EP3182225A1 - Uhr sequenzer mit durchgangsrad mit verringerter mechanischer reibung - Google Patents

Uhr sequenzer mit durchgangsrad mit verringerter mechanischer reibung Download PDF

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Publication number
EP3182225A1
EP3182225A1 EP15201245.6A EP15201245A EP3182225A1 EP 3182225 A1 EP3182225 A1 EP 3182225A1 EP 15201245 A EP15201245 A EP 15201245A EP 3182225 A1 EP3182225 A1 EP 3182225A1
Authority
EP
European Patent Office
Prior art keywords
mobile
mobile receiver
pivot axis
blocker
polarity
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.)
Granted
Application number
EP15201245.6A
Other languages
English (en)
French (fr)
Other versions
EP3182225B1 (de
Inventor
Benoît Junod
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Montres Breguet SA
Original Assignee
Montres Breguet SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Montres Breguet SA filed Critical Montres Breguet SA
Priority to EP15201245.6A priority Critical patent/EP3182225B1/de
Priority to US15/355,567 priority patent/US10558170B2/en
Priority to JP2016234769A priority patent/JP6431026B2/ja
Priority to CN201611165239.XA priority patent/CN106896696B/zh
Publication of EP3182225A1 publication Critical patent/EP3182225A1/de
Application granted granted Critical
Publication of EP3182225B1 publication Critical patent/EP3182225B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G04—HOROLOGY
    • G04C—ELECTROMECHANICAL CLOCKS OR WATCHES
    • G04C5/00—Electric or magnetic means for converting oscillatory to rotary motion in time-pieces, i.e. electric or magnetic escapements
    • G04C5/005—Magnetic or electromagnetic means
    • G—PHYSICS
    • G04—HOROLOGY
    • G04C—ELECTROMECHANICAL CLOCKS OR WATCHES
    • G04C3/00—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means
    • G04C3/08—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means wherein movement is regulated by a mechanical oscillator other than a pendulum or balance, e.g. by a tuning fork, e.g. electrostatically
    • G04C3/10—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means wherein movement is regulated by a mechanical oscillator other than a pendulum or balance, e.g. by a tuning fork, e.g. electrostatically driven by electromagnetic means
    • G04C3/101—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means wherein movement is regulated by a mechanical oscillator other than a pendulum or balance, e.g. by a tuning fork, e.g. electrostatically driven by electromagnetic means constructional details
    • G—PHYSICS
    • G04—HOROLOGY
    • G04B—MECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B13/00—Gearwork
    • G04B13/02—Wheels; Pinions; Spindles; Pivots
    • G—PHYSICS
    • G04—HOROLOGY
    • G04B—MECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B13/00—Gearwork
    • G04B13/002—Gearwork where rotation in one direction is changed into a stepping movement
    • G—PHYSICS
    • G04—HOROLOGY
    • G04B—MECHANICALLY-DRIVEN CLOCKS OR WATCHES; MECHANICAL PARTS OF CLOCKS OR WATCHES IN GENERAL; TIME PIECES USING THE POSITION OF THE SUN, MOON OR STARS
    • G04B13/00—Gearwork
    • G04B13/002—Gearwork where rotation in one direction is changed into a stepping movement
    • G04B13/003—Gearwork where rotation in one direction is changed into a stepping movement with a step for each complete revolution

Definitions

  • the invention relates to a sequencer mechanism comprising a first rotationally driven locking device comprising a peripheral surface that is uniformly maintained in its geometry or in a magnetization of uniform polarity, arranged to keep a rotating receiver mobile stationary.
  • the invention also relates to a clockwork mechanism comprising at least one such sequencer mechanism.
  • the invention also relates to a watch comprising at least one such watch mechanism or / and at least one such sequencer mechanism.
  • the invention relates to the field of clockwork mechanisms with torque or motion transmission.
  • the invention relates to an alternative to the Maltese cross system whose function is to transform a continuous rotation into a jerky rotation. This is for example to rotate a passing wheel of a step (often a quarter of a turn) to the passage of an irregularity (complementary shape) on a driving mobile which is subjected to a continuous rotation.
  • This system is for example used in watchmaking to stop movement, or in perpetual calendars to rotate a quarter turn a cam leap years at the passage of each year.
  • Such a system is very practical because it consumes almost no energy in passing. Indeed, it does not require a jumper to hold the wheel of passage, because its rotation is directly blocked by the mobile driver in case of shock. This is valid for passing wheels not being subjected to a torque, but is not valid in the case where the wheel is subjected to a torque, permanent or not. Indeed, the friction generated at the interface between the passage wheel and the driving carrier represents a permanent consumption and proportional to the forces present on the latter.
  • the present invention consists in adapting this transformation principle, in cases where the wheel is subjected to a non-negligible torque, and where it is necessary to limit the brake generated on the driving mobile as well as possible.
  • the invention relates to a sequencer mechanism according to claim 1.
  • the invention also relates to a clockwork mechanism comprising at least one such sequencer mechanism.
  • the invention also relates to a watch comprising at least one such watch mechanism or / and at least one such sequencer mechanism.
  • the invention relates to a sequencer mechanism 100 comprising a first mobile blocker 1 rotated about a first pivot axis D1.
  • This first mobile blocker 1 comprises at least one peripheral holding surface 11, which is regular in its geometry or respectively in a magnetization of uniform polarity.
  • This holding peripheral surface 11 is arranged to keep rotating, during a holding stroke, a mobile receiver 2 antagonist pivoting about a second pivot axis D2.
  • the mobile receiver 2 is a reduced-friction passing mobile, in particular a passing wheel in the case of the variants illustrated in the figures, which comprises at its periphery second arresting elements 21.
  • These second elements stop 21, or are idle rollers when the peripheral holding surface 11 is regular in its geometry, in particular cylindrical in the non-limiting example of the figures, or respectively, when the peripheral holding surface 11 is regular in a magnetization of uniform polarity, are magnets of the same polarity.
  • These second stop elements 21 cooperate in pairs with the holding surface 11, on either side of a plane passing through the centers of the mobile blocker 1 and the mobile receiver 2, to keep the latter motionless during rotation. holding stroke.
  • the first mobile blocker 1 also comprises at least one driving surface 12, comprising, or an irregular terrain when the peripheral holding surface 11 is regular in its geometry, or else a contrary magnetization when the peripheral holding surface 11 is regular in a magnetization of uniform polarity.
  • this driving surface 12 is arranged to jump the mobile receiver 2, in a drive stroke of the first mobile blocker 1 between two holding strokes. It is understood that, with respect to an interaction zone of the mobile receiver 2, the rotation of the first mobile blocker 1 is an alternation of holding strokes during which the mobile receiver 2 is stationary, and of training races during which the mobile receiver 2 performs a rotation.
  • the first mobile blocker 1 is subjected to a motor torque which causes it to rotate about the first pivot axis D1.
  • the sequencer mechanism 100 is arranged to transform the rotation of the first mobile blocker 1 into a jerk rotation of the second mobile receiver 2 which is arranged in the immediate vicinity of the first mobile blocker 1, and pivots around the second pivot axis D2, of which the position in space is fixed relative to that of the first pivot axis D1.
  • the second pivot axis D2 is parallel to the first pivot axis D1.
  • the first mobile blocker 1 comprises, at its periphery near the periphery of the second mobile receiver 2, at least a first holding surface 11 and at least a first driving surface 12.
  • the second mobile receiver 2 comprises, at its periphery near the periphery of the first blocking mobile 1, a plurality of second stop elements 21.
  • These second stop elements 21 are arranged for, in a holding stroke of the first mobile 1, cooperate in pairs with such a first holding surface 11, so that at least one of the elements of the pair is in contact or magnetization cooperation with the first holding surface 11, level of a median plane PM perpendicular to the first pivot axis D1, in a stop position where the second mobile receiver 2 is stationary.
  • the two second stop elements 21, which cooperate with this first holding surface 11 can have a support on either side of a main plane P passing through the first pivot axis D1 and by the intersection of the second pivot axis D2 with the median plane PM.
  • second stop elements 21 are further arranged to cooperate each by mechanical or magnetic drive, as the case may be, with such a first driving surface 12 arriving in its vicinity, to allow the pivoting of the second mobile receiver 2 under the effect of the drive by the first mobile blocker 1 or under the effect of a torque which is subjected to the second mobile receiver 2, in a drive stroke of the first mobile blocker 1.
  • the second elements of the stop 21 comprise idler rollers or the like, which are arranged to roll on a substantially cylindrical track constituting the first holding surface 11, and which are still arranged to penetrate into at least one notch constituting a first driving surface 12. notch is arranged to allow or generate the rotation of the second mobile receiver 2.
  • the second elements stop 21 comprise receiving magnets, which are arranged in repulsion with a magnetized track of first polarity constituting the first holding surface 11, and which are still arranged to cooperate in attraction with at least one track of second polarity inverse to the first polarity constituting such a first driving surface 12.
  • the first mobile blocker 1 is subjected to a motor torque which gives it a continuous rotation around the first pivot axis D1.
  • the second mobile receiver 2 is subjected to a motor torque with respect to the second pivot axis D2, in agreement with the driving torque applied to the first mobile blocker 1.
  • the second mobile receiver 2 is not subjected to any motor torque with respect to the second pivot axis D2.
  • This second mobile receiver 2 can, again, be subjected to a resistive torque, that is to say in opposition to the driving torque applied to the first mobile blocker 1.
  • the second stop elements 21 are all identical.
  • each first holding surface 11 is arranged to drive at least a second stop element 21 in a step of the second mobile receiver 2, by mechanical contact or by a magnetic force, over a restricted drive angular range of the first mobile blocker 1, and the first driving surface 12 then comprises two elementary surfaces 13, 14, which are arranged to cooperate with two such second different stop elements 21, to allow the pivoting of the second mobile receiver 2, each on a part of the step.
  • the first blocking mobile 1 comprises at least two levels defining together a first gap in which or in the immediate vicinity of which is movable the periphery of the second mobile receiver 2.
  • the second mobile receiver 2 comprises at least two levels 2A and 2B, together defining a second gap in which or in the immediate vicinity of which is movable the periphery of the first mobile blocker 1.
  • the second stop elements 21 are arranged to cooperate each by mechanical drive with a first driving surface 12, and the second mobile receiver 2 comprises a plurality of such rollers whose axes of pivoting are equidistant from the second pivot axis D2. These pivot axes can, moreover, be inclined regularly with respect to the second pivot axis D2.
  • these pebbles are equidistant.
  • At least one first driving surface 12 comprises two elementary surfaces 13 and 14 in the form of notches arranged to receive the rollers, separated by a projecting finger which is arranged to be introduced between two consecutive rollers.
  • This finger 15 is arranged to bear on one of the rollers, at a contact surface which is closer to the second pivot axis D2 than the pivot axis of the roller concerned, as visible on the Figures 7 to 9 to drive in rotation the second mobile receiver 2 when it is not driven or is subjected to a resistant torque.
  • the second stop elements 21 are arranged to cooperate each by magnetic drive with a first driving surface 12, and the second mobile receiver 2 comprises a plurality of second magnets constituting the receiving magnets and oriented according to the first polarity to the periphery of the first mobile blocker 1.
  • These second magnets are equidistant from the second pivot axis D2; by this is meant that the area of highest magnetic field density of each magnet is at the same distance from the second pivot axis D2.
  • the second magnets are equidistant.
  • the first driving surface 12 comprises at least a first attraction magnet oriented in the second polarity towards the periphery of the second mobile receiver 2.
  • the first driving surface 12 comprises at least a first ferromagnetic portion in the vicinity of the periphery of the second mobile receiver 2. It may include in particular one or more magnets, and one or more ferromagnetic parts.
  • the first holding surface 11 comprises a plurality of first repulsion magnets oriented in the first polarity towards the periphery of the second mobile receiver 2.
  • the receiving magnets 21, the first polarity magnetized track constituting the first holding surface 11, and the second polarity track constituting the first driving surface 12, have a magnetization oriented in the median plane PM.
  • the receiving magnets 21, the first polarity magnetized track constituting the first holding surface 11, and the second polarity track constituting the first driving surface 12, have a magnetization oriented parallel to the first pivot axis D1.
  • magnetization direction may be oblique, in particular according to a conical surface, or the like.
  • the invention also relates to a watchmaking mechanism 500 comprising at least one such sequencer mechanism 100, and comprising first drive means for driving at least a first mobile blocker 1 of a sequencer mechanism 100.
  • a watchmaking mechanism 500 comprising at least one such sequencer mechanism 100, and comprising first drive means for driving at least a first mobile blocker 1 of a sequencer mechanism 100.
  • the sequencer mechanism 100 concerned is made in the mechanical alternative according to the variant of Figures 6 to 10 or else it is realized in the magnetic alternative.
  • the clock mechanism 500 comprises second driving motor means subjecting a second mobile receiver 2 of a sequencer mechanism 100 to a torque around the second pivot axis D2, in agreement with the engine torque to which the driver is subjected.
  • first mobile blocker 1 corresponding to the same sequencer mechanism 100, so as to provide additional torque to the first mobile blocker 1 during the rotation of the second mobile receiver 2 under the action of a first driving surface 12 of the first mobile blocker 1 .
  • the invention also relates to a timepiece, in particular a watch 1000, comprising at least one such watch mechanism 500, or / and at least one such sequencer mechanism 100.
  • the Figures 1 to 11 illustrate variants of the mechanical type, with a passage wheel, which is the second mobile receiver 2, which is equipped with rollers.
  • the contact between the passage wheel and the first blocking mobile 1 is preferably effected through a roller 21 which rolls without sliding on the first holding surface 11, and pivots itself in a pivot of the wheel of passage 2.
  • the roller 21A, or the two rollers 21A and 21D are resting on the first holding surface 11.
  • the roller 21 A can be inserted into the notch of the first blocking mobile 1, and the passing wheel 2, under the influence of a torque represented in FIG.
  • figure 4 by an anti-clockwise arrow, in concordance with the rotation of the first mobile blocker 1, can rotate one step, or a quarter turn in this example where the second mobile receiver 2 carries four rollers 21 equidistant to 90 °.
  • the roller 21 B then bears, as well as the roller 21A which served as a pivot, on the first holding surface 11, as visible on the figure 5 until the arrival of the drive surface 12, which is the same in this particular case of the figures where the notch 12 is unique.
  • the shape of the first mobile blocker 1 does not ensure the driving of the passage wheel 2, if it is not subject to a one-way torque. But by modifying the shape of the first mobile blocker 1 in the manner of the Maltese cross, with the help of a protruding finger 15 as explained above, it is possible to guarantee this training even in the absence of torque. or if the torque is not in the desired direction, ie in the opposite direction to the imposed rotation. In the holding position on the figure 6 two rollers 21A and 21D bear on the first holding surface 11.
  • the roller 21A can be inserted into the first notch 13 of the first blocking mobile 1, and the finger 15 bears on this roller 21 A to rotate the passage wheel 2 by a first part of its pitch, and the bring in the position of the figure 8 .
  • the first rotation of the passage wheel 2 has brought another roller 21 B to the finger 15, which guides it into the second notch 14, which drives the roller 21 B and thus the passage wheel 2 in a complementary rotation such that visible on the figure 9 , thus doing the second part of his step.
  • the roller 21C then bears, as well as the roller 21 B which served as the final pivot, on the first holding surface 11, as visible on the figure 10 , until the arrival of the drive surface 12, which is the same in this particular case of the figures where it, composed of two notches 13 and 14 and the finger 15, is unique.
  • the passage wheel 2 has rotated 180 °.
  • the Figures 12 to 16 illustrate variants of the magnetic type, with a passage wheel, which is the second mobile receiver 2, which is equipped with magnets, and which is contactless, which is even more favorable than the lightened contact mechanical variants.
  • the figures differentiate the marks 4 and 5 according to the polarities: + or North in 4, - or South in 5.
  • the magnets 21 of the passage wheel 2 are in repulsion with the magnets of the first mobile blocker 1.
  • the position of the passage wheel 2 is thus locked in a stable position, despite the torque that tends to the rotate (counter-clockwise on the Figures 12 and 13 ).
  • the magnets 21 of the passage wheel are attracted, and the passage wheel can turn a step, a sixth of a turn in the case illustrated.
  • Figures 12 and 13 illustrate the case where the magnets have a magnetization oriented in the plane.
  • the same principle can be applied for magnets whose magnetization is oriented along the first pivot axis D1, as visible on the Figures 14 to 16 .
  • the passing wheel 2 has two levels of attracting magnets, at two median planes PM1 and PM2. It is quite possible to have two levels on the first mobile blocker 1 rather than the wheel of passage on the same principle.
  • the solutions proposed above make it possible to let a passing wheel run under torque alternately, and by limiting the consumption when the passing wheel does not rotate (at rest). Many applications are possible with this type of system.
  • a first application concerns a temporary contribution of torque. Indeed, in many cases, watch movements have complications that generate additional torque consumption, but over a limited period of time. This is particularly the case of simple, annual, perpetual, or other calendar mechanisms, which consume energy during the movement of the date, usually at midnight. This consumption implies a local fall in amplitude and therefore a decrease in the power reserve.
  • the described system may provide a torque supply during this time interval of overconsumption. If the passage wheel 2 is connected to an auxiliary barrel 3, smaller in size than the main barrel, or even a simple spiral spring or a blade, or any elastic or magnetic return means, and the first blocking mobile 1 is connected directly or indirectly to the work train and dimensioned to achieve a turn in 24 hours (if the over-consumption occurs only once in 24 hours), then the passage wheel 2 can bring a torque to the first mobile blocker 1 during the consumption interval and thus to avoid a fall in amplitude at the passage of midnight and thus to increase the power reserve.
  • This variant is illustrated by the figure 11 .
  • Another example of application relates to a torque variator.
  • differential which allows to change the torque ratio between two mobile, for example barrel / center, in particular to make the torque constant when disarming the barrel
  • a lever or a carrier-satellite, so that it adapts the position of the satellite according to the disarming state of the cylinder.
  • This lever is therefore subject to a couple that is necessary to support.
  • the passage wheel 2 driven alternately in rotation by the first blocking mobile 1, which is in this example the barrel drum, can drive this lever which therefore transmits a significant torque.
  • the solution according to the invention makes it possible to maintain the passage wheel 2 fixed, with a limited consumption despite the torque to which it is subjected.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Electromechanical Clocks (AREA)
  • Electric Clocks (AREA)
  • Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
  • Transmission Devices (AREA)
  • Control Of Stepping Motors (AREA)
EP15201245.6A 2015-12-18 2015-12-18 Uhr sequenzer mit durchgangsrad mit verringerter mechanischer reibung Active EP3182225B1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP15201245.6A EP3182225B1 (de) 2015-12-18 2015-12-18 Uhr sequenzer mit durchgangsrad mit verringerter mechanischer reibung
US15/355,567 US10558170B2 (en) 2015-12-18 2016-11-18 Wheel with reduced mechanical friction for timepieces
JP2016234769A JP6431026B2 (ja) 2015-12-18 2016-12-02 時計用の機械的摩擦を軽減したホイール
CN201611165239.XA CN106896696B (zh) 2015-12-18 2016-12-16 用于钟表的具有减少的机械摩擦的轮

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP15201245.6A EP3182225B1 (de) 2015-12-18 2015-12-18 Uhr sequenzer mit durchgangsrad mit verringerter mechanischer reibung

Publications (2)

Publication Number Publication Date
EP3182225A1 true EP3182225A1 (de) 2017-06-21
EP3182225B1 EP3182225B1 (de) 2018-08-08

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EP15201245.6A Active EP3182225B1 (de) 2015-12-18 2015-12-18 Uhr sequenzer mit durchgangsrad mit verringerter mechanischer reibung

Country Status (4)

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US (1) US10558170B2 (de)
EP (1) EP3182225B1 (de)
JP (1) JP6431026B2 (de)
CN (1) CN106896696B (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW201843544A (zh) * 2017-04-18 2018-12-16 瑞士商百達翡麗日內瓦股份有限公司 時計使用的阻擋裝置
CH714791B1 (fr) * 2018-03-16 2022-03-15 Hublot Sa Geneve Organe denté pour pièce d'horlogerie.
EP3955063B1 (de) * 2020-08-12 2024-07-03 The Swatch Group Research and Development Ltd Uhrmechanismus mit magnetischem getrieberad
EP4141578A1 (de) * 2021-08-30 2023-03-01 The Swatch Group Research and Development Ltd Uhrwerksmechanismus mit einem magnetischen getrieberad
US20240206905A1 (en) * 2022-12-27 2024-06-27 Most Cardio, Llc System for axial positioning of a rotating shaft

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FR1147723A (fr) * 1956-04-16 1957-11-28 Cresto & Serbac Perfectionnements aux mécanismes réducteurs pour horlogerie
US3500630A (en) * 1966-07-27 1970-03-17 Rene Beguin Magnetic transmission system
DE2361685A1 (de) * 1972-12-11 1974-06-12 Suisse Horlogerie Kalendermechanismus
EP0394215A2 (de) * 1989-04-17 1990-10-24 Herwig Wutscher Anzeigevorrichtung für eine Uhr
EP2887157A1 (de) * 2013-12-23 2015-06-24 The Swatch Group Research and Development Ltd. Optimierte Uhrhemmung

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US3183426A (en) * 1962-02-14 1965-05-11 Cons Electronics Ind Magnetically coupled constant speed system
US3719839A (en) * 1970-03-25 1973-03-06 Y Endo Device for magnetically regulating each stop position of an intermittently rotating output member
CH538070A (de) * 1970-10-22 1973-07-31 Siemens Ag Anordnung zur Umwandlung einer hin- und hergehenden Bewegung eines ersten Apparateteiles in eine schrittweise Drehbewegung bestimmter Drehrichtung eines zweiten Apparateteiles
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JP4452976B2 (ja) * 2003-09-09 2010-04-21 株式会社安川電機 磁気ゼネバ歯車機構
CH702187A2 (fr) * 2009-11-02 2011-05-13 Lvmh Swiss Mft Sa Organe réglant pour montre bracelet, et pièce d'horlogerie comportant un tel organe réglant.
EP2762985B1 (de) * 2013-02-04 2018-04-04 Montres Breguet SA Magnetische oder elektrostatische Drehung eines drehbaren Bauteils einer Uhr
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FR1147723A (fr) * 1956-04-16 1957-11-28 Cresto & Serbac Perfectionnements aux mécanismes réducteurs pour horlogerie
US3500630A (en) * 1966-07-27 1970-03-17 Rene Beguin Magnetic transmission system
DE2361685A1 (de) * 1972-12-11 1974-06-12 Suisse Horlogerie Kalendermechanismus
EP0394215A2 (de) * 1989-04-17 1990-10-24 Herwig Wutscher Anzeigevorrichtung für eine Uhr
EP2887157A1 (de) * 2013-12-23 2015-06-24 The Swatch Group Research and Development Ltd. Optimierte Uhrhemmung

Also Published As

Publication number Publication date
JP2017111130A (ja) 2017-06-22
EP3182225B1 (de) 2018-08-08
CN106896696B (zh) 2019-03-29
JP6431026B2 (ja) 2018-11-28
CN106896696A (zh) 2017-06-27
US20170176946A1 (en) 2017-06-22
US10558170B2 (en) 2020-02-11

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