JPH04148868A - Current signal detection device - Google Patents

Current signal detection device

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Publication number
JPH04148868A
JPH04148868A JP2274718A JP27471890A JPH04148868A JP H04148868 A JPH04148868 A JP H04148868A JP 2274718 A JP2274718 A JP 2274718A JP 27471890 A JP27471890 A JP 27471890A JP H04148868 A JPH04148868 A JP H04148868A
Authority
JP
Japan
Prior art keywords
magnetic sensor
current signal
magnetic flux
current
circuit
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.)
Pending
Application number
JP2274718A
Other languages
Japanese (ja)
Inventor
Hiroyuki Ota
寛幸 大田
Katsushige Hamaguchi
濱口 勝重
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.)
Murata Manufacturing Co Ltd
Original Assignee
Murata Manufacturing Co Ltd
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 Murata Manufacturing Co Ltd filed Critical Murata Manufacturing Co Ltd
Priority to JP2274718A priority Critical patent/JPH04148868A/en
Publication of JPH04148868A publication Critical patent/JPH04148868A/en
Pending legal-status Critical Current

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Abstract

PURPOSE:To enable current signal detection result to be output by amplifying an output signal of a magnetic sensor with an amplification circuit and by comparing the output voltage of this circuit with a reference voltage of with a single comparator. CONSTITUTION:A magnetic sensor 4 is packaged on an upper part of a circuit substrate 5 being in contact with a gap 2 of a core 1 in left and right directions on a paper surface in Figs. (A) and (B) and in a positional relationship for detecting magnetic flux constituents in vertical direction in (C). When current to be detected flows to a coil 3, magnetic flux which is nearly proportional to the current to be detected passes between the gaps 2 of the core. Leakage magnetic flux from the cap of the core passes through the magnetic sensor 4 at a constant ratio so that the magnetic sensor 4 detects magnetic flux density which is nearly proportional to the current to be detected. Therefore, by connecting a proper circuit to the magnetic sensor 4, current signal flowing to the coil 3 can be detected.

Description

【発明の詳細な説明】 (al産業上の利用分野 この発明は、方向の定まらない電流信号を電気的に絶j
X(状態で検出する電流信号検出装置に関する。
DETAILED DESCRIPTION OF THE INVENTION (A field of industrial application)
This invention relates to a current signal detection device that detects an X (state).

(bl従来の技術 被検出電流路から絶縁状態で電流信号を検出する電流信
号検出装置は、被検出電流路から所定の絶縁耐圧を得る
ため、または電流信号検出部から被検出電流路に対し影
響を与えないようにするために用いられている。例えば
電話器やファクシミリなど電話回線に接続される機器に
お1.Jるフック信号を検出する回路等に用いられてい
る。
(bl) Conventional technology A current signal detection device that detects a current signal in an insulated state from the current path to be detected is designed to obtain a predetermined dielectric strength voltage from the current path to be detected, or to influence the current path from the current signal detection unit to the current path to be detected. For example, it is used in circuits that detect hook signals in devices connected to telephone lines, such as telephones and facsimiles.

上述した従来の電流信号検出装置は、被検出信号が流れ
るコイルとこのコイルの発生ずる磁束を集中さセるギャ
ソプイ」コアおよび上記ギャップ間を通る磁束を検出す
る磁気セン・す“とから構成されている。
The conventional current signal detection device described above is composed of a coil through which the signal to be detected flows, a gas core that concentrates the magnetic flux generated by this coil, and a magnetic sensor that detects the magnetic flux passing between the gaps. ing.

第5図は従来の電流信号検出装置に用いられているボー
ル素子の特性図である。同図において横軸は磁気セン・
す”に与えられる磁束密度、縦軸は出力電圧である。こ
のようにボール素子はポール効果を利用した素子である
ため、与えられる磁束の方向に応じて出力電圧の極性が
変化する。
FIG. 5 is a characteristic diagram of a ball element used in a conventional current signal detection device. In the same figure, the horizontal axis is the magnetic sensor.
The vertical axis is the output voltage. Since the ball element is an element that utilizes the pole effect, the polarity of the output voltage changes depending on the direction of the applied magnetic flux.

第4図は磁気センタに上記ボール素子を用いた従来の電
流信号検出装置の回路図である。同図において3は例え
ば電話回線が接続され被検出電流信号が流れるコイル、
4はコイル3の発生する磁束密度を検出する磁気センナ
、8は磁気セン・す4の出力電圧を増幅する増幅回路、
11および12は増幅回路8の出力電圧をそれぞれ+V
 REFおよび−VIIEF を基’A雷電圧して比較
するコンパレータ、さらに13は2つのコンパレータ1
1および12の出力状態の論理和をとるOR回路である
FIG. 4 is a circuit diagram of a conventional current signal detection device using the above-mentioned ball element as a magnetic center. In the figure, 3 is a coil to which, for example, a telephone line is connected and a current signal to be detected flows;
4 is a magnetic sensor that detects the magnetic flux density generated by the coil 3; 8 is an amplifier circuit that amplifies the output voltage of the magnetic sensor 4;
11 and 12 respectively set the output voltage of the amplifier circuit 8 to +V.
A comparator that compares REF and -VIIEF based on the lightning voltage, and 13 is the two comparator 1
This is an OR circuit that takes the logical sum of the output states of 1 and 12.

なお同図ではコイルの発生ずる磁束を集中さ−Uるコア
は省略している。このように回路が構成されているため
、磁気センリ゛♂冒まコイル3に流れる電流に略比例す
る磁束密度を検出し、第5図に示したようにその磁束密
度に略比例した電圧を発生ずる。増幅回路8はその電圧
を一定倍率に増幅する。コンパレータ11は増幅回路8
の出力電圧が基準電圧(+VR[F)以上のとき“H”
レベルを出力し、基準電圧未満のときは′冒、゛ルヘル
を出力する。一方、コンパレータ12は増幅回路8の出
力電圧が基準電圧(−VREF )以上のとき“L”レ
ベルを出力し、基準電圧未満のときには“H”レベルを
出力する。従って磁気セン94に与えられる磁束密度が
第5図に示したハンチング領域にあるとき第4図のOR
回路13の出力は“■)”レベルとなり、その他の場合
には” L ”レベルとなる。このようにしてコイル3
に接続される電話回線の接続極性等が不定であって、コ
イル3に流れる被検出電流の方向が不定であっても、そ
の絶対値が成るしいき値を越えたか否かを論理信号に変
換することができる。
In this figure, the core that concentrates the magnetic flux generated by the coil is omitted. Because the circuit is configured in this way, it detects the magnetic flux density that is approximately proportional to the current flowing through the magnetic sensor coil 3, and generates a voltage that is approximately proportional to the magnetic flux density as shown in Figure 5. arise. The amplifier circuit 8 amplifies the voltage to a constant magnification. Comparator 11 is amplifier circuit 8
“H” when the output voltage is higher than the reference voltage (+VR[F)
It outputs the level, and when it is less than the reference voltage, it outputs the voltage. On the other hand, the comparator 12 outputs an "L" level when the output voltage of the amplifier circuit 8 is above the reference voltage (-VREF), and outputs an "H" level when it is less than the reference voltage. Therefore, when the magnetic flux density given to the magnetic sensor 94 is in the hunting region shown in FIG.
The output of the circuit 13 is at the "■)" level, and in other cases is at the "L" level. In this way, coil 3
Even if the connection polarity of the telephone line connected to the coil 3 is undefined and the direction of the detected current flowing through the coil 3 is undefined, whether or not its absolute value exceeds the threshold is converted into a logic signal. can do.

(C1発明が解決しようとする課題 ところが、第4図に示したように従来の電流信号検出装
置では、コイル3に流れる電流の方向に係わらず電流信
号を検出するために少なくとも2つのコンパレータ11
,12を必要とし、また両コンパレータに与えるべき2
つの基準電圧を発生するための回路、さらに両コンパレ
ータの出力レベルの論理和をとるOR回路が必要であり
、全体の回路構成が複雑であり、基板上に実装すべき部
品点数も多くなり小型化が困難でありコスト高ともなっ
ていた。
(C1 Problem to be Solved by the Invention) However, as shown in FIG. 4, in the conventional current signal detection device, at least two comparators 11
, 12 and 2 to be given to both comparators.
It requires a circuit to generate one reference voltage and an OR circuit to OR the output levels of both comparators, making the overall circuit configuration complex and requiring a large number of components to be mounted on the board, resulting in miniaturization. This was difficult and costly.

この発明の目的は上述した従来の問題を解消して、小型
で低コストな電流信号検出装置を提供することにある。
An object of the present invention is to solve the above-mentioned conventional problems and provide a small, low-cost current signal detection device.

f、J1課題を解決するための手段 この発明の電流信号検出装置は、一部にギャップを存す
るコアの周囲に、方向の定まらない被検出電流が流れる
コイルを設け、磁束密度に対する出力電圧特性が略■字
曲線で表される磁気セン9゛を」:記コアのギヤツブ間
またはギャソフ坏j近に設けるとともに、 上記磁気セン(〕°の出力信号を増幅する増幅回路と、
この増幅回路の出力電圧をg f%雷電圧比較して電流
信号検出結果を出力する単一のコンバレタを設けたこと
を特徴とする。
f, J1 Means for Solving the Problems The current signal detection device of the present invention is provided with a coil around a core that has a gap in part, through which a current to be detected whose direction is not determined flows, and whose output voltage characteristics with respect to magnetic flux density are A magnetic sensor 9゛ represented by an abbreviated curve is provided between the gears of the core or near the gas socket, and an amplifier circuit for amplifying the output signal of the magnetic sensor (〕°) is provided.
The present invention is characterized in that a single converter is provided which compares the output voltage of this amplifier circuit with gf% lightning voltage and outputs a current signal detection result.

(81作用 この発明の電流信号検出装置では、磁気センサとして、
磁束密度に対する出力電圧特性が略V字曲線を示すもの
、例えば強磁性体磁気抵抗素子などが用いられる。この
ため上記磁気セン・す゛に与えられる磁束密度の方向に
係わらず、磁束密度の絶対値に略比例した電圧信号が得
られる。増幅回路はこの磁気セン・す′の出力信号を一
定倍に増幅することによって被検出電流の絶対値に略比
例する電圧信号を発生し、コンパレータは上記増幅回路
の出力電圧を一定の基準電圧と比較する。」1記増幅回
路の出力電圧が磁気セン9・に与えられる磁束密度の絶
対値に比例する正の電圧である場合、上記コンパレータ
は正の一定電圧を基準電圧として、入力信号を比較する
。このことにより上記基準電圧をしきい値として被検出
電流信号のを無を論理信号に変換することができる。
(81 action) In the current signal detection device of this invention, as a magnetic sensor,
A device whose output voltage characteristic with respect to magnetic flux density shows a substantially V-shaped curve, such as a ferromagnetic magnetoresistive element, is used. Therefore, regardless of the direction of the magnetic flux density applied to the magnetic sensor, a voltage signal approximately proportional to the absolute value of the magnetic flux density can be obtained. The amplifier circuit generates a voltage signal approximately proportional to the absolute value of the current to be detected by amplifying the output signal of the magnetic sensor by a fixed factor, and the comparator converts the output voltage of the amplifier circuit into a fixed reference voltage. compare. 1. When the output voltage of the amplifier circuit is a positive voltage proportional to the absolute value of the magnetic flux density applied to the magnetic sensor 9, the comparator compares the input signals using a constant positive voltage as a reference voltage. This makes it possible to convert the detected current signal into a logic signal using the reference voltage as a threshold value.

このよ・)に単一のコンパレータによって電流信号の検
出結果を得ることができるため、コンパレータに与える
べき基準電圧発生回路も1つでよく、OR回路も不要で
あるため回路構成が単純化となり部品点数も削減する。
Since the detection result of the current signal can be obtained with a single comparator, only one reference voltage generation circuit is required to supply the comparator, and an OR circuit is not required, which simplifies the circuit configuration and reduces the number of components. The points will also be reduced.

このため小型化および低コスト化することができる。Therefore, it is possible to reduce the size and cost.

(fl実施例 この発明の実施例である電流信号検出装置の回路図を第
1図に、また同電流信号検出装置に用いられる磁気セン
サの特性図を第2図にそれぞれ示す。
(fl Embodiment) FIG. 1 shows a circuit diagram of a current signal detection device according to an embodiment of the present invention, and FIG. 2 shows a characteristic diagram of a magnetic sensor used in the current signal detection device.

第2図のよ・)に磁気センサ”は!j、えられる磁束密
度の方向に係わらず、その絶対値に略比例した電圧を発
」−するため、磁束密度に対する出力電圧特性は略V字
曲線として表される。このような特性を示す磁気センサ
としては例えば強磁性体磁気抵抗素子を用いるごとかで
きる。
As shown in Figure 2, the magnetic sensor ``generates a voltage that is approximately proportional to the absolute value of the magnetic flux density, regardless of the direction of the magnetic flux density,'' so the output voltage characteristic with respect to the magnetic flux density is approximately V-shaped. Represented as a curve. For example, a ferromagnetic magnetoresistive element can be used as a magnetic sensor exhibiting such characteristics.

この発明の実施例に係る電流信号検出結果は、第1図に
示すように、磁気センサ11にその出力電圧を増幅する
増幅回路8が接続され1、増幅回路8の出力に+V R
EFを基準電l王とするコンパレータ9が接続されてい
る。磁気センサ4は第2図に示したように、磁束密度に
対する出力電圧が略■字特性を示すものであるため、モ
ン支気センリ4はコイル3に流れる電流の絶対値に略比
例した電圧を発生ずる。増幅回路8は磁気セン・す4の
出力電圧を−・定イ9する。そしてコンパレータ9は増
幅回路8の出力電圧が基準電圧(” V REF )以
上であるとき“′H゛しパ・ルを出力し、基阜電圧未満
であるときには°“L ”レベルを出力する。従って磁
気センサ・4に与えられる磁束密度が第2図に示したハ
ツチング領域にあるとき、電流信号検出結果として出力
端子すに“” H”レベルが出力され、その他の領域で
は電流信号検出結果とし′で“■、゛レー、ルが出力さ
れる。なお、第1図中地幅回isの出力信欠を端’f−
aから取り出すことによって、コイル3に流れる電流値
の絶対値のアナログ信号が得られる。
As shown in FIG. 1, the current signal detection result according to the embodiment of the present invention is obtained by connecting a magnetic sensor 11 with an amplifying circuit 8 that amplifies its output voltage, and applying +V R to the output of the amplifying circuit 8.
A comparator 9 with EF as a reference voltage is connected. As shown in FIG. 2, the output voltage of the magnetic sensor 4 exhibits a nearly square-shaped characteristic with respect to the magnetic flux density. Occurs. The amplifier circuit 8 fixes the output voltage of the magnetic sensor 4. The comparator 9 outputs a high level signal when the output voltage of the amplifier circuit 8 is higher than the reference voltage (V REF ), and outputs a low level signal when it is less than the reference voltage. Therefore, when the magnetic flux density given to the magnetic sensor 4 is in the hatched region shown in Figure 2, a "H" level is output from the output terminal as the current signal detection result, and in other regions, the current signal detection result is ’ outputs “■, ゛, LE”. In addition, the output deficiency of the center width circuit is in Figure 1 is expressed as 'f-
By extracting from a, an analog signal of the absolute value of the current flowing through the coil 3 can be obtained.

以上に示したように単一のコンパレータを用いて電流信
号検出結果を得ることができる。そのため基準電圧発生
回路も単一でよ<OR回路も不要となる。しかも基準電
圧が単一であるため、磁気セン・す”に与えられる磁束
の極性に係わらず同一のしきい値で電流信号の有無を検
知することができる。
As shown above, a current signal detection result can be obtained using a single comparator. Therefore, only a single reference voltage generation circuit is required, and an OR circuit is not required. Moreover, since the reference voltage is single, the presence or absence of a current signal can be detected with the same threshold value regardless of the polarity of the magnetic flux applied to the magnetic sensor.

次に、電流信号検出装置の構造を第3図(Δ)〜(C)
に示す。
Next, the structure of the current signal detection device is shown in Figure 3 (Δ) to (C).
Shown below.

同図(A)は上面図、(B)は正面図、(C)は右側面
図である。同図においてコア1は略コ字型の2つのコア
ia、lbからなり、この2つのコアia、lbを短1
み合わセることにより一箇所にキャンプ2を形成する。
(A) is a top view, (B) is a front view, and (C) is a right side view. In the figure, core 1 consists of two roughly U-shaped cores ia and lb, and these two cores ia and lb are short
By joining together, Camp 2 is formed in one place.

6はボビンてあり、このボビンにおいて接着剤等でコア
la、lb間が固定されている。またこのボビン6には
コイル3が一定S数巻回されている。ポヒン6の下部に
はコア1を載置するための一対のコア載置部6aが形成
されていて、コア載置部6aのそれぞれの側部に端子7
a〜7rが埋め込まれている。」−記コイル3の始端と
終端はぞれぞれ端子7aおよび7dに単口1イ]けされ
ている。
6 is a bobbin, in which the cores la and lb are fixed with adhesive or the like. Further, the coil 3 is wound around the bobbin 6 by a predetermined number S. A pair of core placement parts 6a for placing the core 1 are formed at the bottom of the pohine 6, and a terminal 7 is provided on each side of the core placement part 6a.
a to 7r are embedded. The starting and ending ends of the coil 3 are connected to terminals 7a and 7d, respectively, with a single opening.

以上のよ・)にギャップを有しコイルが巻回されたコア
が第31図(B)、  (C)に示すように回路基板5
の上部に表面実装されている。すなわち同図(A、)に
示した端子7a〜7fがそれぞれ回路基板5の表面に形
成されているランド部分(不図示)にそれぞれ半田付け
されている。なお、6つの端子7a〜7fのうち7b、
7c、7e、1fはそれぞれ実装用のダミ一端子である
As shown in FIGS. 31(B) and (C), the core on which the coil is wound and has a gap in
surface mounted on the top of the That is, the terminals 7a to 7f shown in FIG. 2A are soldered to land portions (not shown) formed on the surface of the circuit board 5, respectively. Note that among the six terminals 7a to 7f, 7b,
7c, 7e, and 1f are dummy terminals for mounting, respectively.

また、磁気センサ4はコア1のギヤノブ2に近接して回
路基板5の上部に表面実装されている。
Further, the magnetic sensor 4 is surface-mounted on the upper part of the circuit board 5 in proximity to the gear knob 2 of the core 1.

この磁気セン・す4は第3図(A)、  (B)におい
て紙面に左右方向の、第3図(C)においては紙面に垂
直方向の磁束成分を検出する位置関係に実装されている
This magnetic sensor 4 is mounted in a positional relationship to detect magnetic flux components in the horizontal direction to the plane of the paper in FIGS. 3(A) and 3(B), and in the direction perpendicular to the plane of the paper in FIG. 3(C).

以上のように構成したことにより、コイル3に被検出電
流が流れれば、被検出電流に略比例した磁束がコアのギ
ヤツブ2間を通る。コアのギャップからの漏れ磁束は一
定の割合で磁気センサ4を通るため、結局磁気センサ゛
4ば被検出電流に略比例した磁束密度を検出する。従”
>−’7にの磁気センサ″11に第1図に示した回路を
接続することによってコイル3に流れる電流信号を検出
することができる。
With the above configuration, when a current to be detected flows through the coil 3, a magnetic flux approximately proportional to the current to be detected passes between the gears 2 of the core. Since the magnetic flux leaking from the core gap passes through the magnetic sensor 4 at a constant rate, the magnetic sensor 4 ultimately detects a magnetic flux density that is approximately proportional to the current to be detected. Follow”
The current signal flowing through the coil 3 can be detected by connecting the circuit shown in FIG.

なお、コア1にコイル3を巻回する際に、ボビン6を用
いずにコア1にコイル3を直接巻回し、その始端および
終端を回路基板5に直接接続してもよい。また、磁気セ
ンサ゛4をコアのギャソブイ]近でなく、ギヤツブ間に
直接設けてもよい。
Note that when winding the coil 3 around the core 1, the coil 3 may be directly wound around the core 1 without using the bobbin 6, and the starting end and the ending end thereof may be directly connected to the circuit board 5. Furthermore, the magnetic sensor 4 may be provided directly between the gears instead of near the core's gas valve.

(g+発明の効果 ごの発明によれは、回路構成が華純化され、部品点数も
少なくなるため装置全体を小型化および低:1スト化す
ることかてきる。また部品点数が少なくなることに伴い
装置全体の1、)軸性も向上する
(G+Effect of the Invention) According to the invention, the circuit configuration is simplified and the number of parts is reduced, which makes it possible to downsize the entire device and reduce the number of parts.Also, the number of parts is reduced. 1.) The axial stability of the entire device is also improved.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図はこの発明の実施例である電流信号検出装置のi
[]]路図、第2図は同電流信号検出装置に用いられる
磁気セン′りの特性[λ1である。第3図は実施例に係
る電流13℃検出装置の構造を表す図であり、(A)は
−L面図、(I3)は正面図、(C)は右側面図である
。第11図は従来の電流信号検出装置の回路図、第5図
はその装置に用いられる磁気センリの特性図である。 1−コア、    2−ギヤ、プ、 3−コイル、   4−磁気センリ、 5−回路基板、  6−ボビン、 8−増幅回路、 】 コンパレータ、 」 o I<回路。
FIG. 1 shows a current signal detection device according to an embodiment of the present invention.
[]] Figure 2 shows the characteristic [λ1] of the magnetic sensor used in the current signal detection device. FIG. 3 is a diagram showing the structure of the current 13° C. detection device according to the embodiment, in which (A) is a -L view, (I3) is a front view, and (C) is a right side view. FIG. 11 is a circuit diagram of a conventional current signal detection device, and FIG. 5 is a characteristic diagram of a magnetic sensor used in the device. 1-Core, 2-Gear, P, 3-Coil, 4-Magnetic sensor, 5-Circuit board, 6-Bobbin, 8-Amplification circuit, ] Comparator, "o I< circuit.

Claims (1)

【特許請求の範囲】[Claims] (1)一部にギャップを有するコアの周囲に、方向の定
まらない被検出電流が流れるコイルを設け、磁束密度に
対する出力電圧特性が略V字曲線で表される磁気センサ
を上記コアのギャップ間またはギャップ付近に設けると
ともに、 上記磁気センサの出力信号を増幅する増幅回路と、この
増幅回路の出力電圧を基準電圧と比較して電流信号検出
結果を出力する単一のコンパレータを設けたことを特徴
とする電流信号検出装置。
(1) A coil in which a current to be detected with an undefined direction flows is provided around a core that has a gap in part, and a magnetic sensor whose output voltage characteristic with respect to magnetic flux density is expressed by a substantially V-shaped curve is installed between the gaps in the core. Alternatively, it is provided near the gap, and includes an amplifier circuit that amplifies the output signal of the magnetic sensor, and a single comparator that compares the output voltage of the amplifier circuit with a reference voltage and outputs a current signal detection result. Current signal detection device.
JP2274718A 1990-10-12 1990-10-12 Current signal detection device Pending JPH04148868A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2274718A JPH04148868A (en) 1990-10-12 1990-10-12 Current signal detection device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2274718A JPH04148868A (en) 1990-10-12 1990-10-12 Current signal detection device

Publications (1)

Publication Number Publication Date
JPH04148868A true JPH04148868A (en) 1992-05-21

Family

ID=17545605

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2274718A Pending JPH04148868A (en) 1990-10-12 1990-10-12 Current signal detection device

Country Status (1)

Country Link
JP (1) JPH04148868A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113459738A (en) * 2021-07-22 2021-10-01 燕山大学 Amphibious quadruped robot based on deformable floating legs and driving method thereof

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6237781B2 (en) * 1980-02-26 1987-08-14 Canon Kk
JPS63120259A (en) * 1986-11-10 1988-05-24 Tokin Corp Current detector
JPS63187159A (en) * 1987-01-29 1988-08-02 Tokin Corp Current detector
JPH0293373A (en) * 1988-09-29 1990-04-04 Nippon Denso Co Ltd Current detector

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6237781B2 (en) * 1980-02-26 1987-08-14 Canon Kk
JPS63120259A (en) * 1986-11-10 1988-05-24 Tokin Corp Current detector
JPS63187159A (en) * 1987-01-29 1988-08-02 Tokin Corp Current detector
JPH0293373A (en) * 1988-09-29 1990-04-04 Nippon Denso Co Ltd Current detector

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113459738A (en) * 2021-07-22 2021-10-01 燕山大学 Amphibious quadruped robot based on deformable floating legs and driving method thereof

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