EP2987762B1 - Procede de commande d'un mouvement combine de rotation/de poussee - Google Patents

Procede de commande d'un mouvement combine de rotation/de poussee Download PDF

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Publication number
EP2987762B1
EP2987762B1 EP15181758.2A EP15181758A EP2987762B1 EP 2987762 B1 EP2987762 B1 EP 2987762B1 EP 15181758 A EP15181758 A EP 15181758A EP 2987762 B1 EP2987762 B1 EP 2987762B1
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EP
European Patent Office
Prior art keywords
load
movement
rotary
hydraulic
push
Prior art date
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Active
Application number
EP15181758.2A
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German (de)
English (en)
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EP2987762A1 (fr
Inventor
Bernhard Hagl
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.)
Jungheinrich AG
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Jungheinrich AG
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Publication of EP2987762A1 publication Critical patent/EP2987762A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/147—Whole unit including fork support moves relative to mast
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/003—Systems with load-holding valves
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means

Definitions

  • the invention relates to a method and a device for controlling a combined rotational-thrust movement of a load-receiving means of a truck, in particular a three-way forklift, and a truck comprising said device.
  • the predetermined time profile of a performance feature of a hydraulic pump during the rotary-push movement is adjusted in accordance with a temperature of the pump motor and / or the hydraulic pump detected by sensor means according to a predetermined relationship.
  • the load-carrying means is mounted such that its pivot axis along the width direction of the truck is displaceable, so that the load carried by the load receiving means extends during a movement of the truck substantially only in the range of the width of the truck itself.
  • This may mean, for example, that when the load-carrying means relative to the longitudinal direction (straight-ahead direction) of the truck pivoted 90 ° to the left, the axis of rotation of the lifting device is in a final position to the right with respect to the width direction of the truck.
  • the present invention is therefore an object of the invention to provide a method and apparatus for controlling a combined rotational-thrust movement of a load-carrying means of a truck, which / guarantees a high precision and reliability of the rotary-push movement and this with little effort to realize.
  • a method for controlling a combined rotational-thrust movement of a load-lifting means of an industrial truck, in particular a three-side forklift, proposed according to the invention wherein the combined rotary-thrust movement rotational movement of the load-receiving means about an axis of rotation over an angle of 180 ° and a pushing movement of the axis of rotation along a pushing path over a predetermined distance, wherein both the rotational movement and the pushing movement are caused by respective hydraulic elements, which by a single hydraulic pump, which of an associated Pump motor is supplied with hydraulic fluid, and wherein a performance of the hydraulic pump is controlled during the rotational-thrust movement according to a predetermined time profile, wherein the truck comprises a valve assembly which is adapted to be operated so that below a Threshold of the hydraulic pressure provided by the hydraulic pump only the rotational movement of the lifting device is caused, while above the threshold both the rotational movement and the thrust movement are caused, and further comprising sensor means which detect a temperature of the pump motor and
  • a position-controlled adjustment of the feature of the hydraulic pump leads due to large dead times and increased vibration tendency of the load receiving means to a very rough turn-push movement, which in turn in turn makes the required precise control of the feature in itself difficult.
  • the rotational movement of the load-receiving means above the said threshold of the hydraulic pressure provided by the hydraulic pump at a constant speed and thus further increase in the hydraulic pressure has only an effect on the speed of the thrust movement of the load-receiving means.
  • the performance feature of the hydraulic pump may be a rotational speed of the hydraulic pump.
  • the predetermined relationship between the time profile of the performance feature of the hydraulic pump and that of the sensor means of the detected temperature of the pump motor and / or the hydraulic pump may be a linear relationship, that is, for example, at a detected increase in temperature the pump motor is increased by 10 ° C by an increase in the speed of the pump by a fixed percentage.
  • a more complicated relationship can readily be used, for example, parameterized in polynomial form or used in a control device by means of a predetermined characteristic curve.
  • Such control of the rotary-push movement allows the load to be pivoted in a particularly space-saving manner and can be advantageously used where work is done with loads having a predefined geometry, for example with standardized pallets or containers.
  • the invention relates to an apparatus for controlling such a combined rotary-push movement of a load-carrying means of an industrial truck, in particular a three-way stacker, wherein the truck comprises: a load receiving means which is adapted to be rotatable about an axis of rotation, wherein the axis of rotation along a second hydraulic element, which is adapted to be able to cause the rotational movement of the lifting device, a hydraulic pump, which is driven by an associated pump motor, a first hydraulic element which is adapted to be able to cause the thrust movement of the axis of rotation and which is adapted to provide a hydraulic pressure in operation and to supply the first and the second hydraulic element with hydraulic fluid, a control device which is adapted to a performance feature of the hydraulic pump during the rotary Sc To control stroke movement according to a predetermined time course, a valve arrangement which is adapted to supply below a threshold value of the hydraulic pressure provided by the hydraulic pump, only the second hydraulic element with hydraulic fluid, whereby the rotational movement the load receiving means is caused
  • the invention relates to an industrial truck, in particular a three-sided stacker, which comprises the aforementioned device.
  • FIG. 1 is a load-receiving device of a known and not shown three-way stacker shown in a plan view and generally designated by the reference numeral 10.
  • the truck is in one operation with the width A, which is formed by indicated high shelves 1, and may for example be along a predetermined path, in particular on rails out.
  • the load-carrying device comprises a push frame 12, on which a boom 14 is slidably supported along the direction S.
  • the direction S corresponds to the width direction of the three-way stacker.
  • a fork carrier back 16 is fixed so that it is pivotable about a rotation axis D with respect to the boom 14 and the push frame 12.
  • a fork 18 is supported in a known manner.
  • On the fork 18 is located in FIG. 1 a load 20.
  • the push frame 12 of the truck essentially represents the width of the operation
  • a widest part of the truck, the left and the right distance between the push frame and indicated by dashed lines shelves 1 are each denoted by C L and C R.
  • the load 20 may for example have just been removed from the right high rack or be prepared to be inserted into the right high rack and stowed there.
  • FIGS. 3a to 3d is now shown schematically the combined rotary-thrust movement of the load-receiving means 10 of the three-way forklift.
  • the load movement of the load receiving means 10 begins at this angle of rotation of the load 20, wherein the rotational movement is continued at the same time.
  • FIG. 3b Accordingly, an intermediate position can be seen, in which the load 20 has already been rotated to 90 ° relative to its starting position, while further the boom 14 has covered half of the intended pushing distance. Both the rotational movement and the pushing movement continue to run until the in Figure 3c shown state in which the boom 14 has been pushed to its right end position, while again the diagonal of the load 20 is perpendicular to the two high shelves 1. In this position, the feed of the boom ends 14, while the rotational movement is initially continued.
  • FIG. 2 is now roughly schematically illustrated the hydraulic and control system, which allows the just discussed combined rotary-thrust movement of the load-receiving means 10.
  • a single hydraulic pump 22 is provided, which is driven by a hydraulic pump motor 24 in a known manner, for example via a gear, not shown.
  • the hydraulic oil delivered by the hydraulic pump 22 is first provided controllably by a first valve arrangement 26 both to a main lifting device 28 of the load receiving means and to a second valve arrangement 30.
  • This second valve assembly 30 provides in a manner that will be described later FIG. 4 will be described, the hydraulic oil a first hydraulic element 32 and a second hydraulic element 34 ready.
  • the first hydraulic element 32 is adapted to cause the pushing movement of the boom 14, while the second hydraulic element 34 is adapted to cause the rotational movement of the load receiving means 10.
  • the hydraulic pump 22 and the pump motor 24 are associated with respective temperature sensors 36a and 36b each measuring the temperature of the hydraulic pump 22 and the pump motor 24, respectively. The measured temperatures are passed to a control device 38, which controls the operation of the pump motor 24.
  • control device 38 is provided with a processor unit 38a and a memory unit 38b, wherein the processing unit 38a generates a predetermined time-dependent control signal that corresponds to a predetermined timing control curve based on data provided by the memory unit 38b for the pump motor 24.
  • the control device 38 receives an instruction from a user of the truck to rotate the load receiving means 10, it controls the hydraulic motor 24 according to the aforementioned timing.
  • the controlled by the control device 38 predetermined time profile of the pump motor speed is schematically in FIG. 4 represented by the solid line.
  • the pump motor 24 is raised to a first speed n 1
  • the in FIG. 3a corresponds to the state shown
  • the speed of the pump motor 24 is increased to a second speed value n 2 , up to a time t b
  • the engine speed is further increased according to a predetermined control characteristic up to a value n 3 and at time t b back to the speed value n 4 decreased.
  • the time t b corresponds to the in FIG. 3b shown state.
  • the speed of the pump motor 24 is again reduced in accordance with a predetermined characteristic until the time t c , this time the in Figure 3c shown state corresponds.
  • the pump motor 24 is again at the speed n 1 operated until the time t d of the in 3d figure shown state is reached, whereupon the combined rotational-thrust movement of the load-receiving means 10 is completed.
  • the second valve assembly 30 is adapted to distribute the hydraulic oil such that the speed v Dr of the rotational movement of the load receiving means 10 of in FIG. 4 dotted line corresponds, while the speed v Sch of the pushing movement of the load receiving means 10 corresponds to the dashed line.
  • This is achieved by supplying only the second hydraulic element 34 at a pump speed which corresponds to an engine speed of a maximum value of n 1 , and thus only causing a rotational movement of the load receiving means 10. If the engine speed is increased beyond the value n 1 , as in FIG.
  • FIG. 5a a state is shown in which, although the rotational movement of the lifting device 10 is set in motion, but not the thrust movement also provided. This may be the case when the pressure applied to the second valve assembly 30 pressure does not reach the threshold above which the thrust motion is initiated, and thus the entire hydraulic pressure is used only for rotation of the load receiving means 10. As in FIG. 5a illustrated, it may thus come to collision of the load 20 with the high shelves 1.
  • FIG. 5b Finally, a case is shown in which the pushing movement of the lifting device 10 has indeed started, but has been carried out too slowly. This case may occur if the hydraulic pressure dropping at the second valve arrangement 30 is indeed above the threshold value, but is still less between the times t a and t c than the actually intended value. In the in FIG. 5b Thus, the pushing movement ends before its actually intended end point, while the rotational movement proceeds as intended, and thus again a collision of the load 20 with the shelf 1 can occur.
  • the control device 38 is set up to adjust or readjust the rotational speed of the pump motor 24 during operation in response to the temperature data of the sensors 36a and 36b according to a predetermined relationship.
  • the speed value n 3 per 10 ° heating of the pump motor 24 can be increased by a certain percentage, which in turn also affects the increase in speed between the times t a and t b . This measure compensates for the increasing slippage of the hydraulic system and ensures the intended implementation of the combined rotational-thrust movement of the load receiving means 10.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (10)

  1. Procédé pour commander un mouvement rotatif de poussée combiné d'un accessoire de manutention de charge (10) d'un chariot de manutention, plus particulièrement d'un gerbeur tri-directionnel,
    dans lequel le mouvement rotatif de poussée comprend un mouvement rotatif de l'accessoire de manutention de charge (10) autour d'un axe rotatif (D) à un angle de 180° et un mouvement de poussée de l'axe rotatif (D) le long d'une section de poussée (S) sur une distance prédéfinie ;
    dans lequel non seulement le mouvement rotatif mais aussi le mouvement de poussée sont provoqués au moyen d'éléments hydrauliques respectifs (32, 34), lesquels sont alimentés en liquide hydraulique par une pompe hydraulique individuelle (22), laquelle est actionnée par un moteur de pompe affecté, et
    dans lequel une caractéristique de performance de la pompe hydraulique (22) pendant le mouvement rotatif de poussée est commandée selon une progression temporelle prédéterminée ;
    dans lequel le chariot de manutention comprend un dispositif formant soupape (30), lequel est agencé afin d'être actionné de manière telle que
    - au-dessous d'une valeur seuil de la pression hydraulique fournie par la pompe hydraulique (22) est uniquement provoqué le mouvement rotatif de l'accessoire de manutention de charge (10), tandis que
    - au-dessus de la valeur seuil sont provoqués non seulement le mouvement rotatif mais aussi le mouvement de poussée,
    caractérisé en ce que des moyens formant capteurs (36a, 36b) sont prévus, lesquels détectent une température du moteur de pompe (24) ou / et de la pompe hydraulique (22), et
    la progression temporelle prédéterminée de la caractéristique de performance de la pompe hydraulique (22) est adaptée pendant le mouvement rotatif de poussée en fonction de la température détectée par les moyens formant capteurs (36a, 36b) du moteur de pompe (24) ou / et de la pompe (22) selon un rapport prédéterminé,
    pour corriger un écart entre un rapport prévu des vitesses du mouvement rotatif et de poussée de l'accessoire de manutention de charge (10) et un rapport effectif des vitesses du mouvement rotatif et de poussée de l'accessoire de manutention de charge (10) .
  2. Procédé selon la revendication 1, dans lequel au-dessus de la valeur seuil, le mouvement rotatif s'effectue avec une vitesse de rotation (VDrmax) essentiellement constante, correspondant à la valeur seuil.
  3. Procédé selon l'une des revendications 1 ou 2, dans lequel la caractéristique de performance est une vitesse de rotation de la pompe hydraulique (22) .
  4. Procédé selon l'une des revendications 1 à 3, dans lequel le rapport prédéterminé est un rapport linéaire.
  5. Procédé selon l'une des revendications 1 à 4, dans lequel la caractéristique de performance est commandée de manière telle que le mouvement rotatif de poussée comprend les étapes suivantes :
    a) une rotation unique de l'accessoire de manutention de charge (10) jusqu'à une charge (20), portée par l'accessoire de manutention de charge, en projection sur la section de poussée (S) atteint une première extension maximale ;
    b) une rotation simultanée de l'accessoire de manutention de charge (10) et un déplacement de l'axe rotatif (D) jusqu'à la charge (20) en projection sur la section de poussée (S) atteint une deuxième extension maximale ;
    c) une rotation unique de l'accessoire de manutention de charge jusqu'à l'angle de rotation total parcouru s'élève à 180°.
  6. Dispositif pour commander un mouvement rotatif de poussée combiné d'un accessoire de manutention de charge (10) d'un chariot de manutention, plus particulièrement d'un gerbeur tri-directionnel, dans lequel le chariot de manutention comprend :
    un accessoire de manutention de charge (10), lequel est agencé de manière telle qu'il est rotatif autour d'un axe rotatif (D), dans lequel l'axe rotatif (D) peut être déplacé le long d'une section de poussée (S) ;
    un premier élément hydraulique (32), lequel est agencé pour pouvoir provoquer le mouvement de poussée de l'axe rotatif (D) ;
    un deuxième élément hydraulique (34), lequel est agencé pour pouvoir provoquer le mouvement rotatif de l'accessoire de manutention de charge (10) ;
    une pompe hydraulique (22), laquelle est actionnée par un moteur de pompe affecté (24), et laquelle est agencée pour fournir, en fonctionnement, une pression hydraulique et alimenter en liquide hydraulique le premier et le deuxième élément hydraulique (32, 34) ;
    un dispositif de commande (38), lequel est agencé pour commander une caractéristique de performance de la pompe hydraulique (22) pendant le mouvement rotatif de poussée selon une progression temporelle prédéterminée ;
    un dispositif formant soupape (30), lequel est agencé pour
    - au-dessous d'une valeur seuil de la caractéristique de performance de la pompe hydraulique (22) alimenter en liquide hydraulique uniquement le deuxième élément hydraulique (34), ce par quoi le mouvement rotatif de l'accessoire de manutention de charge (10) est provoqué par une vitesse de rotation (VDr) dépendante de la caractéristique de performance, de même
    - au-dessus de la valeur de seuil, pour alimenter en liquide hydraulique non seulement le premier (32) mais aussi le deuxième (34) élément hydraulique, ce par quoi non seulement le mouvement rotatif mais aussi le mouvement de poussée sont provoqués ;
    des moyens formant capteurs (36a, 36b), lesquels détectent une température du moteur de pompe (24) ou / et de la pompe hydraulique (22),
    caractérisé en ce que le dispositif de commande (38) est, en outre, agencé pour adapter, selon un rapport prédéterminé, la progression temporelle prédéterminée de la caractéristique de performance de la pompe hydraulique (22) pendant le mouvement rotatif de poussée en fonction de la température détectée par les moyens formant capteurs (36a, 36b),
    pour corriger un écart entre un rapport prévu des vitesses du mouvement rotatif et de poussée de l'accessoire de manutention de charge (10) et un rapport effectif des vitesses du mouvement rotatif et de poussée de l'accessoire de manutention de charge (10) .
  7. Dispositif selon la revendication 6, dans lequel au-dessus de la valeur seuil, le mouvement rotatif s'effectue avec une vitesse de rotation (VDrmax) essentiellement constante, correspondant à la valeur seuil.
  8. Dispositif selon l'une des revendications 6 ou 7, dans lequel la caractéristique de performance est une vitesse de rotation de la pompe hydraulique (22).
  9. Dispositif selon l'une des revendications 6 à 8, dans lequel le rapport prédéterminé est un rapport linéaire.
  10. Chariot de manutention, plus particulièrement gerbeur tri-directionnel, comprenant le dispositif selon l'une des revendications 6 à 9.
EP15181758.2A 2014-08-22 2015-08-20 Procede de commande d'un mouvement combine de rotation/de poussee Active EP2987762B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014216736.1A DE102014216736A1 (de) 2014-08-22 2014-08-22 Verfahren zum Steuern einer kombinierten Dreh-Schub-Bewegung

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EP2987762A1 EP2987762A1 (fr) 2016-02-24
EP2987762B1 true EP2987762B1 (fr) 2019-06-12

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US (1) US9919907B2 (fr)
EP (1) EP2987762B1 (fr)
DE (1) DE102014216736A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102017106390A1 (de) 2017-03-24 2018-09-27 Still Gmbh Verfahren zum Betrieb einer Hydraulikanlage eines Flurförderzeugs

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DE3017456C2 (de) * 1980-05-07 1986-08-28 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Frei verfahrbarer Hochregalstapler
DE3048471C2 (de) * 1980-12-22 1986-09-18 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Lastaufnahmevorrichtung für einen Hublader
US5143180A (en) 1989-02-17 1992-09-01 Harper Clark N Load lift truck
DE29802498U1 (de) 1998-02-13 1998-04-16 Heilmeier & Weinlein Staplersteuerung
JP2000289977A (ja) 1999-03-31 2000-10-17 Tadano Ltd 油圧作業機におけるエンジンアクセル制限装置
DE102004042336A1 (de) 2004-09-01 2006-03-02 Jungheinrich Ag Flurförderzeug mit starr mit Lastverlagerungsvorrichtung verbundenem Zylinder
DE102007062491A1 (de) * 2007-12-22 2009-06-25 Linde Material Handling Gmbh Hubeinrichtung mit einem Steuerventil, einer elektronischen Hubsteuereinheit und einem Temperatursensor
KR20100023398A (ko) 2008-08-22 2010-03-04 두산인프라코어 주식회사 전동 지게차의 유압모터 제어 시스템
US8234860B2 (en) * 2008-08-29 2012-08-07 Caterpillar Inc. Machine control system having hydraulic warmup procedure
JP2013221527A (ja) 2012-04-12 2013-10-28 Tadano Ltd 油圧駆動作業機

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Publication number Publication date
US9919907B2 (en) 2018-03-20
EP2987762A1 (fr) 2016-02-24
US20160052760A1 (en) 2016-02-25
DE102014216736A1 (de) 2016-02-25

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