EP0307770B1 - Steering moment compensation device - Google Patents

Steering moment compensation device Download PDF

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Publication number
EP0307770B1
EP0307770B1 EP88114564A EP88114564A EP0307770B1 EP 0307770 B1 EP0307770 B1 EP 0307770B1 EP 88114564 A EP88114564 A EP 88114564A EP 88114564 A EP88114564 A EP 88114564A EP 0307770 B1 EP0307770 B1 EP 0307770B1
Authority
EP
European Patent Office
Prior art keywords
wheel
steering
internal gear
supported
axle
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.)
Expired - Lifetime
Application number
EP88114564A
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German (de)
French (fr)
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EP0307770A3 (en
EP0307770A2 (en
Inventor
Fritz Prof. Dr.-Ing. Frederich
Heinrich Dr.-Ing. Potthoff
Josef Ing. Kunnen
Werner Dipl.-Ing. Brand
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.)
Duewag AG
Bergische Stahl Industrie
Original Assignee
Duewag AG
Bergische Stahl Industrie
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.)
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Publication date
Application filed by Duewag AG, Bergische Stahl Industrie filed Critical Duewag AG
Priority to AT88114564T priority Critical patent/ATE90046T1/en
Publication of EP0307770A2 publication Critical patent/EP0307770A2/en
Publication of EP0307770A3 publication Critical patent/EP0307770A3/en
Application granted granted Critical
Publication of EP0307770B1 publication Critical patent/EP0307770B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/38—Arrangements or devices for adjusting or allowing self- adjustment of wheel axles or bogies when rounding curves, e.g. sliding axles, swinging axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C15/00—Maintaining or augmenting the starting or braking power by auxiliary devices and measures; Preventing wheel slippage; Controlling distribution of tractive effort between driving wheels
    • B61C15/14—Maintaining or augmenting the starting or braking power by auxiliary devices and measures; Preventing wheel slippage; Controlling distribution of tractive effort between driving wheels controlling distribution of tractive effort between driving wheels

Definitions

  • EP-A-0 135 877 From EP-A-0 135 877 (FIG. 2), individually steerable, steerable wheels are known in a rail vehicle, a transverse distance between the point of contact of the respective wheel with the rail and the vehicle-side axis, about which the wheel can be steered, Steering radius). If such a wheel is driven or braked, Circumferential forces develop on the wheel and longitudinal forces arise between the wheel and the rail. Steering torques for the wheel resulting from these longitudinal forces and the aforementioned steering roll radius are particularly undesirable if, as in EP-A-0 135 877, the wheels are to be steered when cornering solely by their start on the curved rail.
  • the invention is therefore based on the object of simplifying the construction of a device of the generic type and of designing it in such a compact manner with regard to the smallest possible space requirement that it can also be used with wheels of smaller diameter.
  • the ring gear of the planetary gear is mounted with roller bearings in the hollow hub of the wheel and the torque support consists of a fork and a lever which has a ball head encompassed by the fork, wherein one of these parts - fork or lever - is attached to the ring gear of the planetary gear and the other part to the axle bridge.
  • the two steering pins for the steering knuckle which are perpendicular to the wheel axis, are arranged in a plane lying between the bearing group of the ring gear and the bearing group of the steering knuckle.
  • the advantages of the invention are primarily that the device for steering torque compensation is simple and space-saving and can be used with all wheel sizes, which was previously not possible; there is also no elaborate lever mechanism to switch the moments against each other.
  • the rail wheel 11 is driven by a planetary gear integrated in the wheel.
  • the wheel 11 has a hollow hub 12, via which it is mounted with the interposition of two roller bearings 13 on a steering knuckle 14, which in turn is pivotally attached to a shaft bridge 26 of the chassis frame 17 by roller bearings 15 about steering pins 16 which are approximately perpendicular to the wheel axis.
  • the ring gear 19 of a planetary gear is also arranged with roller bearings 18, which meshes with the planet gears 20.
  • the planet gears 20 are supported with roller bearings 21 on the planet gear carrier 22 connected to the hollow hub 12 and mesh with the central gear 23.
  • the central gear 23 is connected via coupling elements and a cardan shaft 24 to the drive shaft 25, which runs within the axle bridge 26.
  • the steering pin 16 and thus the pivot axis of the steering knuckle 14 lie in a plane which extends between the bearing group 18 of the ring gear 19 and the bearing group 13 of the wheel 11 on the steering knuckle 14.
  • a torque support in the form of a fork piece 27 and a lever 28 is arranged in two directions between the ring gear 19 of the planetary gear and the axle bridge 26, the fork piece 27 engaging around a ball head of the lever 28.
  • the support torque is transmitted to the axle bridge 26 through this operative connection.
  • a bevel gear 29 or a segment thereof with the axle bridge 26 and another bevel gear 30 or a segment thereof are connected to the ring gear 19 to be supported.
  • the torque support can also consist of a total of three cams (not shown), of which two cams are arranged on the axle bridge 26 and the third cam, which is attached to the ring gear 19, engages between the two cams of the axle bridge 26.
  • the planet gear carrier 22 is connected to the gear 11, whereas the ring gear 19 of the planetary gear is connected to the axle bridge 26 via the torque support 27, 28 or 29, 30 and is therefore one of the non-rotating parts of the planetary gear.
  • a torque is transmitted to the central wheel 23 via the drive shaft 25, which torque can be a drive or a braking torque.
  • the support torque occurring on the ring gear 19, which is proportional to the drive or braking torque, generates a circumferential force in the active surfaces of the torque support 27, 28 or 29, 30, which generates a compensation torque with its lever arm to the central axis of the steering pin 16, which torque is formed from the wheel circumferential force and the steering roller radius Steering torque counteracts.

Abstract

The invention relates to a device for the compensation of undesired steering moments on the circumference of a driven or braked wheel, in particular of rail vehicles, in which the transmission of the drive or braking moments occurs by means of a planet gearing arranged in the wheel hub, the wheel (11) being mounted with one or more roller bearings (13) on the axle leg (14) and the reaction part of the planet drive to be supported being mounted with roller bearings (18) in the hollow hub (12) of the wheel (11) and an articulated torque support (27, 28) or (29, 30) which is known per se and active in both directions of rotation being arranged between the reaction part of the gearing and the axle bridge (26). <IMAGE>

Description

Beschreibungdescription

Die Erfindung betrifft eine Vorrichtung zur Kompensation unerwünschter Lenkmomente an angetriebenen oder gebremsten, einzeln aufgehängten Rädern von insbesondere Schienenfahr-Zeuge, wobei

  • dem jeweiligen Rad ein der an seinem Umfang als Antriebs- oder Bremskraft wirksamen Radumfangskraft proportionales, durch Radumfangskraft und Lenkrollhalbmesser des betreffenden Rades bestimmtes und dem Lenkmoment entgegengerichtetes Wendemoment von außen aufgeprägt wird,
  • die Übertragung der Antriebs- und Bremsmomente über ein in einer Hohlnabe des Rades angeordnetes Planetengetriebe erfolgt,
  • die Hohlnabe über ein oder mehrere Wälzlager auf einem um Lenkzapfen einer Achsbrücke schwenkbaren Achsschenkel gelagert ist,
  • zwischen der Achsbrücke und einem als Reaktionsteil abzustützenden Hohlrad des Planetengetriebes eine in beiden Drehrichtungen wirksame, gelenkige Drehmomentabstützung angeordnet ist.
The invention relates to a device for compensating for undesired steering torques on driven or braked, individually suspended wheels of, in particular, railroad witnesses, wherein
  • the respective wheel is impressed with a turning torque that is proportional to its circumference as the driving or braking force, is determined by the wheel circumferential force and the steering roller radius of the wheel in question and is directed in the opposite direction to the steering torque,
  • the transmission of the drive and braking torques takes place via a planetary gear arranged in a hollow hub of the wheel,
  • the hollow hub is mounted on one or more roller bearings on a steering knuckle that can be pivoted about the steering pin of an axle bridge,
  • an articulated torque support, which is effective in both directions of rotation, is arranged between the axle bridge and a ring gear of the planetary gear to be supported as a reaction part.

Aus der EP-A-0 135 877 (Fig. 2) sind bei einem Schienenfahrzeug einzeln aufgehängte, lenkbare Räder bekannt, wobei zwischen dem Berührpunkt des jeweiligen Rades mit der Schiene und der fahrzeugseitigen Achse, um die das Rad lenkbar ist, ein Querabstand (Lenkrollhalbmesser) besteht. Falls ein solches Rad angetrieben oder gebremst wird, entstehen Umfangskräfte am Rad und daraus Längskräfte zwischen Rad und Schiene. Aus diesen Längskräften und dem vorgenannten Lenkrollhalbmesser resultierende Lenkmomente für das Rad sind vor allem dann unerwünscht, wenn - wie bei EP-A-0 135 877 - die Räder bei Kurvenfahrt allein durch ihren Anlauf an der gebogenen Schiene gelenkt werden sollen. Um solche Lenkmomente nicht wirksam werden zu lassen, ist es üblich, quer zur Fahrtrichtung gegenüberliegende Räder durch eine Spurstange miteinander zu verbinden. Wenn die Lenkmomente an gegenüberliegenden Rädern jedoch ungleich groß sind, gelingt deren Ausschaltung mit Hilfe von Spurstangen nur teilweise.From EP-A-0 135 877 (FIG. 2), individually steerable, steerable wheels are known in a rail vehicle, a transverse distance between the point of contact of the respective wheel with the rail and the vehicle-side axis, about which the wheel can be steered, Steering radius). If such a wheel is driven or braked, Circumferential forces develop on the wheel and longitudinal forces arise between the wheel and the rail. Steering torques for the wheel resulting from these longitudinal forces and the aforementioned steering roll radius are particularly undesirable if, as in EP-A-0 135 877, the wheels are to be steered when cornering solely by their start on the curved rail. In order not to allow such steering torques to take effect, it is customary to connect opposite wheels to one another transversely to the direction of travel by means of a tie rod. However, if the steering torques on opposite wheels are unequal, they can only be partially switched off with the help of tie rods.

Durch eine Vorrichtung mit den eingangs genannten gattungsgemäßen Merkmalen, die aufgrund der DE-A-3 541 732 zum Stand der Technik gehören, ist eine bei jeder Umfangskraft wirksame Kompensation des Lenkmomentes zu erreichen. Die Antriebs- und Bremsmomente werden über ein Getriebe auf das Rad übertragen, wobei das am Getriebe unvermeidliche Stützmoment dem jeweiligen Antriebs- oder Bremsmoment und der entstehenden Radumfangskraft proportional und daher zur Aufhebung des Lenkmomentes bestens geeignet ist. Es können also keine aus Radumfangkräften resultierende frei Lenkmomente, welche unerwünschte Lenkbewegungen an angetriebenen oder gebremsten Rädern einleiten, entstehen. Bei der Vorrichtung nach DE-A-3 541 732 sind insbesondere die Lagerung des als Reaktionsteil abzustützenden Hohlrades innerhalb des Getriebes und das mehrteilige Hebelwerk für die Drehmomentabstützung als nachteilig anzusehen, weil dadurch der bauliche Aufwand erheblich ist und zuviel Platz benötigt wird.By means of a device with the generic features mentioned at the beginning, which belong to the prior art due to DE-A-3 541 732, effective compensation of the steering torque can be achieved with any circumferential force. The drive and braking torques are transmitted to the wheel via a gearbox, the support torque that is unavoidable on the gearbox being proportional to the respective driving or braking torque and the resulting circumferential wheel force and is therefore ideally suited to canceling the steering torque. There can therefore be no free steering torques resulting from wheel circumferential forces which initiate undesired steering movements on driven or braked wheels. In the device according to DE-A-3 541 732, in particular the storage of the ring gear to be supported as a reaction part within the transmission and the multi-part lever mechanism for the torque support are to be regarded as disadvantageous because the constructional effort is considerable and too much space is required.

Der Erfindung liegt daher die Aufgabe zugrunde, eine Vorrichtung der gattungsgemäßen Art in ihrem Aufbau zu vereinfachen und im Hinblick auf einen möglichst geringen Raumbedarf derart kompakt zu gestalten, daß eine Verwendung auch bei Rädern kleineren Durchmessers möglich ist.The invention is therefore based on the object of simplifying the construction of a device of the generic type and of designing it in such a compact manner with regard to the smallest possible space requirement that it can also be used with wheels of smaller diameter.

Diese Aufgabe wird durch die im Kennzeichenteil des Patentanspruches 1 angegebenen Merkmale dadurch gelöst, daß das Hohlrad des Planetengetriebes mit Wälzlagern in der Hohlnabe des Rades gelagert ist und die Drehmomentabstützung aus einer Gabel sowie einem Hebel besteht, der einen von der Gabel umgriffenen Kugelkopf aufweist, wobei einer dieser Teile - Gabel oder Hebel - an dem Hohlrad des Planetengetriebes und der andere Teil an der Achsbrücke befestigt ist.This object is achieved by the features specified in the characterizing part of claim 1 in that the ring gear of the planetary gear is mounted with roller bearings in the hollow hub of the wheel and the torque support consists of a fork and a lever which has a ball head encompassed by the fork, wherein one of these parts - fork or lever - is attached to the ring gear of the planetary gear and the other part to the axle bridge.

Eine alternative erfindungsgemäße Lösung der zugrundeliegenden Aufgabe besteht nach dem Kennzeichenteil des Anspruches 2 darin, daß das Hohlrad des Planetengetriebes mit Wälzlagern in der Hohlnabe des Rades gelagert ist und die Drehmomentabstützung eine Kegelradverzahnung besitzt, bei der das eine Kegelrad bzw. ein Segment davon mit dem Hohlrad und das andere Kegelrad bzw. ein Segment davon mit der Achsbrücke verbunden ist.An alternative solution according to the invention of the underlying task is according to the characterizing part of claim 2 that the ring gear of the planetary gear is mounted with roller bearings in the hollow hub of the wheel and the torque support has a bevel gear, in which the one bevel gear or a segment thereof with the ring gear and the other bevel gear or a segment thereof is connected to the axle bridge.

Gemäß einer vorteilhaften Ausgestaltung der Erfindung ist vorgesehen, daß die beiden senkrecht zur Radachse stehenden Lenkzapfen für den Achsschenkel in einer zwischen der Lagergruppe des Hohlrades und der Lagergruppe des Achsschenkels liegenden Ebene angeordnet sind.According to an advantageous embodiment of the invention, it is provided that the two steering pins for the steering knuckle, which are perpendicular to the wheel axis, are arranged in a plane lying between the bearing group of the ring gear and the bearing group of the steering knuckle.

Die Vorteile der Erfindung liegen vor allem darin, daß die Vorrichtung zur Lenkmoment-Kompensation einfach und platzsparend ausgebildet ist und bei allen Radgrößen verwendet werden kann, was bisher nicht möglich war; außerdem wird auf ein aufwendiges Hebelwerk verzichtet, um die Momente gegeneinander zu schalten.The advantages of the invention are primarily that the device for steering torque compensation is simple and space-saving and can be used with all wheel sizes, which was previously not possible; there is also no elaborate lever mechanism to switch the moments against each other.

Im folgenden wird die Erfindung anhand von Ausführungsbeispielen erläutert, die in den Figuren I und II jeweils schematisch dargestellt sind. In beiden Figuren sind gleiche Teile mit gleichen Bezugszeichen versehen.In the following, the invention is explained with reference to exemplary embodiments, which are each shown schematically in FIGS. I and II. In both figures, the same parts are provided with the same reference symbols.

Der Antrieb des Schienenrades 11 erfolgt über ein in das Rad integriertes Planetengetriebe. Dabei hat das Rad 11 eine Hohlnabe 12, über dies es unter Zwischenschaltung von zwei Wälzlagern 13 auf einen Achsschenkel 14 gelagert ist, der seinerseits durch Wälzlager 15 um etwa senkrecht zur Radachse stehende Lenkzapfen 16 an einer Achsbrücke 26 des Fahrwerkrahmens 17 schwenkbar befestigt ist. In der Hohlnabe 12 ist außerdem mit Wälzlagern 18 das Hohlrad 19 eines Planetengetriebes angeordnet, welches mit den Planetenrädern 20 kämmt. Die Planetenräder 20 sind mit Wälzlagern 21 auf dem mit der Hohlnabe 12 verbundenen Planetenradträger 22 gelagert und kämmen mit dem Zentralrad 23. Das Zentralrad 23 ist über Kupplungselemente und eine Kardangelenkwelle 24 mit der Antriebswelle 25 verbunden, die innerhalb der Achsbrücke 26 verläuft. Die Lenkzapfen 16 und damit die Schwenkachse des Achsschenkels 14 liegen in einer Ebene, die sich zwischen der Lagergruppe 18 des Hohlrades 19 und der Lagergruppe 13 des Rades 11 auf dem Achsschenkel 14 erstreckt.The rail wheel 11 is driven by a planetary gear integrated in the wheel. The wheel 11 has a hollow hub 12, via which it is mounted with the interposition of two roller bearings 13 on a steering knuckle 14, which in turn is pivotally attached to a shaft bridge 26 of the chassis frame 17 by roller bearings 15 about steering pins 16 which are approximately perpendicular to the wheel axis. In the hollow hub 12, the ring gear 19 of a planetary gear is also arranged with roller bearings 18, which meshes with the planet gears 20. The planet gears 20 are supported with roller bearings 21 on the planet gear carrier 22 connected to the hollow hub 12 and mesh with the central gear 23. The central gear 23 is connected via coupling elements and a cardan shaft 24 to the drive shaft 25, which runs within the axle bridge 26. The steering pin 16 and thus the pivot axis of the steering knuckle 14 lie in a plane which extends between the bearing group 18 of the ring gear 19 and the bearing group 13 of the wheel 11 on the steering knuckle 14.

Zwischen dem Hohlrad 19 des Planetengetriebes und der Achsbrücke 26 ist nach Fig. I eine in zwei Richtungen wirksame Drehmomentabstützung in Form eines Gabelstückes 27 und eines Hebels 28 angeordnet, wobei das Gabelstück 27 einen Kugelkopf des Hebels 28 umgreift. Das Stützmoment wird durch diese Wirkverbindung auf die Achsbrücke 26 übertragen.I a torque support in the form of a fork piece 27 and a lever 28 is arranged in two directions between the ring gear 19 of the planetary gear and the axle bridge 26, the fork piece 27 engaging around a ball head of the lever 28. The support torque is transmitted to the axle bridge 26 through this operative connection.

Eine andere Möglichkeit der Drebmomentabstützung ist in Fig. II dargestellt, wonach ein Kegelzahnrad 29 bzw. ein Segment davon mit der Achsbrücke 26 und ein anderes Kegelzahnrad 30 bzw. ein Segment davon mit dem abzustützenden Hohlrad 19 verbunden sind. Die Drehmomentabstützung kann auch aus insgesamt drei Nocken (nicht gezeichnet) bestehen, von denen zwei Nocken an der Achsbrücke 26 angeordnet sind und der dritte Nocken, der am Hohlrad 19 befestigt ist, zwischen die beiden Nocken der Achsbrücke 26 greift.Another possibility of torque support is shown in Fig. II, according to which a bevel gear 29 or a segment thereof with the axle bridge 26 and another bevel gear 30 or a segment thereof are connected to the ring gear 19 to be supported. The torque support can also consist of a total of three cams (not shown), of which two cams are arranged on the axle bridge 26 and the third cam, which is attached to the ring gear 19, engages between the two cams of the axle bridge 26.

Der Planetenradträger 22 ist mit dem Rad 11 verbunden, wohingegen das Hohlrad 19 des Planetengetriebes über die Drehmomentabstützung 27, 28 bzw. 29, 30 mit der Achsbrücke 26 verbunden ist und deshalb zu den nicht drehenden Teilen des Planetengetriebes gehört. Über die Antriebswelle 25 wird ein Drehmoment auf das Zentralrad 23 übertragen, welches ein Antriebs- oder ein Bremsmoment sein kann. Das am Hohlrad 19 auftretende, zum Antriebs- oder Bremsmoment proportionale Stützmoment erzeugt in den Wirkflächen der Drehmomentabstützung 27, 28 bzw. 29, 30 eine Umfangskraft, die mit ihrem Hebelarm zur Mittelachse der Lenkzapfen 16 ein Kompensationsmoment erzeugt, welches dem aus Radumfangskraft und Lenkrollhalbmesser gebildeten Lenkmoment entgegenwirkt.The planet gear carrier 22 is connected to the gear 11, whereas the ring gear 19 of the planetary gear is connected to the axle bridge 26 via the torque support 27, 28 or 29, 30 and is therefore one of the non-rotating parts of the planetary gear. A torque is transmitted to the central wheel 23 via the drive shaft 25, which torque can be a drive or a braking torque. The support torque occurring on the ring gear 19, which is proportional to the drive or braking torque, generates a circumferential force in the active surfaces of the torque support 27, 28 or 29, 30, which generates a compensation torque with its lever arm to the central axis of the steering pin 16, which torque is formed from the wheel circumferential force and the steering roller radius Steering torque counteracts.

Claims (3)

  1. Device to provide compensation for unintended steering moments on driven or braked, individually suspended wheels (11) of, in particular, rail vehicles, in which
    - the particular wheel (11) has, externally imposed on it, a turning moment proportional to the wheel peripheral force effective at its periphery (as a driving force or braking force) determined by the wheel peripheral force and the steering rolling radius of the wheel concerned and directed against the steering moment,
    - the transmission of the driving and braking moments takes place by means of an epicyclic gear located in a hollow hub (12) of the wheel (11),
    - the hollow hub (12) is supported by means of one or a plurality of rolling contact bearings (13) on a stub axle (14) which can be pivoted about steering trunnions (16) of an axle bridge (26),
    - an articulated torque support effective in both rotational directions is located between the axle bridge (26) and a internal gear wheel (19) of the epicyclic gear which, as the reaction part, has to be supported
    characterised in that the internal gear wheel (19) of the epicyclic gear is supported by means of rolling contact bearings (18) in the hollow hub (12) of the wheel (11) and the torque support consists of a fork (27) and a lever (28) which has a spherical head encompassed by the fork (27), one of these parts - fork (27) or lever (28) - being fastened to the internal gear wheel (19) of the epicyclic gear and the other part to the axle bridge (26).
  2. Device according to the preamble of Claim 1, characterised in that the internal gear wheel (19) of the epicyclic gear is supported by means of rolling contact bearings (18) in the hollow hub (12) of the wheel (11) and the torque support has a bevel gear in which one bevel wheel (30) or a segment of it is connected to the internal gear wheel (19) and the other bevel wheel (29) or a segment of it is connected to the axle bridge (26).
  3. Device according to Claim 1 or 2, characterised in that the two stub axle (14) steering trunnions (16) at right angles to the wheel axis are arranged in a plane located between the bearing group (18) of the internal gear wheel (19) and the bearing group (13) of the stub axle (14).
EP88114564A 1987-09-15 1988-09-07 Steering moment compensation device Expired - Lifetime EP0307770B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT88114564T ATE90046T1 (en) 1987-09-15 1988-09-07 DEVICE FOR STEERING TORQUE COMPENSATION.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19873730936 DE3730936A1 (en) 1987-09-15 1987-09-15 DEVICE FOR STEERING TORQUE COMPENSATION
DE3730936 1987-09-15

Publications (3)

Publication Number Publication Date
EP0307770A2 EP0307770A2 (en) 1989-03-22
EP0307770A3 EP0307770A3 (en) 1989-10-18
EP0307770B1 true EP0307770B1 (en) 1993-06-02

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ID=6336038

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88114564A Expired - Lifetime EP0307770B1 (en) 1987-09-15 1988-09-07 Steering moment compensation device

Country Status (3)

Country Link
EP (1) EP0307770B1 (en)
AT (1) ATE90046T1 (en)
DE (2) DE3730936A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7433768B2 (en) 2002-07-31 2008-10-07 Daimler Ag Method for determining a steering-wheel torque

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR574272A (en) * 1923-01-24 1924-07-09 Axle for rolling stock such as railway cars or trams
DE3541732A1 (en) * 1985-11-26 1987-05-27 Duewag Ag Steering torque compensation

Also Published As

Publication number Publication date
DE3881461D1 (en) 1993-07-08
EP0307770A3 (en) 1989-10-18
ATE90046T1 (en) 1993-06-15
DE3730936A1 (en) 1989-03-23
DE3730936C2 (en) 1993-02-11
EP0307770A2 (en) 1989-03-22

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