EP3033203A1 - Système d'application pourvu d'un dispositif de manipulation guidé par câble et destiné à déplacer un appareil d'application - Google Patents

Système d'application pourvu d'un dispositif de manipulation guidé par câble et destiné à déplacer un appareil d'application

Info

Publication number
EP3033203A1
EP3033203A1 EP14750699.2A EP14750699A EP3033203A1 EP 3033203 A1 EP3033203 A1 EP 3033203A1 EP 14750699 A EP14750699 A EP 14750699A EP 3033203 A1 EP3033203 A1 EP 3033203A1
Authority
EP
European Patent Office
Prior art keywords
application
application system
application device
movement unit
movement
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.)
Withdrawn
Application number
EP14750699.2A
Other languages
German (de)
English (en)
Inventor
Mark V. Dion
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.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Duerr Systems AG filed Critical Duerr Systems AG
Publication of EP3033203A1 publication Critical patent/EP3033203A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0278—Arrangement or mounting of spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B16/00—Spray booths
    • B05B16/40—Construction elements specially adapted therefor, e.g. floors, walls or ceilings

Definitions

  • the invention relates to an application system, preferably for coating large-area objects, eg. As passenger or commercial aircraft, boats, yachts, trains, rotor blades for
  • Exterior surfaces of passenger or commercial aircraft are usually manually painted by a variety of workers.
  • a disadvantage of the manual painting by workers is that the coating quality, in particular the paint thickness, varies relatively widely and thus at different
  • An object of the invention is to provide an improved application system, in particular for processing large-area objects. This object can be achieved with the features of the main claim. Advantageous developments can be taken from the subclaims and the following description.
  • the invention provides an application system, preferably for coating, expediently the outside of large-area objects (eg, transport or passenger aircraft, boats, yachts, trains, rotor blades for wind turbines, etc.) and / or for applying an adhesive material to at least one joint Large objects to be connected (eg half-shells and / or webs for the production of rotor blades for wind turbines, etc.).
  • the large-scale objects can span or length of z. B. greater than 10m, 20m, 30m, 40m, 50m, 100m or even greater than 120m have.
  • the application system can also be used to B. sealing material to apply in particular several meters long sealing points. The sealing points can z. B. be longer than 10m, 20m, 30m, 40m, 50m, 100m or even longer than 120m.
  • the application system has at least one application device.
  • the application device comprises an application device for applying an application agent (eg a paint, an adhesive material and / or a sealing material) to the object to be processed.
  • an application agent eg a paint, an adhesive material and / or a sealing material
  • the application device can thus represent the practically practically entire application device .
  • the application system is characterized in particular in that it comprises at least one rope-guided handling device (eg rope robot, parallel rope robot, rope manipulator, etc.).
  • the cable-guided handling device is expediently used to support the device by means of a support structure. To carry cation device and to move the application device relative to the object to be processed.
  • the application device comprises a movement unit, on which the application device is mounted, in order to be movable by the movement unit expediently in addition to the degrees of freedom of movement of the handling device.
  • the movement unit can have at least one or at least two axes of movement about which it can be rotated and / or pivoted.
  • the movement unit preferably comprises at least two movement axes that are expediently oriented substantially orthogonally to one another.
  • the movement unit is preferably designed as Gelenkarmkonstrutation preferably having at least two axes of movement.
  • the movement unit in particular the Gelenkarmkonstrutation preferably protrudes from the support structure down.
  • the application device comprises at least one drive unit for moving the movement unit about thelevsachsein).
  • the drive unit can, for. Example, as an electric servo motor or pneumatic motor (eg., Air motor), in particular with position or position feedback function in order to allow appropriate control thereof.
  • the application device may comprise a first drive unit for moving the movement unit about the one movement axis (eg a rotation axis) and a second drive unit for moving the movement unit about the other movement axis (eg a pivot axis).
  • the handling device may comprise at least three loading units for loading, in particular for catching and dispensing and / or for changing the effective length of at least three ropes of the handling device.
  • at least one of the loading units is designed as a winch for winding and unwinding and / or for changing the effective length of a rope of the handling device.
  • the ropes are suitably connected on the one hand to the loading units and on the other hand to the support structure.
  • At least one of the loading units may comprise an electric servo motor and / or a gear, suitably a reduction gear.
  • the servo motor may be provided with a position or position feedback function to enable it to be controlled.
  • At least one of the loading units is arranged stationary and / or at least one of the loading units z.
  • B. is movably mounted along a rail construction.
  • the rail construction may be circumferential (eg oval, circular, etc.) or finite (eg straight, curved,
  • the rail construction can z. B. be carried by ground-mounted support elements or z. B. on a ceiling construction to expediently extend over the object.
  • the application device can, for. B. include a container for receiving the application agent and / or a container for receiving a solvent or cleaning agent for rinsing or cleaning the application device.
  • the one or more containers can z. B. to the support structure or be described below housing be mounted.
  • the application device can also z. B. a pump, in particular a metering pump, for conveying the application agent from the container for receiving the application agent to the application device.
  • a pump in particular a metering pump
  • the application device may moreover comprise a housing which is connected to a line arrangement comprising one or more line elements, via which the interior of the housing can be provided with an overpressure and / or via which the interior of the housing is flushed with a gas, preferably air can.
  • the housing thus preferably represents a gas-flushable pressurized enclosure, which is particularly necessary for use in potentially explosive areas.
  • the application device further z. B. may have a sensor for detecting the pressure in the housing, which is useful to determine whether a sufficient pressure in the housing is present or not.
  • At least one drive unit for moving the movement unit can be accommodated in the housing.
  • the functional equipment for the operation of the application device and / or the movement adjustment is also provided in the housing. housed.
  • the functional equipment includes in particular one or more, z. As electrical and / or electro-pneumatic control devices.
  • the functional equipment z. B. have one or more transformers and / or generators for the operation of the movement unit and / or the application device.
  • the housing can, for. At least one of the following: at least one pneumatic air signal solenoid (solenoid valve, etc.), at least one electro-pneumatic transducer (converter, signal converter, etc.), at least one air motor or electric servomotor for operation the movement unit, at least one sensor for operating the overpressure function in the housing, at least one transformer and at least one generator for providing adequate energy for the associated devices, at least one sensor for monitoring or detecting the feedback of the devices equipped with a feedback function , Connection terminals, relays, remote input, output and analog modules, power supplies, at least one sensor for monitoring or detecting and optionally controlling the position and / or orientation of the application device.
  • at least one pneumatic air signal solenoid solenoid valve, etc.
  • at least one electro-pneumatic transducer converter, signal converter, etc.
  • at least one air motor or electric servomotor for operation the movement unit
  • at least one sensor for operating the overpressure function in the housing
  • at least one transformer and at least one generator for providing adequate
  • the application system comprises functional engineering, which is arranged spatially separated from the application device, in particular is not supported by the support structure, and via a z.
  • functional engineering which is arranged spatially separated from the application device, in particular is not supported by the support structure, and via a z.
  • flexible line assembly is connected to the application device, in particular directly or indirectly with the application device and / or the movement unit.
  • the line arrangement can have at least one line element.
  • the conduit arrangement comprises several, suitably different line functions having conductive elements.
  • the functional technology preferably serves the operation of the application device and / or the movement unit and is preferably on the line arrangement and z.
  • the functional technique is preferably arranged higher than the support structure and the application device.
  • the line arrangement is preferably suspended from above to the application device down.
  • the functional technology can be stationary or at least partially arranged to be movable with the application device, in particular the application device.
  • the functional engineering can z. B. on a ceiling construction or the rail construction or a separate rail construction to be mounted.
  • the line arrangement preferably comprises at least one line element for producing the overpressure in the housing and / or for purge gas of the internal volume of the housing.
  • the functional engineering has the necessary apparatus.
  • the line arrangement preferably comprises an air line for supplying air, in particular compressed air to the application device.
  • the functional engineering has the necessary apparatus.
  • the line arrangement preferably comprises a power supply line for supplying energy for the operation of the application device and / or the movement unit.
  • the functional engineering has the necessary apparatus.
  • the line arrangement can have a power supply line for supplying electrical energy and / or a power supply line for supplying energy in the form of air, in particular compressed air.
  • the conduit arrangement preferably comprises a z. B. serial control line, are transmitted via the control information for the operation of the application device and / or the movement unit.
  • the control information may be provided by a programmable control unit (eg, a processor) included in the functional engineering.
  • About the control line can also be appropriate
  • control line can thus be a bi-directional control line.
  • a programmable controller and a z. B. serial preferably arranged on the housing interface are present and the Control unit with the serial interface can be connected via a radio link, for the transmission of control information for the application device and / or the movement unit. Via the radio connection, application device-specific and / or movement unit-specific information can also be transmitted to the control unit.
  • wireless connection in particular wireless connection or communication techniques are included.
  • the application device and / or the movement unit can thus be controlled by the control unit via a cable or radio link.
  • the application system preferably comprises a height detection means, which is movable along with the support structure in order to be able to determine the height of the support structure and / or the parts carried by the support structure (eg the application device).
  • the application system comprises a laser tracker device or an indoor location system (eg so-called "indoor GPS” (Global Positioning System)) for detecting the position and / or orientation of the application device .
  • the indoor positioning system works is preferably based transmitter-receiver.
  • the laser tracker device and the indoor positioning system that can be returned rely on known technologies ⁇ .
  • the components encompassed by the application device are preferably carried by the support structure and carried along appropriately.
  • the application device the movement unit, at least one drive unit. tion, the container for receiving the application agent, the container for receiving the solution or unification fluid, the pump, the functional equipment and / or the height detection means.
  • the application device is preferably an atomizer, z.
  • a rotary atomizer or bell cup atomizer expedient with or without electrostatic paint charging.
  • the atomizer can z. B. Lenkluftdüsen for delivery of
  • the nebulizer may also be an airless or airmix nebulizer or air nebulizer.
  • the application device can also be designed so that it is suitable for overspray-free paint application, such. B. in DE 10 2010 019 612 discloses.
  • the application system is preferably designed in such a way that the application device can be positioned with a deviation of a maximum of ⁇ 24 mm, ⁇ 12 mm, ⁇ 8 mm, ⁇ 4 mm or even ⁇ 2.5 mm from the target position.
  • control used in the context of the invention is to be understood in general terms and, in particular, may also expediently comprise a "regulation”.
  • FIG. 1 shows a plan view of an application system according to an embodiment of the invention
  • FIG. 2 shows a detailed view of the application system from FIG. 1,
  • FIG. 3 shows a side view of an application device according to an embodiment of the invention
  • FIG. 4 shows a side view of the application device from FIG. 3, which is carried and guided by an application system according to FIG.
  • FIG. 5 shows a plan view of an application system according to another embodiment of the invention.
  • FIG. 6 shows a plan view of an application system according to yet another embodiment of the invention
  • FIG. 7 shows a front view of the application system from FIG. 6,
  • FIG. 8 shows a front view of an application system according to an embodiment of the invention.
  • the embodiments shown in the figures partially agree, with similar or identical parts being given the same reference numerals, and for the explanation of which reference is made to the description of the other embodiments in order to avoid repetition.
  • FIG. 1 shows a plan view of an application system 100 according to an embodiment of the invention.
  • the application system 100 is used for coating, in particular painting the surface of a large-scale object in the form of a transport or passenger aircraft 50.
  • Passenger aircraft has a length and width of over 50m.
  • the application system 100 comprises two application devices 10 and two cable-guided handling devices 20, in particular two cable robots or cable manipulators.
  • the application devices 10 and the handling devices 20 are expediently identical, so that the following description relates only to an application device 10 and a handling device 20.
  • the application device 10 comprises in particular an application device 11 for applying the application agent, in particular paint on the object 50.
  • the application device 11 is designed as an atomizer, in particular rotary atomizer.
  • the handling device 20 serves, by means of a z. B. in Figures 2 and 4 to see support structure 21, the Appli- Cation device 10 to carry and carry and the application device 11 to move relative to the object 50, so that the application device 11 can coat the object 50.
  • support structure used in the context of the invention is to be understood generally and includes, for example, platforms, plates, grid or frame structures, fastening means and all other structures that are suitable, the application device 10, in particular the Ap ratesge- device 11 directly or indirectly wear or hold.
  • the handling device 20 comprises four loading units 22 for loading, in particular for loading and unloading and thus for changing the effective length of four ropes 23 of the handling device 20.
  • the four ropes 23 are connected on the one hand to the support structure 21 and on the other hand to the loading units 22.
  • the loading units 22 are designed as servomotor driven winches with position or position feedback function.
  • the application system 100 further comprises a laser tracker device, not shown, by means of which the position and optionally the orientation of the application device 11 can be detected.
  • FIG. 2 shows a schematic detail view of the application device 10 from FIG. 1.
  • FIG. 2 shows, in particular, that the application device 10 comprises a movement unit 12 on which the application device 11 is mounted and which the application device 11 in addition to the degrees of freedom of movement of the handling device 20 ⁇ be moved.
  • the movement unit 12 is designed as an articulated arm construction with two axes of movement.
  • the movement movement projects for purposes of illustration. unit 12 laterally from the support structure 21 from.
  • the moving unit 12 projects from the support structure 21 downwards, such. B. shown in Figures 3 and 4.
  • FIG. 3 shows a more detailed view of the application device 10 virtually detached from the handling device 20, while FIG. 4 shows the application device 10 in a state mounted on the support structure 21.
  • the moving unit 12 comprises two axes of movement Bl, B2 around which it can be moved.
  • the movement axis Bl is designed as a rotation axis, while the movement axis B2 is designed as a pivot axis.
  • the axes of movement Bl and B2 are expediently aligned substantially at right angles to each other.
  • the application device 10 further comprises a drive unit AI for moving the movement unit 12 about the movement axis Bl and a drive unit A2 for moving the movement unit 12 about the movement axis B2.
  • the drive units AI and A2 are housed in a housing 15.
  • the internal volume of the housing 15 can be flushed with gas (air) and provided with an overpressure via a schematically represented connection point 16 and a line arrangement not visible in FIGS. 3 and 4, thereby ensuring that the application device 10 is also used in potentially explosive areas can be.
  • the housing 15 thus represents an air-flushable overpressure encapsulation.
  • FIG. 3 also shows a schematic of a
  • Gas distributor and a sensor called a gas purge sensor.
  • the gas distributor serves to ensure a quasi-uniform overpressure in the housing 15, while the sensor for detecting or monitoring the overpressure in the Housing 15 is used to thus determine whether a sufficient overpressure is guaranteed or not.
  • connection point 16 may further comprise a serial interface via which the application device 11 and the movement unit 12 can be controlled by an external programmable control unit.
  • the application device 10 further comprises a container 13 for receiving the application agent and a container 14th for receiving a solvent or cleaning agent for rinsing or cleaning the application device 11 comprises.
  • the containers 13 and 14 are preferably mounted externally to the housing 15.
  • the application device 10 may further include a pump, not shown, in particular a metering pump, for conveying the application agent from the container
  • FIG. 4 shows that the components encompassed by the application device 10, ie the application device 11, the movement unit 12, including the drive units AI and A2, the containers 13 and 14, the housing 15 and the functional equipment are carried by the support structure 21 and ⁇ be led.
  • FIG. 5 shows an application system 100 according to another embodiment of the invention.
  • the loading units 22 are movably mounted on a substantially rectangular or oval rail construction 30.
  • the rail construction 30 is executed circumferentially, so that the loading units 22 could at least theoretically move more than 360 ° along the rail construction 30.
  • the rail construction 30 may also be finite and thus z.
  • the rail construction 30 may, for. B. supported on the ground, not shown supporting elements (eg., Towers) or be mounted on a ceiling construction so as to extend appropriately over the object 50 can.
  • the application system 100 to be seen in FIG. 5 is provided in duplicate in order to be able to coat the entire object 50.
  • FIG. 6 shows an application system 100 according to yet another embodiment of the invention.
  • a special feature of the embodiment shown in FIG. 6 is that four application devices 10 and correspondingly four cable-guided handling devices 20 are provided in order to coat the object 50.
  • the loading units 22 are arranged stationary.
  • FIG. 7 shows a front view of an application system 100 according to an embodiment of the invention.
  • FIG. 8 shows a front view of an application system 100 according to an embodiment of the invention.
  • Reference numeral 40 schematically indicates functional technology.
  • the functional technology 40 is arranged spatially separated from the application device 10 and the support structure 21 and is not supported by the support structure 21.
  • the functional technique 40 is stationary, z. B. on a ceiling construction or a framework.
  • the functional technology 40 is operatively connected to the application device 11 and the movement unit 12 via a suitably flexible line arrangement 41 and preferably a connection point 16 arranged on or in the housing 15 (see FIG. 3).
  • the line arrangement 41 comprises a plurality of different line functions having line elements.
  • the line arrangement 41- is suspended from top to bottom to the application device 10.
  • the line arrangement 41 is equipped with a device 42 which serves to change the effective length of the line arrangement 41.
  • the functional engineering 40 can be designed to be movable along at least in sections with the application device 10, for B. on the rail construction 30 or a separate Verfahrkonstrukom.
  • the device 42 is preferably a spring-loaded winch to retract the line assembly 41 with spring loading.
  • the line arrangement 41 comprises at least one line element for producing the overpressure in the housing 15 and for the air flushing of the interior of the housing 15.
  • the line arrangement 41 further comprises an air line for supplying air to the application device 11, for. B. to Lenk Kunststoffdüsen the application device 11th
  • the conduit assembly 41 further includes one or more power supply lines for supplying energy, e.g. As electrical energy or compressed air, for the operation of the application device 11 and the movement unit 12th
  • the functional engineering 40 may further include a control unit for controlling the application device 11 and the movement unit 12.
  • the line arrangement 41 then comprises a serial control line, via which control information provided by the control unit is transmitted to the application device 11 and the movement unit 12.
  • the control of the application device 11 and the movement unit 12 by means of the control unit is wire-based.
  • the serial interface is preferably arranged on or in the housing 15.
  • the term "controlling" is to be understood generally and may conveniently include “rules”.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Spray Control Apparatus (AREA)
  • Coating Apparatus (AREA)

Abstract

L'invention concerne un système d'application (100), destiné de préférence à l'application d'un revêtement sur des objets de grande surface ou à l'application d'un matériau adhésif sur au moins un point de jonction de grands objets à relier. Ledit système d'application (100) comprend au moins un dispositif d'application (10) qui comporte un appareil d'application (11) destiné à appliquer le moyen d'application sur un objet (50). Ce système d'application (100) se caractérise en particulier par le fait qu'il comprend au moins un dispositif de manipulation (20) guidé par câble, par exemple un robot câblé ou un manipulateur câblé, qui sert, au moyen d'une structure de support (21), à porter le dispositif d'application (10) et à déplacer l'appareil d'application (11) par rapport à l'objet (50).
EP14750699.2A 2013-08-13 2014-08-13 Système d'application pourvu d'un dispositif de manipulation guidé par câble et destiné à déplacer un appareil d'application Withdrawn EP3033203A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201310013530 DE102013013530A1 (de) 2013-08-13 2013-08-13 Applikationssystem mit seilgeführter Handhabungsvorrichtung zum Bewegen eines Applikationsgeräts
PCT/EP2014/002231 WO2015036083A1 (fr) 2013-08-13 2014-08-13 Système d'application pourvu d'un dispositif de manipulation guidé par câble et destiné à déplacer un appareil d'application

Publications (1)

Publication Number Publication Date
EP3033203A1 true EP3033203A1 (fr) 2016-06-22

Family

ID=51352489

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14750699.2A Withdrawn EP3033203A1 (fr) 2013-08-13 2014-08-13 Système d'application pourvu d'un dispositif de manipulation guidé par câble et destiné à déplacer un appareil d'application

Country Status (6)

Country Link
EP (1) EP3033203A1 (fr)
CN (1) CN105473288B (fr)
BR (1) BR112016000841B1 (fr)
DE (1) DE102013013530A1 (fr)
RU (1) RU2668923C2 (fr)
WO (1) WO2015036083A1 (fr)

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CN113352311B (zh) * 2021-06-18 2022-01-07 哈尔滨工业大学 一种应用于大空间多连杆设备操控的绳驱控制方法
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CN105473288B (zh) 2020-01-10
RU2016108466A (ru) 2017-09-18
BR112016000841A2 (fr) 2017-07-25
RU2668923C2 (ru) 2018-10-04
CN105473288A (zh) 2016-04-06
WO2015036083A1 (fr) 2015-03-19
BR112016000841B1 (pt) 2022-07-19

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