EP3870873A1 - Betätigungsmechanismus, kupplungssteller und getriebesteller mit verbessertem vibrationsverhalten - Google Patents
Betätigungsmechanismus, kupplungssteller und getriebesteller mit verbessertem vibrationsverhaltenInfo
- Publication number
- EP3870873A1 EP3870873A1 EP19783463.3A EP19783463A EP3870873A1 EP 3870873 A1 EP3870873 A1 EP 3870873A1 EP 19783463 A EP19783463 A EP 19783463A EP 3870873 A1 EP3870873 A1 EP 3870873A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- transmission
- actuating
- designed
- actuating mechanism
- movement
- 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
- 230000005540 biological transmission Effects 0.000 title claims abstract description 181
- 230000007246 mechanism Effects 0.000 title claims abstract description 116
- 230000033001 locomotion Effects 0.000 claims abstract description 61
- 238000006243 chemical reaction Methods 0.000 claims abstract description 51
- 238000006073 displacement reaction Methods 0.000 claims abstract description 23
- 230000036316 preload Effects 0.000 description 8
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D28/00—Electrically-actuated clutches
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/2003—Screw mechanisms with arrangements for taking up backlash
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
- F16H25/2209—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls with arrangements for taking up backlash
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/24—Electric or magnetic using motors
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/20—Mechanical mechanisms converting rotation to linear movement or vice versa
- F16D2125/22—Mechanical mechanisms converting rotation to linear movement or vice versa acting transversely to the axis of rotation
- F16D2125/24—Rack-and-pinion
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/20—Mechanical mechanisms converting rotation to linear movement or vice versa
- F16D2125/34—Mechanical mechanisms converting rotation to linear movement or vice versa acting in the direction of the axis of rotation
- F16D2125/40—Screw-and-nut
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/58—Mechanical mechanisms transmitting linear movement
- F16D2125/582—Flexible element, e.g. spring, other than the main force generating element
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/204—Axial sliding means, i.e. for rotary support and axial guiding of nut or screw shaft
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2075—Coaxial drive motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2081—Parallel arrangement of drive motor to screw axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2096—Arrangements for driving the actuator using endless flexible members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/126—Self-adjusting during operation, e.g. by a spring
- F16H2057/127—Self-adjusting during operation, e.g. by a spring using springs
Definitions
- Actuating mechanisms which are designed to convert an actuating movement of an actuating element into a displacement of a transmission element, have mechanisms for this conversion which are subject to play, in particular in the no-load state, when the actuating element does not perform an actuating movement.
- a mechanism is designed, for example, as a ball screw drive or as a toothing. If such an actuation mechanism is located in a vehicle, in particular in a clutch actuator or transmission actuator of the vehicle, then this actuation mechanism is activated by the actuators that occur
- an actuation mechanism comprising:
- a force or moment, namely the pretension, can preferably be introduced into the conversion mechanism by the tensioning element.
- the actuating mechanism is also preferably designed such that the elements of the conversion mechanism are braced by the prestressing.
- the tensioning takes place in particular in the load-free state, that is to say when no actuating movement is carried out by the actuating element, and therefore when the transmission element is not displaced.
- the bracing element is in contact with the transmission element or the actuating element directly or via intermediate elements.
- the actuating mechanism preferably has a drive device which is designed to actuate the actuating element
- the drive device is as that
- the transmission is designed such that the pretension introduced by the tensioning element is also impressed on the transmission.
- the transmission is advantageously braced, as a result of which the play, which can exist in particular in the load-free state, is also overcome here.
- Transmission element designed to select an alley of a transmission.
- Conversion mechanism 9 converts the actuation movement Y of the actuation element 1 into a displacement of the transmission element 2 in the transmission direction X.
- the left end of the transmission element 2 abuts the
- Conversion mechanism 9, especially in the toothing, is supported. Via the toothing of the conversion mechanism 9, the pretension is transmitted further to the drive device 3, which is designed to counteract the pretension. If the drive device 3 is designed as an electric motor, this torque can be applied as a reluctance torque. As a result, a pretension with a certain height is always introduced into the conversion mechanism 9, which is designed such that the play within the toothing is overcome.
- Fig. 2 shows a second embodiment of an inventive
- an actuating element 1 which is designed as a nut.
- the actuating element 1 is about an axis of rotation 1a, which is parallel to
- Ball screw drive provided with rotating balls 8.
- the balls 8 are guided in ball guides (not shown), which are located on the outside of the transmission element 2 and on the inside of the actuating element 1.
- the ball screw represents a conversion mechanism 9.
- the conversion mechanism 9 is identified by a dashed frame.
- an anti-rotation device 5 is provided at the right end of the transmission element 2. This is designed to block a rotational movement of the transmission element 2 about the transmission direction X or about the axis of rotation 1 a, so that the actuation movement Y is completely converted into the displacement in the transmission direction X.
- this torque can be applied as a reluctance torque.
- Transfer direction X is oriented, rotatable in an actuation direction Y
- the transmission element 2 and the actuating element 1 are oriented coaxially to one another, the transmission element 2 penetrating the actuating element 1.
- the conversion mechanism 9, which is designed here as a ball screw drive between the actuating element 1 and the transmission element 2 can also be subject to play.
- play can also occur between the first gear 4a and the second gear 4b of the transmission 4. Vibrations that are transmitted to the transmission element 2 would result in a relative movement of the balls 8 and / or the ball guides in FIG
- Actuating element 1 and transmission element 2 have a gear 4.
- Actuating movement Y are formed in the displacement of the transmission element 2 along the transmission direction.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Electromagnetism (AREA)
- Transmission Devices (AREA)
- Mechanical Operated Clutches (AREA)
- Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
- Vibration Prevention Devices (AREA)
- Gear-Shifting Mechanisms (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018126475.5A DE102018126475A1 (de) | 2018-10-24 | 2018-10-24 | Betätigungsmechanismus, Kupplungssteller und Getriebesteller mit verbessertem Vibrationsverhalten |
PCT/EP2019/076367 WO2020083610A1 (de) | 2018-10-24 | 2019-09-30 | Betätigungsmechanismus, kupplungssteller und getriebesteller mit verbessertem vibrationsverhalten |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3870873A1 true EP3870873A1 (de) | 2021-09-01 |
Family
ID=68165519
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19783463.3A Pending EP3870873A1 (de) | 2018-10-24 | 2019-09-30 | Betätigungsmechanismus, kupplungssteller und getriebesteller mit verbessertem vibrationsverhalten |
Country Status (11)
Country | Link |
---|---|
US (1) | US20210324922A1 (de) |
EP (1) | EP3870873A1 (de) |
JP (1) | JP2022505716A (de) |
KR (1) | KR20210063380A (de) |
CN (1) | CN113039372B (de) |
AU (1) | AU2019365306A1 (de) |
BR (1) | BR112021005654A2 (de) |
CA (1) | CA3116954A1 (de) |
DE (1) | DE102018126475A1 (de) |
MX (1) | MX2021004716A (de) |
WO (1) | WO2020083610A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE2450441A1 (en) * | 2022-05-04 | 2024-04-23 | Ka Group Ag | Method for determining a force transmission contact point of an electric clutch actuator |
Family Cites Families (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4619155A (en) * | 1982-04-15 | 1986-10-28 | Koyo Jidoki Kabushiki Kaisha | Rack and pinion steering device |
DE3941540C2 (de) * | 1989-12-15 | 1998-11-19 | Perrot Bremse Gmbh Deutsche | Automatische Nachstellvorrichtung für eine hydraulisch und mechanisch betätigbare Gleitsattel-Scheibenbremse |
DE19700935A1 (de) * | 1996-01-31 | 1997-08-07 | Luk Getriebe Systeme Gmbh | Vorrichtung zur Betätigung eines Aggregates im Antriebsstrang eines Kraftfahrzeuges |
DE19731626C1 (de) * | 1997-07-23 | 1998-12-17 | Continental Ag | Wälzspindel und Bremsaktuator mit einer solchen Wälzspindel |
DE19835574A1 (de) * | 1998-08-06 | 2000-02-10 | Mannesmann Sachs Ag | Betätigungseinrichtung für pneumatische Kupplungsbetätigung mit Überlast- oder/und Fehlbedienungsschutz |
DE10157504B4 (de) * | 2000-12-07 | 2014-12-18 | Schaeffler Technologies Gmbh & Co. Kg | Betätigungsvorrichtung |
JP4311620B2 (ja) * | 2003-05-26 | 2009-08-12 | ケーエスエス株式会社 | バックラッシュ除去ナット |
DE102005041342B4 (de) * | 2005-05-20 | 2007-06-06 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Gestängesteller für Trommelbremse |
CN201053460Y (zh) * | 2007-03-28 | 2008-04-30 | 中国第一汽车集团公司 | 自动变速箱离合器执行系统 |
DE102009004709B4 (de) * | 2008-01-24 | 2019-08-14 | Schaeffler Technologies AG & Co. KG | Doppelkupplungsgetriebe sowie Verfahren zur Steuerung eines Doppelkupplungsgetriebes |
DE102010034803A1 (de) * | 2010-08-19 | 2012-02-23 | Schaeffler Technologies Gmbh & Co. Kg | Verfahren zum Betreiben eines Riementriebs |
KR101272948B1 (ko) * | 2011-12-09 | 2013-06-11 | 현대자동차주식회사 | 클러치용 액추에이터 |
JP5431443B2 (ja) * | 2011-12-15 | 2014-03-05 | 株式会社エクセディ | クラッチのアクチュエータ |
DE102012104674A1 (de) * | 2012-05-30 | 2013-12-05 | Tüschen & Zimmermann Gmbh & Co. Kg | Vorrichtung zum Lüften und automatischen Betätigen einer Bremseinrichtung |
CN102937153A (zh) * | 2012-11-16 | 2013-02-20 | 江苏同盛环保技术有限公司 | 自动离合器控制系统 |
DE102012022798A1 (de) * | 2012-11-21 | 2014-05-22 | Maxon Motor Ag | Linearantrieb |
US9109634B2 (en) * | 2013-10-22 | 2015-08-18 | E-Aam Driveline Systems Ab | Actuator with face dog clutch |
EP3071854A1 (de) * | 2013-11-18 | 2016-09-28 | Schaeffler Technologies AG & Co. KG | Drehmomentabstützung eines aktors an einem kupplungsgehäuse/getriebegehäuse |
WO2015120909A1 (en) * | 2014-02-14 | 2015-08-20 | Gkn Driveline International Gmbh | Coupling assembly and driveline assembly with such a coupling assembly |
JP6168023B2 (ja) * | 2014-10-07 | 2017-07-26 | トヨタ自動車株式会社 | 車両用クラッチ機構 |
JP6370672B2 (ja) * | 2014-10-21 | 2018-08-08 | アイシン・エーアイ株式会社 | 車両の動力伝達制御装置 |
JP2016125537A (ja) * | 2014-12-26 | 2016-07-11 | 日本精工株式会社 | ボールねじ装置及びボールねじ装置を備えた動力伝達装置 |
EP3073152B1 (de) * | 2015-03-24 | 2021-09-22 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | Linearaktuator mit vorspannung und verfahren zur steuerung eines solchen aktuators |
DE102015218411B3 (de) * | 2015-09-24 | 2017-02-02 | Siemens Aktiengesellschaft | Positionsbestimmungsverfahren für eine Parksperre |
DE102016221158A1 (de) * | 2015-11-23 | 2017-05-24 | Schaeffler Technologies AG & Co. KG | Betätigungseinheit und Aktor für ein Automatikgetriebe sowie Verwendung eines Antriebsmoduls für eine solche Betätigungseinheit |
DE102015224775A1 (de) * | 2015-12-10 | 2017-06-14 | Zf Friedrichshafen Ag | Spindelantrieb und Aktuator mit Spindelantrieb |
SE541641C2 (en) * | 2016-01-25 | 2019-11-19 | Kongsberg Automotive As | Failsafe electrical clutch actuator |
JP6679380B2 (ja) * | 2016-03-30 | 2020-04-15 | Ntn株式会社 | 電動アクチュエータ |
-
2018
- 2018-10-24 DE DE102018126475.5A patent/DE102018126475A1/de active Pending
-
2019
- 2019-09-30 MX MX2021004716A patent/MX2021004716A/es unknown
- 2019-09-30 US US17/288,048 patent/US20210324922A1/en active Pending
- 2019-09-30 AU AU2019365306A patent/AU2019365306A1/en not_active Abandoned
- 2019-09-30 CA CA3116954A patent/CA3116954A1/en not_active Abandoned
- 2019-09-30 WO PCT/EP2019/076367 patent/WO2020083610A1/de unknown
- 2019-09-30 EP EP19783463.3A patent/EP3870873A1/de active Pending
- 2019-09-30 KR KR1020217011807A patent/KR20210063380A/ko not_active Application Discontinuation
- 2019-09-30 CN CN201980070076.2A patent/CN113039372B/zh active Active
- 2019-09-30 JP JP2021522364A patent/JP2022505716A/ja active Pending
- 2019-09-30 BR BR112021005654-8A patent/BR112021005654A2/pt not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
CN113039372B (zh) | 2023-05-16 |
US20210324922A1 (en) | 2021-10-21 |
WO2020083610A1 (de) | 2020-04-30 |
CN113039372A (zh) | 2021-06-25 |
BR112021005654A2 (pt) | 2021-06-22 |
MX2021004716A (es) | 2021-06-04 |
DE102018126475A1 (de) | 2020-04-30 |
JP2022505716A (ja) | 2022-01-14 |
CA3116954A1 (en) | 2020-04-30 |
KR20210063380A (ko) | 2021-06-01 |
AU2019365306A1 (en) | 2021-05-20 |
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