Measuring system and method for determining a force and/or a torque on a torque-transmitting shaft
The invention relates to a measuring system for determining a force and/or a torque on a torque-transmitting shaft, wherein: the measuring system has at least three, in particular at least four, piezoelectric elements each having a preferred direction and each being arranged at different positions about a rotational axis of the shaft in a force flow transmitted via the shaft, said arrangement being such that a force of the force flow acts, in particular exclusively, on the piezoelectric elements; the preferred directions each lie parallel to or in a single plane which is intersected by the rotational axis; and the preferred directions of at least two, in particular at least three, of the piezoelectric elements are oriented neither parallel nor antiparallel to one other.
1. A measuring system for determining a force and a torque on a torque-transmitting shaft, wherein the measuring system comprises:
at least three piezoelements, each of the at least three piezoelements having a piezoelectric crystal oriented in a preferred direction, wherein each of the at least three piezoelements are arranged at different positions about a rotational axis of the torque-transmitting shaft in a force flow transmitted via the torque-transmitting shaft such that a force of the force flow acts on the at least three piezoelements, wherein each of the preferred directions of the piezoelectric crystals lie parallel to a single plane intersected by the rotational axis or in the single plane intersected by the rotational axis, and wherein the preferred directions of the piezoelectric crystals are oriented neither parallel nor antiparallel to one another; and
a signal processing device which is configured to determine the force and the torque using a system of equations for force components and torque components based on measurement signals of individual piezoelements of the at least three piezoelements, wherein measurement signals from all of the piezoelements that have a piezoelectric crystal oriented in a respective preferred direction lying parallel to the single plane intersected by the rotational axis or in the single plane intersected by the rotational axis are used to determine each of the force components and each of the torque components, wherein the systems of equations is:
S 1 =a 11 ·Mz+a 12 ·Fx+a 13 ·Fy
S 2 =a 21 ·Mz+a 22 ·Fx+a 23 ·Fy
S 3 =a 31 ·Mz+a 32 ·Fx+a 33 ·Fy
SN=a NI ·Mz
and wherein S 1 -SN are the measurement signals, Mz represents a torque component, Fx represents a first force component, and Fy represents a second force component.
2. The measuring system according to claim 1 , wherein the at least three piezoelements are geometrically arranged such that there is no mirror axis or no point of symmetry in terms of their respective position relative one another in a projection onto the single plane intersected by the rotational axis.
3. The measuring system according to claim 1 , wherein the at least three piezoelements are geometrically arranged such that at least two piezoelements of the at least three piezoelements have a different radial distance from the rotational axis or that two circular sectors around the rotational axis span a different angle between two respective piezoelements of the at least three piezoelements.
4. The measuring system according to claim 1 , wherein the signal processing device is further configured to decompose the measurement signals into components contributing to the force or the torque to be determined.
5. The measuring system according to claim 1 , wherein the signal processing device is further configured to account for a contribution of individual piezoelements of the at least three piezoelements to different force components and torque components.
6. The measuring system according to claim 1 , wherein the single plane intersected by the rotational axis is oriented at least substantially perpendicular to the rotational axis of the torque-transmitting shaft.
7. The measuring system according to claim 1 , wherein an area of the at least three piezoelements over which the force is introduced lies at least substantially parallel to the single plane intersected by the rotational axis.
8. The measuring system according to claim 1 , wherein the at least three piezoelements form a main direct force relative to the force flow, and wherein a force shunt takes in less than 10% of the force of the force flow.
9. The measuring system according to claim 1 , wherein a further piezoelement having a piezoelectric crystal oriented in a preferred direction that is not parallel to the single plane intersected by the rotational axis is arranged adjacent to each piezoelement of the at least three piezoelements in a direction of the rotational axis of the torque-transmitting shaft, wherein the at least three piezoelements form pairs with the respective adjacently arranged further piezoelement, wherein the force of the force flow acts on the formed pairs of piezoelements.
10. The measuring system according to claim 1 , further comprising a fixing device, wherein the fixing device supports the at least three piezoelements and positions them relative to each other.
11. The measuring system according to claim 1 , wherein the at least three piezoelements are unevenly distributed about the rotational axis.
12. The measuring system according to claim 9 , wherein all of the at least three piezoelements and the further piezoelement or the formed pairs of piezoelements within a defined circular sector about the rotational axis are arranged at an approximate angle α of <300°.
13. The measuring system according to claim 9 , wherein the torque-transmitting shaft is supported by a bearing apparatus, an output or input shaft of which is formed by the torque-transmitting shaft,
wherein a fixing device supports the at least three piezoelements and further piezoelement or the formed pairs of piezoelements within a defined circular sector about the rotational axis and the fixing device is designed such that a force is measurable between the bearing apparatus and a supporting apparatus for supporting the bearing apparatus via the at least three piezoelements and further piezoelement.
14. The measuring system according to claim 13 , wherein the fixing device is further designed such that the force can be introduced parallel to end faces of the at least three piezoelements and the further piezoelement or the formed pairs of piezoelements by way of a non-positive connection.
15. The measuring system according to claim 1 , being configured to measure forces acting both tangential to a rotational direction of the torque-transmitting shaft, which contribute to the torque, as well as transverse forces, which act perpendicular to the rotational direction of the torque-transmitting shaft.
16. A measuring arrangement for determining a force or a torque on a torque-transmitting shaft which comprises:
the measuring system based on the piezoelectric effect according to claim 1 ; and
the torque-transmitting shaft,
wherein the at least three piezoelements of the measuring system are arranged between a first part of the torque-transmitting shaft and a second part of the torque-transmitting shaft such that a force can be measured between the first part and the second part by means of the at least three piezoelements.
17. The measuring arrangement according to claim 16 , wherein the torque-transmitting shaft consists of two sections able to be connected via a coupling device, wherein the measuring system determines the force or the torque on one of the two sections.
18. A measuring arrangement for determining a force or a torque on a torque-transmitting shaft which comprises:
the measuring system according to claim 1 and based on the piezoelectric effect;
the torque-transmitting shaft;
a bearing apparatus; and
a supporting apparatus of the bearing apparatus,
wherein the bearing apparatus supports the torque-transmitting shaft, and wherein the measuring system does not alter a rotating mass of the torque-transmitting shaft or a rotating mass of rotating parts of an aggregate consisting of the torque-transmitting shaft and the bearing apparatus.
19. A method for calibrating the measuring system according to claim 1 , the method comprising:
applying a first defined force in a first direction parallel to the single plane;
applying a second defined force in a second direction parallel to the single plane;
detecting at least one of a first signal of a first piezoelectric sensor, a second signal of a second piezoelectric sensor, and a third signal of a third piezoelectric sensor while the first defined force and/or the second defined force is being applied; and
deriving the preferred directions of the at least three piezoelements on the basis of the detected first signal, second signal, and/or third signal, and the first and second directions of the first and second defined forces.
20. A method for calibrating the measuring system according to claim 1 , the method comprising:
applying a defined torque about the rotational axis of the torque-transmitting shaft;
detecting at least one of a first signal of a first piezoelectric sensor, a second signal of a second piezoelectric sensor, and a third signal of a third piezoelectric sensor; and
deriving distances of the at least three piezoelements from the rotational axis on the basis of the detected first signal, second signal, and/or third signal, and the defined torque.
21. A method for determining a torque applied to a shaft and a force applied to the shaft by means of a measuring system comprising at least three piezoelements, each of the at least three piezoelements having a piezoelectric crystal oriented in a preferred direction, and wherein each of the at least three piezoelements are arranged at different positions about a rotational axis of the shaft in a force flow transmitted via the shaft such that a force of the force flow acts on the at least three piezoelements, wherein the preferred directions of the piezoelectric crystals are oriented neither parallel nor antiparallel to one another, wherein the torque and the force are determined by means of a system of equations for force components and torque components on the basis of measurement signals of individual piezoelements of the at least three piezoelements, wherein measurement signals from all of the piezoelements that have a piezoelectric crystal oriented in a respective preferred direction lying parallel to a single plane intersected by the rotational axis or in the single plane intersected by the rotational axis are used to determine each of the force components and each of the torque components, is:
S 1 =a 11 ·Mz+a 12 ·Fx+a 13 ·Fy
S 2 =a 21 ·Mz+a 22 ·Fx+a 23 ·Fy
S 3 =a 31 ·Mz+a 32 ·Fx+a 33 ·Fy
SN=a NI ·Mz
and wherein S 1 -SN are the measurement signals, Mz represents a torque component, Fx represents a first force component, and Fy represents a second force component.