WO2018228776A1 - Dispositif de détermination d'un couple - Google Patents

Dispositif de détermination d'un couple Download PDF

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Publication number
WO2018228776A1
WO2018228776A1 PCT/EP2018/062968 EP2018062968W WO2018228776A1 WO 2018228776 A1 WO2018228776 A1 WO 2018228776A1 EP 2018062968 W EP2018062968 W EP 2018062968W WO 2018228776 A1 WO2018228776 A1 WO 2018228776A1
Authority
WO
WIPO (PCT)
Prior art keywords
coil
electrically conductive
sensor element
regions
signal generator
Prior art date
Application number
PCT/EP2018/062968
Other languages
German (de)
English (en)
Inventor
Fabian Utermoehlen
Andreas Merz
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to CN201880039114.3A priority Critical patent/CN110753835A/zh
Publication of WO2018228776A1 publication Critical patent/WO2018228776A1/fr

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Classifications

    • 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
    • G01L3/105—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 inductive means
    • 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 published patent application DE 10 2014 208 642 A1 discloses a sensor arrangement for detecting rotational angles on a rotating component in a vehicle with a first sensor, which is circumferentially coupled to the rotating component with a predetermined first gear ratio, and a second
  • Transducer which is circumferentially coupled to a predetermined second gear ratio with the rotating component, wherein the transmitter generate in each case at least one information for determining the current angle of rotation of the rotating component in conjunction with at least one transducer and wherein the two sensors on a common
  • Rotary axis are mounted.
  • Rotary component comprises a first signal generator which is coupled to a first rotary rod and a second signal transmitter which is coupled to a second rotary rod.
  • the first and second rotating rods are rotatably coupled to each other by a torsion element.
  • the device further comprises at least one sensor element.
  • the first and second signal transmitters each have at least one electrically conductive region and at least one non-conductive or less electrically conductive region.
  • a less electrically conductive region is to be understood as meaning that the less electrically conductive second region has a lower electrical conductivity than the electrically conductive first region.
  • the first and second signal transmitters are arranged on the sensor element such that a relative rotation of the first and second signal transmitter to each other depending on a Kochdeckungshus the conductive first regions can be determined.
  • Such a device may be understood to mean a torque sensor.
  • the rotary rods and the torsion element may be part of a handlebar or steering column. In steering columns, it may be advantageous to determine the force applied by the driver when operating the steering - usually a rotary motion - and thus to determine a size or strength of the steering intervention by a driver.
  • a signal generator may be a disk having regions of different electrical conductivity. Such signal generators can each be coupled to rotary rods, directly or indirectly. A coupling of the signal transmitter to the rotary rods can also be brought about by the fact that the signal transmitters are fixed to the torsion element, which is rotated by the connected rotary rods. At the same time, the signal transmitter provided on the torsion element also rotates.
  • the device has the advantage that, by determining the degree of overlap, a relative displacement between the signal transmitters when rotating relative to one another can be determined instead of first determining individual angles, and subsequently linking them to one another by computation.
  • By directly determining the relative rotation between the signal generators on the Kochdeckungshack can thus be set directly a torque. If the angle of rotation is known, this is a measure of the applied torque, if it is assumed that a torsional angle-torque characteristic of the torsion element is known. Further, it is advantageous that the device occupies little space, and only a single sensor for the determination of a value needed, and not two sensors, as in forming a differential angle of two individual directly measured angles.
  • the rotation of the first and second signal transmitter to each other, by rotating the first rotating rod and the second rotating rod to each other causes.
  • forces can act on rotary rods.
  • a force acting on a first rotary rod coming from an axle can, on the one hand, act on the one hand, and, on the other hand, coming from a steering wheel on a second rotary rod.
  • These acting forces lead to a rotation of the rotary rods to each other.
  • This in turn causes said rotation of the first and second signal transmitter.
  • externally acting on the rotary member forces at a certain point of the Rotary components for example, in the environment of the torsion element are measurable.
  • the rotary component can also be adapted accordingly to the required mounting situation, for example in a motor vehicle.
  • the first signal transmitter is coupled to the first rotary rod
  • the second signal transmitter is coupled to the second rotary rod such that the respectively coupled signal transmitter is moved during a rotational movement of the first and / or second rotary rod.
  • the sensor element comprises at least one coil.
  • an electromagnetic measuring principle can be used. This has the advantage that the measuring principle works without contact, which can reduce wear of components that are otherwise exposed by contact during movement friction and thus abrasion.
  • the construction and connection technique is in contrast to sensors that are used as a sensitive element e.g. Use strain gauges that are applied directly to the torsion element, simpler and more robust.
  • the sensor element comprises in an advantageous embodiment, an exciter coil and a receiver coil.
  • An excitation coil can serve to generate a magnetic field.
  • Such a magnetic field influences the electrically conductive regions of the signal generator, in particular the electrically conductive first regions of the first and second signal generator.
  • a magnetic field in the form of an induced voltage can be detected.
  • the conductive regions of the first and second signal transmitter have surfaces which face the sensor element.
  • the surfaces of the respective first conductive regions of the first and second signal generator have substantially the same dimensions.
  • the signal transmitters are provided in such a way that the first and second signal transmitters can be arranged in register with each other. Furthermore, it is advantageous if first and second signal generators are provided complementary to one another. A complementary provision is in particular with respect to to understand the electrically conductive first regions and the corresponding non-electrically conductive or less electrically conductive second regions.
  • the degree of overlap of the electrically conductive first regions above the sensor element can be determined on the basis of an inductive coupling between the exciter coil and the receiver coil.
  • the exciter coil and the receiver coil of the sensor element are arranged in each case in a single direction along the circumference of the rotary component.
  • the exciter coil and the receiver coil extend in an orientation sense along the circumference of the rotary member, such as only clockwise, or counterclockwise only.
  • the excitation coil of the sensor element is designed in one direction and the receiver coil of the sensor element, in contrast, designed more and more along the circumference of the rotary component.
  • the receiver coil has a first part which extends in a first direction of orientation along the circumference, and a further part which extends in a further - opposite - direction of orientation along the circumference.
  • a first part of the receiver coil first in a first orientation Run along the circumference, then make a change in direction and then run back in opposite orientation.
  • the change in direction may in particular be radial with respect to the axis of rotation.
  • both the exciter coil and the receiver coil of the sensor element run more frequently along the circumference of the rotary component.
  • the multi-lane course of at least the receiver coil and optionally also the excitation coil can be limited by an opening angle.
  • An angle smaller than 360 °, in particular an opening angle smaller than 180 °, makes it possible to introduce the sensor element laterally against the rotary component and to obstruct it there.
  • the degree of overlap of the electrically conductive first regions of the first and second signal transmitters influences an extent of overlap of the sensor element with the electrically conductive first regions of the first and second signal transmitter, in particular it corresponds to this. In this way, a rotation of the signal transmitter to each other, which changes the overlap of the conductive first regions to each other also be determined by means of the sensor element.
  • Figure 1 discloses a device for measuring a rotation of two components to each other.
  • FIG. 2 shows a first and a second signal generator.
  • Figure 3 shows different arrangements of the first and second signal transmitter to each other.
  • FIGS. 4 to 6 show different embodiments for measuring value determination.
  • Figure 7 and Figure 8 shows a possible waveform at a relative rotation of the first and second signal transmitter to each other.
  • FIG. 9 shows a further arrangement for measuring value determination.
  • FIG. 1 shows a device for determining a relative rotation of two rotatable components.
  • the device is described using the example of a steering column or handlebar, but is not limited to steering.
  • a first part 100.1 of a handlebar and a second part 100.2 of a handlebar 100 are interconnected by a torsion element 101.
  • the torsion element can be twisted in and allows a rotation of the connected first and second parts of the handlebar 100 to each other.
  • a first target element 103 is attached on the first part 100.1 of the handlebar 100.
  • An attachment of the target element 103 to the first part 100.1 can take place via a corresponding support structure 102.
  • a support structure may for example be a sleeve 102.
  • the attachment may be rigidly provided.
  • a second target element 104 is attached on the second part 100.2 of the handlebar 100. This attachment can be provided rigidly. Upon rotation of the second part 100.2 of the handlebar 100, the second target element 104 rotates.
  • Both the first and second target elements 103 and 104 may alternatively be attached to the torsion element 101. It merely has to be ensured that upon rotation of the first and second parts 100.1 and 100.2 of the handlebar 100, the first and second target elements 103, 104 are rotated relative to each other. Furthermore, a sensor circuit board 105 is either rigidly attached to the second part 100.2 of the handlebar 100 or, as shown, stationary with respect to a rotation of the handlebar 100 as a whole. The sensor circuit board 105 rotates in a fixed arrangement with respect to the handlebar 100 so not with a rotation of the handlebar.
  • the vertical distance between the two target elements 103, 104 may be predetermined by the correspondingly spaced mounting on the handlebar 100 - in particular on the first part 100.1, the second part 100.2.
  • an attachment of the first and / or second target element 103 and 104 may be provided on the torsion element 101.
  • the vertical distance between the two target elements 103, 104 in the extension direction of the handlebar can amount to a few 100 ⁇ . Preferably, the distance is to be interpreted as small as possible. It is also possible that the target elements 103, 104 touch.
  • the target elements 103 and 104 are shown in FIG.
  • the first target element 103 consists of an identical number of electrically conductive first circular sector elements 103.1 and electrically non-conductive or less conductive second circular sector elements 103.2. Both clamp on the angle 103a and 103b respectively.
  • Both angles 103a and 103b can be identical.
  • the angles 103a and 103b may each be one to two times the maximum torsion angle of the first part 100.1 and second part 100.2 of the handlebar 100 correspond. It should be pointed out again that the description of a handlebar is not limiting, but this is to be seen as a representative of a rotary component.
  • the sum of an angle 103a and an angle 103b may correspond to an integer divisor of 360 °.
  • a second target element 104 is shown.
  • the second target element 104 may have identical dimensions as the first target element
  • the geometry of the electrically conductive first circular sector elements 104. 1 of the second target element 104 may be identical to the electrically non-conductive or less conductive second circular sector elements 103. 2 of the target element 103.
  • the geometry of the electrically conductive first circular sector elements 103. 1 of the first target element 103 may be identical to the electrically non-conductive or at least less conductive circular sector elements 104. 2 of the target element 104.
  • first and second target elements 103, 104 are complementary in their geometry.
  • first circular sector elements 103.1 and 104.1 are visible in a corresponding rotational position in plan view along the axis of rotation. It forms a closed surface of target elements 103 and
  • FIG. 3 shows the arrangement of the first target element 103 with the second target element 104 in a plan view along a common axis of rotation of the target elements 103 and 104 in different rotational positions.
  • the two target elements 103, 104 are positioned so rotated relative to each other that they form a continuous electrically conductive surface in plan view - for example, without an effect of a torque on the handlebar. This arrangement is shown on the left in FIG.
  • a rotation of the target elements 103, 104 relative to one another results in an opening of a surface which is no longer covered by one of the electrically conductive first circular sector elements 103. 1, 104. 1, but instead by the respectively non-electrically conductive ones or less conductive circular sector elements 103.2, 104.2 of the target elements 103, 104.
  • this surface opens further.
  • the detection of the size of this surface 103.2, 104.2 allows a conclusion on the angle of rotation. Based on the angle of rotation can be determined with knowledge of a coupling strength of an existing torsion element 100, the torque.
  • the size of this described opening area can be determined with a coil arrangement shown in FIG.
  • the coil arrangement comprises a circular excitation coil 202 which is placed on the sensor circuit board 105.
  • the sensor plate 105 is not shown in FIGS. 4-6 for the sake of clarity.
  • the excitation coil 202 extends along the circumference of the rotating component, which is indicated in Figure 4 by its diameter di.
  • a receiving coil 203 Within the excitation coil 202 is a receiving coil 203. A reverse arrangement of the receiving coil and exciter coil would be possible.
  • the outer dimension of the coil structure (diameter da) is of the same order of magnitude as the diameter of the target elements 103, 104.
  • the coil arrangement 202, 203 must also be able to at least partially receive a handlebar 100 of diameter di.
  • the path of the excitation coil 202 and the receiving coil 203 can be understood in the embodiment of Figure 4 each as a single.
  • the course is in the example shown in the same direction, there is no other part of the excitation coil 202 and the receiving coil 203, which runs counter to a first part.
  • a single-step course is to be seen here in comparison to a two-part course of FIGS. 5 or 6.
  • the exciter coil 202 is supplied with an alternating voltage having a frequency in the range of a few MHz (preferably 5 MHz). This creates an alternating electromagnetic field.
  • the alternating electromagnetic field causes eddy currents in the targets 103, 104, which induce a corresponding alternating voltage in the receiving coil 203 via the resulting magnetic field.
  • a demodulation of the coupling factor of the received signal can be determined with the exciter signal.
  • the cut-off frequency of the low-pass filter can be low and range from a few Hz to less than kHz.
  • the amplitude of the received signal can also be determined by means of a (digital) Fourier transformation or alternative methods for amplitude measurement.
  • a linear course of the relationship, as shown in FIG. 7, is not urgently required, and a functional relationship may exist, depending on how overlapping of the coil arrangement 202, 203 with electrically conductive material 103. 1, 104. 1 of the target elements 103, 104 changed.
  • the angle of rotation 301 can, as described, represent the acting torque, in particular be proportional to this.
  • the course shown is valid when the torsion element rotation is linear to the torque and when the overlap of the coil structure 202, 203 with electrically conductive material 103.1 104.1 of the target elements 103, 104 acts linearly on the coupling factor. Especially for small maximum torsions, this relationship can be considered valid.
  • the excitation coil 202 is arranged along the circumference of the handlebar, analogous to FIG. 4.
  • the receiving coil 203 also extends along the circumference, but not more inwardly as shown in Figure 4, but more often.
  • the term multi-path means that the receiving coil 203 extends in a first part along the circumference of the handlebar 100, and runs in at least one further part along the circumference in opposite directions to the first part. It can be seen in FIG. 5 that a first part has a course in the counterclockwise direction, and a second part has a course in the clockwise direction. Both courses run along the circumference, but have a different radius. Between the first part and the second part of the receiving coil there may be a section connecting the first part to the second part.
  • this intermediate portion may extend radially with respect to the center of the coil assembly and thus the handlebar 100.
  • the coil arrangement 202, 203 does not completely surround the handlebar 100.
  • the receiving coil 203 has only an opening angle 204, which is also present on the other side of the dashed auxiliary lines in the same way as angle 204.
  • the excitation coil 202 is now provided more often.
  • the excitation coil 202 now has a first part that runs along the circulation, and a second counter-rotating part, which in turn runs along the circulation, but in opposite directions to the first part.
  • the excitation coil 202 has an opening angle (not shown in Figure 6) which is smaller than 360 °.
  • the excitation coil 202 rotates the handlebar multi-speed and proportionately.
  • FIG. 6 thus shows a multi-stage proportional course of exciter coil 202 and receiver coil 203.
  • the opening angle 204 to be selected can only be selected such that there is always at least one gap 103.2, 104.2 between the circle segments 103.1 and 104.1 of the target elements 103 and 104 above the receiving coil 203.
  • the opening angle of the receiving coil 204 for this is preferably 60 °.
  • both the excitation coil 202 and the reception coil 203 can be realized in a plurality of circuit board levels of the circuit board 105.
  • the excitation coil 202 and the receiving coil 203 may also have more than one turn, as is generally known in the case of coils. Additional windings can, for example, run behind or in front of the coil arrangements 202, 203 shown in FIGS. 4, 5 or 6, ie, virtually into the plane of the drawing or out of the plane of the drawing.
  • the coil element 202 is a circular coil 202 - for example a planar coil - according to FIG. 9.
  • the coil 202 is mounted on the sensor circuit board 105.
  • the coil 202 has a first connection 202.1 and a second connection 202.2.
  • the dimensioning of the coil arrangement 202 is designed such that the diameter da is of the same order of magnitude as the diameter of the target elements 103, 104.
  • the inner diameter di depends on the diameter of the steering rod 100, which is to be performed by the coil arrangement 202.
  • the handlebar 100 is not shown in FIG.
  • FIG. 9 shows the coil arrangement 202 with a plurality of windings, all of which extend along the circumference of the steering rod 100. This arrangement is in turn to be understood as a single. In this embodiment, no opposing part of the coil 202 is present.
  • the underlying measurement effect of this coil arrangement is an inductance change of the coil 202 when there is over this electrically conductive material, for example the electrically conductive parts 103.1 and 104.1 of the targets 103 and 104.
  • an alternating voltage is applied to the coil 202, an alternating electromagnetic field is produced which induces an eddy current in the targets 103, 104 above it, in particular in the electrically conductive parts of the targets 103, 104.
  • This eddy current generates a field opposite to the first alternating electromagnetic field Counter field, which leads to a reduced inductance of the sensor coil 202.
  • the inductance reduction is stronger, the greater the area covered with electrically conductive material. According to the arrangement of the target elements 103, 104 in FIG. 3, this means that a smaller relative rotation leads to a lower inductance.
  • f_0 represents the resonant frequency of the resonant circuit
  • PI the circle number
  • sqrt the root L
  • L the inductance
  • C the capacitance of the resonant circuit
  • a measurement of the frequency f_0 e.g. Counting the periods within a defined time window thus allows a conclusion to a rotation of the targets to each other.
  • the applied torque influences the rotation of the targets 103, 104 relative to one another, whereby it is possible to deduce the applied torque based on the determination of the rotation.
  • the capacitors used in the resonant circuit are chosen so that a frequency in the range of several tens of MHz is achieved.
  • the planar coil can also be integrated in several layers of a printed circuit board, as a result of which a plurality of turns can be arranged one above the other. Likewise, an increase in the number of turns is conceivable.
  • the counting of the frequencies can be carried out by means of a dedicated control device. Likewise, by means of the evaluation by means of an already existing control device to which the analysis is outsourced take place. In this case, no additional components (such as a microcontroller) are necessary and the overall system becomes very cheap.
  • the inductance can also be measured directly. This can be done, for example, with the following methods:
  • o is based in principle on the fact that the energy of the measuring coil is loaded on a capacitor whose voltage serves as a measuring signal, by reactive voltage dividers,
  • phase-locked loop PLL

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Power Steering Mechanism (AREA)

Abstract

L'invention concerne un dispositif de détermination d'un couple sur un composant rotatif (100) qui comprend au moins un premier émetteur de signaux (103) couplé à un premier arbre rotatif (100.1) ainsi qu'au moins un deuxième émetteur de signaux (104) couplé à un deuxième arbre rotatif (100.2). Les premier et deuxième arbres rotatifs (100.1, 100.2) sont couplés ensemble respectivement par un élément de torsion (101) de manière à pouvoir tourner. Le dispositif comprend en outre au moins un élément capteur (105). Les premier et deuxième émetteurs de signaux (103, 104) comprennent chacun au moins une première zone (103.1, 104.1) électriquement conductrice ainsi qu'au moins une deuxième zone (103.2, 104.2) électriquement non ou moins conductrice. Les premier et deuxième émetteurs de signaux (103, 104) sont ainsi agencés au niveau de l'élément de capteur (105) de telle sorte qu'une rotation relative des premier et deuxième émetteurs de signaux (103, 104) l'un par rapport à l'autre peut être déterminée en fonction d'un degré de chevauchement des premières zones (103.1, 104.1) électriquement conductrices.
PCT/EP2018/062968 2017-06-14 2018-05-17 Dispositif de détermination d'un couple WO2018228776A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201880039114.3A CN110753835A (zh) 2017-06-14 2018-05-17 用于确定扭矩的装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017210061.3A DE102017210061A1 (de) 2017-06-14 2017-06-14 Vorrichtung zur Ermittlung eines Drehmoments
DE102017210061.3 2017-06-14

Publications (1)

Publication Number Publication Date
WO2018228776A1 true WO2018228776A1 (fr) 2018-12-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/062968 WO2018228776A1 (fr) 2017-06-14 2018-05-17 Dispositif de détermination d'un couple

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CN (1) CN110753835A (fr)
DE (1) DE102017210061A1 (fr)
WO (1) WO2018228776A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114659697B (zh) * 2022-03-28 2023-06-23 浙江机电职业技术学院 一种基于电容传感器的柔性六维力传感器

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3329012A (en) * 1963-11-08 1967-07-04 Schaevitz Engineering Torsion measuring device
GB2065897A (en) * 1979-12-19 1981-07-01 Bosch Gmbh Robert Device for measuring an angle of rotation or a torque
EP0151089A2 (fr) * 1984-01-30 1985-08-07 Vibro-Meter Sa Dispositif de mesure d'un couple ou d'un angle de torsion
US4805463A (en) * 1981-04-20 1989-02-21 Eaton Corporation Torque transducer
US5083468A (en) * 1987-09-02 1992-01-28 Robert Bosch Gmbh Device for measuring rotation angle and/or torque
US6443020B1 (en) * 2000-09-15 2002-09-03 Delphi Technologies, Inc. Steering column differential angle position sensor
DE102014208642A1 (de) 2014-05-08 2015-11-12 Robert Bosch Gmbh Sensoranordnung zur Erfassung von Drehwinkeln an einem rotierenden Bauteil in einem Fahrzeug

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2097131A (en) * 1981-04-20 1982-10-27 Eaton Corp Electromagnetic torque transducer

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3329012A (en) * 1963-11-08 1967-07-04 Schaevitz Engineering Torsion measuring device
GB2065897A (en) * 1979-12-19 1981-07-01 Bosch Gmbh Robert Device for measuring an angle of rotation or a torque
US4805463A (en) * 1981-04-20 1989-02-21 Eaton Corporation Torque transducer
EP0151089A2 (fr) * 1984-01-30 1985-08-07 Vibro-Meter Sa Dispositif de mesure d'un couple ou d'un angle de torsion
US5083468A (en) * 1987-09-02 1992-01-28 Robert Bosch Gmbh Device for measuring rotation angle and/or torque
US6443020B1 (en) * 2000-09-15 2002-09-03 Delphi Technologies, Inc. Steering column differential angle position sensor
DE102014208642A1 (de) 2014-05-08 2015-11-12 Robert Bosch Gmbh Sensoranordnung zur Erfassung von Drehwinkeln an einem rotierenden Bauteil in einem Fahrzeug

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CN110753835A (zh) 2020-02-04
DE102017210061A1 (de) 2018-12-20

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