CN209566758U - Hydro-pneumatic suspension system and vehicle - Google Patents
Hydro-pneumatic suspension system and vehicle Download PDFInfo
- Publication number
- CN209566758U CN209566758U CN201920068465.9U CN201920068465U CN209566758U CN 209566758 U CN209566758 U CN 209566758U CN 201920068465 U CN201920068465 U CN 201920068465U CN 209566758 U CN209566758 U CN 209566758U
- Authority
- CN
- China
- Prior art keywords
- control valve
- oil cylinder
- fluid port
- hydraulic fluid
- hydro
- 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.)
- Active
Links
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
The utility model discloses a kind of hydro-pneumatic suspension system and vehicles.At least two hanging oil cylinder groups and control valve group that hydro-pneumatic suspension system includes hydraulic pump, is correspondingly arranged at least two vehicle bridge with vehicle, control valve group is set between hydraulic pump and at least two hanging oil cylinder groups so that for controlling the movement of hanging oil cylinder group, control valve group includes respectively corresponding the control valve block of setting with each hanging oil cylinder in hanging oil cylinder group to realize the independent control to hanging oil cylinder.The hydro-pneumatic suspension system of the utility model improves the obstacle performance of hydro-pneumatic suspension system by being respectively provided with corresponding control valve block to each hanging oil cylinder so as to be independently controlled according to different road conditions to hanging oil cylinder.
Description
Technical field
The utility model relates to Suspension Technique field, in particular to a kind of hydro-pneumatic suspension system and vehicle.
Background technique
Hydro-pneumatic suspension system has many advantages, such as height adjustability, rigidity supportive, inclining property of anti-side and good damping property, and
Its rigidity and damping have a nonlinear characteristic, therefore have driving comfort, stronger steady using the vehicle of hydro-pneumatic suspension system
Qualitative, passability and cross-country ability can travel in the bad working environments such as desert, marsh and rugged tilted road surface.Therefore oil gas hanging
Extension system is widely used on special vehicle such as crane, tank and panzer.
Utility model content
The purpose of this utility model is to provide a kind of hydro-pneumatic suspension system and vehicles, to improve getting over for hydro-pneumatic suspension system
Barrier property.
The utility model first aspect provides a kind of hydro-pneumatic suspension system, comprising:
Hydraulic pump；
At least two hanging oil cylinder groups are correspondingly arranged at least two vehicle bridge with vehicle；And
Control valve group is set between hydraulic pump and at least two hanging oil cylinder groups with dynamic for controlling hanging oil cylinder group
Make, control valve group includes respectively corresponding the control valve block of setting with each hanging oil cylinder in hanging oil cylinder group to realize to suspension
The independent control of oil cylinder.
In some embodiments, control valve block have the first hydraulic fluid port, the second hydraulic fluid port, third hydraulic fluid port and the 4th hydraulic fluid port, first
One in hydraulic fluid port and the second hydraulic fluid port connect with hydraulic pump, another in the first hydraulic fluid port and the second hydraulic fluid port is connect with fuel tank, the
Three hydraulic fluid ports and the rod chamber of hanging oil cylinder connect, and the rodless cavity of the 4th hydraulic fluid port and hanging oil cylinder connects, and controlling valve block includes using
The switching control pilot of hanging oil cylinder whether is flowed in the oil liquid of control hydraulic pump, in active adjustment state, switching control pilot control
The oil liquid of hydraulic pump flows to hanging oil cylinder；In suspension elastic stage and suspension stiffness state, switching control pilot prevents hydraulic pump
Oil liquid flows to hanging oil cylinder.
In some embodiments, switching control pilot includes the first on-off control being set between the first hydraulic fluid port and third hydraulic fluid port
Valve processed and the second on-off control valve being set between the second hydraulic fluid port and the 4th hydraulic fluid port.
In some embodiments, the first on-off control valve is cone valve；And/or second on-off control valve be cone valve.
In some embodiments, control valve block includes anti-Roll control valve, and anti-Roll control valve is used in steering and oil gas
The rod chamber of control hanging oil cylinder is connected to rodless cavity when suspension is in suspension elastic stage.
In some embodiments, hanging oil cylinder group further includes the accumulator being correspondingly arranged with hanging oil cylinder, anti-Roll control
Valve includes third on-off control valve and the 4th on-off control valve on the oil circuit being set between third hydraulic fluid port and the 4th hydraulic fluid port, is stored
Oil circuit connection between the hydraulic fluid port and third on-off control valve and the 4th on-off control valve of energy device.
In some embodiments, in steering and when hydro-pneumatic suspension system is in suspension elastic stage, third on-off control valve
Connected state is in the 4th on-off control valve；When hydro-pneumatic suspension system has the initiative adjustment state, the control of third on-off
Valve is in an off state and the 4th on-off control valve is in connected state so that the rodless cavity of hanging oil cylinder and the hydraulic fluid port of accumulator
Connection.
In some embodiments, control valve group further includes the main valve being set between hydraulic pump and control valve block, main valve packet
Include reversal valve and overflow valve.
The utility model second aspect provides a kind of vehicle, the oil gas hanging including any one of such as the utility model first aspect
Extension system.
Based on hydro-pneumatic suspension system provided by the utility model and vehicle, hydro-pneumatic suspension system include hydraulic pump, for
At least two hanging oil cylinder groups and control valve group, control valve group that at least two vehicle bridge of vehicle are correspondingly arranged are set to hydraulic
Pump at least two hanging oil cylinder groups between with for control hanging oil cylinder group movement, control valve group include in hanging oil cylinder group
Each hanging oil cylinder respectively correspond the control valve block of setting to realize the independent control to hanging oil cylinder.The oil of the utility model
Gas suspension by each hanging oil cylinder be respectively provided with corresponding control valve block so as to according to different road conditions to suspension
Oil cylinder is independently controlled, and improves the obstacle performance of hydro-pneumatic suspension system.
By the detailed description referring to the drawings to the exemplary embodiment of the utility model, the utility model it is other
Feature and its advantage will become apparent.
Detailed description of the invention
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model
It limits.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of the hydro-pneumatic suspension system of the utility model embodiment.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to this is practical
Novel and its application or any restrictions used.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, is fallen within the protection scope of the utility model.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
Up to the unlimited the scope of the utility model processed of formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each shown in attached drawing
The size of a part is not to draw according to actual proportionate relationship.For skill known to person of ordinary skill in the relevant
Art, method and apparatus may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as awarding
Weigh part of specification.In shown here and discussion all examples, any occurrence should be construed as merely example
Property, not as limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar
Label and letter similar terms are indicated in following attached drawing, therefore, once be defined in a certain Xiang Yi attached drawing, then with
In attached drawing afterwards do not need that it is further discussed.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
As shown in Figure 1, the hydro-pneumatic suspension system of the utility model embodiment includes:
Hydraulic pump 1；
At least two hanging oil cylinder groups are correspondingly arranged at least two vehicle bridge with vehicle；And
Control valve group is set between hydraulic pump 1 and at least two hanging oil cylinder groups with dynamic for controlling hanging oil cylinder group
Make, control valve group includes that the control valve block 3 of setting is respectively corresponded with each hanging oil cylinder 4 in hanging oil cylinder group to realize to outstanding
Hang the independent control of oil cylinder 4.
The hydro-pneumatic suspension system of the utility model embodiment is by being respectively provided with corresponding control valve block to each hanging oil cylinder
So as to be independently controlled according to different road conditions to hanging oil cylinder, the obstacle performance of hydro-pneumatic suspension system is improved.
As shown in Figure 1, the hydro-pneumatic suspension system of the present embodiment includes three hanging oil cylinder groups.These three hanging oil cylinder components
It is not correspondingly arranged with three vehicle bridge of vehicle.Specifically, the hanging oil cylinder group of the present embodiment includes being respectively arranged at the left and right sides
Two hanging oil cylinders of (two sides up and down in Fig. 1).
The control valve block 3 of the present embodiment has the first hydraulic fluid port P1, the second hydraulic fluid port P2, third hydraulic fluid port P3 and the 4th hydraulic fluid port P4,
One in first hydraulic fluid port P1 and the second hydraulic fluid port P2 is connected to hydraulic pump 1, another in the first hydraulic fluid port P1 and the second hydraulic fluid port P2
It is connected to fuel tank, third hydraulic fluid port P3 is connect with the rod chamber of hanging oil cylinder 4, and the rodless cavity of the 4th hydraulic fluid port P4 and hanging oil cylinder 4 connects
It connects.And control valve block 3 includes the switching control pilot that hanging oil cylinder 4 whether is flowed to for controlling the oil liquid of hydraulic pump 1, is adjusted in active
The oil liquid of nodular state, switching control pilot control hydraulic pump flows to hanging oil cylinder 4；Elastic stage and suspension stiffness state are being hung,
Switching control pilot prevents the oil liquid of hydraulic pump from flowing to hanging oil cylinder 4.
Specifically, the switching control pilot of the present embodiment includes first be set between the first hydraulic fluid port P1 and third hydraulic fluid port P3
On-off control valve 31 and the second on-off control valve 32 being set between the second hydraulic fluid port P2 and the 4th hydraulic fluid port P4.
In active adjustment state, the first on-off control valve 31 and the second on-off control valve 32 be in connected state to
Realize the active control to hanging oil cylinder.
When needing makes hydro-pneumatic suspension system be in suspension stiffness state, the first on-off control of all control valve blocks 3 is controlled
Valve 31 processed and the second on-off control valve 32 are in off-state, and the flow path of the rod chamber and rodless cavity of hanging oil cylinder disconnects at this time
Effectively to realize the rigid locking of vehicle suspension.
In order to which the perfect rigidity locking of vehicle suspension is better achieved, first on-off control valve 31 of the present embodiment is
Cone valve.Second on-off control valve 32 is cone valve.It is arranged so that the internal leakage of the on-off control valve of the present embodiment is minimum.
As shown in Figure 1, the control valve group of the present embodiment further includes the main valve being set between hydraulic pump 1 and control valve block 3
2, main valve 2 includes reversal valve 21 and overflow valve 22.
First hydraulic fluid port A of reversal valve 21 is connect with the oil outlet of hydraulic pump 1, and the second hydraulic fluid port B and fuel tank of reversal valve 21 connect
It connects, the third hydraulic fluid port C of reversal valve 21 is connect with the first hydraulic fluid port P1 of control valve block 3, the 4th hydraulic fluid port D and control valve of reversal valve 21
Second hydraulic fluid port P2 connection of block 3.The operating position of reversal valve 21 be switched with control the rod chamber of hanging oil cylinder 4 or rodless cavity into
Oil.
Angle of heel of the vehicle when travelling steering is excessive in order to prevent, and the control valve block 3 of the present embodiment includes that anti-inclination is controlled
Valve processed.Anti- Roll control valve is used in steering and there is control hanging oil cylinder 4 when hydro-pneumatic suspension system is in suspension elastic stage
Rod cavity is connected to rodless cavity.
Specifically, as shown in Figure 1, the hanging oil cylinder group of the present embodiment further includes the accumulation of energy being correspondingly arranged with hanging oil cylinder 4
Device 5, anti-Roll control valve include the third on-off control valve on the oil circuit being set between third hydraulic fluid port P3 and the 4th hydraulic fluid port P4
33 and the 4th on-off control valve 34, between the hydraulic fluid port and third on-off control valve 33 and the 4th on-off control valve 34 of accumulator 5
Oil circuit connection.The first on-off control valve 31 and the second on-off control valve 32 for controlling valve block 3 are in off-state and third is logical
Disconnected control valve 33 and the 4th on-off control valve 34 are in connected state, and the rod chamber of hanging oil cylinder 4 is connected to rodless cavity at this time
And it is connected to accumulator 5.If vehicle driving turns to, the rodless cavity pressure of hanging oil cylinder 4 becomes larger, and vehicle has the tendency that "Left"-deviationist, this
When be connected to rodless cavity and accumulator 5 due to the rod chamber of hanging oil cylinder 4, then the rod chamber and storage of hanging oil cylinder 4
The pressure of energy device 5 also becomes larger therewith, and accumulator 5 can absorb instantaneous pressure, the pressure recovery dynamic of hanging oil cylinder and accumulator
Balance effectively mitigates the hanging oil cylinder and continues left-leaning trend.
When the hydro-pneumatic suspension system of the present embodiment has the initiative adjustment state, third on-off control valve 33, which is in, disconnects shape
State and the 4th on-off control valve be in connected state so that the rodless cavity of hanging oil cylinder be connected to the hydraulic fluid port of accumulator 5 to
Accumulation of energy is carried out for accumulator 5.
The control method of the hydro-pneumatic suspension system of the present embodiment includes carrying out independent operation so that oil gas hanging to control valve block
Extension system enters single hanging oil cylinder adjustment state.
Specifically, can control the reversal valve 21 in main valve 2 operating position change so that hanging oil cylinder 4 rodless cavity into
Oil carries out enhancing action or rod chamber oil inlet to control hanging oil cylinder to carry out elongation movement.
The control method of the present embodiment further includes to main valve 2 and corresponding with target hanging oil cylinder controlling valve block and grasping
Make so that hydro-pneumatic suspension system enters coaxial adjustment state or ipsilateral adjustment state or integral elevating adjustment state.
In coaxial adjustment state, controls reversal valve 21 and be in left position and control two control valves corresponding with a drive axle
The first on-off control valve and the second on-off control valve of block are in connected state to realize the left and right sides of the drive axle
Hanging oil cylinder realizes active enhancing action；Control reversal valve 21 is in right position and control two controls corresponding with a drive axle
The first on-off control valve and the second on-off control valve of valve block processed are in connected state to realize the left and right two of the drive axle
The hanging oil cylinder of side realizes that elongation acts.
In ipsilateral adjustment state, by taking the hanging oil cylinder of left side as an example, control reversal valve 21 is in left position and controls and left side
The first on-off control valves and the second on-off control valve of the corresponding all control valve blocks of all hanging oil cylinders are in connected state
To realize that the hanging oil cylinder in left side realizes active enhancing action；Control reversal valve 21 is in the institute of right position and control and left side
Have hanging oil cylinder it is corresponding it is all control valve blocks the first on-off control valves and the second on-off control valve be in connected state from
And it realizes the hanging oil cylinder in left side and realizes that elongation acts.
In integral elevating adjustment state, similarly, as long as the first on-off control valve of all control valve block of control and the
When two on-off control valves are in connected state, left position is in by controlling reversal valve 21 or right position can realize institute to vehicle
There is hanging oil cylinder to carry out whole lift adjustment.
In summary, the hydro-pneumatic suspension system of the present embodiment can be according to different road conditions to the posture and suspension of vehicle
Working condition controlled, to improve the driving performance and passage capacity of vehicle.
Finally it should be noted that: above embodiments are only to illustrate the technical solution of the utility model rather than limit it
System；Although the utility model has been described in detail with reference to the preferred embodiment, those of ordinary skill in the art should
Understand: specific implementation of the utility model can still be modified or is equally replaced to some technical characteristics
It changes；Without departing from the spirit of technical solutions of the utility model, should all cover in the claimed technical solution of the utility model
In range.
Claims (9)
1. a kind of hydro-pneumatic suspension system characterized by comprising
Hydraulic pump (1)；
At least two hanging oil cylinder groups are correspondingly arranged at least two vehicle bridge with vehicle；And
Control valve group is set between the hydraulic pump (1) and at least two hanging oil cylinders group with described outstanding for controlling
The movement of oil cylinder group is hung, the control valve group includes respectively corresponding with each of the hanging oil cylinder group hanging oil cylinder (4)
The control valve block (3) of setting is to realize the independent control to the hanging oil cylinder (4).
2. hydro-pneumatic suspension system according to claim 1, which is characterized in that the control valve block (3) has the first hydraulic fluid port
(P1), the second hydraulic fluid port (P2), third hydraulic fluid port (P3) and the 4th hydraulic fluid port (P4), first hydraulic fluid port (P1) and second hydraulic fluid port
(P2) one in connect with the hydraulic pump (1), another in first hydraulic fluid port (P1) and second hydraulic fluid port (P2)
It is connect with fuel tank, the third hydraulic fluid port (P3) connect with the rod chamber of the hanging oil cylinder (4), the 4th hydraulic fluid port (P4) and institute
The rodless cavity connection of hanging oil cylinder (4) is stated, and control valve block (3) include that the oil liquid for controlling the hydraulic pump (1) is
The no switching control pilot for flowing to the hanging oil cylinder (4), in active adjustment state, the switching control pilot controls the hydraulic pump
Oil liquid flow to the hanging oil cylinder (4)；In suspension elastic stage and suspension stiffness state, described in the switching control pilot prevents
The oil liquid of hydraulic pump (1) flows to the hanging oil cylinder (4).
3. hydro-pneumatic suspension system according to claim 2, which is characterized in that the switching control pilot is described including being set to
The first on-off control valve (31) between first hydraulic fluid port (P1) and the third hydraulic fluid port (P3) and it is set to second hydraulic fluid port
(P2) the second on-off control valve (32) between the 4th hydraulic fluid port (P4).
4. hydro-pneumatic suspension system according to claim 3, which is characterized in that first on-off control valve is cone valve；With/
Or, second on-off control valve is cone valve.
5. hydro-pneumatic suspension system according to claim 2, which is characterized in that the control valve block (3) includes anti-inclination control
Valve processed, the anti-Roll control valve are used to control institute when turning to and the hydro-pneumatic suspension system is in the suspension elastic stage
The rod chamber for stating hanging oil cylinder (4) is connected to rodless cavity.
6. hydro-pneumatic suspension system according to claim 5, which is characterized in that the hanging oil cylinder group further includes hanging with described
Hang oil cylinder (4) accumulator (5) for being correspondingly arranged, the anti-Roll control valve include be set to the third hydraulic fluid port (P3) with it is described
The third on-off control valve (33) and the 4th on-off control valve (34) on oil circuit between 4th hydraulic fluid port (P4), the accumulator
(5) oil circuit connection between hydraulic fluid port and the third on-off control valve (33) and the 4th on-off control valve (34).
7. hydro-pneumatic suspension system according to claim 6, which is characterized in that turn to and the hydro-pneumatic suspension system be in
When the suspension elastic stage, the third on-off control valve (33) and the 4th on-off control valve (34) are in connected state
State；When the hydro-pneumatic suspension system is in the active adjustment state, the third on-off control valve (33), which is in, disconnects shape
State and the 4th on-off control valve (34) are in connected state so that the rodless cavity of the hanging oil cylinder and the accumulator (5)
Hydraulic fluid port connection.
8. hydro-pneumatic suspension system according to any one of claim 1 to 7, which is characterized in that the control valve group is also wrapped
The main valve (2) being set between the hydraulic pump (1) and control valve block (3) is included, the main valve (2) includes reversal valve (21)
With overflow valve (22).
9. a kind of vehicle, including such as hydro-pneumatic suspension system described in any item of the claim 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920068465.9U CN209566758U (en) | 2019-01-16 | 2019-01-16 | Hydro-pneumatic suspension system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920068465.9U CN209566758U (en) | 2019-01-16 | 2019-01-16 | Hydro-pneumatic suspension system and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209566758U true CN209566758U (en) | 2019-11-01 |
Family
ID=68332383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920068465.9U Active CN209566758U (en) | 2019-01-16 | 2019-01-16 | Hydro-pneumatic suspension system and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209566758U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515100A (en) * | 2019-01-16 | 2019-03-26 | 徐工集团工程机械股份有限公司 | The control method of hydro-pneumatic suspension system, vehicle and hydro-pneumatic suspension system |
-
2019
- 2019-01-16 CN CN201920068465.9U patent/CN209566758U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515100A (en) * | 2019-01-16 | 2019-03-26 | 徐工集团工程机械股份有限公司 | The control method of hydro-pneumatic suspension system, vehicle and hydro-pneumatic suspension system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109515100A (en) | The control method of hydro-pneumatic suspension system, vehicle and hydro-pneumatic suspension system | |
| CN105365521B (en) | Suspension valve group, oil-gas suspension control system and method and vehicle | |
| JP2006159993A (en) | Vehicle suspension system | |
| CN107116985B (en) | Large-stroke suspension system for multi-axle heavy vehicle | |
| CN111301084A (en) | Hydro-pneumatic suspension system, vehicle and control method of hydro-pneumatic suspension system | |
| CN106427455B (en) | Vehicle suspension and vehicle | |
| CN109050192B (en) | Hydro-pneumatic suspension and active suspension switching control loop | |
| CN209566758U (en) | Hydro-pneumatic suspension system and vehicle | |
| CN108437734A (en) | A kind of hydro-pneumatic suspension system and the engineering machinery with the system | |
| JPH06502824A (en) | Suspension systems used in vehicles | |
| CN107672402B (en) | The suspension system of quasi- zero stiffness based on hydro pneumatic suspension | |
| CN103879257B (en) | Suspension valve, hydro pneumatic suspension control system and engineering truck | |
| CN107116986A (en) | A kind of big stroke adjustment system of bodywork height for multi-axle heavy type vehicle | |
| CN110285102A (en) | Multiaxis emergency management and rescue vehicle fluid-link steering control system with Active Suspensions | |
| CN206344652U (en) | A kind of hydro-pneumatic suspension system of achievable active and half active switching control | |
| CN205170223U (en) | Full ground hoist chassis hang hydraulic control system | |
| CN211764774U (en) | Hydro-pneumatic suspension system and vehicle | |
| CN208087097U (en) | The variable amplitude hydraulic system and lorry-mounted crane of crane | |
| CN203093658U (en) | Novel oil gas suspension system | |
| CN112555213B (en) | Hydraulic control loop, valve group unit and engineering machinery | |
| CN202389147U (en) | On-demand active anti-overturning hydraulic inline suspension system of heavy-duty truck | |
| CN111674219A (en) | Autonomous mode switching type oil-gas hybrid interconnected suspension system | |
| CN109578354A (en) | A kind of hydraulic control system and integrated valve group of hanging oil cylinder synchronization lifting | |
| CN211764773U (en) | Hydro-pneumatic suspension system and vehicle | |
| CN107696818A (en) | A kind of hydro-pneumatic suspension system of the quasi- zero stiffness in achievable equilbrium position |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |