Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
  • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
  • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
  • F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
  • F04B1/26—Control
  • F04B1/30—Control of machines or pumps with rotary cylinder blocks
  • F04B1/32—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
  • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
  • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
  • F04B49/08—Regulating by delivery pressure
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
  • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
  • F04B2203/00—Motor parameters
  • F04B2203/06—Motor parameters of internal combustion engines
  • F04B2203/0605—Rotational speed

Definitions

• the invention relates to a hydraulic actuator.
• This type of actuator is widely used for operating moving parts.
• the use of hydraulic energy has an advantage over electric energy for its very good ratio between the power delivered and the mass of the actuator.
• Another advantage also lies in a very good ratio between the power delivered and the volume of the actuator.
• actuators using electric motors are only well suited for high speeds and low torques.
• the opposite situation is frequent: low speed and high torque.
• the use of electric motors for low speed imposes large reduction ratios which are therefore complicated to achieve with a fixed and limited reduction ratio.
• any actuator whether hydraulic or electric
• the limitation can be achieved by means of an actuator control loop comprising a sensor measuring the force or the speed, the sensor being associated with a regulator making it possible to modulate the actuator control according to a signal output of the sensor and an effort or speed reference not to be exceeded.
• This type of limitation is often linked to the operational safety of the actuator and is associated with unwanted events, in particular to protect the environment of the actuator. This type of limitation also protects the actuator from external attacks.
• the operating and / or safety regulation loop has several drawbacks.
• the chain connecting the quantity to be measured and the control of the actuator is long, which tends to increase the reaction time. This can be problematic in responding to unforeseen and instantaneous stresses such as shocks.
• the number of components required to complete the control loop often leads to a deterioration in the reliability of the actuator.
• the length of the path tends to reduce the reliability of the safety loop.
• the invention aims to overcome all or part of the problems mentioned above by proposing a hydraulic actuator making it possible to dispense with a regulation loop in order to guard against the effects of the appearance of an overpressure, the overpressure generally being associated with too great a force, for example linked to a shock.
• the invention makes it possible to reduce the reaction time of the actuator in the event of abnormal operation without impairing its reliability.
• the invention relates to a hydraulic actuator comprising a volumetric pump with variable flow rate, a first distributor controlled as a function of a movement order of the actuator and a cylinder supplied by the first distributor, the pump comprising a movable member a movement of which makes it possible to continuously vary the flow rate of the pump, the member being able to be moved by the jack, the first distributor making it possible to apply a continuous function linking the movement order to the pump flow rate via the position of the organ during its displacement.
• the actuator comprises a second distributor controlled as a function of an outlet pressure of the pump, the second distributor comprising two positions, one called rest obtained as long as the outlet pressure of the pump is less than a predetermined pressure and directly transmitting the output of the first distributor to the double-acting cylinder allowing the pump to follow the continuous function and the other called active, obtained when the output pressure of the pump is greater than or equal to the predetermined pressure and transmitting the output pressure of the pump to the cylinder so as to reduce the output pressure of the pump without going through the first distributor and without following the continuous function.
• the predetermined pressure is adjustable.
• the member can be configured to allow the pump to reverse the direction of its flow.
• the cylinder comprises two chambers.
• the actuator then comprises a third distributor configured to transmit the output pressure of the pump to either one or the other of the two chambers depending on the direction of the pump flow.
• the hydraulic actuator advantageously further comprises a set of valves configured to control the second distributor by means of the highest output pressure of the pump.
• the cylinder advantageously comprises a movable rod connected to a body of the first distributor.
• the movable rod can be connected to the body of the first distributor by means of a complete connection.
• the pump may be an axial piston pump, the member allowing the flow to be varied being a variable inclination plate on which the pistons are based, the variation of the inclination of the plate making it possible to vary the stroke of the pistons, the inclination of the plate being adjusted by the jack controlled by a micro actuator defining the order of the actuator through the first distributor as long as the output pressure of the pump is less than a predetermined pressure .
• the hydraulic actuator advantageously comprises a housing inside which are arranged: the pump, a motor allowing the actuation of the pump, the member making it possible to continuously vary the flow rate of the pump, the actuating cylinder the member, the first distributor supplying the cylinder, a micro actuator operating the first distributor and the second distributor.
• the actuator further comprises at least one electrical connector located through the housing and allowing the actuator to receive electrical energy supplying the motor and an electrical signal controlling the micro actuator, and a hydraulic connector located through the housing. and allowing the actuator to deliver hydraulic energy.
• the hydraulic actuator advantageously comprises a housing inside which are arranged: the pump, a motor allowing the actuation of the pump, the member making it possible to continuously vary the flow rate of the pump, the cylinder actuating the member, the first distributor supplying the cylinder, a micro actuator operating the first distributor and the second distributor.
• the actuator further comprises at least one electrical connector located through the housing and allowing the actuator to receive electrical energy supplying the motor and an electrical signal controlling the micro-actuator, and a mechanical output arranged through the housing. and allowing the actuator to deliver mechanical energy.
• the electrical connector advantageously allows the actuator to receive a second electrical signal making it possible to control the setting of the predetermined pressure.
• the first distributor may include a neutral position where the member is stationary, not varying the flow rate of the pump and two active positions where the member moves, varying the flow rate of the pump.
• the distributor is advantageously configured so that the passage between the neutral position and one of the active positions takes place continuously.
• Figure 1 shows in the form of a hydraulic diagram, an example of an actuator according to the invention
• Figure 2 shows the actuator of Figure 1 in which the detail of the distributors appears
• Figure 3 shows schematically the main elements of the actuator.
• variable flow positive displacement pump there are different types of variable flow positive displacement pump that can be implemented in an actuator according to the invention.
• a first type of so-called radial piston pump comprises a shaft driven in rotation about an axis, a hub having a cylindrical bore and pistons capable of moving in radial cylinders made in the shaft.
• the pistons slide on the inside surface of the bore.
• An eccentricity between the axis of the shaft and that of the bore allows the displacement of the pistons in their cylinder.
• it is the movement of the pistons in their cylinder that drives the fluid.
• the pump flow can be changed by adjusting the eccentricity.
• a second type of pump called a vane pump also uses an eccentric shaft rotating in the bore of a hub.
• the pistons are replaced by paddles sliding on the inner surface of the bore.
• An eccentricity between the shaft and the bore allows the volume existing between two vanes either to increase causing the admission of fluid between two vanes, or to decrease causing the discharge of the fluid.
• the pump flow can be changed by adjusting the eccentricity.
• a third type of pump called axial piston also allows to vary a fluid flow continuously.
• This type of pump also comprises a shaft driven in rotation about an axis. Cylinders parallel to the axis are made in the shaft. Pistons move in the cylinders.
• the pump also comprises a plate inclined relative to a plane perpendicular to the axis of rotation of the shaft. The pistons rest on the plate. The inclination of the plate allows the movement of the pistons in their cylinder.
• the pump flow can be changed by adjusting the tilt of the plate.
• the movement of a movable member of the pump changes its flow rate.
• the movable member is secured to the shaft and the member is moved in translation perpendicular to the axis of the bore of so as to modify the eccentricity of the pump.
• the plate forms the movable member and the displacement of the member is an angular displacement of the plate relative to a plane perpendicular to the axis of rotation of the shaft.
• the pump flow rate depends on the position of the member and the movement of the member makes it possible to continuously modify the pump output.
• This continuous function can be a linear function, that is to say defined by a coefficient of proportionality.
• the function can follow a nonlinear curve, as long as the function remains continuous, that is to say without jump.
• Figure 1 shows in the form of a hydraulic diagram, an example of an actuator 10 comprising an axial piston pump. As announced above, it is possible to implement the invention with any type of positive displacement variable flow pump.
• the actuator 10 comprises an axial piston pump 12 comprising a shaft 14 driven in rotation about an axis 16 by a motor not shown in Figure 1.
• Several cylinders 18 extending parallel to the axis 16 are made in the shaft 14.
• the pump 12 comprises a plate 20 tiltable relative to a plane 22 perpendicular to the axis 16.
• An inclination a of the plate 20 is defined around an axis 23 perpendicular to the axis 16.
• the plate 20 is movable in rotation about the axis 23 allowing vary the inclination a.
• Pistons 24 can move in their respective cylinder 18.
• the pistons 24 rest on the plate 20.
• the plate 20 forms a member making it possible to continuously vary the flow rate of the pump 12 by varying the inclination a of the plate 20 with respect to the plane 22.
• the plate 20 does not vary. does not rotate with the shaft 14.
• the pistons 24 do not move in their cylinder 18 and the flow rate of the pump 12 is zero.
• the inclination a of the plate 20 is non-zero, the pistons move in their cylinder 18 and perform a substantially sinusoidal back-and-forth cycle in one rotation of the shaft 14. This movement cycle allows pump 12 to move fluid.
• the pump 12 comprises a fixed closure plate 26 on which the shaft 14 rests.
• the closure plate comprises two orifices 28 and 30 passing through the closure plate 26 facing the cylinders 18 and each extending substantially in half Moon.
• a change in the sign of the inclination a reverses the delivery and the inlet of the pump 12.
• the actuator 10 comprises a jack 32 forming the mechanical output of the actuator 10. More specifically, the actuator receives energy, for example in electrical form to rotate the shaft 14, for example through d 'an electric motor, and delivers mechanical energy by means of the jack 32.
• the jack 32 is a linear jack.
• a rotary actuator can of course replace it.
• the jack 32 comprises two chambers 34 and 36, each connected to one of the orifices, respectively connected to the orifice 28 and to the orifice 30.
• a pressure difference between the two orifices 28 and 30, obtained by means of an inclination a non-zero allows the rod 38 of the cylinder 32 to be moved in one direction.
• a change in the sign of the inclination a makes it possible to reverse the movement of the rod 38.
• the inclination a becomes zero, the pressures between the two orifices 28 and 30 are balanced and the rod 38 is immobilized.
• the cylinder 32 is a double-acting cylinder in the example shown. It is also possible to use a single-acting cylinder. In this case, it is possible to implement a pump 12 where the inclination changes the sign, by connecting one of the orifices of the pump 12 to a reservoir. As mentioned above, it is also possible to reverse the direction of rotation of shaft 14.
• the cylinder 32 can be a symmetrical cylinder where in each of the chambers 34 and 36, the hydraulic fluid acts on the same piston surface.
• the jack 32 is symmetrical when its rod 38 leaves the two chambers and retains the same section as shown in FIG. 1.
• the plate 20 is moved by means of a cylinder 40 which, in the example shown, is double-acting. Alternatively, a single-acting cylinder having a return spring can also be used. A rotary actuator can also be used.
• the jack 40 comprises two chambers 42 and 44 each supplied with fluid. A difference in fluid pressure between the two chambers 42 and 44 makes it possible to move the rod 46 of the jack 40 connected to the plate 20 in order to modify its inclination a.
• a cylinder similar to the cylinder 40 and allowing to vary the eccentricity of the pump.
• the cylinder 40 is supplied by a distributor 48 controlled as a function of a movement order of the actuator 10. More precisely, the distributor 48 is connected to two sources of fluid pressure, a high pressure source P and a low pressure source T.
• the distributor 48 can take three positions. In a neutral position 48a, the distributor 48 closes the accesses to the chambers 42 and 44 and the plate 20 remains stationary. Its orientation a is unchanged. In a position 48b the high pressure source P is connected to the chamber 44 and the low pressure source T is connected to the chamber 42. In the position of the plate 20 shown in FIG.
• the position 48b tends to reduce the value of l orientation a.
• the high pressure source P is connected to the chamber 42 and the low pressure source T is connected to the chamber 44 and in the position of the plate 20 shown in FIG. 1, the position 48c tends to increase orientation value a.
• the high pressure P and low pressure T sources can be generated independently of the pump 12. However, this complicates the actuator 40 which must be supplied by external pressure sources. In order to avoid these external sources, it is advantageous to use the pump 12 to produce the two pressure sources P and T. By choosing a pump 12 whose inclination a always retains the same sign, the orifices 28 and 30 retain always a pressure difference in the same direction. It is thus possible to generate the high pressure P and low pressure T source directly from each of the orifices 28 and 30. In order to maintain a minimum pressure at the high pressure source P, it is possible to provide a non-return valve between the discharge port and a micro reservoir forming an accumulator for the high pressure source P. The non-return valve is calibrated according to the pressure desired for the high pressure source P. Thus the accumulator will only be supplied with fluid when the pressure of the The discharge port is sufficient. This pressure is linked to a minimum inclination a.
• the actuator 10 comprises a set of valves 52 configured to supply the high pressure source P from the port 28 or 30 in which the highest pressure prevails and to supply the low pressure source T from the orifice 28 or 30 in which the lowest pressure prevails.
• the valve set comprises four valves of which a valve 52a is arranged between the orifice 28 and the source P, a valve 52b is arranged between the orifice 30 and the source P, a valve 52c is arranged between the orifice 28 and the source T and a valve 52d is arranged between the orifice 30 and the source T.
• the orientation of the four valves can be understood by analogy with an electrical circuit where the set of valves forms a complete rectifying bridge for which , the alternating voltage would be formed between the ports 28 and 30 and the direct voltage would be formed between the sources P and T.
• the orientation of the valves 52a to 52d is similar to that of the diodes of the rectifier bridge.
• the actuator 10 comprises means making it possible to limit the effects of an overpressure at the outlet of the pump 12. This overpressure may be due to a malfunction internal to the actuator or to an external event such as an applied force. to the rod 38 of the cylinder 32. Any other cause of an overpressure can of course generate harmful effects which should be limited.
• the actuator 10 comprises a second distributor 60 controlled as a function of an outlet pressure of the pump 12.
• the distributor 60 comprises two positions, one called rest 60a obtained as long as the outlet pressure of the pump. 12 is less than a predetermined pressure and the other said active 60b when the output pressure of the pump 12 is equal to or exceeds the predetermined pressure. This predetermined pressure forms a limit pressure below which the actuator 10 operates normally.
• the distributor 60 In the rest position 60a, the distributor 60 directly transmits the outlet pressures of the distributor 48 to the chambers of the cylinder 40.
• the distributor 60 transmits the high outlet pressure of the pump 12 to one of the chambers 42 or 44 of the cylinder 40 so as to reduce the inclination a of the plate 20 in order to reduce the outlet pressure of the pump 12.
• c ' is the source of high pressure P which is connected to one of the two chambers without passing through the distributor 48.
• the other chamber can be connected to the low pressure source T or to a tank 61 such as shown in FIG. 1.
• the tank 61 is at atmospheric pressure.
• the low pressure T is substantially equal to atmospheric pressure.
• the distributor 60 When the output pressure of the pump 12 drops to pass below the predetermined pressure value, the distributor 60 returns to the rest position 60a and the distributor 48 again directly controls the actuator 40. The passage of the distributor 60 between its two positions 60a and 60b is controlled by the outlet pressure of pump 12.
• the distributor 60 bypasses the distributor 48.
• the high pressure P is connected to the jack 40 so as to reduce the high pressure P when the output pressure P of the pump 12 is greater than or equal to the predetermined pressure.
• the continuous function relating the movement order of the actuator 10 to the pump flow via the distributor 48 is deactivated. This continuous function represents the nominal operation of the actuator 10.
• the deactivation of the function occurs in the event of an overpressure linked to an abnormal operation of the actuator 10.
• the deactivation of the function continues in short.
• the distributor 48 makes it possible to avoid the installation of a pressure sensor to measure the output pressure of the pump 12 to detect an overpressure. Such a pressure sensor could act on the control of the distributor 48.
• the invention, by short-circuiting the distributor 48, allows the pump 12 to react much more quickly.
• the value of the predetermined pressure from which the distributor 60 changes position can be fixed and determined during the design of the actuator 10.
• the distributor 60 comprises a movable spool pushed by a spring 62.
• the spring 62 is calibrated to push the spool so as to keep the distributor 60 in the rest position 60a.
• the control of the distributor 60 carried out by the pressure P, can crush the spring 62 tending to move the spool to reach the active position 60b.
• the calibration of the spring 62 can be fixed during the design of the actuator 10.
• the adjustment of the calibration of the spring can be manual, for example by means of a screw making it possible to modify the length of the spring 62
• the screw is advantageously accessible from the outside of the actuator 10 so that an operator can carry out the adjustment.
• motorize the adjustment in order to use an electric control, for example, to adjust the predetermined pressure.
• a linear motor can also act directly on the spring 62.
• the distributor 60 allows the chamber 44 to be supplied with the source P in order to reduce the inclination a to bring the plate 20 closer to the plane 22.
• the rod 46 of the jack 40 moves to the left in the representation of FIG. 1.
• the inclination a is negative, in the event of overpressure, it is necessary to supply the chamber 42 with the source P in order to move the rod 46 to the right.
• the choice of the chamber 42 or 44 to be supplied to move the plate 20 either in one direction or in the other can be obtained automatically by means of a third distributor 68 controlled by the inclination a.
• the distributor 68 makes it possible either to supply the chamber 44 by means of the high pressure source P and to connect the chamber 42 to the tank 61 or to reverse the supply of the two chambers as a function of the sign of the inclination a.
• the distributor 68 comprises at least two positions: 68a without inversion and 68b with inversion.
• the distributor 68 may include a third middle position 68c where the supply circuits of the two chambers 42 and 44 are open. This position corresponds to a zero tilt value.
• the distributor 68 is controlled by the value of the inclination a. To this end, the control of the distributor 68 can be carried out by means of a rod 70 connecting the plate 20 and a movable drawer of the distributor 68.
• Figure 2 shows in more detail the three distributors 48, 60 and 68.
• the different positions defining the connections that they can make are made by means of a drawer that can move inside a body.
• the movement of the drawer allows you to open or close certain hydraulic circuits as needed.
• the distributor 48 comprises a body 80 and a drawer 82 which can move in the body 80 under the action of a micro actuator 83.
• the micro actuator 83 allows the movement of the drawer 82 relative to a housing 84 of the 'actuator 10.
• the spool 82 is shown in the middle position relative to the body 80. This position forms the neutral position 48a of the distributor 48 and the spool 82 closes the hydraulic outlet channels of the distributor 48 supplying the chambers 42 and 44 of the jack 40.
• the inclination a of the plate 20 remains unchanged.
• the distributor 48 When the spool 82 is pushed to the right, the distributor 48 reaches position 48b where, in normal operation, the chamber 44 is supplied with the high pressure P. Conversely, when the spool 82 is pushed to the left, the distributor 48 reaches position 48c where, in normal operation, chamber 42 is supplied with high pressure P.
• the positions of spool 82 may be discrete. But advantageously, the drawer 82 moves in continuous between its three positions. More precisely, by means of the micro actuator 83, it is possible to position the spool 82 in an intermediate position between the neutral position 48a and one of the positions 48b or 48c. In position 48b or 48c, the distributor 48 completely opens the hydraulic circuit supplying the chambers 42 and 44. In the intermediate position, the distributor only partially opens the hydraulic circuit thus forming a restriction in the supply to the chambers 42 and 44. It is thus possible to control the speed of variation of the inclination a of the plate 20.
• the cylinder 40 comprises a body 86 in which moves a piston 88 separating the two chambers 42 and 44.
• the rod 46 is integral with the piston 88.
• the body 86 is integral with the housing 84.
• the body 80 of the distributor 48 may be integral with the housing 84. In normal use, as long as the outlet pressure of the pump 12 remains below the predetermined limit pressure, it is then necessary to provide two steps of controlling the microphone actuator 83 to move the plate 20 between two inclination values a: a first step to go from position 48a, for example to position 48b, and a second step to return to position 48a.
• one of the chambers 42 and 44 is supplied with high pressure P and the other with low pressure T.
• the orientation a of the plate 20 changes and fe the rod 46 moves the body 80 to bring the drawer 82 to the neutral position 48a.
• This return to the neutral position 48a takes place continuously with a gradual stop.
• the connection between the rod 46 of the cylinder 40 and the body 80 of the distributor 48 can be a complete connection. It is also possible to insert between the rod 46 and the body 80, one or more elements making it possible to temporally modify the transmission of the movement of the piston 88 to the body 80. It is for example possible to insert a spring and / or a damper between rod 46 and body 80.
• connection between the rod 46 of the cylinder 40 and the body 80 of the distributor 48 can be implemented independently of the positioning of the distributor 60.
• the distributor 60 comprises a body 90 and a slide 92 which can move in the body 90 under the action of the pressure P.
• the movement of the slide 92 allows communication or closing of the hydraulic channels internal to the distributor. 60 so as to allow passage between the two positions 60a and 60b of the distributor 60.
• the spool 92 is retained in position 60a by the spring 62.
• the spring 62 compresses and the spool 92 moves in the body 90 to reach the position 60b.
• the body 90 is integral with the housing 84.
• the motor 64 makes it possible to adjust the compression of the spring 62 relative to the body 90.
• FIG. 3 shows the main elements of the actuator 10.
• the pump 12 the plate 20 and the elements for controlling its inclination a: the cylinder 40, the distributor 48 and its micro actuator 83.
• the overpressure limiting device comprising the distributor 60 and the spring 62 as well as the device for adjusting the value of the overpressure comprising the motor 64.
• the motor allowing the rotation of the shaft 14 of the pump 12 appears here under the reference 100.
• the hydraulic power part of the actuator 10 formed by hydraulic channels 102 and
• the actuator 10 can receive electrical energy and deliver hydraulic energy.
• inside the housing 84 are arranged at least the motor 100, the pump 12, the plate 20, the cylinder 40, the distributor 48, the micro actuator 83 and the distributor 60.
• At least one electrical connector 106. located across the housing 84 makes it possible to transmit to the actuator 10 electrical energy allowing the rotation of the pump 12 and a control signal making it possible to control the inclination a of the plate 20.
• the electrical connector 106 allows the actuator 10 to receive a control signal for adjusting the predetermined pressure.
• the connector 106 can be single or divided into two connectors, one for the power and the other for the control signal (s).
• the actuator 10 can deliver energy in hydraulic form and more precisely in the form of fluid flow.
• a hydraulic connector 108 placed through the housing 84, allows the energy to be transmitted to the outside of the actuator 10 in hydraulic form.
• the actuator 10 receives electrical energy through the connector 106 and delivers mechanical energy through the actuator 32 which is disposed inside the housing 84.
• the actuator 10 comprises a mechanical outlet 110 disposed through the housing 84 and allowing the actuator 10 to deliver mechanical energy.
• the mechanical output can take different forms, such as for example the cylinder rod 32 for a linear cylinder, a rotating shaft end for a rotary cylinder.
• the hydraulic channels 102 and 104 supply the cylinder 32. It is possible to do without the hydraulic connector 108.
• the channels 102 and 104 do not open out to the outside of the actuator 10.
• the actuator 10 has an electrical input and a mechanical output.
• the hydraulic fluid remains confined within the housing 84. It is thus possible to replace an actuator based on an electric motor by an actuator according to the invention, achieving gains in volume and mass.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• General Engineering & Computer Science (AREA)
• Fluid-Pressure Circuits (AREA)
• Reciprocating Pumps (AREA)

Applications Claiming Priority (2)

Publications (2)

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• 2019
  • 2019-02-25 FR FR1901923A patent/FR3093138B1/fr not_active Expired - Fee Related
• 2020
  • 2020-02-25 CN CN202080016095.XA patent/CN113454338B/zh active Active
  • 2020-02-25 EP EP20705749.8A patent/EP3931444B1/de active Active
  • 2020-02-25 WO PCT/EP2020/054895 patent/WO2020173933A1/fr not_active Ceased
  • 2020-02-25 JP JP2021549131A patent/JP7760371B2/ja active Active
  • 2020-02-25 US US17/431,153 patent/US12012947B2/en active Active

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