EP3642516A1 - Vanne proportionnelle servant à réguler un flux de substance gazeuse - Google Patents

Vanne proportionnelle servant à réguler un flux de substance gazeuse

Info

Publication number
EP3642516A1
EP3642516A1 EP18721985.2A EP18721985A EP3642516A1 EP 3642516 A1 EP3642516 A1 EP 3642516A1 EP 18721985 A EP18721985 A EP 18721985A EP 3642516 A1 EP3642516 A1 EP 3642516A1
Authority
EP
European Patent Office
Prior art keywords
valve
proportional valve
controlling
closing element
gaseous medium
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.)
Withdrawn
Application number
EP18721985.2A
Other languages
German (de)
English (en)
Inventor
Hans-Christoph Magel
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.)
Robert Bosch GmbH
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
Publication of EP3642516A1 publication Critical patent/EP3642516A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
    • F16K31/06—Actuating devices; Operating means; Releasing devices electric; magnetic using a magnet, e.g. diaphragm valves, cutting off by means of a liquid
    • F16K31/0644—One-way valve
    • F16K31/0655—Lift valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K1/00—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces
    • F16K1/32—Details
    • F16K1/34—Cutting-off parts, e.g. valve members, seats
    • F16K1/36—Valve members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K1/00—Lift valves or globe valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces
    • F16K1/32—Details
    • F16K1/34—Cutting-off parts, e.g. valve members, seats
    • F16K1/42—Valve seats
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M8/00—Fuel cells; Manufacture thereof
    • H01M8/04—Auxiliary arrangements, e.g. for control of pressure or for circulation of fluids
    • H01M8/04082—Arrangements for control of reactant parameters, e.g. pressure or concentration
    • H01M8/04089—Arrangements for control of reactant parameters, e.g. pressure or concentration of gaseous reactants
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/30—Hydrogen technology
    • Y02E60/50—Fuel cells

Definitions

  • the invention relates to a proportional valve for controlling a gaseous medium, in particular hydrogen, for example for use in vehicles with fuel cell drive.
  • gaseous fuels are an alternative to conventional liquid fuels, especially hydrogen.
  • the gas streams are not discontinuously controlled as in the injection of liquid fuel, but it is for example proportional valves used, which adjust an opening cross-section depending on a desired drive power.
  • a proportional valve for controlling a gaseous medium, in particular hydrogen
  • the proportional valve comprises a nozzle body, a closing element and an elastic sealing element.
  • the nozzle body In the nozzle body, at least one passage opening is formed, which can be released or closed by the closing element on a valve seat.
  • the elastic sealing element seals on the valve seat and has a recess with an inner wall area. The inner wall area is acted upon in the closed state of the proportional valve with pressure of the gaseous medium.
  • Proportional valves are characterized in that when using these only small pressure fluctuations in the anode path of a fuel cell occur and a quiet operation is guaranteed. In the normal operating range of the proportional valve, frequent opening and closing operations occur. To optimize flushing processes in the anode path of the fuel cell or for optimized operation of a suction jet pump in a fuel cell assembly, additional switching operations may also be desired. Frequent opening and closing of the proportional valve leads to wear on the valve seat, in particular if a closing element with an elastic sealing element, as shown in DE 10 2012 204 565 AI, is used.
  • the proportional valve according to the invention for controlling a gaseous medium, in particular hydrogen has the advantage that even with frequent opening and closing operations of the proportional valve, the tightness of the valve seat is ensured and a reduction in the wear of the valve seat is achieved.
  • the proportional valve has a valve housing, on which a nozzle body is formed.
  • a closing element is arranged in the valve housing, with the closing element releasing or blocking at least one passage opening formed on the nozzle body on a valve seat formed on the nozzle body.
  • the closing element is guided so as to be movable in an axial guide in the nozzle body.
  • the closing element is guided, wherein the guide is advantageously formed directly in the component on which the valve seat is formed, namely the nozzle body.
  • the valve seat is formed as a flat valve seat.
  • an elastic seal between the closing element and the valve seat arranged element which seals on the valve seat.
  • an inflow space and an outflow space are formed in the valve housing, which can be connected to one another via the at least one passage opening.
  • a gas flow in particular hydrogen gas flow, can be ensured by the proportional valve in the direction of the anode region of the fuel cell.
  • the inflow space is divided by the closing element into a first inflow part space and a second inflow part space, the first inflow part space and the second inflow part space being connected to one another via longitudinal bores formed in the closing element.
  • a gas flow in particular hydrogen gas flow, can be achieved with the closing element open from the proportional valve in the direction of the anode region of the fuel cell.
  • a magnetic coil between an inner pole and an outer pole is arranged, wherein a received in the inner pole and the valve housing magnet armature can be moved by the solenoid coil.
  • the armature is firmly connected in a magnet armature space with a first connecting element, wherein the first connecting element is operatively connected to the closing element.
  • valve housing and the inner pole define a spring space in which spring space a first spring is arranged, wherein the first spring is supported on the end of the first connecting element facing away from the closing element and acts on the armature, which is operatively connected to the first connecting element, in the direction of the closing element.
  • the first spring ensures the operative connection of the first connecting element with the closing element, that is to say the permanent seating of the first connecting element on the closing element.
  • the spring chamber is connected via a first channel with the magnet armature space.
  • a passage bore is formed in the inner pole, wherein the first connecting element is received and guided in the passage bore.
  • the magnet armature space is connected via a second channel with the inflow space or the Ab strömraum. This also allows a pressure equalization between the armature space, the inflow space and the outflow space, so that the stroke of the armature is not affected by additional pneumatic forces within the armature space.
  • a second connecting element is arranged in the outflow space, wherein the second connecting element is operatively connected to the closing element.
  • a second spring in the outflow space arranged a second spring, wherein the second spring is supported on the second connecting element and on the valve housing. The second spring thus supports, depending on the orientation of the closing element, the tightness of the valve seat or the rapid and effective opening of the closing element, which contributes to an optimal functioning of the entire proportional valve.
  • the described proportional valve is preferably suitable in a fuel cell arrangement for controlling a hydrogen supply to the anode region of a fuel cell.
  • FIG. 1 shows a first embodiment of a proportional valve according to the invention with a guided closing element in longitudinal section
  • FIG. 3 shows a third embodiment of the proportional valve according to the invention with the guided closing element in longitudinal section
  • FIG. 4 shows a possible embodiment of a fuel cell arrangement with the proportional valve according to the invention from FIG. 1, FIG. 2 or FIG. 3 in a schematic representation.
  • Fig.l shows a first embodiment of a proportional valve 1 according to the invention in longitudinal section.
  • the proportional valve 1 has a valve housing 2, in which an outer pole 4, an inner pole 8, a magnetic coil 6 and a nozzle body 20 are arranged.
  • a first passage bore 17 is formed, through which a first connecting element 14 projects, wherein the first connecting element 14 is guided axially in the first passage bore 17.
  • the first connecting element 14 is fixedly connected to a magnet armature 10, wherein between the magnet armature 10 and the valve housing 2, a magnetic air gap 12 is formed.
  • the inner pole 8 and the valve housing 2 define a spring chamber 19, in which a first spring 26 is arranged.
  • This first spring 26 is supported on the one hand on the valve housing 2 and on the other hand on the plate-shaped end 15 of the first connecting element 14 and acts on this with a force in the direction of the nozzle body 20.
  • limit the inner pole 8 and the valve housing 2 a magnet armature space 21, in which the magnet armature 10 fixedly connected to the first connecting element 14 is arranged.
  • the spring chamber 19 and the magnet armature space 21 are connected to each other via a first channel 7.
  • the valve housing 2 and the inner pole 8 are connected to each other via a spacer element 28, which is made of a non-magnetic material.
  • the nozzle body 20 is fixedly connected to the valve body 2, wherein the nozzle body 20 has a passage opening 27.
  • a closing element 18 is guided with an elastic sealing element 22 in an axial guide 16.
  • a flat valve seat 30 is formed, which cooperates with the elastic sealing element 22 of the closing element 18, so that when the closing element 18 rests with the elastic sealing element 22 on the flat valve seat 30, the passage opening 27 is closed.
  • the valve body 2 and the nozzle body 20 delimit an inflow space 34 in which gas, for example hydrogen, can flow through inlet openings 23 formed in the valve body 2. Via a supply opening 11, the gas comes up to the flat valve seat 30 zoom.
  • the inflow space 34 is connected to the armature space 21 via a second channel 9.
  • the first connecting element 14 protrudes from the magnet armature via a second passage bore 29 formed in the valve body 2. raum 21 in the inflow space 34 into and is guided axially on the second passage hole 29.
  • the first connecting element 14 sits with its closing element 18 facing the end 33 due to the spring force of the first spring 26 on the closing element 18 and is operatively connected thereto.
  • the end 33 of the first connecting element 14 is formed crowned in order to achieve a better balance of angular tolerances.
  • the nozzle body 20 and the valve body 2 further define an outflow space 36, in which a second connecting element 32 and a second spring 24 are arranged.
  • the second connecting element 32 is connected at one end firmly to the closing element 18, wherein the second spring 24 is supported on the one hand on the valve body 2 and on the other hand on the plate-shaped end 31 of the second connecting element 32 and a force on the second connecting element 32 in the direction of the closing element 18 exercises.
  • outlet openings 13 are arranged in the region of the outflow, through which the gas from the outflow chamber 36 and thus from the proportional valve 1, for example, in an inflow region 44 of a jet pump 46 (see Figure 4) can flow out.
  • the closing element 18 When the solenoid 6 is not energized, the closing element 18 is subjected to force by the spring force of the first spring 26 in the direction of the outlet openings 13 of the first connecting element 14, which bears against the closing element 18, so that the closing element 18 with the elastic sealing element 22 on the flat valve seat 30 is present. Via the second connecting element 32, the closing element 18 is subjected to a force in the direction of the armature 10 by the spring force of the second spring 24 in order to accelerate the lifting operation of the closing element 18 from the flat valve seat 30 when the magnet coil 6 is switched on.
  • the first spring 26 and the second spring 24 therefore act counter to the closing element 18, wherein the first spring 26 has a greater spring force than the second spring 24 to ensure the tightness of the valve seat 30.
  • the gas flow in the proportional valve 1 can be controlled and adjusted and optimized as needed, for example, in the metered addition of hydrogen to a fuel cell 51 (see Figure 4).
  • the magnetic force decreases, so that now outweighs the spring force of the first spring 26 and thereby moves the closing member 18 by means of the first connecting member 14 in conjunction with the armature 10 in the direction of the valve seat 30 and the elastic sealing element 22 seals again on the valve seat 30.
  • the gas flow in the proportional valve 1 is thus interrupted. Due to the axial guidance 16 of the closing element 18 in the nozzle body 20, radial movements of the closing element 18 are prevented, so that the closing element 18 always occupies the same position on the valve seat 30 and thus unnecessary wear is avoided.
  • FIG. 2 shows a second embodiment of the proportional valve 1 according to the invention in longitudinal section. Components with the same function have been designated with the same reference numeral as in Fig.l. In contrast to the embodiment in Fig.l are the first connecting element 14, the armature 10 and the Closing element 18 as a component firmly connected. In this case, the second connecting element 32 and the second spring 24 can be omitted.
  • first connection element 14 is received only on the first passage bore 17 and axially guided.
  • the second channel 9 in the valve housing 2 is omitted.
  • the second passage hole 29 is omitted.
  • the basic structure and the operation of the second embodiment correspond to those of the first.
  • the closing element 18 is received and guided in the recess 25 of the nozzle body 20 as in the first embodiment.
  • FIG. 3 shows a third embodiment of the proportional valve 1 according to the invention in longitudinal section. Components with the same function have been designated with the same reference numeral as in Fig.l.
  • the gas flow through the proportional valve 1 is reversed here, so that the outflow space 36 here corresponds to the inflow space 34 and vice versa.
  • the second connecting element 32 wherein the second spring 24 is now supported directly on the closing element 18.
  • the closing element 18 is also arranged here in the inflow space 34 and is guided in an axial guide 16 of the nozzle body 20.
  • the closing element 18 with the elastic sealing element 22 is pressed here via the second spring 24 to the flat valve seat 30.
  • bores 35 in this case longitudinal bores, are formed in the closing element 18, through which gas can flow in the direction of the outlet openings 13 when the valve seat 30 is open.
  • the inflow space 34 is divided by the closing element 18 into a first inflow part space 37 and a second inflow part space 38, which are connected to one another via the bores 35.
  • the closing element 18 When the solenoid 6 is not energized, the closing element 18 is pressed against the valve seat 30 via the second spring 24, so that the connection between the inflow space 34 and the outflow space 36 is interrupted and no gas flow is interrupted. flow takes place.
  • the first spring 26 counteracts the spring force of the second spring 24 and presses the first connecting element 14 to the closing element 18.
  • the spring force of the second spring 24 is greater than the spring force of the first spring 26 to ensure the tightness of the closing element 18 on the valve seat 30 ,
  • the stroke of the closing element 18 can be adjusted as in the first embodiment via the height of the current at the solenoid 6. The higher the current at the solenoid 6, the greater the stroke of the closing element 18 and the higher the gas flow in the proportional valve 1, since the force of the first spring 26 is stroke-dependent. If the current is reduced at the magnetic coil 6, and the stroke of the closing element 18 is reduced and thus the gas flow throttled.
  • the magnetic force is reduced to the armature 10, so that it moves again in the direction of the first spring 26 and the force is reduced to the closing element 18 by means of the first connecting element 14.
  • the closing element 18 follows the movement of the first connecting element 14 and seals with the elastic sealing element 22 on the valve seat 30.
  • the gas flow in the proportional valve 1 is interrupted, so that, for example, no more gas from the proportional valve 1 in the inflow region 44 of the jet pump 46 (see Figure 4) can flow.
  • the closing element 18 is guided over the axial guide 16 in the nozzle body 20 in order to avoid radial misalignments of the closing element 18.
  • FIG. 4 shows a possible embodiment of a fuel cell arrangement 100 with the proportional valve 1 according to the invention and with the jet pump 46, which is connected via a connecting line 50 to the fuel cell 51.
  • the fuel cell 51 comprises an anode region 52 and a cathode region 53.
  • a return line 54 is provided which connects the anode region 52 of the fuel cell 51 to the suction region 45 of the jet pump 46.
  • a first gaseous medium formed in the anode region 51 during operation of the fuel cell 51 which is essentially a mixture of hydrogen, nitrogen and water vapor, can be returned to the intake region 45.
  • a water separator 55 is provided with a shut-off valve 56, in order to be able to release the first gaseous medium located in the return line 54 to the outside if necessary.
  • a recirculation pump 57 arranged in the return line 54 after the water separator 55 leads the hydrogen, which is not used in the fuel cell 51, back into the suction region 45 of the jet pump 46.
  • a first pressure sensor 48 for detecting the pressure in the connecting line 50 is provided in the connecting line 50.
  • a second pressure sensor 49 for detecting the pressure in the return line 54 is provided in the return line 54.
  • the detected pressure values are supplied to a control unit 47 connected to the proportional valve 1 for controlling the pressure in the anode region 52 of the fuel cell 51.
  • the control unit 47 controls the magnitude of the current at the magnetic coil 6 of the proportional valve 1, by which the stroke of the closing element 18 is actuated, so that a flow cross section of the passage opening 27 is changed so that a demand-adjusted adjustment of the fuel cell 51 supplied gas flow continuously.
  • a pressure regulating valve 42 is provided which is connected to the control unit 20 to adjust a pressure at the inflow region 44 of the jet pump 46.
  • a first shut-off valve 40 and between the pressure regulating valve 42 and the proportional valve 1 a second shut-off valve 41 is also arranged.
  • the shut-off valves 40, 41 are also connected to the control unit 47 in order to interrupt the inflow of the second gaseous medium from the tank 39 to the pressure control valve or the inflow to the proportional valve 1, if necessary.
  • the proportional valve 1 for controlling a gaseous medium thus has the advantage that in this case the supply of the first gaseous medium and the metered addition of the second gaseous medium into the anode region 52 of the fuel cell 51 by means of electronically controlled adjustment of the flow cross section of the passage opening 27 with simultaneous control of Anoden horrs can be done much more accurately.
  • the reliability and durability of the connected fuel cell are significantly improved, since hydrogen is always supplied in a superstoichiometric proportion.
  • consequential damage, such as damage to a downstream catalyst can be prevented.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Magnetically Actuated Valves (AREA)
  • Lift Valve (AREA)
  • Fuel Cell (AREA)

Abstract

L'invention concerne une vanne proportionnelle (1) servant à réguler un flux de substance gazeuse, en particulier un flux d'hydrogène, comprenant un corps de vanne (2) sur lequel est formé un corps de buse (20). Un élément de fermeture (18) est disposé dans le corps de vanne (2), l'élément de fermeture (18) libérant ou obturant au moins une ouverture de passage (27) ménagée sur le corps de buse (20), au niveau d'un siège de vanne (30) formé sur le corps de buse (20). En outre, l'élément de fermeture (18) est guidé de manière à pouvoir effectuer un mouvement de va-et-vient dans un guide axial (16) dans le corps de buse (20).
EP18721985.2A 2017-06-21 2018-04-25 Vanne proportionnelle servant à réguler un flux de substance gazeuse Withdrawn EP3642516A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017210364.7A DE102017210364A1 (de) 2017-06-21 2017-06-21 Proportionalventil zum Steuern eines gasförmigen Mediums
PCT/EP2018/060528 WO2018233909A1 (fr) 2017-06-21 2018-04-25 Vanne proportionnelle servant à réguler un flux de substance gazeuse

Publications (1)

Publication Number Publication Date
EP3642516A1 true EP3642516A1 (fr) 2020-04-29

Family

ID=62111038

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18721985.2A Withdrawn EP3642516A1 (fr) 2017-06-21 2018-04-25 Vanne proportionnelle servant à réguler un flux de substance gazeuse

Country Status (6)

Country Link
US (1) US20210148485A1 (fr)
EP (1) EP3642516A1 (fr)
JP (1) JP6872644B2 (fr)
CN (1) CN110785590A (fr)
DE (1) DE102017210364A1 (fr)
WO (1) WO2018233909A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114542731B (zh) * 2022-01-13 2024-01-26 中科首望无水染色智能装备(苏州)有限公司 一种双电磁密封闪爆装置及工作方法

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6038593B2 (ja) * 1979-02-21 1985-09-02 株式会社日立製作所 比例制御弁
JPH0550269U (ja) * 1991-12-13 1993-07-02 曙ブレーキ工業株式会社 電磁弁
JP2000097353A (ja) * 1998-09-22 2000-04-04 Aisin Seiki Co Ltd 流量制御バルブ及び燃料電池システム
US6945510B2 (en) * 2002-03-05 2005-09-20 Analex Corporation Solenoid valve for use in micro-gravity
CN1540194A (zh) * 2003-10-29 2004-10-27 谢云海 电磁式调节阀
DE10351205A1 (de) * 2003-11-03 2005-06-02 Robert Bosch Gmbh Ventil zum Steuern eines Fluids
JP2009133400A (ja) * 2007-11-30 2009-06-18 Toyota Motor Corp インジェクタ及び燃料電池システム
JP5356854B2 (ja) * 2009-02-13 2013-12-04 株式会社鷺宮製作所 電磁制御弁
DE102010062447A1 (de) * 2010-12-06 2012-06-06 Robert Bosch Gmbh Verfahren zum Herstellen eines Schaltventils
DE102012204565A1 (de) 2012-03-22 2013-09-26 Robert Bosch Gmbh Proportionalventil mit verbessertem Dichtsitz
DE102012220173A1 (de) * 2012-11-06 2014-05-08 Robert Bosch Gmbh Kraftstoffinjektor mit Magnetaktor
FR2999658A1 (fr) * 2012-12-18 2014-06-20 Delphi Technologies Holding Vanne haute pression
DE102013220913A1 (de) * 2013-10-15 2015-04-16 Continental Automotive Gmbh Ventil
CN203926803U (zh) * 2014-04-28 2014-11-05 中山市思源电器有限公司 一种双控燃气电磁比例阀
DE102014210066A1 (de) * 2014-05-27 2015-12-03 Continental Teves Ag & Co. Ohg Elektromagnetventil
JP6097345B2 (ja) * 2015-07-08 2017-03-15 タカノ株式会社 電磁開閉弁

Also Published As

Publication number Publication date
JP6872644B2 (ja) 2021-05-19
JP2020523533A (ja) 2020-08-06
WO2018233909A1 (fr) 2018-12-27
DE102017210364A1 (de) 2018-12-27
US20210148485A1 (en) 2021-05-20
CN110785590A (zh) 2020-02-11

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