JP7029939B2 - 建設機械の駆動システム - Google Patents
建設機械の駆動システム Download PDFInfo
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- JP7029939B2 JP7029939B2 JP2017221659A JP2017221659A JP7029939B2 JP 7029939 B2 JP7029939 B2 JP 7029939B2 JP 2017221659 A JP2017221659 A JP 2017221659A JP 2017221659 A JP2017221659 A JP 2017221659A JP 7029939 B2 JP7029939 B2 JP 7029939B2
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2282—Systems using center bypass type changeover valves
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
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- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
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- 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
- F15B2211/205—Systems with pumps
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- 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
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20523—Internal combustion engine
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- 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
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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- 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
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
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- 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
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
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- 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
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
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- 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
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6316—Electronic controllers using input signals representing a pressure the pressure being a pilot pressure
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- 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
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
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- 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
- F15B2211/665—Methods of control using electronic components
- F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
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- 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
- F15B2211/665—Methods of control using electronic components
- F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
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- 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
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
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- 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
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- 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
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7135—Combinations of output members of different types, e.g. single-acting cylinders with rotary motors
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- 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
- F15B2211/76—Control of force or torque of the output member
- F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
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- 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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Analytical Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
図1に、本発明の第1実施形態に係る建設機械の駆動システム1Aを示し、図2に、その駆動システム1Aが搭載された建設機械10を示す。図2に示す建設機械10は油圧ショベルであるが、本発明は、油圧クレーンなどの他の建設機械にも適用可能である。
図3に、本発明の第2実施形態に係る建設機械の駆動システム1Bを示す。なお、本実施形態において、第1実施形態と同一構成要素には同一符号を付し、重複した説明は省略する。
本発明は上述した実施形態に限定されるものではなく、本発明の要旨を逸脱しない範囲で種々の変形が可能である。
10 建設機械
13 エンジン
14 エンジン制御ユニット
15 ポンプ制御ユニット
16 制御装置
2A,2B 油圧回路
21,23 ポンプ
25 回生モータ
31 ブームシリンダ
34 旋回モータ
62,65,85 回生ライン
81,83 吸入ライン
82,84 逆止弁
Claims (7)
- エンジンの実回転数が設定回転数となるように前記エンジンに設けられた燃料噴射弁を制御する制御装置と、
前記エンジンにより駆動されるポンプ、および前記ポンプから作動油が供給されるブームシリンダ、を含み、ブーム下げ時に前記ブームシリンダから排出される圧油により前記ポンプが駆動されることによってエネルギが動力として回生されるように構成された油圧回路と、
ブーム操作レバーを含むブーム操作装置と、を備え、
前記制御装置は、ブーム下げ時に前記ブーム操作レバーの操作量が第1閾値以上であることを含むブーム下げ時カット条件を満たしたときに前記エンジンへの燃料供給をカットし、前記ブーム下げ時カット条件を満たさなくなったとき、または前記エンジンの実回転数が第2閾値を下回ったときに、前記エンジンへの燃料供給を再開する、建設機械の駆動システム。 - 前記ポンプは、逆止弁が設けられた吸入ラインによりタンクと接続されており、
前記油圧回路は、ブーム下げ時に前記吸入ラインにおける前記逆止弁よりも下流側部分へ前記ブームシリンダから排出される圧油を導く回生ラインを含む、請求項1に記載の建設機械の駆動システム。 - 前記油圧回路は、トルク伝達可能に前記ポンプと連結された、ブーム下げ時に前記ブームシリンダから排出される圧油によって回転される回生モータを含む、請求項1に記載の建設機械の駆動システム。
- 前記油圧回路は、前記ポンプから作動油が供給される旋回モータを含み、旋回減速時に前記旋回モータから排出される圧油により前記ポンプが駆動されることによってエネルギが動力として回生されるように構成されており、
旋回操作レバーを含む旋回操作装置をさらに備え、
前記制御装置は、旋回減速時に前記旋回操作レバーの操作量が第3閾値以下であることを含む旋回減速時カット条件を満たしたときに前記エンジンへの燃料供給をカットし、前記旋回減速時カット条件を満たさなくなったとき、または前記エンジンの実回転数が前記第2閾値を下回ったときに、前記エンジンへの燃料供給を再開する、請求項1~3の何れか一項に記載の建設機械の駆動システム。 - エンジンの実回転数が設定回転数となるように前記エンジンに設けられた燃料噴射弁を制御する制御装置と、
前記エンジンにより駆動されるポンプ、および前記ポンプから作動油が供給される旋回モータを含み、旋回減速時に前記旋回モータから排出される圧油により前記ポンプが駆動されることによってエネルギが動力として回生されるように構成された油圧回路と、
旋回操作レバーを含む旋回操作装置と、を備え、
前記制御装置は、旋回減速時に前記旋回操作レバーの操作量が第1閾値以下であることを含む旋回減速時カット条件を満たしたときに前記エンジンへの燃料供給をカットし、前記旋回減速時カット条件を満たさなくなったとき、または前記エンジンの実回転数が第2閾値を下回ったときに、前記エンジンへの燃料供給を再開する、建設機械の駆動システム。 - 前記旋回減速時カット条件は、旋回速度が設定値を超えていることも含む、請求項4または5に記載の建設機械の駆動システム。
- 前記制御装置は、前記燃料噴射弁を制御するエンジン制御ユニットと、前記油圧回路に含まれる少なくとも1つの機器を制御するポンプ制御ユニットであって、前記エンジン制御ユニットから前記エンジンの実回転数信号が送信されるポンプ制御ユニットを含み、
前記ポンプ制御ユニットは、前記旋回減速時カット条件または前記ブーム下げ時カット条件を満たしたときに前記エンジン制御ユニットへ燃料供給カット可能信号を送信し、前記旋回減速時カット条件または前記ブーム下げ時カット条件を満たさなくなったとき、または前記エンジンの実回転数が前記第2閾値を下回ったときに、前記燃料供給カット可能信号の送信を停止する、請求項1~6の何れか一項に記載の建設機械の駆動システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017221659A JP7029939B2 (ja) | 2017-11-17 | 2017-11-17 | 建設機械の駆動システム |
US16/765,135 US10900199B2 (en) | 2017-11-17 | 2018-11-08 | Drive system of construction machine |
CN201880074022.9A CN111344459B (zh) | 2017-11-17 | 2018-11-08 | 工程机械的驱动系统 |
PCT/JP2018/041482 WO2019098116A1 (ja) | 2017-11-17 | 2018-11-08 | 建設機械の駆動システム |
GB2007152.8A GB2581737B (en) | 2017-11-17 | 2018-11-08 | Drive system of construction machine |
Applications Claiming Priority (1)
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JP2017221659A JP7029939B2 (ja) | 2017-11-17 | 2017-11-17 | 建設機械の駆動システム |
Publications (3)
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JP2019090293A JP2019090293A (ja) | 2019-06-13 |
JP2019090293A5 JP2019090293A5 (ja) | 2020-12-17 |
JP7029939B2 true JP7029939B2 (ja) | 2022-03-04 |
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JP2017221659A Active JP7029939B2 (ja) | 2017-11-17 | 2017-11-17 | 建設機械の駆動システム |
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JP (1) | JP7029939B2 (ja) |
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WO2019098116A1 (ja) | 2019-05-23 |
US10900199B2 (en) | 2021-01-26 |
GB202007152D0 (en) | 2020-07-01 |
JP2019090293A (ja) | 2019-06-13 |
CN111344459B (zh) | 2022-02-25 |
CN111344459A (zh) | 2020-06-26 |
US20200347575A1 (en) | 2020-11-05 |
GB2581737A (en) | 2020-08-26 |
GB2581737A9 (en) | 2022-05-18 |
GB2581737B (en) | 2022-06-22 |
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