EP3548348A1 - Maître-cylindre de frein, système de freinage - Google Patents

Maître-cylindre de frein, système de freinage

Info

Publication number
EP3548348A1
EP3548348A1 EP17780386.3A EP17780386A EP3548348A1 EP 3548348 A1 EP3548348 A1 EP 3548348A1 EP 17780386 A EP17780386 A EP 17780386A EP 3548348 A1 EP3548348 A1 EP 3548348A1
Authority
EP
European Patent Office
Prior art keywords
hydraulic
hydraulic piston
cylinder
wall opening
master cylinder
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Withdrawn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
EP17780386.3A
Other languages
German (de)
English (en)
Inventor
Simon Hansmann
Dirk Foerch
Matthias Kistner
Florent Yvonet
Raynald Sprocq
Chris Anderson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3548348A1 publication Critical patent/EP3548348A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T11/00—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant
    • B60T11/10—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant transmitting by fluid means, e.g. hydraulic
    • B60T11/16—Master control, e.g. master cylinders
    • B60T11/236—Piston sealing arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
    • B60T13/14—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using accumulators or reservoirs fed by pumps
    • B60T13/142—Systems with master cylinder
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423—Component parts; Constructional details
    • F15B15/1447—Pistons; Piston to piston rod assemblies
    • F15B15/1452—Piston sealings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/06—Details
    • F15B7/08—Input units; Master units
    • 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
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/16—Sealings between relatively-moving surfaces
    • F16J15/32—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings
    • F16J15/3204—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings with at least one lip
    • F16J15/3232—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings with at least one lip having two or more lips
    • F16J15/3236—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings with at least one lip having two or more lips with at least one lip for each surface, e.g. U-cup packings
    • 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
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/16—Sealings between relatively-moving surfaces
    • F16J15/32—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings
    • F16J15/3284—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings characterised by their structure; Selection of materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
    • B60T13/14—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using accumulators or reservoirs fed by pumps
    • B60T13/142—Systems with master cylinder
    • B60T13/145—Master cylinder integrated or hydraulically coupled with booster
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/81—Braking systems

Definitions

  • the invention relates to a master cylinder for a brake system of a motor vehicle, having a plurality of hydraulic connections
  • Hydraulic cylinder in which at least one hydraulic piston is displaced axially displaceable in an actuating direction and in a discharge direction, wherein the hydraulic piston is displaceable in the actuating direction against the force of a spring element, and wherein the hydraulic piston has at least one shell wall opening in at least one sliding position in an interior of the hydraulic cylinder empties.
  • the invention relates to a brake system for a motor vehicle, with a master cylinder, which is connected to at least one hydraulic circuit having at least one hydraulically actuated wheel brake.
  • Hydraulic cylinder is mounted axially displaceable. If the driver presses the brake pedal, the hydraulic piston is counter to the force of a
  • Hydraulic cylinder a volume in the interior of the hydraulic cylinder is reduced, thereby pressurizing a fluid located thereon and through at least one of the hydraulic connections from the master cylinder
  • Master cylinder is prepared for a further braking operation is available.
  • Damper chamber determined and thus the maximum speed of movement of the hydraulic piston is limited.
  • the provision of the damper chamber requires additional space and especially in a design of the master cylinder as a tandem cylinder is an additional sleeve necessary for the formation of the damper chamber, which complicates the assembly and increases the manufacturing cost.
  • the master cylinder according to the invention with the features of claim 1 has the advantage that the damper is realized in a particularly simple and cost-effective manner, and also in an embodiment of the
  • Master cylinder can be realized as a tandem cylinder. It is the required space for the master cylinder not or only slightly expanded. According to the invention this is achieved in that the
  • Mantle wall opening is associated with an elastically deformable sealing ring which is fastened on the inside to the hydraulic piston and externally biased by its inherent elasticity against the hydraulic cylinder and is shaped so that it dissolves in a displacement of the hydraulic piston in the actuating direction of the hydraulic cylinder and a displacement of the hydraulic piston in the discharge direction applies to the hydraulic cylinder.
  • the sealing ring thus acts as a check valve, which in a movement of the hydraulic piston in
  • Actuating direction opens and closes when moving in the opposite direction. This is achieved by simple means that the
  • Movement of the hydraulic piston is attenuated in the relief direction and is not affected in the direction of actuation. This is the pedal feeling of a conventional Bremsanalage with a
  • Vacuum brake booster conveys, even if the brake system instead of a vacuum brake booster, for example, has an electromechanical or electro-hydraulic brake booster.
  • the elastically deformable sealing ring which is attached to the hydraulic piston and thus mitbewegbar with the hydraulic piston, the need for an additional sleeve lapsed and a compact design of the
  • the sealing ring has a u- or v-shaped cross-section. Due to the u- or v-shape of the seal receives a simple design to form the
  • Sealing ring in the direction of actuation and the open side in the discharge direction has, so that when the piston is moved in the unloading direction, the pressing against the sealing ring fluid further tensions the sealing ring and thereby reinforces the radial seal between the sealing ring and the inner wall of the hydraulic cylinder.
  • a damper chamber between the sealing ring, the Hydraulic piston and the hydraulic cylinder formed respectively
  • the sealing ring in front of the first shell wall opening on the
  • Hydraulic piston attached, seen in the direction of actuation. If the piston is thus moved in the direction of actuation or by the
  • the sealing ring is located in front of the shell wall opening.
  • the shell wall opening thus opens into the
  • Mantle wall opening thus determines the damping effect of the damper chamber.
  • the first jacket wall opening opens into a chamber in the hydraulic piston, the at least one second
  • Mantle wall opening axially spaced from a first casing wall opening such that the second casing wall opening in at least one
  • Hydraulic cylinder is connected. This will be in a predetermined
  • Shifting position of the hydraulic piston made a hydraulic connection from the damper chamber to the discharge chamber or interrupted.
  • the damping effect of the master cylinder is advantageously adjustable by the position of the shell wall openings is selected such that adjusts the desired damping behavior.
  • the second jacket wall opening is arranged in the hydraulic cylinder such that the connection to the
  • Relief chamber is formed only at a position of the hydraulic piston close to its end position in the discharge direction. This will be the
  • the first jacket wall opening is closed in or just before the end position of the hydraulic piston by the hydraulic cylinder. This will be in the last range of motion of the
  • Hydraulic cylinder maximizes the damping in the chamber to the
  • Hydraulic piston continues to brake. This will in particular a
  • the hydraulic piston is formed free of steps at least with its located within the hydraulic cylinder longitudinal section. This is a simple design of the
  • the hydraulic piston has at least one circumferential annular groove in which the sealing ring rests in regions.
  • the peripheral annular groove of the sealing ring is positively secured in the axial direction of the hydraulic piston or fastened, so that a simple entrainment of the sealing ring is ensured in a movement of the hydraulic piston.
  • the sealing ring may be clamped, caulked, welded, glued or screwed to the hydraulic piston in order to reliably prevent loosening of the sealing ring even at high loads.
  • the brake system according to the invention with the features of claim 9 is characterized by the inventive design of the master cylinder. This results in the already mentioned advantages.
  • Figure 2 is a simplified detail view of a master cylinder of
  • Figure 1 shows a simplified illustration of a brake system 1 for a motor vehicle, not shown in detail.
  • the brake system 1 has a
  • Master brake cylinder 2 which is designed as a tandem cylinder and can be actuated by a brake pedal 3 by a driver of the motor vehicle.
  • Master brake cylinder 2 in this case has a hydraulic cylinder 4, in which a hydraulic piston 5, which is mechanically fixedly connected to the brake pedal 3, and a further hydraulic piston 6 are each mounted axially displaceable. Between the hydraulic piston 5 and the further hydraulic piston 6, a spring element 7 and between the other hydraulic piston 6 and an end face of the hydraulic cylinder 4, a further spring element 8 is arranged axially biased so that between the hydraulic piston 5 and 6 each chambers are formed in the hydraulic cylinder 4, the With
  • Hydraulic connections of the brake system 1 communicate.
  • Hydraulic connections connected such that one of the brake circuits 9 is fluidly connected to one of the hydraulic chambers and the other of the brake circuits 10 with the other hydraulic chamber.
  • the two brake circuits 9, 10 are both operated by the master cylinder 2.
  • the two brake circuits 9 and 10 are constructed substantially identical to each other.
  • Each brake circuit 9, 10 has two wheel brakes LR, RF
  • LF, RR which can be actuated by intake valves 11 and exhaust valves 12 in the respective brake circuit 9, 10.
  • the brake circuits 9, 10 are connected by high-pressure switching valves 13 each with one of the chambers of the master cylinder 2.
  • Brake circuits 9, 10 can be penetrated by actuation of the master cylinder 2.
  • the present brake system 1 is provided that on a
  • the brake pedal 3 is also directly connected mechanically to the hydraulic piston 5.
  • the brake system 1 also has a brake pedal feel simulator 15, which has a switching valve 16 and a
  • Pressure accumulator 17 has.
  • the brake pedal feel simulator 15 functions to influence the pedal movement of the brake pedal 3 so as to correspond or nearly correspond to that of a brake pedal connected to a vacuum booster. This will get used to the driver
  • an electromechanical brake booster 18 having a pump 19, in this case piston pump, which is driven by an electric motor 20 to increase a hydraulic pressure in the brake circuits 9, 10, if necessary.
  • the brake circuits 9, 10 are connected by a respective switching valve 21 to the brake booster 18.
  • FIG. 2 shows in a simplified detail view the master brake cylinder 2 in a longitudinal section.
  • the hydraulically coupled to the brake pedal 3 hydraulic piston 5 is guided only in regions in the hydraulic cylinder 4 radially.
  • the hydraulic cylinder 4 on its front side a tapered guide portion 23 in which the hydraulic piston 5 is guided radially tight.
  • the hydraulic cylinder 4 has an annular first radial recess 24, in which an elastically deformable sealing element 25 is held, which extends annularly around the hydraulic piston 5 and is held axially in the radial recess 24, so that it forms a radial seal for the hydraulic piston 5 forms.
  • a further annular receiving recess 26 is formed, in which a further sealing element 27 is arranged, which acts as the sealing element 25 radially sealing between the hydraulic piston 5 and the hydraulic cylinder 4.
  • the hydraulic cylinder 4 has a hydraulic connection 28 which is connected to the Hydraulic piston 5 leads and in the initial position, as shown in Figure 2, is closed by the hydraulic piston 5.
  • the hydraulic piston 5 itself has an inner chamber 29, which in the
  • Substantially coaxial with the hydraulic piston 5 is formed and associated with the projecting into the hydraulic cylinder 4 end of the hydraulic piston 5.
  • the chamber 29 are associated with two shell wall openings 30 and 31.
  • the jacket wall openings 30, 31 are axially spaced from each other, wherein the distance is selected such that, as shown in Figure 2, a fluid connection between the interior of the master cylinder 4 and the receiving space 26 and / or the hydraulic port 28 can be produced.
  • the sealing ring 32 is fixed to the hydraulic piston 5 on the inside in a calculatorsringnut 34 and externally on the inner side or inner wall 33 of the hydraulic cylinder 4 at.
  • the sealing ring 32 extends over the entire circumference of the hydraulic piston 5 and is designed as a check valve.
  • the sealing ring 32 in the present case has a U-shaped cross-section, through which the contact force is reduced against the hydraulic cylinder 4, when the hydraulic piston 5 is pushed in the actuating direction, as shown by an arrow 35 in the hydraulic cylinder 4, and increases the contact pressure, when the hydraulic cylinder 4 in the opposite direction, ie in
  • Hydraulic piston 5 is a damper chamber 36.
  • the hydraulic pressure present in the damper chamber 36 ensures that the sealing ring 32 is pressed further against the hydraulic cylinder 4. This forces the fluid through
  • Mantle wall opening 30 to flow into the interior 29 and from the interior 29 into the receiving space 26, or subsequently into the hydraulic port 28.
  • the receiving space 26 is insofar a discharge chamber, which is released as soon as the shell wall opening 31 is in the region of the receiving space 26.
  • This simple design of the master cylinder 2 ensures that the hydraulic piston 5 is prevented or damped at a rapid movement in the relief direction.
  • the spring force of the spring element 7 acting on the hydraulic piston 5 and the hydraulic pressure acting on the hydraulic piston 5 set by the pedal feel simulator 15 automatically urge the piston 5 in the relief direction as soon as the driver takes his foot off the brake pedal 3. Due to the advantageous damping is achieved that the pedal 3 and / or the hydraulic piston 5 does not impinge loudly on an end stop and also a rebound or a pendulum movement of the brake pedal 3 is prevented.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Transportation (AREA)
  • Transmission Of Braking Force In Braking Systems (AREA)
  • Braking Arrangements (AREA)

Abstract

L'invention concerne un maître-cylindre de frein (2) pour un système de freinage (1) d'un véhicule à moteur, comprenant un vérin hydraulique (4) qui présente plusieurs raccords hydrauliques et dans lequel au moins un piston hydraulique (5,6) est monté de manière à pouvoir coulisser axialement dans un sens d'actionnement et dans un sens de décharge, le piston hydraulique (5,6) pouvant coulisser dans le sens d'actionnement à l'encontre de la force d'un élément ressort (7,8), le piston hydraulique (5,6) présentant au moins une ouverture de paroi extérieure (30) qui débouche dans un espace intérieur du vérin hydraulique (4), dans au moins une position de coulissement. Selon l'invention, une bague d'étanchéité (32) déformable élastiquement est associée à l'ouverture de paroi extérieure (30), ladite bague d'étanchéité étant fixée, côté intérieur, sur le piston hydraulique (5) et étant précontrainte, côté extérieur, par son élasticité propre contre le vérin hydraulique (4) et formée de telle sorte qu'elle se détache du vérin hydraulique (4) lors d'un coulissement du piston hydraulique (5) dans le sens d'actionnement, et s'applique contre le vérin hydraulique (4), lors d'un coulissement du piston hydraulique (5) dans le sens de décharge.
EP17780386.3A 2016-11-30 2017-10-05 Maître-cylindre de frein, système de freinage Withdrawn EP3548348A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016223758.6A DE102016223758A1 (de) 2016-11-30 2016-11-30 Hauptbremszylinder, Bremsanlange
PCT/EP2017/075310 WO2018099634A1 (fr) 2016-11-30 2017-10-05 Maître-cylindre de frein, système de freinage

Publications (1)

Publication Number Publication Date
EP3548348A1 true EP3548348A1 (fr) 2019-10-09

Family

ID=60022092

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17780386.3A Withdrawn EP3548348A1 (fr) 2016-11-30 2017-10-05 Maître-cylindre de frein, système de freinage

Country Status (6)

Country Link
US (1) US11084475B2 (fr)
EP (1) EP3548348A1 (fr)
KR (1) KR102380439B1 (fr)
CN (1) CN109996709B (fr)
DE (1) DE102016223758A1 (fr)
WO (1) WO2018099634A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7697804B2 (ja) 2021-03-26 2025-06-24 株式会社Subaru ブレーキ装置

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5112068A (fr) * 1974-07-19 1976-01-30 Nisshin Kogyo Kk
GB2027845B (en) * 1978-08-16 1983-02-02 Lucas Industries Ltd Piston and cylinder seal
DD153477A3 (de) * 1979-12-29 1982-01-13 Volker Wille Bremshydraulikzylinder,insbesondere fuer kraftfahrzeuge
DE3219134A1 (de) * 1982-05-21 1983-11-24 Teves Gmbh Alfred Hauptzylinder fuer hydraulisch betaetigte kraftfahrzeugbremsen
GB2139318B (en) * 1983-05-04 1986-07-23 Dowty Seals Ltd Piston/cylinder seal construction
DE3639003A1 (de) * 1986-11-14 1988-05-19 Bosch Gmbh Robert Hydraulisches fahrzeugbremssystem
GB9104874D0 (en) * 1991-03-07 1991-04-17 Automotive Prod Plc A seal assembly and piston and cylinder
US5328178A (en) * 1992-10-14 1994-07-12 General Motors Corporation Brake master cylinder seal
JP4702584B2 (ja) * 2001-07-13 2011-06-15 株式会社アドヴィックス 車両用ブレーキ液圧発生装置、及び該液圧発生装置を備えた液圧ブレーキ装置
EP1637746A2 (fr) * 2004-09-17 2006-03-22 LuK Lamellen und Kupplungsbau Beteiligungs KG Cylindre hydraulique, en particulier maître cylindre pour un système hydraulique de débrayage
JP4622717B2 (ja) * 2005-07-19 2011-02-02 株式会社アドヴィックス プランジャ型マスタシリンダ
KR20130070573A (ko) * 2010-03-29 2013-06-27 콘티넨탈 테베스 아게 운트 코. 오하게 자동차용 브레이크 시스템
US8539766B2 (en) * 2010-06-21 2013-09-24 Robert Bosch Gmbh Master cylinder with flow groove
RU2595334C1 (ru) * 2012-10-31 2016-08-27 Хитачи Отомотив Системз, Лтд. Главный цилиндр

Also Published As

Publication number Publication date
KR20190087588A (ko) 2019-07-24
KR102380439B1 (ko) 2022-03-31
CN109996709A (zh) 2019-07-09
DE102016223758A1 (de) 2018-05-30
US20190291704A1 (en) 2019-09-26
US11084475B2 (en) 2021-08-10
CN109996709B (zh) 2022-04-15
WO2018099634A1 (fr) 2018-06-07

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