EP2864068B1 - Dispositif de cintrage de conduites pour pipelines - Google Patents

Dispositif de cintrage de conduites pour pipelines Download PDF

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Publication number
EP2864068B1
EP2864068B1 EP13729265.2A EP13729265A EP2864068B1 EP 2864068 B1 EP2864068 B1 EP 2864068B1 EP 13729265 A EP13729265 A EP 13729265A EP 2864068 B1 EP2864068 B1 EP 2864068B1
Authority
EP
European Patent Office
Prior art keywords
basic body
contact element
chassis
pipe
force
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
EP13729265.2A
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German (de)
English (en)
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EP2864068A1 (fr
Inventor
Oliver Baum
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.)
Maats Beheer Bv
Original Assignee
Maats Beheer BV
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.)
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Publication date
Application filed by Maats Beheer BV filed Critical Maats Beheer BV
Publication of EP2864068A1 publication Critical patent/EP2864068A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D9/00—Bending tubes using mandrels or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/08—Tube expanders
    • B21D39/20—Tube expanders with mandrels, e.g. expandable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D9/00—Bending tubes using mandrels or the like
    • B21D9/01—Bending tubes using mandrels or the like the mandrel being flexible and engaging the entire tube length
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D9/00—Bending tubes using mandrels or the like
    • B21D9/01—Bending tubes using mandrels or the like the mandrel being flexible and engaging the entire tube length
    • B21D9/03—Bending tubes using mandrels or the like the mandrel being flexible and engaging the entire tube length and built-up from loose elements, e.g. series of balls

Definitions

  • the invention relates to a device for bending pipes, according to the preamble of claim 1, such as from the DE10 2008 060897 A1 known.
  • Pipes are used in pipelines such as pipelines that carry large amounts of liquids or gases over long distances.
  • the transported media include petroleum, chemicals and / or drinking water.
  • pipelines around the world for carrying both liquid and gaseous substances over long distances are generally composed of sections of individual pipes 12 to 18 meters in length.
  • the pipes mostly have a diameter of 4 to well over 75 inches and are welded together to form a pipeline on the surface of the earth, underground and / or laid in the water.
  • the pipelines follow the general contour of the earth's surface.
  • the course of the pipelines can in particular be horizontal and vertical Extension can also be diverted or otherwise guided around obstacles.
  • a major challenge in the planning and construction of such pipelines is to join the ends of the individual pipes with high-quality welded joints.
  • changes of direction in the pipeline are necessary.
  • Changes in direction in pipelines can be produced by welding individual pipe sections, especially in the case of pipes with a large diameter.
  • the change in direction in the pipe must be produced by bending the pipe.
  • a bend is achieved by performing numerous small, arrayed bending steps in the pipe.
  • the desired bending radius is generated in the form of a polygon.
  • Skilled operators can efficiently control the tube benders to create precise bends in the tubes while minimizing the number of damaged or improperly bent tubes that result in wasted time and raw materials such as energy and tubes.
  • the tube and the bending device After each bending process, the tube and the bending device must be moved relative to one another with great precision. Both a movement of the pipe in the bending device and a movement of the bending device itself are possible. The latter variant has the disadvantage that the pipe has to be realigned in the bending device. Moving the large diameter pipes, precisely moving the mandrel and controlling the generated bend are associated with a high level of personnel and energy requirements.
  • benders are generally massive in nature and operated hydraulically.
  • a bending device is generally known from US Pat U.S. 3,834,210 and the U.S. 5,092,150 known. Such bending devices have devices for gripping the pipe, moving the pipe in the bending device, and creating the bend in the pipe. These devices are all hydraulically operated under the control of an operator.
  • the pamphlet DE 600 28 484 T2 Figure 3 shows a conventional bending device adapted to create bends in a large diameter pipe.
  • the flexure generally includes a reinforced frame to which the components are anchored against relative movement.
  • the main components of the pipe bending device comprise a bending tool, a mandrel, also called a mandrel, a support device and a fastening shoe.
  • the bending tool is a solid body which is stationary with respect to the frame and has a curved surface facing the pipe, the bending tool being pressed against the pipe during the bending process.
  • the support device is actuated by hydraulic pressure during the bending process and swiveled in the direction of the bending tool. Meanwhile, the fastening shoe fixes the pipe.
  • the mandrel is a rigid, limbed construction that allows the tube to be bent without changing the circular nature of the tube at the bend. Such mandrels are known in the art.
  • bending devices usually have three working areas in which the forces required for bending the pipe are transmitted to the pipe. During the bending process, there is an active introduction of force in a work area a hydraulic cylinder. The remaining passive work areas serve as abutments and are connected to the active work area via the frame.
  • the DE 696 03 499 T2 shows a bending device in which the middle of the three work areas is designed as an active work area.
  • a method for automating a bending device and a control with a programmable processor are also known. Automation is required precisely in order to carry out incremental and / or step-by-step bends with a high degree of repeatability and accuracy. If the quality is higher, the duration of the entire bending process should be reduced and the transport weight and the energy requirement of the bending device should be reduced at the same time.
  • a device mentioned at the beginning is from DE 10 2008 060 897 known.
  • a bending device is provided which, at least with its parts that are essential for the function of the bending machine, can be positioned completely in the interior of the pipe to be bent.
  • damage to the outside of the pipe applied coating for example a paint, insulation and / or synthetic resin reinforcement, principle avoided.
  • a bending device which carries out the bend inside the pipeline. It has 2 active work areas (front and rear) whereas the middle work area is passive. The exact application of force to both separate work areas is disadvantageous here.
  • the contact elements are provided on the carrier of the bending device, two contact elements on a first side of the carrier at the ends of the carrier and one contact element on a second side opposite the first side of the carrier are arranged in the middle of the carrier.
  • the contact elements can be placed on the inner surface of the tube, in particular in a form-fitting manner. This makes it possible for the bending device to adapt to the inner surface of the pipe when the forces necessary for bending are introduced into the pipe, thus avoiding damage to the pipe.
  • the contact elements also consist of a type of rubber, hardwood, an aluminum alloy and / or a plastic with an appropriate Shore hardness.
  • This device is in need of improvement with regard to the bending accuracy, especially with regard to coated pipes.
  • the invention is based on the object of creating a bending device with which the coated pipe can be bent with greater accuracy.
  • Figs. 1 to 5 show a first embodiment, not according to the invention, of a bending device 10.
  • the bending device 10 has a base body 11, at the front and rear ends of which a chassis 12 is arranged.
  • Two contact elements 13, 14 are provided on the upper side 16 of the base body 11.
  • the underside 17 of the base body 11 has a bend 18.
  • a contact element 15 is provided centrally on the underside 17.
  • the contact element 13 is designed to be movable in the direction of movement A.
  • the contact element has a bracket 19 which connects the contact element 13 to the base body 11 via a pivot point 20.
  • the boom 19 is connected via a second pivot point 21.
  • a routing element 22 which is connected to a force introduction element 23.
  • the force introduction element 23 is a hydraulic cylinder.
  • the hydraulic cylinder 23 has a piston rod 24. This is connected to a wedge 27 on its side facing away from the cylinder chamber 25 via a pin connection 26.
  • the wedge 27 has a wedge surface 28 on which a second wedge 29 is movably arranged.
  • the wedge 29 is rotatably connected to a carrier 30, on which the contact element 13 is arranged.
  • a base 32 is arranged in the interior of the base body 11.
  • the hydraulic cylinder 23 has a lower cylinder eye 33. This is connected to the base body 11 via a pin connection 34.
  • the cylinder eye 33 has an outer surface 35.
  • the base 32 has a corresponding inner surface 36.
  • the contact element 14 and the contact element 15 are each fixed, but exchangeable, arranged on the base body 11.
  • the chassis 12 is designed as follows in this embodiment.
  • a receiving element 38 is arranged on the end face 37 of the base body 11.
  • a pivot element 39 is rotatably mounted on the receiving element 38.
  • a pendulum element 40 is rotatably arranged on the pivot element 39.
  • a hydraulic motor 41 which is connected to a drive shaft 43 via a drive pinion 42, is arranged inside the pendulum element 40.
  • the drive shaft 43 is connected to the drive wheels 44.
  • the bending device 10 is moved into and out of the pipe via the drive wheels 44.
  • Using the pivot element 39 it is possible to raise the chassis 12 so that the contact element 15 comes into contact with the inner wall 102 of the pipe 100 and the drive wheels 44 detach from the inner wall 102 of the pipe 100.
  • FIGS. 6 to 9 show a second embodiment of the bending device 10 not according to the invention.
  • a chassis 12 is arranged on the base body 11 at the front and rear ends.
  • a contact element 13 and a contact element 14 are located on the front and rear ends of the top 16, respectively.
  • a contact element 15 is fixedly arranged in the center of the bottom 17.
  • the underside 17 has a bend 18.
  • the front contact element 13 and the rear contact element 14 are connected to one another via two cables 45 as travel limiters and guides.
  • the structure of the route diversion element 22 and the force introduction element 23 corresponds to the first embodiment.
  • Fig. 7 is shown, is that Contact element 13 is additionally connected to base body 11 via spring elements 46.
  • the spring elements 46 serve to move the contact element 13 back into its starting position when the hydraulic cylinder 23 is retracted.
  • the front chassis 12 has an axis 47 which is arranged in the longitudinal direction of the base body 11 on the end face 37 of the base body 11.
  • a sleeve 48 is arranged around the axis 47, rotatably mounted.
  • a carrier element 49 is arranged fixedly on the sleeve 48.
  • a pendulum element 50 is arranged on the carrier element 49 via arm 51.
  • the pendulum element 50 has a receptacle 52 for wheels 53.
  • Fig. 10 the use of the bending process 10 according to the second embodiment when bending a pipe 100 is shown.
  • the pipe 100 is composed of a pipeline pipe 103 and a coating 101, for example made of rigid PUR foam.
  • the bending device 10 has moved into the pipe 100.
  • An already bent region 104 of the pipeline 100 is shown.
  • the chassis 12 of the bending device 10 is retracted so that the contact element 15 is in contact with the inner wall 102 of the pipeline pipe 103.
  • the contact element 13 is extended via the hydraulic cylinder 23 and the routing element 22, in which the wedge 27 is moved by the piston rod 24 of the hydraulic cylinder and the wedge 29 is moved upwards on the wedge surface 28 of the wedge 27 until the contact element 13 with the Inner wall 102 comes into contact.
  • the contact element 13 is then pressed against the inner wall 102 of the pipe 100 and the pipeline pipe 103 of the pipe 100 undergoes a bend.
  • the elastic deformation of the pipe must first be overcome. Then there is a plastic deformation of the Pipe instead, so that a corresponding deformation is carried out.
  • the piston rod 24 is retracted via the hydraulic cylinder, whereby the wedge 29 can move downwards out of the wedge surface 28. Since the contact surface 13 is prevented from moving other than back into the base body 11 via the cables 45, the contact element 13 is brought back into its basic position via the spring elements 46. The elastic component of the bending process is recorded and taken into account when controlling the bending for accuracy.
  • the chassis 12 is then extended again and the bending device 10 can be moved out of the pipe to the next bending location, in which the next bending increment can then be carried out accordingly.
  • FIGS Figures 11 and 12 An embodiment of a bending device 10 according to the invention is shown in FIGS Figures 11 and 12 shown.
  • chassis 12 On both sides of the base body 11, chassis 12 are arranged, which have a structure of the chassis part 12 of the second embodiment, which is located in the area of the contact element 13.
  • the contact element 13 is in turn arranged movably via a corresponding path diversion element 22 and a force introduction element 23.
  • Guide arms 55 are arranged between the contact element 13 and the base body 11.
  • the lower contact element 15 extends along a straight section of the base body 11 from the beginning of the curved section of the base body 11 to the end of the base body 11 on which the contact element 14 is arranged.
  • the contact element 15 is fixedly arranged on the underside 17 over the entire length of the straight section.
  • the contact element 14 can be moved away from the base body 11 in the direction of movement C.
  • a hydraulic cylinder 56 is provided for this, which is connected to a sliding element 57 on which wedges 58 are arranged.
  • the contact element 14 is arranged on a carrier element 59.
  • Wedges 60 are arranged on the underside of the carrier element 59 and are arranged displaceably on a wedge surface 61 of the wedges 58. If the hydraulic cylinder 56 is extended, the wedges 58 are moved relative to the wedges 60, so that the wedges 60 are displaced on the wedge surfaces 61 in the direction of movement C, so that the contact element 14 is moved against the inner wall 102 of the pipe 100.
  • the contact element 14 is extended until it comes into contact with the inner wall 102.
  • the end of the bending device 10 which points to the not yet bent part of the pipe 100, is wedged within the pipeline pipe 103 and thereby locked. Then the contact element 13 is extended in the direction of movement A via the hydraulic cylinder 23 and the path diversion element 22 until the contact element 13 reaches the inner wall 102 of the pipeline pipe 103 and touches it. Then, as previously described, the tube is bent.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Claims (9)

  1. Dispositif de cintrage de tuyaux, en particulier de tuyaux revêtus (100), de préférence de tuyaux isolés et/ou revêtus de mousse PU/mousse rigide PUR, pour des tuyauteries avec un corps de base (11) pouvant être positionné dans le tuyau, sur lequel un train de roulement (12) pour le procédé est prévu dans le tuyau (100) et au moins trois éléments de contact (13, 14, 15) pour créer un contact avec une paroi intérieure (102) du tuyau (100) pour introduire une force de flexion, dans lequel au moins un premier et un deuxième élément de contact (13, 14) sont prévus sur un côté (16) du corps de base (11), respectivement aux extrémités du corps de base (11), et au moins un troisième élément de contact (15) est disposé sur le côté opposé (17) du corps de base (11), et dans lequel au moins un premier des éléments de contact (13, 14, 15) est prévu à l'opposé du corps de base (11) par l'intermédiaire d'un élément d'introduction de force (23) pour introduire la force de flexion de manière mobile dans la direction (A) de la paroi intérieure (102) du tuyau (100), caractérisé en ce que l'au moins un deuxième élément de contact (14) est prévu à l'opposé du corps de base (11) par l'intermédiaire d'un autre élément d'introduction de force (56) séparément du mouvement du premier élément de contact (13) de manière mobile dans la direction (C) de la paroi intérieure (102) du tuyau (100), et en ce qu'un autre élément de contact (15) est prévu sur le côté opposé (17) au deuxième élément de contact (14) sur le corps de base (11).
  2. Dispositif selon la revendication 1, caractérisé en ce que l'élément de contact (15) opposé au deuxième élément de contact mobile (14) est conçu d'un seul tenant avec le troisième élément de contact (15) opposé, dans lequel l'élément de contact (15) opposé au deuxième élément de contact mobile (14) s'étend de préférence jusqu'à l'extrémité du corps de base (11), sur lequel le deuxième élément de contact (14) est disposé.
  3. Dispositif selon la revendication 1 ou 2, caractérisé en ce que l'élément d'introduction de force (23) est disposé sensiblement horizontalement, de sorte qu'une introduction de force horizontale se produit, et en ce qu'au moins un élément de déviation de trajectoire (22) est prévu à une extrémité de l'élément d'introduction de force, qui est conçu de sorte que la force introduite horizontalement produit un mouvement sensiblement vertical (A) de l'élément de contact (13, 14, 15) vers la paroi intérieure (102) de la tuyauterie (100).
  4. Dispositif selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le train de roulement (12) est disposé sur le corps de base (11) de sorte que le corps de base (11) peut tourner par rapport au train de roulement (12) et que le sens de rotation est sensiblement perpendiculaire au sens de la marche.
  5. Dispositif selon la revendication 3 ou 4, caractérisé en ce que l'élément de déviation de trajectoire (22) présente un élément en forme de coin (27) et un élément (29) correspondant à l'élément en forme de coin (27) sur l'élément de contact mobile (13, 14, 15), qui est disposé de manière mobile sur l'élément en forme de coin (27).
  6. Dispositif selon l'une quelconque des revendications 1 à 5, caractérisé en ce que l'élément de contact mobile (13, 14, 15) est relié de manière mobile au corps de base (11) par l'intermédiaire d'un élément de liaison, de préférence une flèche (19) ou un câble en acier (45), qui est articulé de manière rotative sur l'élément de contact (13, 14, 15), et de préférence l'élément de liaison (19, 45) est articulé de façon à pouvoir tourner sur le corps de base (11), et/ou en ce qu'au moins un élément de retour (46), de préférence un élément à ressort, est prévu entre l'élément de contact mobile (13, 14, 15) et le corps de base (11).
  7. Dispositif selon l'une quelconque des revendications 3 à 6, caractérisé en ce que sur un côté de l'élément d'introduction de force (23) opposé à l'élément de déviation de trajectoire (22), respectivement sur l'élément d'introduction de force (23) et de manière correspondante sur le corps de base (11), respectivement une surface de pression (35, 36) est présente comme butées pour l'introduction de force, qui sont en contact lors de l'introduction de force, et/ou en ce que l'élément d'introduction de force (23) est un vérin hydraulique.
  8. Dispositif selon l'une quelconque des revendications 1 à 7, caractérisé en ce que le train de roulement (12) présente un corps de base de train de roulement (40, 48) qui peut tourner par rapport au corps de base (11), et/ou en ce que le train de roulement (12) présente un train de roulement avant et arrière et les axes de rotation des corps de train de roulement des trains de roulement (12) s'étalent coaxialement, l'axe de rotation étant de préférence disposé de sorte qu'il se trouve au-dessus du centre de gravité du dispositif et/ou du train de roulement (12).
  9. Dispositif selon l'une quelconque des revendications 1 à 8, caractérisé en ce que le train de roulement (12) présente un corps de roulement (40, 50) qui présente des roues (44, 53) pour faire avancer le dispositif (10) dans le tuyau (100) et qui est mobile par rapport au corps de base de train de roulement (40, 48) vers l'axe de rotation du corps de base de train de roulement, de préférence par l'intermédiaire d'au moins un vérin hydraulique.
EP13729265.2A 2012-06-20 2013-06-14 Dispositif de cintrage de conduites pour pipelines Active EP2864068B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012012139.3A DE102012012139B4 (de) 2012-06-20 2012-06-20 Vorrichtung und Verfahren zum Biegen von Rohrleitungen für Pipelines
PCT/EP2013/001762 WO2013189582A1 (fr) 2012-06-20 2013-06-14 Dispositif et procédé de cintrage de conduites pour pipelines

Publications (2)

Publication Number Publication Date
EP2864068A1 EP2864068A1 (fr) 2015-04-29
EP2864068B1 true EP2864068B1 (fr) 2020-11-04

Family

ID=48628609

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13729265.2A Active EP2864068B1 (fr) 2012-06-20 2013-06-14 Dispositif de cintrage de conduites pour pipelines

Country Status (6)

Country Link
US (1) US10441987B2 (fr)
EP (1) EP2864068B1 (fr)
CA (1) CA2883031C (fr)
DE (1) DE102012012139B4 (fr)
RU (1) RU2617464C2 (fr)
WO (1) WO2013189582A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107214221B (zh) * 2017-07-04 2023-07-28 中石化石油工程技术服务有限公司 一种内弯管机及弯管方法
DE102021121057A1 (de) 2021-08-12 2023-02-16 Bendforce GmbH Vorrichtung und Verfahren zum Innenbiegen von Rohren für Rohrleitungen
CN115648597B (zh) * 2022-12-20 2024-03-26 南通沿江管业有限公司 一种管道施工弯折装置

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US3274817A (en) * 1964-04-15 1966-09-27 James H Anderson Internal pipe bender
US3382698A (en) * 1966-03-09 1968-05-14 James H. Anderson Internal pipe bender
GB1270059A (en) * 1970-08-04 1972-04-12 Abram Isaevich Galperin Pipe bending method and device
US3834210A (en) * 1972-06-06 1974-09-10 Crc Crose Int Inc Pipe bending system
US4007622A (en) * 1975-05-01 1977-02-15 Abram Isaevich Galperin Device for bending thin-walled pipes
DE2749589A1 (de) * 1977-11-05 1979-05-10 Schwarze Rigobert Kaltbiege- verfahren und -vorrichtung zur herstellung von gekruemmten mantelrohrleitungen
US4352285A (en) * 1979-09-06 1982-10-05 Crutcher Resources Corporation Hydraulic wedge mandrel
JPS58138523A (ja) * 1982-02-15 1983-08-17 Nippon Steel Corp 金属管の曲げ加工方法
US5092150A (en) * 1991-07-19 1992-03-03 Crc-Evans Pipeline International, Inc. Pipe transport mechanism for pipe bender
RU2049576C1 (ru) * 1992-10-12 1995-12-10 Балашихинское научно-производственное объединение криогенного машиностроения им.40-летия Октября Оправка для гибки труб
US5327765A (en) * 1993-04-05 1994-07-12 Aluminum Company Of America Internal articulated mandrel for the stretch forming of elongated hollow metal sections
US5600993A (en) * 1995-10-30 1997-02-11 Heaman; Norman L. Flexible shoe for a bending machine
US6253595B1 (en) * 1999-09-21 2001-07-03 Crc-Evans Pipeline International, Inc. Automated pipe bending machine
US6389872B1 (en) * 2000-08-31 2002-05-21 Crc-Evans Pipeline International, Inc. Mandrel apparatus with floating spring members
JP4751049B2 (ja) * 2003-12-26 2011-08-17 カルソニックカンセイ株式会社 多穴管の曲げ部製造装置及び曲げ部製造方法。
DE102008060897A1 (de) * 2008-12-09 2010-06-10 Compaß, Eberhard, Dr. Biegevorrichtung für Stahlrohre
DE102009053437A1 (de) * 2009-11-17 2011-05-19 Andreas Weidner Spannbacke

Non-Patent Citations (1)

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Title
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Also Published As

Publication number Publication date
CA2883031C (fr) 2019-01-08
US20150266075A1 (en) 2015-09-24
WO2013189582A1 (fr) 2013-12-27
RU2015101329A (ru) 2016-08-10
RU2617464C2 (ru) 2017-04-25
DE102012012139A1 (de) 2013-12-24
EP2864068A1 (fr) 2015-04-29
DE102012012139B4 (de) 2014-12-24
CA2883031A1 (fr) 2013-12-27
US10441987B2 (en) 2019-10-15

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