CN110753644B - Safety belt retractor - Google Patents
Safety belt retractor Download PDFInfo
- Publication number
- CN110753644B CN110753644B CN201880038731.1A CN201880038731A CN110753644B CN 110753644 B CN110753644 B CN 110753644B CN 201880038731 A CN201880038731 A CN 201880038731A CN 110753644 B CN110753644 B CN 110753644B
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- China
- Prior art keywords
- locking
- pawl
- auxiliary pawl
- section
- ratchet wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/34—Belt retractors, e.g. reels
- B60R22/341—Belt retractors, e.g. reels comprising energy-absorbing means
- B60R22/3413—Belt retractors, e.g. reels comprising energy-absorbing means operating between belt reel and retractor frame
Abstract
The invention relates to a belt retractor (10) for a safety belt, comprising a belt reel (20), a locking pawl (60) and an electromagnetic deflection device (50). According to the invention, a locking pawl (60) is connected to the belt reel (20), rotates with the belt reel (20) when the belt reel (20) rotates and can assume a locking position, in which the locking pawl (60) interacts with a locking toothing (80) and locks the rotation of the belt reel (20) in the unwinding direction, and a release position, in which the locking pawl is separated from the locking toothing (80) and allows the rotation of the belt reel (20), and the electromagnetic deflection device (50) is designed such that it directly or indirectly pivots the locking pawl (60) in an activation mode.
Description
Technical Field
The invention relates to a belt retractor for a safety belt, comprising a belt reel, an electromagnetic deflection device and a locking pawl. Such a belt retractor is known from german patent document DE 10351403B 4.
Disclosure of Invention
The object of the invention is to improve a belt retractor of the type mentioned.
This object is achieved according to the invention by a belt retractor having the features according to the invention.
In accordance with the invention, it is provided that a locking pawl is connected to the belt spool, rotates with the belt spool when the belt spool rotates and can assume a locking position, in which the locking pawl interacts with a locking toothing and locks the rotation of the belt spool in the unwinding direction, and a release position, in which the locking pawl is separated from the locking toothing and allows the rotation of the belt spool, and that the electromagnetic deflection device is designed such that it directly or indirectly pivots the locking pawl in the activation mode.
An important advantage of the belt retractor according to the invention is that the locking pawl rotates with the belt reel, unlike in the belt retractor according to german patent document DE 10351403B 4. The locking pawl can thus be deflected in two ways, namely by the action of an electromagnetic deflection device or, for example, by inertia when the safety belt is suddenly pulled out, under the combined action of a coupling device and an auxiliary pawl. The locking pawl can thus perform the dual function in an advantageous manner, namely as an actuator of the electromagnetic deflection device and, in addition, also form an actuator of a separate sensor unit for detecting a sudden withdrawal of the safety belt, a change in position and/or a change in acceleration of the vehicle.
The locking toothing is preferably rotationally fixed (drehfest). It is particularly advantageous if the locking toothing is fixed relative to the frame, for example mounted on or formed in the frame.
Advantageously, the locking pawl is coupled to the auxiliary pawl via a coupling device, and the electromagnetic deflection device interacts with the auxiliary pawl and, when activated, pivots the auxiliary pawl about the pivot axis. The pivot axis is preferably parallel to the axis of rotation of the belt reel.
The coupling device preferably rotates with the belt reel in the non-pivoted state of the auxiliary pawl; the co-rotation of the coupling means is preferably blocked by the auxiliary pawl after the swinging/pivoting of the auxiliary pawl.
The auxiliary pawl is preferably mounted so as to be able to pivot on the coupling device. The auxiliary pawl is preferably arranged on the coupling device in such a way that it rotates with the belt reel in the non-pivoted state of the auxiliary pawl; the co-rotation of the auxiliary pawl, and thus of the coupling device, is blocked after the oscillation of the auxiliary pawl.
The auxiliary pawl is preferably made of a ferromagnetic material in at least one section. It is also advantageous if the auxiliary pawl is formed from another material (for example plastic) in at least one other section.
In the case of the design of the electromagnetic deflection device, it is considered advantageous if the electromagnetic deflection device has a ratchet wheel which is arranged in a rotationally fixed manner and has an internal tooth which is rotationally fixed and at least one electrical coil for generating a magnetic field, the auxiliary pawl is arranged in the region within the internal tooth of the ratchet wheel, and the locking section of the auxiliary pawl is pivoted radially outward and introduced (eingstuert) into the internal tooth when an electrical current flows through the coil.
In a preferred embodiment, it is provided that the auxiliary pawl is formed from a ferromagnetic material in the latching section and that the ferromagnetic latching section is pivoted radially outward when a current flows through the coil.
In the above-mentioned embodiment, the auxiliary pawl is preferably made of plastic outside the locking section or in at least one other section.
The ratchet is preferably made completely or at least in sections of a ferromagnetic material, preferably iron.
The ratchet wheel is preferably provided with or magnetically coupled to at least one coil, which, in the current-carrying state, generates a magnetic field in the ratchet wheel or at least in a section of the ratchet wheel (preferably on the outer diameter or the circumferential surface of the ratchet wheel). The auxiliary pawl can be attracted by this magnetic field.
The ratchet wheel has in a preferred embodiment at least three spokes, which are each provided with a coil.
Alternatively or additionally, it can be provided in a likewise advantageous manner that at least one coil is arranged on the outer circumferential surface of the ratchet wheel, which coil can couple the magnetic field into the ratchet wheel. In this variant, it is advantageous if two or more coils are arranged on the outer circumferential surface of the ratchet wheel, preferably rotationally symmetrically.
Alternatively or additionally, it can be provided in a likewise advantageous manner that one or more coils are arranged outside the ratchet wheel, in particular rotationally symmetrically or "star-shaped" or "sun-like", and that the magnetic field is coupled into the ratchet wheel from the outside.
In a further embodiment, which is likewise regarded as advantageous, it is provided that the electromagnetic deflection device has an internal electromagnet for generating a magnetic field in the center of the ratchet wheel or at least in the region of the middle of the ratchet wheel, the deflection section of the auxiliary pawl, when a current flows through the electromagnet, swings radially inward in the direction of the region of the center or middle, and thus the locking section, which is separated from the deflection section by the pivot axis (swing axis) of the auxiliary ratchet wheel, swings radially outward into the inner toothing of the ratchet wheel or into one of the above-mentioned locking teeth of the electromagnetic deflection device.
The auxiliary pawl is preferably made of a ferromagnetic material in the deflection section and preferably made of another material (e.g., plastic) in at least one other section, in particular in the locking section.
The auxiliary pawl is preferably pivotable about a pivot axis, the pivot axis being arranged at a parallel spacing to the rotational axis of the belt reel. The pivot is preferably formed by the base of the coupling device.
The mass of the auxiliary pawl and/or its mass distribution is preferably dimensioned in such a way that, when the belt is suddenly withdrawn, the auxiliary pawl pivots due to inertia and the locking section of the auxiliary pawl is introduced into the internal toothing or into the locking toothing of the ratchet.
In the case of a coupling between the auxiliary pawl and the coupling device or in the case of a coupling between the locking pawl and the auxiliary pawl, it is considered advantageous if a control pin which interacts with the locking pawl or is integrally connected thereto is guided in a control gate of the coupling device and, when the coupling device is blocked and the belt spool rotates, swings the locking pawl outwards into the locking toothing.
Drawings
The invention is explained in detail below with the aid of examples; here, for example:
fig. 1 shows a first exemplary embodiment of a belt retractor according to the invention, in a three-dimensional exploded view, obliquely from the side, in which a ferromagnetic locking section of a locking pawl can be pivoted radially outward by an electromagnetic deflection device;
fig. 2 shows the belt retractor according to fig. 1 in the assembled state from the side in a three-dimensional view, obliquely;
fig. 3 shows a second exemplary embodiment of a belt retractor according to the invention, in a three-dimensional exploded view, obliquely from the side, in which the ferromagnetic locking section of the locking pawl can be pivoted radially outward by an electromagnetic deflection device;
fig. 4 shows the belt retractor according to fig. 3 in the assembled state from the side in a three-dimensional view, obliquely;
fig. 5 shows an embodiment for a belt retractor according to the invention, in which an electromagnetic deflection device swings a ferromagnetic deflection section of the auxiliary pawl radially inward.
The same reference numbers will be used throughout the drawings for clarity of identical or similar components.
Detailed Description
Fig. 1 shows an exemplary embodiment of a seatbelt retractor 10 in a three-dimensional exploded view. The belt retractor 10 comprises a belt reel 20 which is coupled with an auxiliary pawl 40 via a coupling means 30. For deflecting the auxiliary pawl 40, the belt retractor 10 has an electromagnetic deflection device 50.
The electromagnetic deflection device 50 comprises a ratchet 51, which is arranged in a rotationally fixed manner and is made of a ferromagnetic material and is equipped with spokes 52. The spokes 52 are each provided with a coil 53. In the case of a current flow through the coil 53, the ratchet wheel 51 as a whole, but rather the outer circumferential surface 54 thereof, is also magnetized. The ratchet wheel 51 is provided with an internal toothing 55, which resists relative rotation, into which the auxiliary pawl 40 can be introduced.
The belt retractor 10 according to fig. 1 operates as follows:
in normal operation, when the belt reel 20 is only moderately accelerated during unwinding or winding, the coupling device 30 rotates with the belt reel 20; the auxiliary pawl 40 is inactive.
If a sudden unwinding of the belt or a sudden rotation of the belt reel 20 in the unwinding direction occurs, the locking section 41 of the auxiliary pawl 40 formed by the outer tip of the auxiliary pawl 40 is caused by inertia to swing radially outward in the direction of arrow P1 and is introduced into the outer, rotationally fixed inner toothing 55 of the ratchet wheel 51. Due to the introduction of the auxiliary pawl 40, a further rotation of the coupling means 30 is blocked, so that a relative torsion between the belt reel 20 and the coupling means 30 occurs.
As a result of the relative rotation between the belt reel 20 and the coupling device 30, the locking pawl 60, which rotates together with the belt reel 20, pivots radially outward in the arrow direction P2. The pivoting of the locking pawl 60 can be brought about, for example, by a control pin 70 which interacts with the locking pawl 60 or is integrally formed thereon, is guided in a control gate 70a of the coupling device 30 and, when the coupling device 30 is blocked and the belt spool 20 itself rotates, brings the locking pawl 60 outwards into a locking toothing 80 of the belt retractor 20, which is preferably fixed relative to the frame. Once the locking pawl 60 engages in the locking toothing 80, the belt reel 20 is generally blocked and the belt cannot be unwound any further.
As soon as the belt reel is unloaded and/or slightly rotated back in the winding direction, a return spring, not shown in the figures, causes the auxiliary pawl 40 to swing back into its basic position, while a return spring 71 causes the locking pawl 60 to swing back into its basic position and enables the locking pawl 60 to swing out of the locking teeth 80 and the auxiliary pawl 40 to swing out of the internal teeth 55.
In the belt retractor 10, the electromagnetic deflection device 50 enables an electrical blocking of the coupling device 30, to be precise independently of whether a sudden unwinding of the belt occurs. The electromagnetic deflection device 50 can be activated by passing a current through the coil 53. The electromagnetic deflection device 50 can be activated by an electrical control device, not shown in the figures, depending on sensor measurements of sensors, also not shown.
When a current flows through the coils 53, these coils and thus the ratchet wheel 51 are magnetized, so that the locking section 41 of the auxiliary pawl 40, which is made of a ferromagnetic material, for example iron, is pivoted radially outward in the direction of the arrow P1 and is introduced into the internal toothing 55 of the ratchet wheel 51, which is secured against relative rotation. Since the ferromagnetic locking section 41 is introduced into the rotationally fixed internal toothing 55, as already explained above in conjunction with the inertial-induced deflection of the locking section 41, further rotation of the coupling device 30 is blocked, so that, in the event of a relative rotation of the belt reel 20 relative to the coupling device 30, the control pin 70, in conjunction with the control gate in the coupling device 30, causes the locking pawl 60 to be introduced in the arrow direction P2 outward into the locking toothing 80.
Furthermore, as soon as the energization of the electromagnetic deflection device 50 or the coil 53 is switched off, the already mentioned return spring for the auxiliary pawl 40 and the return spring 71 for the locking pawl 60 urge the auxiliary pawl 40 and the locking pawl 60 back into their basic position.
The auxiliary pawl 40 is preferably made of ferromagnetic material only in the locking section 41; the remaining or in the region of its base body 42, the auxiliary pawl 40 can be made of plastic, for example. The auxiliary pawl 40 is preferably held in a rotatable manner by a pivot 43 which is arranged parallel spaced apart from the axis of rotation R of the belt reel 20. The pivot 43 is preferably formed by the linkage 30.
Fig. 2 shows the seatbelt retractor 10 according to fig. 1 in the assembled state.
The coupling device 30 is preferably made of a non-magnetizable, in particular non-ferromagnetic material. Advantageously, the coupling means 30 are made of plastic.
Fig. 3 shows an embodiment for a belt retractor 10, in which the electromagnetic deflection device 50 is designed differently than in the embodiment variants according to fig. 1 and 2. It can be seen that the coils 53 are not arranged on the spokes 52 of the ratchet 51, but on an outer circumferential surface 54 of the ratchet 51.
In other respects, the exemplary embodiment according to fig. 3 corresponds to the exemplary embodiment according to fig. 1 and 2, in particular with regard to the mode of operation of the locking section 41 and the radial pivoting-out when the electromagnetic deflection device 50 is activated. If a current is fed to the coils 53, these coils will therefore cause a magnetization of the ratchet wheel 51 and of its outer circumferential surface 54, so that the ferromagnetic locking section 41 of the auxiliary pawl 40 is pivoted radially outward in the direction of arrow P1 in fig. 3 and is introduced into the internal toothing 55, which is secured against relative rotation. As soon as the auxiliary pawl 40 has pivoted out, further rotation of the coupling device 30 is blocked, so that in the case of a belt extension the belt spool 20 will rotate relative to the coupling device 30, as a result of which the locking pawl 60, by means of the control pin 70 and the control slide in the coupling device 30, pivots outward in the direction of arrow P2 into the external locking tooth 80 of the belt retractor 10.
Fig. 4 shows the seatbelt retractor 10 according to fig. 3 in the assembled state.
Fig. 5 shows a further embodiment variant of the design for the electromagnetic deflection device 50 and the auxiliary pawl 40. The electromagnetic deflection device 50 comprises a ratchet wheel 51 and an internal electromagnet 58, which interacts with the ferromagnetic deflection section 45 of the auxiliary pawl 40. The locking section 41 and the deflection section 45 form two lever ends of a lever, which are separated by a pivot 43.
If the built-in electromagnet 58 is activated, the deflection section 45 of the auxiliary pawl 40 is pivoted radially inward in the arrow direction P3, so that the locking section 41 is introduced in the arrow direction P1 outward into the rotationally fixed inner toothing 55 of the outer ratchet wheel 51 of the electromagnetic deflection device 50. Once the auxiliary pawl 40 engages the ratchet wheel 51, further rotation of the coupling device 30 is prevented (see fig. 1 to 4), so that subsequently the locking pawl 60 (see fig. 1 to 4) can engage outwards into the locking tooth 80, as already explained above in connection with fig. 1 to 4; the above-described embodiments are therefore also correspondingly suitable for this.
In the exemplary embodiment according to fig. 5, the locking section 41 can be made of a non-magnetizable or non-ferromagnetic material, for example plastic.
A return spring 59, preferably a compression spring, is used to swing the secondary pawl 40 back.
Although the invention has been illustrated and described in detail by means of preferred embodiments, the invention is not limited by the disclosed examples and other variants can be derived by the person skilled in the art without departing from the scope of protection of the invention.
List of reference numerals
10 seat belt retractor
20 safety belt reel
30 coupling device
40 auxiliary pawl
41 locking section
42 base body
43 Pivot
45 ferromagnetic deflection segment
50 electromagnetic deflection device
51 ratchet
52 spoke
53 coil
54 outer surrounding surface
55 anti-relative-rotation internal tooth part
58 electromagnet
59 return spring
60 locking pawl
70 control pin
70a control chute
71 reset spring
80 locking tooth
Arrow direction of P1
Arrow direction of P2
Arrow direction of P3
R axis of rotation
Claims (16)
1. A belt retractor (10) for a safety belt, having a belt reel (20), a locking pawl (60) and an electromagnetic deflection device (50),
-the locking pawl (60) is connected to the belt reel (20), rotates with the belt reel (20) when the belt reel (20) rotates and can assume a locked position and a released position,
-the locking pawl (60) cooperates with a locking tooth (80) and locks the rotation of the belt reel (20) in the unwinding direction in the locking position, and is separated from the locking tooth (80) and allows the rotation of the belt reel (20) in the release position, and
the electromagnetic deflection device (50) is designed in such a way that it directly or indirectly oscillates the locking pawl (60) in the activated mode,
-said locking pawl (60) is coupled with an auxiliary pawl (40) via a coupling means (30), and
-said electromagnetic deflection means (50) cooperating with said auxiliary pawl (40) and, when activated, oscillating said auxiliary pawl about a pivot,
the auxiliary pawl (40) can be pivoted about a pivot (43), and the mass of the auxiliary pawl (40) and its mass distribution are dimensioned in such a way that, in the event of a sudden withdrawal of the safety belt, the auxiliary pawl (40) pivots due to inertia and the locking section (41) of the auxiliary pawl is introduced into the internal toothing (55) or into the locking toothing (80) of the ratchet wheel (51).
2. The belt retractor (10) according to claim 1, characterized in that, upon activation, the auxiliary pawl is caused to swing about a pivot axis parallel to the axis of rotation of the belt spool (20).
3. The seatbelt retractor (10) according to any one of claims 1-2, wherein the auxiliary pawl (40) is swingably fitted on the coupling device (30).
4. The seatbelt retractor (10) according to claim 1,
the auxiliary pawl (40) is arranged on the coupling device (30) such that it rotates concomitantly with the belt reel (20) in the non-pivoted state and blocks the concomitant rotation of the auxiliary pawl and thus of the coupling device (30) in the pivoted state.
5. The seatbelt retractor (10) according to claim 1,
the auxiliary pawl (40) is made of a ferromagnetic material in at least one section and of another material in at least one other section.
6. The seatbelt retractor (10) according to claim 1,
the electromagnetic deflection device (50) has a ratchet wheel (51) which is arranged in a rotationally fixed manner and has an internal toothing (55) which is rotationally fixed and at least one electric coil (53) for generating a magnetic field,
-the auxiliary pawl (40) is arranged in a region within the inner toothing (55) of the ratchet wheel (51), and
-the locking section (41) of the auxiliary pawl (40) swings radially outwards when a current flows through the coil (53) and is introduced into the inner toothing (55).
7. The seatbelt retractor (10) according to claim 6,
-the auxiliary pawl (40) is made of a ferromagnetic material in the locking section (41) and
-oscillating the ferromagnetic locking section (41) radially outwards when a current flows through the coil (53).
8. The seatbelt retractor (10) according to any one of the preceding claims 6 to 7,
the ratchet (51) is made of a ferromagnetic material completely or at least in sections.
9. The seatbelt retractor (10) according to any one of preceding claims 6 to 7,
outside the ratchet wheel, at least one coil (53) is arranged on an outer circumferential surface (54) of the ratchet wheel (51) and/or on a spoke (52) of the ratchet wheel (51), said coil coupling a magnetic field into the ratchet wheel (51) or at least into a section of the ratchet wheel when an electric current flows through the coil.
10. The seatbelt retractor (10) according to any one of preceding claims 6 to 7,
there are two or more coils.
11. The seatbelt retractor (10) according to claim 6,
the electromagnetic deflection device (50) has a built-in electromagnet (58) for generating a magnetic field in the center or at least in the region of the middle of the ratchet wheel (51),
-oscillating a deflection section (45) of the auxiliary pawl (40) radially inwards in the direction of the central or middle region and oscillating a locking section (41) separated from the deflection section (45) by an oscillation axis of the auxiliary pawl (40) radially outwards into an inner toothing (55) or into a locking toothing (80) of a ratchet wheel (51) of the electromagnetic deflection device (50) when a current flows through the electromagnet (58).
12. The seatbelt retractor (10) according to claim 11,
the auxiliary pawl (40) is made of a ferromagnetic material in the deflection section (45) and of another material in at least one other section.
13. The seatbelt retractor (10) according to any one of preceding claims 6 to 7,
the ratchet wheel (51) is made of iron completely or at least in sections.
14. The seatbelt retractor (10) according to claim 1,
a control pin (70) which interacts with the locking pawl (60) or is integrally connected thereto is guided in a control gate (70a) of the coupling device (30) and, when the coupling device (30) is blocked and the belt spool (20) rotates, pivots the locking pawl (60) outward into a locking toothing (80).
15. The seatbelt retractor (10) according to any one of preceding claims 6 to 7,
there are two or more coils, which are arranged rotationally symmetrically, in a star shape or in a sun ray shape.
16. The seatbelt retractor (10) according to claim 11,
the auxiliary pawl (40) is made of a ferromagnetic material in the deflection section (45) and of another material in the locking section (41).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017215573.6 | 2017-09-05 | ||
| DE102017215573.6A DE102017215573B4 (en) | 2017-09-05 | 2017-09-05 | retractor |
| PCT/DE2018/200076 WO2019048008A1 (en) | 2017-09-05 | 2018-08-14 | Belt retractor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110753644A CN110753644A (en) | 2020-02-04 |
| CN110753644B true CN110753644B (en) | 2022-08-26 |
Family
ID=63637606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880038731.1A Active CN110753644B (en) | 2017-09-05 | 2018-08-14 | Safety belt retractor |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN110753644B (en) |
| DE (1) | DE102017215573B4 (en) |
| WO (1) | WO2019048008A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020172148A (en) * | 2019-04-09 | 2020-10-22 | 株式会社東海理化電機製作所 | Webbing winding device |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3343325A1 (en) * | 1983-11-30 | 1985-06-05 | Autoflug Gmbh, 2084 Rellingen | Personal restraint system |
| DE4018214A1 (en) * | 1990-06-07 | 1991-12-12 | Harting Elektronik Gmbh | DEVICE FOR ELECTROMAGNETICALLY OPERATING A LOCKING MECHANISM OF A BELT REEL |
| JP4467688B2 (en) * | 1999-01-19 | 2010-05-26 | タカタ株式会社 | Seat belt retractor |
| DE10018972B4 (en) * | 2000-04-17 | 2007-08-02 | Trw Automotive Electronics & Components Gmbh & Co. Kg | retractor |
| DE20113656U1 (en) * | 2001-08-17 | 2002-01-03 | Trw Repa Gmbh | Belt retractor for a vehicle seat belt |
| DE20113834U1 (en) * | 2001-08-21 | 2002-02-07 | Trw Repa Gmbh | Belt retractor for a vehicle seat belt |
| DE20211786U1 (en) * | 2002-07-31 | 2002-12-12 | Trw Repa Gmbh | Electromagnetically controllable belt retractor |
| DE10310019A1 (en) * | 2003-02-28 | 2004-09-09 | Takata-Petri (Ulm) Gmbh | Belt retractor for a seat belt |
| DE10351403B4 (en) | 2003-11-04 | 2014-12-04 | Trw Automotive Gmbh | Vehicle-sensitive control of a seat belt retractor |
| CN2813378Y (en) * | 2005-07-29 | 2006-09-06 | 比亚迪股份有限公司 | Belt retractor and safety belt including the same retractor |
| JP2008100639A (en) * | 2006-10-20 | 2008-05-01 | Takata Corp | Seat belt retractor, and seat belt device having the same |
-
2017
- 2017-09-05 DE DE102017215573.6A patent/DE102017215573B4/en active Active
-
2018
- 2018-08-14 CN CN201880038731.1A patent/CN110753644B/en active Active
- 2018-08-14 WO PCT/DE2018/200076 patent/WO2019048008A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN110753644A (en) | 2020-02-04 |
| DE102017215573B4 (en) | 2019-09-26 |
| DE102017215573A1 (en) | 2019-03-07 |
| WO2019048008A1 (en) | 2019-03-14 |
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