearing picks up this 5 force F L2 and passes it on to the surrounding structure. The resulting
  • Fig. 1 is located in the vicinity of the bearing a test bore Bl, which is compressed by the force F L2 shown in FIG. 1 corresponding to the dashed Darstell t) ment B2.
  • a piezoresistive sensor element these Materiadehnungen can be detected.
  • the torque M2 is determined therefrom by means of a suitable evaluation electronics.
  • the exemplary embodiments illustrated comprise games of a sensor arrangement 1, 1A, 1B, IC according to the invention for indirect operation
  • a sensor 10, 10A, 10B, IOC which comprises at least one arranged in the region of a bearing 7 of the shaft 5 sensor element 30, 30A, which acts in a predetermined direction bearing force FLi, FL 2 , FL 3 , FL 4 detects from which the torque of the shaft 5 can be calculated or determined.
  • the sensor 10, 10A, 10B, 10C comprises a sensor body 20, 20A, 20B, which acts as a deformation body and an inner ring 26, which encloses the bearing 7, and an outer ring 22, 22A, 22B, which on a supporting structure 3 tethered and over at least two jetties
  • 24A is connected to the inner ring 26.
  • the at least one sensor element 30, 30A is coupled to one of the webs 24, 24A.
  • the senor 10, 10A, 10B, 10C has a specially designed sensor body 20, 20A, 20B, which is used as a deformed sensor body 20, 20A, 20B.
  • the sensor body 20, 20A, 20B consists of an inner
  • the sensor bodies 20, 20A, 20B each have four webs 24, 24A.
  • two adjacent webs 24, 24A are arranged substantially perpendicular to each other.
  • These webs 24, 24A receive the force Fl_i, Fl_2, Fl_3, FL acting from the bearing 7 on the inner ring 26 of the sensor body 20, 20A, 20B and lead them to the supporting structure 3 via the outer ring 22, 22A, 22.
  • the bearing force FLi, FL 2 , FL 3 , FL 4 material stresses occur in the sensor structure, which are concentrated within the webs 24, 24A due to the design chosen.
  • the webs 24, 24A can be made thinner than the inner ring 26 and / or the outer ring 22, 22A, 22 of the sensor body 20, 20A, 20B, as shown in FIGS. 7 and 8 can be seen.
  • the resulting from the material stresses strains of the webs 24, 24A are detected by means of sensor elements 30, 30A.
  • the sensor elements 30, 30A are designed as piezoresistive sensor elements produced in thin-film technology and have a metallic main body 31 on which an insulating layer 33 and a functional layer 32 of piezoresistive materials are applied.
  • a thin layer which consists of at least the insulating layer 33 (eg silicon oxide) and the functional layer 32 is located on a base body 31 made of steel.
  • known piezoresistive materials such as NiCr alloys, platinum, poly-silicon, titanium oxynitride, etc. may be used.
  • resistors 34 are structured by suitable methods, such as wet etching, dry etching, laser ablation, etc., which are connected to form a Wheatstone bridge.
  • the resistance structures 34 are typically meander-shaped and arranged so that they are sensitive in pairs to strains in spatial directions which are perpendicular to each other.
  • Feed lines 36 to the bridge and contacting surfaces 38 can be carried out in the plane of the functional layer 32 or in an additional metallization plane.
  • the functional layer 32 may be protected by a passivation layer (eg, silicon nitride) or other measures (eg, gelling). As can be seen in FIGS.
  • the sensor elements 30, 30A are either fastened on the webs 24 or introduced into the webs 24A, as can be seen from FIGS. 5 and 8. In both cases, the compression transfers to the corresponding piezoresistive sensor element 30, 30A and leads to a reduction of an ohmic resistance in parallel to the direction of the force
  • Resistor structures 34 The "negative transverse contraction” in this case expands the resistance structures 34 which run perpendicular to the direction of the force, which leads to an increase in resistance.
  • the change in the ohmic resistances changes the output voltage of the Wheatstone bridge suitable evaluation to the torque of the shaft 5 are closed.
  • the sensor element 30 in the exemplary embodiments illustrated has a base body 31 made of steel, which has the form of a strip and / or bolt.
  • a planar surface element at least two connection structures 28.2 are arranged, via which the mechanical connection 28 to the sensor body 20 is produced.
  • the mechanical connection 28 can be done for example by welding points or welds.
  • a connection by resistance welding is possible.
  • it is also possible to press into corresponding bores in the web 24 of the sensor body 20. Brazing and gluing are in principle also conceivable, but are not preferable, since a non-positive and stable over the entire life compound can be achieved only with great effort.
  • the sensor element 30A in the exemplary embodiments illustrated comprises a base body 31 made of steel, which has a high-precision outer contour produced, for example, by turning.
  • the mechanical connection 28 to the sensor body 20A, 20B is carried out by pressing this contour into a correspondingly shaped recess 28.1 in the web 24A of the sensor body 20A, 20.
  • Below this high-precision circular contour is an arbitrarily shaped contour, which can be used as a stop during pressing , After joining or pressing in, the sensor Sorelement 30A be additionally secured by one or more welds.
  • various embodiments of the sensor arrangement 1, 1A, 1B, IC according to the invention for the indirect detection of a torque of a rotatably mounted shaft 5 can be realized.
  • the number of webs 24, 24A, the number of sensor elements 30, 30A used and the connection to the surrounding structure can be varied.
  • Embodiments of the sensor arrangement 1, 1A, 1B, IC according to the invention have a modular sensor 10, 10A, 10B, 10C, which can be equipped particularly easily with a plurality of sensor elements 30, 30A.
  • the sensor 10 has only one sensor element 30 in the illustrated first exemplary embodiment.
  • This embodiment is sufficient when the direction of the bearing force FLi is known and fixed. This is the case for the second wave W2 shown by way of example in FIG. 1.
  • the use of two sensor elements 30 may be advantageous in order to be able to better separate the useful signal from disturbance variables.
  • FIG. 5 shows such a sensor 10A with two pressed-in sensor elements 30A.
  • the bearing 7 is pressed.
  • bores 22.1 are introduced into the outer ring 22A for a screw connection to the surrounding structure 3.
  • a first sensor element 30A is pressed into a first web 24A and detects a downwardly acting part FLi of the bearing force.
  • a second sensor element 30A is pressed into a second web 24A and detects a left-acting part FL 2 of the bearing force.
  • the amount and direction of the acting bearing force can be determined from the detected force components.
  • the sensor 10B, 10C can be equipped with more than two sensor elements 30, 30A. 6 and 7 show a sensor 10B with four sensor elements 30 welded onto it. As can also be seen from FIG. 6, a first sensor element 30 is on a first web
  • a second sensor element 30 is welded onto a second web 24 and detects a left-acting part FL 2 of the bearing force.
  • a third sensor element 30 is welded onto a third web 24 and detects an upward-acting portion in the representation
  • FIG. 8 shows a sensor IOC with four pressed-in sensor elements 30A, which detect four force components FLi, FL 2 , FL 3 , FL of the bearing force acting in different directions analogously to the previous exemplary embodiment.
  • the edge of the sensor body 20 or 20A is designed in these embodiments so that the outer ring 22 or 22B can be positively introduced into a corresponding counterpart of the surrounding structure 3, for example by pressing.
  • the illustrated sensors 10A, 10B, 10C each have a protective housing 46 in order to protect the sensor elements 30, 30A and evaluation electronics 40 from environmental influences.
  • Protective housing 46 is supported via support points 46.1 on the inner ring 26 and on the outer ring 22, 22A, 22B of the sensor body 20, 20A, 20B. Part of this protective housing 46 is a connector, not shown, to tap the signals of the sensor 10A, 10B, IOC.
  • the sensor elements 30, 30A are connected by wire bonding to a respective printed circuit board 42, on which a suitable evaluation circuit 44 is located. This evaluates the bridge voltage and provides an output signal in the form of a voltage (eg 0 - 5 V), a current (eg 4 - 20 mA) or in digital form. This signal can be picked up at the contact points, for example by soldered or plugged cables.
  • each sensor element 30, 30A is assigned its own evaluation electronics 40, which each comprise a printed circuit board 42 and an evaluation circuit 44 and are arranged on the inner ring 26 of the sensor body 20, 20A, 20B.
  • an evaluation unit 40 can be used for a plurality of sensor elements 30, 30A.
  • Embodiments of the present invention provide a sensor arrangement for indirectly detecting a torque of a rotatably mounted shaft, which can be advantageously used wherever an inexpensive detection of the torque of drive shafts is required.
  • the synergy with the thin-film technology that Bosch has established in the field of high-pressure sensors and that is in high-volume production (more than 30 million sensor elements in 2013) offers a high economic potential.
  • the evaluation circuits required for this technology are also produced in very high quantities by Bosch and external suppliers, and thus very cost-effectively

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

La présente invention concerne un ensemble capteur (1) permettant une détection indirecte d'un couple de rotation d'un arbre (5) monté rotatif, lequel ensemble comprend un capteur (10) qui comporte au moins un élément de détection (30) placé dans la zone d'un palier (7) de l'arbre (5), lequel élément détecte une force de palier (FL1) qui agit dans une direction prédéfinie et à partir de laquelle le couple de rotation de l'arbre (5) peut être calculé. Selon l'invention, le capteur (10) présente un corps de capteur (20) qui agit comme corps de déformation et qui comporte une bague intérieure (26) entourant le palier (7) et une bague extérieure (22) connectée à une structure porteuse (3) et reliée à la bague intérieure (26) par l'intermédiaire de deux tenons (24), ledit au moins un élément de détection (30) étant accouplé à un des tenons (24).
PCT/EP2016/050739 2015-01-30 2016-01-15 Ensemble capteur permettant une détection indirecte d'un couple de rotation d'un arbre monté rotatif WO2016120093A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015201607.2 2015-01-30
DE102015201607.2A DE102015201607A1 (de) 2015-01-30 2015-01-30 Sensoranordnung zur indirekten Erfassung eines Drehmoments einer rotierbar gelagerten Welle

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Publication Number Publication Date
WO2016120093A2 true WO2016120093A2 (fr) 2016-08-04
WO2016120093A3 WO2016120093A3 (fr) 2016-11-03

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
JP2018132312A (ja) * 2017-02-13 2018-08-23 日本電産コパル電子株式会社 薄膜歪センサとそれを用いたトルクセンサ
US11099088B2 (en) 2018-12-21 2021-08-24 Deere & Company Strain torque measurement system
US11441655B2 (en) 2019-12-20 2022-09-13 Deere & Company Axle assembly with torque sensor

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DE102018133174A1 (de) * 2018-12-20 2020-06-25 Julia Manner Torsionssensor

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DE3429607A1 (de) * 1984-08-09 1986-02-20 Klaus 1000 Berlin Oppermann Messwertaufnehmer zum elektrischen messen von kraeften, druecken und spannungen
EP1154253A1 (fr) * 2000-05-09 2001-11-14 Sensile Technologies S.A. Appareil pour la mesure de performances de réseaux
US20070039401A1 (en) * 2005-08-05 2007-02-22 Toyota Jidosha Kabushiki Kaisha Torque detection apparatus and acting force detection apparatus
DE102008064048A1 (de) * 2008-12-19 2010-06-24 Continental Teves Ag & Co. Ohg Drehmomentsensoranordnung zur drahtlosen Daten- und Energieübertragung
JPWO2011065250A1 (ja) * 2009-11-25 2013-04-11 アルプス電気株式会社 フォースセンサ
DE102010027010A1 (de) 2010-07-13 2012-01-19 Schaeffler Technologies Gmbh & Co. Kg Verfahren und Vorrichtung zur Ermittlung eines auf ein Fahrradantriebsmittel eingeleiteten wirksamen Drehmomentes
US8453521B2 (en) * 2011-05-10 2013-06-04 Shimano Inc. Bicycle force sensing device
DE102011105539B4 (de) * 2011-06-24 2016-03-17 Siegert Thinfilm Technology Gmbh Vorrichtung zum Wandeln einer Kraft in ein elektrisches Signal, insbesondere piezoresistiver Kraftsensor
DE102012200232A1 (de) 2012-01-10 2013-07-11 Robert Bosch Gmbh Antriebsvorrichtung für ein Elektrofahrrad mit Kraftmessung zur Fahrerwunscherkennung

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018132312A (ja) * 2017-02-13 2018-08-23 日本電産コパル電子株式会社 薄膜歪センサとそれを用いたトルクセンサ
US11099088B2 (en) 2018-12-21 2021-08-24 Deere & Company Strain torque measurement system
US11614373B2 (en) 2018-12-21 2023-03-28 Deere & Company Strain torque measurement system
US11441655B2 (en) 2019-12-20 2022-09-13 Deere & Company Axle assembly with torque sensor

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WO2016120093A3 (fr) 2016-11-03
DE102015201607A1 (de) 2016-08-04

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