WO2018161992A1 - Pendule centrifuge et arrangement de propulsion pour un véhicule automobile - Google Patents

Pendule centrifuge et arrangement de propulsion pour un véhicule automobile Download PDF

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Publication number
WO2018161992A1
WO2018161992A1 PCT/DE2018/100119 DE2018100119W WO2018161992A1 WO 2018161992 A1 WO2018161992 A1 WO 2018161992A1 DE 2018100119 W DE2018100119 W DE 2018100119W WO 2018161992 A1 WO2018161992 A1 WO 2018161992A1
Authority
WO
WIPO (PCT)
Prior art keywords
pendulum
centrifugal
contact element
masses
mass
Prior art date
Application number
PCT/DE2018/100119
Other languages
German (de)
English (en)
Inventor
Björn Sieg
Steffen Lehmann
Evgenij Franz
Timm GMEINER
Martin HÄSSLER
Alain Rusch
Original Assignee
Schaeffler Technologies AG & Co. KG
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 by Schaeffler Technologies AG & Co. KG filed Critical Schaeffler Technologies AG & Co. KG
Priority to CN201880015494.7A priority Critical patent/CN110382907B/zh
Priority to EP18707622.9A priority patent/EP3593008A1/fr
Priority to KR1020197025982A priority patent/KR102523620B1/ko
Publication of WO2018161992A1 publication Critical patent/WO2018161992A1/fr

Links

Classifications

    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
    • F16F15/14—Suppression of vibrations in rotating systems by making use of members moving with the system using masses freely rotating with the system, i.e. uninvolved in transmitting driveline torque, e.g. rotative dynamic dampers
    • F16F15/1407—Suppression of vibrations in rotating systems by making use of members moving with the system using masses freely rotating with the system, i.e. uninvolved in transmitting driveline torque, e.g. rotative dynamic dampers the rotation being limited with respect to the driving means
    • F16F15/145—Masses mounted with play with respect to driving means thus enabling free movement over a limited range
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/02—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
    • F16F1/32—Belleville-type springs
    • F16F1/328—Belleville-type springs with undulations, e.g. wavy springs
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2222/00—Special physical effects, e.g. nature of damping effects
    • F16F2222/04—Friction

Definitions

  • the invention relates to a centrifugal pendulum for damping torsional vibrations and a drive arrangement for a motor vehicle, which comprises the centrifugal pendulum according to the invention.
  • Centrifugal pendulum contain at least one rotatable about a rotation axis pendulum and swing pendulum suspended there pendulum masses.
  • Pendulum masses perform in the field of centrifugal acceleration vibrations on predetermined paths. Thus, they can Drehmaschineuniformticianen, for example, by the torsional vibration-prone operation of
  • centrifugal pendulum acts as a result of increasing centrifugal force at increasing speeds as speed-adaptive torsional vibration damper, since both the natural frequency of the centrifugal pendulum oscillation and the excitation frequency are proportional to the speed.
  • Coupling device with a clutch disc known which comprises a clutch hub.
  • a clutch disc known which comprises a clutch hub.
  • a pendulum mass support means of a centrifugal pendulum device comprising a plurality of pendulum masses, which at the
  • Pendulum mass support means are mounted relative to this movable, coupled to the clutch disc.
  • the pendulum masses are on both sides of one
  • Torque fluctuations of an internal combustion engine can cause it to hit the pendulum masses at the boundary of the resonant space.
  • the function of a centrifugal pendulum is lost, so that no vibration isolation is given more.
  • Torsional vibration damper disclosed with the vibration damper.
  • the speed-adaptive vibration damper is equipped with a disc part rotating about an axis of rotation and a plurality of oscillating absorber masses arranged on the circumference along a first oscillation angle forced along an epicyclic first pendulum track to a predetermined first pendulum order. It is a center of gravity train with two pendulum orders
  • the second pendulum order is smaller than the first pendulum order. Since the second order no longer coincides with the motor excitation, the oscillation amplitude of the pendulum masses decreases.
  • Another way to reduce the amplitudes of the oscillatory movements of the pendulum masses is the generation of friction between pendulum masses and a carrier.
  • DE102010049553 A1 discloses that in a centrifugal pendulum device, which is designed in particular for use in a drive train of a motor vehicle, with several pendulum masses which are mounted on a pendulum carrier and movable relative thereto, the operation of the centrifugal pendulum device, which is designed in particular for use in a drive train of a motor vehicle, with several pendulum masses which are mounted on a pendulum carrier and movable relative thereto, the operation of the
  • Centrifugal pendulum device is limited to a speed range above a minimum speed. This is achieved by a means that is at least one
  • Pendulum mass decelerates in its motion as a function of the speed.
  • the effective direction of this agent is here radially on the pendulum mass.
  • the present invention has the object to provide a centrifugal pendulum available, which provides a reliable eradication of excitation oscillations with a cost-effective design and a long
  • Centrifugal pendulum are given in the dependent claims 2-9.
  • the features of the claims may be combined in any technically meaningful manner, for which purpose the explanations of the following description as well as features of the figures may be consulted which comprise additional embodiments of the invention.
  • the terms radial, axial and circumferential direction in the context of the present invention always refer to the axis of rotation of the centrifugal pendulum.
  • the invention relates to a centrifugal pendulum for damping torsional vibrations, with at least one pendulum flange rotatable about a rotation axis and a plurality of oscillating masses displaceably arranged on the pendulum flange for executing a substantially perpendicular to the axis of rotation
  • Centrifugal pendulum has at least one friction device, with each one, acting in parallel to the axis of rotation normal force to a respective
  • the pendulum masses can be suspended pendelbar.
  • the contact element is mechanically, positively and / or materially mechanically connected to the pendulum mass, so that in any case there is a firm or rigid connection between the body of the pendulum mass and the contact element.
  • the applied by the friction device normal force acts substantially parallel to the axis of rotation and thus perpendicular to the direction of movement of the pendulum mass or perpendicular to a tangent of a rotational movement of the pendulum mass.
  • a translational relative movement thus takes place between the moving contact element or the associated pendulum mass on the one hand and
  • a rotationally fixed element instead, such as the friction device itself or the pendulum flange.
  • the friction device is designed substantially annular.
  • annular friction device can thus be applied substantially parallel to the axis of rotation in each case a force on all arranged pendulum masses or on the pendulum masses associated contact elements, so that when moving a pendulum mass, a frictional force on the pendulum mass or on this pendulum mass associated contact element against Movement of the pendulum mass works.
  • the friction device may have deviations from a circular ring shape in detail.
  • a respective pendulum mass has at least partially on its surface the contact element on which the force applied by the friction device normal force acts.
  • Friction device itself and the contact element.
  • the contact element is formed by a plastic sheath which partially encloses the respective pendulum mass. That is, here e.g. a metal core of the pendulum mass is coated with plastic. In this case, this envelope may have different wall thicknesses on the opposite sides of the pendulum mass.
  • the friction device may in particular be a bending spring, such as an annular leaf spring, with which the normal force is effected on a respective contact element.
  • a bending spring such as an annular leaf spring
  • annular bending spring or leaf spring is also known as
  • Corrugated plate designated and is preferably made of a spring steel.
  • the spiral spring can be supported on the pendulum flange and have a plurality of convex portions extending in the axial direction, wherein at least one convex portion bears against the contact element of a respective pendulum mass and presses against it. In this way, the axially parallel acting normal forces are applied to the pendulum masses via the convex areas, which lead to the vibration-damping frictional forces. Sections of the spiral spring located between the convex portions are supported axially on the pendulum flange. That means that the
  • Friction on the one hand acts on the contact element of a respective pendulum mass and on the other hand is supported on a pendulum.
  • the pendulum flange thus brings the corresponding counterforce to the normal force.
  • the bending spring on the circumference as convex portions have three evenly distributed, axially protruding undulations on
  • a respective convex region or a respective corrugation can have a larger distance to the arrangement plane of the annular bending spring on the radial outer side of the annular form than on the radial inner side.
  • Arrangement level is the standing substantially perpendicular to the axis of rotation Plane corresponding to the plane of the arrangement of the annular bending spring independent of the convex portions.
  • annular bending spring In a further embodiment of the annular bending spring is provided that it has axially projecting elements which are suspended in the pendulum, on which the bending spring is axially supported.
  • the centrifugal pendulum according to the invention may have two pendulum flanges, so that the centrifugal pendulum next to the first-mentioned pendulum has a further, second pendulum, wherein the two pendulum flanges along the
  • Rotary axis are arranged opposite to each other and the pendulum masses are arranged between the pendulum flanges.
  • the two pendulum flanges are designed to rotate together around the axis of rotation and the registered
  • the friction device may comprise one or two annular bending springs.
  • the centrifugal pendulum as a friction device only have an annular first bending spring between the first pendulum and the contact elements of the pendulum masses.
  • centrifugal pendulum as a friction device on two annular bending springs, wherein an annular first bending spring between the first pendulum and the contact elements of the pendulum masses is arranged, and an annular second bending spring between the other, second
  • Pendulum and the contact elements of the pendulum masses is arranged.
  • Pendulum masses or their contact elements move, there are frictional forces between the contact element and the contact element
  • Biegefeder designed friction on the one hand, and on the other hand between the pendulum mass or its contact element and the second pendulum.
  • the centrifugal pendulum has a friction device in the form of an annular spiral spring, in particular an annular leaf spring, with which a force is applied to the shaft substantially parallel to the axis of rotation
  • Pendulum masses or the associated contact element is applied, so that upon movement of a pendulum mass, a frictional force acts on the pendulum mass or its associated contact element against the movement of the pendulum mass.
  • a frictional force acts on the pendulum mass or its associated contact element against the movement of the pendulum mass.
  • the equilibrium with the applied by the friction device or the bending springs normal forces by means of one or more
  • Pendulum flanges generated.
  • the pendulum masses loaded axially with the forces from the friction device are supported directly or indirectly on the further pendulum flange in order to create a static equilibrium in the axial direction.
  • the friction device comprises a plurality of helical compression springs, which in openings or recesses in the
  • Pendulum masses are received and exert axially each a normal force on the respective pendulum mass associated contact element, so that it is pressed axially against at least one pendulum.
  • a respective helical compression spring is thus received positively in the pendulum mass.
  • Screw compression spring presses against the with a respective standard force axially
  • Swinging flange pushes.
  • a relative movement between the contact element and the pendulum creates between these components during movement of the Pendulum mass a frictional force, which is directed against this movement, so that a swinging motion of the pendulum mass is damped.
  • the coil compression springs are supported axially on also axially opposite regions of the contact element or on opposite contact elements, which in turn axially to the
  • a drive arrangement for a motor vehicle is additionally provided, which a drive machine, in particular a
  • centrifugal pendulum Combustion engine, as well as a vehicle transmission and an inventive centrifugal pendulum, wherein the centrifugal pendulum, the drive machine and the vehicle transmission rotatably mechanically interconnected.
  • the centrifugal pendulum can be mounted in particular on the hub, or on the flange of a clutch disc or directly to a transmission input shaft.
  • the centrifugal pendulum is part of an assembly on the output side of the
  • Friction clutch is provided and forms the input side of the transmission.
  • FIG. 1 an overhead centrifugal pendulum according to the invention
  • FIG. 3 shows a sectional view along the section E-E indicated in FIG. 1
  • FIG. 4 shows the detail Z indicated in FIG. 1 in an enlarged view
  • FIG. 5 shows a sectional view along the section FF indicated in FIG. 1
  • FIG. 6 shows an exploded view of the centrifugal force pendulum according to the invention
  • FIG. 7 a top view of a bending spring
  • FIG. 8 shows the side view of the spiral spring shown in FIG. 7,
  • FIG. 9 shows the detail X indicated in FIG. 8 in an enlarged view
  • FIG. 11 a sectional view of a centrifugal pendulum pendulum according to the invention of a further embodiment
  • FIG. 12 shows a detail representing a pendulum mass of the centrifugal pendulum pendulum
  • FIG. 13 shows a sectional view of a centrifugal pendulum pendulum according to the invention of a further embodiment.
  • centrifugal pendulum according to the invention shown in the figures is constructed such that, as is apparent in particular from Figures 2,5, 6, 1 1 and 13, 2 along a rotation axis 1 parallel to each other arranged pendulum flanges, namely a first pendulum flange 20 and a second pendulum flange 21.
  • pendulum masses 10 are suspended or swingable
  • the pendulum masses 10 are connected to rollers 60 which are guided in guide slots 22 in the pendulum flanges 20,21 movable.
  • a respective pendulum mass 10 is configured on its radially inner side 11 and partly on the axially delimiting side surfaces with a contact element 40, which is preferably a plastic element.
  • This contact element 40 is fixedly connected to the body of a respective pendulum mass 10.
  • a centrifugal pendulum according to the invention has a friction device 30, which in the embodiment shown in FIG. 2 comprises a first spiral spring 31 and a second spiral spring 32.
  • the two bending springs 31, 32 are arranged in the axial direction between the contact element 40 and the two pendulum flanges 20,21.
  • the two spiral springs 31, 32 are based in the axial direction of the two pendulum flanges 20,21 and press axially on both sides against the contact element 40, on which thus the contact between the bending springs 31, 32 and the pendulum mass 10 is realized. Due to the respective normal forces Fn realized by the bending springs 31, 32 on the contact element 40, as can be seen, for example, in FIG. 2, corresponding frictional forces Fr arise there, as can be seen, for example, in FIG. 3, if a respective pendulum mass 10 follows accordingly also the associated
  • Bending springs 31, 32 axially projecting elements 34 the form cooperate conclusively with recesses in the pendulum flanges 20,21 to prevent a rotational displacement of the bending springs 31, 32 when commissioned with frictional force Fr.
  • Such protruding elements 34 can be seen in particular in FIGS. 4, 5, 6 and 7.
  • the preferred shape of the bending spring 31, 32 to be applied can be seen.
  • a bending spring 31, 32 is preferably configured with convex areas 33, which are also called corrugations. These convex portions 33 lead to the deviation of the shape of the bending spring 31, 32 from a plane.
  • a respective bending spring 31, 32 has a substantially annular shape, wherein the projecting elements 34 are arranged on the outer circumference of the bending spring 31, 32, differing from the ring shape. Accordingly, a respective bending spring 31, 32 has an inner diameter Di and an outer diameter Da.
  • a respective bending spring 31, 32 scarcely deviates from a plane configuration at its radially inner region, which is delimited by the inner diameter Di, but at the radially outer region which is defined by the outer diameter Da is limited, has relatively large convex portions 33 and consequently a relatively large deviation from a plane
  • centrifugal pendulum according to the invention is not on a symmetrical
  • Embodiment as shown in Figure 2 limited, but instead may only have a first bending spring 31 which presses against the contact member 40 on one side, which is supported on the axially opposite side of the second pendulum 21.
  • the normal forces Fn are realized in this embodiment on the one hand by the first bending spring 31 and an axially opposite side by the system on the second pendulum 21, which applies the counterforce and thus also a normal force Fn to the contact element 40 applied by the first bending spring 31 normal force Fn
  • FIG. 13 shows a further specific embodiment, which differs from the embodiments shown in the preceding illustrations, in particular with regard to the friction device 30. In the illustrated in Figure 13
  • the centrifugal pendulum in openings 12 in the pendulum masses 10 arranged helical compression springs 50.
  • a respective compression coil spring 50 presses axially against the both sides of the respective pendulum mass 10 existing
  • the contact element 40 is fixedly connected to the body of the pendulum mass 10. Due to the application of force by the helical compression spring 50, the contact element 40 presses axially on both sides of the pendulum mass 10 against the two pendulum flanges 20,21. As a result, the contact element 40 generates the normal forces on the two pendulum flanges 20,21, which in each case generates a corresponding frictional force on the respective pendulum flange 20,21 in a movement, such as a vibration movement 2, the pendulum mass 10 and consequently also the associated contact element 40 , which in turn reduces the oscillation amplitude.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • One-Way And Automatic Clutches, And Combinations Of Different Clutches (AREA)
  • Mechanical Operated Clutches (AREA)

Abstract

L'invention concerne un pendule centrifuge destiné à amortir des oscillations de torsion, comprenant au moins une bride de pendule (20) pouvant tourner autour d'un axe de rotation (1) et plusieurs masses pendulaires (10), disposées coulissantes sur la bride de pendule (20) et destinées à effectuer respectivement un mouvement oscillant (2) qui s'étend sensiblement perpendiculairement à l'axe de rotation. Un élément de contact (40), notamment un élément en matière plastique, est fixé mécaniquement à demeure à une masse pendulaire (10) respective, et le pendule centrifuge possède au moins un dispositif de friction (30) avec lequel une force normale (Fn) agissant sensiblement en parallèle à l'axe de rotation est respectivement appliquée sur un élément de contact (40) correspondant, de sorte que lors d'un mouvement de la masse pendulaire (10), du fait de la sollicitation par la première force normale (Fn), une force de friction (Fr) s'opposant au mouvement est générée au niveau de l'élément de contact (40) de la masse pendulaire (10) correspondante. Le pendule centrifuge selon l'invention permet de réduire ou d'éliminer efficacement les oscillations de torsion, notamment dans les chaînes cinématiques des véhicules automobiles à propulsion par moteur à combustion interne.
PCT/DE2018/100119 2017-03-09 2018-02-13 Pendule centrifuge et arrangement de propulsion pour un véhicule automobile WO2018161992A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201880015494.7A CN110382907B (zh) 2017-03-09 2018-02-13 离心摆和用于机动车的驱动装置
EP18707622.9A EP3593008A1 (fr) 2017-03-09 2018-02-13 Pendule centrifuge et arrangement de propulsion pour un véhicule automobile
KR1020197025982A KR102523620B1 (ko) 2017-03-09 2018-02-13 자동차용 원심력 진자 및 구동 배열체

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017104968.1A DE102017104968B4 (de) 2017-03-09 2017-03-09 Fliehkraftpendel und Antriebsanordnung für ein Kraftfahrzeug
DE102017104968.1 2017-03-09

Publications (1)

Publication Number Publication Date
WO2018161992A1 true WO2018161992A1 (fr) 2018-09-13

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ID=61386661

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2018/100119 WO2018161992A1 (fr) 2017-03-09 2018-02-13 Pendule centrifuge et arrangement de propulsion pour un véhicule automobile

Country Status (5)

Country Link
EP (1) EP3593008A1 (fr)
KR (1) KR102523620B1 (fr)
CN (1) CN110382907B (fr)
DE (2) DE102017104968B4 (fr)
WO (1) WO2018161992A1 (fr)

Cited By (6)

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WO2019114857A1 (fr) * 2017-12-12 2019-06-20 Schaeffler Technologies AG & Co. KG Pendule centrifuge et ensemble d'entraînement pour un véhicule automobile
WO2019174665A1 (fr) * 2018-03-13 2019-09-19 Schaeffler Technologies AG & Co. KG Dispositif pendulaire à force centrifuge dotée d'une rondelle belleville pour générer une résistance à la friction; disque d'embrayage et chaîne cinématique
DE102019122951A1 (de) * 2019-08-27 2021-03-04 Schaeffler Technologies AG & Co. KG Fliehkraftpendel mit Federbremselement und entsprechendes Schwungrad
DE102020102833A1 (de) 2020-02-05 2021-08-05 Schaeffler Technologies AG & Co. KG Fliehkraftpendel mit Reibeinrichtung
CN114080517A (zh) * 2019-08-06 2022-02-22 舍弗勒技术股份两合公司 用于动力总成的具有旋转轴线的离心摆
US11378153B2 (en) * 2017-12-20 2022-07-05 Audi Ag Centrifugal pendulum

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DE102018103264A1 (de) 2018-02-14 2019-08-14 Schaeffler Technologies AG & Co. KG Fliehkraftpendel zum Tilgen von Drehschwingungen
DE102018104651A1 (de) 2018-03-01 2019-09-05 Schaeffler Technologies AG & Co. KG Fliehkraftpendeleinrichtung mit gewellter Federscheibe; Kupplungsscheibe sowie Antriebsstrang
DE102018104652A1 (de) 2018-03-01 2019-09-05 Schaeffler Technologies AG & Co. KG Herstellverfahren einer gewellten Federscheibe für eine Fliehkraftpendeleinrichtung; Fliehkraftpendeleinrichtung; Kupplungsscheibe sowie Antriebsstrang
DE102018109558A1 (de) 2018-04-20 2019-10-24 Schaeffler Technologies AG & Co. KG Fliehkraftpendel
DE102018114631A1 (de) 2018-06-19 2019-12-19 Schaeffler Technologies AG & Co. KG Fliehkraftpendel mit einer Rotationsachse für eine Kupplungsscheibe
DE102020105251A1 (de) 2020-02-28 2021-09-02 Schaeffler Technologies AG & Co. KG Fliehkraftpendel mit einer Rotationsachse für einen Antriebsstrang

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Publication number Priority date Publication date Assignee Title
WO2019114857A1 (fr) * 2017-12-12 2019-06-20 Schaeffler Technologies AG & Co. KG Pendule centrifuge et ensemble d'entraînement pour un véhicule automobile
US11378153B2 (en) * 2017-12-20 2022-07-05 Audi Ag Centrifugal pendulum
WO2019174665A1 (fr) * 2018-03-13 2019-09-19 Schaeffler Technologies AG & Co. KG Dispositif pendulaire à force centrifuge dotée d'une rondelle belleville pour générer une résistance à la friction; disque d'embrayage et chaîne cinématique
CN114080517A (zh) * 2019-08-06 2022-02-22 舍弗勒技术股份两合公司 用于动力总成的具有旋转轴线的离心摆
CN114080517B (zh) * 2019-08-06 2024-02-27 舍弗勒技术股份两合公司 用于动力总成的具有旋转轴线的离心摆
DE102019122951A1 (de) * 2019-08-27 2021-03-04 Schaeffler Technologies AG & Co. KG Fliehkraftpendel mit Federbremselement und entsprechendes Schwungrad
EP3789631A1 (fr) 2019-08-27 2021-03-10 Schaeffler Technologies GmbH & Co. KG Balancier à force centrifuge pourvu d'élément de freinage à ressort et volant d'inertie correspondant
DE102020102833A1 (de) 2020-02-05 2021-08-05 Schaeffler Technologies AG & Co. KG Fliehkraftpendel mit Reibeinrichtung

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CN110382907B (zh) 2022-06-21
DE202018006321U1 (de) 2020-01-09
KR20190124231A (ko) 2019-11-04
EP3593008A1 (fr) 2020-01-15
CN110382907A (zh) 2019-10-25
DE102017104968B4 (de) 2020-06-18
DE102017104968A1 (de) 2018-09-13

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