Gearbox torque measurement system
A torque transmission apparatus incorporates a differential gear system and a stationary sensor connected to the differential gear system for measuring output torque. The stationary sensor may be connected to a measurement output element of the differential gear system by a torsionally compliant measurement member, wherein the stationary sensor measures torsional deformation of the measurement member. The torsional deformation may be measured directly, or it may be measured following amplification by a gear train. A rotary position sensor may be used as the stationary sensor. Alternatively, the stationary sensor may be connected to the measurement output element of the differential gear system by way of a rigid measurement member, wherein the stationary sensor measures force applied by the measurement member. In this alternative, a force sensor may be used as the stationary sensor.
1. A gearbox system for connection to a motor ( 24 ), the gearbox system comprising:
a structural ground (G) to which the motor ( 24 ) is fixedly attached;
a differential gear system ( 12 ) including an input element ( 14 ), a transmission output element ( 16 ), and a measurement output element ( 18 ), wherein the transmission output element ( 16 ) rotates in response to rotation of the input element ( 14 ) and the measurement output element ( 18 ) reacts an output torque transmitted by the transmission output element ( 16 ) by providing a reaction torque equal and opposite to the output torque;
a rotatable input shaft ( 20 ) driven to rotate by the motor ( 24 ) and connected to the input element ( 14 ), wherein the input element ( 14 ) rotates in response to rotation of the input shaft ( 20 );
a rotatable output shaft ( 22 ) driven to rotate by rotation of the transmission output element ( 16 ), wherein the rotatable output shaft ( 22 ) transmits the output torque;
a measurement member ( 26 ) connected to and arranged between the measurement output element ( 18 ) and the structural ground (G); and
a stationary sensor ( 30 , 30 ′) associated with the measurement member ( 26 ) or the measurement output element ( 18 ) for measuring at least one of (i) a deformation of the measurement member ( 26 ), (ii) an angular displacement of the measurement output element ( 18 ), (iii) a force applied by the measurement member ( 26 ), and (iv) a force applied by the measurement output element ( 18 ), the measurement by the stationary sensor ( 30 , 30 ′) being proportional to the output torque, wherein the stationary sensor ( 30 , 30 ′) generates a signal representative of the output torque.
2. The gearbox system according to claim 1 , wherein the measurement member ( 26 ) is a torsionally compliant member arranged to undergo torsional deformation due to angular displacement of the measurement output element ( 18 ).
3. The gearbox system according to claim 2 , wherein the stationary sensor ( 30 , 30 ′) measures the torsional deformation of the measurement member ( 26 ).
4. The gearbox system according to claim 2 , wherein the stationary sensor ( 30 , 30 ′) measures the angular displacement of the measurement output element ( 18 ).
5. The gearbox system according to claim 4 , further comprising a measurement gear train ( 34 ) associated with the measurement output element ( 18 ), wherein the measurement gear train includes an output gear ( 34 B) driven to rotate through an angular displacement proportional to the angular displacement of the measurement output element ( 18 ), wherein the stationary sensor ( 30 ) is arranged to detect the angular displacement of the output gear ( 34 B).
6. The gearbox system according to claim 5 , wherein the stationary sensor ( 30 ) includes a rotary position encoder.
7. The gearbox system according to claim 5 , wherein the stationary sensor ( 30 ) includes a resolver.
8. The gearbox system according to claim 5 , wherein the measurement gear train ( 34 ) amplifies the angular displacement of the measurement output element ( 18 ).
9. The gearbox system according to claim 5 , wherein the measurement gear train ( 34 ) includes at least one spring ( 36 ) arranged to remove backlash in the measurement gear train ( 34 ).
10. The gearbox system according to claim 5 , wherein the measurement gear train ( 34 ) includes a pair of output gears ( 34 B) arranged opposite one another to remove backlash in the measurement gear train ( 34 ).
11. The gearbox system according to claim 2 , wherein the measurement member ( 26 ) includes at least one radially projecting end stop for engaging a pair of limit surfaces ( 11 ) associated with structural ground (G) for limiting a range of torsional deformation of the measurement member ( 26 ).
12. The gearbox system according to claim 1 , wherein the measurement member ( 26 ) is a rigid member arranged to transmit torque from the measurement output element ( 18 ).
13. The gearbox system according to claim 12 , wherein the stationary sensor ( 30 , 30 ′) includes a force sensor arranged to detect force applied to the stationary sensor ( 30 , 30 ′) by the measurement member ( 26 ).
14. The gearbox system according to claim 13 , wherein the measurement member ( 26 ) includes a pivotally-mounted bell crank ( 26 ) having a first arm ( 26 C) engaged by the measurement output element ( 18 ) and a second arm ( 26 D) arranged to apply force to the stationary sensor ( 30 , 30 ′).
15. The gearbox system according to claim 1 , wherein the differential gear system ( 12 ) includes a planetary gear system having a sun gear ( 12 A), a ring gear ( 12 B) surrounding the sun gear ( 12 A), and at least one planet gear ( 12 C) meshed with the sun gear ( 12 A) and the ring gear ( 12 B).
16. The gearbox system according to claim 15 , wherein the input element ( 14 ) includes the sun gear ( 12 A), the transmission output element ( 16 ) includes the at least one planet gear ( 12 C), and the measurement output element ( 18 ) includes the ring gear ( 12 B).
17. The gearbox system according to claim 1 , wherein the gearbox system is adapted for connection to a second motor ( 24 ), wherein the differential gear system ( 12 ) further includes a second input element ( 14 ), and the gearbox system further comprises a second rotatable input shaft ( 20 ) driven to rotate by the second motor ( 24 ) and connected to the second input element ( 14 ) to drive rotation of the second input element.
18. The gearbox system according to claim 17 , wherein the differential gear system ( 12 ) includes a planetary gear system having a pair of coaxial sun gears ( 12 A), a pair of coaxial ring gears ( 12 B) respectively surrounding the pair of coaxial sun gears ( 12 A), and at least one planet gear ( 12 C) meshed with the pair of sun gears ( 12 A) and the pair of ring gears ( 12 B), wherein the input element ( 14 ) and the second input element ( 14 ) include the pair of sun gears ( 12 A), and the transmission output element ( 16 ) and the measurement output element ( 18 ) include the pair of ring gears ( 12 B).
19. The gearbox system according to claim 18 , wherein the transmission output element ( 16 ) indirectly engages the measurement output element ( 18 ) by way of the at least one planet gear ( 12 C).
20. The gearbox system according to claim 1 , wherein the measurement output element ( 18 ) includes at least one radially projecting end stop for engaging a pair of limit surfaces ( 11 ) associated with structural ground (G) for limiting a range of angular displacement of the measurement output element ( 18 ).
21. The gearbox system according to claim 1 , wherein the transmission output element ( 16 ) directly engages the measurement output element ( 18 ).
22. A gearbox for connection to a motor ( 24 ) by way of a rotatable input shaft ( 20 ) driven to rotate by the motor ( 24 ), the gearbox comprising:
a structural ground (G) to which the motor ( 24 ) is fixedly attached;
a differential gear system ( 12 ) including an input element ( 14 ) which rotates in response to rotation of the input shaft ( 20 ), a transmission output element ( 16 ), and a measurement output element ( 18 ), wherein the transmission output element ( 16 ) rotates in response to rotation of the input element ( 14 ) and the measurement output element ( 18 ) reacts an output torque transmitted by the transmission output element ( 16 ) by providing a reaction torque equal and opposite to the output torque;
a measurement member ( 26 ) connected to and arranged between the measurement output element ( 18 ) and the structural ground (G); and
a stationary sensor ( 30 , 30 ′) associated with the measurement member ( 26 ) or the measurement output element ( 18 ) for measuring at least one of (i) a deformation of the measurement member ( 26 ), (ii) an angular displacement of the measurement output element ( 18 ), (iii) a force applied by the measurement member ( 26 ), and (iv) a force applied by the measurement output element ( 18 ), the measurement by the stationary sensor ( 30 , 30 ′) being proportional to the output torque, wherein the stationary sensor ( 30 , 30 ′) generates a signal representative of the output torque.