EP3667432B1 - Résonateur d'horlogerie comportant au moins un guidage flexible - Google Patents

Résonateur d'horlogerie comportant au moins un guidage flexible Download PDF

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Publication number
EP3667432B1
EP3667432B1 EP18212333.1A EP18212333A EP3667432B1 EP 3667432 B1 EP3667432 B1 EP 3667432B1 EP 18212333 A EP18212333 A EP 18212333A EP 3667432 B1 EP3667432 B1 EP 3667432B1
Authority
EP
European Patent Office
Prior art keywords
strip
axis
along
resonator
plane
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.)
Active
Application number
EP18212333.1A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3667432A1 (fr
Inventor
Pascal Winkler
Laurent Klinger
Baptiste Hinaux
Jean-Luc Helfer
Gianni Di Domenico
Jean-Bernard Peters
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.)
ETA SA Manufacture Horlogere Suisse
Original Assignee
ETA SA Manufacture Horlogere Suisse
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 ETA SA Manufacture Horlogere Suisse filed Critical ETA SA Manufacture Horlogere Suisse
Priority to EP18212333.1A priority Critical patent/EP3667432B1/fr
Priority to US16/685,008 priority patent/US11520291B2/en
Priority to US16/685,059 priority patent/US11520292B2/en
Priority to JP2019220936A priority patent/JP6948376B2/ja
Priority to JP2019220933A priority patent/JP6948375B2/ja
Priority to CN201911285869.4A priority patent/CN111324028B/zh
Priority to CN201911283750.3A priority patent/CN111324027B/zh
Publication of EP3667432A1 publication Critical patent/EP3667432A1/fr
Application granted granted Critical
Publication of EP3667432B1 publication Critical patent/EP3667432B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G04—HOROLOGY
    • G04B—MECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B17/00—Mechanisms for stabilising frequency
    • G04B17/04—Oscillators acting by spring tension
    • G—PHYSICS
    • G04—HOROLOGY
    • G04B—MECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B17/00—Mechanisms for stabilising frequency
    • G04B17/04—Oscillators acting by spring tension
    • G04B17/045—Oscillators acting by spring tension with oscillating blade springs
    • G—PHYSICS
    • G04—HOROLOGY
    • G04B—MECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B17/00—Mechanisms for stabilising frequency
    • G04B17/20—Compensation of mechanisms for stabilising frequency
    • G04B17/28—Compensation of mechanisms for stabilising frequency for the effect of imbalance of the weights, e.g. tourbillon
    • G—PHYSICS
    • G04—HOROLOGY
    • G04B—MECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B17/00—Mechanisms for stabilising frequency
    • G04B17/32—Component parts or constructional details, e.g. collet, stud, virole or piton

Definitions

  • the invention relates to a timepiece resonator comprising, between a first element and a second element of which at least one of the two constitutes a mobile inertial element within said resonator, at least one flexible guide constituting an elastic return means of said element inertial within said resonator and comprising at least one flexible blade joining a first recess of said first element to a second recess of said second element, said first recess defining with said second recess a blade direction, said first element and said second element each being more rigid than each said at least one flexible blade, said at least one flexible blade being arranged to deform essentially in an XY plane parallel to said blade direction, and comprising a first dimension L called length along a first longitudinal axis Y parallel to said blade direction, a second dimension E called thickness according to a second e transverse X axis orthogonal to said first Y axis in said XY plane, and a third dimension H called height according to a third Z axis orthogonal to
  • the invention also relates to a timepiece, in particular a watch, comprising at least one such resonator.
  • the invention relates to the field of timepieces with mechanical oscillators, and in particular the field of watches, where the flexible guides according to the invention make it possible to guarantee both isochronism and insensitivity to positions in space. .
  • a mechanical watch has an oscillator with a balance-spring, which is responsible for the good chronometric precision of the watch.
  • a very promising way to overcome the friction of the pivots is that of oscillators with flexible guides, in which a flexible guide fulfills two elementary functions at the same time: on the one hand the guiding function and, on the other hand, the elastic restoring force or torque.
  • Non-limiting examples of rotating flexible guides are described in the documents EP3035126 , EP3206089 , and EP18179623 , all on behalf of THE SWATCH GROUP RESEARCH & DEVELOPMENT Ltd. There is now a wide variety of rotating flexible guides, the manufacture of which has been made possible by the “LIGA” and “DRIE” technologies.
  • the document WO2018/100122A1 in the name of LVMH describes a device for a timepiece comprising a base, an inertia regulator member rotatably mounted with respect to the base, by means of an elastic suspension means connecting the regulator member to the base.
  • the regulator member comprises a number n of rigid parts connected two by two by means of n elastic coupling links.
  • the elastic suspension means comprises n elastic suspension links connecting each rigid part individually to the base.
  • the document EP3001257A1 on behalf of ETA Manufacture Horlogère Suisse describes a watchmaking resonator comprising a mass connected, by flexible blades, to attachment points of a fixed structure, and subjected to a torque and/or a force, this resonator being arranged to oscillate with at least two degrees of freedom in translation, and the flexible blades being arranged to maintain oscillations of this at least one mass around a virtual pivot.
  • These flexible blades have long arms, each with a developed length at least twice greater than the shortest distance between the mass and the attachment points.
  • the document CH712068A2 in the name of ETA Manufacture Horlogère Suisse describes a resonator clockwork mechanism with a pivoting mass, pivoting around a virtual axis, and comprising a flexible pivoting guide mechanism and a first and a second fixed supports to which is fixed, by a first elastic assembly and respectively a second elastic assembly which together define this virtual axis, a rotary support carrying this pivoting mass.
  • This flexible pivoting guide mechanism is flat
  • the first elastic assembly comprises, on either side of the virtual axis, and joined by a first intermediate blade more rigid than each of them, a first external flexible blade and a first internal flexible blade together defining a first direction passing through the virtual axis
  • the second assembly includes a second flexible blade defining a second direction passing through the virtual axis.
  • EP2975470A1 in the name of NIVAROX SA describes an elastic guide device in rotation for a clockwork mechanism allowing the rotation of one element relative to another around an axis of rotation defining an axial direction, comprising construction blades, comprising each an assembly fastener comprising a body and a functional part extending from the body to one end, the assembly fastening part and the functional part being separated by at least one slot into at least two extensions elastically connected which extend in a radial direction transverse to the axial direction, the device further comprising anchoring zones arranged at opposite axial ends of the flexible guide device, and configured to be fixed to said members.
  • each of the construction blades includes a cavity or a assembly clearance and an assembly extension which intersect and fit in a radial direction to be locked together.
  • a rotating flexible guide whose return torque is proportional to the angle of elongation, so that the period does not depend on the amplitude of oscillation, and whose the parasitic displacements of the virtual center of rotation are the smallest, so that the period does not depend on the orientation of the watch.
  • a guide is sought which allows large amplitudes without the stresses in the material producing rupture.
  • a substantially flat plate is subjected to a moment, it deforms along an arc of a circle, and its end defines an angle proportional to the moment applied.
  • the flexed blade has a slight anticlastic curvature.
  • the anticlastic curvature is due to the fact that the fibers exterior to the neutral fiber of the blade in bending, must lengthen and therefore also contract in the directions orthogonal to the neutral fiber, and, conversely, the fibers interior to the fiber neutral are contracted and therefore extend orthogonally.
  • the Poisson's ratio is described by the Poisson's ratio. If the volume of the material is maintained, the Poisson's ratio is worth 0.5. For most common materials, the Poisson's ratio is closer to the value 0.3.
  • the magnitude of the anticlastic curvature depends on the local bending curvature, the Poisson's ratio of the material, the ratios between the three main dimensions of the blade, and the geometries of the embedments.
  • the invention proposes to define a flexible guide for a mechanical oscillator, which is subjected as little as possible to anticlastic curvature.
  • the invention proposes to provide the flexible strip with at least one rib and at least one neck, in order to control the anticlastic curvature, without significantly degrading the elastic performance of the flexible strip.
  • ribs are distributed along the flexible blade and extend according to the height thereof, in order to stiffen it to limit the anticlastic curvature, without greatly limiting its expected bending qualities.
  • the invention relates to a clockwork resonator according to claim 1.
  • the invention also relates to a timepiece, in particular a watch, comprising at least one such resonator.
  • the invention proposes to provide the flexible blade with at least one rib and at least one neck, in order to control the anticlastic curvature.
  • the figures 1 to 3 represent a classic flexible blade subject to anticlastic curvature.
  • the figure 4 defines the reference geometric elements used in the rest of the description, and represents a flexible blade 2 joining a first recess 41 of a first element 4 to a second recess 51 of a second element 5.
  • the first recess 41 defines with the second recess 51 a blade direction D.
  • the first element 4 and the second element 5 are each more rigid than each flexible blade 2.
  • the flexible blade 2 is arranged to deform essentially in an XY plane parallel to the direction of blade D, and comprising a first dimension L called length according to a first longitudinal axis Y parallel to the blade direction D and defined by the first recess 41 and the second recess 51, a second dimension E called thickness according to a second orthogonal transverse axis X to the first axis Y in the XY plane, and a third dimension H called height according to a third axis Z orthogonal to the XY plane.
  • the first dimension L is greater than the third dimension H, which is greater than the second dimension E.
  • the strip 2 extends substantially in the form of a ribbon along a geometric neutral fiber FN joining the first recess 41 and the second recess 51, and comprises at least one median zone 6, which extends transversely, along the second axis X, around or on either side of the neutral fiber FN, and whose thickness is a nominal thickness EN.
  • the blade 2 can extend around the neutral fiber FN, which then always remains in the material, or on either side of this neutral fiber FN. It is understood that this neutral fiber FN corresponds to a curve in the rest position of the blade 2, towards which this blade returns after an elastic deformation in bending.
  • ribs are distributed along the blade and extend according to the height of the blade, to stiffen the blade to limit anticlastic curvature, without stiffening it much for the expected flex.
  • the figure 7 shows the rate of a one-blade flexible guide resonator as a function of its amplitude for different numbers of sections, the number of ribs being here equal to the number of sections minus one. It can be seen that the addition of a few ribs suffices to considerably improve the isochronism of the resonator.
  • the figure 8 shows the rate variation (anisochronism) between 20° and 10° of amplitude, depending on the number of sections of the blade of the resonator.
  • Another variant consists in providing the flexible blade with undulations, in order to control the anticlastic curvature, as visible on the figures 9 and 10 .
  • the proposed corrugated blade can, in projection in the XY plane, completely include the neutral fiber FN, so as not to lose the tensile rigidity of the blade.
  • the invention relates to a timepiece resonator 100 comprising, between a first element 4 and a second element 5 of which at least one of the two constitutes a mobile inertial element within the resonator 100, at least one flexible guide 1 constituting a means of elastic return of this inertial element within the resonator 100.
  • This flexible guide 1 comprises at least one flexible blade 2 as defined in appended claim 1.
  • this at least one flexible strip 2 is symmetrical with respect to a median plane parallel to the XY plane, has a transverse extension which is variable along the second transverse axis X, in projection on the XY plane, with respect to the neutral fiber FN, and comprises, along this second transverse axis X, at least one relief.
  • This relief is salient and distant from the neutral fiber FN by a distance greater than half the smallest thickness of the at least one flexible blade 2 considered, or half or the nominal thickness EN, to limit the curvature anticlastic of this at least one flexible strip 2.
  • this at least one blade 2 comprises, at a distance from the first recess 41 and the second recess 51, at least one rib 3 extending substantially along the third axis Z. More particularly, each rib 3 comprises at least one generatrix 31 which is farther from the neutral fiber FN than are the side surfaces of the median zones 6 of the strip 2 situated outside this or these ribs 3. And the longitudinal extension LN, along the first axis Y longitudinal, of each rib 3 of the blade 2 is less than or equal to one fifth of the length L of the blade 2 between its recesses.
  • each rib 3 is spaced, along the first axis Y, from any neck that the blade 2 has, by a value greater than or equal to the height H of the blade 2.
  • the variant embodiments illustrated are blades having no neck, which do not form part of the subject of the appended claim 1.
  • this at least one blade 2 comprises a plurality of median zones 6, which are sections extending along the neutral fiber FN and in the geometric extension of each other along the neutral fiber FN with the same EN nominal thickness.
  • Each section 6 forms a ribbon, the side surfaces 60 of which are parallel to the third axis Z.
  • at least two sections 6 are separated by a rib 3 of projecting thickness ES with respect to a side surface 60
  • This protruding thickness ES is preferably greater than or equal to the nominal thickness EN along the second transverse axis X. More particularly, the protruding thickness ES is at least one and a half times greater than the nominal thickness EN.
  • this at least one blade 2 comprises, at a distance from the first recess 41 and the second recess 51, at least two ribs 3.
  • blade 2 is straight, and has its neutral fiber FN straight in blade direction D.
  • the sections 6 are short sections, the length of which in the first longitudinal direction Y is less than the height of the blade 2.
  • the number of sections is greater than or equal to the first integer greater than or equal to the quotient L/H of the total length L of the strip 2 by its height H.
  • the blade 2 comprises alternating sections 6 following the neutral fiber FN, and ribs 3.
  • the median zones 6 are limited to zones of inflection between rounded or pointed ribs, or the like, forming a wavy or zig-zag blade.
  • this at least one flexible blade 2 comprises at least one rib 3 which extends over the entire height H of the blade 2 along the third axis Z. More particularly, each rib 3 of this blade 2 extends over the entire height H of the blade 2 along the third axis Z.
  • the height H of the slat 2 is less than or equal to one fifth of the length L of the slat 2 between its recesses.
  • the maximum thickness EM of the strip 2 along the second transverse axis X is less than or equal to one fifth of the height H of the strip 2.
  • the blade 2 forms a right prism extending along the third axis Z, that is to say a solid extruded along the Z direction from a base in the XY plane, and more particularly limited by two planes parallel to the plane XY and distant from the height H. More particularly the base of this prism in the plane XY is symmetrical with respect to the projection of the neutral fiber FN in this plane XY.
  • the blade 2 can easily be produced by an extrusion-type process, or by a “LIGA” or “DRIE” process, since its geometry can be entirely described by its projection in the XY plane, raised in the third direction Z.
  • the blade may comprise a central opening, in particular when it is made on the basis of two head-to-tail wafers, or comprise a relief, or comprise two reliefs in symmetry with respect to a median plane parallel to the XY plane.
  • each rib 3 of the blade 2 along the first longitudinal axis Y is less than or equal to the projecting thickness ES of the rib 3 along the second transverse axis X.
  • At least one rib 3 is a rectangular parallelepiped or is part of a rectangular parallelepiped.
  • these rectangular parallelepipeds extend over the entire height of the blade, and their dimension along the second transverse axis X is greater than their dimension along the first longitudinal axis Y.
  • these ribs are prismatic with a diamond base, over the entire height of the blade, in symmetry with respect to the neutral fiber through which a diagonal of the diamond passes.
  • At least one rib 3 is a cylinder.
  • At least one said rib 3 is a tube of circular or elliptical section.
  • At least one rib 3 is symmetrical with respect to the neutral fiber FN.
  • At least one rib 3 is asymmetrical with respect to the neutral fiber FN.
  • the blade 2 comprises, at a distance from the first recess 41 and the second recess 51, a plurality of ribs 3 protruding alternately on either side of the median zones 6.
  • At least one rib 3 is hollow or open.
  • any projection of the blade 2 on the XY plane includes the neutral fiber FN.
  • the blade 2 comprises, at a distance from the first recess 41 and the second recess 51, a plurality of ribs 3 regularly distributed along the first longitudinal direction Y.
  • the blade 2 comprises, at a distance from the first recess 41 and the second recess 51, a plurality of ribs 3, the number of which is greater than or equal to the difference between on the one hand the quotient L/H between the length L and height H, and on the other hand a unit.
  • the projection of the blade 2 on the XY plane comprises, at all the surface junctions, rounded fillets with a minimum radius value of 10 micrometers.
  • blade 2 is made of micro-machinable material or of silicon thermally compensated by a peripheral layer of silicon dioxide.
  • blade 2 comprises, along its length L, at least two increases in its section inertia.
  • the blade has at least three increases in its section inertia. These increases in its section inertia are achieved by these ribs 3 which extend in the third direction Z.
  • these increases in section inertia are produced by undulations which extend on either side of the neutral fibre.
  • the increases in section inertia are produced by such undulations which, seen in projection on the XY plane, include the neutral fiber.
  • the flexible guide 1 itself is not detailed here. More particularly, it comprises at least two such flexible blades 2. More particularly, this flexible guide is a pivot with crossed blades, with at least two blades each extending parallel to the XY plane, distinct, and crossed in projection on this XY plane .
  • the blade 2 is produced by the “DRIE” or “LIGA” or similar process.
  • the invention also relates to a timepiece 1000 comprising at least one such timepiece resonator 100. More particularly, this timepiece 100 is a watch, in particular a mechanical watch.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Micromachines (AREA)
  • Electric Clocks (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • Piezo-Electric Or Mechanical Vibrators, Or Delay Or Filter Circuits (AREA)
EP18212333.1A 2018-12-13 2018-12-13 Résonateur d'horlogerie comportant au moins un guidage flexible Active EP3667432B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
EP18212333.1A EP3667432B1 (fr) 2018-12-13 2018-12-13 Résonateur d'horlogerie comportant au moins un guidage flexible
US16/685,059 US11520292B2 (en) 2018-12-13 2019-11-15 Timepiece resonator comprising at least one flexure bearing
US16/685,008 US11520291B2 (en) 2018-12-13 2019-11-15 Timepiece resonator comprising at least one flexure bearing
JP2019220933A JP6948375B2 (ja) 2018-12-13 2019-12-06 少なくとも１つのフレクシャ・ベアリングを備える時計用共振子
JP2019220936A JP6948376B2 (ja) 2018-12-13 2019-12-06 少なくとも１つのフレクシャ・ベアリングを備える時計用共振子
CN201911285869.4A CN111324028B (zh) 2018-12-13 2019-12-13 包括至少一个挠曲轴承的时计谐振器
CN201911283750.3A CN111324027B (zh) 2018-12-13 2019-12-13 包括至少一个挠曲轴承的时计谐振器

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP18212333.1A EP3667432B1 (fr) 2018-12-13 2018-12-13 Résonateur d'horlogerie comportant au moins un guidage flexible

Publications (2)

Publication Number Publication Date
EP3667432A1 EP3667432A1 (fr) 2020-06-17
EP3667432B1 true EP3667432B1 (fr) 2022-05-11

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EP18212333.1A Active EP3667432B1 (fr) 2018-12-13 2018-12-13 Résonateur d'horlogerie comportant au moins un guidage flexible

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US (2) US11520291B2 (zh)
EP (1) EP3667432B1 (zh)
JP (2) JP6948376B2 (zh)
CN (2) CN111324028B (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3667432B1 (fr) * 2018-12-13 2022-05-11 ETA SA Manufacture Horlogère Suisse Résonateur d'horlogerie comportant au moins un guidage flexible
EP3971655A1 (fr) * 2020-09-18 2022-03-23 ETA SA Manufacture Horlogère Suisse Protection antichoc a butee d'un mecanisme resonateur a guidage flexible rotatif
EP3982204A1 (fr) * 2020-10-08 2022-04-13 The Swatch Group Research and Development Ltd Resonateur d'horlogerie comportant au moins un guidage flexible
EP4248278A1 (fr) * 2020-11-17 2023-09-27 Patek Philippe SA Genève Organe horloger comprenant au moins une lame ressort
EP4009113A1 (fr) * 2020-12-02 2022-06-08 The Swatch Group Research and Development Ltd Ensemble de guidages flexibles pour mécanisme résonateur rotatif, notamment d'un mouvement d horlogerie

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE602007011393D1 (de) 2007-03-21 2011-02-03 Richemont Int Sa Unruh für Uhrwerk
JP5891076B2 (ja) 2012-03-09 2016-03-22 セイコーインスツル株式会社 がんぎ歯、該がんぎ歯を備えたがんぎ車、アンクル脱進器、ムーブメント、並びに機械式時計及びトルク伝達方法
EP2975470B1 (fr) * 2014-07-14 2017-05-10 Nivarox-FAR S.A. Guidage flexible horloger
CH709905A2 (fr) 2014-07-21 2016-01-29 Dominique Renaud Sa Pivot à lame.
CH710188A2 (fr) 2014-09-26 2016-03-31 Eta Sa Manufacture Horlogère Suisse Résonateur d'horlogerie paraxial et isochrone.
CH710537A2 (fr) 2014-12-18 2016-06-30 Swatch Group Res & Dev Ltd Oscillateur d'horlogerie à diapason.
CH710524A2 (fr) 2014-12-18 2016-06-30 Swatch Group Res & Dev Ltd Résonateur d'horlogerie à lames croisées.
US9983549B2 (en) * 2015-02-03 2018-05-29 Eta Sa Manufacture Horlogere Suisse Isochronous timepiece resonator
EP3200029B1 (fr) * 2016-01-29 2021-05-19 ETA SA Manufacture Horlogère Suisse Mécanisme résonateur d'horlogerie
EP3206089B1 (fr) 2016-02-10 2018-12-19 The Swatch Group Research and Development Ltd. Mécanisme résonateur d'horlogerie
EP3217228B1 (fr) 2016-03-07 2019-08-28 Montres Breguet S.A. Dispositif bilame sensible aux variations de température
EP3299905B1 (en) * 2016-09-27 2020-01-08 CSEM Centre Suisse d'Electronique et de Microtechnique SA - Recherche et Développement Mechanical oscillator for a horological movement
CH713055A2 (fr) 2016-10-18 2018-04-30 Eta Sa Mft Horlogere Suisse Mouvement d'horlogerie comportant un mécanisme résonateur et un mécanisme d'échappement coopérant en transmission continue.
FR3059792B1 (fr) * 2016-12-01 2019-05-24 Lvmh Swiss Manufactures Sa Dispositif pour piece d'horlogerie, mouvement horloger et piece d'horlogerie comprenant un tel dispositif
CH713960B1 (fr) * 2017-07-07 2023-08-31 Eta Sa Mft Horlogere Suisse Elément sécable pour oscillateur d'horlogerie.
JP6843191B2 (ja) * 2018-07-24 2021-03-17 ザ・スウォッチ・グループ・リサーチ・アンド・ディベロップメント・リミテッド 長い角ストロークを有するフレクシャーベアリングを備えた計時器用発振器
EP3667432B1 (fr) * 2018-12-13 2022-05-11 ETA SA Manufacture Horlogère Suisse Résonateur d'horlogerie comportant au moins un guidage flexible

Also Published As

Publication number Publication date
JP6948376B2 (ja) 2021-10-13
US11520292B2 (en) 2022-12-06
CN111324028A (zh) 2020-06-23
US11520291B2 (en) 2022-12-06
US20200192291A1 (en) 2020-06-18
CN111324027A (zh) 2020-06-23
EP3667432A1 (fr) 2020-06-17
JP2020095037A (ja) 2020-06-18
JP6948375B2 (ja) 2021-10-13
US20200192290A1 (en) 2020-06-18
CN111324028B (zh) 2021-08-31
CN111324027B (zh) 2021-08-31
JP2020095036A (ja) 2020-06-18

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