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FR3092793B1 - Dispositif de transmission de couple pour un véhicule automobile - Google Patents

Dispositif de transmission de couple pour un véhicule automobile Download PDF

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Publication number
FR3092793B1
FR3092793B1 FR1901569A FR1901569A FR3092793B1 FR 3092793 B1 FR3092793 B1 FR 3092793B1 FR 1901569 A FR1901569 A FR 1901569A FR 1901569 A FR1901569 A FR 1901569A FR 3092793 B1 FR3092793 B1 FR 3092793B1
Authority
FR
France
Prior art keywords
clutch
transmission device
motor vehicle
torque transmission
output
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
FR1901569A
Other languages
English (en)
Other versions
FR3092793A1 (fr
Inventor
Herve Maurel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Embrayages SAS
Original Assignee
Valeo Embrayages SAS
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
Priority to FR1901569A priority Critical patent/FR3092793B1/fr
Application filed by Valeo Embrayages SAS filed Critical Valeo Embrayages SAS
Priority to JP2021547427A priority patent/JP7253631B2/ja
Priority to KR1020217025242A priority patent/KR20210126588A/ko
Priority to PCT/EP2020/053706 priority patent/WO2020165311A1/fr
Priority to US17/431,058 priority patent/US20220136569A1/en
Priority to EP20704300.1A priority patent/EP3924206A1/fr
Priority to CN202080021097.8A priority patent/CN113573933A/zh
Publication of FR3092793A1 publication Critical patent/FR3092793A1/fr
Application granted granted Critical
Publication of FR3092793B1 publication Critical patent/FR3092793B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/02—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of clutch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
    • B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing of change-speed gearing
    • B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing of change-speed gearing of mechanical type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
    • B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing of differential gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
    • B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing of differential gearing
    • B60K17/165—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing of differential gearing provided between independent half axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D25/00—Fluid-actuated clutches
    • F16D25/06—Fluid-actuated clutches in which the fluid actuates a piston incorporated in, i.e. rotating with the clutch
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • 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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K2001/001—Arrangement or mounting of electrical propulsion units one motor mounted on a propulsion axle for rotating right and left wheels of this axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
    • B60K2023/043—Control means for varying left-right torque distribution, e.g. torque vectoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/102—Actuator
    • F16D2500/1026—Hydraulic
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/104—Clutch
    • F16D2500/10406—Clutch position
    • F16D2500/10412—Transmission line of a vehicle
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/106—Engine
    • F16D2500/1064—Electric
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/506—Relating the transmission
    • F16D2500/50661—Limit transmission input torque
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
    • F16D2500/70422—Clutch parameters
    • F16D2500/70426—Clutch slip

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Structure Of Transmissions (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Arrangement Of Transmissions (AREA)
  • Motor Power Transmission Devices (AREA)
  • Retarders (AREA)

Abstract

L’invention concerne un dispositif de transmission de couple (1) pour un véhicule automobile comprenant au moins un moteur (2), comprenant :- un premier arbre de sortie (14) couplé en rotation à un élément de sortie (12) d’un premier embrayage (E1) et à un élément de sortie (13) d’un deuxième embrayage (E2), le premier arbre de sortie (14) étant destiné à entrainer une première roue du véhicule,- un deuxième arbre de sortie (17) couplé en rotation à un élément de sortie (15) d’un troisième embrayage (E3) et à un élément de sortie (16) d’un quatrième embrayage (E4), le deuxième arbre de sortie (17) étant destiné à entrainer une deuxième roue du véhicule, opposée à la première roue,- un mécanisme de transfert de couple (5, R1, R2, R3, 7, R5, R6, R7, R8, R9, R10) agencé pour transmettre le couple du moteur (2) à un élément d’entrée (9) du premier embrayage (E1) et à un élément d’entrée (10) du quatrième embrayage (E4) selon un premier rapport de vitesses, et pour transmettre le couple du moteur (2) à un élément d’entrée (11) du deuxième embrayage (E2) et à un élément d’entrée (11) du troisième embrayage (E3) selon un deuxième rapport de vitesses. Figure à publier avec l’abrégé : Figure 3
FR1901569A 2019-02-15 2019-02-15 Dispositif de transmission de couple pour un véhicule automobile Active FR3092793B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR1901569A FR3092793B1 (fr) 2019-02-15 2019-02-15 Dispositif de transmission de couple pour un véhicule automobile
KR1020217025242A KR20210126588A (ko) 2019-02-15 2020-02-13 자동차용 토크 전달 장치
PCT/EP2020/053706 WO2020165311A1 (fr) 2019-02-15 2020-02-13 Dispositif de transmission de couple pour un vehicule automobile
US17/431,058 US20220136569A1 (en) 2019-02-15 2020-02-13 Torque transmission device for a motor vehicle
JP2021547427A JP7253631B2 (ja) 2019-02-15 2020-02-13 自動車用トルク伝達装置
EP20704300.1A EP3924206A1 (fr) 2019-02-15 2020-02-13 Dispositif de transmission de couple pour un vehicule automobile
CN202080021097.8A CN113573933A (zh) 2019-02-15 2020-02-13 机动车辆的扭矩传递装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1901569A FR3092793B1 (fr) 2019-02-15 2019-02-15 Dispositif de transmission de couple pour un véhicule automobile
FR1901569 2019-02-15

Publications (2)

Publication Number Publication Date
FR3092793A1 FR3092793A1 (fr) 2020-08-21
FR3092793B1 true FR3092793B1 (fr) 2021-01-29

Family

ID=67514738

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1901569A Active FR3092793B1 (fr) 2019-02-15 2019-02-15 Dispositif de transmission de couple pour un véhicule automobile

Country Status (7)

Country Link
US (1) US20220136569A1 (fr)
EP (1) EP3924206A1 (fr)
JP (1) JP7253631B2 (fr)
KR (1) KR20210126588A (fr)
CN (1) CN113573933A (fr)
FR (1) FR3092793B1 (fr)
WO (1) WO2020165311A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7729277B2 (ja) * 2022-07-11 2025-08-26 トヨタ自動車株式会社 動力伝達装置
CN115388147B (zh) * 2022-07-15 2023-09-08 中群(浙江)传动机械有限公司 一种悬臂辊型专用减速机组
WO2025049723A1 (fr) 2023-08-30 2025-03-06 Borgwarner Inc. Ensemble module d'entraînement

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4223205B2 (ja) * 2001-08-27 2009-02-12 本田技研工業株式会社 ハイブリッド車両の駆動力分配装置
JP2010241178A (ja) * 2009-04-01 2010-10-28 Gkn Driveline Japan Ltd 動力伝達装置
DE102009031645A1 (de) * 2009-07-03 2011-01-05 Schaeffler Technologies Gmbh & Co. Kg Antriebseinheit für ein Elektrofahrzeug
US20120298466A1 (en) * 2010-02-05 2012-11-29 Honda Motor Co., Ltd. Clutch control device
WO2012127668A1 (fr) * 2011-03-23 2012-09-27 トヨタ自動車株式会社 Dispositif de propulsion de véhicule
DE102011113279B4 (de) * 2011-09-06 2014-08-07 Getrag Getriebe- Und Zahnradfabrik Hermann Hagenmeyer Gmbh & Cie Kg Kupplungsanordnung und Verfahren zu deren Ansteuerung
DE102011113288B4 (de) * 2011-09-12 2013-05-08 Getrag Getriebe- Und Zahnradfabrik Hermann Hagenmeyer Gmbh & Cie Kg Kfz-Antriebsstrang und Verfahren zum Betreiben eines Antriebsstranges
JP5971027B2 (ja) * 2012-08-21 2016-08-17 株式会社ジェイテクト 駆動力制御装置及び車両の制御方法
JP2017061994A (ja) * 2015-09-25 2017-03-30 Ntn株式会社 ２モータ車両駆動装置
KR20170037216A (ko) * 2015-09-25 2017-04-04 현대위아 주식회사 토크 벡터링이 가능한 ｅ-４ｗｄ시스템의 차동 장치
PL3429878T3 (pl) * 2016-03-18 2020-08-24 Gkn Automotive Limited Napęd elektryczny
DE102016106544A1 (de) * 2016-04-11 2017-10-12 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Getriebeanordnung eines rein elektrisch antreibbaren Fahrzeugs
US9657826B1 (en) 2016-08-17 2017-05-23 Borgwarner Inc. Electric motor with coaxial clutch packs that provide differential and torque vectoring
FR3069201B1 (fr) * 2017-07-21 2019-09-27 Valeo Embrayages Dispositif de transmission pour vehicule hybride
US11015708B2 (en) * 2017-09-05 2021-05-25 Gkn Automotive Ltd. Axle drive unit with a power-shiftable 2-way transmission
WO2019152065A1 (fr) * 2018-02-02 2019-08-08 Dana Automotive Systems Group, Llc Essieu de moteur électrique à boîte de vitesses multi-étagée
CN208232814U (zh) * 2018-04-04 2018-12-14 精进电动科技股份有限公司 一种车辆双动力源双驱动总成

Also Published As

Publication number Publication date
FR3092793A1 (fr) 2020-08-21
US20220136569A1 (en) 2022-05-05
KR20210126588A (ko) 2021-10-20
WO2020165311A1 (fr) 2020-08-20
EP3924206A1 (fr) 2021-12-22
JP7253631B2 (ja) 2023-04-06
JP2022520613A (ja) 2022-03-31
CN113573933A (zh) 2021-10-29

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