WO2011076902A1 - Dispositif de transformation d'un mouvement de rotation en un mouvement de translation - Google Patents
Dispositif de transformation d'un mouvement de rotation en un mouvement de translation Download PDFInfo
- Publication number
- WO2011076902A1 WO2011076902A1 PCT/EP2010/070596 EP2010070596W WO2011076902A1 WO 2011076902 A1 WO2011076902 A1 WO 2011076902A1 EP 2010070596 W EP2010070596 W EP 2010070596W WO 2011076902 A1 WO2011076902 A1 WO 2011076902A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- roller
- rotation
- translation
- rod
- cam
- Prior art date
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
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M26/00—Engine-pertinent apparatus for adding exhaust gases to combustion-air, main fuel or fuel-air mixture, e.g. by exhaust gas recirculation [EGR] systems
- F02M26/52—Systems for actuating EGR valves
- F02M26/53—Systems for actuating EGR valves using electric actuators, e.g. solenoids
- F02M26/54—Rotary actuators, e.g. step motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
- F02M26/00—Engine-pertinent apparatus for adding exhaust gases to combustion-air, main fuel or fuel-air mixture, e.g. by exhaust gas recirculation [EGR] systems
- F02M26/65—Constructional details of EGR valves
- F02M26/66—Lift valves, e.g. poppet valves
- F02M26/67—Pintles; Spindles; Springs; Bearings; Sealings; Connections to actuators
-
- 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
- F16K31/04—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor
- F16K31/047—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor characterised by mechanical means between the motor and the valve, e.g. lost motion means reducing backlash, clutches, brakes or return means
-
- 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
- F16K31/44—Mechanical actuating means
- F16K31/52—Mechanical actuating means with crank, eccentric, or cam
- F16K31/528—Mechanical actuating means with crank, eccentric, or cam with pin and slot
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/12—Improving ICE efficiencies
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18056—Rotary to or from reciprocating or oscillating
- Y10T74/18248—Crank and slide
- Y10T74/18256—Slidable connections [e.g., scotch yoke]
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18056—Rotary to or from reciprocating or oscillating
- Y10T74/18296—Cam and slide
Definitions
- the present invention relates to a device for transforming a rotational movement into a translational movement.
- the invention relates generally to all devices of the motor actuator type comprising such a device for transforming motion.
- the field of the invention is, in a general manner, that of the motor actuators whose function is to convert a rotational movement, directly driven by the motor, into a translational movement, intended to make a piece evolve in translation. mechanical.
- This type of actuator is for example used to move valves of the type EGR valves (Exhaust Gas Recirculation in English for Recirculated Exhaust Gas) in circuits called EGR circuits.
- EGR circuits are mainly used in diesel engines to reduce the amount of polluting species in the exhaust of the motor vehicle, by performing a reintroduction into the engine of a portion of the exhaust gas.
- the inert gas or the mixture of inert gas, consisting of burned exhaust gases recovered at the outlet of the combustion chamber are reintroduced into the intake duct and then into the combustion chamber of the engine.
- the amount of burned exhaust gas reintroduced into the intake circuit is controlled by means of an EGR valve, which more or less obstructs the duct through which the burned exhaust gases circulate.
- the motion transformation device according to the invention is entirely adapted to the EGR valves, but it can obviously be used with any motor whose at least one of the functions is a transformation of a rotational movement into a translational movement, for example the actuators controlling bypass valves, valves, elements of type square flap, or butterfly intended to evolve in translation.
- FIG. 1 schematically shows, in a first position 1 10 and in a second position 1 1 1, a device 100 for converting rotational movement into translation movement.
- the device 100 essentially comprises:
- a second rod 102 intended to evolve in translation along a translation direction perpendicular to said axis of rotation 103; the translational movement of the second rod 102 is achieved by the presence, in the first rod 101, of a rectilinear recess 104 forming a guide in which can develop a roller 105 secured to the second rod 102.
- the motor causing the rotation of the first rod 101, causes the displacement of the roller 105 in the guide 104, thus causing the displacement in translation of the second rod 102.
- a distance D1 between the translation direction 106 and the axis of rotation 103 is constant. Consequently, the lever arm, corresponding to a distance D2 between the axis of rotation 103 and the position of the roller 105, varies as a function of the position of the first rod 101. There is thus an evolution of the direction of a force F1 during the rotation of the first rod 101; the change of direction of the force F1 causes the creation of a mechanical moment on the second rod 102 which increases the friction on the guide 104 of the first rod 101.
- FIG. 2 The operation of the second type of device, depending on the state of the technical, transformation of a rotational movement into a translational movement, is illustrated in Figure 2.
- FIG. 2 is schematically shown in a first position 210 and in a second position 21 1, a 200 device for processing of rotational movement in translational motion.
- the device 200 essentially comprises:
- a second rod 202 intended to evolve in translation along a translation direction 206 perpendicular to said axis of rotation 203;
- the translational movement of the second rod 202 is achieved by the presence, at the upper portion of the second rod 202, of a bearing 204 at which an end 205 of the first rod 201 presses to lower, when the first rod 201 is, in the example considered, driven in a rotational movement in the clockwise direction, the second rod 202 in a translational movement.
- the bearing 204 is completed by an upper portion 207, on which the end 205 of the first rod 201 presses upwards, when the first rod 201 is in a counterclockwise rotation movement, in the example considered, the second rod 202 along the axis of translation 206.
- the force applied on the bearing 204 or on the upper part 207 is not constant, and a torque is created at the level of the bearing 204 or the upper part 207, the force exerted by the end 205 being progressively off-axis during the evolution of the movement, as illustrated by an arrow 208 indicating the direction of thrust of the end 205, thrust direction 208 which is no longer merged with the central part of the second rod 202.
- Such a pair results in wear, particularly of the bearing 204.
- a device having a law of transformation of movement, to pass from a rotational movement to a translational movement, allowing to have a constant force, applied at least at a mobile element.
- translation over a range of positions covered by a rotatable member driving said movable member in translation, said force being oriented as close as possible to the translation direction considered, being centered on the axis of the element in translation.
- a cam having a cam path of particular shape said cam being integral with the rotating element, the element in translation being integral with a part moving in the path. of particular shape cam.
- the particular shape of the cam path considered is, at least at one of its edges, involute type circle.
- the invention therefore essentially relates to a device for transforming a rotational movement into a translational movement, said device comprising:
- cam integral with the first element, said cam having a cam path in which a roller integral with the second element moves;
- the cam path has an inner contact surface with the roller, said roller being in contact with the inner contact surface when the first member is rotated in a first direction of rotation, said inner contact surface defining an involute type curve of a circle.
- the device according to the invention may comprise, in addition to the main characteristics which have just been mentioned in the preceding paragraph, one or more of the following additional characteristics:
- the curve of the developing type of circle has a pitch radius equal to a distance observed between the center of rotation and the translation axis;
- the cam path has an outer contact surface in contact with the roller when the first member is rotated in a second direction of rotation;
- each point of contact with the roller has a direction normal to said curve, said normal direction being coincident with the translation axis.
- the present invention also relates to an actuator comprising a device for transforming a rotational movement into a translation movement according to the invention.
- FIG. 3 a representation of an actuator including an exemplary device according to the invention
- FIG. 3 represents a valve 300, in the illustrated example of the EGR valve actuator type, comprising in particular:
- a driving element 301 able to drive in rotation a first gear 302;
- a first element 303 of an exemplary device according to the invention said first element being constituted here by a mechanical part having a toothed portion 304 forming a gear with the intermediate gear wheel 310 so as to be rotated when the motor element 301 is active;
- a second element 307 of an exemplary device according to the invention said second element 307 being here constituted by a mechanical piece in the form of a rod having a roller-like part 308 able to move in the cam path 306 when the first element 303 evolves in a rotational movement; moving the cam path
- an orifice 309 is housed in the valve actuator EGR 300 in the material constituting the valve actuator 300, said orifice allowing the rod to slide
- Figure 4 shows a schematic representation of a portion of the cam path 306 involved in the device according to the invention.
- Figure 4 is described in conjunction with Figure 5, which illustrates the determination the shape of the cam track 306 of the device according to the invention.
- FIG. 4 shows the center of rotation 401 of the rotational movement of the first element 303, as well as a portion of the cam path 306, driven in motion by the rotation of said first element 303, and causing a relative displacement of the roller 308 with respect to the cam path 306.
- the cam path 306 has an inner surface 402 defining a first curve and an outer surface 403 defining a second curve.
- the inner surface 402 of the outer surface 403 is distinguished by designating the inner surface 402 as being the surface, among the two considered surfaces, closest to the center of rotation 401, the outer surface 403 being consequently the surface, of the two surfaces considered, the farthest from the center of rotation 401.
- the inner surface 402 is constituted by a surface in contact with the roller, at least when the rotation of the first element 303 is observed in a first direction of rotation 404; in the example shown, the inner surface 402 is in contact with the roller when the first element 303 is rotating in a clockwise direction, driving the roller 308, and therefore the second element 307, in a downward translational movement by a thrust exerted by said inner surface 402 on the roller 308.
- the inner surface 402 has the shape of a particular curve, involute type of circle.
- a curve presents a parametric Cartesian equation, considering a classical orthonormal reference, of the following form:
- fx (t) ax (cos (t) + t xsin (t)). ,. . . r
- the cam path 306 has the outer contact surface 403, to form a bounding curve allowing the return to the initial position of the rod 307; the outer contact surface 403 is in contact with the roller 308 when the first element 303 is rotated in a direction of rotation opposite to the direction of rotation 404.
- the external contact surface 403 defines a particular curve of which each point 505 of contact with the roller 308 has a normal direction 506 to the curve 403, said normal direction 506 being merged with the axis of the rod 307, and therefore with the axis of translation 31 1, for the the entire range of rotation of the first element 303.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transmission Devices (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020127018848A KR101776349B1 (ko) | 2009-12-22 | 2010-12-22 | 회전 운동을 병진 운동으로 전환하기 위한 장치 |
EP10793271.7A EP2516891B1 (fr) | 2009-12-22 | 2010-12-22 | Dispositif de transformation d'un mouvement de rotation en un mouvement de translation |
US13/517,194 US8746094B2 (en) | 2009-12-22 | 2010-12-22 | Device for converting rotational movement into translational movement |
CN201080064534.0A CN102893061B (zh) | 2009-12-22 | 2010-12-22 | 用于将旋转运动转换为平移运动的装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR09/06236 | 2009-12-22 | ||
FR0906236A FR2967472B1 (fr) | 2009-12-22 | 2009-12-22 | Dispositif de transformation d'un mouvement de rotation en un mouvement de translation |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011076902A1 true WO2011076902A1 (fr) | 2011-06-30 |
Family
ID=42312505
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2010/070596 WO2011076902A1 (fr) | 2009-12-22 | 2010-12-22 | Dispositif de transformation d'un mouvement de rotation en un mouvement de translation |
Country Status (6)
Country | Link |
---|---|
US (1) | US8746094B2 (fr) |
EP (1) | EP2516891B1 (fr) |
KR (1) | KR101776349B1 (fr) |
CN (1) | CN102893061B (fr) |
FR (1) | FR2967472B1 (fr) |
WO (1) | WO2011076902A1 (fr) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130269664A1 (en) * | 2012-04-12 | 2013-10-17 | Kamtec Inc. | Exhaust gas recirculation valve and method of manufacturing cam thereof |
CN104234878A (zh) * | 2014-09-23 | 2014-12-24 | 潍坊力创电子科技有限公司 | 电机驱动的egr阀 |
EP2884086A3 (fr) * | 2013-12-11 | 2016-07-13 | Borgwarner Inc. | Actionneur avec retour de soupape |
DE102016210315A1 (de) | 2016-06-10 | 2017-12-14 | Hanon Systems | Vorrichtung zum Umwandeln einer Drehbewegung in eine Translationsbewegung eines Ventilelements |
CN111479999A (zh) * | 2017-12-18 | 2020-07-31 | 皮尔伯格有限责任公司 | 用于内燃机的阀装置 |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009053829A1 (de) * | 2009-11-18 | 2011-05-19 | Mahle International Gmbh | Stellvorrichtung und Verwendung |
DE102011054082B3 (de) * | 2011-09-30 | 2012-12-13 | Pierburg Gmbh | Stellvorrichtung |
US9153948B2 (en) * | 2013-02-11 | 2015-10-06 | General Electric Company | System and method for actuation of power panel |
DE102015216640A1 (de) * | 2015-08-31 | 2017-03-02 | Continental Automotive Gmbh | Ventil |
FR3041404B1 (fr) * | 2015-09-18 | 2017-09-01 | Valeo Systemes De Controle Moteur | Dispositif de transformation d'un mouvement de pivotement d'un pignon en un mouvement de translation d'un coulisseau et vanne comportant un tel dispositif |
JP6105116B1 (ja) * | 2016-03-23 | 2017-03-29 | 株式会社東海理化電機製作所 | 操作装置及びその製造方法 |
CN106969154A (zh) * | 2017-03-29 | 2017-07-21 | 湖州师范学院 | 一种旋钉制动软木水流调节机构 |
CN107131308A (zh) * | 2017-04-24 | 2017-09-05 | 湖州师范学院 | 一种自锁制动的超声测距自动控制球阀机构 |
CN107013738A (zh) * | 2017-04-24 | 2017-08-04 | 湖州师范学院 | 一种钉针制动带移位监测的球阀机构 |
WO2020225943A1 (fr) * | 2019-05-07 | 2020-11-12 | 日本精工株式会社 | Dispositif de came, dispositif de fabrication de pièce, dispositif de fabrication de palier, procédé de fabrication de pièce, procédé de fabrication de machine et procédé de miniaturisation de dispositif de came |
US10711870B1 (en) | 2019-12-02 | 2020-07-14 | Kan Cui | Linear-to-rotary actuator |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3349632A (en) * | 1965-02-19 | 1967-10-31 | Commissariat A L En Atomatique | Device for the transmission of movements |
US6886546B1 (en) * | 2004-09-24 | 2005-05-03 | Delphi Technologies, Inc. | Rotary-actuator EGR valve having compliant seal/bushing |
FR2914975A1 (fr) * | 2007-04-16 | 2008-10-17 | Valeo Sys Controle Moteur Sas | Dispositif de transformation d'un mouvement de pivotement d'un pignon en un mouvement de translation d'un coulisseau et vanne comportant un tel dispositif |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
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US2019158A (en) * | 1933-06-26 | 1935-10-29 | George T Rich | Mechanical movement |
SU1199474A1 (ru) * | 1984-03-22 | 1985-12-23 | Ордена Трудового Красного Знамени Институт Сверхтвердых Материалов Ан Усср | Самоцентрирующий кулачковый патрон |
KR950007443B1 (ko) * | 1992-12-31 | 1995-07-11 | 대우전자주식회사 | 멀티디스크플레이어의 틸팅장치 |
DE29603331U1 (de) * | 1995-04-07 | 1996-06-27 | Pösger, Erich, 25917 Enge-Sande | Bewegungsumsetzer |
JP2811057B2 (ja) * | 1995-09-18 | 1998-10-15 | 協和醗酵工業株式会社 | 空気振動波発生装置 |
JP3742914B2 (ja) * | 1997-03-05 | 2006-02-08 | 四国化工機株式会社 | カム装置 |
DE10021839A1 (de) * | 1999-05-06 | 2000-11-30 | Lehmann Vertriebsgmbh | Elektromechanisch zu verriegelndes Möbelschloss |
DE102009053428A1 (de) * | 2009-11-19 | 2011-06-09 | Pierburg Gmbh | Stellvorrichtung zur Umwandlung einer rotatorischen Bewegung in eine lineare Bewegung |
-
2009
- 2009-12-22 FR FR0906236A patent/FR2967472B1/fr not_active Expired - Fee Related
-
2010
- 2010-12-22 WO PCT/EP2010/070596 patent/WO2011076902A1/fr active Application Filing
- 2010-12-22 CN CN201080064534.0A patent/CN102893061B/zh not_active Expired - Fee Related
- 2010-12-22 EP EP10793271.7A patent/EP2516891B1/fr not_active Not-in-force
- 2010-12-22 KR KR1020127018848A patent/KR101776349B1/ko active IP Right Grant
- 2010-12-22 US US13/517,194 patent/US8746094B2/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3349632A (en) * | 1965-02-19 | 1967-10-31 | Commissariat A L En Atomatique | Device for the transmission of movements |
US6886546B1 (en) * | 2004-09-24 | 2005-05-03 | Delphi Technologies, Inc. | Rotary-actuator EGR valve having compliant seal/bushing |
FR2914975A1 (fr) * | 2007-04-16 | 2008-10-17 | Valeo Sys Controle Moteur Sas | Dispositif de transformation d'un mouvement de pivotement d'un pignon en un mouvement de translation d'un coulisseau et vanne comportant un tel dispositif |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130269664A1 (en) * | 2012-04-12 | 2013-10-17 | Kamtec Inc. | Exhaust gas recirculation valve and method of manufacturing cam thereof |
EP2650524A3 (fr) * | 2012-04-12 | 2014-02-19 | Kamtec Inc. | Soupape de recirculation de gaz d'échappement et procédé de fabrication de came associée |
EP2884086A3 (fr) * | 2013-12-11 | 2016-07-13 | Borgwarner Inc. | Actionneur avec retour de soupape |
CN104234878A (zh) * | 2014-09-23 | 2014-12-24 | 潍坊力创电子科技有限公司 | 电机驱动的egr阀 |
DE102016210315A1 (de) | 2016-06-10 | 2017-12-14 | Hanon Systems | Vorrichtung zum Umwandeln einer Drehbewegung in eine Translationsbewegung eines Ventilelements |
DE102016210315B4 (de) | 2016-06-10 | 2018-03-08 | Hanon Systems | Vorrichtung zum Umwandeln einer Drehbewegung in eine Translationsbewegung eines Ventilelements |
US10145491B2 (en) | 2016-06-10 | 2018-12-04 | Hanon Systems | Side load free EGR valve actuation |
CN111479999A (zh) * | 2017-12-18 | 2020-07-31 | 皮尔伯格有限责任公司 | 用于内燃机的阀装置 |
Also Published As
Publication number | Publication date |
---|---|
EP2516891B1 (fr) | 2015-04-29 |
KR101776349B1 (ko) | 2017-09-07 |
FR2967472B1 (fr) | 2015-12-25 |
FR2967472A1 (fr) | 2012-05-18 |
US20120312107A1 (en) | 2012-12-13 |
KR20120092720A (ko) | 2012-08-21 |
EP2516891A1 (fr) | 2012-10-31 |
US8746094B2 (en) | 2014-06-10 |
CN102893061A (zh) | 2013-01-23 |
CN102893061B (zh) | 2015-11-25 |
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