WO2020233830A1 - Entraînement, présentant un moteur électrique et un mécanisme oscillant entraîné par le moteur électrique - Google Patents

Entraînement, présentant un moteur électrique et un mécanisme oscillant entraîné par le moteur électrique Download PDF

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Publication number
WO2020233830A1
WO2020233830A1 PCT/EP2020/000090 EP2020000090W WO2020233830A1 WO 2020233830 A1 WO2020233830 A1 WO 2020233830A1 EP 2020000090 W EP2020000090 W EP 2020000090W WO 2020233830 A1 WO2020233830 A1 WO 2020233830A1
Authority
WO
WIPO (PCT)
Prior art keywords
stator winding
wobble
circuit board
electric motor
drive according
Prior art date
Application number
PCT/EP2020/000090
Other languages
German (de)
English (en)
Inventor
Daniel Figuli
Martin Hugelmann
Original Assignee
Sew-Eurodrive Gmbh & 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 Sew-Eurodrive Gmbh & Co. Kg filed Critical Sew-Eurodrive Gmbh & Co. Kg
Priority to CN202080038521.XA priority Critical patent/CN113875125A/zh
Priority to EP20727917.5A priority patent/EP3973615A1/fr
Publication of WO2020233830A1 publication Critical patent/WO2020233830A1/fr

Links

Classifications

    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/18—Means for mounting or fastening magnetic stationary parts on to, or to, the stator structures
    • H02K1/182—Means for mounting or fastening magnetic stationary parts on to, or to, the stator structures to stators axially facing the rotor, i.e. with axial or conical air gap
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/24—Devices for sensing torque, or actuated thereby
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • 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
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H1/321—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear the orbital gear being nutating

Definitions

  • the invention relates to a drive having an electric motor and a wobble gear driven by the electric motor.
  • An unbalance measuring device is known from EP 1 525 445 B1.
  • a centrifugal pump is known from DE 2007 016 255 B4.
  • a housing for an electronic circuit is known from DE 10 2004 002 696 A1.
  • a swash plate transmission is known from DE 199 34 161 A1.
  • the invention is therefore based on the object of developing a drive having an electric motor and a wobble gear driven by the electric motor, the drive being designed to be compact.
  • the drive has an electric motor and a wobble gear driven by the electric motor, the electric motor having a stator winding and a relative to the stator winding around a
  • the electric motor is integrated into the transmission, since the active part is connected directly to the annular disk of the wobble mechanism. This means that no drive via a gear stage is necessary. There are also no bearings that are otherwise necessary for an electric motor. Because in the invention, the driving gear part is operated as a motor part.
  • the driving part is an annular disk which, in a first radial spacing region, has a relative to the axis of rotation
  • variable axial wall thickness in the circumferential direction in particular, the axial wall thickness of the annular disk in a first radial distance region depending on the circumferential angle related to the axis of rotation, in particular not being constant, but rather being sinusoidal.
  • Circumferential direction variable, axial wall thickness of the annular disk, the wobble movement of the wobble wheels can be brought about.
  • the first wobble wheel is supported in the first radial spacing area via a bearing on the ring disk and has a face gear on its side facing away from the active part, which meshes with the face gear of an output gear of the wobble mechanism, the output gear with a Roller or is connected to an output shaft, in particular wherein the first wobble wheel is shaped like a ring, in particular wherein the bearing has as a needle bearing with radially aligned needles.
  • the washer has a second
  • Radial spacing area an axial wall thickness that can be changed in relation to the rotational axis circumferential direction and / or the axial wall thickness of the depends in a second radial spacing area
  • the annular disc depends on the circumferential angle related to the axis of rotation, in particular is not constant but depends sinusoidally, the sinusoidal dependence being shifted by 180 ° in the circumferential direction compared to the sinusoidal dependence in the first radial distance range.
  • the advantage here is that a wobble wheel operating 180 ° offset can be operated in the second radial distance, so that the imbalance can be reduced, that is to say the smoothness of the transmission is improved.
  • the second wobble wheel is in the second
  • Radial spacing area superimposed on a second bearing on the washer and has a face gearing on its side facing away from the active part, which meshes with the face gearing of an output gear of the wobble gear, in particular the second wobble wheel being annular, the second radial spacing region being radially spaced and within the first
  • Radial spacing area is arranged.
  • the second wobble wheel increases the smoothness.
  • the second wobble wheel is less expanded radially than the first wobble wheel, but is designed with more mass, so that the moment of inertia is equal to the moment of inertia of the first wobble wheel.
  • stator winding is on the first and second
  • Piezo elements attached to a housing part of the drive and / or the stator winding is arranged on a printed circuit board, in particular the stator winding being attached to a printed circuit board which is attached to a housing part of the drive via first and second piezo elements.
  • Piezo elements forced transmission of force this transmitted force can be detected and the axial force, the reaction torque and the speed can be determined from this or from the course thereof.
  • a torque, an axial force and / or a speed can be determined from the voltages detected at the piezo elements by means of an evaluation unit which is arranged on the circuit board.
  • an evaluation unit which is arranged on the circuit board.
  • a heat conducting element is arranged between the printed circuit board and the housing part.
  • the first piezo elements are on a first
  • Heat conducting element is arranged.
  • the advantage here is that the interim arrangement enables the values to be recorded undisturbed.
  • the heat conducting element touches both the
  • Circuit board as well as the housing part, wherein the force conducted from the circuit board to the housing part via the heat-conducting element is less, at least ten times less, than the force conducted from the circuit board to the housing part via the first and second piezo elements in particular.
  • the advantage here is that the value can be recorded essentially undisturbed.
  • a silicone rubber with a fiber matrix and at least one electrically insulating, but highly thermally conductive filler, in particular boron nitride, graphene or fullerene, is used as the heat-conducting element, in particular the heat-conducting element being designed as a potting compound or semi-finished product.
  • a sensor in particular, is on the circuit board
  • Hall sensor arranged, which is in operative connection with a transmitter, in particular a permanent magnet, attached to the active part and / or to the ring disk, is in particular for determining the rotational speed of the ring disk, in particular whereby the determined rotational speed of the ring disk is checked by an evaluation unit arranged on the circuit board for exceeding an impermissible The degree of deviation can be monitored.
  • the advantage here is that the speed can be recorded in a simple way, namely by detecting a permanent magnet rotating past a sensor that is sensitive to magnetic fields.
  • the security is also preferred in the
  • Detection of the speed can be increased.
  • the stator winding is or is fed by an inverter arranged on the circuit board.
  • inverter arranged on the circuit board.
  • electronic speed control electronics can be provided on the circuit board in the drive. The heat loss from this electronics, including the inverter, can be passed through the heat-conducting element to the housing part.
  • the area covered by the two wobble wheels in each case in the axial direction is spaced apart from the area covered in the axial direction by the stator winding, the radial distance area covered by the stator winding comprising the radial distance area covered by the first and / or second wobble wheel.
  • the advantage here is that the electric motor can be arranged on the wobble gear on the B side.
  • the area covered by the two wobble wheels in each case in the axial direction is encompassed by the area covered in the axial direction by the stator winding, the radial spacing area covered by the stator winding being spaced from the radial spacing area covered by the first and / or second wobble wheel, in particular wherein the radial spacing area covered by the stator winding is arranged radially inside or radially outside the radial spacing area covered by the first and / or second wobble wheel.
  • FIG. 1 a drive with a wobble mechanism driven by an electric motor arranged on the B-side is shown as an internal rotor.
  • the electric motor is arranged laterally to the transmission but radially outside of the transmission.
  • the electric motor is arranged radially inside the transmission.
  • the drive is designed as an external rotor, the electric motor being arranged on the gearbox on the B side.
  • the drive is designed as an external rotor, the electric motor being arranged radially inside the transmission.
  • the drive is designed as an external rotor, the electric motor being arranged laterally to the transmission but radially outside the transmission.
  • the drive has a gear wheel 8 which is connected in a rotationally fixed manner to an output shaft which is rotatably mounted, in particular relative to a housing part of the drive.
  • a printed circuit board 3 is supported on its first side, in particular the underside, on the housing part via piezo elements 12 and carries a stator winding 1 on its side facing away from the piezo elements 12.
  • An active part 2 is rotatably mounted relative to the housing part via a bearing.
  • the active part 2 has permanent magnets, for example, so that the stator winding 1 and the stator winding 1 and the stator winding 1 and the stator winding 1
  • Permanent magnets formed electric motor is designed as a synchronous motor.
  • the active part 2 is non-rotatably connected on its side facing away from the stator winding to a curved annular disk 6, in particular a sinusoidal curved annular disk.
  • This washer 6 has in a first radial spacing area at its from the stator winding
  • Stator winding 1 facing away from a bearing 7, so that a second wobble wheel 5 can be rotatably supported relative to the annular disk 6, in particular in the axial direction.
  • the bearing 7 rests on a smooth contact surface of a second wobble wheel.
  • the wobble wheel On its side facing away from the annular disk 6, the wobble wheel has a face toothing which, depending on the rotational movement of the annular disk 6, intermittently comes into engagement with the toothing of the driven gear 8, which is on the of the stator winding
  • the curved annular disk 6, in particular sinusoidal curved annular disk 6, has a profile of its axial wall thickness that is sinusoidal from the circumferential angle in the circumferential direction.
  • the storage can preferably be carried out by a needle bearing, the needles being aligned radially.
  • the annular disk 6 also has a bearing on its side facing away from the stator winding 1 in a first radial spacing area, which is arranged radially outside the first radial spacing area, so that a first wobble wheel 4 can be rotatably supported relative to the annular disk 6, in particular in the axial direction.
  • the bearing rests on a smooth contact surface of the first wobble wheel 4.
  • the first wobble wheel 4 On its side facing away from the ring disk 6, the first wobble wheel 4 has face gearing, which, depending on the rotational movement of the ring disk 6, comes into engagement with the teeth of the driven gear 8, which is arranged on the side of the first wobble wheel 4 that is remote from the stator winding is.
  • the curved annular disk 6, in particular sinusoidal curved annular disk 6, has a profile of its axial wall thickness that is sinusoidal from the circumferential angle, not only in the first but also in the second radial distance region in the circumferential direction.
  • the first wobble wheel 4 is designed as a plane-toothed ring.
  • the second wobble wheel 5 is also designed as a plane-toothed ring.
  • the first piezo elements 12 are at a first radial distance and the second
  • Piezo elements 12 arranged on a second radial distance, which is spaced from the first radial distance.
  • the radial distance area covered by the stator winding 1 is
  • first piezo elements 12 are regularly, that is to say evenly spaced from one another in the circumferential direction.
  • the second piezo elements 12 are also regularly, that is to say evenly spaced from one another in the circumferential direction.
  • the corresponding course of the voltage can also be detected.
  • the axial force that is to say the force component directed in the direction of the axis of rotation of the active part 2
  • the axial force can also be determined on the respective piezo element 12 by means of further electrodes.
  • the voltage curves show values that depend on the rotational position of the active part 2.
  • the reactive torque, the axial force and the speed can be determined from the voltages determined in this way and their course.
  • Components that function as an electronic circuit are fitted on the circuit board 3.
  • This includes an evaluation unit for evaluating the voltage curves, in particular for determining the torque, the axial force and the speed. Also is a
  • inverter for feeding the stator winding from the electronic circuit, which energizes the stator winding 1 as a function of the output signals from the evaluation unit.
  • a heat conducting element is arranged in the intermediate area between the circuit board 3 and the housing part, in particular radially between the first radial spacing and the second radial spacing and / or radially between the first and second piezo elements 12.
  • the heat-conducting element touches both the circuit board 3 and the housing part, but is made of an elastic material that is so elastic that the
  • Boron nitride can be provided in the heat-conducting element in a particularly simple and uniform manner.
  • the heat-conducting element is preferably designed as a potting compound or a semi-finished product.
  • a sensor 10 in particular a permanent magnet
  • This enables the speed to be determined in a redundant, physically different way. Increased security can then be achieved by monitoring the two specific speed values for exceeding an impermissible amount of deviation.
  • Stator winding arranged laterally.
  • the axial area covered by the stator winding 1 in the axial direction that is to say in the direction of the axis of rotation of the output shaft, comprises the area covered in the axial direction by the two wobble wheels (4, 5).
  • a high torque can thus be transmitted from the electric motor to the active part 2.
  • Stator winding 1 is not arranged radially outside the two wobble wheels (4, 5) but radially inside the two wobble wheels (4, 5). A compact drive can thus be provided.
  • the drive can be designed as an external rotor, in particular a roller drive.
  • the circuit board 3 is connected via the piezo elements 12 to the housing part, which is connected to an axis which runs axially through the center of the drive and which is arranged in a stationary manner, ie is fastened directly or indirectly to a frame or to a wall.
  • the active part 2 is in turn rotatably mounted via a bearing relative to the stator winding 1 arranged on the printed circuit board 3.
  • the wobble wheels 4 and 5 which are in turn supported on the annular disk 6 and whose teeth mesh with the teeth of the driven gear 8, the driven gear 8 being non-rotatably connected to a rotatably mounted roller.
  • This role surrounds the wobble wheels (4, 5) at least partially forming the housing.
  • the roller surrounds not only the wobble wheels 4, 5, but also the driven gear wheel 8 radially.
  • the area covered by the roller in the axial direction comprises the area covered in the axial direction by the gear wheel 8 and the wobble wheels (4, 5).
  • the area covered in the axial direction by the roller preferably comprises the area covered in the axial direction by the annular disk 6.
  • the roller is made of a metal such as steel. More preferably, the roller is at least partially rubberized on its outside. In this way, increased friction towards smooth, in particular metallic, surfaces can be achieved.
  • the piezo sensors 12 and / or the sensor 9 are arranged in a corresponding manner and used to determine the axial force, the speed and / or the torque.
  • the electric motor is arranged radially inside the wobble wheels (4, 5) and the area covered by the stator winding 1 in the axial direction includes the area covered in the axial direction by the wobble wheels (4, 5) and in particular also by the gear wheel 8 and / or by the annular disk 6 Area.
  • the stator winding 1 is either directly connected to the axis passing through the center of the drive or via interposed piezo elements 12, so that a torque determination from the detected forces is also possible here.
  • the circuit board 3 is still arranged on the stationary housing part. For this purpose, the axial area covered in the axial direction by the printed circuit board 3 is spaced apart in the axial direction from the area spaced apart in the axial direction from the stator winding 1.
  • Stator winding 1 is present, but also a radial spacing between the circuit board 3 and the stator winding 1 and in particular the active part 2.
  • piezo elements can be arranged accordingly to measure the forces and to determine the speed and torque.
  • I I force sensor in particular axial force sensor

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

Entraînement, présentant un moteur électrique et un mécanisme oscillant entraîné par le moteur électrique, le moteur électrique présentant un enroulement statorique et une partie active rotative autour d'un axe de rotation par rapport à l'enroulement statorique, la partie active étant connectée solidaire en rotation, en particulier au moyen d'un disque annulaire, à une partie entraînante du mécanisme oscillant.
PCT/EP2020/000090 2019-05-20 2020-05-06 Entraînement, présentant un moteur électrique et un mécanisme oscillant entraîné par le moteur électrique WO2020233830A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202080038521.XA CN113875125A (zh) 2019-05-20 2020-05-06 具有电机和由电机驱动的摆式减速器的驱动装置
EP20727917.5A EP3973615A1 (fr) 2019-05-20 2020-05-06 Entraînement, présentant un moteur électrique et un mécanisme oscillant entraîné par le moteur électrique

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019003507 2019-05-20
DE102019003507.0 2019-05-20

Publications (1)

Publication Number Publication Date
WO2020233830A1 true WO2020233830A1 (fr) 2020-11-26

Family

ID=70847310

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2020/000090 WO2020233830A1 (fr) 2019-05-20 2020-05-06 Entraînement, présentant un moteur électrique et un mécanisme oscillant entraîné par le moteur électrique

Country Status (4)

Country Link
EP (1) EP3973615A1 (fr)
CN (1) CN113875125A (fr)
DE (1) DE102020002699A1 (fr)
WO (1) WO2020233830A1 (fr)

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1550871A1 (de) * 1965-10-28 1970-01-02 Mallory Timers Continent Untersetzungsgetriebe fuer Zeitfolgesteuerung
US3525890A (en) 1968-02-16 1970-08-25 Gen Motors Corp Face planocentric speed reduction unit and motor
WO1995033303A1 (fr) * 1994-05-31 1995-12-07 Aino Seisakusho Co., Ltd. Dispositif de commande d'un moteur
DE19532808C1 (de) * 1995-08-25 1997-01-02 Brose Fahrzeugteile Antriebseinrichtung für bewegliche Bauteile in Kraftfahrzeugen
DE19934161A1 (de) 1999-07-21 2001-02-08 Lucas Automotive Gmbh Taumelscheibengetriebe und Getriebemotor
DE102004002696A1 (de) 2003-01-20 2004-08-19 Denso Corp., Kariya Gehäuse für elektronische Schaltung
DE102007017322A1 (de) * 2007-04-11 2008-10-16 ThyssenKrupp Presta München/Esslingen GmbH Aktive Stabilisatoreinheit
DE102009002067A1 (de) 2009-04-01 2010-10-14 Zf Friedrichshafen Ag Taumelradwolfromgetriebe
EP1934082B1 (fr) 2005-10-06 2012-03-21 ThyssenKrupp Presta Aktiengesellschaft Direction a superposition dotee d'un plan de retour mecanique
DE102007016255B4 (de) 2006-04-28 2012-11-29 Bühler Motor GmbH Kreiselpumpe
EP1525445B1 (fr) 2002-07-25 2013-05-22 Franz Haimer Maschinenbau KG Dispositif de mesure de balourd
DE112016000998T5 (de) 2015-03-02 2017-11-16 Thk Co., Ltd. Drehzahlverringerungs- oder Drehzahlerhöhungsvorrichtung
DE102017011240A1 (de) 2017-01-16 2018-07-19 Sew-Eurodrive Gmbh & Co Kg Antrieb mit Taumelgetriebe

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201110084Y (zh) * 2007-09-24 2008-09-03 比亚迪股份有限公司 一种驱动装置和包括该驱动装置的车辆玻璃升降器
CN206347076U (zh) * 2016-12-19 2017-07-21 扬州大学 一种组合式摆线针轮减速器

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1550871A1 (de) * 1965-10-28 1970-01-02 Mallory Timers Continent Untersetzungsgetriebe fuer Zeitfolgesteuerung
US3525890A (en) 1968-02-16 1970-08-25 Gen Motors Corp Face planocentric speed reduction unit and motor
WO1995033303A1 (fr) * 1994-05-31 1995-12-07 Aino Seisakusho Co., Ltd. Dispositif de commande d'un moteur
DE19532808C1 (de) * 1995-08-25 1997-01-02 Brose Fahrzeugteile Antriebseinrichtung für bewegliche Bauteile in Kraftfahrzeugen
DE19934161A1 (de) 1999-07-21 2001-02-08 Lucas Automotive Gmbh Taumelscheibengetriebe und Getriebemotor
EP1525445B1 (fr) 2002-07-25 2013-05-22 Franz Haimer Maschinenbau KG Dispositif de mesure de balourd
DE102004002696A1 (de) 2003-01-20 2004-08-19 Denso Corp., Kariya Gehäuse für elektronische Schaltung
EP1934082B1 (fr) 2005-10-06 2012-03-21 ThyssenKrupp Presta Aktiengesellschaft Direction a superposition dotee d'un plan de retour mecanique
DE102007016255B4 (de) 2006-04-28 2012-11-29 Bühler Motor GmbH Kreiselpumpe
DE102007017322A1 (de) * 2007-04-11 2008-10-16 ThyssenKrupp Presta München/Esslingen GmbH Aktive Stabilisatoreinheit
DE102009002067A1 (de) 2009-04-01 2010-10-14 Zf Friedrichshafen Ag Taumelradwolfromgetriebe
DE112016000998T5 (de) 2015-03-02 2017-11-16 Thk Co., Ltd. Drehzahlverringerungs- oder Drehzahlerhöhungsvorrichtung
DE102017011240A1 (de) 2017-01-16 2018-07-19 Sew-Eurodrive Gmbh & Co Kg Antrieb mit Taumelgetriebe

Also Published As

Publication number Publication date
CN113875125A (zh) 2021-12-31
DE102020002699A1 (de) 2020-11-26
EP3973615A1 (fr) 2022-03-30

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