EP3254078A1 - Baukasten für lager und lageranordnung - Google Patents
Baukasten für lager und lageranordnungInfo
- Publication number
- EP3254078A1 EP3254078A1 EP16708592.7A EP16708592A EP3254078A1 EP 3254078 A1 EP3254078 A1 EP 3254078A1 EP 16708592 A EP16708592 A EP 16708592A EP 3254078 A1 EP3254078 A1 EP 3254078A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- modules
- bearing
- modular system
- supply
- interfaces
- 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- Withdrawn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
- 230000003213 activating effect Effects 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims abstract description 3
- 238000010276 construction Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 4
- 239000000314 lubricant Substances 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000005086 pumping Methods 0.000 claims 1
- 238000012545 processing Methods 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract 1
- 238000005096 rolling process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 241000272525 Anas platyrhynchos Species 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 125000002512 iodyl group Chemical group O=I(=O)[*] 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/04—Bearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
- F16C19/04—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly
- F16C19/06—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly with a single row or balls
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/52—Bearings with rolling contact, for exclusively rotary movement with devices affected by abnormal or undesired conditions
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/52—Bearings with rolling contact, for exclusively rotary movement with devices affected by abnormal or undesired conditions
- F16C19/522—Bearings with rolling contact, for exclusively rotary movement with devices affected by abnormal or undesired conditions related to load on the bearing, e.g. bearings with load sensors or means to protect the bearing against overload
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0009—Force sensors associated with a bearing
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/66—Special parts or details in view of lubrication
- F16C33/6637—Special parts or details in view of lubrication with liquid lubricant
- F16C33/664—Retaining the liquid in or near the bearing
- F16C33/6648—Retaining the liquid in or near the bearing in a porous or resinous body, e.g. a cage impregnated with the liquid
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/66—Special parts or details in view of lubrication
- F16C33/6637—Special parts or details in view of lubrication with liquid lubricant
- F16C33/6681—Details of distribution or circulation inside the bearing, e.g. grooves on the cage or passages in the rolling elements
Definitions
- the veriiegende invention relates ⁇ inen Sa box for storage and a
- Senscrlager which are heated, for example, in order to measure hyslkaiisciie Oröl en, such as speed or temperature, directly to a rolling position.
- the DE 1.0 21) 09021 4Si ⁇ 1 shows a Sensoriagereinheif comprising as
- the sensor housing is as at a free circumferential h. formed in an end face de bearing ring fitting .
- Adapterring is dimensioned so that the radial or axial dimensions of the Sensoriagerelnbelt are highly ns equal to those of a ball bearing ml same load capacity.
- D 10 201 202 ⁇ 22 AI describes a sensor bearing with a rolling bearing.
- the bearing has an inner ring, an outer ring and between inner and outer ring
- the sensor bearing further includes at least one sensor for the measurement of: acting on the älzSystem forces and a Kenimiinikafiens worn soft data exchange between the yessetz commentary and
- the signal receiver does not have any rolling elements in one to four pockets.
- the b w. the Ifessauf fashion rotatably connected to the cage.
- the currently known Senscilager ore te e te e ee usually at a close
- Task usually intended to have a specific functionality in one
- sensor bearings are developed, each optimized for one or a few aspects. So are
- the object of the present invention is d mgeg nü he then,
- a tager arrangement is to be set for destruction, which can be adapted with little effort to different applications.
- a Saukaste gemäE serves to 'ung Lö erfindangsgemi on the object of the beigefygten claim 1.
- the modular erflndungsgemi e is used to provide components for a bearing for this purpose includes the kit a plurality * on modules, the modules can be variably combined anferst.
- the modules comprise an e rza l of supply management modules zn
- Storage management modules, functional modules, and infrastructure modules preferably have few-compatible computational interfaces, compatible electrical interfaces, compatible radio interface skins, and / or compatible material interfaces. These are preferably the same mechanical interfaces to; the same electrical interfaces around the same Fynkilonsscnnfisfelen or to the same material interfaces, The Versorgyngsmanagernentmedüle are preferably interchangeable within the Lagerbauraurnes.
- the radio modules are within the Storage space bevo awarded to each other interchangeable.
- the infraslr kliirmod te nd within the storage space preferably against each other interchangeable.
- the invention provides for the first time a topology for bearings designed with specific functionalities.
- the topoiogle of such a camp is the arrangement of modules or components within the campus
- Lagtm equipped functionalities is possible .
- only the modules required in each case of application must be combined with each other and placed in the respective Lagerbauraurn or positioned at the appropriate location in the vicinity of the camp.
- erfindungsgen preferably set such that an optimal coupling of the modules overlooks an optimal compatibility.
- the modules are familiar both in different bearing discs
- the group comprises
- boxes are supplied with various supply management supplies to:
- the supplier of ganientfTipdute includes at least one supply management module to supply Sensodaiarkom onenlan with lubricant. These include preferably oil and oil storage oil and additive module from which bearings can be added to the bearing as needed
- the modular system for measuring state variables such as rotational speed, temperature, force, wire bending, acceleration and souring of the welter
- the modular system can also function module to control pump (Pym nmodui) or ⁇ n een ( eldung modu, for example, l utspreelier ⁇
- the group of the functions iodule also includes a service module, soft under
- Infrastructure module for electrical connection of the oduie to equip a Verbit Dungsniedi m, This is preferably a Schnettstelienmodul which adapts the electrical interface to the respective environment, for example 4 m to 20 mA or Ethernet.
- the modular system of preferably contained infrastructure mod- els also includes a radio mod- ule RFID (radlo>reguanev; ideotifiostlooi odyL an MF € (r ar Fleld Communication) - V!
- Ddyl a memory module a chevron module an identification module as well as an echoing module in S eichermodyl, for example, those from the Fynktle libraries
- the Speiehemindyi can also be used to store reference data.
- D ⁇ modules are preferably pre-segregated for a rolling bearing so that they are at least partially in a WäiElagerbaurauai bevertegrbar.
- the wings can be provided for linear bearings or relative bearings.
- the bearing assembly includes a bearing and a plurality of modules connectable to a common interconnecting medium.
- the modules are preferably components of one of the more preferred? Implementation of the
- connection rotator forms a bus system.
- the connection medium can also be a wire-based bass system.
- the modules can be coupled to out-of-camp systems if required, for example by coupling individual modules to external power management systems or external data processing and evaluation devices.
- the figure shows a diagrammatic representation of the typology of a preferred embodiment of a bearing arrangement according to the invention.
- This embodiment of the invention comprises a bearing (not shown) and a number of modules arranged in the construction of the bearing or in the vicinity of the bearing.
- This group includes supply modules of tagerkomponente with electrical energy, ie, for example, a Spannüo sppsmödul, an ⁇ kkumulaformodyL a clergyftenamodyl s
- Capacitor module an energy management unit, an energy harvesting module, a generator module, a signal and energy-dissipating cable are thus added
- Another oduixx are functional modules, which are used for: fair of
- Bearing state variable eo and spring m m Triggering and / or activating given events under given conditions. These include, for example, a turntable, a teniperaturroodyl, a forceimodule, a drum module, an accelerator module, a sohmlerstcfqyalltatsmodyi, a fompenrncdui a servloemodyl, as well as a messagemodyt auoh bler are presently available, but only the ones required.
- the third group comprises infrastructural modules, which are used for the realization of commutation statements and / or for the specification and processing of predefined and / or registered data. Included in this group are: module named below: a radio module, an RFID module, an NFC viodul, a Speioherrooäül, a Sehoittstelienmodyt a abeloiödul, a idenilfikatlonsmodul and a
- statynes odyl ie in the case of the other dutgru s, as a rule, not all possible infrastructural modules are used at the same time.
- the modules are connected to a common connection level. At the level of understanding, there is an exchange of substances, information and / or energy to the individual module n ⁇
- the Infestruktprmodu! E are connected to external systems, with which they exchange substances, information and energy naming.
- the SpelkermodtJ may for example be connected to an external processing unit.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Rolling Contact Bearings (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015202130.0A DE102015202130A1 (de) | 2015-02-06 | 2015-02-06 | Baukasten für Lager und Lageranordnung |
| PCT/DE2016/200064 WO2016124191A1 (de) | 2015-02-06 | 2016-02-03 | Baukasten für lager und lageranordnung |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP3254078A1 true EP3254078A1 (de) | 2017-12-13 |
Family
ID=55486420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP16708592.7A Withdrawn EP3254078A1 (de) | 2015-02-06 | 2016-02-03 | Baukasten für lager und lageranordnung |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US10101241B2 (de) |
| EP (1) | EP3254078A1 (de) |
| CN (1) | CN107209081B (de) |
| DE (1) | DE102015202130A1 (de) |
| WO (1) | WO2016124191A1 (de) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017100570A1 (de) | 2017-01-13 | 2018-07-19 | Schaeffler Technologies AG & Co. KG | Sensormodul zum Einbau in ein Lager sowie Lageranordnung |
| DE102017100574A1 (de) | 2017-01-13 | 2018-07-19 | Schaeffler Technologies AG & Co. KG | Modul zur Verhinderung von Stromdurchgangsschäden bei einem Wälzlager sowie Wälzlageranordnung |
| DE102017114167B3 (de) | 2017-06-27 | 2018-06-14 | Schaeffler Technologies AG & Co. KG | Lagersensorring, Sensorlageranordnung und Verfahren zu ihrer Herstellung |
| DE102017130335B3 (de) | 2017-12-18 | 2018-12-27 | Schaeffler Technologies AG & Co. KG | Lageranordnungen und Modulträger für diese |
| DE102018101062A1 (de) * | 2018-01-18 | 2019-07-18 | Schaeffler Technologies AG & Co. KG | Verfahren zum Betrieb eines Lagers mit mindestens einem ersten Energiebereitstellungsmodul und einem zweiten Energiebereitstellungsmodul |
Family Cites Families (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2746937C2 (de) * | 1977-10-17 | 1986-11-06 | Gerhard Dr.-Ing. 1000 Berlin Lechler | Kraftmeßeinrichtung |
| JPS56154640A (en) * | 1980-05-02 | 1981-11-30 | Hitachi Ltd | Method for monitoring bearing |
| US4460893A (en) * | 1982-02-08 | 1984-07-17 | General Electric Company | Method and apparatus for detecting abnormal metal-to-metal contact in a journal bearing |
| US5602761A (en) | 1993-12-30 | 1997-02-11 | Caterpillar Inc. | Machine performance monitoring and fault classification using an exponentially weighted moving average scheme |
| US6161962A (en) * | 1996-09-13 | 2000-12-19 | The Timken Company | Bearing with sensor module |
| US5952587A (en) * | 1998-08-06 | 1999-09-14 | The Torrington Company | Imbedded bearing life and load monitor |
| DE19938722B4 (de) * | 1999-08-16 | 2010-10-07 | Prüftechnik Dieter Busch AG | Verfahren und Vorrichtung zur Analyse von Wälzlagern in Maschinen |
| US6321602B1 (en) * | 1999-09-28 | 2001-11-27 | Rockwell Science Center, Llc | Condition based monitoring by vibrational analysis |
| DE10019324C1 (de) * | 2000-04-19 | 2001-07-26 | Skf Gmbh | Verfahren und Vorrichtung zum Überwachen einer Lageranordnung |
| US6535135B1 (en) * | 2000-06-23 | 2003-03-18 | The Timken Company | Bearing with wireless self-powered sensor unit |
| DE10136438A1 (de) * | 2000-08-22 | 2002-03-07 | Bosch Gmbh Robert | Sensoranordnung in einem Wälzlager und Verfahren zur Auswertung des Sensorsignals |
| DE10054069A1 (de) * | 2000-10-31 | 2002-05-16 | Thomas A Theurer | Steuersystem |
| DE10064420B4 (de) * | 2000-12-21 | 2007-03-08 | I-For-T Gmbh | Vorrichtung zur dezentralen Erfassung und Auswertung von physikalischen Ereignissen |
| US7034711B2 (en) * | 2001-08-07 | 2006-04-25 | Nsk Ltd. | Wireless sensor, rolling bearing with sensor, management apparatus and monitoring system |
| US6711952B2 (en) * | 2001-10-05 | 2004-03-30 | General Electric Company | Method and system for monitoring bearings |
| DE10236790C1 (de) | 2002-08-10 | 2003-10-16 | Moeller Gmbh | Elektrisches Schaltgerät |
| EP1548419B1 (de) * | 2002-08-30 | 2013-07-24 | NSK Ltd. | Verfahren und einrichtung zur überwachung des status mechanischer geräte und abnormitätsdiagnoseeinrichtung |
| JP4430316B2 (ja) * | 2003-02-28 | 2010-03-10 | Thk株式会社 | 状態検出装置及び状態検出方法並びに状態検出用プログラム及び情報記録媒体 |
| JP2005098941A (ja) * | 2003-09-26 | 2005-04-14 | Ntn Corp | ワイヤレスセンサ付軸受装置 |
| US7182519B2 (en) * | 2004-06-24 | 2007-02-27 | General Electric Company | Methods and apparatus for assembling a bearing assembly |
| CN101010578B (zh) * | 2004-08-31 | 2010-09-08 | Thk株式会社 | 状态检测装置、状态检测方法、状态显示装置及状态显示方法 |
| DE102005004862A1 (de) * | 2005-02-02 | 2006-08-10 | Siemens Ag | Verfahren zur Überwachung der Temperatur zumindest eines Lagers einer elektrischen Maschine, eine hiermit korrespondierende Überwachungseinrichtung sowie elektrische Maschine mit einer derartigen Überwachungseinrichtung |
| DE102005032720B4 (de) | 2005-07-13 | 2007-04-05 | Siemens Ag | Schnittstellenmodulvorrichtung für eine elektrische Maschine zur Lebensdauerberechnung eines Lagers |
| GB2456821B (en) * | 2008-01-28 | 2010-01-06 | Stephen Davidson | Method and apparatus for measuring power ouput from a crank drive |
| WO2010009750A1 (de) * | 2008-07-24 | 2010-01-28 | Siemens Aktiengesellschaft | Verfahren und anordnung zum ermitteln und überwachen des zustands eines wälzlagers |
| DE102009009961B4 (de) * | 2009-02-23 | 2013-10-31 | Hanning Elektro-Werke Gmbh & Co. Kg | Rotationskörper |
| DE102009021469A1 (de) | 2009-05-15 | 2010-11-18 | Schaeffler Technologies Gmbh & Co. Kg | Sensorlagereinheit |
| DE102009037424A1 (de) * | 2009-08-13 | 2011-02-17 | Schaeffler Technologies Gmbh & Co. Kg | Lageranordnung mit Schmiermittelsensor |
| CN102572761B (zh) * | 2010-12-13 | 2015-12-16 | 阿尔卡特朗讯 | 在通信网络中用于处理业务连接的方法及装置 |
| DE102012202522A1 (de) | 2012-02-20 | 2013-08-22 | Schaeffler Technologies AG & Co. KG | Sensorlager |
| DE102012209060A1 (de) | 2012-05-30 | 2013-12-05 | Aktiebolaget Skf | Messgerät |
| EP2696071A1 (de) * | 2012-08-09 | 2014-02-12 | IMO Holding GmbH | Verfahren und Vorrichtung zur Erkennung und Überwachung der Zustände von Baugruppen und Komponenten, insbesondere in Windenergieanlagen |
| FR2998019B1 (fr) * | 2012-11-12 | 2016-07-22 | Skf Aerospace France | Roulement, boitier comprenant un ensemble de roulement(s), procede et programme d'ordinateur associes |
| DE102013215693A1 (de) * | 2013-08-08 | 2015-02-12 | Schaeffler Technologies Gmbh & Co. Kg | Wälzlager mit einer fernabfragbaren Datenträgereinheit |
-
2015
- 2015-02-06 DE DE102015202130.0A patent/DE102015202130A1/de not_active Ceased
-
2016
- 2016-02-03 EP EP16708592.7A patent/EP3254078A1/de not_active Withdrawn
- 2016-02-03 WO PCT/DE2016/200064 patent/WO2016124191A1/de not_active Ceased
- 2016-02-03 US US15/540,444 patent/US10101241B2/en not_active Expired - Fee Related
- 2016-02-03 CN CN201680006578.5A patent/CN107209081B/zh not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN107209081A (zh) | 2017-09-26 |
| CN107209081B (zh) | 2020-05-12 |
| US10101241B2 (en) | 2018-10-16 |
| WO2016124191A1 (de) | 2016-08-11 |
| US20170370802A1 (en) | 2017-12-28 |
| DE102015202130A1 (de) | 2016-08-11 |
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