JP6885969B2 - 弁装置 - Google Patents
弁装置 Download PDFInfo
- Publication number
- JP6885969B2 JP6885969B2 JP2018562011A JP2018562011A JP6885969B2 JP 6885969 B2 JP6885969 B2 JP 6885969B2 JP 2018562011 A JP2018562011 A JP 2018562011A JP 2018562011 A JP2018562011 A JP 2018562011A JP 6885969 B2 JP6885969 B2 JP 6885969B2
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- Prior art keywords
- valve
- pressure
- pressure reducing
- logic
- valve device
- 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.)
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Links
- 239000012530 fluid Substances 0.000 claims description 14
- 239000007788 liquid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 238000013016 damping Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000036316 preload Effects 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/025—Pressure reducing valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0401—Valve members; Fluid interconnections therefor
- F15B13/0405—Valve members; Fluid interconnections therefor for seat valves, i.e. poppet valves
-
- 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
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/4078—Fluid exchange between hydrostatic circuits and external sources or consumers
- F16H61/4096—Fluid exchange between hydrostatic circuits and external sources or consumers with pressure accumulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2006—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means
- G05D16/2013—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means
- G05D16/2026—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means with a plurality of throttling means
- G05D16/204—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means with a plurality of throttling means the plurality of throttling means being arranged in parallel
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2093—Control of fluid pressure characterised by the use of electric means with combination of electric and non-electric auxiliary power
- G05D16/2097—Control of fluid pressure characterised by the use of electric means with combination of electric and non-electric auxiliary power using pistons within the main valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/027—Installations or systems with accumulators having accumulator charging devices
- F15B1/033—Installations or systems with accumulators having accumulator charging devices with electrical control means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/0426—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with fluid-operated pilot valves, i.e. multiple stage valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
- F15B13/0433—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the pilot valves being pressure control valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
- F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50554—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure downstream of the pressure control means, e.g. pressure reducing valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/61—Secondary circuits
- F15B2211/613—Feeding circuits
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/625—Accumulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7058—Rotary output members
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Fluid-Pressure Circuits (AREA)
- Control Of Fluid Pressure (AREA)
- Hydraulic Motors (AREA)
- Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
- Servomotors (AREA)
Description
Claims (9)
- 減圧機能を有する弁装置であって、前記弁装置は、少なくとも、
1つのロジック弁(V1)と、
1つの遮断弁(V2)と、
1つの減圧弁(V3)とから成り、
前記ロジック弁(V1)の入口(1)が圧力供給源(HD)に接続されうる、弁装置において、
前記ロジック弁(V1)の出口(2)と前記減圧弁(V3)の出口(1)とが共に有用接続部又は消費装置接続部(A)に接続されており、
前記遮断弁(V2)の入口(1)が前記ロジック弁(V1)の入口(1)並びに前記ロジック弁(V1)の制御側(3)に、そして前記遮断弁(V2)の出口(2)が前記減圧弁(V3)の入口(2)に接続されていることを特徴とする、弁装置。 - 前記減圧弁(V3)の制御側のうちの一方に対して、前記減圧弁(V3)の前記出口(1)の出口側圧力が一方の前制御手段として作用し、前記減圧弁(V3)の反対側の制御側ではさらなる前制御手段が作用することを特徴とする、請求項1に記載の弁装置。
- 前記減圧弁(V3)の前記さらなる前制御手段が、前制御油の導出のために導出接続部(ND)に接続されていることを特徴とする、請求項2に記載の弁装置。
- 前記ロジック弁(V1)の入口側(1)並びに制御側(3)と、前記遮断弁(V2)の共通の入口側(1)との間のそれぞれの接続導管内に、ノズル(D1,D2)が連結されていることを特徴とする、請求項1〜3のいずれか1項に記載の弁装置。
- 少なくとも前記遮断弁(V2)が、前記減圧弁(V3)及び2つの前記ノズル(D1,D2)と共に、前記ロジック弁(V1)を備えた、別の主制御段(HST)と交換可能に構成された主制御段(HST)のための前制御段(VST)を形成していることを特徴とする、請求項4に記載の弁装置。
- 前記遮断弁(V2)の出口側(1)と前記減圧弁(V3)の入口側(1)との間に、ノズル(D3)を有するさらなる接続導管が連結されており、そして前記ノズル(D3)の入口側には、前記ノズル(D3)の方向に開く逆止弁(R3)が設けられていることを特徴とする、請求項5に記載の弁装置。
- 前記ノズル(D1)が、前記ノズル(D1)の方向に開く逆止弁(R1)と前記逆止弁(R1)の方向に開くさらなる逆止弁(R2)とを備えた接続導管を介して、前記遮断弁(V2)の出口側(2)に接続されていることを特徴とする、請求項5又は6に記載の弁装置。
- 前記弁装置が2方向シート弁として構想されていることを特徴とする、請求項1〜7のいずれか1項に記載の弁装置。
- 請求項1〜8のいずれか1項に記載の弁装置を備えた液圧モータにおいて、
前記液圧モータの流体側が有用接続部(A)に接続されており、そして前記液圧モータの加速のために、液圧アキュムレータユニット(ACC)が役立ち、前記液圧アキュムレータユニット(ACC)が、前記弁装置の対応接続個所(ACC)を介して、ロジック弁(V1)の出口側(1)及び前記減圧弁(V3)の出口側(1)に連結されていることを特徴とする、液圧モータ。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016006545.1A DE102016006545A1 (de) | 2016-05-25 | 2016-05-25 | Ventilvorrichtung |
DE102016006545.1 | 2016-05-25 | ||
PCT/EP2017/000569 WO2017202485A1 (de) | 2016-05-25 | 2017-05-10 | Ventilvorrichtung |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019523847A JP2019523847A (ja) | 2019-08-29 |
JP6885969B2 true JP6885969B2 (ja) | 2021-06-16 |
Family
ID=58701588
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018562011A Active JP6885969B2 (ja) | 2016-05-25 | 2017-05-10 | 弁装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10612567B2 (ja) |
EP (1) | EP3464908B1 (ja) |
JP (1) | JP6885969B2 (ja) |
KR (1) | KR102257416B1 (ja) |
CN (1) | CN109477499B (ja) |
DE (1) | DE102016006545A1 (ja) |
WO (1) | WO2017202485A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108716493B (zh) * | 2018-07-25 | 2024-05-03 | 台州东仪机械制造有限公司 | 气缸节能系统 |
DE102018006380A1 (de) * | 2018-08-11 | 2020-02-13 | Hydac Fluidtechnik Gmbh | System zum Laden und Entladen mindestens eines Hydrospeichers |
Family Cites Families (28)
Publication number | Priority date | Publication date | Assignee | Title |
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DE2835771A1 (de) * | 1978-08-16 | 1980-02-28 | Schwelm & Towler Hydraulics | Anordnung zur aussteuerung eines cartridgeelementes |
US4204458A (en) * | 1978-10-25 | 1980-05-27 | Kononov Ivan V | Pulsator for hydraulic systems controlling actuating mechanisms |
JPS5830966Y2 (ja) * | 1980-09-01 | 1983-07-08 | 内田油圧機器工業株式会社 | ロジツク弁の高速作動装置 |
LU85774A1 (fr) | 1985-02-13 | 1985-07-24 | Hydrolux Sarl | Hydraulischer steuerblock |
JPH0534007Y2 (ja) * | 1986-08-11 | 1993-08-30 | ||
JPH01133503U (ja) * | 1988-03-03 | 1989-09-12 | ||
US5137254A (en) | 1991-09-03 | 1992-08-11 | Caterpillar Inc. | Pressure compensated flow amplifying poppet valve |
US5170692A (en) * | 1991-11-04 | 1992-12-15 | Vickers, Incorporated | Hydraulic control system |
JPH09122999A (ja) * | 1995-11-07 | 1997-05-13 | Amada Co Ltd | 二重シリンダー駆動用油圧回路 |
JPH11158859A (ja) * | 1997-11-27 | 1999-06-15 | Kobelco Constr Mach Eng Co Ltd | 作業機械の制御回路 |
JP2002235705A (ja) * | 2000-12-08 | 2002-08-23 | Shimadzu Corp | 油圧装置 |
JP2005254267A (ja) * | 2004-03-10 | 2005-09-22 | Nippon Steel Corp | 鋳片切断用の油圧シャー及び鋳片の切断方法 |
JP2007137598A (ja) * | 2005-11-18 | 2007-06-07 | Mitsubishi Heavy Ind Ltd | 荷役回生型荷役装置及び荷役回生用バルブ装置 |
EP1895168B1 (en) * | 2006-09-01 | 2009-05-06 | Parker Hannifin Aktiebolag | Valve arrangement |
EP2158982B1 (de) * | 2008-08-25 | 2011-02-02 | Feintool Intellectual Property AG | Verfahren und Vorrichtung zum Steuern des Gleichlaufs von Zylinder/Kolbeneinheiten und zur Druckspitzenreduzierung beim Umformen und/oder Feinstanzen auf Pressen |
JP5250875B2 (ja) * | 2009-10-20 | 2013-07-31 | Smc株式会社 | フローコントローラ |
EP2603705A4 (en) * | 2010-08-09 | 2017-04-05 | Parker Hannifin Manufacturing Sweden AB | Hydraulic control system |
WO2012138264A1 (en) * | 2011-04-08 | 2012-10-11 | Volvo Construction Equipment Ab | An arrangement for charging an accumulator |
DE102012005594A1 (de) * | 2012-03-20 | 2013-09-26 | Robert Bosch Gmbh | Fahrantrieb |
DE102012020066A1 (de) * | 2012-10-12 | 2014-04-17 | Robert Bosch Gmbh | Ventilanordnung |
WO2014097468A1 (ja) * | 2012-12-21 | 2014-06-26 | トヨタ自動車株式会社 | 油圧制御装置 |
US20160069465A1 (en) | 2013-04-17 | 2016-03-10 | Toyota Jidosha Kabushiki Kaisha | Hydraulic control valve and hydraulic control device |
CH708876B1 (de) * | 2013-11-19 | 2016-03-31 | Liebherr Machines Bulle Sa | Hydraulikventilanordnung mit Steuerungs-/Regelungsfunktion und zugehöriges Rücklaufventil. |
DE102014000695A1 (de) | 2014-01-14 | 2015-07-16 | Hydac System Gmbh | Vorrichtung zum Sperren und zum Druckanpassen |
DE102014219634A1 (de) | 2014-09-29 | 2016-03-31 | Robert Bosch Gmbh | Druckreduzierventil mit gesonderten Radialbohrungen für unterschiedliche Fluidströmungspfade |
JP2016084847A (ja) * | 2014-10-24 | 2016-05-19 | アイシン精機株式会社 | 流体制御装置 |
WO2016108300A1 (ko) * | 2014-12-29 | 2016-07-07 | 볼보 컨스트럭션 이큅먼트 에이비 | 건설기계용 제어밸브 |
JP6606426B2 (ja) * | 2015-12-24 | 2019-11-13 | Kyb株式会社 | バルブ装置 |
-
2016
- 2016-05-25 DE DE102016006545.1A patent/DE102016006545A1/de not_active Withdrawn
-
2017
- 2017-05-10 US US16/302,935 patent/US10612567B2/en active Active
- 2017-05-10 KR KR1020187037041A patent/KR102257416B1/ko active IP Right Grant
- 2017-05-10 JP JP2018562011A patent/JP6885969B2/ja active Active
- 2017-05-10 EP EP17723007.5A patent/EP3464908B1/de active Active
- 2017-05-10 CN CN201780031876.4A patent/CN109477499B/zh active Active
- 2017-05-10 WO PCT/EP2017/000569 patent/WO2017202485A1/de unknown
Also Published As
Publication number | Publication date |
---|---|
DE102016006545A1 (de) | 2017-11-30 |
JP2019523847A (ja) | 2019-08-29 |
US20190277313A1 (en) | 2019-09-12 |
WO2017202485A1 (de) | 2017-11-30 |
US10612567B2 (en) | 2020-04-07 |
EP3464908A1 (de) | 2019-04-10 |
EP3464908B1 (de) | 2020-07-08 |
CN109477499B (zh) | 2020-10-30 |
KR102257416B1 (ko) | 2021-06-01 |
KR20190008375A (ko) | 2019-01-23 |
CN109477499A (zh) | 2019-03-15 |
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