CN111542475A - 运输模块 - Google Patents
运输模块 Download PDFInfo
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- CN111542475A CN111542475A CN201880080579.3A CN201880080579A CN111542475A CN 111542475 A CN111542475 A CN 111542475A CN 201880080579 A CN201880080579 A CN 201880080579A CN 111542475 A CN111542475 A CN 111542475A
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Abstract
给出一种用于垂直起飞和降落的飞行器的运输模块(1),所述飞行器用于运输人员和/或货物,所述运输模块具有运送舱(2)和用于将运送舱(2)与飞行模块(5)连接的连接装置(3)。所述连接装置(3)具有纵向延伸的杆(6),所述杆的一个端部具有耦联装置(4)并且所述杆的另一个端部连结到运送舱(2)上。
Description
技术领域
本发明涉及一种用于垂直起飞和降落的飞行器的运输模块,所述飞行器用于运输人员和/或货物,所述运输模块具有运送舱和用于将运送舱与飞行模块连接的连接装置。
背景技术
用于运输人员和/或货物的飞行器越来越重要,因为飞行器能够实现与基础设施、如道路、轨道、桥梁、隧道等基本上无关的快速运送。这尤其适用于较小的飞行器,所述较小的飞行器能够垂直起飞和降落并且因此不需要起飞和降落跑道。
由WO 2013/124300例如已知具有飞行模块和机舱的模块化飞行器,该机舱构造得类似于飞机驾驶舱并且直接布置在飞行模块的支承结构上,例如借助于枢转铰接件布置在该支承结构上。
DE 10 2013 108 207 A1也公开了一种飞行器,该飞行器可被模块化地装配和拆卸并且适合用于藏放人员或物体。该飞行器具有中央模块,在该中央模块上可布置具有旋翼单元的悬臂和用于运输货物的承载单元或人员运送单元。为此,承载单元或人员运送单元直接在没有距离的情况下与中央单元连接。
由现有技术已知的模块化飞行器存在要运输的人员或货物与附近放置的驱动单元发生不期望接触的危险,这是显著的安全问题。
此外,用于供要运输的人员进入人员运送单元的进入区域由于驱动单元在附近而受到限制。
此外,针对要运输的人员的就座舒适性也受到限制,因为人员运送单元的设计强烈地受限于其余部件的情况。
由于人员运送单元与驱动单元之间的距离近,也要从对要运输的人员的显著噪音干扰出发。
发明内容
本发明基于如下任务,给出一种用于垂直起飞和降落的飞行器的运输模块,该运输模块避免或至少减少所提及的缺点。尤其是要改善针对使用运输模块的人或要利用运输模块运输的人的安全性和舒适性。此外值得期望的是改善空气动力学性能。
该任务通过独立权利要求的技术方案来解决。本发明的有利的进一步改进方案在从属权利要求中给出。
一种按照本发明的运输模块的运送舱用于包围要运输的人员和/或货物。
一种按照本发明的运输模块的连接装置用于将运输模块的运送舱与飞行模块连接。运输模块和飞行模块共同形成飞行器。
连接装置可以与运送舱可脱开地连接。
连接装置具有纵向延伸的杆。该杆例如可以构造为直线延伸的杆,该杆具有带有在杆的外周上被倒圆的棱边的矩形横截面或者具有圆形或椭圆形的杆横截面。
所述杆的横截面优选可以构造为基本上旋转对称的,亦即例如具有直圆柱体的形状,其中,该柱体的纵向延伸尺寸等于杆的长度并且该柱体的底面和顶面也可以被称为窄侧。
优选地,所述杆可以是尽可能细的,例如具有小的直径。所述杆的尽可能细的且旋转对称的设计明显减小了该杆的质量和空气阻力并且因此明显减小了运输模块的质量和空气阻力。
按照本发明,所述杆的一个端部、亦即在所述杆的两个窄侧之一上具有耦联装置。
耦联装置构造用于飞行模块的耦接和分离,所述耦联装置因此实现杆与飞行模块的可脱开连接。为了改善空气动力学性能,耦联装置可以优选布置在杆的轴中心。此外,通过耦联装置在轴中心的布置结构,使得所述杆例如在飞行模块耦接和分离时或在飞行器降落时的弯曲负载最小化。
按照本发明,所述杆的另一个端部、亦即在与耦联装置相对置的端部上以所述两个窄侧中的第二个窄侧连结到运送舱上,该运送舱用于包围要运输的人员和/或货物。
运送舱被这样成型,使得该运送舱通到纵向延伸的杆的窄侧中。为了改善空气动力学性能,所述杆的窄侧可以优选相对于运送舱布置在轴中心。通过所述杆关于运送舱在轴中心的布置结构,也使得所述杆例如在飞行模块耦接和分离时或在飞行器降落时的弯曲负载最小化。
优选地,在运送舱与杆之间的连接可以构造成刚性的。运送舱和杆例如可以相互材料接合地连接、例如焊接。
通过构造纵向延伸的杆以及运送舱在该杆上的紧固,能够有利地实现在运送舱和耦联装置之间并且因此也在运送舱和耦接在耦联装置上的飞行模块之间维持特定距离。运输模块和飞行模块共同形成飞行器。
尤其是,所述杆可以构造为这样延伸,使得在运送舱上方建立耦联装置的安全高度距离,从而能够确保在耦联状态下在运送舱与飞行模块之间的相应安全距离。该安全高度距离可以等于所述杆的纵向延伸尺寸,并且被确定为使得使用运输模块的成年人不会由于站立而触碰到耦联装置和已耦接的飞行模块。安全高度距离可以——从运送舱的例如2m的可用高度出发——为至少0.5m,优选为1.0m并且进一步优选为1.5m。
这样选择所述安全高度距离,使得针对使用运输模块的人员的安全风险最小化,其方式为,例如避免这样的人员在使用运输模块时与已耦接的飞行模块接触。
由此能够明显提高使用安全性,其方式为,能够有效避免在行动中的人员或要运送的人员和/或货物与飞行模块之间发生不期望的接触。此外,特定距离的维持有助于减小对要运送的人员的噪音干扰。
此外,通过运送舱与耦联装置并且因此与飞行模块间隔开距离地布置,能够使得运送舱置于飞行模块的螺旋桨的下风气流之外,这引起空气阻力的减小和空气动力学性能的改善。
此外,运送舱的具体设计可以与飞行模块基本上无关地实现,因为不需要关于飞行模块的功能匹配。
按照不同的设计方案,运送舱可以具有在空气动力学性能方面有利的形状,例如构造为旋转对称的或基本上液滴状的,从而一方面能够进一步减少运送舱的由于飞行运行导致的空气阻力并且另一方面能够进一步减少由于飞行模块的旋翼运行导致的对运送舱周围的气流的影响。
因此,运送舱的液滴形状可以在飞行器的飞行状态下优选基本上沿飞行模块的竖直中轴线的方向延伸。
运送舱的液滴形状可以通到纵向延伸的杆中,即运送舱可以具有宽的被倒圆的下部区域,所述下部区域朝杆的方向逐渐缩小到窄的上部区域中。
优选地,为了产生有利的空气动力学形状,运送舱可以具有用于连结所述杆的连结区域,该连结区域具有用于过渡到该杆的横截面上的横截面缩小部。
液滴形状可以在宽度方面被减小、例如在横向于飞行器的主飞行方向上被减小,以便在巡航飞行运行中产生尽可能小的空气阻力。
可选地,运输模块、优选运送舱可以具有支架装置,该支架装置构造用于能够实现运送舱在底座、例如地面上的可靠定位。支架装置可以构造为能收起和能翻出的,从而支架装置在飞行期间能够被上翻(anklappen)至靠近运输模块或靠近运送舱,以便改善飞行器的空气动力学性能。支架装置例如可以由金属、塑料和/或纤维复合材料制造。
运送舱可以具有不透明的面和透明的面。为了对运送舱进行装载和卸载或为了供要运输的人员上机和下机,运送舱可以具有一个或多个、例如两个门和/或翻板。优选地,两个门可以相对置地布置并且可以构造成能翻转或能推移的,以便能够同时并且舒适地实现上机和下机或装载和卸载。
进一步优选地,运送舱可以构造成密封封闭的。这能够实现快速并且成本有利地对运送舱的内部空间进行空气调节并且保护要运送的人员或货物免受天气影响和迎面风。
如果运送舱设置用于人员运输,则该运送舱可以具有座椅和安全装置、例如安全带和/或气囊。
运送舱可以具有空调装置、例如加热器并且具有加湿装置,以用于提高舒适性。
此外,在运输模块中、例如在运送舱中可以存在硬件或软件,例如用于输入飞行目的、用于与飞行模块、其他飞行器、地面站或地面控制站通信以及用于操作运输模块或飞行器的各装置等的硬件或软件。例如,飞行器的状况消息或关于在飞行器上的装载或上机的状态消息例如可以与地面控制站通信。
此外,可以存在一个或多个用于显示飞行信息、飞行器的状况信息、娱乐程序等的显示器。
按照不同的设计变型方案,运送舱可以具有充电模块。该充电模块可以具有一个或多个可充电的蓄能器(所述蓄能器例如为可充电的蓄电池或超级电容的形式)、充电装置和/或太阳能电池。
充电装置可以构造用于将电能从外部的充电站传输到所述一个或多个蓄能器中。
蓄能器可以构造用于储存经传输的电能和/或储存借助于太阳能电池而自身产生的电能并且用于给运送舱和/或飞行器的可耦接的飞行模块供应能量。
由此,运输模块可以构造为能量自给自足的,因为电流供应可以在运输模块本身之内进行。
如果可耦联的飞行模块也具有自身电流供应部,则经由连接装置至飞行模块的导电连接不是必要的。
可充电的蓄能器可以布置在运送舱中和/或上,而太阳能电池可以紧固在运送舱的外表面上。
在一种设计变型方案中,耦联装置可以构造为在可耦联的飞行模块和运输模块之间的铰接联接器的联接配合件。
铰接联接器的与联接配合件对应的耦联件在此布置在飞行模块上,从而运输模块能够方向灵活地与飞行模块耦联并且能够实现在不同的运行状态下在飞行模块与运输模块之间的角度调节或倾斜度调节。
因此,运输模块相对于飞行模块的倾斜度可以被这样改变,使得例如在飞行运行中即使在用于飞行模块的控制输入出现偏差的情况下也能够确保运输模块的舒适的竖直定向。随着运输模块相对于飞行模块并且此外相对于地表面的倾斜度发生变化、即增大或减小,能够改善对于要运输的人员的飞行体验以及能够使得货物在运送舱中的固定变得不必要或能够至少简化该固定。
耦联装置可以构造为,使耦联连接的倾斜度、即运输模块相对于飞行模块的倾斜度也能在飞行运行期间被调整和/或能通过力矩平衡自主地调节,例如其方式为,运输模块的质量、尤其是运送舱的质量围绕耦联装置的一个点摆动,该耦联装置在闭合状态下构成浮动轴承。
此外,飞行器的重心可以在关于飞行模块的中央区域中定心,从而能够改善飞行器的可控制性和可调节性。尽管存在运送舱相对于耦联装置的通过杆给定的距离,由要运输的人员和/或货物产生的力矩仍能够容易地通过作为铰接耦联器的构造来平衡。
耦联装置优选可以这样构造,使得飞行模块的正确耦接在任何有效负载下始终得到确保。此外,耦联装置可以具有用于操纵按规定的连接的控制机构以及具有用于在未负载的状态下手动脱开该连接的安全机构。耦联装置可以具有减振装置,该减振装置例如可构造用于缓冲硬的降落冲击。
按照不同的设计变型方案,耦联装置可以构造为可控制的。这能够有利地实现对耦联过程的远程控制。此外可以根据不同条件实施耦接或分离。例如,仅在运送舱已接触地面的情况下才可以实现分离。这能够有助于提高安全性。
按照不同的设计变型方案,运输模块可以具有纤维复合材料或可以由纤维复合材料制成。优选地,运送舱和/或杆可以具有纤维复合材料或可以由纤维复合材料制成。
纤维复合材料例如可以是纤维增强塑料,例如碳纤维增强塑料、玻璃纤维增强塑料或玄武岩纤维增强塑料。
纤维复合材料可以具有专门的织物纤维增强元件。织物纤维增强可以以面状的或带状的编织物(Geweben)、纬编针织物(Gestricken)、经编针织物(Gewirken)或编结物(Geflechten)的形式引入到塑料基体中。
纤维复合材料的使用实现改善运输模块的稳定性与质量的关系,因为由纤维复合材料制造的构件在具有良好直至非常良好的机械特性、例如强度、弹性模量、冲击韧性的同时具有小的质量。
按照不同的设计变型方案,运输模块、优选运送舱可以具有一个或多个空气引导装置。
空气引导装置可以作为升力和飞行辅助机构用于提升飞行模块的效率以及用于稳定和/或改善流动特性。
空气引导装置可以静止地或可运动地布置。空气引导装置可以构造成翼状的、例如板形的或略微拱形的。可选地,空气引导装置相对于运输模块或运送舱的位置可以构造为可转动或可线性移动的。
在一种设计变型方案中,翼状的、基本上平行于杆的纵向延伸方向垂直定向的平板可以作为空气引导装置布置在与运输模块的巡航方向相反的背侧上。这样构造的空气引导装置可以作为输送模块的尾翼起作用,所述尾翼在飞行期间将运输模块保持在相对于其高度轴线或纵向轴线的稳定位置中。
在另一种实施方式中,一个或多个空气引导装置可以布置在运送舱的下部区域中且例如借助于紧固弓形件紧固。紧固弓形件可以遵循运送舱的下部区域的形状。
紧固弓形件可以在运送舱上以可转动地支承的方式布置,并且空气引导装置可以在各一个紧固弓形件上以可转动地支承的方式布置。空气引导装置以此能够根据需要被上翻紧靠到运送舱上或被下翻(abklappen)远离该运送舱。
在起飞和降落时,空气引导装置可以被上翻靠置到运送舱上,以便尽可能不对空气流产生负面影响。在耦接有运输模块的飞行器的巡航飞行(向前飞行)期间,空气引导装置可以被翻出并且由于其空气动力学升力而帮助支承运输模块。因此,需要承担较少的支承工作并且能够施加更多功率用于向前飞行。
附图说明
本发明的其他优点能够从附图以及所属描述看出。其中:
图1示出运输模块的示例图;
图2示出耦接有飞行模块的运输模块的示例图;
图3示出运输模块的一个侧视图的示意图;
图4示出运输模块的另一个侧视图的示意图;
图5示出耦接有飞行模块的运输模块的侧视图的示意图;
图6以侧视图示出具有空气引导装置的运输模块的示意图;以及
图7以另一个侧视图示出具有另外的空气引导装置的运输模块的示意图。
具体实施方式
在下文阐述的示例中参考了附图,这些附图形成各示例的一部分并且在这些附图中为了说明而示出了特定的实施方式,本发明可在这些特定的实施方式中执行。就此而言,方向术语,如“上”、“下”、“前”、“后”、“前部”、“后部”等参考所描述的附图的定向来使用。因为各实施方式的部件可以在多个不同的定向中定位,所以所述方向术语用于进行说明并且绝不是限制性的。
当然,在不偏离本发明的保护范围的情况下,可使用其他实施方式并且可进行结构上的或逻辑上的改变。当然是,除非另有特定说明,否则在这里所描述的不同的示例性实施方式的特征可相互组合。以下详细的描述因此不应在限制性的意义下理解,并且本发明的保护范围通过附上的权利要求来限定。
在本说明书的范围内,术语“连接”、“连结”以及“耦联”被用于描述直接和间接的连接、直接或间接的连结以及直接或间接的耦联。在附图中,相同或类似的元件设有相同的附图标记,只要这是适宜的。
图1示出用于垂直起飞和降落的飞行器的运输模块1的示例图,该飞行器用于运送人员。运输模块1具有构造成液滴状的运送舱2,其中,液滴形状在飞行器的飞行状态下(见图2)基本上竖直地延伸。液滴形状在宽度方面被减小,如也在图1和2中以及特别是在图4中能看出的那样。
运送舱2具有两个相对置的门8,要运输的人员可通过所述门进入和离开运送舱2。门8的门扇在该实施例中构造成圆形的,但所述门扇可以具有任意其他形状。
门8可以经由用于可运动地附接的设备与运送舱2连接(示意性地作为将门包住的弓形件示出)。门可以以借助于转动铰链系统可打开或可关上的方式或以借助于轨道系统可移动的方式布置在运送舱2上。
运送舱2构造成完全封闭的并且具有部分透明的罩,从而人员能够从运送舱2中向外看。
可选地,运送舱2可以具有充电模块,该充电模块具有一个或多个可充电的蓄能器。
在运送舱的内部布置有配备安全带和气囊的座椅、空调装置、显示器以及用于与飞行模块、其他飞行器或地面站进行通信的通信装置(未示出)。
运送舱2能借助于连接装置3与飞行模块5连接。为此,连接装置3具有纵向延伸的、旋转对称地构造的杆6,所述杆的一个端部具有耦联装置4并且另一个端部连结到运送舱2上。
杆6构造为这样延伸,使得在运送舱2和耦联装置4之间建立安全高度距离7。安全高度距离7通过杆6的长度确定。安全高度距离7或杆6的长度与运送舱2的高度总共具有在运送舱3的停放面上方例如3m的高度,其中,运送舱3例如具有2m的高度,并且安全高度距离7或杆6的长度为1.0m。
杆6以及运送舱3具有纤维复合材料、例如碳纤维增强塑料或玻璃纤维增强塑料,由此运输模块1由于机械特性非常好以及同时质量小而突出。
耦联装置4构造为在可耦联的飞行模块5和运输模块1之间的铰接联接器的联接配合件。对应的耦联件在此布置在飞行模块5上,从而运输模块1和飞行模块5能够彼此耦联并且彼此之间能够占据灵活的倾斜位置。
耦联装置4可以构造为可控制的,从而能够针对性、例如自动化地建立或脱开运输模块1和飞行模块5之间的连接。
图2示出图1的耦接有飞行模块5的运输模块1,其中,运输模块1和飞行模块5共同形成飞行器。运输模块1居中地布置在飞行模块5下方并且能借助运输模块1的在这里未示出的支架装置存放在放置面上。飞行模块5具有多个在支承结构9上布置在一个平面中的驱动单元10,其中,支承结构9具有在节点上相互连接的支承梁11并且每个驱动单元10具有电动马达和与电动马达作用连接的螺旋桨。借助飞行模块5,运输模块1能够从地面被提起并且被运输,其中,支架装置在起飞时被上翻靠置到运送舱上。
图3以侧视图示意性示出图1的运输模块1。除了结合图1所描述的部件以外,从图3能看出安全高度距离7,该安全高度距离通过杆6的长度来确定。
图4从相比于图3围绕杆6的纵向轴线转动了90°的视角以另一个侧视图示意性示出图1的运输模块1。
图5以示意侧视图示出按照图2的耦接有飞行模块5的运输模块1,其中能看出参考图2描述的部件。
图6示出运输模块1,该运输模块具有空气引导装置12。该空气引导装置翼状地构造为垂直定向的平板并且安装在与运输模块1的巡航方向相反的背侧上(图6:运输模块1的飞行方向处于图平面中,运输模块1向右运动)。空气引导装置12作为尾翼起作用,所述尾翼在飞行期间将运输模块1保持在相对于其高度轴线或纵向轴线的稳定位置中。
空气引导装置12可以以静止的或可转动运动的方式紧固在运输模块1上。此外,空气引导装置12相对于运输模块1的位置可以是能移动的、例如线性地进一步移出或移入。
可以安装有另外的空气引导装置12,以便引起在运输模块1处的空气流动方面的进一步的稳定效果或改善。
图7示出具有两个另外的空气引导装置12的运输模块1,所述空气引导装置用作升力辅助装置,该升力辅助装置用于在运输模块1的巡航飞行(向前飞行)期间产生运输模块1的附加升力。
各空气引导装置12分别具有一个翼部,所述翼部构造成板形的或略微拱形的,其中,板平面沿运输模块1的飞行方向延伸(图7:运输模块1的飞行方向垂直于图平面),从而在图7中只能看出扁平的翼部的以线表示的横截面。
空气引导装置12可以借助于两个紧固弓形件13紧固在运送舱2的下部区域中,其中,紧固弓形件13可以构造成以可转动的方式支承在运送舱2上,并且翼部可以构造成以可转动的方式支承在各一个紧固弓形件13上。紧固弓形件13可以遵循运送舱2的下部区域的形状。因此,空气引导装置12可以被上翻紧靠到运送舱2上并且可在需要的情况下远离该运送舱被下翻(图7:具有双向箭头的点线)。
在起飞和降落时,翼部被上翻靠置到运送舱2上,以便尽可能不对空气流产生负面影响。在运输模块1的巡航飞行(向前飞行)期间,翼部可以被翻出并且基于其空气动力学的升力而帮助支承运输模块1,从而总体上需要承担较少的支承工作并且因此更多的功率可用于向前飞行。
优选地,翼部布置在运输模块1的下部区域中,因为在这里由于与运输模块1连接的飞行模块5(未示出)的螺旋桨的流出气流所导致的影响是最小的。
根据图6和7的实施方式的所有空气装置12可以构造为能在其相对于运输模块1的运送舱2的定向中以可控制的方式进行调节,从而在飞行运行期间的功能能够优化地与流动情况等相匹配。
在此所使用的表述“和/或”——当其在一系列的两个或多个元件中使用时——表示:所列举的元件中的每个元件可单独地使用,或者,可使用所列举的元件中的两个或更多元件的每种组合。
如果例如描述了包含成分A、B和/或C的关系,则该关系可包含如下成分:单独A;单独B;单独C;A和B组合;A和C组合;B和C组合;或A、B和C组合。
附图标记列表
1 运输模块
2 运送舱
3 连接装置
4 耦联装置
5 飞行模块
6 杆
7 安全高度距离
8 门
9 支承结构
10 驱动单元
11 支承梁
12 空气引导装置
13 紧固弓形件
Claims (12)
1.一种用于垂直起飞和降落的飞行器的运输模块(1),所述飞行器用于运输人员和/或货物,所述运输模块具有运送舱(2)和用于将所述运送舱(2)与飞行模块(5)连接的连接装置(3),其特征在于,所述连接装置(3)具有纵向延伸的杆(6),所述杆的一个端部具有耦联装置(4)并且所述杆的另一个端部连结到所述运送舱(2)上。
2.按照权利要求1所述的运输模块(1),其特征在于,所述杆(6)构造为这样延伸,使得在所述运送舱(2)上方建立所述耦联装置(4)的安全高度距离(7)。
3.按照上述权利要求中任一项所述的运输模块(1),其特征在于,所述杆(6)构造为基本上旋转对称的。
4.按照上述权利要求中任一项所述的运输模块(1),其特征在于,所述杆(6)的长度和所述运送舱3的高度总共具有在所述运送舱3的放置面上方至少2.5m的高度、优选3m的高度。
5.按照上述权利要求中任一项所述的运输模块(1),其特征在于,所述运送舱(2)构造为基本上液滴状的。
6.按照权利要求5所述的运输模块(1),其特征在于,所述运送舱(2)的用于连结所述杆(6)的连结区域具有用于过渡到所述杆(6)的横截面上的横截面缩小部。
7.按照上述权利要求中任一项所述的运输模块(1),其特征在于,所述运送舱(2)具有充电模块。
8.按照上述权利要求中任一项所述的运输模块(1),其特征在于,所述耦联装置(4)构造为在可耦联的飞行模块(5)和所述运输模块(1)之间的铰接联接器的联接配合件。
9.按照上述权利要求中任一项所述的运输模块(1),其特征在于,所述耦联装置(4)构造为可控制的。
10.按照上述权利要求中任一项所述的运输模块(1),其特征在于,所述运输模块(1)具有纤维复合材料或由纤维复合材料制成,优选所述杆(6)和/或所述运送舱(2)具有纤维复合材料或由纤维复合材料制成。
11.按照上述权利要求中任一项所述的运输模块(1),其特征在于,所述运输模块(1)、优选所述运送舱(2)具有支架装置。
12.按照上述权利要求中任一项所述的运输模块(1),其特征在于,所述运输模块(1)、优选所述运送舱(2)具有一个或多个空气引导装置(12)。
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- 2018-12-13 US US16/772,213 patent/US20210070436A1/en active Pending
- 2018-12-13 CN CN201880080579.3A patent/CN111542475A/zh active Pending
- 2018-12-13 DE DE112018006403.4T patent/DE112018006403A5/de active Pending
- 2018-12-13 DE DE112018006409.3T patent/DE112018006409A5/de active Pending
- 2018-12-13 US US16/772,217 patent/US20210206489A1/en active Pending
- 2018-12-13 EP EP18842512.8A patent/EP3724073A1/de active Pending
- 2018-12-13 EP EP18842511.0A patent/EP3724077A1/de active Pending
- 2018-12-13 EP EP18842510.2A patent/EP3724070A1/de active Pending
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EP3724077A1 (de) | 2020-10-21 |
WO2019114884A1 (de) | 2019-06-20 |
US11603199B2 (en) | 2023-03-14 |
US20210206489A1 (en) | 2021-07-08 |
CN111491864A (zh) | 2020-08-04 |
WO2019114886A1 (de) | 2019-06-20 |
US20210206511A1 (en) | 2021-07-08 |
EP3724070A1 (de) | 2020-10-21 |
EP3724073A1 (de) | 2020-10-21 |
DE112018006356A5 (de) | 2020-10-01 |
US20210070436A1 (en) | 2021-03-11 |
WO2019114887A1 (de) | 2019-06-20 |
EP3724069A1 (de) | 2020-10-21 |
DE112018006339A5 (de) | 2020-08-27 |
US20210070470A1 (en) | 2021-03-11 |
CN111542474A (zh) | 2020-08-14 |
EP3724072A1 (de) | 2020-10-21 |
WO2019114888A1 (de) | 2019-06-20 |
WO2019114885A1 (de) | 2019-06-20 |
DE112018006403A5 (de) | 2020-10-29 |
DE112018006375A5 (de) | 2020-10-08 |
WO2019114888A8 (de) | 2019-11-28 |
CN111542476A (zh) | 2020-08-14 |
US20210070444A1 (en) | 2021-03-11 |
DE112018006409A5 (de) | 2020-10-29 |
CN111886180A (zh) | 2020-11-03 |
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