EP3561604A1 - Uhrreglermechanismus mit über gelenke verbundenen resonatoren - Google Patents

Uhrreglermechanismus mit über gelenke verbundenen resonatoren Download PDF

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Publication number
EP3561604A1
EP3561604A1 EP19159421.7A EP19159421A EP3561604A1 EP 3561604 A1 EP3561604 A1 EP 3561604A1 EP 19159421 A EP19159421 A EP 19159421A EP 3561604 A1 EP3561604 A1 EP 3561604A1
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EP
European Patent Office
Prior art keywords
inertial
masses
inertial masses
rotation
resonators
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.)
Granted
Application number
EP19159421.7A
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English (en)
French (fr)
Other versions
EP3561604B1 (de
Inventor
Jean-Jacques Born
Pascal Winkler
Gianni Di Domenico
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.)
Swatch Group Research and Development SA
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Swatch Group Research and Development SA
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Publication date
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Priority to EP19159421.7A priority Critical patent/EP3561604B1/de
Publication of EP3561604A1 publication Critical patent/EP3561604A1/de
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Publication of EP3561604B1 publication Critical patent/EP3561604B1/de
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Classifications

    • GPHYSICS
    • G04HOROLOGY
    • G04BMECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B17/00Mechanisms for stabilising frequency
    • G04B17/04Oscillators acting by spring tension
    • G04B17/045Oscillators acting by spring tension with oscillating blade springs
    • GPHYSICS
    • G04HOROLOGY
    • G04BMECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B15/00Escapements
    • G04B15/06Free escapements
    • G04B15/08Lever escapements
    • GPHYSICS
    • G04HOROLOGY
    • G04BMECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B15/00Escapements
    • G04B15/06Free escapements
    • GPHYSICS
    • G04HOROLOGY
    • G04BMECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B15/00Escapements
    • G04B15/14Component parts or constructional details, e.g. construction of the lever or the escape wheel
    • GPHYSICS
    • G04HOROLOGY
    • G04BMECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B17/00Mechanisms for stabilising frequency
    • G04B17/30Rotating governors, e.g. centrifugal governors, fan governors
    • GPHYSICS
    • G04HOROLOGY
    • G04BMECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B17/00Mechanisms for stabilising frequency
    • G04B17/32Component parts or constructional details, e.g. collet, stud, virole or piton

Definitions

  • the invention relates to a time clock control mechanism comprising a plurality of primary resonators each comprising at least one inertial mass pivotally movable relative to a fixed structure to which said inertial mass is suspended by a plurality of flexible blades.
  • the invention also relates to a watch movement comprising at least one such regulating mechanism.
  • the invention also relates to a watch comprising at least one such movement, and / or comprising at least one such regulating mechanism.
  • the invention relates to the field of regulation mechanisms for mechanical watchmaking.
  • clock oscillators and resonators have evolved considerably with the emergence of techniques for producing silicon components or materials with similar characteristics, which have led to the advent of flexible guides, in particular blades, defining virtual pivots, and to overcome the traditional pivots, energy consumers, subject to wear and requiring adequate lubrication.
  • the document FR2928015A1 in the name of LENOBLE describes a tangential pulse anchor escapement for a watch, comprising a toothed escape wheel, an anchor and at least one balance spring, the anchor being in two parts each pivoting on a separate axis , the two parts being hinged together by means of two transmission arms terminating at their adjacent ends by a common hinge in order to rotate the two parts of the anchor at the same speed but in opposite directions, each part of the anchor having a lift and a pulse lift, the latter receiving thrusts of the teeth of the escape wheel in a tangential manner.
  • This device comprises two spiral rockers with distinct oscillating axes of rotation, and each part of the anchor comprises a fork that can engage drive on an ellipse of the corresponding balance spring.
  • the document EP3206089A1 on behalf of THE SWATCH GROUP RESEARCH & DEVELOPMENT Ltd. discloses a timepiece resonator mechanism having a first support with a first anchor and a second anchor to which is attached a flexible pivotal guide mechanism, which defines a virtual pivot axis around which pivots rotatively rotating mass, and which comprises at least one front RCC flexible pivot and a rear RCC flexible pivot connected in series and head to tail with respect to each other about the virtual pivot axis.
  • the front flexible pivot RCC comprises, between the first support and an intermediate rotary support, two straight forward flexible blades of the same anterior length between their recesses, defining two anterior linear directions which intersect at the virtual pivot axis and which define with it an anterior angle, and whose respective anchors of the two anterior straight flexible blades furthest from the virtual pivot axis are both at the same distance anterior to the virtual pivot axis.
  • the rear flexible pivot RCC comprises, between the intermediate rotary support, which comprises a third anchor and a fourth anchorage, and the pivoting mass, two straight posterior flexible blades of the same posterior length between their recesses, defining two posterior linear directions which intersect at the level of the virtual pivot axis and which define with it a posterior angle, and whose respective anchors of the two posterior flexible blades straight furthest from the virtual pivot axis are both at the same distance posterior to the axis Virtual pivoting.
  • This flexible pivoting guide mechanism is plane, and the center of inertia of the assembly formed by the pivoting mass and any reported inertial mass carried by the pivoting mass is on the virtual pivot axis or in its immediate vicinity.
  • the previous angle expressed in degrees is determined by inequalities as a function of the anterior lengths and the anterior distances, and the posterior angle expressed in degrees is determined by similar inequalities as a function of the posterior lengths and the posterior distances.
  • the document EP3128380A1 in the name of ETA describes a timepiece control mechanism comprising a plate and, mounted movable at least in pivoting movement relative to the plate, an escapement that pivots about an exhaust axis and is subjected to a engine torque, and at least a first resonator comprising a first rigid structure connected to the plate by first elastic return means.
  • the first rigid structure carries at least one inertial arm, including a first inertial arm arranged to cooperate with the escapement mobile via magnetized tracks and / or electrified that comprise both this first inertial arm and the mobile of exhaust, to form a synchronization device between the exhaust mobile and the first resonator.
  • This synchronization device is protected from stalling during an accidental increase in torque by a mechanical anti-stall mechanism comprising mechanical exhaust stops carried by the escape wheel and at least one mechanical stop of inertial arm carried by the first inertial arm, and arranged together for a stop hold stop during an accidental increase in torque.
  • the document FR1574359A in the name of MEYER describes an elastic oscillator comprising a fixed support and at least one rotary member as well as springs arranged radially with respect to the rotary member, on the one hand secured on the one hand to the support and on the other hand to the rotating member.
  • the springs have a configuration such that, within the limits of their useful oscillation amplitude, at their points of contact with the rotary member, these springs describe an arc whose center is on the axis of rotation. rotation of the rotary member.
  • the springs have a prismatic shape, their length is equal to 1.5 times the value of the radius of the arc.
  • the rotary member is fixed to the support by two spring elements arranged at 90 ° relative to each other, or by three spring elements arranged at 120 ° relative to each other.
  • a common support can carry two rotary members arranged next to each other and oscillating in opposite directions.
  • the rotary members may comprise meshing members determining the direction of oscillation.
  • the rotary members can be actuated by a common magnetic system.
  • a common support can carry two coaxial rotary members oscillating in opposite directions.
  • the invention proposes to provide a flexible pivot controller for mechanical watch, which is insensitive to these disturbances during the wear, which is very sensitive to shocks, easy to produce, and with the best possible performance by minimizing friction.
  • the invention relates to a clock control mechanism according to claim 1.
  • the invention also relates to a watch movement comprising at least one such regulating mechanism.
  • the invention also relates to a watch comprising at least one such movement, and / or comprising at least one such regulating mechanism.
  • the invention relates to a timepiece control mechanism 300, comprising a plurality of primary resonators 100, 200.
  • This regulator mechanism 300 is a mechanism with articulated resonators
  • the invention is applicable in particular, but not exclusively, to resonators on flexible pivots with short stroke, for mechanical watches, which are usually very sensitive to disturbances when worn, and in particular very sensitive to angular accelerations, especially in rotation.
  • These primary resonators 100, 200 each comprise at least one inertial mass 102, 202, which is pivotally movable relative to a fixed structure 101, 201, in which the inertial mass 102, 202 is suspended by a plurality of blades.
  • These flexible blades define, in known manner, a virtual pivot axis around which rotates the inertial mass concerned, with a very small difference, of a few micrometers or tens of micrometers, especially less than 30 micrometers, between the position of the instantaneous pivot axis and the theoretical virtual axis imposed by the shape and positioning of the flexible blades.
  • this regulator mechanism 300 comprises mechanical means for synchronizing at least two such primary resonators 100, 200.
  • These mechanical synchronization means comprise an articulated connection between two inertial masses 102, 202, which comprise the two primary resonators. 100, 200.
  • This articulated connection is arranged to allow, in normal operation, the pivoting of the two inertial masses 102, 202, in opposite directions of rotation, and with values of neighboring rotation angles. And the articulated connection is arranged to prohibit, during an impact, the pivoting of the two inertial masses 102, 202 in the same direction of rotation.
  • this articulated connection is with play.
  • this articulated connection results from the cooperation of a pin or the like, with a groove of adapted shape: more particularly, one of the two inertial masses 102, 202 comprises a pin 104, which slides with play in a slot 204 which comprises the other of the two inertial masses 102, 202.
  • This slot 204 is vee-shaped, so as to allow in the normal regime the pivoting of the two inertial masses 102, 202, in opposite directions of rotation and according to the same angle of rotation value.
  • the two resonators are synchronized by the pin 104 mounted on a first arm of the first inertial mass 102 of the first resonator 100, whose first virtual pivot axis is designated D1.
  • the pin 104 slides in the slot 204 in a second arm of the second inertial mass 202 of the second resonator 200. There is a space between the pin 104 and the slot 204, so as to minimize friction.
  • the slot 204 is vee-shaped, widening toward its opening 205 away from the second virtual pivoting axis D2 of the second inertial mass 202, this vee shape allows that the first resonator 100 and the second resonator 200 can have the same opposite angle of rotation, and prevents the pin 104 and the slot 204 from touching, so as not to affect the mechanical efficiency of the resonator.
  • the first resonator 100 and the second resonator 200 tend to rotate in the same direction, and the articulated connection prevents them, which guarantees a correct operation of the exhaust with which at least one of the two resonators cooperates. . There is no untimely shutdown as it would be the case for a single resonator on flexible pivot with short stroke.
  • the maintenance of the resonators can be done in different ways.
  • the figure 3 illustrates the configuration where the regulator mechanism 300 comprises an oscillator, which comprises an escape mechanism 400 and one of the primary resonators 100, 200.
  • the mechanical synchronization means according to the invention are arranged to perform the maintenance of each other primary resonator 100, 200: here the first resonator 100 cooperates with the exhaust 400, and the second resonator 200 is maintained by the first.
  • this oscillator comprises an enlarged anchor 401, as described in the application EP16200152 on behalf of ETA Manufacture Horlogère Suisse, and in the requests that depend on it: PCT / EP2017 / 069037 , PCT / EP2017 / 069038 , PCT / EP2017 / 069039 , PCT / EP2017 / 069040 , PCT / EP2017 / 069041 , PCT / EP2017 / 069043 , PCT / EP2017 / 078497 , PCT / EP2017 / 080121 .
  • An arm 110 which includes the primary resonator 100, 200, with which the escape mechanism 400 is arranged to cooperate, the first resonator 100 in the case of the figure 3 , is arranged to cooperate with this enlarged anchor 401.
  • a second means of maintaining the resonators is to use a friction-resting escapement, which acts alternately on the first resonator 200 and the second resonator 200.
  • the regulator mechanism 300 comprises an oscillator which comprises an escapement mechanism 400 with frictional rest which is arranged to cooperate alternately with two primary resonators 100, 200, at the level of vanes 121, 221, which comprise the two inertial masses 102, 202 , which comprise these two primary resonators 100, 200.
  • the energy is distributed equally on both resonators.
  • the articulated connection is in mechanical contact only in case of shock: the pin 104 and the slot 204 never touch, except in case of external disturbance . This minimizes the disturbance of the gait due to the friction between the pin 104 and the slot 204.
  • the geometry of the vanes 121, 221 is the same for the two resonators, which makes it possible to optimize the friction paths.
  • the configuration according to the invention with a pallet per mobile, makes it possible to choose the pallet geometry with the same efficiency, without being obliged to use curved vanes as known from the Graham exhaust.
  • the Figures 4 and 5 illustrate a preferred variant, with an escape wheel 420 with curved teeth 421, and arranged to cooperate with the pallets 121, 221, which are straight.
  • This configuration allows the manufacture of ruby pallets which remains economical, and it is possible to combine ruby vanes with a silicon escapement wheel 420 or the like, and thus to avoid the high contact forces of a silicon-silicon pair, if one had to realize curved pallets made of silicon.
  • the execution of the silicon escapement wheel 420 remains very advantageous because it minimizes its inertia, which can be further improved with a maximum recess and a minimum thickness.
  • the pallets are thicker than the wheel, and ruby manufacturing by the traditional method is quite appropriate.
  • the escape mechanism 400 at rest rubbing comprises an escape wheel 420 made of silicon and / or silicon dioxide, and the pallets 121; 221 are in ruby so as to minimize the contact forces between the teeth 421 of the escape wheel 420 and the pallets 121, 221.
  • a third means of maintaining the resonators consists in using an articulated regulating mechanism 300, which comprises an oscillator which comprises a free-flow mechanism 400 with direct tangential double impulse, as visible on FIG. figure 9 .
  • This regulator mechanism 300 comprises a kinematic connection 600 between two inertial masses 102, 202, which comprise two primary resonators 100, 200, and which are arranged to pivot in opposite directions.
  • These two inertial masses 102, 202 comprise pallets 121, 221, arranged to cooperate with teeth 421, which comprises an escape wheel 420 that includes the exhaust mechanism 400, so as to produce a direct impulse of the wheel exhaust 420 to one of the pallets 121, 221, with each alternation of the oscillation.
  • This kinematic link 600 advantageously comprises the articulated connection with clearance, according to the invention, between the two inertial masses 102, 202.
  • This mechanism is comparable to a coaxial escapement, in which the direct impulse of the anchor is replaced here by a direct impulse on the inertial mass of the second resonator.
  • the regulating mechanism 300 comprises a bistable stopper 700, which is arranged to cooperate on the one hand by a first arm 701 with one of the teeth 421 for stopping the escape wheel 420, and on the other hand by a fork 703 with an ankle 207 that comprises one of the two inertial masses 102, 202.
  • This stop with two stable positions, which looks like an anchor, serves only rest to stop the escape wheel by the first arm 701.
  • the pivoting the second inertial mass causes the ankle 207 to escape from the fork 703, and then releases the pivoting of the stopper 700, and thus allows the rotation of the escape wheel.
  • the escape mechanism 400 is free to double direct tangential pulse.
  • the lines in broken lines A, B, C, D of the figure 9 illustrate advantageous relative arrangements: the line A joining the virtual pivots of the two flexible guides is perpendicular to the direction B coming from the center of the escape wheel which is the mediator of these two pivots, the pulse between a tooth 421 and a pallet 121, 221, being in the vicinity of this line B; one of the pivots defines with the axis of the stopper 700 a straight line C, perpendicular to the line D joining the axis of the escape wheel and the axis of the stop; the contact between the ankle 207 and the fork 703 is in the vicinity of this straight line C.
  • the figure 6 illustrates the case where the plurality of flexible blades 103, 203 comprises at least one pivot having vés head to tail, this configuration being known to be insensitive to the positions of the watch.
  • the figure 7 illustrates the case where the plurality of flexible blades 103, 203 comprises at least one blade pivot in two parallel planes and crossed in projection, this configuration being also known to be insensitive to the positions of the watch, under angle conditions and of particular crossing points.
  • the figure 8 illustrates the case where the plurality of flexible blades 103, 203, comprises at least one Wittrick V-shaped pivot, which is known to be sensitive to the positions of the watch when worn.
  • this configuration is also usable because the articulated connection cancels the position sensitivity.
  • This variant is particularly simple to achieve.
  • the invention also relates to a watch movement 500 comprising at least one such watch clock mechanism 300.
  • the invention also relates to a watch 1000 comprising at least one such movement 500, and / or comprising at least one such regulating mechanism 300.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Micromachines (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)
EP19159421.7A 2018-04-25 2018-04-25 Uhrreglermechanismus mit über gelenke verbundenen resonatoren Active EP3561604B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP19159421.7A EP3561604B1 (de) 2018-04-25 2018-04-25 Uhrreglermechanismus mit über gelenke verbundenen resonatoren

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP19159421.7A EP3561604B1 (de) 2018-04-25 2018-04-25 Uhrreglermechanismus mit über gelenke verbundenen resonatoren
EP18169314.4A EP3561603B1 (de) 2018-04-25 2018-04-25 Reguliermechanismus einer uhr mit verbundenen resonatoren

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP18169314.4A Division-Into EP3561603B1 (de) 2018-04-25 2018-04-25 Reguliermechanismus einer uhr mit verbundenen resonatoren
EP18169314.4A Division EP3561603B1 (de) 2018-04-25 2018-04-25 Reguliermechanismus einer uhr mit verbundenen resonatoren

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EP3561604A1 true EP3561604A1 (de) 2019-10-30
EP3561604B1 EP3561604B1 (de) 2020-10-28

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Application Number Title Priority Date Filing Date
EP19159421.7A Active EP3561604B1 (de) 2018-04-25 2018-04-25 Uhrreglermechanismus mit über gelenke verbundenen resonatoren
EP18169314.4A Active EP3561603B1 (de) 2018-04-25 2018-04-25 Reguliermechanismus einer uhr mit verbundenen resonatoren
EP19159418.3A Active EP3561605B1 (de) 2018-04-25 2018-04-25 Uhrreglermechanismus mit über gelenke verbundenen resonatoren

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EP18169314.4A Active EP3561603B1 (de) 2018-04-25 2018-04-25 Reguliermechanismus einer uhr mit verbundenen resonatoren
EP19159418.3A Active EP3561605B1 (de) 2018-04-25 2018-04-25 Uhrreglermechanismus mit über gelenke verbundenen resonatoren

Country Status (4)

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US (1) US11454933B2 (de)
EP (3) EP3561604B1 (de)
JP (1) JP6828073B2 (de)
CN (1) CN110398893B (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3971655A1 (de) * 2020-09-18 2022-03-23 ETA SA Manufacture Horlogère Suisse Stossdämpfungsschutz mit anschlag eines resonatormechanismus mit flexibler drehführung

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1574359A (de) 1967-08-02 1969-07-11
FR2928015A1 (fr) 2008-02-22 2009-08-28 Jean Paul Lenoble Echappement perfectionne a ancre articulee a impulsion tangentielle, montre mecanique
EP3128380A1 (de) 2015-08-04 2017-02-08 ETA SA Manufacture Horlogère Suisse Uhreinstellmechanismus mit magnetisch synchronisierten dreharmen
EP3206089A1 (de) 2016-02-10 2017-08-16 The Swatch Group Research and Development Ltd. Resonatormechanismus eines uhrwerks

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2410098C3 (de) * 1974-03-02 1979-07-26 Diehl Gmbh & Co, 8500 Nuernberg Zeitschalter
CH702062B1 (fr) * 2009-10-26 2022-01-31 Mft Dhorlogerie Audemars Piguet Sa Organe régulateur comportant au moins deux balanciers, un mouvement de montre ainsi qu'une pièce d'horlogerie comportant un tel organe.
EP2730980B1 (de) * 2012-11-09 2018-08-29 Nivarox-FAR S.A. Uhrmechanismus zur Begrenzung oder Übertragung
JP6355102B2 (ja) * 2013-09-04 2018-07-11 セイコーインスツル株式会社 定力装置、ムーブメントおよび機械式時計
CN105849651B (zh) * 2013-12-23 2017-09-29 Eta瑞士钟表制造股份有限公司 钟表同步机构
WO2016037726A1 (fr) * 2014-09-09 2016-03-17 The Swatch Group Research And Development Ltd Résonateur combiné à isochronisme amélioré
EP3032352A1 (de) * 2014-12-09 2016-06-15 LVMH Swiss Manufactures SA Uhrregler, Uhrwerk und Uhr mit solch einem Regler
CH710524A2 (fr) * 2014-12-18 2016-06-30 Swatch Group Res & Dev Ltd Résonateur d'horlogerie à lames croisées.
CH710537A2 (fr) * 2014-12-18 2016-06-30 Swatch Group Res & Dev Ltd Oscillateur d'horlogerie à diapason.
WO2016124436A1 (fr) * 2015-02-03 2016-08-11 Eta Sa Manufacture Horlogere Suisse Resonateur isochrone d'horlogerie
EP3054357A1 (de) * 2015-02-03 2016-08-10 ETA SA Manufacture Horlogère Suisse Oszillatormechanismus für Uhr
WO2017068538A1 (fr) * 2015-10-23 2017-04-27 Richemont International Sa Oscillateur pour un mouvement horloger mécanique
CH712068B1 (fr) * 2016-01-29 2019-11-29 Eta Sa Mft Horlogere Suisse Mécanisme résonateur d'horlogerie à pivot virtuel.
EP3217227B1 (de) * 2016-03-11 2019-02-27 The Swatch Group Research and Development Ltd. Reguliermechanismus eines uhrwerks mit optimierter magnetischer hemmung
CH712205A2 (fr) * 2016-03-11 2017-09-15 Swatch Group Res & Dev Ltd Mécanisme régulateur d'horlogerie à échappement magnétique.

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1574359A (de) 1967-08-02 1969-07-11
FR2928015A1 (fr) 2008-02-22 2009-08-28 Jean Paul Lenoble Echappement perfectionne a ancre articulee a impulsion tangentielle, montre mecanique
EP3128380A1 (de) 2015-08-04 2017-02-08 ETA SA Manufacture Horlogère Suisse Uhreinstellmechanismus mit magnetisch synchronisierten dreharmen
EP3206089A1 (de) 2016-02-10 2017-08-16 The Swatch Group Research and Development Ltd. Resonatormechanismus eines uhrwerks

Also Published As

Publication number Publication date
EP3561603A1 (de) 2019-10-30
US20190332056A1 (en) 2019-10-31
CN110398893A (zh) 2019-11-01
EP3561603B1 (de) 2021-01-06
EP3561605A1 (de) 2019-10-30
EP3561605B1 (de) 2020-10-28
US11454933B2 (en) 2022-09-27
EP3561604B1 (de) 2020-10-28
JP2019191156A (ja) 2019-10-31
JP6828073B2 (ja) 2021-02-10
CN110398893B (zh) 2021-04-27

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