CN102711860B - 挠性轴结构 - Google Patents
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- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
- F16C1/02—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing for conveying rotary movements
- F16C1/06—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing for conveying rotary movements with guiding sheathing, tube or box
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/10—Location thereof with respect to the patient's body
- A61M60/122—Implantable pumps or pumping devices, i.e. the blood being pumped inside the patient's body
- A61M60/126—Implantable pumps or pumping devices, i.e. the blood being pumped inside the patient's body implantable via, into, inside, in line, branching on, or around a blood vessel
- A61M60/13—Implantable pumps or pumping devices, i.e. the blood being pumped inside the patient's body implantable via, into, inside, in line, branching on, or around a blood vessel by means of a catheter allowing explantation, e.g. catheter pumps temporarily introduced via the vascular system
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/20—Type thereof
- A61M60/205—Non-positive displacement blood pumps
- A61M60/216—Non-positive displacement blood pumps including a rotating member acting on the blood, e.g. impeller
- A61M60/237—Non-positive displacement blood pumps including a rotating member acting on the blood, e.g. impeller the blood flow through the rotating member having mainly axial components, e.g. axial flow pumps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/40—Details relating to driving
- A61M60/403—Details relating to driving for non-positive displacement blood pumps
- A61M60/408—Details relating to driving for non-positive displacement blood pumps the force acting on the blood contacting member being mechanical, e.g. transmitted by a shaft or cable
- A61M60/411—Details relating to driving for non-positive displacement blood pumps the force acting on the blood contacting member being mechanical, e.g. transmitted by a shaft or cable generated by an electromotor
- A61M60/414—Details relating to driving for non-positive displacement blood pumps the force acting on the blood contacting member being mechanical, e.g. transmitted by a shaft or cable generated by an electromotor transmitted by a rotating cable, e.g. for blood pumps mounted on a catheter
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- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
- F16C1/26—Construction of guiding-sheathings or guiding-tubes
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- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
- F16C41/008—Identification means, e.g. markings, RFID-tags; Data transfer means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M60/00—Blood pumps; Devices for mechanical circulatory actuation; Balloon pumps for circulatory assistance
- A61M60/10—Location thereof with respect to the patient's body
- A61M60/122—Implantable pumps or pumping devices, i.e. the blood being pumped inside the patient's body
- A61M60/126—Implantable pumps or pumping devices, i.e. the blood being pumped inside the patient's body implantable via, into, inside, in line, branching on, or around a blood vessel
- A61M60/148—Implantable pumps or pumping devices, i.e. the blood being pumped inside the patient's body implantable via, into, inside, in line, branching on, or around a blood vessel in line with a blood vessel using resection or like techniques, e.g. permanent endovascular heart assist devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20396—Hand operated
- Y10T74/20402—Flexible transmitter [e.g., Bowden cable]
- Y10T74/20456—Specific cable or sheath structure
Abstract
根据本发明,提供一种挠性轴结构(1),具有韧性轴(5)、围绕该轴的套筒(8)以及围绕该轴和套筒的护套(6)。根据本发明的所述套筒在所述护套内至少分段地以弓形形状延伸,由此在套筒的内轮廓形成轴的点接触。因此可以有效地抑制轴的振动或碰撞。
Description
技术领域
本发明属于机械工程尤其是机械学领域,并且涉及经由挠性轴传递扭力和运动。在不同的技术领域中已知挠性轴驱动,而这些挠性轴驱动在待传递的扭力以及速度方面差异很大。例如,在挠性可用机床领域已知的轴结构以相对低的速度运行并需传递高扭力,而在牙科工程已知的轴以极高的速度旋转并且传递较低的扭力。
背景技术
这些轴的操作,特别是由于振动行为导致不同的问题。在轴结构的某些点和/或某些速度上的很小的不对称能够导致碰撞运动,并产生相应的令人讨厌的噪音,并且由于轴与其引导物之间的摩擦力导致机械性的高应变。
已经公知关于如何能够减少这种碰撞运动的不同方案,例如在德国专利No.350682中提出挠性轴的套筒在一些点扭折,以使得套筒的内轮廓在一些分段中变窄,由此在这些区域中增强与轴的直接且无间隙的接触,这会关系到一定的摩擦力,但是可以构成轴的无间隙引导,因此防止碰撞运动。
文献DE 103 24 717A1公开了一种韧性驱动电缆,其中核心被多条环形引线围绕,这些引线具有不同的横截面,由此在护套中形成不对称结构。
根据文献JP 61 062614A,在套筒内设置核心,并将套筒设置在护套内,套筒和护套均在相同的方向延伸,并且变化的弧形彼此同轴。
从延迟公开文献DE 195 41 549A1已知一种变形的套筒,其中设有一轴,使该套筒朝向该轴选择性地向内径向变形,以将轴充分固定在套筒内部。此外还提到,可以螺旋形地分段偏置相应的形变。在该文献中还讲述对套筒进行挤压、使其弯成弓形以及压紧。
发明内容
针对现有技术,本发明的主要目的是提供一种轴结构,其允许轴高速操作,并具有低摩擦力,由此保证能够确保轴结构的最大使用寿命,并且保证能够可靠地防止轴振动。在这方面,解决方案尤其能够使用长且非常细的轴。必须能够防止在轴结构内对轴本身的损害或形变。
所述目的是通过本发明权利要求1的特征实现的。
与已知的现有技术相比,根据本发明,轴结构设置韧性轴、围绕该轴的套筒以及围绕该套筒和轴的护套。该轴在护套内应该能够自由旋转,而该护套通常是固定的。
为了实现上述目的,该套筒设置成在护套内的至少分段地以弓形形式延伸。这意味着套筒在一些区域中和其他区域中与沿护套长度的中心轴、纵轴或对称轴具有不同的间隔,换句话说,沿着护套的长度与护套的纵轴、对称轴或中心线特别是以弧形分段地不同,所述轴不必须直直地延伸。
因此,实现所述轴具有间隙地设置在套筒内,相对于套筒可旋转,并且由于其固有硬度在套筒内分段地与套筒的内壁接触。由此,所述轴在套筒的内壁以滑动摩擦的关系点固定。因此,利用最小的摩擦抑制轴发生任何振动。
该方案具有如下优势:套筒的内轮廓横截面在很大程度上保持不变,从而使所述轴具有在套筒内旋转所需的必要空间,例如当套筒具有圆形横截面以及空心圆柱形状时,所述空间为圆柱形内空间形式。为了这个目的,可以说弓形形状的套筒足以,而又易于在个别应用中产生效果。
在至少一个轴向界定分段中的护套内轮廓与套筒外轮廓之间的一部分圆周上设置至少一个间隔物结构。在此方面,护套能够基本上直直地延伸;这意味着护套延伸的任何弧形的半径比护套内所述套筒的弧形的半径大得多。护套的相应弧半径例如可以是在护套内由套筒形成的弧分段的半径的至少3倍、5倍、10倍或50倍之大。通常,套筒以具有径向间隙的方式设置在护套内。该间隙被间隔物装置消除或至少减小,并且套筒位于护套的内轮廓中与其纵轴偏心的一侧。为此目的,相应的间隔物装置不一定在套筒或护套的所有圆周上以方位角的方式延伸,而是仅在特定的方位角圆周分段设置。
这样的设置是有利的:多个间隔物结构沿轴结构的长度彼此隔开设置。护套内的套筒的波浪形轮廓被这种间隔物装置的结构加强,并且例如可以是曲折的或者窦波形状。
此外,可以将直接相邻的间隔物结构设置成在相对于轴的轴结构圆周上彼此在方位角上角度偏置。因此得到三维波浪形外形的套筒,从而使该轴固定在多个平面中。
为此目的,所述间隔物结构例如可以在轴向上成螺旋形或环绕地布置。
本发明实现有利的设置:所述间隔物结构包括沿护套径向向内或沿套筒径向向外的至少一个印记。
套筒或护套可以由很薄的材料制成,以使印记在各自的轮廓,即,护套的内轮廓和/或套筒的外轮廓凹进或凸出,从而通过压印构造凸起部分,由此形成相应的间隔物装置。
本发明的设置可以实现特别简单的结构,即套筒可以制成卷绕的螺旋物。因此能够用很简单的制造方法制成套筒,此外,通过将诸如液体的冷却剂自由流通穿过护套内的螺旋物来促进冷却套筒内的轴。
这种螺旋物可以有利地包含例如金属薄片形式的扁平材料或塑料材料。在这方面可以设置:所述间隔物结构被制成螺旋物的单个绕圈或多组绕圈的径向向外的印记。但是,还可以使用圆形材料并设置其具有相应的印记。
这种构造的优势在于:在卷绕螺旋物之前被拉伸的材料本身可以被压印,随后在进行螺旋物的卷绕时,相应的印记形成期望的凸起部分。该步骤使制造变得容易,并且由在被拉伸的螺旋物材料上的相应间隔的印记能够预定间隔物装置/凸起部分的期望位置。在这方面,印记仅设置在多个卷绕的单个绕圈上或者卷绕的相互直接相邻的绕圈上。在形成多组印记时,螺旋物的直接相互相邻的绕圈的印记在圆周上彼此紧密设置,然后下一组的印记可以与相邻组印记发生角度偏置。
但是,还可以设置:在螺旋形圆周结构中各个卷绕彼此以一定轴向间隔被压印。
此外这样的设置是有利的:在进行卷绕之前,多个印记或多组印记相对于被拉伸的螺旋物材料被彼此等距地设置。通过相应地计算在螺旋物的原始材料上多个印记的间隔,可以确保沿着凸起部分/间隔物装置相互的角度偏置也是规则的。
除了上述挠性轴结构之外,本发明还涉及一种制造这种轴结构的方法,其中在卷绕形成套筒的螺旋物之前压印螺旋物材料,使得相对于套筒径向向外形成至少一个凸起部分。
这种制造方法一方面易于实现,另一方面能够精确预定相应的间隔物装置,从而为了无问题的轴操作,保证在护套内套筒的优化程度。
最后,本发明还涉及一种血泵结构,具有在不同实施例中诸如上述的挠性轴结构。这种血泵结构例如可以在微创过程中通过血管引入患者体内,以辅助或替代心脏活动。于是所述轴表示泵转动元件的驱动轴,并通常以超过10,000转/分钟的速度旋转。该泵的转动元件,例如该转动元件的刚性轴,或者用无轮毂转动元件与所述轴的其中一个端面连接。该轴还可以与转动元件轴制成一体,并且能够在其泵侧端支撑一个或多个叶轮叶片。然后套筒和护套终止于转动元件的前面。
附图说明
以下参照附图中的实施例说明本发明:
在图中,
图1示意性地示出具有驱动的挠性轴结构以及利用该轴驱动的单元;
图2示出根据本发明的轴结构的第一横截面;
图3示出根据本发明的轴结构的第二横截面;
图4示出根据本发明的轴结构的套筒在轴中的三维视图;
图5示出根据本发明的套筒的三维视图;
图6示出根据本发明的套筒在护套中的纵向截面;
图7示出根据本发明具有轴、套筒和护套的轴结构的纵向截面;以及
图8是在扁平材料上的印记分布方案,随后套筒被卷绕。
具体实施方式
图1示出轴结构1的示意图,其中电机驱动包括电动机2以及电机轴3,并且挠性轴5利用连接器4与电机2可旋转地固定连接。此外,所示的轴结构的护套6被固定在电机侧的固定器7中。图中所示的套筒8围绕轴5,并位于护套的内部。
在轴结构的输出侧示出泵9,其包括具有叶轮叶片11的泵转动元件10。这种泵可以服务于微创部门的医疗工程,例如,用于在血管中输送血液,并形成非常快的旋转轴流体泵。
根据本发明的轴结构解决了这种问题:非常快的旋转轴5,即以每分钟超过上万转数旋转的轴容易发生碰撞运动,这会产生令人讨厌的噪音,并且在一些情况下还会增加某点处的磨损,从而使轴结构的使用寿命受损。
对于该问题的解决方案,在轴结构的横截面中首先看到的是在外侧的护套6。所述护套例如可以制成塑料护套,或者,还可以制成薄壁金属护套。套筒8类似地可以由金属或塑料制成,并位于护套6内。由于套筒8可选择地在护套中与轴5一起运动,因此护套6与套筒8之间设置间隙。
轴5包括多个编织绳股12、13以产生相应的挠性。在轴5与套筒8之间也设置有间隙以使摩擦力最小化。
图3示出在套筒8与护套6之间设置间隔物装置的点处的轴结构横截面。间隔物装置14由套筒8中径向向外的凸起部分构成。套筒8在护套6内轮廓内的横截面中被该凸起部分沿箭头15的方向压迫。
如下文将更详细解释的,由于凸起部分14仅设置在轴结构的轴向上紧密界定的分段中,因此套筒8的挠曲仅发生在护套6内的轴向上的点处,从而套筒8在护套6中采用波浪形状。凸起部分14可以例如通过在套筒8的材料中的印记从内部径向向外部制造。
该轴例如通过揉捻多股线线绳/线材形成,轴的每个单股元件的直径位于套筒的凸起部分高度的一半与两倍之间。由此避免套筒的不规则性/印记对轴元件的阻碍。
例如这样的修改方案也是有利的:为了避免套筒的不规则性/印记阻碍轴元件,印记以不同的间距形成或布置在套筒周围,则在套筒中轴的轴元件被缠绕成使得轴元件与不规则性/印记之间不存在平行性。
图4示出多个凸起部分14、14′、15、15′、16、16′的三维视图,其中多组凸起部分均彼此轴向隔开,并且在相对于轴结构的纵轴的方位角方面相互错开。多组凸起部分的位置在从左往右的顺时针方向上以螺旋形形式改变。如果所示的套筒被想象成位于延长的护套6中(由虚线示出),则如图4中所示,在凸起部分15、15′区域中的套筒相对于在凸起部分14、14′区域中的护套轴向下错位并进入附图平面的后面,并且相对于凸起部分16、16′的区域向上错位。
因此,当护套被认为是形状不变时,套筒8就是波浪形。结果是,因其固有硬度而在不受任何外界影响的情况下直直走向的轴5,在凸起部分的区域中均与套筒8的内轮廓接触。由此,轴5被充分固定以抑制由摩擦导致的大部分的碰撞运动。
图5示出单独套筒8的三维视图,在所示实施例中,套筒8被制成螺旋物。该螺旋物具有凸起部分17、17′、17″和18、18′、18″,这些凸起部分在轴向上和圆周方向上相互偏置。在所示实例中,这些凸起部分在圆周上相互错开180度。
在图6中示出在护套6中的螺旋物与护套6的内轮廓接触的方式。图中所示,在区域19中,印记设置在中心轴下方,所以套筒8沿箭头20的方向向上错位;而在区域21中,由于印记位于中心轴上方,于是套筒沿箭头22的方向向下错位。由此获得波浪形状的套筒8。
在图7中进一步完整地画出了轴5,其被引导在套筒的圆形轮廓中。所示的波浪形状的套筒8已在图6中介绍,并且在滑动摩擦的情况下,轴5至少以点的方式与套筒8的内轮廓接触。
因此,在医疗工程部门,例如在身体中的空心导管内需要非常快速的旋转轴的情况下使用本发明很受益。空心导管也可以接管护套的角色。但是,也可以将整个轴结构设置在空心导管中。
利用本发明的轴结构设计减少摩擦力、磨损和噪音传播。还具有这样的效果,例如,驱动轴所需的扭力减小,这在使用复杂的流道以将轴从体外引向体内时尤其有用。
图8的示意图用于计算在螺旋物的原始材料中印记的间隔。螺旋物的股状材料在图中用23标示。在图8的上区域中示出引入印记之前的该股;在下区域中示出引入印记之后的股。在此方面,由Ap标示印记组内多个印记的间隔。该间隔由用于椭圆形计算的近似公式得到,其中考虑了由于压印而改变长度的量。从下面的公式得到两个相邻印记的间隔:
其中
a表示椭圆形的大半圆,b表示椭圆形的小半圆,这些由所观察螺旋物的横截面的卷绕轮廓确定。数量c是通过拉伸材料得到印记而使印记间隔延长的量。
还可以设置成使用参数c±x代替参数c,以便相对彼此以恒定角度偏置在圆周上相邻绕圈的印记,由此实现印记点的螺旋形圆周分布。
Claims (10)
1.一种挠性轴结构,具有韧性轴(5)、围绕该轴的套筒(8)以及围绕该轴和套筒的护套(6),其中所述套筒在所述护套内至少分段地以不同于护套的纵轴、对称轴或中心线的弓形形状沿其长度延伸,并且其中多个间隔物结构(14、14'、15、15'、16、16'、17、17'、17"、18、18'、18")在每种情况下设置在部分圆周上并且在护套(6)的内轮廓与套筒(8)的外轮廓之间沿轴结构的长度相互轴向隔开。
2.如权利要求1所述的挠性轴结构,其特征在于所述间隔物结构(14、14'、15、15'、16、16'、17、17'、17"、18、18'、18")包括沿护套(6)径向向内的或沿套筒(8)径向向外的至少一个印记。
3.如权利要求1或2所述的挠性轴结构,其特征在于相互直接相邻的所述间隔物结构(14、14'、15、15'、16、16'、17、17'、17"、18、18'、18")在所述轴结构的圆周上相对于所述轴在方位角上相互角度偏置。
4.如权利要求3所述的挠性轴结构,其特征在于所述间隔物结构(14、14'、15、15'、16、16'、17、17'、17"、18、18'、18")在轴向上以圆周上成螺旋形设置。
5.如权利要求1或2所述的挠性轴结构,其特征在于所述套筒(8)被制成卷绕的螺旋物。
6.如权利要求5所述的挠性轴结构,其特征在于所述螺旋物包括基本上扁平的材料(23)。
7.如权利要求5所述的挠性轴结构,其特征在于所述间隔物结构(14、14'、15、15'、16、16'、17、17'、17"、18、18'、18")被制成所述螺旋物的多个单个绕圈或多组绕圈的径向向外的印记。
8.如权利要求7所述的挠性轴结构,其特征在于卷绕被拉伸的螺旋物材料之前,设置相互等距的多个印记或多组印记。
9.一种制造如权利要求1至8任一所述轴结构的方法,其特征在于在卷绕成形成套筒(8)的螺旋物之前压印螺旋物材料,从而形成相对于所述套筒径向向外的至少一个凸起部分(14、14'、15、15'、16、16'、17、17'、17"、18、18'、18")。
10.一种血泵结构,具有如权利要求1至9任一所述的挠性轴结构,该挠性轴结构与泵转动元件连接。
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EP09075474.8 | 2009-10-23 | ||
EP09075474A EP2314330A1 (de) | 2009-10-23 | 2009-10-23 | Flexible Wellenanordnung |
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CN102711860A CN102711860A (zh) | 2012-10-03 |
CN102711860B true CN102711860B (zh) | 2015-07-29 |
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EP (1) | EP2314330A1 (zh) |
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2010
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- 2010-10-22 WO PCT/EP2010/006528 patent/WO2011047883A1/en active Application Filing
- 2010-10-22 CN CN201080047851.1A patent/CN102711860B/zh active Active
- 2010-10-22 US US13/261,257 patent/US8932141B2/en active Active
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Also Published As
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DE112010003816T5 (de) | 2012-11-22 |
US20120264523A1 (en) | 2012-10-18 |
WO2011047883A1 (en) | 2011-04-28 |
CN102711860A (zh) | 2012-10-03 |
US8932141B2 (en) | 2015-01-13 |
DE112010003816B4 (de) | 2024-04-11 |
EP2314330A1 (de) | 2011-04-27 |
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