CN113508278A - Measuring system - Google Patents
Measuring system Download PDFInfo
- Publication number
- CN113508278A CN113508278A CN202080017550.8A CN202080017550A CN113508278A CN 113508278 A CN113508278 A CN 113508278A CN 202080017550 A CN202080017550 A CN 202080017550A CN 113508278 A CN113508278 A CN 113508278A
- Authority
- CN
- China
- Prior art keywords
- preparation
- magnetic permeability
- component
- movably mounted
- regions
- 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.)
- Pending
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- 230000005291 magnetic effect Effects 0.000 claims abstract description 33
- 230000035699 permeability Effects 0.000 claims abstract description 29
- 229910001220 stainless steel Inorganic materials 0.000 claims abstract description 16
- 239000010935 stainless steel Substances 0.000 claims abstract description 16
- 230000001419 dependent effect Effects 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 8
- 239000003302 ferromagnetic material Substances 0.000 claims description 4
- 230000002706 hydrostatic effect Effects 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 2
- 238000002360 preparation method Methods 0.000 claims 10
- 238000007789 sealing Methods 0.000 claims 1
- 230000005294 ferromagnetic effect Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/147—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the movement of a third element, the position of Hall device and the source of magnetic field being fixed in respect to each other
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D25/00—Fluid-actuated clutches
- F16D25/08—Fluid-actuated clutches with fluid-actuated member not rotating with a clutching member
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D25/00—Fluid-actuated clutches
- F16D25/08—Fluid-actuated clutches with fluid-actuated member not rotating with a clutching member
- F16D2025/081—Hydraulic devices that initiate movement of pistons in slave cylinders for actuating clutches, i.e. master cylinders
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2300/00—Special features for couplings or clutches
- F16D2300/18—Sensors; Details or arrangements thereof
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/20—Detecting rotary movement
- G01D2205/28—The target being driven in rotation by additional gears
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention relates to a measuring system comprising a magnetic field-dependent sensor which is arranged opposite a movably mounted element (6) for detecting a state or movement of the movably mounted element, wherein the movably mounted element (6) has a magnetic permeability. In a measuring system which is simple and robust, the movably mounted component (6) is formed at least partially from stainless steel, wherein at least one region (10, 15, 16) having a predetermined magnetic permeability is integrated in the stainless steel in the direction of movement of the component (6).
Description
Technical Field
The invention relates to a measuring system comprising a magnetic field-dependent sensor which is arranged opposite a movably mounted element for detecting a state or a movement of the movably mounted element, wherein the movably mounted element has a magnetic permeability, and to a device for determining a position of an actuator in a hydrostatic actuator system according to the preamble of claim 9.
Background
Sensor systems and piston-cylinder arrangements are known from DE 102012219173 a 1. The sensor system comprises a switching point sensor which is mounted opposite the magnet, wherein the magnet passing through the switching point sensor is mechanically fixed to the linearly movable element. This increases the cost for the sensor system, since the magnet material is very expensive.
DE 102012218605 DE discloses an inductive switching point sensor for a clutch-cylinder arrangement, which has a primary coil connected to a current source and at least one secondary coil, which is swept by a movably mounted conductive target in order to identify a switching point. With the aid of the device, although the magnet can be dispensed with, the manufacture of the device is very costly.
Disclosure of Invention
The invention is based on the object of providing a measuring system which is robust and nevertheless can be produced at low cost.
According to the invention, this object is achieved in that the movably mounted component is at least partially made of stainless steel, wherein at least one region having a predetermined magnetic permeability is integrated in the stainless steel in the direction of movement of the component. This has the following advantages: magnetic regions within the stainless steel are identified because stainless steel has locally different magnetic properties. Thereby detecting movement of the member. Thus, expensive magnet materials can be discarded. Such a measurement system is simple in manufacture and nevertheless robust and reliable in application. In addition, permeability is to be understood as the permeability to magnetic fields.
Advantageously, a plurality of regions of the same magnetic permeability arranged at a distance from one another extend in the stainless steel in the direction of movement of the component. In this way, the respective position of the moving component can be detected easily by the sensor.
In one embodiment, a plurality of regions of different magnetic permeability arranged at a distance from one another extend in the stainless steel in the direction of movement of the component. The regions with different magnetic permeability improve the accuracy of the position recognition of the component.
In one variant, the regions of magnetic permeability have different sizes and/or shapes. Thereby refining the location or state identification.
In one embodiment, the magnetic permeability is formed in the region as a structure. Thereby, a high accuracy can be achieved when measuring the movement of the member.
In a further embodiment, the magnetic-field-dependent sensor is directly opposite the movably mounted component and carries a counter-bias magnet on the side facing away from the component. By means of the reverse bias magnet, the bias voltage on the sensor is set, thereby increasing the sensor signal, which simplifies its evaluation.
In a further variant, the magnetic permeability of the regions is realized by a ferromagnetic material. Ferromagnetic is the most common magnetic property, making this material low cost in use.
In the described measuring system, the component is mounted in a linearly or rotationally movable manner, wherein the sensor detects a linear change in position or a linear change in angle. Therefore, the measurement system can be used variously.
One development of the invention relates to a device for determining the position of an actuator in a hydrostatic actuator system of a clutch actuation system, preferably in a vehicle, wherein an electric motor for supplying hydraulic fluid in a control unit of the actuator system has a rotor shaft for interacting with a measuring system for determining the angular position of the rotor shaft. The measuring system is configured here according to at least one of the features described in the present application.
Advantageously, the rotor shaft is designed as a sealed tube (spaaltrohr) which has a plurality of regions of the same and/or different magnetic permeability in the direction of movement. Such a robust and low-cost motor shaft can be simply mass-produced and requires less construction space, so that the size of the apparatus including the motor shaft can be reduced.
Drawings
The invention allows for a variety of embodiments. Several embodiments of which will be explained in detail on the basis of the figures shown in the drawings.
The figures show:
figure 1 shows an embodiment of the device according to the invention,
figure 2 shows an embodiment of the measuring system according to the invention,
fig. 3 shows an exemplary embodiment of the movably mounted component according to fig. 1.
Detailed Description
Fig. 1 shows an exemplary embodiment of a device according to the present invention in the form of a hydraulic actuator 1 for carrying out the method according to the present invention. The hydraulic clutch actuator 1 comprises a control device 2 which actuates an electric motor to actuate the clutch actuator 1. The control device 2 is designed as a module, which is connected to the hydraulic module 3. When the position of the clutch actuator 1 changes, the threaded rod 4 is movable on both sides along the axial actuator path. The screw 4 is driven by an electric motor having a stator 5. Radially inside the stator 5, a rotor shaft 6 is mounted, which engages the spindle 4 via a planetary roller gear, not shown in detail. The rotor shaft is made of stainless steel and has a plurality of magnetic regions 10 in the direction of rotation. The planetary roller gear is covered by a sleeve 7. At the end 4.1 of the spindle 4 facing away from the control device 2, a pressure piece 8 is fastened, which acts on a component of the hydraulic line, not shown in detail, such as a master cylinder. A bellows 11 extends between the pressure element 8 and the hydraulic module 3, said bellows protecting the actuator 1 from contamination.
In order to be able to move the screw 4 to a desired position, the motor is operated in a commutated manner. For this purpose, the rotational movement of the rotor shaft 6 must be detected. This is done by the measuring system 12, as shown in fig. 2. The rotor shaft 6 is made of stainless steel having a predetermined magnetic permeability μ 1. Along the direction of movement of the rotor shaft 6, regions 10 with ferromagnetic material are integrated at the same pitch. Opposite the region 10, a hall sensor 13 is arranged, which has a counter-bias magnet 14 on its side facing away from the rotor shaft 6. By means of the counter-bias magnet 14, the signal of the hall sensor 13 is magnetically biased, so that local differences in the magnetic properties can be reliably detected when the rotor shaft 6 moves past the hall sensor 13.
Fig. 3 shows a different embodiment of a ferromagnetic region 10, which can be integrated in a rotor shaft 6 made of stainless steel. Fig. 3a shows a plan view of the rotor shaft 6 with regions 10 which are uniformly spaced apart from one another and have the same magnetic permeability μ 2, the magnetic permeability μ 2 being different from the magnetic permeability μ 1 of stainless steel.
In fig. 3b, rectangular regions 10, 15, 16 are shown, which have different magnetic permeabilities. In addition to the permeability μ 2 of the region 10, the region 15 has a permeability μ 3, while the region 16 has a permeability μ 4. The regions 10, 15, 16 may also be configured to have different widths.
In order to simplify the condition monitoring of the component, the ferromagnetic regions can have structures with different ferromagnetic properties. The ferromagnetic properties can be achieved by a structure of squares 17 or circles 18 or triangles 19 or semi-circles 20 etc. (fig. 3 c).
The solution is not limited to angle detection by means of a rotor position sensor, but can also be used for linear motion detection.
Description of the reference numerals
1 hydrostatic clutch actuator 2 control device 3 hydraulic module 4 stator 5 stator 6 rotor 7 sleeve 8 pressure piece 10 area 11 bellows 12 measurement system 13 hall sensor 14 area 16 reverse bias magnet 15 area 16 area 17 square 18 area with ferromagnetic material triangle 20 semi circle.
Claims (10)
1. A measuring system comprising a sensor which is associated with a magnetic field and which is arranged opposite a movably mounted component (6) for detecting a state or a movement of the movably mounted component (6), wherein the movably mounted component (6) has a magnetic permeability,
it is characterized in that the preparation method is characterized in that,
the movably mounted component (6) is at least partially made of stainless steel, wherein at least one region (10, 15, 16) having a predetermined magnetic permeability is integrated in the stainless steel in the direction of movement of the component (6).
2. The measuring system as set forth in claim 1,
it is characterized in that the preparation method is characterized in that,
in the direction of movement of the component (6), a plurality of regions (10) arranged at a distance from one another and having the same magnetic permeability extend in the stainless steel.
3. The measurement system according to claim 1 or 2,
it is characterized in that the preparation method is characterized in that,
in the direction of movement of the component (6), a plurality of regions (10, 15, 16) arranged at a distance from one another and having different magnetic permeability extend in the stainless steel.
4. Measuring system according to claim 1, 2 or 3,
it is characterized in that the preparation method is characterized in that,
the regions (10, 15, 16) having magnetic permeability have different sizes and/or shapes.
5. Measurement system according to at least one of the preceding claims,
it is characterized in that the preparation method is characterized in that,
the magnetic permeability is formed as a structure (17, 18, 19, 20) in the region (10, 15, 16).
6. Measurement system according to at least one of the preceding claims,
it is characterized in that the preparation method is characterized in that,
the magnetic-field-dependent sensor (13) is directly opposite the movably mounted component (6) and carries a counter-bias magnet (14) on the side facing away from the component (6).
7. Measurement system according to at least one of the preceding claims,
it is characterized in that the preparation method is characterized in that,
the magnetic permeability of the regions (10, 15, 16) is realized by a ferromagnetic material.
8. Measurement system according to at least one of the preceding claims,
it is characterized in that the preparation method is characterized in that,
the device (6) is mounted so as to be linearly or rotationally movable, wherein the sensor (13) detects a change in position or a change in angle.
9. A device for determining the position of an actuator in a hydrostatic actuator system, preferably in a vehicle, wherein an electric motor (5, 6) for delivering hydraulic fluid in a piston unit of the actuator system (1) has a rotor shaft (6) for interacting with a measuring system (12) for determining the angular position of the rotor shaft (6),
it is characterized in that the preparation method is characterized in that,
the measuring system (12) is constructed according to at least one of the preceding claims.
10. The apparatus as set forth in claim 9, wherein,
it is characterized in that the preparation method is characterized in that,
the rotor shaft (6) is designed as a sealing tube which has a plurality of regions (10, 15, 16) of the same and/or different magnetic permeability in the direction of movement.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102019110851.9A DE102019110851A1 (en) | 2019-04-26 | 2019-04-26 | Measuring system |
| DE102019110851.9 | 2019-04-26 | ||
| PCT/DE2020/100146 WO2020216389A1 (en) | 2019-04-26 | 2020-03-04 | Measuring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113508278A true CN113508278A (en) | 2021-10-15 |
Family
ID=69845005
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080017550.8A Pending CN113508278A (en) | 2019-04-26 | 2020-03-04 | Measuring system |
Country Status (4)
| Country | Link |
|---|---|
| KR (1) | KR20220005433A (en) |
| CN (1) | CN113508278A (en) |
| DE (1) | DE102019110851A1 (en) |
| WO (1) | WO2020216389A1 (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA1301884C (en) * | 1989-02-10 | 1992-05-26 | Ivan J. Garshelis | Magnetic position sensor |
| US20050011716A1 (en) * | 2001-09-24 | 2005-01-20 | Rudiger Nitzschke | Module for actuators in a vehicle |
| DE102006049999A1 (en) * | 2006-10-24 | 2008-04-30 | Zf Friedrichshafen Ag | Rotor for use in device i.e. rotational speed sensor, that is used for measuring rotational speed, has metallic structure designed as plate part, which is fastened to base body, where base body is designed as plastic part |
| CN101680777A (en) * | 2007-06-04 | 2010-03-24 | 罗伯特·博世有限公司 | Magnetic field sensor |
| CN102301204A (en) * | 2009-01-27 | 2011-12-28 | 瑞尼斯豪公司 | Magnetic encoder scale |
| CN102301205A (en) * | 2009-01-27 | 2011-12-28 | 瑞尼斯豪公司 | Magnetic encoder apparatus |
| CN102498366A (en) * | 2009-07-28 | 2012-06-13 | 马勒国际有限公司 | Position sensor and linear actuator |
| CN103850773A (en) * | 2014-02-10 | 2014-06-11 | 龙口中宇汽车风扇离合器有限公司 | Clutch |
| CN104205613A (en) * | 2012-04-25 | 2014-12-10 | 舍弗勒技术有限两合公司 | Method and device for determining and/or actuating a position of an electric motor, in particular in a clutch-activation system of a motor vehicle |
| CN105683762A (en) * | 2013-10-29 | 2016-06-15 | 舍弗勒技术股份两合公司 | Sensor system for rotational speed measurement with a pole rotor having a linearized magnetic field |
| CN107076574A (en) * | 2014-09-16 | 2017-08-18 | 舍弗勒技术股份两合公司 | Sensor unit for determining the position of a rotor of an electric motor and electric motor, preferably for a clutch actuator of a clutch actuation system of a motor vehicle |
| CN107645223A (en) * | 2016-07-21 | 2018-01-30 | 舍弗勒技术股份两合公司 | Motor assembly |
| CN107850463A (en) * | 2015-08-28 | 2018-03-27 | 舍弗勒技术股份两合公司 | Angle measuring device for a rotationally driven linear actuator |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012218605A1 (en) | 2011-10-24 | 2013-04-25 | Schaeffler Technologies AG & Co. KG | Inductive switching point sensor for piston-cylinder arrangement of clutch actuation device, has primary coil that generates magnetic field, and secondary coil made of two loops with crossover point marked by electrically conductive target |
| DE102012219173A1 (en) | 2012-10-22 | 2014-04-24 | Schaeffler Technologies Gmbh & Co. Kg | Sensor system and piston-cylinder assembly, in particular for use in a clutch actuation system in a motor vehicle |
-
2019
- 2019-04-26 DE DE102019110851.9A patent/DE102019110851A1/en active Pending
-
2020
- 2020-03-04 CN CN202080017550.8A patent/CN113508278A/en active Pending
- 2020-03-04 KR KR1020217028805A patent/KR20220005433A/en unknown
- 2020-03-04 WO PCT/DE2020/100146 patent/WO2020216389A1/en active Application Filing
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA1301884C (en) * | 1989-02-10 | 1992-05-26 | Ivan J. Garshelis | Magnetic position sensor |
| US20050011716A1 (en) * | 2001-09-24 | 2005-01-20 | Rudiger Nitzschke | Module for actuators in a vehicle |
| DE102006049999A1 (en) * | 2006-10-24 | 2008-04-30 | Zf Friedrichshafen Ag | Rotor for use in device i.e. rotational speed sensor, that is used for measuring rotational speed, has metallic structure designed as plate part, which is fastened to base body, where base body is designed as plastic part |
| CN101680777A (en) * | 2007-06-04 | 2010-03-24 | 罗伯特·博世有限公司 | Magnetic field sensor |
| CN102301204A (en) * | 2009-01-27 | 2011-12-28 | 瑞尼斯豪公司 | Magnetic encoder scale |
| CN102301205A (en) * | 2009-01-27 | 2011-12-28 | 瑞尼斯豪公司 | Magnetic encoder apparatus |
| CN102498366A (en) * | 2009-07-28 | 2012-06-13 | 马勒国际有限公司 | Position sensor and linear actuator |
| CN104205613A (en) * | 2012-04-25 | 2014-12-10 | 舍弗勒技术有限两合公司 | Method and device for determining and/or actuating a position of an electric motor, in particular in a clutch-activation system of a motor vehicle |
| CN105683762A (en) * | 2013-10-29 | 2016-06-15 | 舍弗勒技术股份两合公司 | Sensor system for rotational speed measurement with a pole rotor having a linearized magnetic field |
| CN103850773A (en) * | 2014-02-10 | 2014-06-11 | 龙口中宇汽车风扇离合器有限公司 | Clutch |
| CN107076574A (en) * | 2014-09-16 | 2017-08-18 | 舍弗勒技术股份两合公司 | Sensor unit for determining the position of a rotor of an electric motor and electric motor, preferably for a clutch actuator of a clutch actuation system of a motor vehicle |
| CN107850463A (en) * | 2015-08-28 | 2018-03-27 | 舍弗勒技术股份两合公司 | Angle measuring device for a rotationally driven linear actuator |
| CN107645223A (en) * | 2016-07-21 | 2018-01-30 | 舍弗勒技术股份两合公司 | Motor assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020216389A1 (en) | 2020-10-29 |
| DE102019110851A1 (en) | 2020-10-29 |
| KR20220005433A (en) | 2022-01-13 |
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