JPS61140832A - Torque detecting device - Google Patents
Torque detecting deviceInfo
- Publication number
- JPS61140832A JPS61140832A JP26479584A JP26479584A JPS61140832A JP S61140832 A JPS61140832 A JP S61140832A JP 26479584 A JP26479584 A JP 26479584A JP 26479584 A JP26479584 A JP 26479584A JP S61140832 A JPS61140832 A JP S61140832A
- Authority
- JP
- Japan
- Prior art keywords
- magnetic
- legs
- detection device
- leg
- torque detection
- 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
Links
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
- G01L3/102—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 magnetostrictive means
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Measuring Magnetic Variables (AREA)
Abstract
Description
【発明の詳細な説明】
（３−１） 産業上の利用分野
本発明は動力伝達用の回転軸等に加わるトルクを検出す
ための検出装置に係るものであり特に自動車等車両のエ
ンジンの出力トルクを検出し、または変速機の出力トル
クを検出する際に便利に用いられるトルク検出装置に関
する。[Detailed Description of the Invention] (3-1) Industrial Application Field The present invention relates to a detection device for detecting torque applied to a rotating shaft for power transmission, etc., and particularly relates to an output of an engine of a vehicle such as an automobile. The present invention relates to a torque detection device that is conveniently used when detecting torque or output torque of a transmission.
（３−２） 従来の技術
最近自動車のエンジン等の原動機にコンピュータを搭載
し、負荷の変化、燃料の組成の変化、空気の温度、比重
量の変化等の外的な変化に即応して運転条件を自動的に
調節し、円滑な運転とエネルギー節約を図ろうとするい
ろいろな試みがなされており、すでに相応の成果が挙げ
られている。(3-2) Conventional technology Recently, computers have been installed in prime movers such as automobile engines to enable operation in response to external changes such as changes in load, changes in fuel composition, changes in air temperature, and changes in specific weight. Various attempts have been made to automatically adjust conditions to ensure smooth operation and save energy, and some success has already been achieved.
しかしながら車両に搭載する小型の原動機等にあっては
、動力伝達用の軸のトルクを検出測定する小形でしかも
軽量なトルク検出装置が得られなかったために、負荷の
変動の測定が充分でなく、したがってまた外的条件の変
化に伴なう運転の調整も必ずしも満足のできるものでは
なかった。However, in the case of small prime movers installed in vehicles, it has not been possible to obtain a small and lightweight torque detection device that detects and measures the torque of the shaft for power transmission, so it is not possible to measure load fluctuations sufficiently. Therefore, adjustment of operation in response to changes in external conditions has not always been satisfactory.
従来またこのトルク検出装置の欠点を補う目的でトルク
伝達軸が磁性体である場合はその軸に生ずる主応力によ
って透磁率に変化が生ずることを利用したトルク検出装
置が開発されている（たとえば特開昭５９−４３３２３
号または特開昭５９−４６５２７号）。Conventionally, in order to compensate for the drawbacks of this torque detection device, torque detection devices have been developed that take advantage of the fact that when the torque transmission shaft is made of a magnetic material, the magnetic permeability changes due to the principal stress generated in the shaft (for example, Kaisho 59-43323
No. 59-46527).
これらのものは第４図および第５図（いずれも（イ）は
平面図、（ロ）は（イ）図におけるローロ断面を矢印方
向にみた断面図を含む正面図である。）に示されるよう
な構造を有している。すなわち両図において、トルク検
出装置１は３本または４本の磁性体脚２をトルク伝達軸
１１の表面に近接して設け、各脚２をＴ字状（３本の場
合、第４図参照）またはＸ字状（４本の場合、第５図参
照）の磁性体３で一体的に結合し、各脚２には巻線４を
巻回し、その１の脚の巻線４を電源に接続し他の１対の
巻線４を直列に接続した後電流計測器に接続しく３本の
場合、第４図参照）または対角線上にある１対の脚の巻
線４を電源に接続し、他の１対の巻線４を直列に接続し
た後、（４本の場合、第５図参照）電流計測器に接続し
て成っている。These items are shown in Figures 4 and 5 (both (A) is a plan view, and (B) is a front view including a sectional view of the Rollo section in Figure (A) seen in the direction of the arrow). It has a structure like this. That is, in both figures, the torque detection device 1 has three or four magnetic legs 2 provided close to the surface of the torque transmission shaft 11, and each leg 2 has a T-shape (in the case of three, see FIG. 4). ) or X-shaped (in case of four, see Figure 5), they are integrally connected by a magnetic body 3, each leg 2 is wound with a winding 4, and the winding 4 of the first leg is connected to the power source. If you want to connect the current measuring device after connecting the other pair of windings 4 in series (see Figure 4), or connect the diagonally opposite pair of leg windings 4 to the power supply. , another pair of windings 4 are connected in series (in the case of four windings, see FIG. 5), and then connected to a current measuring device.
第６図はその測定原理を示したものである。すなわちト
ルク伝達軸１１にトルクが印加された場合には、軸１１
には図示するように引張り応力σと圧縮応力−σが作用
する。FIG. 6 shows the measurement principle. That is, when torque is applied to the torque transmission shaft 11, the shaft 11
As shown in the figure, tensile stress σ and compressive stress −σ act.
輔１１が磁性体であるときは、引張り応力σが作用して
いる方向はたとえば透磁率が増加し、圧縮応力−σが作
用している方向は透磁率が減少する。応力と透磁率の変
化の方向は磁性材料により異なる。When the support 11 is a magnetic material, for example, the magnetic permeability increases in the direction where the tensile stress σ is applied, and the magnetic permeability decreases in the direction where the compressive stress −σ is applied. The directions of changes in stress and permeability vary depending on the magnetic material.
また前記トルク検出装置においては、電流計測器に接続
されている巻線を有する脚（検出脚）と、軸１１と、電
源に接続されている巻線を有する脚（励磁脚）と、脚を
連結する磁性体３とによって２個または２組の閉磁路が
形成されている。この２個または２組の閉磁路は軸１１
にトルクが作用していないときには、その透磁率が全く
同一であるため、電流計測器には電流が流れない。しか
しながら軸１１にトルクが作用すれば２個または２組の
閉磁路はその透磁率が異るため電流計測器に電流が流れ
、その大きさはトルクの大きさに対して規則正しく変化
するのでトルクを測定することができる。The torque detection device also includes a leg (detection leg) having a winding connected to a current measuring device, a leg (excitation leg) having a winding connected to the shaft 11, and a leg (excitation leg) connected to a power source. Two or two sets of closed magnetic paths are formed by the connected magnetic bodies 3. These two or two sets of closed magnetic circuits are connected to the shaft 11.
When no torque is acting on the two, their magnetic permeability is exactly the same, so no current flows through the current meter. However, when torque is applied to the shaft 11, two or two sets of closed magnetic circuits have different magnetic permeabilities, so a current flows to the current measuring device, and the magnitude changes regularly with respect to the torque. can be measured.
以上述べたトルク検出装置はトルク伝達軸と非接触であ
るため、部品の摩耗、振動による精度の低下の心配がな
く、また小形軽量で精度が高いため、車両等に搭載して
便利に使用することができるが、一方法のような欠点も
あった。Since the torque detection device described above does not make contact with the torque transmission shaft, there is no need to worry about deterioration of accuracy due to wear of parts or vibration, and since it is small, lightweight, and highly accurate, it can be conveniently mounted on vehicles, etc. Although it can be done, there are some drawbacks to this method.
すなわち、トルク伝達軸にトルクが作用していない際に
は、検出脚の巻線から取り出される電圧（オフセット電
圧）は理論的にはＯでなければならないが、実際は、こ
のトルク検出装置に使用される磁性体の磁気的性質が必
ずしも均一でなく、バラツキがあるため、オフセット電
圧が０にならないことが多く、そのために測定精度が落
ち、または、オフセット電圧の調整のための複雑な回路
を付加する必要があり原価高を招いていた。In other words, when no torque is acting on the torque transmission shaft, the voltage (offset voltage) extracted from the winding of the detection leg should theoretically be O, but in reality, it is not used in this torque detection device. Because the magnetic properties of the magnetic material used in the measurement are not necessarily uniform and vary, the offset voltage often does not become 0, which reduces measurement accuracy or requires the addition of a complicated circuit to adjust the offset voltage. This was necessary, leading to higher costs.
（３−３） 発明が解決しようとする問題点本発明は
以」−述べた従来のトルク検出装置の欠点を解消し、小
形軽量でしかも精度がよく、オフセット電圧の調整が容
易であり、したがって原価の廉いｌ・ルク検出装置を提
供しようとするものである。(3-3) Problems to be Solved by the Invention The present invention solves the drawbacks of the conventional torque detection device mentioned below, is small and lightweight, has good accuracy, and can easily adjust the offset voltage. The present invention aims to provide a low-cost l-lux detection device.
（３−４） 問題点を解決するための手段およびその
作用
本発明は従来使用されている４本脚のトルク検出装置に
改良を加えたものである。すなわち、該装置のＸ字状の
磁性体に代えて略正方形板状の磁性体を用い、その各頂
点に４本の脚を立設し、さらに前記正方形板の中央部に
穴を設けその中に磁性体を有する回転体を挿入し、これ
を適宜回転せしめることによって、前記した問題点を解
決しているのである。(3-4) Means for Solving the Problems and Their Effects The present invention is an improvement on a conventionally used four-legged torque detection device. That is, in place of the X-shaped magnetic material of the device, a substantially square plate-shaped magnetic material is used, four legs are provided at each vertex of the magnetic material, and a hole is provided in the center of the square plate. The above-mentioned problems are solved by inserting a rotating body having a magnetic material into the body and rotating it appropriately.
以下実施例の図面に基いて本発明の構成等について説明
する。第１図は本発明に係るトルク検出装置を例示した
図で（イ）は平面図、（ロ）は正面図、（ハ）は右側面
図であ。The configuration of the present invention will be explained below based on the drawings of the embodiments. FIG. 1 is a diagram illustrating a torque detection device according to the present invention, in which (A) is a plan view, (B) is a front view, and (C) is a right side view.
る。また第２図（イ）はその拡大斜視図、（ロ）は底面
図である。両図において、）・ルク検出装置１は略正方
形状の磁性板３と、その頂点付近に一体的に立設された
４本の磁性体製の脚２Ａ、２Ｂ、２Ｃ２２Ｄと、各脚に
巻回された巻線４Ａ、４Ｂ、４Ｃ１４Ｄとから成ってお
り、対角線上にある１対の脚の巻線４Ａ、４Ｃは電源に
接続されており他の１対の巻線４Ｂ、４Ｄはその巻線中
に生ずる磁束を検出して発生する電圧が逆向きの極性と
なるように接続された上で電流計測器に接続されている
。Ru. Moreover, FIG. 2(A) is an enlarged perspective view thereof, and FIG. 2(B) is a bottom view thereof. In both figures, the )-lux detection device 1 includes a substantially square magnetic plate 3, four magnetic legs 2A, 2B, and 2C22D integrally erected near the apex of the plate, and a winding around each leg. It consists of turned windings 4A, 4B, 4C14D, one pair of leg windings 4A, 4C on the diagonal are connected to the power supply, and the other pair of windings 4B, 4D are connected to the power supply. The wire is connected so that the voltage generated by detecting the magnetic flux generated in the wire has opposite polarity, and then connected to a current measuring device.
このトルク検出装置はトルク伝達軸１１に対してその各
脚の先端が軸１１の表面に対して微少間隙を隔てて近接
し、かつその１対の脚の（図示のものは２Ａ、２Ｃ）の
軸を含む平面が軸１１の軸心と直交するように設置され
ている。In this torque detection device, the tip of each leg of the torque transmitting shaft 11 is close to the surface of the shaft 11 with a small gap, and the pair of legs (2A and 2C in the figure) It is installed so that a plane including the shaft is orthogonal to the axis of the shaft 11.
また磁性体板３の中央部には穴５が設けられており、穴
５には例えば雌ねじ５Ａが設けられている。この穴５に
は雌ねじ５Ａと螺合する＃Ｃねじ６Ａと、板状の磁性体
６Ｂとから成る調整用回転体６が取伺けられている。こ
の回転体の頭部には−または十の溝があり、ドライバー
等で回転せしめることにより、磁性体６Ｂの方向を任意
に変えることができる。A hole 5 is provided in the center of the magnetic plate 3, and the hole 5 is provided with, for example, a female thread 5A. An adjusting rotating body 6 consisting of a #C screw 6A screwed into the female screw 5A and a plate-shaped magnetic body 6B is inserted into the hole 5. The head of this rotating body has a - or ten groove, and by rotating it with a screwdriver or the like, the direction of the magnetic body 6B can be changed arbitrarily.
いま＠線４Ａ、４Ｃの端子７Ａ、７Ｃを電源に接続すれ
ば、脚２Ａ（励磁脚）−磁性体３−脚２Ｂ（検出脚）−
軸１１−脚２Ａ；脚２Ａ−磁性体３−脚２Ｄ（検出脚）
−軸１１−脚２Ａ、脚２Ｃ（励磁脚）−軸１１−脚２Ｂ
−磁性体３−脚２Ｃ，脚２Ｃ−軸１１−脚２Ｄ−磁性体
３−脚２Ｃという４つの閉磁路にそれぞれ、ｘｌ 、Ｙ
ｌ ＋ Ｘ２ ＋ ｙ２の磁束が流れる。軸１１にト
ルクが作用していないときには理論的には各磁路の透磁
率は等しく、従ってｘｉ ＝ｙ１ ＋Ｘ２ ＝ｙ２
である筈であるが、」二記したように磁性体の磁気特性
のバラツキによって多くの場合、
ＸＩ ≠Ｘ２ 、Ｘ２ ≠Ｖ２ とな’Ｊ、巻ｄ４Ｂ
、４Ｄの端子７Ｂ、７Ｄにはオフセット電圧が発生する
。このような場合、回転体６を回転せしめれば、各磁路
の透磁率に変化を与えることができ、Ｘ ｌ”ｙｌ
、、Ｘ２ ＝１２ に調整でき、オフセット電圧を０に
することができる。Now, if you connect terminals 7A and 7C of @ lines 4A and 4C to the power supply, leg 2A (excitation leg) - magnetic body 3 - leg 2B (detection leg) -
Axis 11-leg 2A; leg 2A-magnetic body 3-leg 2D (detection leg)
- Axis 11 - Leg 2A, leg 2C (excitation leg) - Axis 11 - Leg 2B
- Magnetic body 3 - Leg 2C, leg 2C - Axis 11 - Leg 2D - Magnetic body 3 - Leg 2C, xl, Y
A magnetic flux of l + X2 + y2 flows. When no torque is acting on the shaft 11, the magnetic permeability of each magnetic path is theoretically equal, so xi = y1 + X2 = y2
However, as mentioned above, in many cases due to variations in the magnetic properties of magnetic materials, XI ≠X2 , X2 ≠V2
, 4D, an offset voltage is generated at terminals 7B and 7D of the terminals 7B and 7D. In such a case, by rotating the rotating body 6, it is possible to change the magnetic permeability of each magnetic path, and
,, X2 = 12, and the offset voltage can be set to 0.
このようにしてオフセット電圧を０に調整した後、軸１
１にトルクを作用せしめたときには、電流計測器によっ
て計測される電流値はトルクの大きさに対して規則正し
く変化するので、トルクを正確に計測することができる
。After adjusting the offset voltage to 0 in this way, axis 1
When a torque is applied to the motor 1, the current value measured by the current measuring device changes regularly with respect to the magnitude of the torque, so the torque can be measured accurately.
（３−５） 前記以外の実施例 第３図に示したものは別の実施例である。(3-5) Examples other than the above What is shown in FIG. 3 is another embodiment.
本例にあっては、トルク検出装置の外側が、各脚の先端
部分、調整用回転体挿入用の大部分および各巻線の端子
部を除いてすべてプラスチックでおおわれている。この
ようにすれば、振動等に対して耐久力のあるトルク検出
装置を得ることができる。In this example, the outside of the torque detection device is entirely covered with plastic except for the tip portions of each leg, the majority of parts for insertion of the adjustment rotating body, and the terminal portions of each winding. In this way, it is possible to obtain a torque detection device that is durable against vibrations and the like.
調整用回転体に取付けた磁性体はそれによって各磁束の
通過する閉磁路の透磁率を調整する役割を負っているが
、トルク検出装置に要求される精度、使用される磁性材
料の磁気的性質のバラツキの度合いによっては、磁気的
性質の異る各種の磁性材を使用することが必要となって
くる。すなわち、鉄、フェライト等の磁性体の他、鉄、
カーボニール鉄、フェライト粉末等の磁性材料とプラス
チックとを混合硬化させたいわゆるゴム磁石でその配合
をいろいろと変えた（たとえば磁性材料とプラスチック
の重量比１：１０から９：１０まで変えたもの）もの等
を使用することが必要である。The magnetic body attached to the adjustment rotor has the role of adjusting the magnetic permeability of the closed magnetic circuit through which each magnetic flux passes, but the accuracy required for the torque detection device and the magnetic properties of the magnetic material used are Depending on the degree of variation, it may be necessary to use various magnetic materials with different magnetic properties. In other words, in addition to magnetic materials such as iron and ferrite, iron,
So-called rubber magnets are made by mixing and hardening magnetic materials such as carbonyl iron and ferrite powder with plastic, and the composition is varied in various ways (for example, the weight ratio of magnetic material and plastic is changed from 1:10 to 9:10). etc. is necessary.
（３−６） 発明の効果
本発明はトルクの伝達軸に生じた応力によってその透磁
率が変化するいわゆる磁歪現象を利用し、軸の外側に磁
性体とコイルとから成るトルク検出装置を非接触に設置
し、さらに回転体を具えてオフセット電圧を調整する等
によって、正確なトルク検出を可能としたものであり、
次に示すようなすぐれた効果を有する。(3-6) Effects of the Invention The present invention utilizes the so-called magnetostriction phenomenon in which the magnetic permeability changes due to the stress generated in the torque transmission shaft, and non-contactly attaches a torque detection device consisting of a magnetic material and a coil to the outside of the shaft. It is possible to accurately detect torque by installing it in
It has the following excellent effects.
（１） 小形かつ軽量のトルク検出装置が得られる。(1) A small and lightweight torque detection device can be obtained.
（２） 自動車等の車両に搭載できる。(2) Can be mounted on vehicles such as automobiles.
（３） コンピューターに入力することにより、車両
の原動機の自動的な運転調整が可能である。(3) By inputting information into a computer, it is possible to automatically adjust the operation of the vehicle's prime mover.
（４） オフセット電圧の微細な調整が可能であり、
きわめて高い精度のトルク検出ができる。(4) Fine adjustment of offset voltage is possible,
Torque detection with extremely high accuracy is possible.
第１図は本発明に係るトルク検出装置を例示した図で（
イ）は平面図、（ロ）は正面図、（ハ）は右側面図、第
２図（イ）はその拡大斜視図、（ロ）は底面図、第３図
は別の実施例を示した斜視図、第４図、第５図は従未開
発されているトルク検出装置の構造を示す図でいずれも
（イ）は平面図（ロ）は（イ）図におけるローロ断面を
矢印方向にみた断面を含む平面図、第６図は測定原理を
示した図である。
ｌ・・・トルク検出装置
２．２Ａ、２Ｂ、２Ｃ２２Ｄ−・−脚
３・・・磁性体
４．４Ａ、４Ｂ、４Ｃ１４Ｄ・舎・巻線５””７ｓ
５Ａ・・・雌ねじ６・φ・調整用回転体 ６
Ａ・・・雄ねじ６Ｂ・・・磁性体
７Ａ、７Ｂ、７Ｃ１７Ｄ・・・端子
１１・−・軸
特許出願人 ティーディーケイ株式会社（ばか １名
）FIG. 1 is a diagram illustrating a torque detection device according to the present invention (
A) is a plan view, (B) is a front view, (C) is a right side view, FIG. 2 (A) is an enlarged perspective view, (B) is a bottom view, and FIG. 3 shows another embodiment. The perspective view, Figures 4 and 5 are diagrams showing the structure of a torque detection device that has not yet been developed. FIG. 6, a plan view including a cross section, is a diagram showing the measurement principle. l...Torque detection device 2.2A, 2B, 2C22D--Leg 3...Magnetic material 4.4A, 4B, 4C14D/Shell/Winding 5""7s
5A...Female thread 6, φ, adjustment rotating body 6
A...Male thread 6B...Magnetic material 7A, 7B, 7C17D...Terminal 11...Shaft Patent applicant TDC Co., Ltd. (1 idiot)
Claims (5)
磁性体の脚を立設し各脚に巻線を 巻回し、互いに対角線上にある１対の脚の 巻線を電源に、他の１対の脚の巻線を電流 計測器に接続して成り、磁性体から成る回 転軸の外側に各脚の先端を所定の間隙をへ だてて近接せしめ、前記１対の脚または他 の１対の脚の軸を含む平面が前記回転軸の 軸心に直交するように設置したトルク検出 装置において、前記磁性体板の中央部に穴 を設け、該穴に磁性体を有する回転体を回 転自在に挿入してオフセット出力の補正を 行うことを特徴とするトルク検出装置。(1) Four pillar-shaped magnetic legs are erected near each vertex of a roughly square magnetic plate, windings are wound around each leg, and the windings of a pair of legs diagonally opposite each other are used as a power source. The windings of the other pair of legs are connected to a current measuring device, and the tip of each leg is brought close to the outside of the rotating shaft made of a magnetic material with a predetermined gap, and the windings of the other pair of legs or In a torque detection device installed such that a plane including the axes of the other pair of legs is perpendicular to the axis of the rotating shaft, a hole is provided in the center of the magnetic plate, and the rotating shaft has a magnetic material in the hole. A torque detection device that corrects offset output by rotatably inserting a body.
転体調整部および巻線端末を除く 他の部分を成形機によりプラスチックでお おったことを特徴とする特許請求の範囲 第１項記載のトルク検出装置。(2) The other parts of the magnetic body, each leg, and each winding except for the end of the leg, the rotating body adjustment part, and the end of the winding are covered with plastic using a molding machine. The torque detection device according to item 1.
徴とする特許請求の範囲第１項ま たは第２項記載のトルク検出装置。(3) The torque detection device according to claim 1 or 2, wherein the magnetic body attached to the rotating body is iron.
ことを特徴とする特許請求の範囲 第１項または第２項記載のトルク検出装 置。(4) The torque detection device according to claim 1 or 2, wherein the magnetic material attached to the rotating body is ferrite.
ル鉄、またはフェライト粉末と プラスチックを１：１０から９：１０の重 量比で混合して硬化させた物質であること を特徴とする特許請求の範囲第１項または 第２項記載のトルク検出装置。(5) A patent characterized in that the magnetic material attached to the rotating body is a material obtained by mixing and hardening iron, carbonyl iron, or ferrite powder with plastic at a weight ratio of 1:10 to 9:10. A torque detection device according to claim 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26479584A JPS61140832A (en) | 1984-12-14 | 1984-12-14 | Torque detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26479584A JPS61140832A (en) | 1984-12-14 | 1984-12-14 | Torque detecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61140832A true JPS61140832A (en) | 1986-06-27 |
Family
ID=17408307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP26479584A Pending JPS61140832A (en) | 1984-12-14 | 1984-12-14 | Torque detecting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61140832A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0492509U (en) * | 1990-12-28 | 1992-08-12 |
-
1984
- 1984-12-14 JP JP26479584A patent/JPS61140832A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0492509U (en) * | 1990-12-28 | 1992-08-12 |
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