EP2959189A1 - Multi-stage planetary transmission - Google Patents
Multi-stage planetary transmissionInfo
- Publication number
- EP2959189A1 EP2959189A1 EP14701345.2A EP14701345A EP2959189A1 EP 2959189 A1 EP2959189 A1 EP 2959189A1 EP 14701345 A EP14701345 A EP 14701345A EP 2959189 A1 EP2959189 A1 EP 2959189A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- designed
- gear
- shaft
- clutch
- switching element
- 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.)
- Withdrawn
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
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/62—Gearings having three or more central gears
- F16H3/66—Gearings having three or more central gears composed of a number of gear trains without drive passing from one train to another
-
- 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
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/62—Gearings having three or more central gears
- F16H3/66—Gearings having three or more central gears composed of a number of gear trains without drive passing from one train to another
- F16H3/666—Gearings having three or more central gears composed of a number of gear trains without drive passing from one train to another with compound planetary gear units, e.g. two intermeshing orbital gears
-
- 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
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H2003/445—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion without permanent connection between the input and the set of orbital gears
-
- 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
- F16H—GEARING
- F16H2200/00—Transmissions for multiple ratios
- F16H2200/003—Transmissions for multiple ratios characterised by the number of forward speeds
- F16H2200/0065—Transmissions for multiple ratios characterised by the number of forward speeds the gear ratios comprising nine forward speeds
-
- 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
- F16H—GEARING
- F16H2200/00—Transmissions for multiple ratios
- F16H2200/003—Transmissions for multiple ratios characterised by the number of forward speeds
- F16H2200/0069—Transmissions for multiple ratios characterised by the number of forward speeds the gear ratios comprising ten forward speeds
-
- 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
- F16H—GEARING
- F16H2200/00—Transmissions for multiple ratios
- F16H2200/20—Transmissions using gears with orbital motion
- F16H2200/2002—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears
- F16H2200/201—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears with three sets of orbital gears
-
- 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
- F16H—GEARING
- F16H2200/00—Transmissions for multiple ratios
- F16H2200/20—Transmissions using gears with orbital motion
- F16H2200/203—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes
- F16H2200/2046—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes with six engaging means
Definitions
- the present invention relates to a planetary multi-speed transmission for a vehicle according to the closer defined in the preamble of claim 1.
- a power-shiftable multi-speed transmission is known.
- the drive shaft is connected via a torsional vibration damper fixed to a first shaft of a first shaft train.
- a parallel arranged second shaft strand includes, among others, designated as the shaft two output shaft.
- the two wave strands are connected to each other via three spur gear stages.
- On the first shaft train is a first three-shaft planetary gear.
- On the second shaft train are a second planetary gear and a third planetary gear.
- the multi-speed transmission thus comprises ten shafts, which communicate with each other via three spur gears and three planetary gears. To switch the eight forward gears and the one reverse gear five switching elements are necessary.
- the envisaged switching elements are hydraulically actuated.
- the switching elements are to be arranged easily accessible from the outside.
- a front-transverse installation of the transmission in a vehicle only a limited axial space is available.
- the present invention is based on the object to provide a multi-speed transmission with the highest possible number of gear ratios and good accessibility of the switching elements at the same time good gear efficiency and the lowest possible axial space requirement.
- a powershiftable multi-speed planetary gear or a multi-speed planetary gear for a vehicle is proposed with a housing, wherein the drive or the drive shaft and the output or the output shaft are arranged axially parallel to each other for a preferred front transverse installation.
- the multistage transmission according to the invention comprises only nine shafts, three planetary gear sets and only six shift elements in order to realize at least nine forward gears and one reverse gear can. Furthermore, preferably only two machine elements are provided for coupling drive and output.
- the good accessibility of the switching elements can be realized, inter alia, on the one hand by the use of brakes as switching elements and on the other hand by the use of couplings as switching elements, which are preferably positioned on outer shafts preferably on the drive and the output in the multi-step transmission according to the invention. Due to the low construction costs result in an advantageous manner low production costs and low weight of the multi-speed transmission according to the invention.
- at least one spur gear or the like is used as aschinenelement for coupling or torque transmission between the drive and output, which realizes the necessary translation to the output differential.
- Preferably, only two machine elements or spur gears are provided. However, other machine elements for torque or power transmission, such as chains, belts or the like can be used.
- the planetary gear sets are arranged in the order of the first planetary gear set, the second planetary gear set and the third planetary gear set when viewed in the axial direction, wherein preferably at least one plus planetary gear set and at least one minus planetary gear set are provided. It is possible, however, at locations where bondability allows one or more of the negative planetary gearsets to be converted into positive planetary gear sets or vice versa, if the bridge or planetary carrier and ring gear connections are simultaneously swapped and the amount of the standard ratio increased by one is increased.
- a minus planetary gearset has known to the planetary gear rotatably mounted planetary gears, which mesh with the sun gear and the ring gear of this planetary, so that the ring gear rotates with held planet carrier and rotating sun gear in the direction opposite to Sonnenradwindraum.
- a plus planetary gear set is known to be rotatably mounted on its planet gear and meshing with each other inner and outer planetary gears, the sun gear of this planetary mesh with the inner planet gears and the ring gear of this planetary gear with the outer planetary gears, so that the ring gear with held planet carrier and rotating sun gear in the direction of Sonnenradfilraum same direction turns.
- a hydrodynamic torque converter or a hydrodynamic coupling can be used in the multistage transmission according to the invention. It is also conceivable that an additional starting clutch or an integrated starting clutch or starting brake be used. It is also possible that an electric machine or another power / power source is arranged on at least one of the shafts. In addition, at least one of the shafts a freewheel to the housing or to another shaft can be arranged.
- nine forward gears and at least one reverse gear can be switched via the switching elements provided.
- further switching combinations are made possible by the combination of other switching elements.
- switching element is to be understood as meaning a switchable connection between two elements of the transmission, wherein the torque to be transmitted between these two elements is transmitted by means of frictional connection or frictional engagement or by means of positive locking. If both elements of the switchable connection are rotatable, then the switching element is referred to as a coupling and if only one of the two elements of the switchable connection rotates, the switching element is referred to as a brake.
- the geometric position or sequence of the individual switching elements is freely selectable, as long as it allows the bindability of the elements. In this way, individual elements can be moved arbitrarily in their position.
- a plurality of wheel sets can also be arranged radially one above the other, ie nested.
- Embodiments of a force-locking switching element are multi-plate clutches or brakes, band brakes, cone clutches or brakes, electromagnetic clutches, magnetic powder clutches and electro-rheological coupling.
- Embodiments of a positive switching element are jaw clutches or brakes and gear couplings.
- both friction and form-locking switching elements can generally be used.
- the fifth switching element designed as a brake and the third switching element designed as a clutch can be designed as a claw switching element, whereby clear consumption advantages are achieved.
- the present invention will be further explained with reference to the drawings. Show it:
- Figure 1 is a schematic view of an embodiment of a multi-speed transmission according to the invention.
- Figure 2 is a schematic view of an embodiment of the multi-speed transmission with an alternative arrangement position of the third switching element
- Figure 3 is a schematic view of an embodiment of the multi-speed transmission with an alternative arrangement position of the third switching element
- Figure 4 is a schematic view of an embodiment of the multi-speed transmission with an alternative arrangement position of the third switching element
- Figure 5 is a schematic view of an embodiment of the multi-speed transmission with an alternative arrangement position of the third switching element
- Figure 6 is a schematic view of an embodiment of the multi-speed transmission with an alternative arrangement position of the third switching element.
- Figure 7 is a circuit diagram for the various embodiments of the multi-speed transmission.
- FIGS. 1 to 6 an embodiment variant of the multi-speed transmission according to the invention in planetary design, for example as an automatic transmission or automatic transmission, is shown by way of example for a vehicle in which different arrangement position of the coupling element designed as a third switching element are shown.
- the multistage transmission comprises a housing 1 1, which is indicated only schematically, with a first shaft 1 as the drive An and a second shaft 2 arranged parallel to the axis as the output Ab and further seven shafts 3, 4, 5, 6, 7, 8, 9. Furthermore, a first planetary gearset RS1, a second planetary gearset RS2 and a third planetary gearset RS3 are provided, wherein preferably the first planetary gearset RS1 and the third planetary gearset RS3 are each embodied as negative planetary gear sets and the second planetary gearset RS2 as plus planetary gear sets.
- a clutch first switching element K1 designed as a clutch second switching element K2, designed as a clutch third switching element K3, designed as a clutch fourth switching element K4, designed as a brake fifth switching element B1 and designed as a brake sixth Switching element B2 provided.
- spur gear or spur gear ST1, ST2
- spur gear ST1, ST2 which is connected via a switching element with a shaft (idler gear)
- An example of this is the arrangement positions of the third switching element K3 designed as a clutch in the embodiment variants according to FIGS. 5 and 6. It is thus also readily possible to position the fourth shifting element K4 designed as a clutch on the drive-side main shaft.
- two arbitrary machine elements are preferably provided, which in the case of the embodiment variants are designed by way of example as first spur gear stage ST1 and as second spur gear stage ST2.
- first spur gear stage ST1 and as second spur gear stage ST2 In the embodiment variants according to FIGS.
- the first spur gear stage ST1 comprises a fixed wheel 12, which is connected to the sixth shaft 6, and a stationary wheel 13, which is connected to the second shaft 2.
- the second spur gear ST2 comprises a fixed gear 14, which is connected to the seventh shaft 7, and a idler gear 15 meshing therewith, which is connected to the second shaft 2 via the ninth shaft 9 and via the fourth shifting element K4 designed as a clutch is.
- a loose wheel 12A is provided in the first spur gear ST1 instead of the fixed wheel 12, which is connected via the sixth shaft 6 to the third shifting element K3 designed as a clutch.
- the first spur gear stage ST1 comprises the fixed gear 12, which engages with a loose wheel 13A.
- the idler gear 13A is connected to the second shaft 2 via the fifth shaft 5 and via the third shifting element K3 designed as a clutch.
- the second spur gear ST2 comprises the fixed gear 14, which is connected to the seventh shaft 7.
- the fixed gear 14 is in engagement with the idler gear 15.
- the idler gear 15 is connected to the second shaft 2 via the ninth shaft 9 and via the fourth shifting element K4 designed as a clutch.
- connection possibilities between the provided shafts 1, 2, 3, 4, 5, 6, 7, 8, 9, the planned three planetary gear sets RS1, RS2, RS3, the intended housing 1 1 and the provided switching elements K1, K2, K3, K4, B1, B2 and the proposed spur gears ST1, ST2 is by the term -verbindbar- to understand that the elements described are releasably connected, for example via a switching element, so that the connection is closed when activated switching element and open when not activated switching element.
- the detachable connection can be realized in addition to the switching element via at least one further element, such as a shaft or the like.
- - connected - is to be understood that the described elements are quasi-fixed so not are releasably connected together. It can be realized a direct or indirect fixed connection, for example via other elements.
- the first shaft 1 can be detachably connected or connectable to the sun gear SR3 of the third planetary gearset RS3 as a drive An. Furthermore, the first shaft 1 can be connected to the planet carrier PT2 of the second planetary gearset RS2 and to the planet carrier PT3 of the third planetary gearset RS3. In addition, the first shaft 1 is connectable or connected to the sun gear SR1 of the first planetary gearset RS1.
- the second shaft 2 as output Ab is connected or connectable to the first machine element or the first spur gear ST1 and to the second machine element or the second spur gear ST2.
- the first shaft 1 is connected via the first switching element K1 designed as a clutch and via the third shaft 3 to the sun gear SR3 of the third planetary gearset RS3, the sun gear SR3 of the third planetary gearset RS3 being connected via the third shaft 3 and via the third shaft 3 Brake executed sixth switching element B2 to the housing 1 1 is connectable.
- the first shaft 1 via the second switching element K2 designed as a clutch and via the fourth shaft 4 with the planet PT2 of the second planetary gearset RS2 and with the planet PT3 of the third planetary gearset RS3 connectable.
- the first shaft can be connected to the planetary carrier PT2 of the second planetary gear set RS2 via the second shifting element K2 designed as a clutch and via the fourth shaft and via the third shifting element K3 designed as a clutch.
- the planet PT3 of the third planetary gear set RS3 and the planet PT2 of the second planetary gearset RS2 are either connected via the fourth shaft 4 or according to the embodiment of Figure 3 via the third switching element K3 designed as a clutch and the fifth shaft 5 connected to each other.
- the planet carrier PT3 of the third planetary gearset RS3 and the planet carrier PT2 of the second planetary gearset RS2 can be connected to the housing 11 via the fourth shaft 4 and via the fifth switching element B1 designed as a brake.
- the first shaft 1 can be connected to the sun gear SR1 of the first planetary gearset RS1 via the third shifting element K3 designed as a clutch and via the fifth shaft 5.
- the first shaft 1 is connected to the sun gear SR1 of the first planetary gear set RS1 quasi directly without switching element.
- the second shaft 2 is connected to the fixed gear 13 of the first spur gear ST1. Furthermore, the second shaft 2 can be connected via the fourth switching element K4 designed as a clutch and via the ninth shaft to the idler gear 15 of the second spur gear ST2. In the embodiment according to FIG. 6, the second shaft 2 can be connected to the idler gear 13A of the first spur gear ST1 via the third shifting element K3 designed as a clutch and via the fifth shaft 5. Furthermore, the second shaft 2 can be connected via the fourth switching element K4 designed as a clutch and via the ninth shaft 9 to the idler gear 15 of the second spur gear ST2.
- the fixed gear 12 of the first spur ST1 is connected via the sixth shaft 6 with the planet PT1 of the first planetary gearset RS1.
- the idler gear 12A of the first spur gear ST1 can be connected to the planet carrier PT1 of the first planetary gearset RS1 via the sixth shaft 6 and via the third shifting element K3 designed as a clutch and via the fifth shaft 5.
- the fixed gear 14 of the second spur gear ST2 is connected via the seventh shaft 7 to the sun gear SR2 of the second planetary gear set RS2 and to the ring gear HR3 of the third gear Planetary gear set RS3 connected.
- the fixed gear 14 of the second spur gear ST2 is connected via the seventh shaft 7 to the ring gear HR3 of the third planetary gearset RS3.
- the fixed gear 14 of the second spur gear ST2 and the ring gear HR3 of the third planetary gearset RS3 via the third switching element K3 designed as a clutch and via the fifth shaft 5 with the sun gear SR2 of the second planetary gearset RS2 connectable.
- the ring gear HR1 of the first planetary gearset RS1 is connected via the eighth shaft 8 to the ring gear HR2 of the second planetary gearset RS2.
- the ring gear HR1 of the first planetary gearset RS1 can be connected to the ring gear HR2 of the second planetary gearset RS2 via the fifth shaft 5 and via the third shifting element K3 designed as a clutch and via the eighth shaft 8.
- FIG. 7 shows a circuit diagram or a switching matrix for the equivalent transmission variants according to FIGS. 1 to 6.
- each gear ratio is a ratio i and indicated between different gear ratios of the respective gear jump ⁇ .
- G1, G2, G3, G4, G5, G6, G7, G8, G9 and the indicated reverse gear R at least one additional shift combination is indicated as an alternative gear Z.
- the first shift element K1 designed as a clutch, the third shift element K3 designed as a clutch, and the fifth shift element B1 designed as a clutch are closed or activated in order to realize the first forward gear G1.
- the third shifting element K3 designed as a clutch, the fifth shifting element B1 designed as a brake and the sixth shifting element B2 designed as a brake are closed or activated.
- the third shifting element K3 designed as a clutch, the fourth shifting element K4 designed as a clutch and the fifth shifting element B1 designed as a brake are closed or activated.
- the third shifting element K3 designed as a clutch, the fourth shifting element K4 designed as a clutch and the sixth shifting element B2 designed as a brake are closed or activated.
- the first shifting element K1 designed as a clutch, the third shifting element K3 designed as a clutch and the fourth shifting element K4 designed as a clutch are closed or activated.
- the second shifting element K2 designed as a clutch, the third shifting element K3 designed as a clutch and the fourth shifting element K4 designed as a clutch are closed or activated.
- the first shifting element K1 designed as a clutch, the second shifting element K2 designed as a clutch and the third shifting element K3 designed as a clutch are closed or activated.
- the first shifting element K1 designed as a clutch, the second shifting element K2 designed as a clutch and the fourth shifting element K4 designed as a clutch are closed or activated.
- the ninth forward gear G9 are designed as a clutch second switching element K2, designed as a clutch fourth switching element K4 and the executed as a brake sixth switching element B2 closed or activated.
- the first shifting element K1 designed as a clutch, the fourth shifting element K4 designed as a clutch and the fifth shifting element B1 designed as a brake are closed or activated.
- the second switching element K2 designed as a clutch, the third shift element K3 designed as a clutch and the sixth shifting element B2 designed as a brake are closed or activated.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structure Of Transmissions (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013202884.9A DE102013202884A1 (en) | 2013-02-22 | 2013-02-22 | Multi-speed transmission in planetary construction |
PCT/EP2014/051179 WO2014127947A1 (en) | 2013-02-22 | 2014-01-22 | Multi-stage planetary transmission |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2959189A1 true EP2959189A1 (en) | 2015-12-30 |
Family
ID=50002718
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14701345.2A Withdrawn EP2959189A1 (en) | 2013-02-22 | 2014-01-22 | Multi-stage planetary transmission |
Country Status (5)
Country | Link |
---|---|
US (1) | US9618088B2 (en) |
EP (1) | EP2959189A1 (en) |
CN (1) | CN104968971B (en) |
DE (1) | DE102013202884A1 (en) |
WO (1) | WO2014127947A1 (en) |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3482469A (en) * | 1966-11-29 | 1969-12-09 | Nissan Motor | Automatic speed change gear |
KR100341746B1 (en) * | 1999-07-08 | 2002-06-22 | 이계안 | GEAR TRAIN FOR ATs |
DE102007014150A1 (en) | 2007-03-23 | 2008-09-25 | EGS Entwicklungsgesellschaft für Getriebesysteme mbH | Power-shiftable multi-speed transmission |
US8113977B2 (en) * | 2007-10-12 | 2012-02-14 | GM Global Technology Operations LLC | Eight and nine speed automatic transmissions |
US7887453B2 (en) * | 2008-01-31 | 2011-02-15 | GM Global Technology Operations LLC | 9-speed transmission |
US8353803B2 (en) * | 2008-08-07 | 2013-01-15 | Honda Motor Co., Ltd. | Automatic transmission |
DE102008041205A1 (en) * | 2008-08-13 | 2010-02-18 | Zf Friedrichshafen Ag | Multi-speed transmission |
JP4757327B2 (en) * | 2009-06-04 | 2011-08-24 | 本田技研工業株式会社 | Automatic transmission |
JP5184456B2 (en) * | 2009-07-10 | 2013-04-17 | 本田技研工業株式会社 | Automatic transmission |
DE102009028683A1 (en) * | 2009-08-20 | 2011-03-24 | Zf Friedrichshafen Ag | Multi-speed transmission |
DE102009028669A1 (en) * | 2009-08-20 | 2011-02-24 | Zf Friedrichshafen Ag | Multi-speed transmission |
JP2012127399A (en) * | 2010-12-14 | 2012-07-05 | Honda Motor Co Ltd | Automatic transmission |
JP2012127398A (en) * | 2010-12-14 | 2012-07-05 | Honda Motor Co Ltd | Automatic transmission |
DE102010063490A1 (en) * | 2010-12-20 | 2012-06-21 | Zf Friedrichshafen Ag | Multi-speed transmission in planetary construction |
DE102010063491A1 (en) * | 2010-12-20 | 2012-06-21 | Zf Friedrichshafen Ag | Multi-speed transmission in planetary construction |
DE102013202883A1 (en) * | 2013-02-22 | 2014-08-28 | Zf Friedrichshafen Ag | Multi-speed transmission in planetary construction |
-
2013
- 2013-02-22 DE DE102013202884.9A patent/DE102013202884A1/en not_active Withdrawn
-
2014
- 2014-01-22 WO PCT/EP2014/051179 patent/WO2014127947A1/en active Application Filing
- 2014-01-22 CN CN201480007609.XA patent/CN104968971B/en not_active Expired - Fee Related
- 2014-01-22 EP EP14701345.2A patent/EP2959189A1/en not_active Withdrawn
- 2014-01-22 US US14/769,597 patent/US9618088B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
DE102013202884A1 (en) | 2014-08-28 |
US20160010727A1 (en) | 2016-01-14 |
CN104968971B (en) | 2018-01-30 |
WO2014127947A1 (en) | 2014-08-28 |
CN104968971A (en) | 2015-10-07 |
US9618088B2 (en) | 2017-04-11 |
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