IT201800005888A1 - Attuatore elettroidraulico perfezionato per freno - Google Patents

Attuatore elettroidraulico perfezionato per freno Download PDF

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Publication number
IT201800005888A1
IT201800005888A1 IT102018000005888A IT201800005888A IT201800005888A1 IT 201800005888 A1 IT201800005888 A1 IT 201800005888A1 IT 102018000005888 A IT102018000005888 A IT 102018000005888A IT 201800005888 A IT201800005888 A IT 201800005888A IT 201800005888 A1 IT201800005888 A1 IT 201800005888A1
Authority
IT
Italy
Prior art keywords
crown
housing
internal toothing
electrohydraulic actuator
transformation mechanism
Prior art date
Application number
IT102018000005888A
Other languages
English (en)
Italian (it)
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 filed Critical
Priority to IT102018000005888A priority Critical patent/IT201800005888A1/it
Priority to EP19732132.6A priority patent/EP3802248B1/en
Priority to CN201980046822.4A priority patent/CN112543721A/zh
Priority to JP2020566783A priority patent/JP7320171B2/ja
Priority to US17/059,695 priority patent/US12084017B2/en
Priority to PCT/IB2019/054324 priority patent/WO2019229604A1/en
Publication of IT201800005888A1 publication Critical patent/IT201800005888A1/it

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/02—Arrangements of pumps or compressors, or control devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/08—Brake cylinders other than ultimate actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
    • B60T17/222—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems by filling or bleeding of hydraulic systems
    • B60T17/223—Devices for pressurising brake systems acting on pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/06—Use of materials; Use of treatments of toothed members or worms to affect their intrinsic material properties
    • 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/403—Brake circuit failure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4018—Pump units characterised by their drive mechanisms
    • 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
    • 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
    • F16D2125/44—Mechanical mechanisms transmitting rotation
    • F16D2125/46—Rotating members in mutual engagement
    • F16D2125/50—Rotating members in mutual engagement with parallel non-stationary axes, e.g. planetary gearing
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F16H2055/176—Ring gears with inner teeth
    • 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02034—Gearboxes combined or connected with electric machines
    • 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02039—Gearboxes for particular applications
    • F16H2057/02082—Gearboxes for particular applications for application in vehicles other than propelling, e.g. adjustment of parts

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Thermal Sciences (AREA)
  • Electromagnetism (AREA)
  • Physics & Mathematics (AREA)
  • Gear Transmission (AREA)
  • Braking Arrangements (AREA)
  • Retarders (AREA)
  • Braking Systems And Boosters (AREA)
  • Regulating Braking Force (AREA)
  • Lubricants (AREA)
IT102018000005888A 2018-05-31 2018-05-31 Attuatore elettroidraulico perfezionato per freno IT201800005888A1 (it)

Priority Applications (6)

Application Number Priority Date Filing Date Title
IT102018000005888A IT201800005888A1 (it) 2018-05-31 2018-05-31 Attuatore elettroidraulico perfezionato per freno
EP19732132.6A EP3802248B1 (en) 2018-05-31 2019-05-24 Improved electro-hydraulic actuator for brake
CN201980046822.4A CN112543721A (zh) 2018-05-31 2019-05-24 用于制动器的改进的电动液压致动器
JP2020566783A JP7320171B2 (ja) 2018-05-31 2019-05-24 改良されたブレーキ用電気油圧式アクチュエータ
US17/059,695 US12084017B2 (en) 2018-05-31 2019-05-24 Electro-hydraulic actuator for brake
PCT/IB2019/054324 WO2019229604A1 (en) 2018-05-31 2019-05-24 Improved electro-hydraulic actuator for brake

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102018000005888A IT201800005888A1 (it) 2018-05-31 2018-05-31 Attuatore elettroidraulico perfezionato per freno

Publications (1)

Publication Number Publication Date
IT201800005888A1 true IT201800005888A1 (it) 2019-12-01

Family

ID=63312349

Family Applications (1)

Application Number Title Priority Date Filing Date
IT102018000005888A IT201800005888A1 (it) 2018-05-31 2018-05-31 Attuatore elettroidraulico perfezionato per freno

Country Status (6)

Country Link
US (1) US12084017B2 (https=)
EP (1) EP3802248B1 (https=)
JP (1) JP7320171B2 (https=)
CN (1) CN112543721A (https=)
IT (1) IT201800005888A1 (https=)
WO (1) WO2019229604A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12421692B2 (en) * 2022-05-11 2025-09-23 Caterpillar Inc. House swing sensor follower pinion
USD1062817S1 (en) * 2022-07-25 2025-02-18 Parker-Hannifin Corporation Actuator
WO2025218878A1 (en) * 2024-04-15 2025-10-23 Johnson Electric International AG Multi-stage planetary gear assembly

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63214546A (ja) * 1987-02-28 1988-09-07 Sayama Seimitsu Kogyo Kk 遊星歯車式減速機のユニツト機構
JPH0348048A (ja) * 1989-07-11 1991-03-01 Matetsukusu Kk 遊星歯車装置の連結構造
WO1999021266A1 (en) * 1997-10-16 1999-04-29 Skf Engineering & Research Centre B.V. Modular actuator, and brake calliper comprising such actuator
EP1021664A1 (en) * 1997-10-07 2000-07-26 Interroll Holding AG A drum motor
EP2395262A1 (en) * 2010-06-11 2011-12-14 Nice S.P.A. Epicyclic gearbox for tubular motors
DE102011102860A1 (de) * 2011-05-31 2012-12-06 Lucas Automotive Gmbh Elektromechanisch betätigbare Kraftfahrzeugbremse mit wahlweiser Selbsthemmung
WO2013121358A1 (en) * 2012-02-15 2013-08-22 Freni Brembo S.P.A. Electrical brake, particularly parking brake

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US4016779A (en) * 1975-04-04 1977-04-12 Von Greyerz John W Worm drive automatic transmission
DE19521634A1 (de) * 1995-06-14 1996-12-19 Teves Gmbh Alfred Scheibenbremse mit automatischer Nachstellvorrichtung
US6367592B1 (en) * 1998-01-20 2002-04-09 Skf Engineering And Research Centre B.V. Modular actuator, and brake caliper comprising such actuator
US7854995B1 (en) * 2004-07-14 2010-12-21 Keystone Investment Corporation High density dual helical gear
DE102005055085B4 (de) * 2005-09-29 2020-09-24 Robert Bosch Gmbh Kombinierte Betriebs- und Feststellbremseinrichtung sowie Verfahren zur Durchführung einer Notbremsung
ATE484698T1 (de) * 2005-12-02 2010-10-15 United Technologies Corp Zahnrad mit verbesserter oberflächengüte
CN201041210Y (zh) * 2007-06-08 2008-03-26 江苏大学 一种车用电子机械制动装置
DE102009060201A1 (de) * 2009-12-23 2011-06-30 Lucas Automotive GmbH, 56070 Unterbaugruppe für einen elektromechanischen Bremsaktor
ITMI20120812A1 (it) * 2012-05-11 2013-11-12 Freni Brembo Spa Attuatore elettroidraulico per freno
KR101607086B1 (ko) 2012-06-29 2016-03-30 주식회사 만도 전자식 브레이크 시스템
CH707435A1 (de) * 2013-01-09 2014-07-15 Thyssenkrupp Presta Ag Winkelüberlagerungseinrichtung für eine Fahrzeuglenkvorrichtung mit einem Planetengetriebe.
CN104806668A (zh) * 2014-01-27 2015-07-29 德昌电机(深圳)有限公司 电动驻车制动系统的执行器
FR3017173A1 (fr) * 2014-01-31 2015-08-07 Bosch Gmbh Robert Dispositif de transmission pour commander le mouvement de translation d'un organe et systeme de freinage equipe d'un tel dispositif de transmission formant un servofrein
DE102014212409A1 (de) 2014-06-27 2015-12-31 Robert Bosch Gmbh Druckerzeuger für eine hydraulische Fahrzeugbremsanlage
US9925968B2 (en) * 2015-05-18 2018-03-27 Beijingwest Industries Co., Ltd. Brake booster assembly
DE102015214584B4 (de) 2015-07-31 2024-11-07 Robert Bosch Gmbh Rotations/Translations-Wandlergetriebe
DE102015223507A1 (de) 2015-11-27 2017-06-01 Robert Bosch Gmbh Kolbenpumpenaggregat
JP6682316B2 (ja) * 2016-03-29 2020-04-15 Ntn株式会社 電動アクチュエータ
CN108781021B (zh) * 2016-03-30 2021-03-26 Ntn株式会社 电动致动器
JP2018044636A (ja) * 2016-09-15 2018-03-22 Ntn株式会社 電動アクチュエータ
EP3486527B1 (de) * 2017-11-17 2020-07-08 IMS Gear SE & Co. KGaA Schraubrad-planetenrad und innenschraubrad für ein schraub-rad-planetengetriebe
US11287002B1 (en) * 2020-12-23 2022-03-29 Hyo Seong America Corporation Electric brake actuator

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63214546A (ja) * 1987-02-28 1988-09-07 Sayama Seimitsu Kogyo Kk 遊星歯車式減速機のユニツト機構
JPH0348048A (ja) * 1989-07-11 1991-03-01 Matetsukusu Kk 遊星歯車装置の連結構造
EP1021664A1 (en) * 1997-10-07 2000-07-26 Interroll Holding AG A drum motor
WO1999021266A1 (en) * 1997-10-16 1999-04-29 Skf Engineering & Research Centre B.V. Modular actuator, and brake calliper comprising such actuator
EP2395262A1 (en) * 2010-06-11 2011-12-14 Nice S.P.A. Epicyclic gearbox for tubular motors
DE102011102860A1 (de) * 2011-05-31 2012-12-06 Lucas Automotive Gmbh Elektromechanisch betätigbare Kraftfahrzeugbremse mit wahlweiser Selbsthemmung
WO2013121358A1 (en) * 2012-02-15 2013-08-22 Freni Brembo S.P.A. Electrical brake, particularly parking brake

Also Published As

Publication number Publication date
JP7320171B2 (ja) 2023-08-03
EP3802248A1 (en) 2021-04-14
EP3802248B1 (en) 2022-12-28
WO2019229604A1 (en) 2019-12-05
CN112543721A (zh) 2021-03-23
US12084017B2 (en) 2024-09-10
US20210197782A1 (en) 2021-07-01
JP2021526100A (ja) 2021-09-30

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