EP3137834B1 - Düseneinrichtung, deren verwendung und verfahren zur behandlung eines stahlproduktes - Google Patents

Düseneinrichtung, deren verwendung und verfahren zur behandlung eines stahlproduktes Download PDF

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Publication number
EP3137834B1
EP3137834B1 EP15718220.5A EP15718220A EP3137834B1 EP 3137834 B1 EP3137834 B1 EP 3137834B1 EP 15718220 A EP15718220 A EP 15718220A EP 3137834 B1 EP3137834 B1 EP 3137834B1
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EP
European Patent Office
Prior art keywords
gas
nozzle device
opening
steel product
secondary opening
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15718220.5A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3137834A1 (de
Inventor
Matthias ADAMS
Joachim HÜLSTRUNG
Jens Peter
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.)
ThyssenKrupp Steel Europe AG
ThyssenKrupp AG
ThyssenKrupp Rasselstein GmbH
Original Assignee
ThyssenKrupp Steel Europe AG
ThyssenKrupp AG
ThyssenKrupp Rasselstein GmbH
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 ThyssenKrupp Steel Europe AG, ThyssenKrupp AG, ThyssenKrupp Rasselstein GmbH filed Critical ThyssenKrupp Steel Europe AG
Publication of EP3137834A1 publication Critical patent/EP3137834A1/de
Application granted granted Critical
Publication of EP3137834B1 publication Critical patent/EP3137834B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F27—FURNACES; KILNS; OVENS; RETORTS
    • F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
    • F27D7/00—Forming, maintaining, or circulating atmospheres in heating chambers
    • F27D7/02—Supplying steam, vapour, gases, or liquids
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
    • C21D1/74—Methods of treatment in inert gas, controlled atmosphere, vacuum or pulverulent material
    • C21D1/767—Methods of treatment in inert gas, controlled atmosphere, vacuum or pulverulent material with forced gas circulation; Reheating thereof
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
    • C21D9/52—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for wires; for strips ; for rods of unlimited length
    • C21D9/54—Furnaces for treating strips or wire
    • C21D9/56—Continuous furnaces for strip or wire
    • C21D9/561—Continuous furnaces for strip or wire with a controlled atmosphere or vacuum
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F27—FURNACES; KILNS; OVENS; RETORTS
    • F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
    • F27D7/00—Forming, maintaining, or circulating atmospheres in heating chambers
    • F27D7/06—Forming or maintaining special atmospheres or vacuum within heating chambers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F27—FURNACES; KILNS; OVENS; RETORTS
    • F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
    • F27D7/00—Forming, maintaining, or circulating atmospheres in heating chambers
    • F27D7/02—Supplying steam, vapour, gases, or liquids
    • F27D2007/023—Conduits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F27—FURNACES; KILNS; OVENS; RETORTS
    • F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
    • F27D7/00—Forming, maintaining, or circulating atmospheres in heating chambers
    • F27D7/06—Forming or maintaining special atmospheres or vacuum within heating chambers
    • F27D2007/063—Special atmospheres, e.g. high pressure atmospheres

Definitions

  • the present invention relates to a nozzle device, its use and a method for treating a flat steel product.
  • Such a nozzle device is intended to convey gas or a gas mixture as close as possible to a flat steel product so that the gas or gas mixture conveyed to the flat steel product can purposefully condition, for example nitride or embroider or carburize the flat steel product, in particular its surface.
  • the flat steel product is present as a treadmill conveyed through a continuous furnace for heat treatment.
  • the treatment for example nitriding or embroidering or carburizing, the strength of the flat steel product finally leaving the continuous furnace can advantageously be increased without negatively affecting its extensibility.
  • the quality improvement on the flat steel product caused by the surface conditioning depends crucially on the gas supply and the gas composition via the nozzle device.
  • the deciding factor here is the ability of the nozzle device to "irradiate" the flat steel product as homogeneously as possible with the gas or gas mixture and how large the part of the gas or the gas mixture responsible for surface conditioning, for example nitriding, reaches as far as a surface of the flat steel product.
  • the nozzle devices usually consist of tubes with an outlet opening at the end of which the gas or the gas mixture emerges. Due to the one-sided feeding into the pipe ultimately creates an undesirable slope in the airfoil along the outlet opening.
  • the prior art knows as a successful measure for the homogenization of the flow profile of the gas or gas mixture, which meets the flat steel product, from the document DE 10 2011 056 823 A1 an opening arrangement with different sized opening sizes.
  • the individual opening sizes are such designed to counteract a potential pressure drop along the flow direction in the exit area.
  • From the JP 08176793 A is known a slit-shaped gas outlet.
  • a nozzle device for surface conditioning or treatment of a flat steel product wherein the nozzle device comprises an outer tube and an inner tube arranged inside the outer tube, wherein the inner tube has a primary opening for feeding a gas flowing through the nozzle device into an outer tube and the outer tube a secondary opening for the exit of the gas from the nozzle device in the direction of the flat steel product, wherein the primary opening and the secondary opening are offset from each other along a circumferential direction, wherein the secondary opening has a gas control system for aligning a flow direction of the gas, wherein the gas control system is part of the secondary opening and having an extension.
  • the staggered placement of the primary opening to the secondary opening a spatially homogeneous emerging from the secondary opening gas stream, which "irradiates" the flat steel product, preferably as homogeneously as possible in its entire width.
  • the residence time in the nozzle device is evenly distributed to the gas or the gas mixture due to the selected geometry. Otherwise, without the inner and outer tube design, an undesirable gradual flow velocity profile would otherwise result along an exit port due to one-sided feeding of the gas into the nozzle device.
  • the outflow behavior in the case of nozzle devices according to the prior art is influenced by the different temperatures of the gas or gas mixture such that different flow velocities occur along the outlet opening.
  • the circulation direction is essentially determined by the circumference of the inner tube or of the outer tube.
  • the circumference of the outer tube or the inner tube defined by a cutting plane extending along a direction perpendicular to a longitudinal direction, wherein the longitudinal direction is predetermined essentially by the general course of the inner and outer tubes.
  • a flow direction of the gas or gas mixture flowing through the nozzle device runs essentially as far as the primary opening parallel to the longitudinal direction and is then deflected, for example by approximately 90 °.
  • the primary opening and the secondary opening have outlet surfaces through which the gas or the gas mixture is carried out when it is fed from the inner tube into the outer tube or emerges from the outer tube.
  • the exit surface of the inner tube is smaller than that of the outer tube.
  • the outlet surface of the inner tube is circular and the outlet opening of the outer tube is configured slit-like.
  • the outer tube has a slot with a slot width which is smaller than 8 mm, preferably smaller than 6 mm and particularly preferably smaller than 4 mm.
  • the primary opening and the secondary nozzle opening are offset by 90 ° to 180 ° relative to one another along the direction of rotation.
  • the primary opening and / or the secondary opening have a gas guidance system for aligning a flow direction of the gas flow.
  • the gas control system is part of the secondary opening and has foothills, which are beak-like design to form an exit slot or converge in the direction of the gas flow.
  • the gas flow can be targeted or focused on an area of the treadmill.
  • the nozzle device has a plurality of primary openings and / or a plurality of secondary openings.
  • the nozzle device comprises a plurality of primary openings, which are arranged on opposite sides of the inner tube and in each case in the circumferential direction for example by 90 ° to the secondary opening.
  • the primary openings within a region which extends parallel to the secondary opening, arranged regularly, preferably equidistantly, to each other.
  • the primary openings are in their position aligned at the secondary opening.
  • the primary openings are distributed symmetrically about a first center on the inner tube, which lies in the same plane perpendicular to the longitudinal extension of the tubes as a second center of the secondary opening.
  • there are an even number of primary openings preferably four primary openings, which are always arranged in pairs along the longitudinal extension of the inner tube and facing each other, (wherein they are each arranged in the direction of rotation by 90 ° to each other offset from the secondary opening).
  • the secondary opening is aligned with a treadmill comprising the flat steel product, wherein the secondary opening is less than 25 cm, preferably less than 15 cm and particularly preferably less than 10 cm away from the treadmill.
  • the treadmill moves along a running direction past the nozzle device and the secondary opening is oriented, preferably with its gas guidance system, in such a way that the exiting gas or gas mixture has a flow direction that is substantially perpendicular to the treadmill.
  • this content is for, for example, nitriding or carburizing, the higher the strength, without significantly affecting the extensibility of the finished flat steel product.
  • the secondary opening extends substantially over a width of the treadmill, wherein the width of the treadmill extends substantially along a direction perpendicular to a running direction of the treadmill.
  • the spatially homogeneous flow profile ensures that the finished flat steel product is surface conditioned as evenly as possible along its width. This advantageously prevents fluctuations in strength occurring along the width of the finished flat steel product.
  • the gas flowing through the nozzle device comprises ammonia and optionally nitrogen and / or an inert gas.
  • the gas pulse is advantageously increased in such a way that an entrained by the treadmill boundary layer can be broken and a direct reaction of the ammonia with the treadmill, d. H. the flat steel product is made possible.
  • the nozzle device has a static mixer for mixing ammonia with optionally nitrogen and / or an inert gas, wherein a pipe system forwards the gas into the inner tube.
  • the pipe system supplies a further inner pipe with gas
  • the further inner pipe comprises a further primary opening for introducing the gas into a further outer pipe at least partially enclosing the further inner pipe
  • the outer pipe has a secondary opening for the exit of the gas from the nozzle device in the direction of the flat steel product.
  • the treadmill is conveyed for example via deflection rollers such that the further secondary opening is arranged at a different location of a treadmill stretch of the treadmill.
  • the gas emerging from the secondary opening surface-condition a first side of the flat steel product wherein the gas emerging from the further secondary opening surface-conditioning a second side of the blazed flat product.
  • Another object of the present invention is a method according to independent claim 10 for the surface conditioning of a steel strip in a continuous furnace for heat treatment of the steel product with a nozzle device according to the invention.
  • a nozzle device With such a nozzle device, a flat steel product can be realized whose surface conditioning is more effective compared to that known from the prior art.
  • the gas or gas mixture in a first process step, is supplied to the inner tube, in a second process step, the gas or gas mixture is introduced through the primary opening in the outer tube and wherein in a third process step, the gas or the gas mixture through the secondary opening emerges from the outer tube from the nozzle device and surface conditioned the flat steel product.
  • a method can advantageously be provided in which thinner flat steel products can be produced on account of the effective, for example, nitriding or carburizing and the resulting increased strength.
  • the resulting material savings preferably in a mass production of a product from the flat steel product, lead to a significant cost savings in production. Further details, features and advantages of the invention will become apparent from the drawings, as well as from the following description of preferred embodiments with reference to the drawings.
  • the drawings illustrate only exemplary embodiment of the invention, which does not limit the inventive concept.
  • FIG. 1 10 shows a nozzle device 10 for the treatment or surface conditioning of a flat steel product 3 according to a first exemplary embodiment of the present invention.
  • a nozzle device 10 is preferably an integral part of a continuous furnace, through which the flat steel product is transported as a conveyor belt 33, ie as a steel belt.
  • the flat steel product undergoes a heat treatment for material improvement, in which a gas or gas mixture, for example, is fed to the flat steel product for nitriding.
  • a gas or gas mixture for example
  • the strength of the flat steel product can be increased without its extensibility being significantly affected.
  • Thinner flat steel products 3 can be realized for consistent strength requirements on a finished product. The resulting savings in material can then lead to significant cost savings.
  • the nitriding or carburizing is the way the gas supply to the steel flat product 33, which is essentially determined by the nozzle device 10.
  • gas for surface conditioning for example, nitriding is first an inner tube 1 of the nozzle device 10 is supplied. Via a primary opening 11 in the inner tube 1, the gas leaves the inner tube 1 and is in an outer tube 2, which surrounds the inner tube 1 at least partially fed. From there, the gas then leaves the nozzle device 10 via a secondary opening 12.
  • the primary opening 11 and the secondary opening 12 are along a circulation direction which is essentially defined by the circumference of the inner tube 1 or the outer tube 2 (running along the cross section) , offset from one another.
  • the primary opening 11 is offset from the secondary opening 12 by, for example, 90 °.
  • the primary opening 11 and the secondary opening 12 are arranged in a common region of the nozzle device 10.
  • the secondary opening 12 is arranged in the part of the outer tube 2, which at least partially surrounds the primary opening 11. It is further provided that the secondary opening 12 is directed to the treadmill 33, ie on the flat steel product.
  • the gas along the secondary opening 12 and over a width of the Running bands 33 has different temperatures and eventually different exit speeds result from the secondary opening 12.
  • a nozzle device 10 with the primary opening 11 in the inner tube 1 and the secondary opening 12 in the outer tube 2 via the secondary opening 12 and the width of the treadmill 33 homogeneous, ie uniform and-shaped exit behavior of the gas.
  • the secondary opening 12 is at least as wide as the width of the treadmill 33.
  • the secondary opening 12 is oriented relative to the treadmill such that its longest side is substantially perpendicular to the conveying direction of the treadmill 33.
  • the secondary opening 12 has a gas control system 5.
  • the gas control system 5 serves to align the gas or gas mixture emerging from the secondary opening 12 and thus to selectively place the gas flowing out of the nozzle device 10 onto the flat steel product.
  • the gas control system 5 preferably has two converging regions of the outer tube 2, which form a beak-like opening. A slot between the two converging areas of the outer tube forms the secondary opening 12. It is also provided that, in addition to the inner tube 1 and the outer tube 2, there is also a slot in the Substantially identical further inner tube 1 'with a further primary opening 11' and a further outer tube 2 'with a further secondary opening 12' are.
  • the gas is supplied to the inner tube 1 and / or the further inner tube 1 'via a pipe system 14 from a static mixer 18.
  • a static mixer 18 for nitriding the steel flat product with a gas mixture of nitrogen and / or an inert gas.
  • the addition of the nitrogen and shielding gas improves nitriding by providing a higher gas pulse, which in turn can break through a boundary layer entrained by a treadmill surface.
  • an immediate reaction of the flat steel product with the ammonia can be realized, which ultimately leads to a more effective nitriding and thus further improves the quality of the nitrided flat steel product.
  • the static mixer 18 via a Zunaturalrohrsystem 13 ammonia, nitrogen and / or a protective gas is supplied.
  • the protective gas comprises a hydrogen-nitrogen mixture.
  • the flow is monitored by means for measuring the volume flow 17 or flow meter.
  • the nozzle device 10 also includes means for controlling the volume flow and the amount of the respective gas supplied to the static mixer.
  • such means is a valve 16 integrated with the delivery tube system 13.
  • the nozzle device 10 the gases from a first reservoir 21, for example for ammonia, and a second reservoir 22, for example, refers to nitrogen.
  • a first reservoir 21, for example for ammonia for example, the gases from a first reservoir 21, for example for ammonia, and a second reservoir 22, for example, refers to nitrogen.
  • the piping installation after the static mixer is identical / symmetrical.
  • the pressure losses in both branches are identical in order to achieve similar impulses on both sides of the treadmill.
  • control devices can be installed to obtain the same pulses.
  • FIG. 2 is shown in a perspective view of a nozzle device 10 according to a second exemplary embodiment of the present invention. While the outer tube 2 is essentially recognized in the left-hand illustration, the outer tube 2 on the right-hand side is shown so transparent that the inner tube 1 inside the outer tube 2 can be seen in the illustration. Preferably, it is provided that the inner tube 1 and the outer tube 2 are arranged coaxially. However, it is also conceivable in an alternative embodiment that the inner tube 1 is arranged offset to a central axis B within the outer tube 2. For example, the inner tube 1 could be arranged in an area opposite the secondary opening 12 within the outer tube 2.
  • the gas leaves the inner tube 1, for example via four primary openings or other, not shown, preferably symmetrically arranged primary openings, which are arranged in pairs in opposite areas of the inner tube 1.
  • the paired primary openings 11 are arranged in the direction of rotation in each case by 90 ° to the secondary opening 12, for example.
  • an accumulated or integral exit area of the primary openings 11 is smaller than an exit area of the secondary opening 12.
  • the exit area is the area over which the gas is fed from the inner tube 1 into the outer tube 2, or the area over which the gas leaves the nozzle device 10 to understand. Furthermore, it is provided that the flow direction of the gas or gas mixture is directed by means of the gas control system 5 targeted to the flat steel product.
  • the gas control system 5 preferably has two extensions 23 of the outer tube 2, whose distance from each other along a direction parallel to the flow direction A of the secondary opening 2 emerging gas tapering direction.
  • the foothills 23 may be formed in a straight line or curved.
  • FIG. 2 shows two different plan views of the nozzle device 10 according to the second exemplary embodiment of the present invention.
  • the primary openings 11 and the primary opening 11 are opposite the secondary opening (with respect to one of Outer tube and inner tube defined longitudinal direction) centered.
  • the projection (in a direction perpendicular to the longitudinal direction) of a center of the secondary opening 12 substantially falls on a centrally located between two primary openings 11 region of the inner tube 12.
  • the distance between two primary openings 11 along the longitudinal direction is smaller as the extent of the secondary opening 12 along the longitudinal direction.
  • the flow direction of the gas or gas mixture is deflected substantially by, for example, 90 ° by the arrangement of the primary opening 11 and the secondary opening 12, the gas guide system 5 along the entire extent.
  • Fig. 12 shows the cross section of the nozzle device 10 according to the second exemplary embodiment of the present invention.
  • the secondary opening 12 is arranged between two imaginary planes 24 which each comprise at least one primary opening 11.
  • the secondary opening 12 is arranged centrally between these two imaginary planes.
  • a slot width 25 of the secondary opening 12 is defined by the successive extensions 23 of the gas-conducting system 5.
  • the slot width 25 is smaller than the extension of the inner tube 1 along a direction perpendicular to the longitudinal direction.
  • the slit width 25 is less than 8 mm, preferably less than 6 mm and particularly preferably less than 4 mm.
  • the extensions 23 of the gas control system 5 are preferably made at least partially of the same material as the outer tube 2.
  • the inner tube 1 fills in cross-section (along a direction perpendicular to the longitudinal direction) less than 45%, preferably less than 40% and more preferably less than 35% of the defined by the outer tube 2 space.
  • an inner diameter of the outer tube 2 is less than 300 mm, preferably less than 280 mm and more preferably less than 260 mm and an inner diameter of the inner tube 1 is less than 100 mm, preferably less than 90 mm.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Organic Chemistry (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Thermal Sciences (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Solid-Phase Diffusion Into Metallic Material Surfaces (AREA)
  • Heat Treatment Of Strip Materials And Filament Materials (AREA)
  • Nozzles (AREA)
  • Furnace Details (AREA)
  • Coating With Molten Metal (AREA)
  • Treatment Of Steel In Its Molten State (AREA)
EP15718220.5A 2014-04-30 2015-04-23 Düseneinrichtung, deren verwendung und verfahren zur behandlung eines stahlproduktes Active EP3137834B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014106135.7A DE102014106135A1 (de) 2014-04-30 2014-04-30 Düseneinrichtung und Verfahren zur Behandlung eines Stahlflachproduktes
PCT/EP2015/058818 WO2015165799A1 (de) 2014-04-30 2015-04-23 Düseneinrichtung und verfahren zur behandlung eines stahlflachproduktes

Publications (2)

Publication Number Publication Date
EP3137834A1 EP3137834A1 (de) 2017-03-08
EP3137834B1 true EP3137834B1 (de) 2019-03-27

Family

ID=52998152

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15718220.5A Active EP3137834B1 (de) 2014-04-30 2015-04-23 Düseneinrichtung, deren verwendung und verfahren zur behandlung eines stahlproduktes

Country Status (7)

Country Link
EP (1) EP3137834B1 (tr)
JP (1) JP6608846B2 (tr)
KR (1) KR102487313B1 (tr)
DE (1) DE102014106135A1 (tr)
ES (1) ES2725896T3 (tr)
TR (1) TR201908935T4 (tr)
WO (1) WO2015165799A1 (tr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014112286A1 (de) 2014-08-27 2016-03-03 Thyssenkrupp Ag Verfahren zur Herstellung eines aufgestickten Verpackungsstahls
DE102014116929B3 (de) 2014-11-19 2015-11-05 Thyssenkrupp Ag Verfahren zur Herstellung eines aufgestickten Verpackungsstahls, kaltgewalztes Stahlflachprodukt und Vorrichtung zum rekristallisierenden Glühen und Aufsticken eines Stahlflachprodukts
CN112503952A (zh) * 2020-11-26 2021-03-16 东北大学 一种加热炉内气体供给装置

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DE102011056823A1 (de) 2011-12-21 2013-06-27 Thyssen Krupp Steel Europe AG Düseneinrichtung für einen Ofen zum Wärmebehandeln eines Stahlflachprodukts und mit einer solchen Düseneinrichtung ausgestatteter Ofen
JP5704241B2 (ja) * 2012-06-27 2015-04-22 三菱レイヨン株式会社 炭素繊維束製造用炭素化炉および炭素繊維束の製造方法

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Also Published As

Publication number Publication date
KR102487313B1 (ko) 2023-01-12
WO2015165799A1 (de) 2015-11-05
JP2017528302A (ja) 2017-09-28
TR201908935T4 (tr) 2019-07-22
ES2725896T3 (es) 2019-09-30
JP6608846B2 (ja) 2019-11-20
KR20170002525A (ko) 2017-01-06
DE102014106135A1 (de) 2015-11-05
EP3137834A1 (de) 2017-03-08

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