EP2921261A1 - Appareil à entraînement pneumatique - Google Patents

Appareil à entraînement pneumatique Download PDF

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Publication number
EP2921261A1
EP2921261A1 EP14164124.1A EP14164124A EP2921261A1 EP 2921261 A1 EP2921261 A1 EP 2921261A1 EP 14164124 A EP14164124 A EP 14164124A EP 2921261 A1 EP2921261 A1 EP 2921261A1
Authority
EP
European Patent Office
Prior art keywords
piston rod
arm
bearing element
head housing
tool according
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.)
Granted
Application number
EP14164124.1A
Other languages
German (de)
English (en)
Other versions
EP2921261B2 (fr
EP2921261B1 (fr
Inventor
Stefano Raimondi
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.)
Univer SpA
Original Assignee
Univer SpA
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
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=50336159&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2921261(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Univer SpA filed Critical Univer SpA
Priority to EP14164124.1A priority Critical patent/EP2921261B2/fr
Priority to PCT/EP2015/055901 priority patent/WO2015140288A1/fr
Priority to US14/907,700 priority patent/US10016878B2/en
Publication of EP2921261A1 publication Critical patent/EP2921261A1/fr
Application granted granted Critical
Publication of EP2921261B1 publication Critical patent/EP2921261B1/fr
Publication of EP2921261B2 publication Critical patent/EP2921261B2/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/06—Arrangements for positively actuating jaws
    • B25B5/12—Arrangements for positively actuating jaws using toggle links
    • B25B5/122—Arrangements for positively actuating jaws using toggle links with fluid drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/06—Arrangements for positively actuating jaws
    • B25B5/061—Arrangements for positively actuating jaws with fluid drive
    • B25B5/064—Arrangements for positively actuating jaws with fluid drive with clamping means pivoting around an axis perpendicular to the pressing direction

Definitions

  • the invention relates to a pneumatically operable implement for use in the bodywork of the automotive industry, comprising a cylinder having a cylinder housing, a displaceable in this piston and a connected thereto, linearly displaceable and led out of the cylinder housing piston rod, as well as with a connected to the cylinder housing Head housing, wherein a projecting into the head housing portion of the piston rod with at least one toggle lever for pivoting an arm associated with the toggle lever, in particular gripping arm or clamping arm cooperates, said arm being supported in the head housing and pivotable between a closed position and an open position.
  • Such a working device is from the DE 296 15 157 U1 known.
  • this two toggle lever pivotally engage directly on the located in the head housing end of the piston rod.
  • two gripping arms between a closed position and an open position are pivotable. In the closed position, the gripping arms are arranged parallel to each other.
  • a arranged in the region of the free end of the piston rod bearing axis for the two toggle lever is provided at the end with bearing rollers, which are guided in guide grooves of the head housing.
  • the opening angle of the gripper arms is not adjustable. Moreover, this design can not represent a particularly large opening angle of the gripping arms, because the piston rod projects into the path of movement of the middle joint of the toggle lever.
  • Pneumatically operated equipment having gripping or clamping arms, and in which a non-variable-length piston rod is used, are further from the DE 10 2004 040 606 B3 .
  • a pneumatically operable working device in which a piston of a cylinder is positioned in the open position of a clamping arm in the region of a bottom of the cylinder housing.
  • the piston rod is variable in length designed and has piston rod parts with threaded portions, wherein the piston rod parts are screwed together.
  • Object of the present invention is to develop a working device of the type mentioned so that in universal design of the connection of the piston rod and at least one arrangement of toggle and associated arm, a large swing angle range, in particular a large opening angle of the arm can be displayed.
  • the piston rod receives a bearing element for the toggle lever in the region of its end projecting into the head housing.
  • the bearing element is guided in a guide of the head housing in the direction of the longitudinal axis of the piston rod.
  • the bearing element has a receptacle for the pivotable mounting of a joint connector at a radial distance from the longitudinal axis of the piston rod. This is pivotally connected in the region of an end facing away from the bearing element with the arm at a distance from a pivot axis of the arm.
  • the end-side pivot axes of the joint connector and the pivot axis of the arm are arranged parallel to each other.
  • This bearing element is designed so that the toggle lever engages the bearing element at a radial distance from the longitudinal axis of the piston rod. Because of this storage, the piston rod does not limit the pivoting of the component of the toggle lever forming joint connector.
  • the only indirect storage of the respective knee lever in the piston rod, thus the storage in the bearing element, allows a universal connection to the bearing element, such that the bearing element is designed such that it has a receptacle with which a joint connector is connected, or that Bearing element has on opposite sides receptacles for the pivotable mounting of two joint connectors.
  • a receptacle can remain free in this design, whereby only one of the two receptacles receives a joint connector to which an arm is assigned or both receptacles are equipped with articulated connectors, so that the implement has two arms.
  • the bearing element is guided in a guide of the head housing in the direction of the longitudinal axis of the piston rod, optimal forces can be introduced into the arm or from the arm in the bearing element, regardless of whether the implement has one or two arms.
  • the implement can thus be designed such that on the respective side of the bearing element, thus laterally with respect to the longitudinal axis of the piston rod, the receptacles are provided for pivotally mounting the two hinge connector.
  • This design allows a structurally simple connection of the two joint connectors, which interact with the arms.
  • the same bearing element can be used for reasons of standardization of the implement, in which case only one articulated connector is connected to the bearing element, for connection to one arm, while the other receptacle of the bearing element does not receive a hinge connector.
  • the bearing element accommodates the two joint connectors, it is considered to be particularly advantageous if the bearing element, the joint connectors and the arms are arranged symmetrically with respect to a plane passing through the longitudinal axis of the piston rod. This results in a symmetrical design of the implement in the region of the head housing and the two arms, which introduced into the two arms gripping or clamping forces when contacting a device associated with the device, such as a body panel, are symmetrically introduced into the implement.
  • This guide is important not only under the aspect of the actual leadership of the bearing element in the head housing, but also under the aspect of the introduction of the forces acting on the arm or the arms, from the bearing element in the head housing.
  • This guided bearing of the bearing element makes it possible to carry out the implement both in the variant with one arm and in the variant with two arms. In the variant with one arm forces are introduced unbalanced over the arm in the head housing. This is due to the leadership of the bearing element in the head housing readily possible, because the forces are introduced directly through the bearing element and the guide associated with this in the head housing.
  • bearing element is mounted by means of a sliding and / or roller bearing in a guide of the head housing.
  • rolling bearing the use of rolling bearings in the form of roller or spherical bearings is considered advantageous.
  • the guide has in particular mutually parallel guide surfaces, which are arranged parallel to the pivot axis of the arm.
  • the respective receptacle has a plate-shaped projection which is connected to a base body of the bearing element, wherein the projection has a hole for receiving a bearing pin for the associated joint connector.
  • a particularly good guidance of the bearing element at the optimal point of force application of the joint or joints results when the bearing element in the axial direction of the piston rod in a row at a distance from each other bearing parts for mounting the bearing element in the head housing, wherein, based on the axial direction of the piston rod, between the bearing parts the at least one receptacle is arranged. Due to this design, forces between the bearing element and the joint connector can be transmitted with high tilt stability of the bearing element.
  • the pneumatically operated implement has in particular a toggle for pivoting an associated arm, or in particular two toggle lever, each of the two toggle lever is used to pivot an arm associated with this toggle.
  • the arm is in particular a gripping arm.
  • the toggle lever or the toggle lever are arranged in the closed position of the arm or the arms, in particular in an over-center position. Further pivoting of the respective toggle lever on the Kochtot Vietnamese ein addition is prevented by a stop, which can be arranged arbitrarily and has the task to prevent axial displacement of the piston rod or with this piston rod cooperating components in the direction of a bottom of the cylinder housing.
  • the piston rod is not variable in length and the open Position of the arm is infinitely adjustable.
  • the piston rod has a threaded portion, and receives in the region of the threaded portion in the longitudinal direction of the piston rod adjustable stop member which abuts in the open position of this arm to a stationary relative to the head housing abutment, wherein the piston rod with respect to the longitudinal axis is rotatable and moreover is rotatable with respect to the bearing element.
  • the stop member can be changed in its position relative to the piston rod, based on the axial direction of the piston rod, whereby by adjusting the abutment portion of the opening angle of the arm is infinitely adjustable. At this opening angle, the stop member contacts the station relative to the head housing stationary.
  • the working device may be designed such that the cylinder and the head housing constitute separate structural units or a common structural unit.
  • the stop member is in particular rotationally fixed in the head housing positioned. If the piston rod is rotated with respect to its longitudinal axis, and thus changes the position of the stop member in the direction of the longitudinal axis of the piston rod to this, therefore, the stop member is not rotated and displaced only in the axial direction of the piston rod.
  • This positioning of the stop member in the head housing can be achieved in different ways, for example by guiding the stop member in the direction of the longitudinal axis of the piston rod in the head housing, or by a non-circular design of the stop member, wherein the non-circular outer contour of the stop member with a correspondingly shaped inner contour of the head housing cooperates.
  • the relative to the head housing stationary system can be designed in different ways.
  • the stationary system has the task to form the bearing surface for the stop member, which prevents further contact with the abutment member on the stationary system further axial displacement of the stop member and thus defines the open position of the arm.
  • the contact surface extends orthogonally to the longitudinal axis of the piston rod.
  • a contact surface of the abutment part extending orthogonally to the longitudinal axis of the piston rod interacts with the abutment surface upon contact of the abutment part.
  • a head housing facing away from the bottom of the cylinder housing means for axially displacing the piston rod in the closed position of the arm with arranged in the region of the bottom piston in order to move out the toggle lever from an over-center position.
  • This means for axially displacing the piston rod in the closed position of the arm is provided so as to allow, in the closed position of the arm, the supply of fluid to the cylinder to allow fluid-independent release of the arm from the over-center position of the toggle lever.
  • the pivot angle of the toggle lever from the dead center position in the over-center position is a fraction of an angular degree, so that it is only necessary to move the toggle from the over-center position to move the piston rod by means of the axial displacement of the piston rod by a small distance, which corresponds to this small angle.
  • the means for axial displacement of the piston rod have the means for rotating the piston rod.
  • the means are in the simplest manner as in the bottom of the cylinder housing slidably and sealed to the bottom of the plunger formed, which has a receptacle for a tool for rotating the plunger outside of the cylinder housing and within the cylinder housing a receptacle for rotationally fixed engagement in a receptacle of this facing the end of the piston rod.
  • the figures show a pneumatically operable implement 1, which is used in particular in the bodywork of the automotive industry.
  • the implement 1 is as a handling gripper with a single arm 2 - gripper arm - according to the embodiment of the Fig. 1 to 7 - or with two arms 2 - two gripper arms - according to the embodiment of the Fig. 7 to 13 educated. Both embodiments have a similar structure. In this respect, the presentation of the Fig. 1 to 4 the first embodiment described.
  • the working device 1 has a cylinder 3.
  • a head housing 5 is connected via not illustrated fastening means.
  • the cylinder housing 4 takes a displaceable in this piston 6 and connected thereto, linearly displaceable and sealed out of the cylinder housing 4 led out, not variable-length piston rod 7.
  • An area of the piston rod 7 projecting into the head housing 5 cooperates with at least one toggle lever 8 for pivoting the arm 2 associated therewith.
  • This arm 2 is mounted in the head housing 5 via an axis 9 and about this axis 9 between an open position ( Fig. 1 ) and a closed position ( Fig. 3 ) pivotable.
  • the open position of the arm 2 is infinitely adjustable.
  • the piston rod 7 has a threaded portion 10 and receives in the region thereof an adjustable in the longitudinal direction of the piston rod 7 stop member 11.
  • the stop member 11 is in the open position of the arm 2 to a stationary relative to the cylinder housing 4 system, which is formed as an annular contact surface 12 of the head housing 5, which surrounds the piston rod 7 and is arranged orthogonal to the longitudinal axis 13 of the piston rod 7.
  • the cooperating with the contact surface 12 of the head housing 5, also annular contact surface of the stop member 14 is designated by the reference numeral 14. This contact surface 14 is arranged parallel to the contact surface 12.
  • the stop member 11 is rotatably positioned in the head housing 5, specifically via a not-shown groove which extends parallel to the longitudinal axis 13 of the piston rod 7 and in which the stop member 11 engages.
  • the thread in the region of the threaded portion 10 between the piston rod 7 and stop member 11 is self-locking.
  • the piston rod 7 is rotatable with respect to its longitudinal axis 13 and receives in the region of the knee lever 8 end facing a bearing element 15 for the toggle lever 8.
  • the piston rod 7 is rotatable about the longitudinal axis 13 with respect to the bearing element 15.
  • the piston rod 7 is inserted into a receptacle 16 of the bearing element 15 and connected by means of a form-locking ring 17 in the extension of the longitudinal axis 13 fixed to the bearing element 15.
  • a rotation of the piston rod 7 about the longitudinal axis 13 with respect to the receptacle 16 and thus of the bearing element 15 is possible.
  • a head housing 5 facing away from the bottom 18 of the cylinder housing 4 has means 19 for rotating the piston rod 7 in the closed position ( Fig. 3 ) of the arm 2 at in the region of the bottom 18 arranged piston 6.
  • This means 19 is a plunger which is mounted sealed in the bottom 18 and slidable in the longitudinal axis 13 of the piston rod 7.
  • the arranged outside of the cylinder housing 4 end of the plunger 19 has a hexagonal recess 20 for receiving a tool, not shown, for rotating the plunger 19 about the longitudinal axis 13, wherein the tool is inserted with a hexagonal end in the hexagonal recess 20.
  • the arranged within the cylinder housing 4 end is provided with a projection 21 with hexagonal cross-section.
  • Fig. 14 shows the engagement of the plunger 19, wherein the projection 21 is inserted in the closed position of the arm 2 in a hexagonal recess in cross section 22 of the facing end of the piston rod 7.
  • the bearing member 15 is formed symmetrically with respect to a plane passing through the longitudinal axis 13 of the piston rod 7.
  • two axes 25 are mounted, wherein the respective axis 25 on both sides of the bearing element 15 roller-shaped rolling bearing elements 26 receives, which in a in the longitudinal axis 13 extending bearing groove 27 are guided.
  • the bearing element 15 is guided substantially without play in the direction of the longitudinal axis 13.
  • the bearing element 15 has plate-shaped receptacles 28 in the form of tabs, which are connected to a base body 39 of the bearing element 15.
  • Each receptacle 28 is intended to receive a plate-shaped hinge connector 29 in the region of an axis 30.
  • only one receptacle 28 is tied while the other receptacle 28 remains free. This other recording is connected only in the event that a second arm 2 is present.
  • the bearing element 15 has in the axial direction 13 of the piston rod 7 in a row at a distance from each other, the rolling bearing elements 26 for supporting the bearing element 15 in the head housing 5. Based on the axial direction 13 of the piston rod 7, the receptacle 28 or the two receptacles 28 is arranged between these rolling bearing elements 26.
  • the hinge connector 29 is pivotally connected to the arm 2 in the region of the end facing away from the bearing element 15 in the region of an axis 31.
  • This axis 31 is positioned at a distance from the axis 9 of the arm 2.
  • the axis 9 and the axes 30 and 31 are arranged parallel to each other.
  • the axes 9, 30 and 31 are constructed so that the axes 30 and 31 and 9 and 31 form the toggle lever 8, wherein in the open position according to Fig. 1 the connecting line between the axes 30 and 31 occupies an angle of less than 90 ° with respect to the line connecting the axes 9 and 31 with respect to their centers, while in the closed position of the arm according to Figs Fig.
  • this angle is slightly greater than 90 °, so that there is a slight over-center position, in which the bearing element 15 is fixed in the direction of the longitudinal axis 15 and in the direction of the piston rod 7 by the piston rod-side roller bearing elements 26 in the region of the end of the bearing groove 27, the Plunger facing, abut at this end 32 of the bearing groove 27.
  • Fig. 15 shows a detail of the mounting of the joint connector 29 in the arm 2.
  • the axis 31 is extended and engages in a substantially over a quarter circle extending guide groove 33 of the head housing 5 a.
  • this over-center position of the toggle lever 8 can be released by the above-described mechanical loading of the plunger 19.
  • the axial displacement of the piston rod 7 and thus the corresponding axial displacement of the bearing element 15 is achieved, that the hinge connector 29 is slightly pivoted, so that the center of the axis 30 is further away from the ground than the center of the axis 31. In this position, a pivoting of the arm 2 mechanically possible by the arm 2 is gripped.
  • the position of the stop member 11 can be changed by turning the piston rod 7.
  • the plunger 19 is inserted into the recess 22 of the piston rod 7.
  • the plunger 19 is moved back when pressure is applied to the cylinder 3 to transfer the piston 6 from the closed position of the working device, wherein pressure medium is supplied to the working space 35 and also acts on the facing end face of the plunger 19.
  • pressure medium is supplied to the working space 35 and also acts on the facing end face of the plunger 19.
  • Fig. 4 is denoted by the reference numeral 38 an interrogation device which is mounted in the head housing 5 and the interrogation of the position of the bearing member 15 and the stop member 11 is used.
  • the Fig. 5 to 7 show for the previously discussed operating conditions according to the Fig. 1 to 4 a with respect to the opening angle adjusted working device 1 with an opening angle of 50 °.
  • This adjustment is evident, for example, in that the contact surfaces 12 and 14 have a different distance from each other when the arm 2 is closed, the change in the distance corresponding to the change in the position of the abutment part 11 relative to the piston rod 7.
  • the embodiment according to the Fig. 8 to 13 corresponds largely to that of Fig. 1 to 7 , To avoid repetition, reference is made to the detailed description of the first embodiment.
  • two arms 2 are provided instead of an arm.
  • the connection of the second arm is identical to the one arm according to the first embodiment, whereby the bearing element 15, the hinge connector 29 and the arms 2 are arranged symmetrically to the plane passing through the longitudinal axis 13 of the piston rod 7 level. In this respect, reference is made to the above description, concerning the connection of one arm 2.
  • the second embodiment also differs from the first embodiment in that the respective arm 2 is modified and, moreover, the gripping element 37 is part of the second arm 2.
  • Fig. 8 shows the implement 1 with the two arms 2 in an open position of 90 °
  • Fig. 9 the intermediate position
  • Fig. 10 the closed position in which contact the two gripping elements 36 and 37.
  • Fig. 11 shows for the execution of the implement 1 with the two arms 2 an adjusted position of the stop member 11, so that an open position of 160 ° in accordance Fig. 11 reveals Fig. 12 the intermediate position is illustrated and Fig. 13 the closed position shows.
  • the two embodiments illustrate that can be converted to the variant with an arm 2 or two arms 2 by simply retooling or supplementing the implement 1. It is only necessary, starting from the variant with the one arm 2 to use a modified head housing 5, which has no receptacle for the gripping member 37 and instead to store in this modified head housing 5, the two arms 2 on the knee lever 8 and to the To connect bearing element 15.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jigs For Machine Tools (AREA)
  • Manipulator (AREA)
EP14164124.1A 2014-03-20 2014-04-10 Appareil à entraînement pneumatique Active EP2921261B2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP14164124.1A EP2921261B2 (fr) 2014-03-20 2014-04-10 Appareil à entraînement pneumatique
PCT/EP2015/055901 WO2015140288A1 (fr) 2014-03-20 2015-03-20 Engin de travail à fonctionnement pneumatique
US14/907,700 US10016878B2 (en) 2014-03-20 2015-03-20 Pneumatically operable work tool

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14160861.2A EP2921260B1 (fr) 2014-03-20 2014-03-20 Appareil à entraînement pneumatique
EP14164124.1A EP2921261B2 (fr) 2014-03-20 2014-04-10 Appareil à entraînement pneumatique

Publications (3)

Publication Number Publication Date
EP2921261A1 true EP2921261A1 (fr) 2015-09-23
EP2921261B1 EP2921261B1 (fr) 2016-11-02
EP2921261B2 EP2921261B2 (fr) 2020-01-22

Family

ID=50336159

Family Applications (2)

Application Number Title Priority Date Filing Date
EP14160861.2A Not-in-force EP2921260B1 (fr) 2014-03-20 2014-03-20 Appareil à entraînement pneumatique
EP14164124.1A Active EP2921261B2 (fr) 2014-03-20 2014-04-10 Appareil à entraînement pneumatique

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP14160861.2A Not-in-force EP2921260B1 (fr) 2014-03-20 2014-03-20 Appareil à entraînement pneumatique

Country Status (3)

Country Link
US (1) US10016878B2 (fr)
EP (2) EP2921260B1 (fr)
WO (1) WO2015140288A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10786886B2 (en) * 2016-11-01 2020-09-29 Dominion Technologies Group, Inc. Pneumatic crankshaft clamp assembly
KR102032416B1 (ko) * 2019-02-25 2019-10-15 김용구 내열형 에어 클램프 장치
CN112916817B (zh) * 2019-12-06 2023-03-21 汉达精密电子(昆山)有限公司 压铸件抓取装置
CN113500540A (zh) * 2021-07-28 2021-10-15 沭阳鑫洪锐金属制品有限公司 一种连接紧固件

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USRE41223E1 (en) 1998-01-07 2010-04-13 Norgren Automotive, Inc. Clamp with improved internal cam action
EP2241402A1 (fr) 2009-04-16 2010-10-20 VEP Automation S.r.l. Dispositif de verrouillage de pièces
EP2548700A1 (fr) 2011-07-20 2013-01-23 UNIVER S.p.A. Outil pneumatique

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB709285A (en) * 1951-08-09 1954-05-19 James Arthur Holt Improvements in clamps and other gripping devices
US3347542A (en) * 1965-04-19 1967-10-17 Seizer Power Clamp Inc Toggle clamp
US4576367A (en) * 1985-01-02 1986-03-18 Aladdin Engineering & Mfg. Co. Pneumatic mechanical clamp including locking means
DE29615157U1 (de) 1996-01-09 1996-11-07 Tuenkers Maschinenbau Gmbh Kniehebelspann- und Greifvorrichtung
USRE41223E1 (en) 1998-01-07 2010-04-13 Norgren Automotive, Inc. Clamp with improved internal cam action
DE102004040606B3 (de) 2004-08-21 2006-01-12 Tünkers Maschinenbau Gmbh Als Gripper ausgebildete Kniehebelspannvorrichtung, insbesondere zur Verwendung im Karosseriebau der Kfz-Industrie
EP2241402A1 (fr) 2009-04-16 2010-10-20 VEP Automation S.r.l. Dispositif de verrouillage de pièces
EP2548700A1 (fr) 2011-07-20 2013-01-23 UNIVER S.p.A. Outil pneumatique

Also Published As

Publication number Publication date
EP2921260A1 (fr) 2015-09-23
WO2015140288A1 (fr) 2015-09-24
EP2921261B2 (fr) 2020-01-22
US10016878B2 (en) 2018-07-10
EP2921261B1 (fr) 2016-11-02
US20160167202A1 (en) 2016-06-16
EP2921260B1 (fr) 2016-08-31

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