EP3127625B1 - Procédé de formage de tube en acier et dispositif de formage utilisant une flexion en trois points - Google Patents

Procédé de formage de tube en acier et dispositif de formage utilisant une flexion en trois points Download PDF

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Publication number
EP3127625B1
EP3127625B1 EP15773059.9A EP15773059A EP3127625B1 EP 3127625 B1 EP3127625 B1 EP 3127625B1 EP 15773059 A EP15773059 A EP 15773059A EP 3127625 B1 EP3127625 B1 EP 3127625B1
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EP
European Patent Office
Prior art keywords
forming
steel plate
press
steel pipe
bending
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EP15773059.9A
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German (de)
English (en)
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EP3127625A1 (fr
EP3127625A4 (fr
Inventor
Masayuki Horie
Yukuya TAMURA
Toshihiro Miwa
Tomomi Nishimura
Tomizo Ushio
Kenji TANIICHI
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JFE Steel Corp
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JFE Steel Corp
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Publication of EP3127625A4 publication Critical patent/EP3127625A4/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
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/01—Bending sheet metal along straight lines, e.g. to form simple curves between rams and anvils or abutments
    • 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
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/01—Bending sheet metal along straight lines, e.g. to form simple curves between rams and anvils or abutments
    • B21D5/015—Bending sheet metal along straight lines, e.g. to form simple curves between rams and anvils or abutments for making tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C37/00—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape
    • B21C37/06—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape of tubes or metal hoses; Combined procedures for making tubes, e.g. for making multi-wall tubes
    • B21C37/08—Making tubes with welded or soldered seams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C37/00—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape
    • B21C37/06—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape of tubes or metal hoses; Combined procedures for making tubes, e.g. for making multi-wall tubes
    • B21C37/08—Making tubes with welded or soldered seams
    • B21C37/0815—Making tubes with welded or soldered seams without continuous longitudinal movement of the sheet during the bending operation

Definitions

  • the present invention relates to a method for forming a steel pipe used for a line pipe or the like, and particularly, to a method and an apparatus for forming a steel pipe by performing three-point bending-press forming a plurality of times in a steel plate as raw material.
  • a steel pipe having high roundness formed by press-forming a steel plate as raw material having a predetermined width, length and thickness into a U-shape, press-forming it into an O-shape, welding a butted part to make a steel pipe as raw material, and enlarging (so-called pipe expanding) the diameter of the pipe, i.e., a so-called UOE steel pipe has been widely used.
  • a so-called UOE steel pipe has been widely used.
  • a heavy wall-thickness steel pipe having high strength and a large diameter has been used. Since there is a need for great press force to press-form the steel plate into a U-shape and an O-shape in a method for producing the UOE steel pipe, a producing range has been limited or productivity has significantly decreased in the conventional producing equipment.
  • a press-bending type steel pipe producing method which comprises applying bending (so-called edge bending) to both width end portions of the steel plate, forming the steel plate into a substantially cylindrical shape by multiple bending-press, welding the butted part, expanding the pipe for correcting the shape to form a steel pipe.
  • Patent Document 1 discloses a method wherein one plate width end portion is pressed as a preceding stage, the plate width central portion is pressed, the other plate width end portion is pressed as a succeeding stage, and then the plate width central portion is pressed.
  • WO 2014/024287 A1 and Patent Document 2 discloses a method comprising performing the three steps press-forming from the one width end portion of the steel plate toward the width center, significantly moving the steel plate to the other side, performing the three steps press-forming from the other end portion toward the center, forming the steel plate in a shape similar to a round shape while leaving the central portion, and performing the press-forming on the remaining central portion.
  • Patent Document 3 discloses a method of obtaining the semi-finished pipe products by sequentially repeating the process of performing the bending forming by three-points of the upper and lower dies, feeding the plate material in the width direction by a constant rate feeding device, and applying the bending to a position different from the position formed earlier.
  • Each of the methods disclosed in Patent Documents 1-3 adopts a method of forming the one half of the steel plate as raw material into a substantially semicircular shape by performing a bending-press from one plate width end portion of the steel plate as raw material toward the center while leaving the last portion to be bending-pressed and performing the bending-press forming from the other plate width end portion.
  • this method when starting the bending-press forming from the other plate width end portion, the one half portion previously formed in a substantially semicircular shape is largely lifted, and its height may reach about 1.5 times the product steel pipe size (outer diameter).
  • the invention has been made in view of the above problems inherent to the conventional techniques, and is to propose a method for forming a steel pipe enable to expand the producible maximum diameter of the steel pipe, without modifying the existing pressing machine in the production of a steel pipe through a three-point bending-press method (press-bending method).
  • the invention is a method for forming a steel pipe for forming a steel plate as raw material into a substantially cylindrical shape, by first half forming which performs three-point bending-press a plurality of times from one plate width end portion of the steel plate as raw material toward the plate width center, second half forming which performs the three-point bending-press a plurality of times from the other plate width end portion toward the plate width center, and final forming which performs the three-point bending-press on the plate width central portion, wherein the first half forming is divided into preceding forming performed before the second half forming and a succeeding forming performed after the second half forming, and the ratio of the forming range in the preceding forming to the steel plate width is set in a range of more than 0.17 to less than 0.46.
  • the method of forming the steel pipe according to the invention is characterized in that a ratio of the forming range in the preceding forming of the first half forming to the steel plate width is set in a range of 0.21 to 0.42.
  • the method of forming the steel pipe according to the invention is characterized in that the steel plate as raw material is applied with edge bending to both end portions of the plate width.
  • the invention provides a forming apparatus of a steel pipe used in the any one of the above forming method of the steel pipe, characterized in that a distance between a top portion of a punch supporter and a top portion of a lower die when the punch is lowered to the lowest position during press is not more than 1.4 times of the outer diameter of the steel pipe to be produced.
  • the producible maximum outer diameter of the steel pipe can be enlarged without making an improvement to the existing pressing machine.
  • the invention since it is possible to keep the highest reaching position to which the steel plate is lifted during the press-forming to a lower level, there are merits such that it is possible to restrain the height of the pressing machine used for forming or to enhance the flexibility of design, and in addition, it is possible to reduce the capital investment, such as being able to lower the height of the building to install a pressing machine or to reduce the depth to dig into the floor.
  • the impact force at the time of falling of the steel plate is reduced, so that effects such as prevention of steel plate defect, prevention of the damage of pressing machine, reduction in impact noise and the like can be expected.
  • FIG. 1 schematically shows a forming method of a steel pipe through a press-bending method, and a direction perpendicular to a paper surface corresponds to a longitudinal direction of the steel plate as raw material, that is, a longitudinal direction of the steel pipe.
  • the steel pipe is formed by repeatedly performing the process of setting a steel plate as a material on a pair of lower dies disposed so as to be spaced apart from each other, performing the bending-press of the steel plate by lowering a punch by a driving device not shown, lifting the punch, feeding the steel plate in a plate width direction using a feeding device not shown, and thereafter, performing the next bending-press.
  • the punch has a punch head which contacts with the steel plate, and a punch supporter that connects the punch head and the driving device.
  • the punch head and the punch supporter may be directly connected to each other or may be connected to each other via a spacer therebetween.
  • the width of the punch supporter may be equal to the width of the punch head but is preferably smaller than the width of the punch head.
  • FIG. 1 shows an example of using a steel plate applied with edge bending to both width end portions of the steel plate as raw material. It is preferable to apply the edge bending from the viewpoint of suppressing the seam welded part from having an acute angle and improving the roundness, but it may not be applied.
  • a crimping press method disclosed in JP-A-H08-294727 , JP-A-S51-76158 or the like can be suitably used.
  • the bending-press and the steel plate feeding are repeated a plurality of times (b times) from the other plate width end portion of the steel plate as raw material toward the plate width center (from the portion B toward the portion C in FIG. 1 ), and the one side half of the steel plate as raw material (except the plate width central portion C of the steel plate) is formed into a substantially semicircular shape.
  • this forming process is hereinafter referred to as "second half forming".
  • the forming conditions such as the press times a, b, the bending angle and the steel plate feed length and the like are generally the same as those of the first half forming.
  • a material to be formed (steel plate) subjected to the first half forming and the second half forming has a shape such as a capital letter C of alphabet in which a flat portion remains in a portion of the plate width central portion C and the butted parts of both side end portions of the steel plate are open.
  • the flat portion C of the plate width central portion is subjected to a single bending-press, and the distance between the butted parts is made slightly wider than the width of the punch supporter.
  • this forming process is hereinafter referred to as "final forming”.
  • the formed steel plate is moved in the longitudinal direction and transferred to the outside of the pressing machine, the formed opening portion is pressed, closed and welded, and thereafter the pipe is expanded to make a product steel pipe.
  • FIGs. 2(a) and 2(b) show changes in steel plate shape of each press forming step associated with the progress of the press by a solid line and a dotted line, when both the press times a, b in the first half forming and the second half forming are five times in the forming method of the steel pipe by the conventional press-bending method shown in FIG. 1 . Further, an arrow shown by a dashed line indicates a change in highest position of the lifted steel plate at each press.
  • forming force is loaded to the material to be formed (steel plate) from above through the punch by a cylinder mechanism installed on the top portion of the pressing machine, and a driving mechanism such as a hydraulic cylinder, a hydraulic pump and a hydraulic tank or the like is installed as auxiliary equipment on the top portion of the pressing machine having the punch.
  • a driving mechanism such as a hydraulic cylinder, a hydraulic pump and a hydraulic tank or the like is installed as auxiliary equipment on the top portion of the pressing machine having the punch.
  • the forming force required for forming the steel pipe is increased as strength of the steel plate becomes higher and the thickness of the plate becomes larger.
  • the size of the auxiliary equipment is also increased proportionately.
  • the auxiliary equipment such as a driving mechanism disposed on the top portion of the pressing machine is inevitably increased to be liable to interfere with the steel plate.
  • the driving device connected at the upper end portion of the punch supporter is also lowered to the lowest position, and at the same time, the lifting of the steel plate becomes maximum. Accordingly, even when the punch is lowered to the lowest position, it is important to prevent the steel plate from interfering with the driving mechanism disposed on the top portion of the pressing machine.
  • the inventors have studied the relation among the press forming sequence, the shape of steel plate and the lifting height of the cases when the first half forming is divided into two parts of a preceding forming and a succeeding forming, when both the press times a, b in the first half forming and the second half forming are five times.
  • FIGs. 3(a) and 3(b) illustrate changes in steel plate shapes of each press of the first half succeeding forming and the second half forming and changes in highest height position to which the steel plate is lifted, when one press is performed in the preceding forming of the first half forming, five presses are performed in the second half forming, and then remaining four presses are performed in the first half succeeding forming.
  • FIGs. 4(a) and 4(b) illustrate such changes when two presses are performed in the preceding forming of the first half, five presses are performed in the second half forming, and then remaining three presses are performed in the first half succeeding forming.
  • FIGs. 6(a) and 6(b) illustrate such changes when four presses are performed in the preceding forming of the first half, the five presses are performed in the second half forming, and then remaining one press is performed in the first half succeeding forming.
  • (a) shows changes in the steel plate shape and changes in highest height position to which the steel plate is lifted in the second half forming
  • (b) illustrates such changes in the first half succeeding forming.
  • each of the solid lines of FIGs. 3(a) , 4(a) , 5(a) and 6(a) indicates a steel plate shape when performing the first press of the second half forming.
  • each of the solid lines of FIGs. 3(b) , 4(b) , 5(b) and 6(b) indicates the steel plate shape when performing the first press of the succeeding forming of the first half forming.
  • FIGs. 2(a) to 6(b) It can be seen from FIGs. 2(a) to 6(b) that the highest height position to which the steel plate is lifted varies by changing the number of pressings in the first half preceding forming. Therefore, drawings obtained by gathering changes in the highest height position to which the steel plate is lifted in FIGs. 2(a) to 6(b) in one drawing is FIGs. 7(a) and 7(b).
  • FIG. 7(a) represents the second half forming
  • FIG. 7(b) illustrates the first half succeeding forming.
  • the highest height position to which the steel plate is lifted is almost the same level as that of the case of the first half forming: 5 + 0.
  • the first half forming: 4 + 1 since the highest height position of the steel plate is closest to the pressing machine, there is a high risk of interference of the material to be formed (steel plate) with the pressing machine and the auxiliary equipment.
  • the second half forming it is in the case of the first half forming: 3 + 2, the first half forming: 2 + 3 and the first half forming: 1 + 4 that there is low risk of interference of the forming target material (steel plate) with the pressing machine.
  • the press-forming of the present invention it is preferable to perform the press a plurality of times in the first half forming by being divided into the preceding forming and the succeeding forming, thereby optimizing the number of pressings in the preceding forming.
  • the number of pressings is a matter which can be arbitrarily set.
  • the preferable press conditions are defined as a range in which bending deformation occurs by the press in the first half preceding forming (hereinafter, referred to as "preceding forming range").
  • the steel plate having a substantially cylindrical shape after the final press-forming is transferred to the outside of the pressing machine by moving the steel plate having the substantially cylindrical shape in its longitudinal direction.
  • a distance between pillars also referred to as "elevation guide” that support the upper structure of the pressing machine is required to be sufficiently wider than the width of the forming body of substantially cylindrical shape.
  • FIGs. 8(a) and 8(b) is illustrated the elevation guide distance, the position of the upper structure and the steel plate shape when the distance of the elevation guide is 1.4 times the outer diameter of the product steel pipe + 300 mm (maximum opening width of seam) so as to form a steel pipe having an outer diameter of 1219.2 mm.
  • the steel plate does not interfere with the upper structure as is clear from FIG. 8(a) , so that its plot is omitted.
  • the preceding forming range is represented by the ratio to the steel plate width
  • the maximum height of the width end of the steel plate is represented by the ratio to the outer diameter of the product steel pipe, since the absolute values of the dimensions of the forming range and the maximum height of the width end of the steel plate differ depending on the outer diameter of the steel pipe to be manufactured.
  • points of mark ⁇ in FIG. 9 are the maximum heights of the width end of the steel plate of the preceding forming portion when performing second half forming and correspond to the width end of steel plate in FIG. 8(a) .
  • the point at which the ratio of the preceding forming range to the steel plate width is 0.46 is a case of performing the forming without dividing the first half forming into the preceding and succeeding stages (first half forming in FIG. 8(a) : 5 + 0), and the maximum height reaches 1.4 times the outer diameter of the product steel pipe.
  • the ratio of the preceding forming range to the steel plate width becomes smaller than 0.46, the maximum height becomes smaller.
  • the ratio of the preceding forming range to the steel plate width is required to be less than 0.46, and is preferably not more than 0.42. If the ratio is not more than 0.38, the maximum height can be restrained by not less than 10%, as compared to the case of not dividing the first half forming into the preceding and succeeding stages, so that the range is more preferable.
  • points of mark ⁇ in FIG. 9 are the maximum heights of the width end of the plate of the second half forming portion when performing the first half succeeding forming, and correspond to the position of width end of the plate in FIG. 8(b) .
  • the maximum height is decreased.
  • the maximum height is decreased as compared to the points of the second half forming in the case of forming without dividing the first half forming into the preceding and succeeding stages, that is, in the case where the ratio of the preceding forming range to the steel plate width is 0.46.
  • the ratio of the preceding forming range to the steel plate width is required to exceed 0.17 and is preferably not less than 0.21. If the ratio is not less than 0.29, the maximum height can be restrained by not less than 10% as compared to the case of not dividing the first half forming into the preceding and succeeding stages, so that the range is more preferable.
  • the number of pressings is not limited to 11 but may be increased or decreased.
  • the number of pressings when decreasing the number of pressings, the bending angle per each time is increased, and accordingly the lifting height of the steel plate is increased, and roundness after forming is also degraded.
  • the lifting height of the steel plate is decreased and the roundness after forming also becomes higher, but productivity is lowered. Therefore, it is preferable to determine the number of pressings in consideration of advantages and disadvantages thereof.
  • the number of pressings in the first half forming and the second half forming and the feed length of the steel plate are the same, but may be changed as long as the roundness can be secured.
  • the steel plate widthwise dimension of the driving device which connects to the upper end portion of the punch supporter is 2300 mm (one side 1150 mm from the center on the punch). Further, in this pressing machine, the distance between the lowest surface of the driving device connected to the punch supporter upper end portion and the lower die upper surface when the punch is lowered to the lowest position in the press-forming is 1890 mm.
  • the press method using the bending-press machine a method is adopted wherein the press is performed five times from the position of 1822 mm from the plate width center toward the plate width center both in the first half forming and the second half forming, and the width central portion is finally formed (total 11 times), and the feed length of steel plate in each press was set to 364 mm, and the bending angle is set to 29.5 degrees.
  • the press of the first half forming is performed five times for four kinds of forming methods (A to D) wherein the forming is divided into two parts of the preceding forming and the succeeding forming, after performing a predetermined number of press within five times in the first half preceding forming, the press of the second half forming is performed five times, and thereafter the remaining press is performed in the first half succeeding forming, and a conventional forming method E of instantly performing the press of the first half forming five times as a reference example.
  • each of the forming methods is evaluated by the degree of entry of the steel plate to a region which causes the contact between the pressing machine and its auxiliary equipment when the material to be formed (steel plate) enters the top of the punch installation portion of the pressing machine.
  • the results of forming the steel pipe by the five press methods A to E are also shown in Table 1.
  • the "bending range" shown in Table 1 is a distance from the plate end portion (also including edge bending portion) of the press-formed part in the first half preceding forming, and the numbers in parentheses show the ratio of the portion to the steel plate width. Also, changes in the highest position to which the steel plate is lifted in the above-described conditions are shown in FIGs. 10(a) and 10(b) together with the entry prohibited region of the steel plate.
  • the steel plate moderately enters the entry prohibited region in the first press of the first half succeeding forming (the third press of the first half forming).
  • the steel plate slightly enters the entry prohibited region in the fourth press of the second half forming, but this is in a range where plastic deformation does not occur in the material to be formed (steel plate), which does not impair the product shape and does not damage the pressing machine.

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

Claims (3)

  1. Procédé de formage d'un tube en acier, en façonnant en une forme pratiquement cylindrique une plaque d'acier utilisée comme matière première grâce à une première demi étape de formage réalisée en effectuant une pluralité de fois un cintrage par presse en trois points à partir d'une première extrémité en largeur de plaque appartenant à la plaque d'acier utilisée comme matière première vers le centre en largeur de plaque, une seconde demi étape de formage réalisée en effectuant une pluralité de fois un cintrage par presse en trois points à partir de l'autre extrémité en largeur de plaque vers le centre en largeur de plaque, ainsi qu'une étape finale de formage réalisée en effectuant le cintrage par presse en trois points sur la partie centrale en largeur de plaque,
    caractérisé en ce que la première demi étape de formage est divisée en un formage préliminaire effectué avant la seconde demi étape de formage et en un formage suivant effectué après la seconde demi étape de formage, et le rapport de la plage de formage lors du formage préliminaire sur la largeur de plaque d'acier est établi dans la plage allant de plus de 0,17 à moins de 0.46.
  2. Procédé de formage d'un tube en acier selon la revendication 1, dans lequel le rapport de la plage de formage lors du formage préliminaire de la première demi étape de formage sur la largeur de plaque d'acier est établi dans la plage allant de 0,21 à 0.42.
  3. Procédé de formage d'un tube en acier selon la revendication 1 ou la revendication 2, dans lequel la plaque en acier utilisée comme matière première est réalisée en appliquant un cintrage à plat aux deux extrémités de la largeur de plaque.
EP15773059.9A 2014-03-31 2015-03-30 Procédé de formage de tube en acier et dispositif de formage utilisant une flexion en trois points Active EP3127625B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2014070703 2014-03-31
JP2015046083A JP6112740B2 (ja) 2014-03-31 2015-03-09 ３点曲げプレス成形による鋼管の成形方法および成形装置
PCT/JP2015/059835 WO2015152108A1 (fr) 2014-03-31 2015-03-30 Procédé de formage de tube en acier et dispositif de formage utilisant une flexion en trois points

Publications (3)

Publication Number Publication Date
EP3127625A1 EP3127625A1 (fr) 2017-02-08
EP3127625A4 EP3127625A4 (fr) 2017-08-02
EP3127625B1 true EP3127625B1 (fr) 2020-01-29

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EP (1) EP3127625B1 (fr)
JP (1) JP6112740B2 (fr)
KR (1) KR101852704B1 (fr)
CN (1) CN106132578B (fr)
BR (1) BR112016022005B1 (fr)
RU (1) RU2655511C2 (fr)
SA (1) SA516371949B1 (fr)
WO (1) WO2015152108A1 (fr)

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CN106734410B (zh) * 2016-12-30 2019-06-04 南京理工大学 直缝焊管三点弯曲柔性冷弯成形辊位确定方法
CN108994120A (zh) * 2018-08-01 2018-12-14 上海锆卓船舶设计有限公司 适用超高强度、超厚钢板的小直径圆筒的卷制方法及系统
CN109604375B (zh) * 2018-12-27 2020-05-12 南京工大数控科技有限公司 冲压钢板弯曲坡度多工位自动检测系统
CN109967574A (zh) * 2019-04-02 2019-07-05 江苏隆旭重工机械有限公司 一种多段卷板机
JP7168047B1 (ja) 2021-07-29 2022-11-09 Ｊｆｅスチール株式会社 鋼管の真円度予測モデルの生成方法、鋼管の真円度予測方法、鋼管の真円度制御方法、鋼管の製造方法、及び鋼管の真円度予測装置
JP7528888B2 (ja) 2021-07-29 2024-08-06 Ｊｆｅスチール株式会社 鋼管の真円度予測方法、鋼管の真円度制御方法、鋼管の製造方法、鋼管の真円度予測モデルの生成方法、及び鋼管の真円度予測装置

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JP6112740B2 (ja) 2017-04-12
BR112016022005B1 (pt) 2021-02-02
WO2015152108A1 (fr) 2015-10-08
KR20160127119A (ko) 2016-11-02
EP3127625A1 (fr) 2017-02-08
CN106132578B (zh) 2018-01-05
JP2015199125A (ja) 2015-11-12
CN106132578A (zh) 2016-11-16
EP3127625A4 (fr) 2017-08-02
RU2016142577A3 (fr) 2018-05-03
RU2655511C2 (ru) 2018-05-28
RU2016142577A (ru) 2018-05-03
KR101852704B1 (ko) 2018-04-26
SA516371949B1 (ar) 2020-02-23

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