WO2025242561A1 - Transmission coaxiale équipée de capteurs de mesure intégrés - Google Patents

Transmission coaxiale équipée de capteurs de mesure intégrés

Info

Publication number
WO2025242561A1
WO2025242561A1 PCT/EP2025/063517 EP2025063517W WO2025242561A1 WO 2025242561 A1 WO2025242561 A1 WO 2025242561A1 EP 2025063517 W EP2025063517 W EP 2025063517W WO 2025242561 A1 WO2025242561 A1 WO 2025242561A1
Authority
WO
WIPO (PCT)
Prior art keywords
piston
strain gauge
pistons
coaxial
voltage
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
PCT/EP2025/063517
Other languages
German (de)
English (en)
Inventor
Philipp Simon EISELE
Daniel FÜRHAPTER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kraken Innovations GmbH
Original Assignee
Kraken Innovations 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 Kraken Innovations GmbH filed Critical Kraken Innovations GmbH
Publication of WO2025242561A1 publication Critical patent/WO2025242561A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/04—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion
    • F16H25/06—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion with intermediate members guided along tracks on both rotary members
    • 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
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/01—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
    • 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
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/01—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
    • F16H2057/012—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance of gearings
    • 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
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/01—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
    • F16H2057/016—Monitoring of overload conditions

Definitions

  • the present invention relates to a coaxial gearbox comprising: - at least one piston set with at least three pistons, wherein the pistons each have a toothing with at least one tooth on a first end face pointing away from the axis of rotation; - a hollow shaft with internal toothing, wherein, viewed in a plane perpendicular to the axis of rotation, the pistons are arranged inside the hollow shaft; - a guide unit, wherein the pistons of the respective piston set are each arranged in the guide unit spaced apart from one another in a circumferential direction pointing about the axis of rotation by guide webs and are linearly guided and movable back and forth parallel to a radial direction perpendicular to the axis of rotation; - a piston drive for the linearly guided movement of the pistons, - wherein the teeth of the first end faces of the pistons can be brought into engagement with the internal teeth, particularly
  • a coaxial drive according to the invention with an evaluation device for acquiring and evaluating measurement data is specified within the scope of the invention.
  • PRIORITY OF THE ART Numerous different designs of coaxial drives of the aforementioned type are already known. For example, single-stage planetary gears that operate coaxially, as well as multi-stage planetary gears, are each coaxial drives. Likewise, shaft drives, spur gear drives, and eccentric gear drives can also be coaxial drives. or cycloidal gears can be designed as coaxial gears.
  • a drive shaft and an output shaft of the gear lie on a common axis of rotation.
  • US 4,713,985 A discloses a wave gear with a ring element.
  • the ring element is arranged around the outer circumference of a cam element.
  • a rotational movement of the cam element does not generate a rotary driving force, but rather forces the drive rollers of the ring element into a cyclic and radial movement.
  • a piezoelectric component is installed as an actuator in a central section of a multi-part connecting element of a drive roller of the ring element, whereby the actuator's length can be changed.
  • a strain gauge detects the change in length of the multi-part connecting element, which can also be used as a drive for the wave gear.
  • a disadvantage is that the use of such a length-adjustable connecting element reduces the stiffness and strength of the entire wave gear.
  • a piston drive for a piston assembly with multiple pistons, each guided linearly in the radial direction, is lacking in the wave gear described in US 4,713,985 A.
  • Coaxial gears which include a piston drive for the linearly guided movement of the pistons of at least one piston assembly, encompass both gears without connecting rods, in which the piston drive is effected, for example, by means of a rotatable circular disk, elliptical disk, or polygonal disk, or by means of a piezoelectric drive, and gear designs in which the piston drive is effected by a crankshaft with at least one connecting rod bearing.
  • At least one connecting rod is provided, wherein the at least one connecting rod is coupled to one or more pistons of the at least one piston assembly and to the at least one connecting rod bearing.
  • the crankshaft thus constitutes a drive element or can be described as a drive element.
  • the hollow shaft is preferably mounted to rotate about the axis of rotation and can be used as an output element.
  • the guide unit can function as an output element, for which the guide unit must be rotatably mounted.
  • Such coaxial drives also known as crankshaft drives, advantageously transmit high torques in a compact, small design, enabling a high gear ratio as well as high accuracy and backlash-free operation.
  • EP 4004406 B1 refers to a coaxial drive in which at least three or more pistons are connected to at least one connecting rod bearing by means of their own connecting rod
  • EP 4207717 B1 takes a different approach.
  • WO 2023/088656 A1 corresponds to EP 4207717 B1.
  • a coaxial transmission is provided in which a common, star-shaped connecting rod is used to connect the pistons of each piston set to at least one connecting rod bearing or crankpin.
  • both the number of components and, consequently, the complexity and size of this coaxial transmission can be further reduced.
  • the number of pistons that can engage or partially engage with the internal teeth of the hollow shaft can be varied as desired in order to adjust the transmission ratio and the amount of transmissible torque according to requirements.
  • the engagement of the teeth on the first end faces of the pistons with the internal teeth of the hollow shaft can occur sequentially, for example, if a crankshaft is used as the piston drive.
  • the gear teeth of two or more pistons can also engage simultaneously with the internal gearing of the hollow shaft.
  • the gearing of the first end faces of the pistons means that each piston can also be described as a "gear element.”
  • the guide unit which guides the pistons of each piston set linearly at a distance from one another by means of guide webs, can be constructed as a single piece or composed of several elements.
  • the pistons are thus arranged in a circumferentially distributed manner. If a coaxial drive is equipped with two or more piston sets, it is also conceivable that the pistons of different piston sets are only axially spaced from one another, i.e., in the direction parallel to the axis of rotation. Due to the aforementioned advantages, these coaxial drives are used in a wide variety of applications. Particularly in applications where such coaxial gearboxes are subjected to especially high mechanical and/or thermal loads, currently known coaxial gearboxes of this type offer insufficient means of easily and reliably acquiring measurement data on loads during operation.
  • Encoders are measuring devices or input devices that detect the current position of a shaft or drive unit and output it as an electrical signal. Encoders thus convert a movement into an electrical signal that can be read by a control unit in a motion control system, such as a programmable logic controller (PLC).
  • PLC programmable logic controller
  • the encoder sends a feedback signal that can be used to determine position, number, speed, or direction. For example, if a tooth breakage in the coaxial gearbox causes the two measured rotation angle values to differ too much, a safety stop can be triggered by the controller.
  • installing an additional shaft in the coaxial gearbox to measure the rotation angles of the input and output shafts is a complex design and cannot be retrofitted to existing coaxial gearboxes. This increases the overall length of the coaxial gearbox.
  • a disadvantage of conventional monitoring is that it fails to detect potential deviations from the setpoint, such as rising temperature or above-average friction, during operation. Therefore, there is a pressing need to easily monitor coaxial gearboxes, particularly those subjected to heavy loads, during operation. This would allow for the early detection of mechanical and/or thermal stresses, enabling an assessment of wear and tear and the timely planning of necessary maintenance.
  • the objective of the present invention is to provide an improved coaxial gearbox that overcomes the aforementioned disadvantages.
  • a further objective of the invention is to provide an improved coaxial gearbox, including an evaluation unit for acquiring and evaluating measurement data during operation.
  • a coaxial transmission comprising: - at least one piston set with at least three pistons, wherein each piston has a toothed section with at least one tooth on a first end face pointing away from an axis of rotation; - a hollow shaft with internal teeth, wherein, viewed in a plane perpendicular to the axis of rotation, the pistons are arranged inside the hollow shaft; - a guide unit, wherein the pistons of each piston set are arranged in the guide unit spaced apart from one another in a circumferential direction pointing around the axis of rotation by guide webs, and are guided linearly and movable back and forth parallel to a radial direction perpendicular to the axis of rotation; - a piston drive for the linearly guided movement of the pistons, - wherein the teeth of the first end faces of the pistons, in particular successively, can be brought into engagement with the internal teeth and into a state disengaged from the internal teeth
  • Strain gauges are measuring devices for detecting tensile and compressive deformations on the surface of components. Strain gauges can also be referred to as passive ohmic sensors or as resistance elements.
  • a component here a piston, on which at least one strain gauge is attached, is stretched or compressed, an initial length l of the SGS changes by a differential length ⁇ l and an initial resistance R of the SGS (in ohms) changes by a differential resistance ⁇ R.
  • the stress profiles of two successive periods of a strain gauge deviate too much from each other, this can have various causes, each of which triggers an operational shutdown of the coaxial gearbox.
  • the engagement of the gear teeth on the piston may have shifted compared to the internal gearing, material breakage may have occurred on the piston or the gear teeth, foreign objects may have entered the interior of the coaxial gearbox, or the drive shaft may have broken. Deviations during operation are detected by means of one or more strain gauges mounted directly on at least one piston.
  • strain gauges are significantly faster and more precise than with conventional encoder systems because, on the one hand, the inertia of strain gauges is very low, and on the other hand, the expansion and contraction of the piston are measured directly in situ at the point of force transmission, rather than via a kinematic chain.
  • the acquisition and evaluation of the resistance changes of the at least one strain gauge will be discussed in detail below.
  • the input power in the drive motor is measured to monitor the torque. If this exceeds a certain value, a safety stop is triggered.
  • the reaction time for overload detection is significantly reduced by providing early warning of an overload due to voltage spikes in the strain gauge with short transmission times.
  • a further advantage of the coaxial gearbox according to the invention is that attaching one or more strain gauges to at least one of the pistons does not affect or change the overall length of the coaxial gearbox. Therefore, it is advantageous to retrofit existing coaxial gearboxes with one or more strain gauges attached to at least one of the pistons.
  • a key advantage of such retrofits is that no additional installation space needs to be provided within the coaxial gearbox for the measuring sensor of the at least one strain gauge.
  • the guide rails adjacent to each piston equipped with at least one strain gauge can be fixed in place for operation of the coaxial gearbox with integrated measuring sensor technology. In this configuration, each of the one or more strain gauges can be connected to a downstream evaluation unit for measuring data via signal lines to detect changes in resistance.
  • the connecting cables or signal lines can be routed without twisting through bores in the guide rails or the guide unit to the evaluation unit.
  • the signal lines are expediently designed as flexible connecting cables that can withstand the linear stroke of the respective piston.
  • the connecting cables are assembled with an excess length. This ensures that the relevant cable connections are not subjected to mechanical stress or stretching, even at maximum piston stroke.
  • the ring gear can be fixed for operation of the coaxial gearbox with integrated measuring sensors, with the signal transmission of the resistance changes of each strain gauge to a downstream evaluation unit via sliding contacts or wireless contacts.
  • the coaxial gearbox according to the invention can determine the current rotational speed, the current angle of rotation, and the current direction of rotation based on the signals acquired from at least one strain gauge.
  • the coaxial gearbox according to the invention can be connected to a wide variety of drive units or drive motors in a particularly flexible manner and can be used for a wide variety of applications.
  • the piston drive of a coaxial gearbox according to the invention with integrated measuring sensors can also be operated by means of a belt drive or an explosion-proof drive.
  • At least one strain gauge can be attached to each of at least three pistons of a coaxial drive, preferably arranged circumferentially, and particularly preferably evenly.
  • at least three pistons ensure that the next piston, whose first end face presses against the internal teeth, particularly across its surface, does not rotate the hollow shaft or, if applicable, the guide unit back in the opposite direction, resulting only in a reciprocating motion of the hollow shaft or guide unit around its axis of rotation.
  • the at least one piston set can comprise an even number of at least six pistons, with at least one strain gauge attached to at least every second piston.
  • a piston set can comprise sixteen pistons, with at least one strain gauge arranged on every second piston, thus providing a total of at least eight strain gauges.
  • Particularly precise, high-resolution monitoring of the ongoing operation of a coaxial drive according to the invention can be achieved if at least one strain gauge is attached to each piston.
  • the at least one strain gauge can be arranged in a first piston segment on the respective piston, wherein the first piston segment comprises an outer surface section of the respective piston.
  • the strain gauge is formed and positioned radially parallel to a piston longitudinal axis and at least partially perpendicular to an orientation direction of at least one tooth of the respective piston. If only one strain gauge is arranged per piston or per tooth element, a so-called Wheatstone quarter bridge with three additional resistors is used to evaluate the resistance change of the strain gauge. Temperature compensation is required to determine the resistance change as independently as possible from temperature influences. The temperature compensation can either be implemented directly in the circuit or taken into account during signal evaluation. In an advantageous embodiment of the invention, at least two strain gauges can be attached to at least one, preferably at least three, pistons arranged circumferentially in a coaxial drive.
  • the use of at least two strain gauges on the same piston offers the advantage that the second strain gauge can either serve as a half-bridge circuit for temperature compensation or as a redundant measuring device, further improving the reliability and fault tolerance of the sensor system should the first strain gauge fail. If, for example, there is sufficient space on a large coaxial gearbox with large pistons to mount four strain gauges on the same piston, the four strain gauges can be connected as a full bridge. This configuration allows for common-mode rejection, for example, of interference on the sensor line, to obtain particularly precise measurement signals. Furthermore, if four strain gauges are mounted on the same side of a piston, this arrangement can also be used to detect and evaluate the bending forces acting on the piston during gearbox operation.
  • a first strain gauge in a coaxial drive, can be arranged in a first piston segment and a second strain gauge in a second piston segment opposite the first piston segment on the same piston, wherein the first piston segment and the second piston segment each form an outer surface section on the respective piston and are each positioned radially parallel to a longitudinal axis of the piston and at least partially perpendicular to an orientation direction of at least one tooth of the respective piston.
  • two strain gauges on opposing piston segments are attached to the respective piston in such a way that they are each located outside the force flow caused by the transmitted torque from the ring gear to the guide web.
  • a further advantageous embodiment of the invention provides that, in a coaxial drive, a first piston segment and/or a second piston segment are each designed as a chamfered outer surface section on the respective piston, wherein preferably the chamfer width of the first piston segment and/or the chamfer width of the second piston segment is/are greater than or equal to the width of a strain gauge.
  • Chamfering one or two outer surface sections on the piston creates sufficient space to attach one or more strain gauges to the respective piston segment without the strain gauges rubbing against the adjacent guide webs of the guide unit.
  • the invention further provides that, corresponding to the position of a first piston segment and/or corresponding to the position of a second piston segment of the respective piston, a web recess can be arranged on the respective adjacent guide web of the guide unit, wherein the respective web recess is radially parallel to the longitudinal axis of the piston.
  • the piston in question runs along the guide web, and at least one strain gauge is arranged at least partially in the web recess, wherein the respective web recess preferably has a recess width greater than or equal to the width of a strain gauge.
  • the web recess in the guide web provides the necessary clearance for the strain gauge on the adjacent piston to prevent the strain gauge from rubbing against the guide web.
  • the at least one strain gauge can be selected from the group comprising or consisting of: foil strain gauges, semiconductor strain gauges, rosette strain gauges, wire strain gauges.
  • Foil strain gauges are typically laminated onto a thin plastic carrier and firmly bonded to the carrier, in this case, the respective piston. The combination of several strain gauges on a carrier in a partially overlapping arrangement is called a rosette strain gauge or strain gauge rosette.
  • the piston drive of a coaxial transmission can comprise a crankshaft rotatable about the axis of rotation with at least one connecting rod bearing, wherein at least one connecting rod is provided, which connecting rod is coupled to one or more pistons of the at least one piston set and to the at least one connecting rod bearing.
  • Such coaxial transmissions also referred to as crankshaft transmissions, advantageously transmit high torques in a compact, small design, offering a high transmission ratio and high accuracy.
  • the piston drive may comprise at least one cam disk rotatable about the axis of rotation, or piezoelectric elements, or linear motors.
  • a common, star-shaped connecting rod may be provided for connecting the pistons of the respective piston set to the at least one connecting rod bearing.
  • elongated holes may be provided in the pistons, the elongated holes extending transversely to the radial direction.
  • coupling bolts are attached to the star-shaped connecting rod, which engage with the elongated holes.
  • a separate connecting rod may be provided for connecting each piston of the respective piston set to the at least one connecting rod bearing.
  • the data acquisition unit can also determine several or all of the aforementioned operating parameters, including: current rotational speed, current angular position, current direction of rotation, current torque, current temperature, and/or current force.
  • current force it is hereby clarified that each strain gauge detects the mechanical stress acting on the respective piston to which the strain gauge is attached, i.e., an extension or compression of the piston.
  • each strain gauge determines the force acting on the respective piston or the torque acting on the coaxial drive.
  • a coaxial gearbox according to the invention including an associated evaluation unit for acquiring and evaluating measurement data, can be used in a particularly flexible manner for a wide variety of applications.
  • any drive motor can be connected to and coupled with the coaxial gearbox.
  • the evaluation unit is also configured to be "manufacturer-independent" and can process the measurement signals or voltage signals from different strain gauges regardless of the respective manufacturer of the strain gauges.
  • the measurement data acquisition unit can include at least one or more further electronic components for signal calibration or signal normalization:
  • the system comprises a further signal amplifier, an analog-to-digital converter (ADC), an electronic component for signal normalization, an electronic component for zero-value normalization, an electronic component for signal normalization including signal adjustment by means of signal offset, a voltage limiter, and/or a digital-to-analog converter (DAC).
  • ADC analog-to-digital converter
  • DAC digital-to-analog converter
  • the at least one measuring amplifier can be configured to provide a DC voltage for applying to the strain gauges.
  • the measurement data analysis unit can, for example, include a CPU, a working memory, a data storage device including a configuration data memory for storing configuration data, and a signal converter.
  • the system according to the invention can, for example, determine the rotational speed of the hollow shaft or the guide unit, wherein the evaluation device is configured to determine at least one actual value signal of a current rotational speed.
  • the period P is evaluated as the time interval t–t between two corresponding voltage peaks of the voltage signal of the respective strain gauge.
  • the angle of rotation corresponding to one period P is ⁇ 2/L, where L represents the number of gaps in the internal gearing of the hollow shaft.
  • the period is also evaluated as the time interval between two corresponding voltage peaks of the voltage signal from the strain gauge.
  • the period is directly proportional to the rotational speed. For example, with a gear reduction of 100:1, 100 piston strokes are required to achieve one revolution of the hollow shaft or the guide unit of the coaxial gearbox. In this case, the distance between two corresponding voltage peaks thus corresponds to one angle of rotation. 3.6°.
  • the period defines the rotational speed.
  • the sequence of incoming voltage signals from at least two strain gauges attached to different pistons must be evaluated.
  • a signal sequence of incoming voltage signals from the strain gauges first at the first piston and, with a time delay, at the second piston is the opposite of a signal sequence of incoming voltage signals from the strain gauges first at the second piston and subsequently, or with a time delay, at the first piston.
  • the evaluation device is configured to determine at least one actual value signal of a current angular position.
  • a method for determining a current angular position using the system comprises the following steps: - Acquiring and evaluating the voltage signals of at least one strain gauge, preferably all strain gauges, during operation of the coaxial drive; - Determining the respective times of voltage peaks of the respective strain gauge; - Assigning the respective times of stress peaks, taking into account the number of gaps L in the internal gearing of the hollow shaft, as an increment of the current angular position of the corresponding strain gauge. If the times t, t, ..., t are corresponding stress peaks, then n is the number of periods P, gaps L, or recesses in the internal gearing into which the respective piston has engaged.
  • the respective times of stress peaks are assigned, taking into account the number of gaps L in the internal gearing of the hollow shaft, as an increment of the current angular position of the corresponding strain gauge.
  • the impulse of a voltage spike can, for example, be interpreted as an increment for a rotation angle ⁇ of 3.6° (corresponding to the example above).
  • the more pistons or "tooth elements" are equipped with strain gauges, the higher the resolution of the overall system.
  • a coaxial gearbox for example, where 16 pistons are equipped with strain gauges
  • three (or more) distinct, corresponding voltage spikes can be evaluated for each tooth engagement.
  • the corresponding voltage spikes can be recorded at the moment the teeth engage, at the time of the voltage spikes during the highest load during tooth engagement, and/or at the time of extension when the tooth engagement is released. This allows the resolution of the rotation angle position to be further increased, and the rotation angle position can be specified, for example, with an accuracy of 0.225°/3, thus in 0.075° rotation angle increments.
  • the system according to the invention can also be used to determine the current torque of the coaxial gearbox.
  • the evaluation unit is configured to determine at least one actual value signal of the current torque.
  • a method for determining a current torque using the system according to the invention comprises the following steps: - Acquiring and evaluating the voltage signals of at least one strain gauge, preferably all strain gauges, during operation of the coaxial gearbox; - Calibrating the at least one strain gauge, preferably all strain gauges, at predefined torques and assigning the respective voltage amplitudes of voltage peaks of the respective strain gauge to a calibrated torque value; - Comparing the respective current voltage amplitudes of voltage peaks of the respective strain gauge during operation of the coaxial gearbox with the calibrated torque values and determining a current torque.
  • the calibration step of at least one strain gauge, or all strain gauges only needs to be performed once at the beginning of the measurements.
  • the torque is determined by evaluating the voltage amplitude.
  • the signal for different torques is recorded in the assembled state of the coaxial gearbox, and the system is calibrated accordingly.
  • a specific voltage amplitude is assigned to a calibrated torque value. Due to the numerous influences from friction or manufacturing variations during actual operation of the coaxial gearbox, a mathematical calculation is difficult to solve analytically. Numerical methods can be used to determine a factor k, which depends on the rotational speed, temperature, and material properties of the respective strain gauge. Since each strain gauge has individual material properties according to the The respective datasheets must be taken into account during calibration.
  • the system according to the invention can also be used to determine the current temperature within the coaxial gearbox or at the location of the respective strain gauge.
  • the evaluation unit is configured to determine at least one actual value signal of the current temperature.
  • a method for determining a current temperature using the system comprises the following steps: - Acquiring and evaluating the voltage signals of at least one strain gauge, preferably all strain gauges, during operation of the coaxial gearbox; - Calibrating the at least one strain gauge, preferably all strain gauges, at predefined temperatures and assigning an offset of the respective voltage signal of the respective strain gauge to a known temperature value prevailing during calibration; - Determining corresponding voltage peaks of the voltage signal of the strain gauge in question over time and determining the slope S of a signal drift; - Calculating a relative temperature change ⁇ T by multiplying S by a corresponding known material constant of the strain gauge in question; - Determining an initial temperature T based on the offset of the voltage signal in an initial time range; - Determining the current temperature T by adding T and ⁇ T.
  • the slope S of the signal drift indicates the relative temperature change.
  • the signal range e.g., 0-10 V
  • the characteristic of the temperature behavior of the strain gauge in question can be determined from its temperature coefficient. (English: Temperature Coefficient of Gauge Factor), i.e., a material constant according to the strain gauge datasheet. This allows the measuring range of the voltage signals to be set according to an expected temperature range during operation of the coaxial gearbox.
  • FIG. 1 in a schematic sectional view of a first embodiment of a coaxial gearbox according to the invention
  • Fig. 2 in an isometric oblique side view of a piston of a coaxial gearbox according to the invention with a strain gauge attached to it
  • Fig. 3 in a partially cut-out isometric view of a piston of a coaxial gearbox according to the invention with two strain gauges attached to it
  • Fig. 4 in a partial top sectional view of the piston shown in Fig. 3 with chamfered piston segments for receiving the strain gauges within a guide unit
  • Fig. 5 shows a partial sectional view from above of a piston of a coaxial drive according to the invention with two strain gauges attached to it within a guide unit with web recesses
  • Fig. 5 shows a partial sectional view from above of a piston of a coaxial drive according to the invention with two strain gauges attached to it within a guide unit with web recesses
  • FIG. 6 shows the first embodiment of a coaxial drive according to the invention shown in Fig. 1 with further details;
  • Fig. 7 shows the coaxial drive shown in Fig. 6 in a sectional view from the side according to the section plane AA shown in Fig. 6;
  • Fig. 8 shows a schematic sectional view of a second embodiment of a coaxial transmission according to the invention;
  • Fig. 9 shows the coaxial transmission shown in Fig. 8 in a sectional view from the side according to the section plane BB shown in Fig. 8;
  • Fig. 10 shows a schematic signal flow diagram of a system of a coaxial transmission according to the invention with an evaluation device for the acquisition and evaluation of measurement data;
  • Fig. 11 shows a schematic circuit diagram of a Wheatstone bridge circuit of a quarter bridge;
  • Fig. 12 shows a schematic signal flow diagram of an embodiment of a measurement signal acquisition system according to the invention
  • Fig. 13 shows a diagram of the voltage profile of a measurement signal over time.
  • Fig. 1 shows a coaxial transmission 1 according to the invention in a schematic view of a section perpendicular to an axis of rotation 2.
  • the coaxial transmission 1 comprises a piston drive 3, which here, for example, includes a crankshaft 3a rotatable about the axis of rotation with at least one connecting rod bearing 4, wherein in the present embodiment exactly one connecting rod bearing 4 or exactly one crankpin or connecting rod journal is provided. Details of the piston drive 3 will be discussed below.
  • the coaxial transmission 1 of the first embodiment further comprises a piston assembly 5 with sixteen pistons 10, which are designated in Fig. 1 in clockwise order as pistons 10a-10p.
  • the piston drive 3 serves for the linearly guided movement of the pistons 10a-10p.
  • Each piston 10a-10p has a toothing 12 with at least one tooth 13 on a first end face 11 pointing away from the axis of rotation.
  • the pistons 10a-10p of the respective piston set 5 are each spaced apart from one another in a guide unit 8 in a circumferential direction 7 pointing around the axis of rotation 2 by guide webs 9.
  • the guide unit 8, or the guide webs 9 between adjacent pistons 10, serve to guide the pistons 10a-10p linearly, so that the pistons 10a-10p can be moved back and forth parallel to a radial direction perpendicular to the axis of rotation 2.
  • the circumferential direction 7 is symbolized by a double arrow 7.
  • the coaxial drive 1 shown comprises a hollow shaft 30 with internal teeth 31, wherein, viewed in a plane perpendicular to the axis of rotation 2, the pistons 10a-10p are arranged inside the hollow shaft 30.
  • the internal teeth 31 have a plurality of gaps 32 or recesses.
  • the teeth 12, 13 of the first end faces 11 of the pistons 10a-10p can be brought into engagement with the internal teeth 31, particularly sequentially, and can also be brought into a state disengaged from the internal teeth 31 in order to further rotate the hollow shaft 30 or the guide unit 9 about the axis of rotation 2 during the respective engagement of one or more teeth 13 in corresponding gaps 32 or recesses of the internal teeth 31, preferably with planar contact between the respective teeth 12, 13 and the internal teeth 31.
  • at least one strain gauge 40 is attached to at least one of the pistons 10a-10p. In the first embodiment shown in Fig. 1, a strain gauge 40 is attached alternately to every second piston 10a, 10c, 10e, 10g, 10i, 10k, 10m, 10o.
  • the strain gauges 40 shown here are, for example, designed as foil strain gauges 41, in particular as semiconductor strain gauges 42, and offer the advantage of high k-values with high sensitivities and particularly compact dimensions.
  • the foil strain gauges are designated clockwise with the reference numerals 41a-41h.
  • one or more of the strain gauges can also be designed as wire strain gauges or arranged in a rosette shape.
  • Fig. 2 shows an example of such a piston 10 in an isometric view, for instance the piston 10a shown in Fig. 1.
  • the tooth 13 has a first tooth flank 13a, a second tooth flank 13b, a tooth width 13c, an orientation direction 13d of the tooth 13, which is symbolized by a double arrow 13d, and a tooth height 13e.
  • the piston 10, 10a has a longitudinal axis 14.
  • the longitudinal axis 14 corresponds to the radial direction 15, symbolized by a double arrow 15, in which the piston 10, 10a can be moved back and forth.
  • the piston 10, 10a shown has a bore 16 for a piston pin (not shown) with a longitudinal axis 17. Furthermore, a recess 20 for a connecting rod connection is provided.
  • the strain gauge 40, 41, 42 is arranged in a first piston segment 18 on the piston 10, 10a, wherein the first piston segment 18 forms an outer surface section on the piston 10a and is positioned in the radial direction 15 parallel to the longitudinal axis 14 of the piston and at least partially normal to the orientation direction 13d of the tooth 13.
  • the first piston segment 18 is designed here as a chamfered outer surface section with a chamfer width 18a.
  • the chamfer width 18a is chosen, for example, to be larger than the width 40a of the strain gauge 40.
  • a second piston segment 19 Opposite the first piston segment 18 in the orientation direction 13d of the tooth 13, a second piston segment 19 is formed, the second piston segment 19 also forming an outer surface section on the piston 10a and positioned in the radial direction 15 parallel to the longitudinal axis 14 of the piston and at least partially perpendicular to the orientation direction 13d of the tooth 13.
  • the second piston segment 19 can also be chamfered.
  • Fig. 3 shows, in a partially cut-away view, a piston 10 of a coaxial drive 1 according to the invention with two strain gauges 40 attached to it.
  • Fig. 4 shows, in a partial sectional view from above, the piston 10 shown in Fig.
  • a first piston segment 18 and a second piston segment 19 are each formed as a chamfered outer surface section, wherein a chamfer width 18a of the first piston segment 18 and a chamfer width 19a of the second piston segment 19 are each at least equal to a width 40a of a strain gauge 40, 41, 42.
  • the first piston segment 18 and the second piston segment 19 each form an outer surface section on the piston 10 and are each positioned in the radial direction 15 parallel to the piston longitudinal axis 14 and at least partially perpendicular to an orientation direction 13d of the tooth 13 of the respective piston 10.
  • Figure 3 further shows a connecting rod 6, a piston pin 21 which is inserted in the longitudinal axis direction 17 within the bore 16 of the piston 10 and enables a pivotal coupling of the piston 10 with the connecting rod 6, as well as sections of the guide unit 8 and the guide webs 9 adjacent to the piston 10.
  • the tooth 13 on the first end face 11 of the piston 10 engages in corresponding gaps 32 or recesses of the internal toothing 31, which is arranged on the inside of the hollow shaft 30.
  • Fig. 5 shows a partial sectional view from above of a piston 10 of a coaxial drive 1 according to the invention with two strain gauges 40 attached to it within a guide unit 8 with web recesses 29.
  • a web recess 29 is arranged here, wherein the respective web recess 29 extends in the radial direction 15 parallel to the longitudinal axis 14 of the respective piston 10.
  • the two strain gauges 40, 41, 42 are attached to the piston 10 such that they are arranged here in the web recess 29, wherein the respective web recess 29 has a recess width 29a that is greater than or equal to the width 40a of the respective strain gauge 40, 41, 42.
  • Fig. 6 shows again the first embodiment of a coaxial drive according to the invention, which is already shown in Fig. 1.
  • Fig. 6 – in addition to Fig. 1 – provides further details on the piston drive 3 with a crankshaft 3a.
  • the pistons 10a-10p of the piston assembly 5 are coupled to the connecting rod 6, which here is designed as a star-shaped connecting rod 60, by means of intermediate elements 22.
  • the intermediate elements 22 are essentially rigid, with each intermediate element 22 being pivotally connected on one side to the respective piston 10a-10p by means of guide pins 23 and on the other side pivotally connected to the star-shaped connecting rod 60 by means of connecting pins 25.
  • Fig. 7 is a sectional view of the coaxial drive 1 from the side according to the section plane AA shown in Fig. 6. In this side view, the strain gauges 40 attached to the pistons 10 are not visible.
  • Fig. 8 shows a second embodiment of a coaxial drive 1 according to the invention in a schematic sectional view.
  • the coaxial drive 1 comprises a piston drive 3 with a crankshaft 3a rotatable about the axis of rotation 2 and with at least one connecting rod bearing 4, wherein in the illustrated embodiment exactly one connecting rod bearing 4 or exactly one crankpin or connecting rod journal is provided.
  • Three pistons 10a, 10b, 10c are connected to the connecting rod bearing 4 in a manner known per se, or the pistons 10a, 10b, 10c are movably mounted on the connecting rod bearing 4.
  • a split connecting rod eye of each connecting rod 6a, 6b, 6c is fastened to the connecting rod bearing 4 by means of screws, and pistons 10a, 10b, 10c are connected via Piston pin 21 is connected to further connecting rod eyes of the connecting rods 6a, 6b, 6c.
  • piston 10a is connected to the crankshaft 3a or the connecting rod bearing 4 via connecting rod 6a, piston 10b via connecting rod 6b, and piston 10c via connecting rod 6c. All pistons 10a, 10b, 10c each have a first end face 11 facing away from the axis of rotation 2 with an embossed tooth profile 12, wherein each tooth profile 12 has exactly one tooth 13 in the illustrated embodiment.
  • the crankshaft 3a is hollow along the axis of rotation 2, which, for example, allows cables (not shown) to be routed without twisting.
  • the coaxial transmission 1 includes a hollow shaft 30 with internal teeth 31.
  • the pistons 10a, 10b, 10c – and at least partially the crankshaft 3a – are arranged within the hollow shaft 30.
  • a guide unit 8 in which the pistons 10a, 10b, 10c are each guided linearly and can be moved back and forth parallel to a radial direction 15 perpendicular to the axis of rotation 2.
  • the guide unit 9 in the illustrated embodiment has guide webs 9 in the form of hollow cylinders, which function as linear guides for the pistons 10a, 10b, 10c.
  • the teeth 12 on the first end faces 11 of the pistons 10a, 10b, 10c are successively engaged with the internal teeth 31 and then disengaged from the internal teeth 31. Due to the linear movement of the pistons 10a, 10b, 10c during each engagement, a surface contact between the respective teeth 12, 13 and the internal teeth 31 is ensured.
  • the respective teeth 12, 13 are pressed against the internal teeth 31 of the hollow shaft 30 over a surface area. This causes the hollow shaft 30 to rotate a short distance further around the axis of rotation 2, if the guide unit 9 is fixed relative to the axis of rotation 2, or if the guide unit 8 is rotatable around the axis of rotation 2 but braked.
  • Fig. 9 shows the coaxial drive 1 shown in Fig. 8 in a sectional view from the side according to the section plane BB shown in Fig. 8. In Fig.
  • a fourth piston 10c' and an associated connecting rod 6c', as well as a connecting rod 6a' of a fifth piston are also visible.
  • the strain gauges 40 attached to the pistons 10 are not visible in this side view.
  • Fig. 10 shows a schematic signal flow diagram of a system of a coaxial drive 1 according to the invention with an evaluation unit 100 for acquiring and evaluating measurement data.
  • the evaluation unit 100 comprises a measurement data acquisition unit 110 and a measurement data analysis unit 130.
  • the measurement data acquisition unit 110 is connected to at least one, preferably at least three, and, as illustrated in Fig. 10, particularly preferably all, strain gauges 40, 41a-41h of the coaxial drive 1 by means of signal lines 90.
  • the signal lines 90 serve as connection cables for transmitting the resistance changes.
  • the signal transmission between the strain gauges 40, 41a-41h and the evaluation unit 100 can be carried out, for example, wirelessly.
  • this requires a power supply to the strain gauges 40, 41a-41h, for example, by means of slip ring contacts or conventional connection cables.
  • the measurement data acquisition unit 110 comprises at least one bridge circuit 111, a first measuring amplifier 112, and optionally an A/D converter 113.
  • the measurement data acquisition unit 110 is configured to detect changes in resistance or diagonal voltages 81 or 81a, 81b of each of the strain gauges 40, 41a-41h by means of at least one bridge circuit 111 and outputs corresponding voltage signals 121.
  • the measurement data analysis unit 130 is configured to determine, based on the voltage signals 121 output by the measurement data acquisition unit 110, at least one actual value signal 140 of a current rotational speed and/or a current angular position and/or direction of rotation and/or a current torque and/or a current temperature and/or a current acting force from each of the strain gauges 40, 41a-41h, and preferably to output it to a control device 150 and/or to an external data monitoring device 160.
  • the measurement data analysis unit comprises, for example, a CPU processing unit 131, a working memory 132, a data storage device 135 including a configuration data memory 136 for storing configuration data, and a signal converter 140.
  • Fig. 11 shows a schematic circuit diagram of a Wheatstone bridge circuit 111 of a quarter bridge.
  • the Wheatstone bridge 70 shown here comprises a total of four resistors: a first resistor 71, a second resistor 72, a third resistor 73, and a fourth resistor 74.
  • One of the resistors 71-74 is the strain gauge 40.
  • a voltage 80 is applied.
  • Fig. 12 shows a schematic signal flow diagram of an embodiment of a measurement signal acquisition according to the invention. Essentially, Fig. 12 shows the following in further detail: Measurement signal acquisition within the measurement data acquisition unit 110 is shown.
  • the measurement data acquisition unit 110 shown here comprises, in addition to at least one bridge circuit 111 for detecting resistance changes of each of the strain gauges 40 and a measuring amplifier 112 for outputting corresponding voltage signals, the following further electronic components for signal calibration or signal normalization: an A/D converter 113 (analog-to-digital converter), an electronic component 114 for signal value normalization, an electronic component 115 for zero-value normalization, a further signal value amplifier 116, an electronic component 117 for signal value normalization including signal value adjustment by means of signal offset, a first voltage limiter 118, a D/A converter 119 (digital-to-analog converter), and a second voltage limiter 120.
  • the measuring amplifier 112 only amplifies the voltage signal 81.
  • an applied voltage 80 preferably a DC voltage
  • the resistance change measured with at least one strain gauge 40 is recorded as a diagonal voltage 81 in the bridge circuit 111 and initially amplified in the measuring amplifier 112.
  • the amplified (or increased) voltage 82 is then converted in the A/D converter 113.
  • a raw signal 82a obtained in this process is normalized in a signal normalization unit 114.
  • the resulting normalized signal 82b is set to "zero" in a subsequent zero-value normalization unit 115, thereby compensating for any signal deviations and inaccuracies.
  • the measurement signal of the strain gauge 40 is recorded and normalized in the unloaded resting state.
  • This normalization step is usually performed only once at the beginning of the measurements.
  • the normalized zero-value signal 82c obtained in this way is used to calibrate an output signal 82d, which is amplified in a further signal amplifier 116 to a normalized digital signal 83. Since this signal 83 can also assume negative voltage values if, for example, the respective strain gauge 40 or the associated piston 10 is subjected to elongation rather than compression and records tensile forces, the signal 83 is amplified in the device 117 for signal value normalization and adjustment by means of a signal offset through combination with an offset signal 84, resulting in a processed output signal 85.
  • a first voltage limiter 118 upstream of the D/A converter 119 serves to limit the voltage, for example, to a maximum of 10 V.
  • a correspondingly limited output signal 86 is converted in the D/A converter 119 into an analog signal 87, which, after passing through a second voltage limiter 120, is output as a voltage signal 121 by the measurement data acquisition unit 110.
  • Fig. 13 shows a diagram illustrating the voltage profile of a measurement signal over time.
  • the abscissa represents time t in milliseconds [ms].
  • the ordinate represents voltage U in volts [V].
  • An arrow A indicating the voltage amplitude A, is also shown along the ordinate.
  • the voltage curve shown is a sequence of recorded voltage peaks from a strain gauge during the tooth engagement of the respective piston, which is equipped with that strain gauge.
  • Index 1 denotes the first tooth engagement
  • index 2 the second, and so on.
  • a relatively low voltage peak E is observed at the beginning of the first tooth engagement, followed by a maximum voltage peak S at the highest load during the first tooth engagement, and then a further lower voltage peak L upon disengagement of the first tooth engagement.
  • a signal sequence is again recorded: a comparatively low voltage peak E at the beginning of the second tooth engagement, followed by a maximum voltage peak S at the highest load during the second tooth engagement, and followed by a lower voltage peak L when the second tooth engagement is released.
  • a period P can be determined as the time interval tt between two corresponding voltage peaks S,S at maximum load during tooth engagement, or between two corresponding voltage peaks E,E at the beginning of tooth engagement, or between two corresponding voltage peaks L,L when tooth engagement disengages.
  • the period P is evaluated as the time interval t–t between two corresponding voltage peaks of the voltage signal of the respective strain gauge.
  • the rotational angle ⁇ 2 ⁇ /L corresponding to one period P.
  • the period P is also evaluated as the time interval between two corresponding voltage peaks S,S; E,E; L,L of the voltage signal of the respective strain gauge 40.
  • the period P is directly proportional to the rotational speed.
  • the current angular position of the hollow shaft 30 or the guide unit 8 can be determined using the system according to the invention.
  • the evaluation unit 100 is configured to determine at least one actual value signal of a current angular position, the determination comprising the following steps: - Acquiring and evaluating the voltage signals 121 of at least one strain gauge 40, preferably all strain gauges 40, during operation of the coaxial drive 1; - Determining the respective times t,t of voltage peaks S,S; E,E; L,L of the respective strain gauge 40; - Assigning the respective times t,t of voltage peaks S,S; E,E; L,L, taking into account the number L of gaps 32 of the internal teeth 31 of the hollow shaft 30, as an increment of a current angular position of the respective strain gauge 40.
  • n is the number of periods P, gaps L, or recesses in the internal gearing into which the respective piston has engaged.
  • C) Determination of the torque The current torque of the coaxial drive 1 can also be determined using the system according to the invention.
  • the evaluation unit 100 is configured to determine at least one actual value signal of a current torque, the determination comprising the following steps: - Acquiring and evaluating the voltage signals 121 of at least one strain gauge 40, preferably all strain gauges 40, during operation of the coaxial gearbox 1; - Calibrating the at least one strain gauge 40, preferably all strain gauges 40, at predefined torques and assigning the respective voltage amplitudes U,U of voltage peaks S,S; E,E; L,L of the respective strain gauge 40 to a calibrated torque value; - Comparing the respective current voltage amplitudes U,U of voltage peaks S,S; E,E; L,L of the respective strain gauge 40 during operation of the coaxial gearbox 1 with the calibrated torque values and determining a current torque.
  • the step of calibrating at least one strain gauge 40 or all strain gauges 40 is generally only required once at the beginning of the measurements.
  • D) Determination of Temperature Change The system according to the invention can also be used to determine the current temperature within the coaxial gearbox 1 or at the location of the respective strain gauge 40.
  • the evaluation unit 100 is configured to determine at least one actual value signal of a current temperature, the determination comprising the following steps: - Acquiring and evaluating the voltage signals 121 of at least one strain gauge 40, preferably all strain gauges 40, during operation of the coaxial gearbox 1; - Calibrating the at least one strain gauge 40, preferably all strain gauges 40, at predefined temperatures and assigning an offset of the respective voltage signal 121 of the respective strain gauge 40 to a known temperature value prevailing during calibration; - Determining corresponding voltage peaks S,S; E,E; L,L of the voltage signal 121 of the strain gauge 40 over time and determination of the slope S of a signal drift; - Calculation of a relative temperature change ⁇ T by multiplying S by a corresponding known material constant of the strain gauge 40; - Determination of an initial temperature T based on the offset of the voltage signal 121 in an initial time range; - Determination of the current temperature T by adding T and ⁇ T.
  • the slope S of the signal drift indicates the relative temperature change.
  • the signal range e.g., 0-10 V
  • the characteristic of the temperature behavior of the strain gauge can be determined from its temperature coefficient (TGC), i.e., a Determine the material constant according to the strain gauge datasheet. This allows the measuring range of the voltage signals to be set according to an expected temperature range during operation of the coaxial gearbox.
  • the system according to the invention can also determine the direction of rotation of the hollow shaft 30 or the guide unit 8, wherein the evaluation device 100 is configured to determine at least one actual value signal of a current direction of rotation, the determination comprising the following steps: - Acquiring and evaluating at least one first voltage signal 81a, 121 of a first strain gauge 40, 41a, which is arranged on a first piston 10a, and at least one second voltage signal 81b, 121 of a second strain gauge 40, 41b, which is arranged on a second piston 10b spaced apart from the first piston 10a, during operation of the coaxial gearbox 1; - Determining at least one time t of the incoming first voltage signal 81a,121, and at least one time t of the incoming second voltage signal 81b,121, preferably taking into account the respective corresponding voltage peaks S,S; E,E; L,L of the first voltage signal 81a,121 of the relevant first strain gauge 40,41a and of the second voltage
  • the index 1 here denotes the time t of the arrival of the first voltage signal 81a,121 from the first strain gauge 40,41a on the first piston 10a.
  • the index 2 here denotes the time t of the arrival of the second
  • the voltage signals 81b, 121 of the second strain gauge 40, 41b on the second piston 10b are designated.
  • the sequence of incoming voltage signals from at least two strain gauges 40 and 41a, 41b, respectively, which are attached to different pistons 10a, 10b must be evaluated.
  • the corresponding voltage peaks S, S; E, E; L, L of the incoming voltage signals 81a, 81b, 121 should also be taken into account.
  • a temporal sequence tt of the signal sequence of the incoming voltage signals 81a,121 from the first strain gauge 40,41a, first at the first piston 10a and later arriving at the second piston 10b with a time delay is opposite in direction of rotation to a temporal sequence tt of the signal sequence of the incoming voltage signals 81b,121 from the second strain gauge 40,41b, first at the second piston 10b and subsequently, or later arriving at the second piston 10b with a time delay, with the voltage signals 81a,121 from the first strain gauge 40,41a, also opposite in direction of rotation.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Retarders (AREA)

Abstract

L'invention concerne une transmission coaxiale (1) comprenant : un ensemble piston (5) comprenant au moins trois pistons (10a-10p), ces pistons présentant respectivement sur une première face frontale (11) une denture (12) pourvue d'au moins une dent (13) ; un arbre creux (30) comportant une denture intérieure (31), les pistons étant disposés à l'intérieur de l'arbre creux (30) ; une unité de guidage (8), les pistons étant disposés respectivement dans l'unité de guidage (8) dans la direction circonférentielle (7), à distance les uns des autres par des éléments de liaison de guidage (9) et étant guidés linéairement en direction radiale (15) de manière à effectuer un mouvement de va-et-vient ; un entraînement de piston (3) pour le déplacement linéaire des pistons ; les dentures (12, 13) des premières faces frontales (11) des pistons pouvant être amenées en prise avec la denture intérieure (31) ainsi que dans un état désengagé de la denture intérieure (31) pour maintenir la rotation de l'arbre creux (30) ou de l'unité de guidage (9) autour de l'axe de rotation (2) durant la prise respective ; au moins une jauge de déformation (40, 41, 42) étant fixée sur au moins un des pistons.
PCT/EP2025/063517 2024-05-24 2025-05-16 Transmission coaxiale équipée de capteurs de mesure intégrés Pending WO2025242561A1 (fr)

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Application Number Priority Date Filing Date Title
ATA50430/2024A AT527841B1 (de) 2024-05-24 2024-05-24 Koaxialgetriebe mit integrierter messsensorik
ATA50430/2024 2024-05-24

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4713985A (en) 1984-05-31 1987-12-22 Kabushiki Kaisya Advance Kaihatsu Kenkyujo Transmission apparatus
WO2021193244A1 (fr) * 2020-03-24 2021-09-30 住友重機械工業株式会社 Dispositif d'engrenage de type à engrènement souple
WO2023088656A1 (fr) 2021-11-16 2023-05-25 Kraken Innovations Gmbh Transmission coaxiale
EP4004406B1 (fr) 2019-07-26 2024-04-10 Kraken Innovations GmbH Train d'engrenages coaxiaux
EP4207717B1 (fr) 2020-11-11 2026-01-28 Samsung Electronics Co., Ltd. Dispositif électronique et procédé d'affichage d'interface utilisateur

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4713985A (en) 1984-05-31 1987-12-22 Kabushiki Kaisya Advance Kaihatsu Kenkyujo Transmission apparatus
EP4004406B1 (fr) 2019-07-26 2024-04-10 Kraken Innovations GmbH Train d'engrenages coaxiaux
WO2021193244A1 (fr) * 2020-03-24 2021-09-30 住友重機械工業株式会社 Dispositif d'engrenage de type à engrènement souple
EP4207717B1 (fr) 2020-11-11 2026-01-28 Samsung Electronics Co., Ltd. Dispositif électronique et procédé d'affichage d'interface utilisateur
WO2023088656A1 (fr) 2021-11-16 2023-05-25 Kraken Innovations Gmbh Transmission coaxiale

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AT527841A4 (de) 2025-07-15

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