CN117905837A - 压力补偿的主动悬架致动器系统 - Google Patents
压力补偿的主动悬架致动器系统 Download PDFInfo
- Publication number
- CN117905837A CN117905837A CN202311820095.7A CN202311820095A CN117905837A CN 117905837 A CN117905837 A CN 117905837A CN 202311820095 A CN202311820095 A CN 202311820095A CN 117905837 A CN117905837 A CN 117905837A
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- CN
- China
- Prior art keywords
- pressure
- volume
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- compression
- expansion
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- 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
Links
Classifications
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/50—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
- F16F9/512—Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/06—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type
- B60G13/08—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type hydraulic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
- B60G15/06—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper
- B60G15/062—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper the spring being arranged around the damper
- B60G15/065—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper the spring being arranged around the damper characterised by the use of a combination of springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/044—Self-pumping fluid springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/056—Regulating distributors or valves for hydropneumatic systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
- F16F9/14—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect
- F16F9/16—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts
- F16F9/18—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein
- F16F9/185—Bitubular units
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/34—Special valve constructions; Shape or construction of throttling passages
- F16F9/348—Throttling passages in the form of annular discs or other plate-like elements which may or may not have a spring action, operating in opposite directions or singly, e.g. annular discs positioned on top of the valve or piston body
- F16F9/3485—Throttling passages in the form of annular discs or other plate-like elements which may or may not have a spring action, operating in opposite directions or singly, e.g. annular discs positioned on top of the valve or piston body characterised by features of supporting elements intended to guide or limit the movement of the annular discs
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/34—Special valve constructions; Shape or construction of throttling passages
- F16F9/348—Throttling passages in the form of annular discs or other plate-like elements which may or may not have a spring action, operating in opposite directions or singly, e.g. annular discs positioned on top of the valve or piston body
- F16F9/3488—Throttling passages in the form of annular discs or other plate-like elements which may or may not have a spring action, operating in opposite directions or singly, e.g. annular discs positioned on top of the valve or piston body characterised by features intended to affect valve bias or pre-stress
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/20—Type of damper
- B60G2202/24—Fluid damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
- B60G2202/413—Hydraulic actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
- B60G2202/416—Fluid actuator using a pump, e.g. in the line connecting the lower chamber to the upper chamber of the actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/102—Acceleration; Deceleration vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/202—Piston speed; Relative velocity between vehicle body and wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/50—Pressure
- B60G2400/51—Pressure in suspension unit
- B60G2400/518—Pressure in suspension unit in damper
- B60G2400/5182—Fluid damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/02—Supply or exhaust flow rates; Pump operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
- B60G2500/11—Damping valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
- B60G2500/11—Damping valves
- B60G2500/114—Damping valves pressure regulating valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/182—Active control means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Vehicle Body Suspensions (AREA)
- Fluid-Damping Devices (AREA)
Applications Claiming Priority (10)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201962816666P | 2019-03-11 | 2019-03-11 | |
| US62/816,666 | 2019-03-11 | ||
| US201962821834P | 2019-03-21 | 2019-03-21 | |
| US62/821,834 | 2019-03-21 | ||
| US201962842088P | 2019-05-02 | 2019-05-02 | |
| US62/842,088 | 2019-05-02 | ||
| US201962863202P | 2019-06-18 | 2019-06-18 | |
| US62/863,202 | 2019-06-18 | ||
| CN202080035381.0A CN113811701B (zh) | 2019-03-11 | 2020-03-11 | 压力补偿的主动悬架致动器系统 |
| PCT/US2020/022193 WO2020185968A1 (en) | 2019-03-11 | 2020-03-11 | Pressure compensated active suspension actuator system |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080035381.0A Division CN113811701B (zh) | 2019-03-11 | 2020-03-11 | 压力补偿的主动悬架致动器系统 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117905837A true CN117905837A (zh) | 2024-04-19 |
Family
ID=72428070
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311820095.7A Pending CN117905837A (zh) | 2019-03-11 | 2020-03-11 | 压力补偿的主动悬架致动器系统 |
| CN202080035381.0A Active CN113811701B (zh) | 2019-03-11 | 2020-03-11 | 压力补偿的主动悬架致动器系统 |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080035381.0A Active CN113811701B (zh) | 2019-03-11 | 2020-03-11 | 压力补偿的主动悬架致动器系统 |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US12479259B2 (https=) |
| EP (1) | EP3938677A4 (https=) |
| JP (3) | JP2022524427A (https=) |
| CN (2) | CN117905837A (https=) |
| WO (1) | WO2020185968A1 (https=) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018222821A1 (en) * | 2017-05-31 | 2018-12-06 | ClearMotion, Inc. | Pilot operated blow-off valves for hydraulic actuators |
| US12459322B2 (en) * | 2017-06-08 | 2025-11-04 | ClearMotion, Inc. | Independent and cross-linked hydraulic actuator systems |
| US11193427B2 (en) * | 2018-04-27 | 2021-12-07 | Hamilton Sundstrand Corporation | Passive active poppet-type bleed valves |
| US11912092B2 (en) | 2021-10-12 | 2024-02-27 | DRiV Automotive Inc. | Suspension leak check systems and methods |
| US11865887B2 (en) | 2021-10-12 | 2024-01-09 | DRiV Automotive Inc. | Suspension system with incremental roll and pitch stiffness control |
| US12097739B2 (en) | 2021-10-12 | 2024-09-24 | DRiV Automotive Inc. | Pump rinsing systems and methods |
| US12059937B2 (en) | 2021-10-12 | 2024-08-13 | DRiV Automotive Inc. | Suspension system with roll and pitch stiffness deactivation based on road profile information |
| US11938772B2 (en) | 2021-10-12 | 2024-03-26 | DRiV Automotive Inc. | System for grading filling of a hydraulic suspension system |
| US11904841B2 (en) | 2021-10-12 | 2024-02-20 | DRiV Automotive Inc. | Suspension system integration with advanced driver assistance system |
| US11691474B2 (en) | 2021-10-12 | 2023-07-04 | DRiV Automotive Inc. | Suspension system tank filling systems and methods |
| US11685220B2 (en) | 2021-10-12 | 2023-06-27 | DRiV Automotive Inc. | Control systems and methods for suspension systems |
| US11865889B2 (en) | 2021-10-12 | 2024-01-09 | DRiV Automotive Inc. | Suspension system with comfort valves between cross-over hydraulic circuits |
| US11919355B2 (en) | 2021-10-12 | 2024-03-05 | DRiV Automotive Inc. | Valve diagnostic systems and methods |
| US11697319B2 (en) | 2021-10-12 | 2023-07-11 | DRiV Automotive Inc. | Suspension system with comfort valve integration |
| US12168378B2 (en) | 2021-10-12 | 2024-12-17 | DRiV Automotive Inc. | Accumulator check systems and methods |
| US20230356558A1 (en) * | 2022-05-04 | 2023-11-09 | Fox Factory, Inc. | Shock assembly with by-pass and hydraulic adjust |
| JP2025166273A (ja) * | 2022-09-22 | 2025-11-06 | カヤバ株式会社 | シリンダ装置 |
| DE102022129265A1 (de) * | 2022-11-07 | 2024-05-08 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Hydrauliksystem für einen hydraulisch verstellbaren Fahrzeugstoßdämpfer |
| CN119554361A (zh) * | 2024-12-06 | 2025-03-04 | 中国第一汽车股份有限公司 | 主动悬架执行器、系统、调节方法及车辆 |
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| US2886142A (en) * | 1957-02-27 | 1959-05-12 | Chicago Railway Equipment Co | Vibration damping apparatus |
| FR1367698A (fr) | 1963-06-13 | 1964-07-24 | Renault | Perfectionnements aux amortisseurs |
| DE1555311A1 (de) | 1966-04-16 | 1970-08-20 | Fichtel & Sachs Ag | In Abhaengigkeit von der Federbelastung selbsttaetig regelbarer Schwingungsdaempfer |
| DE1755478A1 (de) * | 1968-05-14 | 1971-11-25 | Langen & Co | Abfederungsvorrichtung fuer Fahrzeuge mit automatischem Lastausgleich |
| DE2128591A1 (de) | 1971-06-09 | 1972-12-28 | Langen & Co, 4000 Düsseldorf | Hydro-pneumatischer Federungszylinder |
| FR2575254B1 (fr) * | 1984-12-20 | 1989-06-02 | Sirven Jacques | Amortisseur pour suspension de vehicule automobile |
| DE3524862A1 (de) * | 1985-04-12 | 1986-10-30 | Robert Bosch Gmbh, 7000 Stuttgart | Vorrichtung zur daempfung von bewegungsablaeufen |
| DE3610937A1 (de) * | 1986-04-02 | 1987-10-08 | Bosch Gmbh Robert | Vorrichtung zur daempfung von bewegungsablaeufen |
| JPH0696363B2 (ja) * | 1986-06-10 | 1994-11-30 | 日産自動車株式会社 | 能動型サスペンシヨン |
| US4863002A (en) * | 1988-08-10 | 1989-09-05 | General Motors Corporation | Active vehicle suspension apparatus with suspension velocity responsive actuator unloading |
| US5016908A (en) * | 1989-03-13 | 1991-05-21 | Monroe Auto Equipment Company | Method and apparatus for controlling shock absorbers |
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| JP4009396B2 (ja) | 1999-09-03 | 2007-11-14 | カヤバ工業株式会社 | ロードセンシング制御回路 |
| JP2002031101A (ja) | 2000-07-17 | 2002-01-31 | Nanbu:Kk | シリンダ装置の冷却方法 |
| ES2329112T3 (es) * | 2000-09-28 | 2009-11-23 | Graeme K. Robertson | Sistema de suspension. |
| NL1019313C2 (nl) | 2001-11-06 | 2003-05-12 | Koni Bv | Schokdemper met frequentie afhankelijke demping. |
| US8376100B2 (en) | 2008-04-17 | 2013-02-19 | Levant Power Corporation | Regenerative shock absorber |
| US8392030B2 (en) | 2008-04-17 | 2013-03-05 | Levant Power Corporation | System and method for control for regenerative energy generators |
| US8839920B2 (en) | 2008-04-17 | 2014-09-23 | Levant Power Corporation | Hydraulic energy transfer |
| DE102010023434A1 (de) | 2010-06-11 | 2011-12-15 | Daimler Ag | Gasfederdämpfervorrichtung |
| EP3643918B1 (en) * | 2010-06-16 | 2023-08-02 | ClearMotion, Inc. | Integrated energy generating damper |
| DE102011102537A1 (de) * | 2011-05-26 | 2012-02-16 | Daimler Ag | Feder- und/oder Dämpfervorrichtung |
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| US9481221B2 (en) * | 2013-01-08 | 2016-11-01 | Tenneco Automotive Operating Company Inc. | Passive and active suspension with optimization of energy usage |
| US20140190778A1 (en) * | 2013-01-09 | 2014-07-10 | Penske Racing Shocks | Inerting damper with regressive characteristics |
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| DE102013110924B4 (de) * | 2013-10-01 | 2018-02-08 | Grammer Ag | Fahrzeug mit kraftgesteuertem Dämpfer mit Regelventil |
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| DE102015104388A1 (de) * | 2015-03-24 | 2016-09-29 | Thyssenkrupp Ag | Schwingungsdämpfer mit einer frequenzselektiven Dämpfungseinrichtung |
| NL2014718B1 (en) * | 2015-04-24 | 2017-01-18 | Koni Bv | Frequency selective damper valve, and shock absorber comprising such damper valve. |
| BE1023718B1 (nl) * | 2016-01-01 | 2017-06-26 | Shi Yan | Schokdemper met frequentie afhankelijk zuigersamenstel |
| US10933703B2 (en) * | 2016-03-09 | 2021-03-02 | Equalaire Systems, Inc. | Pressure equalization valve assembly |
| WO2017210492A1 (en) | 2016-06-02 | 2017-12-07 | ClearMotion, Inc. | Systems and methods for managing noise in compact high speed and high force hydraulic actuators |
| DE102016216544A1 (de) * | 2016-09-01 | 2018-03-01 | Zf Friedrichshafen Ag | Schwingungsdämpfer sowie Kraftfahrzeug |
| CN106394159B (zh) * | 2016-10-25 | 2018-12-21 | 张家口舒狮汽车科技有限公司 | 车辆悬架和车辆 |
| WO2018222821A1 (en) * | 2017-05-31 | 2018-12-06 | ClearMotion, Inc. | Pilot operated blow-off valves for hydraulic actuators |
| US11999214B2 (en) * | 2018-06-14 | 2024-06-04 | ClearMotion, Inc. | Accumulators for a distributed active suspension system |
| US11440366B1 (en) * | 2018-10-03 | 2022-09-13 | ClearMotion, Inc. | Frequency dependent pressure and/or flow fluctuation mitigation in hydraulic systems |
-
2020
- 2020-03-11 CN CN202311820095.7A patent/CN117905837A/zh active Pending
- 2020-03-11 US US17/437,612 patent/US12479259B2/en active Active
- 2020-03-11 CN CN202080035381.0A patent/CN113811701B/zh active Active
- 2020-03-11 WO PCT/US2020/022193 patent/WO2020185968A1/en not_active Ceased
- 2020-03-11 EP EP20769321.9A patent/EP3938677A4/en active Pending
- 2020-03-11 JP JP2021554636A patent/JP2022524427A/ja active Pending
-
2024
- 2024-08-09 JP JP2024134665A patent/JP7752222B2/ja active Active
-
2025
- 2025-09-29 JP JP2025162100A patent/JP2026009126A/ja active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| US12479259B2 (en) | 2025-11-25 |
| JP2022524427A (ja) | 2022-05-02 |
| US20220185056A1 (en) | 2022-06-16 |
| EP3938677A4 (en) | 2022-12-14 |
| JP7752222B2 (ja) | 2025-10-09 |
| CN113811701A (zh) | 2021-12-17 |
| JP2024149922A (ja) | 2024-10-21 |
| WO2020185968A1 (en) | 2020-09-17 |
| JP2026009126A (ja) | 2026-01-19 |
| CN113811701B (zh) | 2024-01-19 |
| EP3938677A1 (en) | 2022-01-19 |
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