EP4001200B1 - Portable embedded direct-current electric hoist - Google Patents

Portable embedded direct-current electric hoist Download PDF

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Publication number
EP4001200B1
EP4001200B1 EP21173137.7A EP21173137A EP4001200B1 EP 4001200 B1 EP4001200 B1 EP 4001200B1 EP 21173137 A EP21173137 A EP 21173137A EP 4001200 B1 EP4001200 B1 EP 4001200B1
Authority
EP
European Patent Office
Prior art keywords
gear ring
fixed
rope drum
planetary
wheel
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.)
Active
Application number
EP21173137.7A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP4001200C0 (en
EP4001200A1 (en
Inventor
Xintian JIA
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.)
Zhejiang Yongtian Machinery Manufacturing Co Ltd
Original Assignee
Zhejiang Yongtian Machinery Manufacturing Co Ltd
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 Zhejiang Yongtian Machinery Manufacturing Co Ltd filed Critical Zhejiang Yongtian Machinery Manufacturing Co Ltd
Publication of EP4001200A1 publication Critical patent/EP4001200A1/en
Application granted granted Critical
Publication of EP4001200C0 publication Critical patent/EP4001200C0/en
Publication of EP4001200B1 publication Critical patent/EP4001200B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02—Driving gear
    • B66D1/12—Driving gear incorporating electric motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02—Driving gear
    • B66D1/14—Power transmissions between power sources and drums or barrels
    • B66D1/22—Planetary or differential gearings, i.e. with planet gears having movable axes of rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02—Driving gear
    • B66D1/14—Power transmissions between power sources and drums or barrels
    • B66D1/22—Planetary or differential gearings, i.e. with planet gears having movable axes of rotation
    • B66D1/225—Planetary or differential gearings, i.e. with planet gears having movable axes of rotation variable ratio or reversing gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/42—Control devices non-automatic
    • B66D1/46—Control devices non-automatic electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/54—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D3/00—Portable or mobile lifting or hauling appliances
    • B66D3/18—Power-operated hoists

Definitions

  • the present disclosure relates to the technical field of electric hoists, and in particular, to a portable embedded direct-current electric hoist with easy installation, a small volume, and good safety performance.
  • the motor of the electric hoist products developed by the foreign countries adopts a brushed commutator direct-current motor, and a carbon brush needs to be replaced after a period of use.
  • a commutator frequently contacts the carbon brush to commutate at a high speed in case of a severe environment and high strength, which easily causes damage or even burn-in to the commutator.
  • the direct-current electric hoist is not provided with a braking device, there are serious safety risks, and the potential danger is self-evident. It at best can only be called a tractor but cannot be used as an electric hoist. Therefore, it is an urgent problem to develop a direct-current electric hoist with a simple and convenient structure, good safety performance, and practicability.
  • JPH05316908A discloses the preamble of claim 1 and provides the fishing reel not causing the runaway of a control system by noises on the driving of an electric motor and capable of surely transmitting the power of the motor to the spool for the smooth delivery of the fishing line, when the fishing line is delivered; an electric motor M for transmitting a driving power to a spool 5 for winding up a fishing line 4 is formed into a reciprocatively rotatable brushless type motor; when the fishing line 4 is wound up, the electric motor M is driven in the forward direction, and when the fishing line 4 is delivered, the electric motor M is driven in the backward direction.
  • CN206156640U discloses a miniature lifting machine of frequency conversion control adjustable speed, including two base supports, all there is the end cover on two base supports, install the reel of end cover free rotation relatively between two end covers, fixed mounting has DC Brushless motor and planetary gearbox in the reel, and DC Brushless motor connects planetary gearbox, the planetary gearbox accordant connection spline housing, the outer wall of spline housing is connected in order to drive the reel rotation with the meshing of the inner wall of reel, DC brushless motor deviates from planetary gearbox one end and installs the electromagnetic braking device, and electromagnetic braking device periphery side is provided with friction sleeve, DC brushless motor inserts the alternating current 220V power through the integrated circuit who takes the frequency conversion function, takes the integrated circuit of frequency conversion function to convert direct current power supply to DC brushless motor.
  • CN111204671A discloses a mini winch for storing and placing a detecting instrument on the air water interface; a roller assembly is installed in the middle of a rack, the upper portion of the rack is provided with a rope press assembly, and a driving element is placed on one end of the roller assembly and drives the roller assembly to rotate.
  • the other end of the roller assembly transmits power to a rope arrangement mechanism, a cutting structure is arranged below the rope arrangement mechanism and installed on the bottom of the rack, and an operation system is installed in an electric appliance and communication element mounting box of the top of the rack.
  • CN108657982A discloses a portable lifting traction device, and relates to the technical field of lifting equipment;
  • the portable lifting traction device comprises a shell and a mechanism working part, the shell is arranged outside the mechanism working part, and the mechanism working part also comprises a driving part, a transmission part, a planetary deceleration part, a clutch device, a hoist working portion, a first support plate, a second support plate and a plurality of support columns; the first support plate and the second support plate are oppositely arranged and supported and fixed by the support columns, the hoist working portion is arranged between the first support plate and the second support plate, the driving portion is arranged outside the first support plate, the planetary deceleration portion is arranged outside the second support plate, and the clutch device is arranged at the end of the planetary deceleration portion.
  • CN203199931U discloses an embedded type electric block which comprises a rope roll support, a steel wire rope roll (6), a wire pressing structure (7), a motor (14), a rope roll gear ring (24), a motor base (16), a gear box body (12) and a gear transmission structure; a left machine frame side board (3) and a right machine frame side board (11) are fixedly connected so that the rope roll support can be formed; the steel wire rope roll (6) is arranged on the left machine frame side board (3) and the right machine frame side board (11); the gear box body (12) is fixed on the right machine frame side board (11); the motor base (16) is fixed on the gear box body (12).
  • the motor (14) is arranged in the steel wire rope roll (6) and fixed on the motor base (16); the rope roll gear ring (24) is fixed on the steel wire rope roll (6) and arranged in the gear box body (12); the gear transmission structure is arranged between the gear box body (12) and the motor base (16); an output gear shaft (15) drives the rope roll gear ring (24) to rotate through the gear transmission structure.
  • an objective of the present disclosure is to provide a portable embedded direct-current electric hoist with a simple and reasonable structure, flexible and easy operation, a small volume, high transmission efficiency, a good braking effect, safe and reliable use.
  • the portable embedded direct-current electric hoist includes a permanent magnet brushless direct-current motor, a controller, left and right end plates, a rope drum, a first reducer, and a second differential transmission device, the left and right end plates are fixedly connected into a whole through a connecting rod, the rope drum is rotatably arranged on the left and right end plates, a built-in motor base fixed to the right end plate is provided in the rope drum, the permanent magnet brushless direct-current motor and the first reducer are fixed, in an abutting manner, to the built-in motor base, so that the permanent magnet brushless direct-current motor and the first reducer are embedded in the rope drum, and the second differential transmission device is fixed to the left end plate and is connected to the first reducer through a transmission shaft; and during operation, the permanent magnet brushless direct-current motor drives, through the first reducer and the transmission shaft, the second differential transmission device to rotate, and the second differential transmission device drives the rope drum to rotate.
  • the first reducer includes an inner fixed mount, a first sun wheel, a first planetary wheel, a first planetary carrier, an inner gear ring, and an outer fixed mount, the outer fixed mount and the inner gear ring are fixedly connected to the inner fixed mount, the first sun wheel is rotatably arranged on the inner fixed mount and abuts an output shaft of the permanent magnet brushless direct-current motor, the first planetary carrier is rotatably arranged on the outer fixed mount and abuts the transmission shaft, the first planetary wheel is rotatably correspondingly arranged on a fixed shaft of the first planetary carrier, and the first planetary wheel engages with the first sun wheel at an inner side and the inner gear ring at an outer side, respectively; and during operation, the permanent magnet brushless direct-current motor drives the first planetary wheel through the first sun wheel, and the first planetary wheel rotates relative to the inner gear ring to drive, through the first planetary carrier, the transmission shaft to rotate, so as to achieve one-stage reduction output
  • the second differential transmission device includes a second sun wheel, a second planetary wheel, a floating planetary carrier, a fixed gear ring, a moving gear ring, and a second box body
  • the fixed gear ring is fixed to the second box body
  • the second sun wheel is rotatably arranged on the second box body and abuts the transmission shaft
  • the second planetary wheel is rotatably arranged on the floating planetary carrier
  • the second planetary wheel engages with the second sun wheel at an inner side and the fixed gear ring at an outer side respectively
  • the moving gear ring sleeves the second sun wheel, with one end simultaneously engaging with the second planetary wheel at an outer side and another end being connected to a fixed end plate on the rope drum
  • the moving gear ring and the fixed gear ring are designed into a differential matching structure with different quantities of teeth; during operation, the first reducer drives the second sun wheel through the transmission shaft, the second sun wheel drives the second planetary wheel, the second planetary wheel rotates relative to the fixed gear ring to drive the moving gear ring
  • the controller uses reverse electromotive force generated by the permanent magnet brushless direct-current motor to achieve electromagnetic braking.
  • the left and right end plates are provided with a suspension mechanism
  • the suspension mechanism includes a suspension component connected to the left and right end plates and a protective hook rotatably arranged on the connecting rod, a protective hook hanging plate is fixed to the suspension component, the protective hook hanging plate is provided with a hanging hole matching the protective hook, the suspension component is provided with an elastically resettable protective buckle, and the protective buckle is provided with a protective buckle wrench.
  • the controller is fixed to the right end plate through a controller housing, upper and lower limit components are correspondingly arranged between the left and right end plates below the rope drum, and the controller housing is correspondingly provided with upper and lower limit controllers matching the upper and lower limit components and electrically connected to the controller.
  • an aviation socket electrically connected to the controller and an aviation plug matching the aviation socket are fixed to the controller housing, the aviation plug is connected to a control handle through a control line, the control handle is provided with an emergency stop switch and up-down start switch, and a detachable lithium battery pack is arranged at a bottom of the control handle.
  • the rope drum is provided with a rope drum perforated groove, a steel wire rope is introduced from the rope drum perforated groove and is wound on the rope drum, a tail of the steel wire rope is fixed to a fixed groove buckle of a rope drum left end plate through a tenon block, and a head of the steel wire rope is connected to a hook component for hanging a heavy object.
  • differential reverse mechanical braking is achieved through the second differential transmission device
  • electromagnetic braking is achieved through the controller and the permanent magnet brushless direct-current motor
  • dual braking functions of mechanical braking and electromagnetic braking are available at the same time, which can avoid accidents of sudden sliding of load, so as to ensure safe and reliable hoisting.
  • the permanent magnet brushless direct-current motor and the first reducer are fixed, in an abutting manner, to the built-in motor base, so that the permanent magnet brushless direct-current motor and the first reducer are embedded in the rope drum, which solves the problems of a large size in length, a bulky structure, and low mechanical efficiency, so as to make the present disclosure more safe and reliable and have better safety performance while being fast, time-saving, and portable.
  • control handle is convenient for hand-held operations, and the lithium battery pack can be changed according to the power.
  • 1 second differential transmission device, 2: left end plate; 3: connecting rod; 4: first reducer; 5: rope drum; 6: right end plate; 7: permanent magnet brushless direct-current motor; 8: controller; 9: second box body; 10: fixed gear ring; 11: second planetary wheel; 12: second sun wheel; 13: floating planetary carrier; 14: moving gear ring; 15: fixed end plate; 16: transmission shaft; 17: outer fixed mount; 18: first planetary carrier; 19: inner gear ring; 20: first planetary wheel; 21: first sun wheel; 22: inner fixed mount; 23: built-in motor base; 24: protective hook hanging plate; 25: suspension component; 26: aviation plug; 27: controller housing; 28: control line; 29: emergency stop switch and up-down start switch; 30: control handle; 31: lithium battery pack; 32: lower limit component; 33: upper limit component; 34: protective hook; 35: protective buckle wrench; 36: protective buckle; 37: aviation socket; 38: steel wire rope; 39: rope drum left end plate; 40: steel wire rope fixed
  • FIG. 1 to FIG. 3 show a specific implementation solution of a portable embedded direct-current electric hoist according to the present disclosure, including a permanent magnet brushless direct-current motor 7, a controller 8, left and right end plates 2 and 6, a rope drum 5, a first reducer 4, and a second differential transmission device 1.
  • the left and right end plates 2 and 6 are fixedly connected into a whole through a connecting rod 3, and the rope drum 5 is rotatably arranged on the left and right end plates 2 and 6.
  • a built-in motor base 23 fixed to the right end plate 6 is provided in the rope drum 5.
  • the permanent magnet brushless direct-current motor 7 and the first reducer 4 are fixed, in an abutting manner, to the built-in motor base 23, so that the permanent magnet brushless direct-current motor 7 and the first reducer 4 are embedded in the rope drum 5.
  • the second differential transmission device 1 is fixed to the left end plate 2 and is connected to the first reducer 4 through a transmission shaft 16. During operation, the permanent magnet brushless direct-current motor 7 drives, through the first reducer 4 and the transmission shaft 16, the second differential transmission device 1 to rotate, and the second differential transmission device 1 drives the rope drum 5 to rotate.
  • the first reducer 4 includes an inner fixed mount 22, a first sun wheel 21, a first planetary wheel 20, a first planetary carrier 18, an inner gear ring 19, and an outer fixed mount 17.
  • the outer fixed mount 17 and the inner gear ring 19 are fixedly connected to the inner fixed mount 22.
  • the first sun wheel 21 is rotatably arranged on the inner fixed mount 22 and abuts an output shaft of the permanent magnet brushless direct-current motor 7.
  • the first planetary carrier 18 is rotatably arranged on the outer fixed mount 17 and abuts the transmission shaft 16.
  • the first planetary wheel 20 is rotatably correspondingly arranged on a fixed shaft of the first planetary carrier 18.
  • the first planetary wheel 20 engages with the first sun wheel 21 at an inner side and the inner gear ring 19 at an outer side, respectively.
  • the permanent magnet brushless direct-current motor 7 drives the first planetary wheel 20 through the first sun wheel 21, and the first planetary wheel 20 rotates relative to the inner gear ring 19 to drive, through the first planetary carrier 18, the transmission shaft 16 to rotate, so as to achieve one-stage reduction output.
  • the second differential transmission device 1 includes a second sun wheel 12, a second planetary wheel 11, a floating planetary carrier 13, a fixed gear ring 10, a moving gear ring 14, and a second box body 9.
  • the fixed gear ring 10 is fixed to the second box body 9.
  • the second sun wheel 12 is rotatably arranged on the second box body 9 and abuts the transmission shaft 16.
  • the second planetary wheel 11 is rotatably arranged on the floating planetary carrier 13.
  • the second planetary wheel 11 engages with the second sun wheel 12 at an inner side and the fixed gear ring 10 at an outer side respectively.
  • the moving gear ring 14 sleeves the second sun wheel 12, with one end simultaneously engaging with the second planetary wheel 11 at an outer side and another end being connected to a fixed end plate 15 on the rope drum 5.
  • the moving gear ring 14 and the fixed gear ring 10 are designed into a differential matching structure with different quantities of teeth.
  • the first reducer 4 drives the second sun wheel 12 through the transmission shaft 16, the second sun wheel 12 drives the second planetary wheel 11, and the second planetary wheel 11 rotates relative to the fixed gear ring 10 to drive the moving gear ring 14 and the rope drum 5 to rotate, so as to achieve two-stage reduction and differential output.
  • the controller 8 uses reverse electromotive force generated by the permanent magnet brushless direct-current motor 7 to achieve electromagnetic braking.
  • the left and right end plates 2 and 6 are provided with a suspension mechanism
  • the suspension mechanism includes a suspension component 25 connected to the left and right end plates 2 and 6 and a protective hook 34 rotatably arranged on the connecting rod 3, a protective hook hanging plate 24 is fixed to the suspension component 25, the protective hook hanging plate 24 is provided with a hanging hole matching the protective hook 34, the suspension component 25 is provided with an elastically resettable protective buckle 36, and the protective buckle 36 is provided with a protective buckle wrench 35.
  • the suspension mechanism needs to be removed, and after removal, the functions can be achieved by fixing bolt holes on the left and right end plates 2 and 6 with bolts.
  • the controller 8 is fixed to the right end plate 6 through a controller housing 27, upper and lower limit components 33 and 32 are correspondingly arranged between the left and right end plates 2 and 6 below the rope drum 5, and the controller housing 27 is correspondingly provided with upper and lower limit controllers matching the upper and lower limit components 33 and 32 and electrically connected to the controller 8.
  • An aviation socket 37 electrically connected to the controller 8 and an aviation plug 26 matching the aviation socket 37 are fixed to the controller housing 27, the aviation plug 26 is connected to a control handle 30 through a control line 28, the control handle 30 is provided with an emergency stop switch and up-down start switch 29, and a detachable lithium battery pack 31 is arranged at a bottom of the control handle 30.
  • the rope drum 5 is provided with a rope drum perforated groove, the steel wire rope 38 is introduced from the rope drum perforated groove and is wound on the rope drum 5, a tail of the steel wire rope 38 is fixed to a fixed groove buckle 40 of a rope drum left end plate 39 through a tenon block, and a head of the steel wire rope 38 is connected to a hook component 41 for hanging a heavy object.
  • the hook component 41 consists of a hook, a limit spring assembly, and a limit counter weight.
  • the control handle 30 controls, through the controller 8, the permanent magnet brushless direct-current motor 7 to drive the first sun wheel 21, the first sun wheel 21 drives the first planetary wheel 20, the first planetary wheel 20 rotates relative to the inner gear ring 19 to drive the first planetary carrier 18, and the first planetary carrier 18 drives the transmission shaft 16 to rotate, so as to achieve one-stage reduction output.
  • the transmission shaft 16 drives the second sun wheel 12, the second sun wheel 12 drives the second planetary wheel 11 to rotate relative to the fixed gear ring 10, and the second planetary wheel 11 also simultaneously drives the moving gear ring 14 and the rope drum 5 to rotate to achieve two-stage reduction and differential output.
  • the controller 8 uses reverse electromotive force generated by the permanent magnet brushless direct-current motor 7 to achieve electromagnetic braking for the permanent magnet brushless direct-current motor 7.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
EP21173137.7A 2020-11-23 2021-05-10 Portable embedded direct-current electric hoist Active EP4001200B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011325016.1A CN112299272A (zh) 2020-11-23 2020-11-23 便携内嵌式直流电动葫芦

Publications (3)

Publication Number Publication Date
EP4001200A1 EP4001200A1 (en) 2022-05-25
EP4001200C0 EP4001200C0 (en) 2025-04-30
EP4001200B1 true EP4001200B1 (en) 2025-04-30

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ID=74335486

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21173137.7A Active EP4001200B1 (en) 2020-11-23 2021-05-10 Portable embedded direct-current electric hoist

Country Status (4)

Country Link
EP (1) EP4001200B1 (pl)
CN (1) CN112299272A (pl)
ES (1) ES3025968T3 (pl)
PL (1) PL4001200T3 (pl)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113879964B (zh) * 2021-09-27 2024-03-29 湖南智驱动力科技有限公司 纯电动单臂吊一拖二驱动系统
CN115257328B (zh) * 2022-08-10 2025-04-22 上海盘毂动力科技股份有限公司 一种电驱动系统
CN115258991B (zh) * 2022-09-19 2023-01-17 杭州未名信科科技有限公司 一种用于智能塔吊的卷扬动力模块总成及智能塔吊
CN115490174B (zh) * 2022-09-26 2025-07-15 浙江永天机电制造有限公司 一种可作为电动葫芦使用的多功能电动绞盘
CN115849231B (zh) * 2022-12-26 2024-05-31 兰州理工大学 一种适用于绞车制动的永磁涡流刹车及绞车制动系统
KR200499149Y1 (ko) * 2023-01-04 2025-05-12 김기찬 이동성이 향상된 충전식 윈치
CN116374870A (zh) * 2023-04-17 2023-07-04 中交中南工程局有限公司 一种车站轨顶风道施工用电葫芦
CN120864392A (zh) * 2025-09-26 2025-10-31 钢城集团凉山瑞海实业有限公司 一种吊车曳引装置及方法

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JP3178621B2 (ja) * 1992-05-26 2001-06-25 株式会社シマノ 釣り用リール
CN2846387Y (zh) * 2005-12-23 2006-12-13 重庆工学院七一仪表厂 一种通用电磁动力装置
CN102153025B (zh) * 2011-04-06 2013-06-05 北京中新图锐科技有限公司 一种卷扬机构
CN203199931U (zh) * 2013-03-21 2013-09-18 贾新天 内嵌式电动葫芦
CN203306957U (zh) * 2013-07-05 2013-11-27 贾新天 内嵌式多功能电动葫芦
CN103508361A (zh) * 2013-10-24 2014-01-15 贾新天 便携式直流电动葫芦
CN206156640U (zh) * 2016-11-07 2017-05-10 赵建新 一种变频控制可调速的微型提升机
KR101904737B1 (ko) * 2018-03-16 2018-11-21 장진수 다단 변속 및 다단 권취 타입의 호이스트
CN108657982B (zh) * 2018-07-13 2023-11-10 宁波中皇机电有限公司 一种便携式提升牵引装置
CN210985798U (zh) * 2019-11-21 2020-07-10 宁波赤马绞盘有限公司 绞盘的电机结构及绞盘
CN111204671B (zh) * 2020-03-10 2022-04-01 江苏海洋大学 水气界面收放探测仪器的微小型绞车
CN213738346U (zh) * 2020-11-23 2021-07-20 浙江永天机电制造有限公司 便携内嵌式直流电动葫芦

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Publication number Publication date
EP4001200C0 (en) 2025-04-30
EP4001200A1 (en) 2022-05-25
CN112299272A (zh) 2021-02-02
PL4001200T3 (pl) 2025-06-23
ES3025968T3 (en) 2025-06-10

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