EP3074664A1 - Unité d'entraînement à broche - Google Patents

Unité d'entraînement à broche

Info

Publication number
EP3074664A1
EP3074664A1 EP14815567.4A EP14815567A EP3074664A1 EP 3074664 A1 EP3074664 A1 EP 3074664A1 EP 14815567 A EP14815567 A EP 14815567A EP 3074664 A1 EP3074664 A1 EP 3074664A1
Authority
EP
European Patent Office
Prior art keywords
bearing
rotor
axially
spindle
stator
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Withdrawn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
EP14815567.4A
Other languages
German (de)
English (en)
Inventor
Lars Schumann
Lászlo Mán
Peter Greb
Alexander Dreher
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.)
Schaeffler Technologies AG and Co KG
Original Assignee
Schaeffler Technologies AG and Co KG
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 Schaeffler Technologies AG and Co KG filed Critical Schaeffler Technologies AG and Co KG
Publication of EP3074664A1 publication Critical patent/EP3074664A1/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Withdrawn legal-status Critical Current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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D23/00—Details of mechanically-actuated clutches not specific for one distinct type
    • F16D23/12—Mechanical clutch-actuating mechanisms arranged outside the clutch as such
    • 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
    • F16H25/20—Screw mechanisms
    • 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
    • F16H25/20—Screw mechanisms
    • F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing 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
    • 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
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
    • F16H25/2252—Planetary rollers between nut and screw
    • 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
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • 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
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • F16H25/2472—Safety nuts
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D23/00—Details of mechanically-actuated clutches not specific for one distinct type
    • F16D23/12—Mechanical clutch-actuating mechanisms arranged outside the clutch as such
    • F16D2023/123—Clutch actuation by cams, ramps or ball-screw mechanisms
    • 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
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors

Definitions

  • the invention relates to a spindle rotor unit, in particular for an actuator with Planetenskylzgewindespindel (PWG) according to the preamble of the first claim.
  • PWG Planetenskywindespindel
  • Planetenskylzgewindspindeln (also referred to as Planetenxxlzgewindsspindeltrie- be) have been state of the art for many years and are described for example in DD 0277308 A5.
  • the publication DE 10 2010 047 800 A1 discloses, for example, a planetary roller screw drive which is contained in a hydrostatic actuator in the form of a hydrostatic clutch actuator in order to convert a rotational movement generated by means of an electric motor into an axial movement.
  • planetary gear for use in an actuator are also known.
  • a rotor of an electric motor (electric motor) rotatably connected to a spindle of a PWG.
  • the spindle nut of the PWG is secured against rotation in order to ensure an axial movement, which ultimately results in a piston stroke of the actuator.
  • the position of the piston can be determined.
  • the position of an electrically conductive object to be detected can be detected with a housing-fixed inductive sensor, wherein the target is integrated in the piston or in a complementary to the piston axially displaceable component of the release system or in the form of at least a portion of a complementary to the piston Component is formed.
  • a device for converting a rotational movement into an axial movement, with a threaded spindle, with a threaded spindle surrounding and rotatable relative to this mother with internal profiling and with a number of interposed profiled rolling or rolling body is also known from the document EP 320 621 A1.
  • the threaded spindle has on the outside a single or multi-start fine thread and the inner profiling of the rotatable relative to the threaded nut is designed in the form of relatively coarse grooves. It is also provided on both sides of a cover which serves as a backup for the rollers or rollers.
  • the object of the present invention is to develop a spindle rotor unit, in particular for an actuator with Planetenskylzgewindespindel (PWG), which has a simple and inexpensive construction.
  • PWG Planetenskylzgewindespindel
  • the spindle drive unit is used in particular for an actuator with Planetenxxlzgewindispindel (PWG) for the actuation of a clutch of a vehicle by means of an actuating element
  • the drive unit comprises an electric motor with a rotor and a stator and provided with a pitch spindle with the rotor rotatably connected and driven by the rotor about an axis of rotation
  • the spindle is designed as a threaded rod and screwed onto the threaded rod a rotor rotor receiving Rotorlly and the rotor support on the spindle by means of a lock nut is secured against rotation and axially fixed.
  • the lock nut is screwed onto the side of the spindle opposite the piston against the rotor carrier.
  • a signal generator can be arranged in or on the lock nut and / or the washer and / or the spring accumulator.
  • the lock nut is designed as a self-clamping nut, so that it is additionally secured against unintentional loosening.
  • the stator of the motor of the spindle drive unit is received on a frame-fixed stator and the rotor of the anti- Riebs receiving rotor carrier by means of an inner ring and an outer ring having bearing rotatably mounted on the stator.
  • the bearing is mounted after mounting on the stator by forming a portion of the bearing bracket on the bearing bracket, creating a very simple mounting option is created.
  • the rotor carrier has an axially extending first portion, which is provided with an internal thread and screwed onto the spindle.
  • a radially extending region adjoins this first region on the side of the lock nut, against which the lock nut is screwed and from which an axially extending second region adjoins radially to the axially extending first region, so that between the first and second an annular space is formed in the second region into which the stator carrier carrying the stator engages with the bearing.
  • bearing inner ring is axially facing away from the lock nut on a collar of the bearing carrier and is axially fixed in the direction of the lock nut with a radially outwardly deformed region of the stator.
  • a in the outer bearing ring (AR) located securing element which preferably sits in a groove of the bearing outer ring, and radially inwardly deformed, locks after mounting in a groove of the rotor carrier and fixes the bearing outer ring on the rotor arm axially.
  • the bearing inner ring is clamped axially against the first region of the rotor carrier in the direction of the lock nut with a bearing nut and thus axially fixed and the bearing outer ring axially applied towards the lock nut on a radially inwardly bent portion of the stator and axially away from the lock nut wegwei - send with a, after the mounting of the bearing on the stator, radially inwardly deformed area / collar of the stator carrier axially fixed.
  • the forming of the bearing carrier after pushing the bearing to its axial fixation is done for example by crimping or caulking.
  • an efficient and easy-to-mount spindle drive unit which is used in particular for an actuator with planetary roller screw spindle (PWG) for actuating a clutch of a vehicle by means of an actuating element.
  • PWG planetary roller screw spindle
  • FIG. 1 shows a longitudinal section of an actuator using the solution according to the invention.
  • Figure 2 shows the longitudinal section of a connection between the spindle and the rotor carrier,
  • Figure 3 shows the three-dimensional representation of explosive representation acc.
  • FIG. 1 the lock nut with integrated signal transmitter,
  • FIG. 5 shows a longitudinal section of the first variant of the fastening of the bearing between the rotor carrier and the stator carrier
  • FIG. 6 shows a longitudinal section of the second variant of the fastening of the bearing between rotor carrier and stator carrier
  • an actuator is shown in longitudinal section, which has a Planetenxxlzgewindespindel (PWG), with which the rotational movement generated by an electric motor E is converted into an axial stroke movement, by which a piston 1 disengageable and thereby a clutch, not shown, can be actuated.
  • the gear in the form of a Planetenskylzgewindespindel PWG has a spindle 2 with an external thread 2.1 with a slope which is rotatably connected to a rotor of the drive (here E-motor E) and driven by the electric motor E about a rotation axis L.
  • the spindle 2 With the spindle 2 are a plurality of planetary rollers 3 in engagement, which mesh with a planetary rollers 3 surrounding ring gear 4.
  • three or a multiple of three planetary rollers 3 are positioned around the spindle 2 in the circumferential direction.
  • the planetary rollers 3 are at both ends in each case a planetary roller carrier 5 rotatably received, wherein the two planetary roller carrier 5 are rotatably supported in a first sleeve A.
  • the first sleeve A sits non-rotatably and axially fixed in a second sleeve B, which is received along a guide track axially displaceable in a housing 8 and sealed to this.
  • the housing 8 is fastened to the motor housing 9 of the electric motor E in a frame-fixed manner via a flange region 8.2 pointing radially outwards.
  • the motor housing 9 also sits the required electronics 10 and there are interfaces to the outside such as plug 1 1, flange points, etc. provided.
  • the arranged in the motor housing 9 electric motor E has a rotor 20 which is rotatably received on a rotor carrier 21, wherein the rotor carrier 21 at its inner diameter has a non-designated thread and is screwed to the external thread 2.1 of the spindle 2.
  • the spindle 2 is formed as a threaded rod.
  • the rotor carrier 21 is screwed onto the spindle 2 on the side opposite the piston 1 side of the spindle 2 and secured against rotation by means of a lock nut 22 and fixed axially.
  • the rotor carrier 21 has an axially extending first portion 21 .1, which is provided with the internal thread and screwed onto the spindle.
  • a radially extending region 21.2 adjoins the first region 21.1 on the side of the lock nut 22, from which an axially extending second region 21.3 connects radially to the axially extending first region 21 .1, so that between the first 21 .1 and the second region 21.3, an annular space 25 (see Figure 2) is formed.
  • the stator 26 is mounted on a frame-fixed stator 27, which is preferably formed by a sheet metal part, and the rotor arm 21 is rotatably supported by means of an inner ring IR and an outer ring AR bearing 28 on the stator 27, wherein the bearing 28 here with its inner ring 6) and the outer ring AR of the bearing 28 on the axially extending second portion 21 .3 of the rotor carrier rotatably and axially fixedly secured (see Figure 6) by a deformed region of the stator support 27 at this axially fixed and rotationally fixed (see FIG. ,
  • FIG. 2 shows the components of the spindle drive unit which ensure a rotationally fixed and axially fixed connection between spindle 2 and rotor carrier 21.
  • the rotor arm 21 is screwed with its internal thread (not labeled) on the spindle 2 and secured by a lock nut 22 axially fixed and rotationally fixed on the spindle.
  • the intermediate disc 23 is arranged between the rotor carrier 21 and the lock nut 22, the intermediate disc 23 is arranged.
  • a signal generator 24 is used in an outwardly facing recess 22.1 of the lock nut 22. It can be seen from FIG.
  • the rotor carrier 21 has an axially extending first region 21.1 which is provided for the internal thread and is screwed onto the spindle such that a radially extending region 21 extends to the first region 21.1 on the side of the lock nut 22 .2 connects, against which the lock nut 22 acts and from which radially spaced from the axially extending first portion 21 .1, an axially extending second region 21 .3 connects. Between the first 21 .1 and the second region 21 .3 an annular space 25 is formed.
  • a circumferential groove 21 .4 is provided on the inner contour of the axially extending second portion 21 .3 and sitting on the outer diameter of the axially extending second portion 21.3 of the bearing carrier 21 rotatably and axially fixed the rotor 20, integrated in the magnets 20.1 and a sheathing 20.2 are provided.
  • FIG. 3 once again shows the explosive representation of the components shown in FIG. 2 (without intermediate disk).
  • the signal generator 24 is inserted into a recess of the lock nut 22.
  • the rotor carrier 21 is screwed onto the spindle 2, so that the spindle 2 projects through the rotor carrier 21.
  • the counter nut 22 is then screwed onto the region of the spindle projecting through the rotor carrier until it is firmly clamped on the rotor carrier and secures it against rotation relative to the spindle 2.
  • the lock nut 22 has a recess in which the signal generator 24, here in the form of a disc-shaped magnet, sitting, this is the wall of the nut between which the recess extends, provided with axially extending slots 22.1, which ensure a pressing in of the magnet.
  • FIGS. 5 and 6 schematically illustrate two variants of the articulation of the bearing 28 by means of a stator carrier 27 carrying the stator 26, wherein the bearing outer ring and inner bearing ring are not separately designated and illustrated.
  • the outer bearing ring is non-rotatably seated in the axially extending second region 21 .3 of the rotor carrier 21.
  • the axial securing takes place by means of a securing element 29 located in the outer bearing ring which radiates during assembly. al can deform inwardly and in the groove 21 .4 engages in the rotor arm 21 and thus ensures an axial locking between the rotor-spindle unit and stator support 27.
  • the bearing 28 is rotatably connected with its bearing inner ring with the first axially extending portion 21.1 of the rotor support 21 and clamped with a bearing mounting nut and thus axially secured.
  • the bearing outer ring is rotatably connected to the stator 27 and axially secured by a second deformed region 27.4.
  • the stator support 27 has a radially inwardly bent edge region 27.5, which axially secures the bearing 28 in the direction of the lock nut 22.
  • the second deformed portion 27.4 is made by crimping, whereby the bearing outer ring of the bearing 28 is pressed against the edge portion 27.5 and a clearance mounting of the bearing on the stator support 27 is realized.
  • the spindle should be operated as a tension element, but a pressure load is also conceivable.
  • a low-cost connection between the spindle 2 and rotor 20 can be realized.
  • the spindle 2 needs to be executed only as ordinary threaded rod.
  • the rotor 20, and a rotor carrier 21 of the electric motor is screwed.
  • the lock nut 22 is then screwed to the rotationally fixed connection of the rotor support 21 on the piston 1 opposite side of the spindle 2.
  • a spring / a spring element between the rotor support 21 and lock nut 2 may be provided as a preload.
  • the lock nut 22 also serves at the same time for receiving a sensor element / signal generator 24, for example in the form of a magnet / sensor magnet, synergy effects can be used here.
  • the electronics 10 of the actuator is then in the immediate vicinity of the sensor magnet. LIST OF REFERENCES

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne une unité d'entraînement à broche, destiné en particulier à un actionneur comportant une broche filetée de rouleau planétaire (PWG) servant à actionner un embrayage d'un véhicule au moyen d'un élément d'actionnement, l'unité d'entraînement comprenant un moteur électrique pourvu d'un rotor et d'un stator et une broche pourvue d'un pas de vis étant reliée solidairement en rotation au rotor et pouvant être entraînée par le rotor sur un axe de rotation. L'invention est caractérisée en ce que la broche est configurée sous la forme d'une tige filetée et un support de rotor, recevant le rotor, est vissé sur la tige filetée et le support de rotor est bloqué en rotation et immobilisé axialement sur la broche au moyen d'un écrou de blocage.
EP14815567.4A 2013-11-27 2014-11-03 Unité d'entraînement à broche Withdrawn EP3074664A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013224271 2013-11-27
PCT/DE2014/200614 WO2015078463A1 (fr) 2013-11-27 2014-11-03 Unité d'entraînement à broche

Publications (1)

Publication Number Publication Date
EP3074664A1 true EP3074664A1 (fr) 2016-10-05

Family

ID=52133752

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14815567.4A Withdrawn EP3074664A1 (fr) 2013-11-27 2014-11-03 Unité d'entraînement à broche

Country Status (6)

Country Link
US (1) US10125851B2 (fr)
EP (1) EP3074664A1 (fr)
KR (1) KR102301346B1 (fr)
CN (1) CN105765271B (fr)
DE (1) DE112014005410A5 (fr)
WO (1) WO2015078463A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015081951A1 (fr) * 2013-12-06 2015-06-11 Schaeffler Technologies AG & Co. KG Actionneur comprenant une vis à rouleaux planétaires (pwg)
GB201515845D0 (en) 2015-09-07 2015-10-21 Trw Ltd An electromechanical actuator
US10655378B2 (en) * 2017-02-07 2020-05-19 Magna Closures Inc. Power side door actuator with rotating drive nut
DE102018108903A1 (de) * 2017-05-04 2018-11-08 Schaeffler Technologies AG & Co. KG Verfahren zum Befestigen eines Magneten an einer Gewindespindel eines Aktors
DE102018211716A1 (de) * 2018-02-16 2019-08-22 Continental Teves Ag & Co. Ohg Selbstaufrichtendes Gewindespindelmodul für eine Kraftfahrzeugbremse
DE102019103383B4 (de) * 2019-02-12 2023-08-10 Schaeffler Technologies AG & Co. KG Planetenwälzgewindetrieb und Aktuator für eine Hinterachslenkung eines Kraftfahrzeuges mit einem derartigen Planetenwälzgewindetrieb
DE102022206871A1 (de) * 2022-07-06 2024-01-11 Robert Bosch Gesellschaft mit beschränkter Haftung Elektromechanischer Linearaktuator mit Hohlwellenmotor

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Publication number Priority date Publication date Assignee Title
DE1550657B2 (de) * 1966-02-03 1971-06-09 Blohm, Robert, 2000 Hamburg Berge dorf Getriebe mit einer vertikal schraubbeweglich angeordneten gewindespindel
DE3739059A1 (de) 1987-11-17 1989-05-24 Deutsche Forsch Luft Raumfahrt Vorrichtung zur umwandlung einer drehbewegung in eine axialbewegung
JPH1118865A (ja) * 1997-06-30 1999-01-26 Tachi S Co Ltd ロック装置
DE50214101D1 (de) 2001-08-01 2010-01-28 Sumitomo Shi Demag Plastics Ma Elekromechanischer linearantrieb
DE10222748C1 (de) * 2002-05-23 2003-05-28 Demag Ergotech Gmbh Einspritzaggregat für eine Spritzgießmaschine
US7819036B2 (en) * 2003-02-13 2010-10-26 Dewert Antriebs- Und Systemtechnik Gmbh Electromotive linear drive
DE102008051455A1 (de) * 2007-10-29 2009-04-30 Luk Lamellen Und Kupplungsbau Beteiligungs Kg Motor-Getriebemodul
CN102066808B (zh) * 2008-06-27 2013-07-31 利纳克有限公司 线性致动器
DE102010039916A1 (de) * 2009-09-01 2011-03-03 Continental Teves Ag & Co. Ohg Lineareinheit
EP2494228B1 (fr) 2009-10-29 2014-07-02 Schaeffler Technologies GmbH & Co. KG Actionneur d'embrayage hydrostatique
US8800402B2 (en) * 2010-03-04 2014-08-12 Vingcard Elsafe As Motor mechanism
DE102012214552A1 (de) * 2011-09-27 2013-03-28 Schaeffler Technologies AG & Co. KG Mutter-Spindel-Vorrichtung und Aktorik für ein Getriebe einer Kurbelwellenriemenscheibe

Also Published As

Publication number Publication date
CN105765271B (zh) 2018-03-27
US20160290455A1 (en) 2016-10-06
KR20160090301A (ko) 2016-07-29
WO2015078463A1 (fr) 2015-06-04
CN105765271A (zh) 2016-07-13
DE112014005410A5 (de) 2016-09-01
US10125851B2 (en) 2018-11-13
KR102301346B1 (ko) 2021-09-14

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