EP2100113A1 - Dispositif de détection pour mesurer un moment d'une force - Google Patents

Dispositif de détection pour mesurer un moment d'une force

Info

Publication number
EP2100113A1
EP2100113A1 EP07857299A EP07857299A EP2100113A1 EP 2100113 A1 EP2100113 A1 EP 2100113A1 EP 07857299 A EP07857299 A EP 07857299A EP 07857299 A EP07857299 A EP 07857299A EP 2100113 A1 EP2100113 A1 EP 2100113A1
Authority
EP
European Patent Office
Prior art keywords
stator
sensor arrangement
shaft
sensor
elements
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.)
Withdrawn
Application number
EP07857299A
Other languages
German (de)
English (en)
Inventor
Markus Bastian
Manfred Goll
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.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
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 Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of EP2100113A1 publication Critical patent/EP2100113A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
    • G01L3/101—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
    • G01L3/101—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means
    • G01L3/104—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means involving permanent magnets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/221—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to steering wheels, e.g. for power assisted steering

Definitions

  • the invention relates to a sensor arrangement for measuring a torque acting on a shaft according to the preamble of claim 1 and to the use of the sensor arrangement as a torque and / or angle sensor in the steering of a motor vehicle.
  • Document WO 02/071019 A1 proposes a position sensor for measuring the torque of a steering column, which consists of a magnetic multipole encoder ring and a magnetic stator with two ferromagnetic wheels, comprising a plurality of intermeshing teeth.
  • the two ferromagnetic wheels are coupled with additional flux concentrators or collectors via an air gap, which supply the magnetic field to a magnetic field sensor element.
  • the relative positioning of the ferromagnetic wheels, which act as stator elements of the position sensor, to the flux concentrators has proven to be relatively difficult in meeting relatively high torque measurement accuracy requirements. Precise adjustment of an air gap between the stator element and flux concentrator is made more difficult by component and manufacturing tolerances.
  • the object of the invention is to propose a sensor arrangement for measuring a torque acting on a shaft with increased measuring precision, in particular by the air gap between stator element and flow sensor. Concentrator is set relatively accurately.
  • the object is achieved by the sensor arrangement according to claim 1.
  • the invention is based on the idea of increasing the measurement precision of the sensor arrangement in that the at least one flux concentrator is fastened to an at least partially elastic or flexible carrier element.
  • the magnetic encoder and the stator are each assigned directly or indirectly to the two shaft sections.
  • a flow concentrator is preferably understood to mean a collector or a collector plate.
  • the first and the second shaft portion are preferably connected to each other by means of a torsion bar or coupled directly or indirectly with each other and against each other rotatable.
  • the two shaft sections are each in the form of mounted on the shaft or on the torsion sleeves.
  • stator elements and the at least one flux concentrator are expediently formed at least partially from soft magnetic material.
  • the stator elements are particularly preferably penetrated at least partially by the magnetic field generated by the magnetic encoder.
  • one or both shaft portions are directly or indirectly rotatably mounted indirectly and the torque acting on the shaft causes relative rotation of the two shaft sections to each other, wherein the two coupled by means of the sensor arrangement part waves with the two shaft sections by welding and / or gluing and / or Pins and / or a spline fit and / or another type of connection are connected.
  • a magnetic field sensor element is understood to mean a magnetoelectric transducer element, preferably a Hall element or a magnetoresistive sensor element. Such a magnetic field sensor element has, in particular, an integrated, electronic signal processing circuit.
  • the magnetic encoder is expediently an encoder ring and in particular in one piece and designed so that both stator elements are assigned to it.
  • the sensor arrangement preferably has two or more magnetic encoders or encoder rings arranged side by side on the first shaft section.
  • the magnetic encoder is particularly preferably alternately magnetized or is a multipole encoder.
  • the stator elements preferably each comprise one, in particular with respect to the shaft sections, radially projecting ring.
  • each stator element is associated with a flux concentrator, which is attached to a carrier element, wherein the carrier element at least one centering device which is designed so that it can at least partially comprise the ring of the associated stator for precise, in particular substantially centered, alignment between the stator element and the carrier element.
  • the carrier element at least one centering device which is designed so that it can at least partially comprise the ring of the associated stator for precise, in particular substantially centered, alignment between the stator element and the carrier element.
  • the at least one carrier element is or is substantially fixedly connected to a housing or a housing part of the sensor arrangement.
  • the centering device is particularly preferably designed such that it at least partially surrounds the ring of the respectively associated stator element in such a way that centering device and ring can form or form an interference fit.
  • the at least one carrier element very particularly preferably has a spreading recess into which an expansion element is at least partially inserted, whereby at least one centering device of the carrier element is at least partially widened or expanded, whereby the ring and carrier element are each formed and arranged without contact are.
  • a centering device is also preferably understood a staple-like formation or a centering recess.
  • at least one centering device is designed as a slot-press fit and / or forceps-shaped rim and / or clamp.
  • the sensor arrangement has two flux concentrators or a flux concentrator jointly assigned to the stator elements. The one or both flow concentrators are in particular attached to one or a common carrier element.
  • the sensor arrangement expediently comprises two carrier elements which are firmly connected to the housing of the sensor arrangement, the carrier elements being aligned for this purpose in each case by means of the press fit of the ring of the stator element in the centering device of the carrier element.
  • the component and installation inaccuracies are essentially irrelevant.
  • each carrier element is so widened or expanded by at least one spreading element in a spreading recess of the support element, thereby setting a substantially defined and in particular with respect to both stator symmetrical and substantially clearance clear air gap between the respective stator and flux concentrator is, whereby a relatively high measurement accuracy of the sensor arrangement is set, which can be achieved at relatively low and therefore cost tolerance requirements on component and manufacturing quality.
  • the at least one carrier element is preferably designed as an elastic clamp with two fastening devices for attachment to a housing, at least one centering device and at least one spreading recess.
  • the expansion element is expediently designed as a spreading or round bolt or expanding wedge.
  • the spreading elements of a carrier element or both carrier elements are particularly preferably connected to each other and form a spreading module. In this way, an increased precision of the at least partial fitting of the spreading elements in the respective spreading recesses can be achieved, whereby the air gaps between stator elements and flux concentrators can be set even more uniformly and more precisely with regard to the symmetry, which allows an even higher measuring accuracy.
  • the possible interference fit between ring and centering recess is expediently canceled by at least one expansion element introduced at least partially into a spreading recess, whereby the ring and associated centering recess are designed and arranged without contact.
  • stator elements are connected to each other by means of a common connecting element, in particular of injection-molded plastic.
  • a common connecting element in particular of injection-molded plastic.
  • the ring and the fingers of a stator are each preferably at least partially formed of soft magnetic material, wherein the fingers are attached to the ring and aligned with respect to the shaft projecting axially of the ring and are particularly preferably formed substantially trapezoidal.
  • This training has proven to be particularly suitable for a relatively precise conduction of the magnetic field.
  • the magnetic encoder or encoder ring expediently has at least two encoder tracks.
  • the sensor arrangement accordingly has at least two magnetic field sensor elements, at least one first encoder track being assigned the stator with two stator elements and associated therewith at least one first magnetic field sensor element.
  • the at least second encoder track is assigned to at least one second magnetic field sensor element for measuring a relative angle of rotation between the two shaft sections. This is used in particular for detecting a steering angle.
  • the sensor arrangement preferably has a housing, on which the carrier elements are fastened and which, in particular for electromagnetic shielding, is formed at least partially from magnetically conductive material.
  • the housing has a cover of magnetically conductive steel.
  • At least one or two magnetic field sensor elements, wherein a first is in particular a Hall element for detecting the torque and the other is a magnetoresistive magnetic field element for detecting a relative angle of rotation between the two shaft sections are very particularly preferably arranged from the inside of the housing cover.
  • an evaluation circuit is arranged there, in particular, or the two magazines array sensor elements and the electronic circuit arranged on a common board or formed as an integrated circuit.
  • the magnetic encoder or encoder ring is integrally formed.
  • the magnetic encoder ring is designed such that it has at least two mutually offset by substantially 90 ° encoder tracks, more preferably at least one encoder track which is substantially parallel to the lateral surface of the shaft and at least one further encoder track is substantially perpendicular thereto.
  • the sensor arrangement expediently has at least one device with which the at least one carrier element is opened or spread by the spreading elements during assembly.
  • a sensor carrier made of plastic with a pickled steel part is used for shielding.
  • the sensor carrier is designed in particular as a carrier for the printed circuit board and has an integrated plug and / or an integrated cable.
  • the sensor carrier is particularly preferably suitable for pressing in the expansion elements during assembly and designed accordingly. It is preferred to form the sensor carrier from a combination of a fixed and a flexible printed circuit board.
  • Equal distances of the functional stator flux concentrator assemblies by self-centering via the flux concentrator assembly with the at least one support member by spreading mechanism.
  • Non-contact travel between flow concentrators and stator elements i.e., no further friction).
  • the flux concentrators can be positioned even more accurately when integrated into a housing. Easy installation of flow concentrator assembly and sensor assembly. Low number of necessary components. Good shielding of the magnetic field due to a closed steel housing.
  • the sensor arrangement is preferably designed as a pre-tested prefabricated module and thus allows the relatively simple connection to a steering gear.
  • the prior art often proposes essentially only active principles or the possible geometric design of associated individual functional components, but not their further development into a finished, separate, but in particular relatively easy to assemble, sensor arrangement.
  • the invention additionally relates to the use of a sensor arrangement according to the invention as a torque and / or Angle sensor in the steering of a motor vehicle.
  • a sensor arrangement according to the invention as a torque and / or Angle sensor in the steering of a motor vehicle.
  • an integration of this sensor arrangement is provided in a steering gear.
  • the sensor arrangement according to the invention is intended for use in automation technology as well as in machines and generators, thus also in motor vehicles for measuring a torque and optionally a rotation angle of a shaft. It is expediently provided for use in motor vehicles, in particular in steering systems.
  • the sensor arrangement according to the invention is intended for use in systems which have at least one shaft whose torque is to be detected.
  • an arrangement of the sensor arrangement is provided on a torsion element, which connects two shaft segments together.
  • Motor vehicles and systems of automation technology are particularly preferred as the field of application of the sensor arrangement.
  • the use is provided in the steering system of a motor vehicle.
  • Fig.l an exemplary stator
  • 2 shows an exemplary encoder
  • 3 shows an exemplary sensor arrangement with a magnetic encoder and a stator, each mounted on a shaft section
  • FIG. 4 shows an embodiment of a stator element and a carrier element
  • FIG. 9 shows an embodiment of a sensor arrangement with housing and an associated cover
  • FIG. 11 shows an exemplary embodiment of a sensor arrangement with the individual components to be assembled, which overall forms a relatively easy-to-manufacture overall system, and
  • Fig. 12 is an exemplary carrier element from a side view.
  • FIG. 1 shows an exemplary stator 4 with two stator Lements 5 and 6 shown, which includes a connecting element 21 made of plastic, by which the two stator elements 5, 6 are fixed.
  • Stator elements 5, 6 are, for example, ferromagnetic wheels with axially projecting fingers 7, which are integrally attached to a respective at least radially oriented ring 13, 14.
  • Stator elements 5, 6 are embedded by way of example as inserts in a molded plastic connecting element 21 with bush or sleeve 30.
  • the stator elements 5, 6 with the respective rings 13, 14 transmit or guide the magnetic field, which is generated by the magnetic encoder, not shown.
  • Fig. 2 shows an embodiment of a magnetic encoder 3, which is embedded by way of example as an insert in a plastic element by an injection molding and having a bushing or sleeve 31.
  • the magnetic encoder ring is integrally formed and has two encoder tracks 22 and 23, of which encoder track 22 is associated with the stator elements and thus the torque detection and encoder track 23 of the steering angle detection.
  • the exemplary encoder assembly is formed with respect to the sleeve 31 so that it is connectable to the input shaft.
  • FIG. 3 illustrates the embodiment of both shaft sections 1, 2 of an exemplary, preassembled sensor arrangement, wherein an input shaft, not shown, is assigned a connection with a universal joint 32 on the part of the magnetic encoder 3 or of the encoder module, and one not shown.
  • Output shaft is a connection with worm 33 or splined shaft of the stator 4 and the stator assembly is assigned. Rings 13 and 14 of the two stator elements of the stator 4 are also shown. Both shaft sections
  • Encoder 3 is exemplified as a component mounted on shaft portion or fixedly connected thereto.
  • carrier element 11 is illustrated with this associated stator element 5.
  • carrier element 11 is illustrated with this associated stator element 5.
  • Carrier element 11 comprises centering devices 15, 16, which are designed, for example, as elastic brackets. In this case, carrier element 11 has two fastening devices 34, 35 in the form of two holes for attachment to a housing. Furthermore, carrier element 5 has two centering devices 15, 16, which are of clip-shaped construction, and two spreading recesses 17 and 18. Ring 13 of stator element 5 is partially covered by centering devices 15 and 16, respectively. Since in the exemplary illustration no spreading elements are inserted in spreading recesses 17 and 18 and ring 13 and centering devices 15, 16 are formed as a press fit ring 13 is clamped in the centering devices 15 and 16.
  • FIG. 5 illustrates an exemplary sensor assembly including a housing 25. Through the upper opening stator 4 with rings 13, 14 can be seen and a part of the encoder 3, wherein the encoder track whose magnetic field mainly passes through the stator of stator 4 and is thereby covered. Housing 25 has holes 37 for attachment of support elements, not shown, to each of which a flux concentrator is attached.
  • carrier elements 11, 12 are fastened to housing 25 by means of screws 36.
  • carrier elements 11, 12 are aligned according to the example, as illustrated in FIG. 4, on the rings of the stator elements.
  • spreading elements 19, 20, which are associated with the spreading recesses 17, 18 of the support elements, inserted into these expansion recesses 17, 18, whereby the centering means, not shown, support members 11 and 12 are expanded or expanded.
  • a substantially defined air gap is formed between flow concentrators and stator elements, not shown, and between carrier elements 11, 12 and stator elements.
  • Spreading elements 19, 20 are formed as an expansion bolt and connected to a common expansion module 28, which can be relatively precisely inserted into the expansion recesses 17 and 18, for example.
  • the stator can thus rotate without contact in operation, or be rotationally deflected.
  • the spreading elements 19, 20 are optionally used as an example first in the expansion recesses 17, 18 and further pressed during the assembly of a cover, not shown here to a defined degree, whereby the centering devices are spread or expanded in a defined manner.
  • FIG. 7 shows an exemplary carrier element 11, which is designed as an injection molded part made of plastic and has a flux concentrator 8 or a collector plate as an insert part.
  • the flux concentrator 8 can be applied as a coating to the carrier element 11 or the plastic carrier.
  • centering devices 15 and 16 which are each formed as bracket parts, flow concentrator 8 is aligned or centered on the ring of the stator element, not shown.
  • first cover 26 is shown for the housing of the sensor assembly, not shown, wherein the inside of this cover can be seen.
  • the lid is designed in particular as a steel plate.
  • a printed circuit board 27 is fastened and locked in fastening means 38.
  • Circuit board 27 or board has two magnetic field sensor elements 10 and 24.
  • Magnetic field sensor element 10 serves for detecting the magnetic field concentrated by the flux concentrators and thus for indirectly detecting a torque as a whole.
  • Magnetic field sensor element 24 is integrated in an electronic evaluation circuit and is used to detect an additional, not shown, second encoder track used to measure a rotation angle.
  • Printed circuit board 27 is connected by means of press-in 39 with external, not shown, electrical connections of a connector of the housing.
  • cover 26 has indenting means 41, which are designed and provided for the insertion or insertion or fully provided insertion of the spreading elements, not shown in the spreading recesses of the support elements, not shown.
  • Fig. 9 illustrates an embodiment of the sensor assembly having a housing 25 in which lid 26, which acts as a sensor carrier, consists of plastic with an injected steel plate for shielding the magnetic field.
  • Cover 26 additionally comprises a forming geometry with which the spreading elements or bolts are pressed into the spreading recesses of the carrier elements during assembly, as a result of which the centering devices or clamps are spread.
  • Cover 26 has a plug 40 or housing plug 40, wherein in an embodiment, not shown, the sensor arrangement is connected directly by a cable.
  • Printed circuit board 27 consists of a combination of a fixed and a flexible printed circuit board, or of a pure flexible printed circuit board, and is thus also suitable for receiving sensors that are perpendicular to the circuit board. Depending on the circuit complexity, the design is possible as a MiD component of the cover or sensor carrier.
  • the housing and the lid are made of steel for EMC reasons or, alternatively, as an example of another magnetically formed conductive material.
  • a plastic housing with inserts for the screw and bearing mounts is provided.
  • the exemplary embodiment of the sensor arrangement shown in FIG. 10 forms or is a functionally integrated, housed torque-steering angle sensor system 25.
  • a possible direct output-side connection by means of a splined shaft 33 to a steering gear 42 is illustrated.
  • the sensor assembly or the entire torque-steering angle sensor system comprising housing 25 is exemplified approximately as large or bulky as a conventional hydraulic part of a steering assistance.
  • Fig. 11 shows an exemplary sensor assembly, as a pre-tested prefabricated assembly, which forms a relatively easy to assemble, self-contained sensor system, which is particularly suitable for installation in a steering system.
  • sleeve-shaped shaft sections 1, 2, for example by means of bolts are attached to both ends of a torsion bar 43. These are connected via a bearing 44 with housing 25 and connectable from the outside in each case with a further shaft end.
  • a first shaft section 1 carries an encoder module 3 or a magnetic encoder with two encoder tracks, which are arranged offset from each other by 90 °. This first shaft portion 1 is formed so that it can be connected to an input shaft, not shown.
  • Second shaft portion 2 carries a stator 4 and a stator assemblies and is formed so that it can be connected to an output shaft, not shown.
  • the Both shaft sections 1, 2 with their attachments and torsion bar 43 are enclosed by housing 25.
  • two flux concentrators 8, 9 are fitted with support elements 11, 12 or two collector assemblies, each consisting of an elastic clamp with a magnetic conductive collector plate.
  • each of these collector assemblies is assigned an expansion bolt element 19, 20 or an expansion module 28, which consists of expansion bolts connected to one another.
  • This Sp Dahlbolzenetti are fitted into the respective elastic clip or in spreading recesses of the support members 11, 12 and provide for a defined air gap between the respective flux concentrators and stator elements.
  • FIG. 12 shows an exemplary carrier element 11, comprising a centering device 15 and a spreading recess 17, wherein an exemplary embodiment of centering device 15 and spreading recess 17 as well as their interaction should be illustrated, in particular with a spreading element, not shown.
  • SpreizausEnglishung 17 is outlined in the interior by the dashed lines and has a or spatial expansion surface 45, which are formed obliquely. This spreading surface 45 is arranged on an inner surface of the centering device 15, which is designed to be elastic.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

L'invention concerne un dispositif de détection pour mesurer un moment d'une force s'exerçant sur un arbre, l'arbre présentant un premier segment d'arbre (1) et un deuxième segment d'arbre (2) et ces deux segments d'arbre pouvant être soumis à une torsion antagoniste, avec au moins un codeur magnétique (3) disposé sur le premier segment d'arbre (1) et un stator (4) disposé sur le deuxième segment d'arbre (2). Le stator présente deux éléments de stator (5, 6) avec respectivement des doigts (7) en saillie, un concentrateur de flux (8, 9) étant respectivement associé individuellement ou collectivement aux éléments de stator (5, 6), lequel concentrateur de flux amène le champ magnétique à détecter et généré par le codeur magnétique (3) de manière directe ou indirecte jusqu'à un élément de détection de champ magnétique (10), ce ou ces concentrateur(s) de flux (8, 9) étant fixé(s) sur un élément de support (11, 12) réalisé au moins partiellement de manière élastique, l'élément de support présentant un dispositif de centrage.
EP07857299A 2006-12-07 2007-12-07 Dispositif de détection pour mesurer un moment d'une force Withdrawn EP2100113A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102006058060 2006-12-07
PCT/EP2007/063532 WO2008068334A1 (fr) 2006-12-07 2007-12-07 Dispositif de détection pour mesurer un moment d'une force
DE102007059364A DE102007059364A1 (de) 2006-12-07 2007-12-07 Sensoranordnung zur Messung eines Drehmoments

Publications (1)

Publication Number Publication Date
EP2100113A1 true EP2100113A1 (fr) 2009-09-16

Family

ID=39646185

Family Applications (2)

Application Number Title Priority Date Filing Date
EP07847997A Withdrawn EP2102618A1 (fr) 2006-12-07 2007-12-07 Ensemble de capteur de couple
EP07857299A Withdrawn EP2100113A1 (fr) 2006-12-07 2007-12-07 Dispositif de détection pour mesurer un moment d'une force

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP07847997A Withdrawn EP2102618A1 (fr) 2006-12-07 2007-12-07 Ensemble de capteur de couple

Country Status (4)

Country Link
US (2) US8087306B2 (fr)
EP (2) EP2102618A1 (fr)
DE (2) DE102007059364A1 (fr)
WO (2) WO2008068334A1 (fr)

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US20100313681A1 (en) 2010-12-16
WO2008068334A1 (fr) 2008-06-12
US8087306B2 (en) 2012-01-03
US8286507B2 (en) 2012-10-16
US20100139419A1 (en) 2010-06-10
EP2102618A1 (fr) 2009-09-23
DE102007059361A1 (de) 2008-09-18
DE102007059364A1 (de) 2008-08-28
WO2008068339A1 (fr) 2008-06-12

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