EP3350423B1 - Dispositif de commande variable de soupape de moteur à combustion interne - Google Patents

Dispositif de commande variable de soupape de moteur à combustion interne Download PDF

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Publication number
EP3350423B1
EP3350423B1 EP16770875.9A EP16770875A EP3350423B1 EP 3350423 B1 EP3350423 B1 EP 3350423B1 EP 16770875 A EP16770875 A EP 16770875A EP 3350423 B1 EP3350423 B1 EP 3350423B1
Authority
EP
European Patent Office
Prior art keywords
control
camshaft
cam
lever
valve
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.)
Not-in-force
Application number
EP16770875.9A
Other languages
German (de)
English (en)
Other versions
EP3350423A1 (fr
Inventor
Johannes Rieger
Thomas Moser
Benjamin BIERBAUMER
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.)
AVL List GmbH
Original Assignee
AVL List GmbH
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 AVL List GmbH filed Critical AVL List GmbH
Publication of EP3350423A1 publication Critical patent/EP3350423A1/fr
Application granted granted Critical
Publication of EP3350423B1 publication Critical patent/EP3350423B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
    • F01L1/02—Valve drive
    • F01L1/04—Valve drive by means of cams, camshafts, cam discs, eccentrics or the like
    • F01L1/047—Camshafts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L13/00—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations
    • F01L13/0015—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations for optimising engine performances by modifying valve lift according to various working parameters, e.g. rotational speed, load, torque
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L13/00—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations
    • F01L13/0015—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations for optimising engine performances by modifying valve lift according to various working parameters, e.g. rotational speed, load, torque
    • F01L13/0036—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations for optimising engine performances by modifying valve lift according to various working parameters, e.g. rotational speed, load, torque the valves being driven by two or more cams with different shape, size or timing or a single cam profiled in axial and radial direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
    • F01L1/02—Valve drive
    • F01L1/04—Valve drive by means of cams, camshafts, cam discs, eccentrics or the like
    • F01L1/047—Camshafts
    • F01L2001/0471—Assembled camshafts
    • F01L2001/0473—Composite camshafts, e.g. with cams or cam sleeve being able to move relative to the inner camshaft or a cam adjusting rod
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L13/00—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations
    • F01L13/0015—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations for optimising engine performances by modifying valve lift according to various working parameters, e.g. rotational speed, load, torque
    • F01L13/0036—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations for optimising engine performances by modifying valve lift according to various working parameters, e.g. rotational speed, load, torque the valves being driven by two or more cams with different shape, size or timing or a single cam profiled in axial and radial direction
    • F01L2013/0052—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations for optimising engine performances by modifying valve lift according to various working parameters, e.g. rotational speed, load, torque the valves being driven by two or more cams with different shape, size or timing or a single cam profiled in axial and radial direction with cams provided on an axially slidable sleeve

Definitions

  • the invention relates to a variable valve control device for internal combustion engines of Hubkolbenbauart with at least one gas exchange valve which is actuated by means of a rotatably mounted about an axis of rotation camshaft connected via a rotatably connected to the camshaft, at least two different cam tracks cam device, wherein by means of a control device optionally one of the cam tracks activated and at least one other cam track is deactivatable, and wherein the control device has at least one pivotable about a pivot axis control lever and at least one rotatably connected to the camshaft first control body, in the surface at least a first cam groove and at least one second cam groove is formed, optionally in the first control groove, a first control pin of the control lever or in the second control groove, a second control pin of the control lever is einlenkbar.
  • a valve train of an internal combustion engine with a camshaft which has a carrier shaft and a rotatably fixed thereto and axially displaceable between two positions arranged carrier hub.
  • the carrier hub has a cam body with two axially adjacent cams whose cam tracks have different cam elevations and identical base circle diameters.
  • a cylindrical control body has at least one first and one second helical control groove into which a housing-side mounted control pin of an actuating device can be brought into engagement for the axial adjustment of the carrier hub.
  • the actuating device has a rocker arm, which is arranged with axial alignment radially adjacent to the control body and is pivotally mounted about a tangential axis.
  • the rocker arm has at both ends in each case a control pin and is by an actuating element positively and / or non-positively pivotable in a first position, in which the control pin is engaged with the associated control groove. Furthermore, the rocker arm is pivotable to a second position in which the control pin is out of engagement with the associated control. At the same time engages in this second position arranged at the other end of the rocker arm second locking pin in an associated second control groove.
  • the disadvantage is that a lot of space is taken, so that this arrangement is not suitable for many applications.
  • the camshaft has a carrier shaft with at least one rotationally fixed and axially displaceable cam piece, which is displaceable by a switching element from a first axial end position to a second axial end position and by a control element in this end position durable.
  • the piece has a shift gate on with a groove, in which an actuator submitted and the switching contour of the groove follows.
  • the object of the invention is to avoid the disadvantages mentioned and to enable compact variable valve timing with low manufacturing and construction costs.
  • control body has an inner first lateral surface and an outer second lateral surface, wherein the first lateral surface to the camshaft axis has a smaller distance than the second lateral surface and the two lateral surfaces are arranged concentrically to the camshaft axis, and wherein the two facing each other Cladding surfaces define a substantially annular control space, and the first cam groove in the first lateral surface and the second cam groove are formed in the second lateral surface.
  • the first and second control grooves are thus arranged one above the other in the radial direction in the same axial section of the camshaft, wherein the first and second control groove opposite to the control space and facing each other. As a result, space can be saved in the axial direction of the camshaft.
  • the substantially cylindrical control chamber is favorably designed to be open on a first end face preferably facing the cam device, the control lever being arranged projecting through the open end face into the control space.
  • the second lateral surface is arranged on the inside of a sleeve part, which is firmly connected to the camshaft, preferably pressed, wherein particularly preferably the connection between the camshaft and sleeve part facing away from the cam device second end face of the control room.
  • the valve control device requires very little space when the pivot axis of the control lever is arranged parallel to the camshaft axis.
  • the pivot axis of the control lever is arranged inclined to the camshaft axis, wherein in at least one projection normal to the camshaft axis, the pivot axis with the camshaft axis an angle between 0 ° and 60 °, preferably between 0 ° and 30 °.
  • this design can offer design advantages.
  • the control lever has a preferably fork-shaped switching element, which engages on a driver element of the axially displaceably arranged on the camshaft cam device.
  • the driver element is preferably formed by a ring axially spaced from the cam tracks, which is preferably arranged on a control body facing the end of the cam device.
  • the trained as a ring driver element can be easily assembled with the camshaft and allows axial adjustment of the cam device along the camshaft axis regardless of the rotational angle of the camshaft.
  • the cam device can act on rocker arms or bucket tappets on at least one gas exchange valve.
  • control lever has a preferably fork-shaped switching element, which acts on one of the non-displaceably connected to the camshaft cam device actuated transmission element, which transmission element is designed to be displaceable parallel to the camshaft axis.
  • the transmission element is a rotatable and axially displaceable on a valve lever roller body.
  • the cam device may be formed integrally with the camshaft, the cam tracks may be molded directly into the camshaft.
  • cam device or the transmission element can be locked via at least one spring detent element.
  • axial movements within the production-related clearance of the elements of the control device are avoided in the end positions of the cam device or the transmission element, which increase the wear and can also have an acoustically disadvantageous effect.
  • FIGS. 1 to 4 show a first embodiment, the Fig. 5 to Fig. 10 a second embodiment of the invention.
  • variable valve control device 1 for internal combustion engines has at least one camshaft 3 rotatably mounted about a camshaft axis 2, wherein a cam device 4 with at least two cams 5, 6 and cam tracks 7, 8 is rotatably connected to the camshaft 3.
  • the cam device 4 acts in the embodiments on a, for example, designed as a roller body transmission element 30 of a transmission device 31 - for example, a valve lever - a, which transmission device 31 at least one - in the FIGS. 9 and 10 drawn - gas exchange valve 32 of the internal combustion engine actuated.
  • one of the cam tracks 7, 8 can be activated or deactivated via a control device 10.
  • the control device 10 has at least one control lever 12, which is pivotable about a pivot axis 11 and axially displaceably mounted along the pivot axis 11 between two end positions, and at least one rotationally fixed connection with the camshaft 3
  • Control body 13 which spans a control chamber 16 between an inner first lateral surface 14 and an outer second lateral surface 15.
  • the pivot axis 11 is arranged in the exemplary embodiments parallel to the camshaft axis 2, but can also - as viewed in a projection normal to the camshaft axis 2 - be executed inclined at an acute angle.
  • the substantially cylindrical lateral surfaces 14, 15 are arranged concentrically to the camshaft axis 2.
  • the radially inwardly directed second lateral surface 15 is further away from the camshaft axis 2 than the radially outwardly directed first lateral surface 14.
  • the substantially cylindrical control chamber 16 is designed to be open on a first end face 16a facing the cam device 4, the control lever 12 being arranged projecting into the control space 16 through the open end face 16a.
  • the second lateral surface 15 is arranged in the exemplary embodiments on the inside of a sleeve part 9, which is firmly connected to the camshaft 3, for example, pressed, wherein the connection between the camshaft 3 and sleeve part 9 on one of the cam device 4 remote from the second end face 16b of the control chamber sixteenth he follows.
  • the control grooves 17, 18 are rotated in different directions - ie the one control groove clockwise, the other control groove counterclockwise - in the lateral surfaces 14, 15 formed.
  • the control lever 12 has a first control pin 19 and a second control pin 20, wherein the two control pins 19, 20 are arranged on the same first lever arm 21 of the control lever 12.
  • the first and second control pins 19, 20 are substantially radially with respect to the camshaft axis 2, but differently oriented firmly attached to the first lever arm 21, for example in one piece with this executed.
  • the first control pin 19 is the first lateral surface 14, the second control pin 20 of the second lateral surface 15 faces.
  • the first lever arm 21 of the control lever 12 is guided in the interior of the open-ended first end face 16a of the substantially cylindrical control chamber 16.
  • the control lever 12 can be pivoted via a second lever arm 22 engaging, not shown actuator between a first position and a second position, wherein in the first position the first cam 7 and in the second position, the second cam 8 is activated.
  • the first control pin 19 or the second control pin 20 by switching (black and white circuit) of the control lever 12 in the opposite cam 17, 18 is pressed.
  • control lever 12 acts via a fork-shaped switching element 23 or 25 on a driver element 24 or 26 of the cam device 4 (FIG. Fig. 1 to Fig. 4 ) or the transmission element 30 (FIG. Fig. 5 to Fig. 10 ) on.
  • the timing of the switching of the control lever 12 is independent of the rotation angle of the camshaft 3, since the control grooves 17, 18 are designed so that the adjustment operations only in the base circles of the cam tracks 7, 8 done.
  • the cam device 4 rotatably, axially displaceable on the camshaft 3 is arranged.
  • the cam device 4 has a driver element 24 on the side facing the control body 13. Due to the rotational movement of the camshaft 3 with the control grooves 17, 18, the control pins 19, 20 and thus the control lever 12 with the switching element 23 and thus the cam device 4 via the engaging with the switching element 23 driver element 24 is axially displaced.
  • the driver element 24 is formed as a ring 24a, which is formed axially spaced from the cams 5, 6 in the cam device 4.
  • the spring detent element 27 is arranged displaceably in a radial bore of the camshaft 3 and has a latching body 27b loaded by a spring 27a to the outside.
  • a first annular groove 29 a and one of them axially spaced second annular groove 29 b are arranged in an inner circumferential surface, wherein in the in the Fig. 1 and Fig. 3 shown first end position of the cam device 4 of the locking body 27b in the first annular groove 29a and in the in the Fig. 2 and Fig. 4 shown second end position of the cam device 4 of the locking body 27b engages in the second annular groove 29b and thus locks the cam device 4 in the respective end position axially.
  • the cam device 4 acts via a transmission device 31 on the gas exchange valves, not shown.
  • the transmission device 31 may be formed in a conventional manner as tilting or drag lever with or without roller body, or as a bucket tappet.
  • the rotatable roller body may be formed axially immovable.
  • the cam device 4 is fixedly connected to the camshaft 3, for example, integrally formed therewith.
  • a valve lever axis 31a rotatable rocker arm or rocker lever formed transmission means 31 has a transmission element 30, for example, a rotatably mounted on the transmission device 31 about an axis 30a roller body on which between a first position and a second position is arranged axially displaceable.
  • a fork-shaped switching element 25 acts on a driver element 26 of the transmission element 30.
  • the driver element 26 may be, for example, a bearing ring of the transmission element 30 embodied as a roller body.
  • the spring detent element 28 is arranged radially displaceably in the transmission device 31 designed as a valve lever, namely in a radial bore relative to the valve lever axis 31a, and has a detent body 28b loaded radially inwardly by a spring 28a.
  • the control lever 12 has in its the spring detent element 28 facing surface a first groove 12 a and one of which in the direction of the valve lever axis spaced second groove 12, wherein in the in Fig. 9 shown first stop position of the transmission element 30 of the locking body 28b engages in the first groove 12a and in the second end position of the transmission element 30 of the locking body 28b in the second groove 12b and thus axially locks the transmission element 30 in the respective end position.
  • the control lever 12 is rotatably mounted about the valve lever axis 31a, thus the pivot axis 11 coincides with the valve lever axis 31a.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Valve Device For Special Equipments (AREA)
  • Valve-Gear Or Valve Arrangements (AREA)

Claims (10)

  1. Dispositif de commande de soupape variable (1) destiné à des moteurs à combustion interne du type à pistons alternatifs ayant au moins une soupape d'échange de gaz (32) qui peut être actionnée au moyen d'un arbre à cames (3) monté mobile en rotation autour d'un axe d'arbre à cames (2) par l'intermédiaire d'un dispositif de cames (4) relié solidairement en rotation à l'arbre à cames (3) et ayant au moins deux pistes de came (7, 8) différentes, un dispositif de commande (10) permettant sélectivement d'activer l'une des pistes de came (7, 8) et de désactiver l'autre piste de came (8, 7), et le dispositif de commande (10) comprenant au moins un levier de commande (12) pouvant pivoter autour d'un axe de pivotement (11) et au moins un premier corps de commande (13) relié solidairement en rotation à l'arbre à cames (3), et dans la surface duquel sont formées au moins une première rainure de commande (17) et au moins une seconde rainure de commande (18), un premier tourillon de commande (19) du levier et de commande (12) pouvant sélectivement être transféré dans la première rainure de commande (17) ou un second tourillon de commande (20) du levier de commande (12) pouvant sélectivement être transféré dans la seconde rainure de commande (18),
    caractérisé en ce que
    le corps de commande (13) comporte une première surface enveloppe interne (14) et une seconde surface enveloppe externe (14), la première surface enveloppe (15) est à une plus faible distance de l'axe de l'arbre à cames (2) que la seconde surface enveloppe (15) les deux surfaces enveloppes (14, 15) sont positionnées concentriquement sur l'axe de l'arbre à cames (2), les deux surfaces enveloppes (14, 15) tournées l'une vers l'autre délimitent un volume de commande (16) essentiellement annulaire et la première rainure de commande (17) est formée dans la première surface enveloppe (14) alors que la seconde rainure de commande (18) est formée dans la seconde surface enveloppe (15).
  2. Dispositif de commande de soupape (1) conforme à la revendication 1,
    caractérisé en ce que
    le volume de commande (16) essentiellement cylindrique est ouvert sur une première face frontale (16a) de préférence tournée vers le dispositif de came (4), et le levier de commande (12) pénètre dans le volume de commande (16) au travers de la première face frontale ouverte (16a).
  3. Dispositif de commande de soupape (1) conforme à la revendication 1 ou 2,
    caractérisé en ce que
    la seconde surface enveloppe (15) est située sur la face interne d'un élément de manchon (9) qui est relié solidairement à l'arbre à cames (3), de préférence comprimé sur celui-ci et, de façon particulièrement préférentielle la liaison entre l'arbre à cames (3) et l'élément de manchon (9) s'effectue sur la seconde face frontale (16b) du volume de commande (16) située à l'opposé du dispositif de came (4).
  4. Dispositif de commande de soupape (1) conforme à l'une des revendications 1 à 3,
    caractérisé en ce que
    l'axe de pivotement (11) du levier de commande (12) est parallèle à l'axe (2) de l'arbre à cames.
  5. Dispositif de commande de soupape (1) conforme à l'une des revendications 1 à 3,
    caractérisé en ce que
    l'axe de pivotement (11) du levier de commande (12) est incliné par rapport à l'axe (2) de l'arbre à cames, et dans au moins une projection normale sur l'axe (2) de l'arbre à cames, l'axe de pivotement (11) définit avec l'axe (2) de l'arbre à cames à angle compris entre 0° et 60°.
  6. Dispositif de commande de soupape (1) conforme à l'une des revendications 1 à 5,
    caractérisé en ce que
    le levier de commande (12) comporte un élément de commutation (23) de préférence en forme de fourche qui vient en prise sur un élément d'entraînement (24) du dispositif de came (4) monté coulissant axialement sur l'arbre à cames (3) (Figures 1 à 4).
  7. Dispositif de commande de soupape (1) conforme à la revendication 6,
    caractérisé en ce que
    l'élément d'entraînement (24) est formé par une bague située à distance axiale des pistes de came (7, 8) qui est de préférence située sur une extrémité du dispositif de came (4) tournée vers le corps de commande (13).
  8. Dispositif de commande de soupape (1) conforme à l'une des revendications 1 à 5,
    caractérisé en ce que
    le levier de commande (12) comporte un élément de commutation (25) de préférence en forme de fourche qui vient en prise sur un élément de transmission (30) actionné par le dispositif de came (4) relié de façon non coulissante à l'arbre à cames (3), cet élément de transmission (30) étant coulissant parallèlement à l'axe (2) de l'arbre à cames et, de préférence le dispositif de came (4) est réalisé en une seule pièce avec l'arbre à cames (3) (figures 5 à 10).
  9. Dispositif de commande de soupape (1) conforme à la revendication 8,
    caractérisé en ce que
    l'élément de transmission (30) est un corps de rouleaux mobile en rotation et susceptible de coulisser axialement sur un levier de soupape.
  10. Dispositif de commande de soupape (1) conforme à l'une des revendications 1 à 9,
    caractérisé en ce que
    le dispositif de came (4) ou l'élément de transmission (30) peut être bloqué par l'intermédiaire d'au moins un élément d'encliquetage à ressort (27, 28).
EP16770875.9A 2015-09-18 2016-09-19 Dispositif de commande variable de soupape de moteur à combustion interne Not-in-force EP3350423B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50802/2015A AT517815B1 (de) 2015-09-18 2015-09-18 Variable ventilsteuerungseinrichtung für brennkraftmaschinen
PCT/AT2016/060065 WO2017045008A1 (fr) 2015-09-18 2016-09-19 Distribution variable pour moteurs à combustion interne

Publications (2)

Publication Number Publication Date
EP3350423A1 EP3350423A1 (fr) 2018-07-25
EP3350423B1 true EP3350423B1 (fr) 2019-03-13

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ID=57003287

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16770875.9A Not-in-force EP3350423B1 (fr) 2015-09-18 2016-09-19 Dispositif de commande variable de soupape de moteur à combustion interne

Country Status (5)

Country Link
US (1) US10385738B2 (fr)
EP (1) EP3350423B1 (fr)
CN (1) CN108291460B (fr)
AT (1) AT517815B1 (fr)
WO (1) WO2017045008A1 (fr)

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DE102007010156A1 (de) * 2007-03-02 2008-09-04 Audi Ag Ventiltrieb einer Brennkraftmaschine mit mehrstufigen Nockenprofilgruppen und Stellorganen mit mindestens zwei Eingriffselementen
DE102007048915A1 (de) * 2007-10-12 2009-04-16 Daimler Ag Ventiltriebvorrichtungen
DE102008060169B4 (de) * 2008-11-27 2023-02-09 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Ventiltrieb für Gaswechselventile einer Brennkraftmaschine
DE102011002142B4 (de) * 2011-04-18 2022-07-28 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Kulissenschaltung für eine Nockenwelle
DE102011076726A1 (de) 2011-05-30 2012-12-06 Schaeffler Technologies AG & Co. KG Ventiltrieb eines Verbrennungskolbenmotors
DE102011117244B4 (de) 2011-10-27 2023-08-10 Mercedes-Benz Group AG Ventiltrieb für eine Brennkraftmaschine
DE102011085705A1 (de) 2011-11-03 2013-05-08 Schaeffler Technologies AG & Co. KG Ventiltrieb einer Brennkraftmaschine
JP6059080B2 (ja) * 2013-05-16 2017-01-11 株式会社オティックス 内燃機関の可変動弁機構
JP2015068189A (ja) * 2013-09-27 2015-04-13 スズキ株式会社 内燃機関の可変動弁装置
KR101483708B1 (ko) * 2013-12-18 2015-01-16 현대자동차 주식회사 연속 가변 밸브 듀레이션 장치
CN103758604B (zh) * 2014-01-23 2017-02-01 长城汽车股份有限公司 用于发动机的配气机构及具有其的车辆

Non-Patent Citations (1)

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Title
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Also Published As

Publication number Publication date
AT517815A1 (de) 2017-04-15
EP3350423A1 (fr) 2018-07-25
AT517815B1 (de) 2019-10-15
CN108291460B (zh) 2020-06-05
CN108291460A (zh) 2018-07-17
WO2017045008A1 (fr) 2017-03-23
US20180266280A1 (en) 2018-09-20
US10385738B2 (en) 2019-08-20

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