JPWO2016006435A1 - モータモジュール、及びabs液圧ユニット - Google Patents
モータモジュール、及びabs液圧ユニット Download PDFInfo
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- JPWO2016006435A1 JPWO2016006435A1 JP2016532857A JP2016532857A JPWO2016006435A1 JP WO2016006435 A1 JPWO2016006435 A1 JP WO2016006435A1 JP 2016532857 A JP2016532857 A JP 2016532857A JP 2016532857 A JP2016532857 A JP 2016532857A JP WO2016006435 A1 JPWO2016006435 A1 JP WO2016006435A1
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- motor
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- planetary gear
- gear mechanism
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- 238000000034 method Methods 0.000 abstract description 3
- 239000012530 fluid Substances 0.000 description 15
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000002040 relaxant effect Effects 0.000 description 1
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Classifications
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- 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
- B60T8/4022—Pump units driven by an individual electric motor
-
- 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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/12—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 fluid assistance, drive, or release the fluid being liquid
- B60T13/14—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 fluid assistance, drive, or release the fluid being liquid using accumulators or reservoirs fed by pumps
- B60T13/142—Systems with master cylinder
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- 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
- B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
- B60T15/02—Application and release valves
- B60T15/025—Electrically controlled valves
- B60T15/028—Electrically controlled valves in hydraulic systems
-
- 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
- B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
- B60T15/02—Application and release valves
- B60T15/36—Other control devices or valves characterised by definite functions
-
- 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
-
- 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
- B60T8/36—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 including a pilot valve responding to an electromagnetic force
- B60T8/3615—Electromagnetic valves specially adapted for anti-lock brake and traction control systems
- B60T8/3675—Electromagnetic valves specially adapted for anti-lock brake and traction control systems integrated in modulator units
- B60T8/368—Electromagnetic valves specially adapted for anti-lock brake and traction control systems integrated in modulator units combined with other mechanical components, e.g. pump units, master cylinders
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- 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
- B60T8/4031—Pump units characterised by their construction or mounting
-
- 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
- B60T8/404—Control of the pump unit
- B60T8/4054—Control of the pump unit involving the delivery pressure control
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
-
- 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
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/70—Gearings
- B60Y2400/73—Planetary gearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/70—Gearings
- B60Y2400/78—Pumps, e.g. jet type
- B60Y2400/785—Pump drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2410/00—Constructional features of vehicle sub-units
- B60Y2410/10—Housings
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Fluid Mechanics (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Electromagnetism (AREA)
- Regulating Braking Force (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Retarders (AREA)
- Motor Or Generator Frames (AREA)
- Hydraulic Motors (AREA)
Abstract
Description
図1は、本実施形態に係るABS液圧ユニットの液圧回路を示す回路図である。本実施形態に係る自動二輪車は、前輪のみにABS(アンチロックブレーキシステム)が搭載されており、ABS液圧ユニット100は、前輪のみにアンチロックブレーキ制御を実行可能に設けられている。以下、前輪の液圧回路1について説明する。
ECU40は、前輪の回転速度を検出して対応する回転速度信号を出力する速度センサ41f、及び後輪の回転速度を検出して対応する回転速度信号を出力する速度センサ41rから受信した回転速度信号に基づき、モータ11の駆動や、込め弁13及び側弛め弁14の開閉状態等を制御する。
Claims (10)
- モータと、前記モータの出力軸に取り付けられる遊星歯車機構とを備えたモータモジュールにおいて、
前記モータ及び前記遊星歯車機構を一体に固定する固定部を備え、
前記固定部は、前記モータを内側に挟んで固定するとともに、前記遊星歯車機構の内歯車を固定することを特徴とするモータモジュール。 - 請求項1に記載のモータモジュールにおいて、
前記固定部は、前記内歯車を内側に挟んで固定することを特徴とするモータモジュール。 - 請求項1または2に記載のモータモジュールにおいて、
前記固定部は、前記遊星歯車機構側の端部が前記モータの軸心から離れる方向にフランジ形状に広がって形成されたことを特徴とするモータモジュール。 - 請求項1乃至3のいずれか1項に記載のモータモジュールにおいて、
前記内歯車は、前記モータの軸心から離れる方向にフランジ形状に広がるフランジ部が形成されたことを特徴とするモータモジュール。 - 請求項4に記載のモータモジュールにおいて、
前記フランジ部の外径は、前記固定部の前記遊星歯車機構側の端部の外径と略同径に形成されたことを特徴とするモータモジュール。 - 請求項4または5に記載のモータモジュールにおいて、
前記固定部の前記端部は、前記内歯車の前記フランジ部に当接していることを特徴とするモータモジュール。 - 請求項1乃至6のいずれか1項に記載のモータモジュールにおいて、
前記遊星歯車機構の遊星キャリアは、液圧ブレーキのアンチロックブレーキ制御を行うABS液圧ユニットのポンプを駆動する偏心シャフトが固定されるように設けられたことを特徴とするモータモジュール。 - 請求項1乃至7のいずれか1項に記載のモータモジュールが組み込まれ、液圧ブレーキのアンチロックブレーキ制御を行うABS液圧ユニットにおいて、
前記液圧ブレーキと接続される液圧回路の管路が形成されたブロックを備え、
前記モータモジュールは、前記固定部の前記遊星歯車機構側の端部が前記ブロックに形成された穴の内面に嵌合して固定されたことを特徴とするABS液圧ユニット。 - 請求項8に記載のABS液圧ユニットにおいて、
前記内歯車は、前記ブロックの前記穴の内面に嵌合して固定されたことを特徴とするABS液圧ユニット。 - 請求項8または9に記載のABS液圧ユニットにおいて、
前記固定部の前記端部は、前記内歯車と前記ブロックとの間に挟まって固定されたことを特徴とするABS液圧ユニット。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014142607 | 2014-07-10 | ||
JP2014142607 | 2014-07-10 | ||
PCT/JP2015/068016 WO2016006435A1 (ja) | 2014-07-10 | 2015-06-23 | モータモジュール、及びabs液圧ユニット |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2016006435A1 true JPWO2016006435A1 (ja) | 2017-04-27 |
JP6538050B2 JP6538050B2 (ja) | 2019-07-03 |
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ID=55064073
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016532857A Active JP6538050B2 (ja) | 2014-07-10 | 2015-06-23 | モータモジュール、及びabs液圧ユニット |
Country Status (7)
Country | Link |
---|---|
US (1) | US10246066B2 (ja) |
EP (2) | EP3590777B1 (ja) |
JP (1) | JP6538050B2 (ja) |
CN (1) | CN106687344B (ja) |
BR (1) | BR112017000319B1 (ja) |
TW (1) | TWI652190B (ja) |
WO (1) | WO2016006435A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3144194B1 (en) * | 2014-05-16 | 2018-05-09 | Robert Bosch GmbH | Abs hydraulic unit |
USD861733S1 (en) * | 2016-04-11 | 2019-10-01 | Robert Bosch Gmbh | Hydraulic power unit |
FR3071391B1 (fr) * | 2017-09-22 | 2020-01-03 | Poclain Hydraulics Industrie | Bloc d'alimentation pour au moins une machine hydraulique |
JP6782221B2 (ja) * | 2017-12-13 | 2020-11-11 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置 |
WO2019155541A1 (ja) * | 2018-02-07 | 2019-08-15 | 三菱電機株式会社 | 制御装置一体型回転電機 |
CN110481528B (zh) * | 2018-10-24 | 2020-11-06 | 京西重工(上海)有限公司 | 液压控制单元 |
EP4067127B1 (en) * | 2021-03-31 | 2024-06-19 | BeijingWest Industries Co. Ltd. | Suspension hydraulic lift actuator for axle trim height control |
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BR112016026593A2 (pt) * | 2014-05-16 | 2017-08-15 | Bosch Gmbh Robert | Unidade hidráulica de abs |
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2015
- 2015-06-23 CN CN201580037283.XA patent/CN106687344B/zh active Active
- 2015-06-23 BR BR112017000319-8A patent/BR112017000319B1/pt active IP Right Grant
- 2015-06-23 WO PCT/JP2015/068016 patent/WO2016006435A1/ja active Application Filing
- 2015-06-23 EP EP19193955.2A patent/EP3590777B1/en active Active
- 2015-06-23 EP EP15819168.4A patent/EP3168099A4/en not_active Ceased
- 2015-06-23 JP JP2016532857A patent/JP6538050B2/ja active Active
- 2015-06-23 US US15/325,292 patent/US10246066B2/en active Active
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JP2002524336A (ja) * | 1998-09-02 | 2002-08-06 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | モータ−ポンプ−装置 |
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Also Published As
Publication number | Publication date |
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CN106687344B (zh) | 2019-07-09 |
US20170174195A1 (en) | 2017-06-22 |
BR112017000319B1 (pt) | 2022-06-28 |
TW201628892A (zh) | 2016-08-16 |
TWI652190B (zh) | 2019-03-01 |
WO2016006435A1 (ja) | 2016-01-14 |
BR112017000319A2 (pt) | 2017-11-07 |
JP6538050B2 (ja) | 2019-07-03 |
EP3168099A1 (en) | 2017-05-17 |
EP3168099A4 (en) | 2017-08-02 |
EP3590777A1 (en) | 2020-01-08 |
US10246066B2 (en) | 2019-04-02 |
EP3590777B1 (en) | 2023-01-18 |
CN106687344A (zh) | 2017-05-17 |
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