Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62D—MOTOR VEHICLES; TRAILERS
  • B62D15/00—Steering not otherwise provided for
  • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
  • B62D15/021—Determination of steering angle
  • B62D15/0215—Determination of steering angle by measuring on the steering column
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62D—MOTOR VEHICLES; TRAILERS
  • B62D15/00—Steering not otherwise provided for
  • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
  • B62D15/021—Determination of steering angle
  • B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
  • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
  • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
  • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
  • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
  • G01D5/2006—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
  • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
  • G01D2205/20—Detecting rotary movement
  • G01D2205/22—Detecting rotary movement by converting the rotary movement into a linear movement
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
  • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
  • G01D2205/20—Detecting rotary movement
  • G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation

Definitions

• the invention is based on a sensor arrangement for detecting rotational angles on a rotating component in a vehicle according to the preamble of the independent patent claim 1.
• a counting wheel for determining the number of revolutions of the steering wheel is scanned without contact by means of magnetic field sensors.
• a quiescent current must be provided in order to be able to detect a rotation of the steering wheel when the ignition is switched off. With permanent non-use of the vehicle, this leads to an undesirable emptying of the vehicle battery. If such a quiescent current is not provided, the steering angle can no longer be clearly determined if the steering wheel is turned when the ignition is switched off or the battery is disconnected.
• an arrangement for detecting a rotation angle comprises encoders and sensors which, as a function of a rotation angle change of a rotating component, detect changes in a physical variable produced by the encoders as signals which can be evaluated digitally.
• the rotating component has at least one small circumference coupled to its circumference, rotating by its rotation satellites, preferably with a winkel sensor, which via an axially coupled hypocycloidal gear drives a likewise rotating hypercycloid disc or hypocycloid gear whose speed of rotation through the hypocycloidal gear unit is thus reduced. sets is that from this a number of revolutions of the rotating component and the absolute steering angle over several revolutions of the steering shaft with a revolution sensor system can be determined. Disclosure of the invention
• the sensor arrangement according to the invention for detecting rotational angles on a rotating component in a vehicle having the features of independent claim 1 has the advantage that a current angle of rotation of the rotating component is determined with two separate non-contact measurement methods, which are preferably based on the eddy current effect.
• a first measuring method detects a 360 ° rotation and a second measuring method acts as a "lap counter", which detects a multiple rotation of the rotating component by changing the distance
• the transfer of the rotational movement into the mechanical rotation and the height change always provides an unambiguous rotational position even with multiple revolutions of the rotating component, advantageously maintaining the rotational movement in the mechanically altered rotation and height change
• the correct absolute rotation angle is available in the event of a failure of the electronics, which results in particularly safe operation or particularly reliable detection of the angle of rotation m It is possible by means of the eddy current effect.
• a further advantage can be the mechanical simplification, which can lead to cost savings, since in embodiments of the sensor arrangement according to the invention for detecting rotational angles on a rotating component in a vehicle, no toothed-structure pinions meshing with one another or magnets are required. which can lead to cost savings.
• embodiments of the sensor arrangement according to the invention for detecting angles of rotation on a rotating component in a vehicle due to the reduction of movable components advantageously operate very quietly.
• the sensor arrangement according to the invention can be used to control the steering angle of a vehicle.
• the ro- tant component preferably designed as a steering column of the vehicle or sleeve, which is connected against rotation with the steering column.
• Embodiments of the present invention provide a sensor assembly for detecting rotational angles on a rotating component in a vehicle.
• the rotating component is coupled to at least one transmitter which, in conjunction with at least one sensor, generates a signal representing the angle of rotation of the rotating component.
• a rotation angle detector detects with a first transducer, which is rotatably coupled to the rotating component, and with at least one as
• Rotation angle sensor executed an angular position of the rotating component in the range of a 360 ° rotation.
• a rotation detector detects with a second transducer, which is axially movably coupled to the rotating component and with the rotating component forms a motion converter, which converts the rotation of the rotating component in an axial translation of the second transmitter with respect to the rotating component, and with at least one sensor designed as a distance sensor a traversed axial path of the second transmitter, which represents a number of revolutions of the rotating component.
• a current angle of rotation of the rotating component can be determined from the angular position detected by the rotation angle detector and the number of revolutions determined by the revolution detector.
• one of the transducers is designed as a cup wheel with a base body, which has a central opening and a recess
• one of the transducers is designed as a disk with a base body, which has a central opening.
• the sensor designed as a disk is designed so that at least a partial immersion in the recess of the transmitter designed as a cup wheel is possible.
• the first transmitter and the second transmitter can be arranged nested one inside the other. This allows advantageously a compact design of the sensor arrangement according to the invention for detecting angles of rotation on a rotating component in a vehicle.
• the base body of the axially movable coupled to the rotating component in an advantageous embodiment, the base body of the axially movable coupled to the rotating component
• Transducers are axially guided on a wall of the central opening and / or on its outer circumference and / or on an inner wall of the recess.
• the rotating component can, for example, an external thread and the main body of the axially movably coupled to the rotating component transducer can for example have a corresponding introduced into the central opening internal thread, so that the transmitter can be screwed onto the rotating member and axially guided.
• the external thread can for example be cut directly onto the rotating component. By directly cutting the external thread in the rotating component, the number of components required to convert the
• Rotary movement can be reduced in a straight-line movement in an advantageous manner, which can lead to a cost savings.
• a sleeve with an external thread can be pushed axially onto the rotating component and connected in a rotationally fixed manner to the rotating component. Due to the sleeve, it is advantageously possible to adapt the dimensions of the transmitter to the rotating component or to the steering column.
• the main body of the transmitter designed as a cup wheel on the inner wall of the recess have an internal thread
• the main body of the sensor designed as a disc may have a corresponding external thread on its outer circumference, so that a guided axial relative movement between the transducers is possible.
• At least one anchoring means can be provided which blocks a rotational movement of the axially movable transmitter and releases an axial movement of the transmitter.
• at least two designed as a guide rods anchoring means by appropriate
• the sensors can be designed as eddy-current sensors with a predetermined number of detection coils and a predetermined number of corresponding detection areas, which determine the distance or the angle of rotation via a change in the associated magnetic field.
• the coils of the at least one sensor configured as a rotation angle sensor and the coils of the at least one sensor designed as a distance sensor are arranged on a common coil carrier.
• the detection areas are formed from an electrically conductive or a ferromagnetic material, in which corresponding coils induce the eddy currents.
• Number and shape of the coils and the detection areas can be adapted to the existing installation conditions in an advantageous manner.
• the detection coils of the sensors can be arranged distributed in several layers in the coil carrier. As a result, a higher sensitivity, i. a larger coil inductance can be achieved, which is connected in series over several layers.
• an evaluation and control unit can evaluate the coils of the at least one rotation angle sensor and / or the at least one distance sensor simultaneously or in a predetermined sequence. This advantageously makes it possible to compensate for disturbing influences, such as, for example, a temperature change, etc.
• the use of a plurality of sensors or coils advantageously makes it possible to determine the rotational angle on the rotating component in a redundant manner.
• FIG. 1 shows a schematic perspective sectional view of a first exemplary embodiment of a sensor arrangement according to the invention for detecting rotational angles on a rotating component in a vehicle in a first position.
• FIG. 2 shows a schematic perspective sectional view of the first exemplary embodiment of a sensor arrangement according to the invention from FIG. 1 in a second position.
• FIG. 3 shows a schematic plan view of a first exemplary embodiment of a coil carrier for the sensor arrangement according to the invention from FIGS. 1 and 2.
• FIG. 5 shows a schematic plan view of a second exemplary embodiment of a coil carrier for the sensor arrangement according to the invention from FIGS. 1 and 2.
• FIGS. 1 and 2 shows a schematic view from below of a second exemplary embodiment of a first and second sensor for the sensor arrangement according to the invention from FIGS. 1 and 2.
• FIG. 7 shows a schematic perspective sectional view of a second exemplary embodiment of a sensor arrangement according to the invention for detecting rotational angles on a rotating component in a vehicle in a first position.
• FIG. 8 shows a schematic perspective sectional view of the second exemplary embodiment of a sensor arrangement according to the invention from FIG. 7 in a second position.
• FIGS. 7 and 8 shows a schematic plan view of a first exemplary embodiment of a coil carrier for the sensor arrangement according to the invention from FIGS. 7 and 8.
• 10 shows a schematic view from below of a first exemplary embodiment of a first and second sensor for the sensor arrangement according to the invention from FIGS. 7 and 8.
• FIG. 11 shows a schematic plan view of a second embodiment of a coil carrier for the sensor arrangement according to the invention from FIGS. 7 and 8.
• FIG. 12 shows a schematic view from below of a second exemplary embodiment of a first and second sensor for the sensor arrangement according to the invention from FIGS. 7 and 8.
• FIG. 13 shows a schematic perspective sectional view of a third exemplary embodiment of a sensor arrangement according to the invention for detecting rotational angles on a rotating component in a vehicle in a first position.
• FIG. 14 shows a schematic perspective sectional view of the third exemplary embodiment of a sensor arrangement according to the invention from FIG. 13 in a second position.
• embodiments of a sensor arrangement 1, 1A, 1B, 1C according to the invention for detecting rotational angles on a rotating component 10 in a vehicle include at least one transmitter 20, 30, which is connected to at least one sensor 40, 50 generates a rotational angle of the rotating member 10 representing signal.
• a rotation angle detector 3 detects with a first sensor 20, which is rotationally fixedly coupled to the rotating component 10, and with at least one sensor designed as a rotation angle sensor 50, an angular position of the rotating component 10 in the region of a 360 ° rotation.
• a rotation detector 5 determines with a second sensor 30, which is coupled in an axially movable manner to the rotating component 10 and forms a motion converter with the rotating component 10, which rotator 12 rotates. rende component 10 in an axial translation 14 of the second transmitter 30 with respect to the rotating member 10 converts, and with at least one sensor configured as a distance sensor 40 a traversed axial travel of the second transmitter 30, which represents a number of revolutions of the rotating member 0.
• a current angle of rotation of the rotating component 10 is determined from the angular position detected by the rotation angle detector 3 and the from
• Rotation detector 5 determined rotational speed determined.
• Embodiments of the sensor arrangement 1, 1A, 1B, 1C according to the invention can be used, for example, as a steering angle sensor for determining the steering angle of a vehicle, wherein, for example, a current one
• Rotation angle of a steering column of the vehicle to be determined.
• the rotating member 10 corresponds to a sleeve 16, 16 A, 16 B, 16 C, which, for example, axially slid onto the steering column as a rotating component and rotatably connected to the steering column.
• one of the transducers 20, 30 as a cup wheel 20 B, 20 C, 30 A with a base body 22, 32, which has a central opening 26, 36 and a recess 24, 34, and one of
• Transducer 20, 30 is designed as a disc 20A, 30B, 30C with a base body 22, 32, which has a central opening 26, 36.
• the sensor 20, 30 designed as a disk 20A, 30B, 30C is designed so that at least a partial immersion in the recess 24, 34 of the as
• Cup wheel 20 B, 20 C, 30 A executed transmitter 20, 30 is possible.
• the first sensor 20 and the second sensor 30 are arranged in a space-saving nested, so that advantageously a compact design of the sensor arrangement 1, 1A, 1 B, 1 C according to the invention for detecting angles of rotation on a rotating component 10 in a vehicle is possible ,
• the sensors 40, 50 as
• Eddy current sensors with a predetermined number of detection coils 42, 52, which are arranged on a common bobbin 60, and a predetermined number of corresponding detection areas 44, 54 executed on the first or second transmitter 20, 30 in
• the detection coils 42 of the rotation angle sensor 40 are arranged axially overlapping with the corresponding detection regions 44 on the coil carrier 60, or the detection coils 52 of the distance sensor 50 are arranged axially overlapping the corresponding detection regions 54 on the coil carrier 60.
• the bobbin 60 is designed as a stationary disc with a central opening 62 through which the rotating member 10 extends.
• the rotational movement of the first sensor 20 or the axial movement 14 and the associated change in the distance of the second sensor 30 influence the magnetic fields 46, 56 generated by the eddy current sensors 40, 50 between the detection coils 42, 52 and the detection regions 44, 54, so that For example, a corresponding change in frequency can be detected in conjunction with a fixed capacity, not shown, and can be evaluated by an evaluation and control unit 70 for determining the angle of rotation and / or determining the distance.
• the coil 50 can be produced in a micromechanical process in silicon or realized directly on the coil carrier 60, preferably designed as a printed circuit board, wherein the direct arrangement on the printed circuit board can have a further cost advantage.
• different coil shapes can be implemented, such as round or rectangular, but also more complicated coil shapes could prove advantageous.
• the coils 42, 52 can also be produced in a larger shape (centimeter range).
• the coils 42, 52 of the eddy current sensors 40, 50 may be distributed in the printed circuit board as well as in the silicon in multiple layers to achieve a higher sensitivity, i. a larger coil inductance, which is connected in series over several layers.
• the evaluation and control unit 70 can evaluate the coils 42, 52 of the at least one rotation angle sensor 40 and / or the at least one distance sensor 50 simultaneously or in a predetermined sequence.
• the first sensor 20 is designed as a disk 20A, which is connected in a rotationally fixed manner to the rotating component 10 designed as a sleeve 16A.
• the second sensor 30 is designed in the first embodiment of the sensor arrangement 1A according to the invention as a cup wheel 30A.
• an external thread 16.1 is cut into the rotating component 10 embodied as a sleeve 16A, onto which the base body 32A of the second sensor 30 designed as a cup wheel 30A with a central opening 36.1 introduced on a wall 36.1 Internal thread 36.2 screwed and axially guided.
• the second position of the sensor arrangement 1A according to the invention shown in FIG. 2 corresponds to a left stop of the rotating component 10 with a minimum distance h2 between the end face 38 of the second sensor 30 and the surface of the coil carrier 60A.
• the main body 22A of the first sensor 20 designed as a disk 20A is immersed in the recess 34 of the second sensor 30 designed as a cup wheel 30A.
• an outer circumference 22.1 of the main body 22A of the first sensor 20 has a predeterminable distance from the inner wall 34.1 of the recess 34 in the main body 32A of the second sensor 30.
• at least one anchoring means is provided in order to block a rotational movement of the axially movable second measuring sensor 30 and to release the axial movement 14.
• a first embodiment of the bobbin 60A comprises four first detection coils 42A for the rotary angle sensor 40A distributed around the central opening 62 of the disk-shaped bobbin 60A and one circumferential detection coil 52A for the bobbin 60A the distance sensor 50A.
• a first exemplary embodiment of the first sensor 20A comprises a first detection region 44A for the rotation angle sensor 40A, which is adjacent to the central opening 26 of the main body 22A and designed as a circular ring segment.
• a first embodiment of the second transmitter 30 um- sums up a second detection area 54A for the distance sensor 50A, which is embodied as a circumferential circular ring.
• a second embodiment of the coil carrier 60A comprises four detection coils 42A for the rotation angle sensor 40A distributed around the central opening 62 of the coil support 60A and six detection coils 52A for the distance sensor 50A arranged on the edge of the coil support 60A.
• a second exemplary embodiment of the first transmitter 20 comprises three first and second annular segments which are adjacent to the central opening 26 of the main body 22A
• a second exemplary embodiment of the second sensor 30 comprises six second detection regions 54A for the distance sensor 50A, designed as circular ring segments.
• the first sensor 20 is designed as a cup wheel 20B, which is connected in a rotationally fixed manner to the rotating component 10 designed as a sleeve 16B.
• the base body 22B of the first sensor 20 designed as a cup wheel 20B is pressed onto the rotating component 10 designed as a sleeve 16B to produce the rotationally fixed connection with the central opening 26.
• the second sensor 30 is designed as a disk 30B.
• an external thread 16.1 is cut into the rotating component 10 designed as a sleeve 16B onto which the base body 32B of the second sensor 30 designed as a disk 30B is screwed with an internal thread 36.2 introduced on a wall 36.1 of the central opening 36 and is guided axially.
• the first position of the sensor arrangement 1 B according to the invention shown in FIG. 7 corresponds to a right stop of the rotating component 10 with a maximum distance h 1 between an end face 38 of the second sensor 30 and a surface of the coil support 60B.
• the second position of the sensor arrangement 1 B according to the invention shown in FIG. 8 corresponds to a left stop of the rotating component 10 with a minimum distance h 2 between the end face 38 of the second measuring element 10.
• the main body 32B of the second sensor 30 designed as a disk 30B dips into the recess 24 of the first sensor 20 designed as a cup wheel 20B, independently of the position.
• an outer circumference 32.1 of the main body 32B of the second sensor 30 has a predeterminable distance from the inner wall 24.1 of the recess 24 in the main body 22B of the first sensor 20.
• at least one anchoring means 7 is provided.
• the anchoring means 7 comprise two pins, which are guided through corresponding openings in the main body 32B of the second sensor 30.
• a third embodiment of the bobbin 60B includes six first detection coils 42B for the rotation angle sensor 40B distributed on the edge of the disc-shaped bobbin 60B, and a second detection coil 52B disposed around the central opening 62 of the bobbin 60B the distance sensor 50B.
• a third exemplary embodiment of the first sensor 20 comprises a first detection region 44B designed as a circular ring segment for the angle of rotation sensor 40B.
• a third exemplary embodiment of the second transmitter 30 comprises a second detection region 54B for the distance sensor 50B, which is adjacent to the central opening 36 of the base body 32B and is designed as a circumferential circular ring.
• a fourth embodiment of the bobbin 60B includes six first detection coils 42B for the rotation angle sensor 40B distributed on the edge of the coil support 60B and four coils 52B for the distance sensor 50B disposed around the central opening 62 of the coil support 60B.
• a fourth exemplary embodiment of the first transmitter 20 comprises four first detection regions 44B designed as circular ring segments for the rotational angle sensor 40B, whose angular relationships with one another do not correspond to an integer multiple.
• a fourth embodiment of the second transmitter 30 comprises four to the central le opening 26 of the base 22B adjacent running as a circular ring segments second detection areas 54B for the distance sensor 50B.
• the first sensor is the first sensor
• the base body 22C of the first sensor 20 designed as a cup wheel 20C for producing the non-rotatable connection with the central opening 26 as a sleeve
• the second sensor 30 is also carried out in the third embodiment of the sensor arrangement 1C according to the invention analogous to the first embodiment as a disc 30C.
• the rotating component 10 designed as a sleeve 16C has no external thread.
• the main body 22C of the first sensor 20, which is designed as a cup wheel 20C, has an internal thread 24. 2 on an inner wall 24. 1 of the recess 24, in which a
• Outer circumference 32.1 of the main body 32C of the designed as a disc 30C second transducer 30 arranged external thread 32.2 is screwed and guided axially.
• the first position of the sensor arrangement 1C according to the invention shown in FIG. 13 corresponds to a right stop of the rotating component 10 with a maximum distance h1 between an end face 38 of the second sensor 30 and a surface of the coil support 60C.
• the second position of the sensor arrangement 1 C according to the invention shown in FIG. 14 corresponds to a left stop of the rotating component 10 with a minimum distance h 2 between the end face 38 of the second sensor 30 and the surface of the coil carrier 60C.
• the main body 32C of the second sensor 30 designed as a disk 30C emerges into the recess 24 of the first sensor 20 designed as a cup wheel 20C, independently of the position.
• at least one anchoring means 7 is provided in order to block a rotational movement of the axially movable second transducer 30 and to release the axial movement 14.
• the anchoring means 7 analogous to the second embodiment, two pins, which are guided through corresponding openings in the main body 32C of the second sensor 30.
• the thread over which the distance information for a multiple rotation is detected by the distance sensor can be interpreted very roughly, since the exact angular position (0 ° -360 °) is determined by the rotation angle sensor from the rotation. Nevertheless, a further plausibility check of the determined rotation angle is also possible via the distance information. Furthermore, redundancy of the rotational angle information can be provided by the overlap of the coil arrangement with a plurality of detection areas and the separate possible readout and evaluation of the detection coils by the evaluation and control unit. This results in a variety of variants. For example, the information about the change in distance can be combined with angle information. In addition, a different number of coils can be used. Furthermore, the coils can be read simultaneously or sequentially (multiplexing). For example, the coils can be individually connected to the evaluation and control unit. Alternatively, the coils can be completely or partially merged via their connections and then routed to the evaluation and control unit.
• Embodiments of the present invention provide a sensor arrangement for detecting rotational angles on a rotating component in a vehicle, which always provide an unambiguous rotational position by transferring the rotational movement into a mechanical path change even with multiple revolutions of the rotating component.
• the failure of the electronics, the rotational movement in the mechanical changed path position is maintained. Due to the mechanical path change, the correct absolute rotation angle is available even after the ignition has been switched off or the battery has been disconnected, at the same time enabling particularly reliable operation or particularly reliable detection of the rotation angle.

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• Engineering & Computer Science (AREA)
• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
• Transmission And Conversion Of Sensor Element Output (AREA)

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• 2013
  • 2013-10-18 DE DE201310221193 patent/DE102013221193A1/de active Pending
• 2014
  • 2014-09-22 WO PCT/EP2014/070105 patent/WO2015055382A1/de active Application Filing
  • 2014-09-22 CN CN201480056708.7A patent/CN105637325B/zh active Active
  • 2014-09-22 JP JP2016524483A patent/JP6192826B2/ja active Active

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