WO2015145949A1 - 歪センサと、これを用いた荷重検出装置 - Google Patents
歪センサと、これを用いた荷重検出装置 Download PDFInfo
- Publication number
- WO2015145949A1 WO2015145949A1 PCT/JP2015/000708 JP2015000708W WO2015145949A1 WO 2015145949 A1 WO2015145949 A1 WO 2015145949A1 JP 2015000708 W JP2015000708 W JP 2015000708W WO 2015145949 A1 WO2015145949 A1 WO 2015145949A1
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- WIPO (PCT)
- Prior art keywords
- strain
- strain sensor
- detection element
- sensor
- input member
- Prior art date
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Classifications
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- 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
- G01L5/225—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 foot actuated controls, e.g. brake pedals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
Definitions
- the present invention relates to a strain sensor for detecting various loads such as detection of a depression load of vehicle pedals, detection of cable tension of a vehicle parking brake, detection of a seating surface load of a vehicle seat, and the like.
- FIG. 9 is a cross-sectional view showing the structure of a conventional strain sensor.
- the conventional strain sensor 1 includes a strain generating body 2, a fixing member (first member) 3, and a displacement member (second member) 4 arranged concentrically with each other.
- a first strain resistance element (strain detection element) 5 is provided on the lower outer surface of the strain generating body 2.
- One end of the first strain resistance element 5 is electrically connected to a power supply electrode (not shown) by a circuit pattern (not shown).
- the other end is connected to a second output electrode (not shown).
- a second strain resistance element (strain detection element) 6 is provided on the lower outer surface of the strain generating body 2 substantially in parallel with the first strain resistance element 5.
- One end of the second strain resistance element 6 is electrically connected to the power supply electrode by a circuit pattern (not shown).
- the other end of the second strain resistance element 6 is electrically connected to a first output electrode (not shown).
- a third strain resistance element (strain detection element) 7 is provided on the upper outer surface of the strain generating body 2.
- One end of the third strain resistance element 7 is electrically connected to the first strain resistance element 5 and the second output electrode by a circuit pattern (not shown).
- the other end of the third strain resistance element 7 is connected to a GND electrode (not shown).
- a fourth strain resistance element (strain detection element) 8 is provided on the outer surface on the upper side of the strain generating body 2 substantially in parallel with the third strain resistance element 7.
- One end of the fourth strain resistance element 8 is electrically connected to the second strain resistance element 6 and the first output electrode by a circuit pattern.
- the other end of the fourth strain resistance element 8 is electrically connected to the GND electrode.
- a full bridge circuit is configured.
- the fixing member (first member) 3 made of ferritic stainless steel is composed of a disc-shaped attachment portion 9 and a shaft portion 10 integrally provided with the attachment portion 9 in the middle portion in the longitudinal direction. And the outer peripheral part of the attachment part 9 is welded in the fitting state to the side edge of the strain body 2 in the state which closed the one end opening part of the strain body 2 with the attachment part 9. FIG. In addition, one end portion of the shaft portion 10 of the fixing member 3 penetrates the inside of the strain body 2.
- a metal (for example, ferritic stainless steel) displacement member (second member) 4 is composed of an annular washer 11 and a cylindrical mounting member 12 that functions as a case fixed to one end of the washer 11. Yes.
- the outer peripheral part of the washer 11 is being fixed to the opening edge of the other end part in the strain body 2 by welding in the attachment member 12 inside.
- the mounting portion 9, the strain body 2, and the washer 11 are accommodated.
- the conventional strain sensor 1 shown in FIG. 9 is configured such that a shearing force acts on the strain body 2 by applying a load to the displacement member 4 in a direction perpendicular to the axis A of the strain body 2. (Patent Document 1).
- FIG. 10 is a top view of another conventional strain sensor.
- the strain sensor 21 includes an insulating substrate 22 and a bridge circuit.
- the bridge circuit is configured by electrically connecting a power supply electrode 23 made of silver, a pair of output electrodes 24, a GND electrode 25, and four strain resistance elements 26 to the upper surface of the insulating substrate 22 by a circuit pattern 27. Yes.
- At least a pair of temperature characteristic adjusting resistors 28 are provided on the upper surface of the insulating substrate 22.
- One end of the temperature characteristic adjusting resistor 28 is electrically connected to the power supply electrode 23, and the other end is electrically connected to the strain resistance element 26 via a pair of resistance value measuring electrodes 29.
- a frame GND electrode 30 is provided on the upper surface of the insulating substrate 22.
- a capacitor 31 and an electrostatic discharge resistor 32 are electrically connected in parallel between the frame GND electrode 30 and the GND electrode 25 via a circuit pattern 27.
- the circuit pattern 27 on the insulating substrate 22 is provided with a slit 33 so that a part of the circuit pattern 27 is disconnected.
- the four strain resistance elements 26 provided on the upper surface of the insulating substrate 22 are separated, and the distance between the two strain resistance elements 26 of the separated pair of strain resistance elements 26 is narrowed.
- a portion 22a is provided.
- Patent Document 1 has a problem that the number of parts increases and the strain sensor becomes expensive. Moreover, in patent document 2, since distortion was detected by the shear load, when trying to detect the load of a brake pedal by the strain sensor of patent document 2, there existed a subject that the magnitude
- one aspect of the strain sensor of the present invention includes a strain body having a connection portion and a fixed portion, and a first strain detection element provided on the strain body.
- the strain body has a gap, and the first strain detection element is provided between the connection portion and the gap.
- another aspect of the strain sensor of the present invention includes a strain body having a connection portion and a fixed portion, and a first strain detection element provided on the strain body.
- the first strain detecting element is provided between the connecting portion and the fixing portion, the fixing portion is positioned in the direction of the external force applied to the connecting portion with respect to the connecting portion, and the strain detecting element is connected to the connecting portion. A compressive stress generated between the fixed portion and the fixed portion is detected.
- the present invention can be configured inexpensively with a small number of parts, and the brake system can be downsized.
- FIG. 1 is a front view of a strain sensor according to Embodiment 1 of the present invention.
- FIG. 2 is a perspective view of the strain sensor according to the first embodiment of the present invention.
- FIG. 3 is a side view of the load detection device according to the first embodiment of the present invention.
- FIG. 4 is a diagram illustrating a state of the strain generating body of the strain sensor according to the first embodiment of the present invention.
- FIG. 5A is a front view of another strain sensor according to Embodiment 1 of the present invention.
- FIG. 5B is a front view of another strain sensor according to Embodiment 1 of the present invention.
- FIG. 5C is a front view of another strain sensor according to Embodiment 1 of the present invention.
- FIG. 5A is a front view of another strain sensor according to Embodiment 1 of the present invention.
- FIG. 5B is a front view of another strain sensor according to Embodiment 1 of the present invention.
- FIG. 5C is a front view
- FIG. 6 is a diagram illustrating a modification of the load detection device according to the first embodiment of the present invention.
- FIG. 7 is a front view of the strain sensor according to the second embodiment of the present invention.
- FIG. 8 is a side view of the load detection device according to the second embodiment of the present invention.
- FIG. 9 is a diagram showing a conventional strain sensor.
- FIG. 10 shows a conventional strain sensor.
- FIG. 1 is a front view of a strain sensor according to Embodiment 1 of the present invention
- FIG. 2 is a perspective view of the strain sensor according to Embodiment 1 of the present invention.
- the strain sensor 41 includes a flat plate-like strain generating body 43 provided with a connecting portion 42 and a first strain forming body 43 provided on the strain generating body 43.
- the strain detecting element 44 and a second strain detecting element 45 provided on the strain generating body 43 are configured.
- the connecting portion 42 of the flat plate-like strain generating body 43 is formed by providing a through hole in the central portion. By inserting the clevis pin 46 into the connecting portion 42, the connecting portion 42 is connected to the transmission member 48 including the clevis 47 and the clevis pin 46.
- an arc-shaped gap 49 is provided as a through-hole, and the first strain detection element 44 is provided between the gap 49 and the connection section 42.
- a second strain detecting element 45 is provided at a position opposite to the position where the first strain detecting element 44 is provided with respect to the connecting portion 42 of the strain generating body 43.
- the strain generating body 43 is provided with a first fixing portion 50a and a second fixing portion 50b, and a screw 51 (shown in FIG. 3) is fitted to the fixing portions 50a and 50b to cause strain in the clevis 47.
- the body 43 is fixed.
- the shape of the strain body 43 is not limited to the shape in which the corners of the rhombus shown in FIG. 1 are rounded, and may be a shape such as a rectangle or a circle.
- the strain sensor 41 includes the strain body 43 having the connection portion 42 and the fixing portion 50a, and the first strain detection element 44 provided on the strain body 43.
- the strain body 43 has a gap 49, and the first strain detection element 44 is provided between the connection portion 42 and the gap 49.
- a flat plate made of stainless steel is pressed to form the gap 49. And after printing glass paste (not shown) on this flat plate, it baked at about 550 degreeC for about 10 minutes, and the strain body 43 is formed.
- a silver paste (not shown) is printed on one surface of the strain generating body 43 and baked at about 550 ° C. for about 10 minutes, whereby a power electrode (not shown) is formed on one surface of the strain generating body 43. ), An output electrode (not shown), a GND electrode (not shown), and a circuit pattern.
- the first strain detecting element 44 is formed by baking at about 550 ° C. for about 10 minutes.
- FIG. 3 is a side view of a load detection device using the strain sensor 41 according to the first embodiment of the present invention. 3 is applied to the clevis pin 46 via the input member 53, the pedal force F is transmitted from the clevis pin 46 to the operating rod 54 via the clevis 47. F is transmitted.
- the external force f is transmitted from the clevis pin 46 to the clevis 47.
- the strain sensor 41 is stressed by the connection portion 42 of the strain sensor 41 being pushed by the clevis pin 46.
- the strain generating body 43 is fixed to the clevis 47 by screwing the fixing portions 50 a and 50 b to the clevis 47. Therefore, a compressive stress is applied between the connection portion 42 and the first fixed portion 50a, and the first strain detection element 44 is distorted.
- the resistance of the first strain detection element 44 changes, and by measuring the resistance change of the first strain detection element 44, the compressive stress generated between the connecting portion 42 and the fixed portion 50a can be detected. That is, by measuring the resistance change of the first strain detecting element 44, it becomes possible to measure the pedaling force F applied to the load detecting device 52.
- FIG. 4 shows the state of the strain generating body 43 when an external force f is applied to the strain sensor 41 according to the first embodiment of the present invention.
- the direction connecting the connecting portion 42 and the fixed portion 50a is shown as the X axis
- the direction perpendicular to the X axis is shown as the Y axis.
- connection part 42, the first strain detection element 44, and the gap 49 are arranged in this order along the direction of the external force f applied to the connection part 42.
- the input member 53 actually connects the connecting portion 42 as the pedal force F is applied to the input member 53 (shown in FIG. 3). It rotates counterclockwise around the center. Therefore, the direction of the external force f applied to the connection portion gradually changes counterclockwise as the input member 53 rotates.
- the air gap 49 is provided at a position closer to the connecting portion 42 from the middle between the connecting portion 42 and the fixed portion 50a. This configuration facilitates deformation when stress is applied between the connection portion 42 and the fixed portion 50a. Accordingly, since the strain generated in the first strain detection element 44 increases, the detection sensitivity of the external force to the strain sensor 41 can be improved. In particular, it is effective to provide the gap 49 in the vicinity of the connecting portion 42.
- the first strain detection element 44 and the second strain detection element 45 are used, and the resistance change of the first strain detection element 44 and the second strain detection are detected.
- the stress applied to the strain sensor 41 is detected by taking the difference from the resistance change of the element 45. Therefore, even when the temperature of the surrounding environment changes and the temperature characteristics of the first strain detecting element 44 change, the stress is measured by taking the difference from the output of the second strain detecting element 45. It is possible to reduce the influence of ambient temperature changes.
- the strain sensor 41 more preferably includes the second strain detection element 45 provided on the strain generating body 43.
- the second strain detection element 45 is provided at a position opposite to the position where the first strain detection element 44 is provided with respect to the connection portion 42.
- the strain sensor 41 according to the first embodiment of the present invention is attached to the clevis pin 46 that is the transmission member 48 so that compressive stress is generated in the strain body 43, and The generated compressive stress can be detected. Therefore, the strain sensor 41 can be configured with a small number of components, and an inexpensive strain sensor can be provided.
- the load detecting device 52 can be downsized.
- the air gap 49 is formed in an arc shape, but this is not restrictive. It is only necessary that the gap 49 is provided so as to cover the first strain detection element 44.
- the gap 49 does not necessarily have an arc shape.
- a rectangle as shown in FIG. 5A may be used. Even if it is a shape other than an arc shape or a rectangle, it is sufficient that the strain generating body 43 is easily distorted when the compressive stress is applied between the connecting portion 42 and the fixed portion 50a, and the strain can be detected.
- the gap 49 is easily provided in the strain generating body 43 so as to cover the first strain detecting element 44, the entire portion where the first strain detecting element 44 is provided is easily distorted. It is more preferable.
- the first strain is applied when stress is applied to the strain generating body 43. Since the entire portion provided with the detection element 44 is easily distorted, the sensitivity of the strain sensor 41 can be improved, which is more preferable.
- the air gap 49 is provided only on the first strain detection element 44 side, but as shown in FIG. 5B, on the second strain detection element 45 side. May also be provided.
- the gap 49 is not necessarily provided as shown in FIG. 5C.
- the modification of the first embodiment of the present invention includes a second strain sensor 56 having the same structure as the strain sensor 41.
- the strain sensor 41 and the second strain sensor 56 are arranged in parallel so as to sandwich the input member 53.
- the detection sensitivity of the strain sensor 41 may change depending on the connection position of the input member 53 to the clevis pin 46. Since the clevis pin 46 is supported by the strain sensor 41 and the clevis 47, the magnitude of the stress transmitted from the clevis pin 46 to the strain sensor 41 changes when the connection position of the input member 53 to the clevis pin 46 changes. The closer the connection position of the input member 53 to the clevis pin 46 is to the strain sensor 41, the more easily stress is transmitted to the strain sensor 41, so the detection sensitivity of the strain sensor 41 becomes higher. Conversely, when the connection position of the input member 53 is far from the strain sensor 41, the transmitted stress is reduced. Thus, since the output of the strain sensor 41 differs depending on the connection position of the input member 53 to the clevis pin 46, the detection accuracy of the strain sensor 41 decreases.
- FIG. 7 shows a strain sensor according to the second embodiment of the present invention.
- the strain sensor 61 includes a flat plate-shaped strain generating body 43 provided with a connecting portion 42 and a first strain detection provided on the strain generating body 43.
- An element 62 and a second strain detection element 63 are included.
- the connecting portion 42 of the flat plate-like strain generating body 43 is formed by providing a through hole in the central portion. By inserting the clevis pin 46 into the connection portion 42, the connection portion 42 is connected to the transmission member 48 including the clevis 47 and the clevis pin 46.
- An arc-shaped gap 64 is provided near the connection portion 42 of the strain generating body 43, and the first strain detection element 62 is attached between the gap 64 and the connection portion 42.
- the second strain detection element 63 is provided at a position opposite to the position where the first strain detection element 62 is provided with respect to the connection portion 42.
- the gap 64 is not limited to a single arc shape as in the first embodiment described with reference to FIGS. 5A to 5C.
- the strain generating body 43 is provided with a fixing portion 50a and a fixing portion 50b, and a strain generating body is formed on the input member 53 (shown in FIG. 8) by fitting screws (not shown) to the fixing portions 50a and 50b. 43 is fixed.
- the first strain detection element 62, the second strain detection element 63, and the gap 64 are provided so as to be aligned in a direction orthogonal to the line segment 60 that connects the two fixing portions 50a and 50b.
- FIG. 8 shows a load detection device 52 using the strain sensor of the second embodiment.
- connection portion 42 an external force f is applied from the connection portion 42 in the direction of the arrow (left direction) shown in FIG.
- the connection portion 42, the first strain detection element 62, and the gap 64 are arranged in order along the direction of the external force applied to the connection portion, and the strain sensor 61 is attached to the input member 53.
- the air gap 49 may be formed by a groove.
- the distortion in the first strain detection element 44 is smaller than when the gap 49 is formed as a through hole.
- the distortion 49 is easier to be distorted and the detection sensitivity is improved. Can be improved.
- the second embodiment The same applies to the second embodiment.
- the strain sensor of the present invention can be constructed at a low cost by reducing the number of parts of the strain sensor that detects the strain transmitted from the transmission member, and the strain sensor can be downsized. It is useful for detecting the type of stepping load, detecting the cable tension of the vehicle parking brake, detecting the seating surface load of the vehicle seat, and the like.
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- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Measurement Of Force In General (AREA)
Abstract
Description
以下に、本発明の実施の形態1の歪センサについて図面を参照しながら説明する。
次に、図6を参照しながら、本発明の実施の形態1の荷重検出装置の変形例について説明する。
次に、本発明の実施の形態2について、図面を参照しながら説明をする。
42 接続部
43 起歪体
44,62 第1の歪検出素子
45,63 第2の歪検出素子
46 クレビスピン
47 クレビス
48 伝達部材
49,64 空隙
50a,50b 固定部
51 ねじ
52,65 荷重検出装置
53 入力部材
54 オペロッド
55 領域
56 第2の歪センサ
60 線分
Claims (7)
- 接続部と固定部とを有する起歪体と、
前記起歪体上に設けられた第1の歪検出素子と、
を備え、
前記起歪体は空隙を有し、
前記第1の歪検出素子は、前記接続部と前記空隙との間に設けられている、
歪センサ。 - 前記接続部にかかる外力の方向に沿って、前記接続部、前記第1の歪検出素子、前記空隙が順に配置されている、
請求項1に記載の歪センサ。 - 前記起歪体上に設けられた第2の歪検出素子を更に備え、
前記第2の歪検出素子は、前記接続部に対し、前記第1の歪検出素子が設けられている位置とは反対側の位置に設けられている請求項1に記載の歪センサ。 - 請求項1に記載された歪センサと、
外力が加えられる入力部材と、
前記入力部材と接続され、前記外力を伝達する伝達部材と、
を備え、
前記歪センサは、前記入力部材から前記伝達部材に伝達される前記外力が加わるように、前記伝達部材と接続されている荷重検出装置。 - 第2の歪センサを更に備え、
前記第2の歪センサは、前記入力部材に対し、前記歪センサが設けられている位置とは反対側に位置し、前記入力部材に接続されている請求項4に記載の荷重検出装置。 - 請求項1に記載された歪センサと、
外力が加えられる入力部材と、
前記入力部材と接続され、前記外力を伝達する伝達部材と、
を備え、
前記歪センサは、前記入力部材と接続されている荷重検出装置。 - 接続部と固定部とを有する起歪体と、
前記起歪体上に設けられた第1の歪検出素子と、
を備え、
前記接続部と前記固定部との間に前記第1の歪検出素子が設けられ、
前記固定部は、前記接続部に対して、前記接続部にかかる外力の方向に位置し、
前記歪検出素子は、前記接続部と前記固定部との間に生じる圧縮応力を検出する歪センサ。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2016509940A JPWO2015145949A1 (ja) | 2014-03-28 | 2015-02-17 | 歪センサと、これを用いた荷重検出装置 |
EP15768253.5A EP3124931A4 (en) | 2014-03-28 | 2015-02-17 | Strain sensor, and load detection device using same |
US15/128,075 US9885624B2 (en) | 2014-03-28 | 2015-02-17 | Strain sensor, and load detection device using same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2014068354 | 2014-03-28 | ||
JP2014-068354 | 2014-03-28 |
Publications (1)
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WO2015145949A1 true WO2015145949A1 (ja) | 2015-10-01 |
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PCT/JP2015/000708 WO2015145949A1 (ja) | 2014-03-28 | 2015-02-17 | 歪センサと、これを用いた荷重検出装置 |
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US (1) | US9885624B2 (ja) |
EP (1) | EP3124931A4 (ja) |
JP (1) | JPWO2015145949A1 (ja) |
WO (1) | WO2015145949A1 (ja) |
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KR20200117084A (ko) * | 2019-04-02 | 2020-10-14 | 삼성디스플레이 주식회사 | 터치 센서 및 표시장치 |
DE102019206234A1 (de) * | 2019-04-30 | 2020-11-05 | Zf Friedrichshafen Ag | Bewegungssensorik für ein Fahrzeug basierend auf einem elektroaktiven Verbundmaterial |
CN114343897B (zh) * | 2021-12-30 | 2024-05-24 | 广州星际悦动股份有限公司 | 冲牙器、喷头以及基于牙缝检测的冲牙器泵液控制方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6033625U (ja) * | 1984-07-04 | 1985-03-07 | 大和製衡株式会社 | 荷重検出装置 |
US20040007357A1 (en) * | 2002-07-12 | 2004-01-15 | Gabler Kate Irene Stabba | Drilling mechanics load cell sensor |
JP2009063494A (ja) * | 2007-09-07 | 2009-03-26 | Aisin Seiki Co Ltd | 変位検出装置 |
JP2011247702A (ja) * | 2010-05-25 | 2011-12-08 | Toyoda Iron Works Co Ltd | 車両用操作ペダル装置 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3419408B2 (ja) | 2002-11-05 | 2003-06-23 | 松下電器産業株式会社 | 歪検出装置 |
JP2005132216A (ja) * | 2003-10-30 | 2005-05-26 | Matsushita Electric Ind Co Ltd | 踏力センサとそれを用いたペダル踏力検出装置 |
JP4230500B2 (ja) | 2006-09-07 | 2009-02-25 | 豊田鉄工株式会社 | 荷重検出装置 |
-
2015
- 2015-02-17 EP EP15768253.5A patent/EP3124931A4/en not_active Withdrawn
- 2015-02-17 JP JP2016509940A patent/JPWO2015145949A1/ja active Pending
- 2015-02-17 US US15/128,075 patent/US9885624B2/en not_active Expired - Fee Related
- 2015-02-17 WO PCT/JP2015/000708 patent/WO2015145949A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6033625U (ja) * | 1984-07-04 | 1985-03-07 | 大和製衡株式会社 | 荷重検出装置 |
US20040007357A1 (en) * | 2002-07-12 | 2004-01-15 | Gabler Kate Irene Stabba | Drilling mechanics load cell sensor |
JP2009063494A (ja) * | 2007-09-07 | 2009-03-26 | Aisin Seiki Co Ltd | 変位検出装置 |
JP2011247702A (ja) * | 2010-05-25 | 2011-12-08 | Toyoda Iron Works Co Ltd | 車両用操作ペダル装置 |
Non-Patent Citations (1)
Title |
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See also references of EP3124931A4 * |
Also Published As
Publication number | Publication date |
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EP3124931A4 (en) | 2017-03-08 |
US9885624B2 (en) | 2018-02-06 |
US20170102282A1 (en) | 2017-04-13 |
EP3124931A1 (en) | 2017-02-01 |
JPWO2015145949A1 (ja) | 2017-04-13 |
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