WO2020260128A1 - Bloc de commande hydraulique et axe servo-hydraulique pourvu dudit bloc de commande - Google Patents

Bloc de commande hydraulique et axe servo-hydraulique pourvu dudit bloc de commande Download PDF

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Publication number
WO2020260128A1
WO2020260128A1 PCT/EP2020/066946 EP2020066946W WO2020260128A1 WO 2020260128 A1 WO2020260128 A1 WO 2020260128A1 EP 2020066946 W EP2020066946 W EP 2020066946W WO 2020260128 A1 WO2020260128 A1 WO 2020260128A1
Authority
WO
WIPO (PCT)
Prior art keywords
control block
hydraulic
cavity
block according
axis
Prior art date
Application number
PCT/EP2020/066946
Other languages
German (de)
English (en)
Inventor
Manuel Rumpel
Johannes Schwacke
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to CN202080046558.7A priority Critical patent/CN113994103B/zh
Publication of WO2020260128A1 publication Critical patent/WO2020260128A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/005—With rotary or crank input
    • F15B7/006—Rotary pump input
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/18—Combined units comprising both motor and pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/04—Special measures taken in connection with the properties of the fluid
    • F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20561—Type of pump reversible
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20569—Type of pump capable of working as pump and motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/27—Directional control by means of the pressure source
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/615—Filtering means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/625—Accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members

Definitions

  • the invention relates to a hydraulic control block according to the preamble of
  • Claim 1 and a servohydraulic axis with the control block according to Claim 14.
  • a servohydraulic axis in particular a linear axis, combines the force development of hydraulic actuators, for example a hydraulic cylinder, especially in a closed circuit and with a low oil volume, with the dynamics, precision and flexible networking of an electrically controllable actuator, for example a servo motor. It can therefore be pressed, joined or closed with high axial force and at the same time positioned in the micrometer range. Generally it is a linear movement. Concepts in a semi-closed cycle are also possible.
  • a generic servohydraulic axis is shown in data sheet RE 08137 / 2018-02 from the applicant.
  • the compact axis has a servo actuator, a
  • Hydraulic cylinders Hydraulic cylinders, a hydraulic accumulator and control elements such as valves, as well as power electronics.
  • the invention is based on the object of creating a hydraulic control block for a servohydraulic axis which reduces the installation space requirement of the axis while maintaining or improving energy efficiency. Another object of the invention is to create a servo-hydraulic axis with the hydraulic control block.
  • the first object is achieved by a hydraulic control block with the features of claim 1, the second by a servohydraulic axle with the features of claim 14.
  • a hydraulic control block for a servo-hydraulic axis in particular for a linear axis, has at least hydraulic interfaces for the hydraulic connection of a hydraulic actuator, in particular a hydraulic cylinder, of the axis. It preferably also has mechanical interfaces for the mechanical connection of the actuator. Mechanical interfaces are preferably also provided for connecting an electrical, in particular a servo actuator.
  • a hydraulic machine in particular a first variant for supplying pressure medium to the hydraulic actuator, a hydraulic machine, or at least its engine components, can be accommodated at least in sections.
  • the hydraulic machine can also be flanged on or piped to form a block.
  • a (second) cavity is provided in which a filter element for filtering the pressure medium can be received or received at least in sections.
  • Servohydraulic axis with less space requirement. There is no need for a separate filter housing, as this is now formed by the control block. This arrangement also makes it possible to feed the filter near the hydraulic pump via an extremely short inlet and outlet. This lowers the pressure loss. In total, the installation space requirement of the axis is constant or improved
  • the cylinder can be piped, flanged or integrated.
  • the low pressure can be supplied by an additional unit (semi-closed circuit).
  • the control block preferably carries switching valves and, in addition, safety valves, so that different drive modes of the hydraulic actuator and / or the electric actuator can be switched and safeguarded.
  • the filter element is preferably a filter cartridge.
  • An opening in the second cavity is arranged in an easily accessible manner on an outer surface of the control block for quick replacement of the filter element.
  • An inlet and outlet of the second cavity are preferably each via an im
  • Control block formed channel with a suction and a pressure opening of the first cavity or a suction and pressure side of the hydraulic machine fluidically connected.
  • the filter can also be integrated in the LP circuit in front of the hydraulic machine.
  • the second cavity is outwardly from a closure element
  • the cavities are spaced apart in a direction of extent of the control block and are arranged with an overlap at least in sections in a direction transverse to this, whereby the control block is small in both directions.
  • an outer jacket surface section is formed by a predominantly constant offset to the second cavity or its inner jacket surface.
  • the control block is preferably cast, with at least one of the cavities being originally formed by means of a cast core.
  • the cavity can be drilled or milled in order to achieve its final dimensions.
  • the second cavity is designed in such a way that the filter, the
  • Filter element can be fed at different points, whereby in particular an inlet or flow path optimization is possible.
  • a pressure medium flow path in particular an inlet channel, is provided, in particular connecting the first cavity or the hydraulic machine to the second cavity.
  • This has an inlet opening in an inner lateral surface of the second cavity.
  • the inner jacket surface extends circumferentially around an insertion axis of the second cavity for the filter element.
  • a cylinder cavity is also possible.
  • the pressure medium flow path advantageously has a directional component that is tangential to the inner lateral surface at least at the inlet opening.
  • the inlet mouth can optionally be made flow-optimized with a cast core.
  • the inner surface of the second cavity has a depression which extends helically around the insertion axis of the second cavity. This impresses a cyclonic flow shape (a “swirl”) on the pressure medium, which leads to a deposition on a bottom of the second cavity that is independent of the filtering effect of the filter element.
  • the depression arises directly from an inlet opening of the second cavity, or it arises at a distance from it.
  • the depression extends circumferentially or at least once completely around the insertion axis.
  • a cross-sectional shape that is favorable in terms of flow technology is a flattened semicircular or elliptical cross-section of the depression.
  • a ratio of depth to width of the cross section of the depression is preferably between 1:10 and 1: 5, in particular approximately 1: 7.
  • the helix shape can be milled or implemented using an additional component.
  • a servohydraulic axle has a hydraulic control block which is designed in accordance with at least one aspect of the preceding description. It also has an at least hydraulically connected hydraulic actuator, a hydraulic machine for its pressure medium supply, which or its engine components is or are received in the first cavity, and a filter element for filtering the pressure medium which is received in the second cavity.
  • the servohydraulic axis requires less space. The otherwise necessary, separate filter housing is not required. This is now formed by the control block. This arrangement also means that the filter near the hydraulic pump is fed and relieved via an extremely short inlet and outlet. This lowers the pressure loss. All in all, the installation space requirement of the axis is reduced with the same or improved energy efficiency.
  • Figure 1 is a side view of a servo-hydraulic axis according to the invention according to an embodiment
  • FIG. 2 shows a hydraulic control block according to the invention of the servohydraulic axis according to FIG. 1 in a partially transparent view from below,
  • FIG. 3 shows the hydraulic control block according to FIG. 2 in a partial perspective view
  • FIG. 4 shows the hydraulic control block according to FIGS. 2, 3 in a partially transparent view from above
  • FIG. 5 shows the area of a filter holder of the hydraulic control block according to FIGS.
  • FIG. 5 shows the filter holder according to FIG. 5 with an inserted filter element in one
  • a servohydraulic axis 1 has a hydraulic actuator 2 designed as a hydraulic or hydraulic cylinder, via which axial forces for pressing, joining, closing and / or positioning can be applied to a tool or workpiece, and also an electrical actuator 4, which acts as a servo motor designed and from a
  • Power electronics 6 is supplied, a hydraulic accumulator 8 for storing and recuperating hydrostatic energy of the hydraulic cylinder 2, as well as a hydraulic control block 10, which is arranged centrally and on which the named components 2, 4 and 8, as well as further valve control devices 12 for controlling the hydraulic cylinder 2 are arranged and / or attached and / or flanged and / or piped.
  • the compact design shown in Figure 1 is particularly space-saving, but can also be designed partially or completely in a broken-up arrangement. In this case, in particular the hydraulic components 2 and 8 (only 2 is also possible) are out of place from the control block 10 and connected with hydraulic piping or tubing.
  • a pressure medium of the hydraulic cylinder 2 used during operation flows in the closed hydraulic circuit, which essentially flows out of the control block 10, one in it
  • the servohydraulic axis 1 therefore also has a hydraulic filter with a filter element (not shown in FIG. 1) which, according to the invention, is integrated in the hydraulic control block 10, which is shown in more detail with reference to the following figures.
  • the low-pressure circuit can also be fed by an aggregate.
  • Figures 2 to 4 each show a view of the control block 10 according to Figure 1 from above, in perspective and from below.
  • the representation is selected to be partially transparent, the outer walls of the control block 10 allowing a view of its interior, and cavities, pressure medium channels and other recesses in the control block 10, however, being shown with non-transparent walls.
  • Figure 3 shows a as
  • the servo-hydraulic axis 1 looks more compact, as the filter is now housed “invisibly” in the control block 10.
  • This integration also shortens the inlet and outlet to and from the filter element, so that a length of pressure medium pipes or hoses to be installed can be reduced.
  • This reduction in pressure-elastic components improves the controllability of axis 1 and also reduces a length-dependent pressure loss along the flow paths concerned.
  • the hydraulic control block has a transversely to the longitudinal axis 16 of the hydraulic cylinder 2 according to Figure 1 extending longitudinal axis 18 through which a
  • the plane of symmetry at least as far as the lateral outer surface of the hydraulic control block 10 is concerned, extends.
  • the axis of extension 21 of the receptacle 14 is arranged in this plane of symmetry.
  • control block 10 On its longitudinal sides or lateral sides 20, 22 arranged symmetrically to the plane of symmetry, the control block 10 has raised connection surfaces 24 for the compact and space-saving connection of valves of the valve device 12 according to FIG. On its upper side 26, which is partially parallel to the lower side 28, there is a recess 30 for receiving the hydraulic pump (not shown), or at least from
  • This recess 30 or first cavity 30 has a high pressure connection 34 and a further high pressure connection 36 on its bottom 32 according to FIG.
  • Hydraulic cylinder 2 connected.
  • the outer lateral surface of the control block 10 according to FIG. 1 is connected.
  • the control block 10 is at least partially narrower than a remaining section of the control block on both sides of the extending second cavity 14, that is to say in the direction of the side surfaces 20, 22.
  • connection device is provided for an in particular hydraulic component.
  • control block 10 has a taper or incline 42, 44 on the upper side 26 and lower side 28 of an end section 40 arranged diametrically opposite the second cavity 14 or filter receptacle 14.
  • FIGS. 5 and 6 A flow course from an inlet A according to FIG. 1 to an outlet F is sketched in FIGS. 5 and 6. According to Figure 6, the one
  • a pressure medium flow path of the inlet pressure medium in particular the inlet channel opening there, has a directional component that is tangential to the inner lateral surface 38.
  • An inner lateral surface of the inlet opening 46 preferably merges tangentially into the inner lateral surface 38.
  • the inlet opening 46 is designed such that the pressure medium flow path in its area in a between a filter element 50 and the Inner circumferential surface 38 has formed annular space 48. This is how it is
  • the filter element 50 is mechanically protected as it is not directly exposed to a radial flow. This increases the durability of the filter element 50 and extends the maintenance interval. The lower stress can also be used to reduce the dimensions of the filter element 50, which in turn can save installation space.
  • a recess 52 which extends helically around the extension or insertion axis 21, adjoins the inlet opening 46 in the inner lateral surface 38. As can be seen from FIG. 6, this has a semi-ellipsoidal cross section which is strongly flattened in the exemplary embodiment, which is clearly visible in areas C and D. When looking at FIG. 5, the 3-dimensional, helical extension of this depression 52 becomes clear.
  • the pressure medium flows through the recess 52 - due to turbulence and non-ideal flow guidance also outside it - the annular space 48, passing through the cross section C, the cross section D and is deflected there in the radial direction onto the filter element 50. There it flows through the filter element 50 and enters its central drainage pipe 54. On the (preferably left) side of the drain there is an adapter that centers the element.
  • the pressure medium flows on to cross section F, which represents an outlet of the filter element 50 on the bottom. Due to the helical flow, the filter effect is superimposed on a cyclonic separation effect and the separation of impurities is further improved.
  • the passage area E extends over the entire filter element.
  • the helical shape causes a circulation around this element.
  • Control block accommodated filter or filter element or at least with a cavity provided for it.
  • a servohydraulic axis is also disclosed with it.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Details Of Reciprocating Pumps (AREA)

Abstract

L'invention concerne un bloc de commande hydraulique pour un axe servo-hydraulique, en particulier un axe linéaire, comportant au moins des interfaces hydrauliques pour assurer la liaison hydraulique d'un actionneur hydraulique de l'axe, et une première cavité dans laquelle une machine hydraulique ou au moins des composants de mécanisme moteur de celle-ci peuvent être logés au moins partiellement pour l'alimentation en fluide sous pression de l'actionneur. L'invention concerne en outre un axe servo-hydraulique.
PCT/EP2020/066946 2019-06-27 2020-06-18 Bloc de commande hydraulique et axe servo-hydraulique pourvu dudit bloc de commande WO2020260128A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202080046558.7A CN113994103B (zh) 2019-06-27 2020-06-18 液压控制块和具有该控制块的伺服液压轴

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019209322.1 2019-06-27
DE102019209322.1A DE102019209322A1 (de) 2019-06-27 2019-06-27 Hydrauliksteuerblock und servohydraulische Achse mit dem Steuerblock

Publications (1)

Publication Number Publication Date
WO2020260128A1 true WO2020260128A1 (fr) 2020-12-30

Family

ID=71108628

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2020/066946 WO2020260128A1 (fr) 2019-06-27 2020-06-18 Bloc de commande hydraulique et axe servo-hydraulique pourvu dudit bloc de commande

Country Status (3)

Country Link
CN (1) CN113994103B (fr)
DE (1) DE102019209322A1 (fr)
WO (1) WO2020260128A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220282741A1 (en) * 2019-06-27 2022-09-08 Robert Bosch Gmbh Hydraulic Control Block and Hydraulic Spindle Comprising said Control Block

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1600776A1 (de) * 1966-01-14 1971-03-04 Singer General Precision Lastabhaengiges Ventil,insbesondere fuer ein hydraulisches Betaetigungssystem
DE2538078A1 (de) * 1974-08-28 1976-03-18 Sperry Rand Corp Stelleinrichtung in integrierter oder konzentrierter bauweise
DE69012403T2 (de) * 1989-04-28 1995-02-16 Parker-Hannifin Corp., Cleveland, Ohio Elektrohydraulisches Stellglied.

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3885389A (en) * 1973-09-26 1975-05-27 Melvin Corp Manifold with internal filter
JP3110864U (ja) * 2004-11-01 2005-07-07 株式会社今野製作所 油圧ポンプの安全弁装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1600776A1 (de) * 1966-01-14 1971-03-04 Singer General Precision Lastabhaengiges Ventil,insbesondere fuer ein hydraulisches Betaetigungssystem
DE2538078A1 (de) * 1974-08-28 1976-03-18 Sperry Rand Corp Stelleinrichtung in integrierter oder konzentrierter bauweise
DE69012403T2 (de) * 1989-04-28 1995-02-16 Parker-Hannifin Corp., Cleveland, Ohio Elektrohydraulisches Stellglied.

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220282741A1 (en) * 2019-06-27 2022-09-08 Robert Bosch Gmbh Hydraulic Control Block and Hydraulic Spindle Comprising said Control Block
US11788560B2 (en) * 2019-06-27 2023-10-17 Robert Bosch Gmbh Hydraulic control block and hydraulic spindle comprising said control block

Also Published As

Publication number Publication date
DE102019209322A1 (de) 2020-12-31
CN113994103B (zh) 2024-07-12
CN113994103A (zh) 2022-01-28

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