WO2017012816A1 - Magnetanker, schütz mit magnetanker und verfahren zum schalten eines schützes - Google Patents
Magnetanker, schütz mit magnetanker und verfahren zum schalten eines schützes Download PDFInfo
- Publication number
- WO2017012816A1 WO2017012816A1 PCT/EP2016/064467 EP2016064467W WO2017012816A1 WO 2017012816 A1 WO2017012816 A1 WO 2017012816A1 EP 2016064467 W EP2016064467 W EP 2016064467W WO 2017012816 A1 WO2017012816 A1 WO 2017012816A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- spring element
- armature
- transition
- middle position
- stop
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H50/00—Details of electromagnetic relays
- H01H50/16—Magnetic circuit arrangements
- H01H50/18—Movable parts of magnetic circuits, e.g. armature
- H01H50/20—Movable parts of magnetic circuits, e.g. armature movable inside coil and substantially lengthwise with respect to axis thereof; movable coaxially with respect to coil
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/08—Electromagnets; Actuators including electromagnets with armatures
- H01F7/16—Rectilinearly-movable armatures
- H01F7/1607—Armatures entering the winding
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H50/00—Details of electromagnetic relays
- H01H50/16—Magnetic circuit arrangements
- H01H50/36—Stationary parts of magnetic circuit, e.g. yoke
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H50/00—Details of electromagnetic relays
- H01H50/44—Magnetic coils or windings
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H50/00—Details of electromagnetic relays
- H01H50/54—Contact arrangements
- H01H50/56—Contact spring sets
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H50/00—Details of electromagnetic relays
- H01H50/64—Driving arrangements between movable part of magnetic circuit and contact
- H01H50/645—Driving arrangements between movable part of magnetic circuit and contact intermediate part making a resilient or flexible connection
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H51/00—Electromagnetic relays
- H01H51/02—Non-polarised relays
- H01H51/04—Non-polarised relays with single armature; with single set of ganged armatures
- H01H51/06—Armature is movable between two limit positions of rest and is moved in one direction due to energisation of an electromagnet and after the electromagnet is de-energised is returned by energy stored during the movement in the first direction, e.g. by using a spring, by using a permanent magnet, by gravity
- H01H51/065—Relays having a pair of normally open contacts rigidly fixed to a magnetic core movable along the axis of a solenoid, e.g. relays for starting automobiles
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/08—Electromagnets; Actuators including electromagnets with armatures
- H01F7/081—Magnetic constructions
- H01F2007/086—Structural details of the armature
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H50/00—Details of electromagnetic relays
- H01H50/64—Driving arrangements between movable part of magnetic circuit and contact
Definitions
- the invention relates to armature, z. B. Magnetic armature for electromagnetic contactors, contactors with armature and Ver ⁇ drive for switching a contactor.
- electromagnetically operable contactors i. A. a
- Magnetic armature is a movable part, the two electrodes electrically conductive ver ⁇ bind by moving a contact punch .
- Contactors are used to switch strong electrical currents and / or high voltages, if necessary in a protective gas atmosphere.
- the immediate operations of closing or opening the switch and occurring arcs are at high switching to electrical power a great burden, especially for the material of the electrodes and the contact stamp, with increasing number of switching operations increases the risk of sticking these electrical contacts ,
- the armature comprises a first spring element with a first spring stiffness kl, a second spring element with ei ⁇ ner second stiffness k2, a rest position, a Endposi ⁇ tion and a middle position, which is located between the rest position and the end position.
- the first spring member is provided to be elastically deformed during a switching operation at about ⁇ transition from the rest position to the intermediate position, but not at the transition from the middle position to the end position.
- the second element is intended to be elastically deformed in the transition from the middle position to the end position, but not in the transition from the rest position to the middle position.
- the rest position, the middle position and the end position thereby represent positions of the armature relative to its environment, eg. B. within an electromagnetic switch.
- the middle position need not necessarily be equal ⁇ widely spaced from the rest position as from the end position.
- the rest position indicates the position in which the armature is located when no magnetic force acts on it.
- the final position is the
- Switching time can be achieved.
- the magnet armature acts on tightening against a smaller resistance, so that a greater acceleration and thus a shortening of the switching time is achieved.
- the magnet armature is in its end position, the restoring force of the second spring element causes a rapid opening, in essence, when the magnetic force is attributable to the Mag ⁇ netanker (ie, when opening the switch). It is therefore specified a magnet armature, which experiences a not simply linear resistance during closing and opening. Rather, a magnet armature is indicated, the resistance force acting on it can successively increase by different spring stiffnesses ⁇ Liche.
- first spring element and the second spring element are arranged in series.
- series angeord ⁇ Neten spring elements results in a resulting spring stiffness of the combination of the two springs whose reciprocal corresponds to the sum of the reciprocals of the individual spring stiffness.
- Two spring elements arranged in series therefore behave like a single spring element with the corresponding spring element. adequate replacement stiffness. So that the magnet armature during Akti ⁇ four during a phase of movement from the rest position to the middle position on the one and during the second phase during movement from the middle position to the end position perceives different spring stiffness, additional technical precautions, eg. As mechanical stops and / or applying individual spring elements with a spring bias and / or the provision of a sliding sleeve, as described below, necessary.
- the magnet armature additionally comprises a bush, which is arranged between the first spring element and the second spring element.
- the sleeve may be touching the one directed towards the socket end of the first spring element and the one directed towards the socket end of the second Federele ⁇ management.
- the magnet armature additionally comprises a cylindrical section.
- the first spring element, the bushing and the second spring element surround the zylinderförmi ⁇ gene section - or each a separate cylindrical section with optionally different radius - coaxial ⁇ xial.
- the bushing-facing end of the first spring element is intended to move relative to the cylindrical portion at the transition from the rest position to the middle position, but not at the transition from the middle position to the end position.
- the distance h from the rest position to the end position is the full stroke that the magnet armature covers during activation in order to connect two electrodes of a contactor with a contact stamp.
- the stroke h can z. B. 2 mm.
- the middle position can be between 40% and 60% of the full stroke h at an interval.
- the spring stiffness of the two spring elements is approximately 3.3-3.6 times the top of each other Fe ⁇ the stiffness.
- the second spring element having the higher spring stiffness: 3.3 -S k2 / kl ⁇ 3.6.
- the spring stiffness of the first spring element is between 0.5 N / mm and 0.9 N / mm.
- the Stei ⁇ ability of the second spring element can be between 2.3 N / mm and 2.7 N / mm.
- the magnet armature in addition to at least one cylindrical portion further comprises a contact stamp and / or a magnetizable material.
- the contact ⁇ stamp is NEN egg at one end of the region of the armature with the or the plurality of cylindrical portions disposed.
- the optional magnetizable material may be disposed on opposite ⁇ other end.
- the contact stamp comprises an electrically conductive material and is intended to interconnect two electrical contacts in the end position of the magnet armature.
- the magnetizable material may comprise iron, cobalt and / or nickel or consist of iron, cobalt or nickel.
- Over the magnetizable material of the magnetic ⁇ anchor may be magnetic with its environment (eg. As an adjacent magnetic coil in a yoke) interact, in particular by shifting between the three positions, ie, a
- the cylindrical section comprises a ⁇ ers th section and a second section.
- the first section may have a first diameter and the second section may have a second diameter.
- the cylindrical portion and thus the diameter may have a step.
- the step between the two sections may represent a fourth stop, in particular for the socket.
- a contactor may comprise a magnetic armature as described above with a bush between the two spring elements, a yoke with integrated coil and a guide with a first mechanical stop.
- the armature and the yoke form an electromagnetic actuator, which is intended to move the armature relative to the yoke and the guide. In positions between the rest position and the middle position, the bush does not touch the first mechanical stop. In positions between the middle position and the end position, the bush touches the first mechanical stop.
- the middle position is thus defined as the Posi ⁇ tion, after which the socket contacts the stop during closing. From the rest position to the middle position, essentially the first spring element counteracts a closing force: the magnet armature moves away from it
- the second spring element can be acted on with a bias voltage, one which is big ⁇ SSER than the voltage on the first spring element in the middle position.
- a bias voltage one which is big ⁇ SSER than the voltage on the first spring element in the middle position.
- the second spring element is not compressed during the transition from the rest position to the middle position. If the bush meets the mechanical stop, the tension on the first spring element can not rise any further, since the force is transmitted to the guide via the bush and the mechanical stop. As a result, the further movement from the middle position to the end position is made possible by an upsetting of the second spring element.
- the contactor in the yoke comprises one or more coils which can generate a magnetic field and form an electromagnet together with the magnetizable material of the armature.
- the contactor may further include a cavity in which the contact stamp on the armature and two spaced apart electrodes are arranged.
- the cavity may be filled with a gas, e.g. As a noble gas to be filled.
- the distance between the electrodes and the contact stamp is preferably klei ⁇ ner than the total stroke h of the magnet armature.
- the magnet armature may additionally have a further spring element which can compensate for manufacturing tolerances of the distance between the electrodes and the contact stamp and generates the actual contact force. This is particularly important if the material of the electrode or of the contact stempeis by repeated switching operations at a high electrical power ⁇ shear is removed.
- the electromagnet of such a contactor can be operated with a Be ⁇ operating voltage of 12 V, 24 V, 48 V or any other available voltage.
- the contactor may have a cavity, z.
- the increased life due to the non-linear counterforce can be further increased by the gas filling in the cavity.
- the contactor has a guide with a third stop.
- the third stop may be a Begren ⁇ requisite for the movement of the armature.
- the magnet armature can touch the third stop in its rest position.
- the third stop can absorb in particular the force of the first spring in the rest position.
- the position of the third stop determines the position of the armature relative to the guide in the rest position, a defined rest position.
- the cylindrical portion should have the fourth mechanical ⁇ African stopper as described above by two different diameter cylindrical portion and the corresponding stage can be realized.
- the ratio of spring rates is not limited.
- the Zah ⁇ lenhong eg. As a spring hardness of 0.5 N / mm for the stiffer spring and 3 N / mm for the softer spring) depend inter alia on the size and are to be understood as examples only.
- a series connection of the two spring elements is possible but not mandatory.
- the mechanical stops in particular the first and the fourth stop, can decouple the springs.
- a method of switching an electromagnetic contactor comprising an electromagnet, a contact stamp and a first spring element comprises the steps of:
- a method of switching an electromagnetic contactor comprising an electromagnet, a contact stamp, a first spring element and a second spring element comprises the steps of:
- a cross section through a simple embodiment ⁇ form of a magnet armature MA in its rest position a cross section through a simplemonys ⁇ form in its middle position, a cross section through a simplemonys ⁇ form of the contactor in its final position, a cross section through an embodiment of a magnet armature with Spring element for a tolerance ⁇ compensation and with contact stamp, a cross section through a contactor with a magnet armature and with a contact stamp, a first electrode and a second electrode in a gas-filled cavity, according to the examples of Figures 5 and / or 6.
- FIG. 6 a cross section through an embodiment of a magnet armature MA with a third A3 and a fourth stop A4, a cross section through the embodiment of FIG. 6 in the middle position, a cross section through the embodiment of FIG. 6 in the end position, 1 shows a cross section through a simple exporting ⁇ approximate shape of a magnet armature MA in its rest position RP.
- the magnet armature MA has a first spring element Fl and a second spring element F2.
- the two spring elements F1, F2 determine the restoring forces during the transition from its rest position to its end position.
- the first spring element Fl determines the restoring force in the transition from the Ru ⁇ heposition in the middle position.
- Figure 1 shows in addition to the armature MA a guide FÜ, which limits the movement of the armature at the transition between the positions to a displacement along an axis.
- the guide FÜ may thus constitute a guide rail with a ers ⁇ th stop AI.
- Between the first spring element Fl and the second spring element F2 is a bush B angeord ⁇ net.
- the armature MA has a cylindrical portion ZA.
- the first spring element Fl, the second spring element F2 and the bush B are arranged coaxially around the cylinder-shaped portion ⁇ ZA.
- At one end of the cylindrical ⁇ shaped portion ZA of the contact stamp KS is arranged.
- a magnetizable material M is arranged.
- the second spring element F2 is not or only slightly during the transition from Rest position RP compressed in the middle position MP.
- the bushing B thereby moves by the distance hl until the bush B strikes the first stop AI. During this phase of the movement is on the
- FIG. 2 shows the magnet armature in its middle position MP.
- the socket B touches the first stop AI. If the magnet armature continues to move to the left relative to the guide FÜ, the bush B is supported on the first stop AI, so that the first spring element F1 can no longer be compressed. In the further movement, the second spring element F2 is inevitably compressed.
- FIG. 3 shows the magnet armature in its end position EP.
- the second spring element F2 is compressed until the armature has arrived in its end position, the z. B. may be predetermined by a second mechanical stop A2.
- the magnet armature is now in a position in which a magnetic switch belonging to the electrical switch is closed by touching the contact stamp of two electrodes.
- closing a short closing time can be achieved, since the electromagnet must work only against the weak restoring force of the first spring element Fl, in particular in the critical initial ⁇ phase and thus can quickly accelerate ⁇ nigen.
- a rapid opening of the electrical switch is achieved by the fact that when deactivating the Elektromag ⁇ Neten directly the second, stronger restoring force of the second spring element F2 acts.
- a magnet armature is given, which allows both a fast closing and a quick opening and in particular the burning time of a resulting
- Figure 4 shows an embodiment of the armature MA, which also uses a sliding sleeve between a B ers ⁇ th spring member having a first spring constant kl and ei ⁇ nem second spring member having a second spring constant k2 is arranged.
- the rear end of the armature MA has a coaxially around a zy ⁇ relieving shaped portion of the contact stamp arranged ke ⁇ gel elevation in the direction of the contact stamp KS.
- the associated guide has a correspondingly shaped conical recess facing the end of the armature. When closing the switch so ⁇ is obtained with a self-centering guide.
- a further spring element FTA is arranged, which can compensate for height tolerances and generates the actual contact force.
- a portion of an insulating material IM is arranged to the over the contact stamp KS to electrically isolating switching electrical contacts and the armature.
- FIG. 5 shows a cross section through a possible embodiment of a contactor SCH in its rest position RP.
- the contactor SCH has a yoke J, in which electrical windings of a coil SP are arranged.
- Figure 5 also shows a cavity HR, the contact stamp KS resteste ⁇ hen in the ends of a first electrode and a second electrode. If the magnetic tanker first moves against the resistance of the first spring element and then against the stronger resistance of the second spring element, the contact stamp KS is pressed against the ends of the two electrodes ELI, EL2, whereby the two electrodes ELI, EL2 are interconnected.
- In the cavity HR is a gas, for. As a noble gas, in order to extinguish an arc as quickly as possible in particular when opening the contact in order to protect the material of the electrodes and the contact stamp KS.
- Figure 6 shows an embodiment of the armature MA with a fourth stop A4 and an embodiment of the contactor SCH with a third stop A3, respectively in the
- Rest position RP The position of anchor MA and guide FÜ in the rest position RP is determined by the third stop A3.
- FIG. 7 shows an embodiment of the magnet armature MA with a fourth stop A4 and the contactor SCH with a third stop A3 in the middle position MP.
- FIG. 8 shows an embodiment of the magnet armature MA with a fourth A4 and the contactor SCH with a third A3 stop in the end position EP.
- the position of anchor MA and guide FÜ in the end position EP is determined by the second stop A2.
- Magnetic armature with additional stops, devices for biasing in particular the second spring element and further measures for reducing the load on the electrodes of a contactor represent objects according to the invention.
- A2 second mechanical stop
- FTA spring element for tolerance compensation
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Electromagnets (AREA)
- Switches Operated By Changes In Physical Conditions (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/744,328 US10804059B2 (en) | 2015-07-23 | 2016-06-22 | Magnet armature, contactor having a magnetic armature, and method for switching a contactor |
KR1020187005034A KR102046266B1 (ko) | 2015-07-23 | 2016-06-22 | 마그네틱 전기자, 마그네틱 전기자를 구비한 접촉기 및 접촉기의 전환 방법 |
EP16731162.0A EP3326190B9 (de) | 2015-07-23 | 2016-06-22 | Magnetanker, schütz mit magnetanker und verfahren zum schalten eines schützes |
JP2018503178A JP6643456B2 (ja) | 2015-07-23 | 2016-06-22 | 磁石アーマチャ、磁石アーマチャを備えた接触器および接触器を切り替える方法 |
CN201680055825.0A CN108140515B (zh) | 2015-07-23 | 2016-06-22 | 电枢、具有电枢的接触器以及用于开关接触器的方法 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015112052.6 | 2015-07-23 | ||
DE102015112052 | 2015-07-23 | ||
DE102015121033.9A DE102015121033A1 (de) | 2015-07-23 | 2015-12-03 | Magnetanker, Schütz mit Magnetanker und Verfahren zum Schalten eines Schützes |
DE102015121033.9 | 2015-12-03 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017012816A1 true WO2017012816A1 (de) | 2017-01-26 |
Family
ID=57738733
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2016/064467 WO2017012816A1 (de) | 2015-07-23 | 2016-06-22 | Magnetanker, schütz mit magnetanker und verfahren zum schalten eines schützes |
Country Status (7)
Country | Link |
---|---|
US (1) | US10804059B2 (de) |
EP (1) | EP3326190B9 (de) |
JP (1) | JP6643456B2 (de) |
KR (1) | KR102046266B1 (de) |
CN (1) | CN108140515B (de) |
DE (1) | DE102015121033A1 (de) |
WO (1) | WO2017012816A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016107127A1 (de) * | 2016-01-29 | 2017-08-03 | Epcos Ag | Relais |
DE102018110919A1 (de) | 2018-05-07 | 2019-11-07 | Tdk Electronics Ag | Schaltvorrichtung |
CN112002611B (zh) * | 2020-08-19 | 2022-06-28 | 厦门理工学院 | 一种动触点推进结构及其继电器 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB646670A (en) * | 1948-10-25 | 1950-11-29 | Cav Ltd | Improvements relating to electric starting motors for internal combustion engines |
GB1082527A (en) * | 1965-05-03 | 1967-09-06 | Texas Instruments Inc | Electromagnetic relay |
US3444490A (en) * | 1966-09-30 | 1969-05-13 | Westinghouse Electric Corp | Electromagnetic structures for electrical control devices |
GB2028590A (en) * | 1978-08-12 | 1980-03-05 | Bosch Gmbh Robert | Electromagnetic switches |
US6360707B1 (en) * | 1997-11-08 | 2002-03-26 | Robert Bosch Gmbh | Solenoid switch for starters |
EP2385538A1 (de) * | 2010-05-07 | 2011-11-09 | Valeo Equipements Electriques Moteur | Elektromagnetisches Schütz mit Doppelkontakt und damit versehener Anlasser eines Verbrennungsmotor |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3537598A1 (de) | 1985-10-23 | 1987-05-27 | Bosch Gmbh Robert | Elektromagnetischer schalter, insbesondere fuer andrehvorrichtungen von brennkraftmaschinen |
DE69323182D1 (de) * | 1993-06-18 | 1999-03-04 | Philippe Pointout | Stromstossschalter |
DE19814504A1 (de) * | 1997-11-18 | 1999-06-02 | Bosch Gmbh Robert | Einrückrelais für Starter |
FR2798506B1 (fr) * | 1999-09-15 | 2001-11-09 | Schneider Electric Ind Sa | Actionneur electromagnetique muni de deux ressorts de rappel |
JP2005276592A (ja) * | 2004-03-24 | 2005-10-06 | Toyota Motor Corp | 電磁継電器 |
JP2006019148A (ja) | 2004-07-01 | 2006-01-19 | Matsushita Electric Works Ltd | 電磁開閉装置 |
-
2015
- 2015-12-03 DE DE102015121033.9A patent/DE102015121033A1/de active Pending
-
2016
- 2016-06-22 KR KR1020187005034A patent/KR102046266B1/ko active IP Right Grant
- 2016-06-22 EP EP16731162.0A patent/EP3326190B9/de active Active
- 2016-06-22 WO PCT/EP2016/064467 patent/WO2017012816A1/de active Application Filing
- 2016-06-22 US US15/744,328 patent/US10804059B2/en active Active
- 2016-06-22 JP JP2018503178A patent/JP6643456B2/ja active Active
- 2016-06-22 CN CN201680055825.0A patent/CN108140515B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB646670A (en) * | 1948-10-25 | 1950-11-29 | Cav Ltd | Improvements relating to electric starting motors for internal combustion engines |
GB1082527A (en) * | 1965-05-03 | 1967-09-06 | Texas Instruments Inc | Electromagnetic relay |
US3444490A (en) * | 1966-09-30 | 1969-05-13 | Westinghouse Electric Corp | Electromagnetic structures for electrical control devices |
GB2028590A (en) * | 1978-08-12 | 1980-03-05 | Bosch Gmbh Robert | Electromagnetic switches |
US6360707B1 (en) * | 1997-11-08 | 2002-03-26 | Robert Bosch Gmbh | Solenoid switch for starters |
EP2385538A1 (de) * | 2010-05-07 | 2011-11-09 | Valeo Equipements Electriques Moteur | Elektromagnetisches Schütz mit Doppelkontakt und damit versehener Anlasser eines Verbrennungsmotor |
Also Published As
Publication number | Publication date |
---|---|
EP3326190B1 (de) | 2024-04-03 |
EP3326190A1 (de) | 2018-05-30 |
EP3326190B9 (de) | 2024-07-10 |
JP2018522382A (ja) | 2018-08-09 |
CN108140515A (zh) | 2018-06-08 |
JP6643456B2 (ja) | 2020-02-12 |
CN108140515B (zh) | 2020-10-09 |
KR20180032617A (ko) | 2018-03-30 |
DE102015121033A1 (de) | 2017-01-26 |
KR102046266B1 (ko) | 2019-11-18 |
US20180204698A1 (en) | 2018-07-19 |
US10804059B2 (en) | 2020-10-13 |
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