EP3818622A1 - Bobine dentée et procédé de fabrication d'une bobine dentée - Google Patents
Bobine dentée et procédé de fabrication d'une bobine dentéeInfo
- Publication number
- EP3818622A1 EP3818622A1 EP19769047.2A EP19769047A EP3818622A1 EP 3818622 A1 EP3818622 A1 EP 3818622A1 EP 19769047 A EP19769047 A EP 19769047A EP 3818622 A1 EP3818622 A1 EP 3818622A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- stator
- coil
- toothed
- insulation
- tooth
- 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.)
- Pending
Links
- 238000004519 manufacturing process Methods 0.000 title claims description 10
- 239000012774 insulation material Substances 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims abstract description 7
- 230000000694 effects Effects 0.000 claims abstract 2
- 238000009413 insulation Methods 0.000 claims description 29
- 238000004804 winding Methods 0.000 claims description 16
- 239000004020 conductor Substances 0.000 claims description 14
- 239000010445 mica Substances 0.000 claims description 5
- 229910052618 mica group Inorganic materials 0.000 claims description 5
- 239000000853 adhesive Substances 0.000 claims 1
- 238000002955 isolation Methods 0.000 abstract description 5
- 229920000139 polyethylene terephthalate Polymers 0.000 description 4
- 239000005020 polyethylene terephthalate Substances 0.000 description 4
- 239000004696 Poly ether ether ketone Substances 0.000 description 3
- 229920002530 polyetherether ketone Polymers 0.000 description 3
- 238000003490 calendering Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 229920001169 thermoplastic Polymers 0.000 description 2
- 239000004416 thermosoftening plastic Substances 0.000 description 2
- 229920002799 BoPET Polymers 0.000 description 1
- 239000004642 Polyimide Substances 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- QYFRTHZXAGSYGT-UHFFFAOYSA-L hexaaluminum dipotassium dioxosilane oxygen(2-) difluoride hydrate Chemical compound O.[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[F-].[F-].[Al+3].[Al+3].[Al+3].[Al+3].[Al+3].[Al+3].[K+].[K+].O=[Si]=O.O=[Si]=O.O=[Si]=O.O=[Si]=O.O=[Si]=O.O=[Si]=O QYFRTHZXAGSYGT-UHFFFAOYSA-L 0.000 description 1
- 125000005462 imide group Chemical group 0.000 description 1
- 238000005470 impregnation Methods 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 229920006260 polyaryletherketone Polymers 0.000 description 1
- 238000006068 polycondensation reaction Methods 0.000 description 1
- 229920000728 polyester Polymers 0.000 description 1
- -1 polyethylene terephthalate Polymers 0.000 description 1
- 229920001721 polyimide Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/32—Windings characterised by the shape, form or construction of the insulation
- H02K3/34—Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/32—Windings characterised by the shape, form or construction of the insulation
- H02K3/325—Windings characterised by the shape, form or construction of the insulation for windings on salient poles, such as claw-shaped poles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
- F03D9/20—Wind motors characterised by the driven apparatus
- F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
- F03D9/255—Wind motors characterised by the driven apparatus the apparatus being an electrical generator connected to electrical distribution networks; Arrangements therefor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/0018—Applying slot closure means in the core; Manufacture of slot closure means
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/0025—Shaping or compacting conductors or winding heads after the installation of the winding in the core or machine ; Applying fastening means on winding heads
- H02K15/0037—Shaping or compacting winding heads
- H02K15/0043—Applying fastening means on winding headS
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/10—Applying solid insulation to windings, stators or rotors
- H02K15/105—Applying solid insulation to windings, stators or rotors to the windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/32—Windings characterised by the shape, form or construction of the insulation
- H02K3/34—Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation
- H02K3/345—Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation between conductor and core, e.g. slot insulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/32—Windings characterised by the shape, form or construction of the insulation
- H02K3/40—Windings characterised by the shape, form or construction of the insulation for high voltage, e.g. affording protection against corona discharges
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/46—Fastening of windings on the stator or rotor structure
- H02K3/48—Fastening of windings on the stator or rotor structure in slots
- H02K3/487—Slot-closing devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/46—Fastening of windings on the stator or rotor structure
- H02K3/52—Fastening salient pole windings or connections thereto
- H02K3/521—Fastening salient pole windings or connections thereto applicable to stators only
- H02K3/522—Fastening salient pole windings or connections thereto applicable to stators only for generally annular cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1807—Rotary generators
- H02K7/1823—Rotary generators structurally associated with turbines or similar engines
- H02K7/183—Rotary generators structurally associated with turbines or similar engines wherein the turbine is a wind turbine
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Definitions
- the invention relates to a tooth coil, as well as the method for producing a tooth coil, also a stator or a stator segment with a tooth coil according to the invention, and also a wind power generator which has tooth coils according to the invention.
- one embodiment is that two coil sides of different coils and / or different electrical phases lie in one slot. They must then e.g. be isolated from each other by a suitable phase isolation. At the same time, these coil sides must also be insulated against the mass, i.e. the groove wall. These additional insulation agents have a negative impact on the fill factor of the conductor material in the groove. This reduces the performance of the generator or the motor.
- the disadvantage here is that the slot filling factor is comparatively low.
- the invention has for its object to provide egg ne toothed coil or a stator or a stator segment of a dynamoelectric machine, in particular a Windkraftge generator, which allows a comparatively high filling factor of the groove while optimizing the insulation material.
- the axial winding overhangs of the tooth coil should be reduced.
- the manufacturing process of a toothed coil or a stator or a stator segment of a dynamoelectric machine, in particular a wind power generator should be comparatively simple. The task is solved by a toothed spool of a stator or stator segment of a dynamoelectric machine
- the toothed coil has a longitudinal symmetrical plane of extension
- an isolati on material is provided, which causes a slot and / or phase insulation in the stator or stator segment.
- stator or stator segment of a dynamoelectric machine which has a magnetically conductive base body, in which essentially axially extending, at least partially open grooves are provided, which are provided with toothed coils according to the invention, where one per groove of the stator or stator segment or two coil sides are arranged.
- a wind power generator with a stator according to the invention or a stator segment, the stator or the stator segment being part of an external rotor or internal rotor generator.
- the task is also solved by a wind power plant with at least one wind power generator according to the invention.
- a magnetically conductive base body in particular a laminated core with a sequence of grooves and teeth, tooth coils being positioned in the grooves, so that one spool side or two spool sides of different tooth coils are present per groove.
- a toothed coil is now provided with a combined slot and phase insulation.
- a prefabricated tooth coil is now provided with insulation material before being positioned in a groove of the magnetically conductive base body, that is to say, for example, a laminated core.
- the insulation is both insulation against the slot wall and - if present - against an adjacent coil side of another toothed coil in this slot.
- the insulation material is preferably a laminate composed of PET fleece, PET film and mica.
- other insulation materials can also be used. These are, for example, the materials listed above, in which the PET portions are replaced by PI or PEEK.
- PET polyethylene terephthalate
- PET polyethylene terephthalate
- PI polyimides
- PEEK polyether ether ketone
- PEEK polyether ether ketone
- Calendered muscovite mica is preferably used as the mica.
- the layer thickness of the phase insulation preferably corresponds to approximately twice the layer thickness of the slot insulation relative to the slot wall. These layer thicknesses also depend on the voltage load on the dynamoelectric machine.
- the toothed coil When loading the stator or the stator segment, the toothed coil is now only positioned from the (later) air gap side of the dynamoelectric machine approximately in the middle above the tooth of the laminated core.
- an expansion of the tooth coil by a special tool is necessary so that the legs or the straight sections of the tooth coil can be positioned in a nutshell. Widening or pulling or compressing the tooth coil must of course "join in” the insulation material.
- the fill factor of the groove is now higher, the insulation parts of a toothed coil in the groove are also reduced to the necessary extent, and sustainable positioning of the groove insulation on the toothed coil is also sufficient.
- An additional fixation of the tooth coil in the slot - if necessary - is created by a slot closing element.
- the axial projection of the winding head of the winding system of the stator is comparatively short, which means that the use of a toothed coil according to the invention in a stator or a stator segment of a dynamoelectric magnet machine, especially a wind power generator, makes it particularly attractive when space is limited.
- FIG. 3 shows a perspective view of a prefabricated
- FIG. 6 shows a side view of a stator segment
- the toothed coil 6 without insulation 9, with its straight sections 14 and the, in particular 180 ° bends, the arc regions 15.
- the toothed coil 6 is symmetrical to an extension plane 16 which is perpendicular to the plane of the drawing.
- the straight sections 14 have an active part area 13, which in this case is smaller than the straight section 14.
- the active part area 13 is the minimum area of the tooth coil 6, which is arranged in a laminated core of a stator 3 or stator segment 25.
- the straight section 14 is the loading area, which may also need to be provided with an insulation 9 in order, inter alia, to to comply with the creepage distance requirements of the tooth coil 6 in the stator 3.
- the straight sections 14 of the toothed coil 6 have a spacing 22 from their inner sides 19, which ideally corresponds to a tooth width of a stator 3 or stator segment 25.
- the conductor thickness 21 of the tooth coil 6 takes up at least part of the width of a groove 17 of the stator 3 or of the stator segment 25 a.
- Insulations 9 on the outer sides 20 of the straight sections 14 of the toothed coil 6 are used for phase insulation to a neighboring coil side of an adjacent toothed coil 6 in the groove 17 and project axially into the area of the winding heads 18, which are formed by the arc areas 15.
- FIG. 2 shows in a side view a basic arrangement of a toothed coil 6, the individual partial conductors 11 being formed as a two-layer flat wire 10 and having a partial conductor insulation 29 to the neighboring partial conductors 11.
- This partial conductor insulation 29 extends over the entire length of the tooth coil 6, that is, the length of the arc regions 15 plus the straight sections 14 of the tooth coil 6.
- this partial conductor insulation 29 of a partial conductor 11 extends over at least two sides, one longitudinal and one Transverse side, as it is in principle oversized on a part of the conductor 11 for drawing reasons.
- the groove 17 itself is completed by a slot closure element 7 to form an air gap 23 of a dynamoelectric machine.
- FIG. 3 shows a prefabricated tooth coil 6 with its isolations 9, which may also contain mica, in order to Avoid partial discharges.
- These are preferably calendered Muskovite mica impregnated with a fully hardened impregnation resin.
- FIG. 4 shows the arrangement in the area of the winding head 18, where the outer sides 20 of the toothed coil 6 are provided with insulating material which is made axially longer in the direction of the winding head 18 with respect to the inner sides 19. Among other things, this is due to the fact that the curved regions 15 adjoin it. Furthermore, an improved tracking resistance is achieved in this area.
- 5 shows an arrangement of insulated, prefabricated toothed coil 6 in the grooves 17 of a stator 3 or gate segment 25.
- the stator 3 or the segment 25 of the stator is axially packaged by pressure plates 4 and / or fingers 5 of a pressure plate 4 .
- Prefabricated tooth coils 6 are arranged in grooves 17 of this laminated core of stator 3 or stator segment 25. In this embodiment, straight sections 14 or active part areas 13 with different tooth coils 6 are arranged per slot 17.
- the area of the winding overhang 18 of the stator 3 or stator segment 25 is now composed of 180 ° arcs, ie the arched areas 15 of the most varied tooth coils 6.
- the insulation 9 on the outer sides 20 of the tooth coils 6 extends axially at least as far as the arch region 15 or beyond. Thus, the insulation 9 extends on the outer sides 20 of the tooth coils 6 to or almost at or the axial height of the axial projection of the end windings 18th
- stator segment 25 shows a partial side view of a stator segment 25 with an optional segment boundary 12 of the stator segment 25, two coil sides of different toothed coils 6, possibly also different electrical phases, being arranged in the grooves 17. Accordingly, insulation 9 is to be provided there between the outer sides 20 of the tooth coils 6 and between the tooth coils 6 and the teeth 8 of the stator segment 25. In the area of the tooth 8, which faces an air gap 23, there are slot closure elements 7.
- a toothed coil 6 has at least partially V-shaped coil sides.
- the inclined coil sides may be required to follow a particularly comparatively small radius of curvature of stator 3 or stator segment 25, which faces an air gap 23 and thus a rotor 24.
- 7 shows a basic illustration of an external rotor generator 2, the rotor 24 of which is driven directly by a wind turbine, with electromagnetic interaction between the rotor 24, which is provided with permanent magnets 28, and a stator 3 or stator segments 25 constructed according to the invention by electromagnetic interaction electrical energy is generated.
- the rotor 24 rotates with its housing, which is attached to a shaft of the wind turbine, around the stationary stator 3.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Insulation, Fastening Of Motor, Generator Windings (AREA)
- Manufacture Of Motors, Generators (AREA)
- Windings For Motors And Generators (AREA)
Abstract
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18192909.2A EP3621182A1 (fr) | 2018-09-06 | 2018-09-06 | Bobine dentée et procédé de fabrication d'une bobine dentée |
PCT/EP2019/073083 WO2020048864A1 (fr) | 2018-09-06 | 2019-08-29 | Bobine dentée et procédé de fabrication d'une bobine dentée |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3818622A1 true EP3818622A1 (fr) | 2021-05-12 |
Family
ID=63524128
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18192909.2A Withdrawn EP3621182A1 (fr) | 2018-09-06 | 2018-09-06 | Bobine dentée et procédé de fabrication d'une bobine dentée |
EP19769047.2A Pending EP3818622A1 (fr) | 2018-09-06 | 2019-08-29 | Bobine dentée et procédé de fabrication d'une bobine dentée |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18192909.2A Withdrawn EP3621182A1 (fr) | 2018-09-06 | 2018-09-06 | Bobine dentée et procédé de fabrication d'une bobine dentée |
Country Status (4)
Country | Link |
---|---|
US (1) | US11942844B2 (fr) |
EP (2) | EP3621182A1 (fr) |
CN (1) | CN112703663B (fr) |
WO (1) | WO2020048864A1 (fr) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3883090A1 (fr) * | 2020-03-19 | 2021-09-22 | Siemens Aktiengesellschaft | Procédé de montage de bobines moulées ou de bobines à dents |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1490427B1 (de) * | 1963-07-11 | 1969-11-20 | Siemens Ag | Glimmerband zur Herstellung einer mit einer heisshaertbaren Traenkharzmischung impraegnierten Isolierung fuer elektrische Leiter,insbesondere fuer Wicklungsstaebe bzw. Spulen elektrischer Maschinen |
DE4218928A1 (de) * | 1992-06-10 | 1993-12-16 | Asea Brown Boveri | Glimmschutzanordnung für die Statorwicklung einer elektrischen Maschine |
JP3735197B2 (ja) * | 1998-02-27 | 2006-01-18 | 株式会社日立製作所 | コイル成形体の製造方法およびそれに用いる金型 |
TW200514334A (en) | 2003-09-05 | 2005-04-16 | Black & Decker Inc | Field assemblies and methods of making same |
DE102004044986A1 (de) | 2004-09-16 | 2006-04-06 | Siemens Ag | Permanenterregte Synchronmaschine mit Flachdrahtwicklungen |
DE502007002026D1 (de) | 2007-01-19 | 2009-12-31 | Engel Elektroantriebe Gmbh | Stator einer elektrischen Maschine |
JP5187174B2 (ja) | 2008-12-09 | 2013-04-24 | トヨタ自動車株式会社 | ステータ |
US9893594B2 (en) * | 2012-09-12 | 2018-02-13 | Mitsubishi Electric Corporation | Armature of rotating electrical machine and method for manufacturing same |
JP6038274B2 (ja) * | 2013-02-15 | 2016-12-07 | 三菱電機株式会社 | 回転電機の固定子 |
US9928935B2 (en) * | 2013-05-31 | 2018-03-27 | General Electric Company | Electrical insulation system |
DK2854256T3 (en) | 2013-09-26 | 2017-09-11 | Siemens Ag | Polar unit and stator assembly for a wind turbine generator and methods for manufacturing them |
US20150263578A1 (en) * | 2014-03-11 | 2015-09-17 | GM Global Technology Operations LLC | Integral slot liner for multi-layer electric machines |
EP2922185A1 (fr) * | 2014-03-21 | 2015-09-23 | Siemens Aktiengesellschaft | Refroidissement d'une pièce active d'une machine électrique |
EP2924847A1 (fr) * | 2014-03-28 | 2015-09-30 | Siemens Aktiengesellschaft | Machine électrique composée |
EP2933901B1 (fr) * | 2014-04-15 | 2016-10-26 | Siemens Aktiengesellschaft | Stator d'une machine électrique et sa fabrication |
US10177620B2 (en) | 2014-05-05 | 2019-01-08 | Boulder Wind Power, Inc. | Methods and apparatus for segmenting a machine |
WO2016017030A1 (fr) * | 2014-08-01 | 2016-02-04 | 三菱電機株式会社 | Stator pour moteur électrique |
JP6072199B1 (ja) | 2015-11-13 | 2017-02-01 | 三菱電機株式会社 | 回転電機 |
EP3605797A1 (fr) | 2018-08-01 | 2020-02-05 | Siemens Aktiengesellschaft | Bobine sur dents pour un stator d'une machine tournante électrique |
-
2018
- 2018-09-06 EP EP18192909.2A patent/EP3621182A1/fr not_active Withdrawn
-
2019
- 2019-08-29 EP EP19769047.2A patent/EP3818622A1/fr active Pending
- 2019-08-29 US US17/274,088 patent/US11942844B2/en active Active
- 2019-08-29 WO PCT/EP2019/073083 patent/WO2020048864A1/fr unknown
- 2019-08-29 CN CN201980058279.XA patent/CN112703663B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
WO2020048864A1 (fr) | 2020-03-12 |
CN112703663B (zh) | 2024-05-14 |
EP3621182A1 (fr) | 2020-03-11 |
US20210336503A1 (en) | 2021-10-28 |
US11942844B2 (en) | 2024-03-26 |
CN112703663A (zh) | 2021-04-23 |
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