EP3184194A1 - Appareil à riveter portatif électrique et son procédé de fonctionnement - Google Patents

Appareil à riveter portatif électrique et son procédé de fonctionnement Download PDF

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Publication number
EP3184194A1
EP3184194A1 EP16203585.1A EP16203585A EP3184194A1 EP 3184194 A1 EP3184194 A1 EP 3184194A1 EP 16203585 A EP16203585 A EP 16203585A EP 3184194 A1 EP3184194 A1 EP 3184194A1
Authority
EP
European Patent Office
Prior art keywords
collecting container
riveting
rivet
user
hand
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP16203585.1A
Other languages
German (de)
English (en)
Other versions
EP3184194B1 (fr
Inventor
Michael H. Honsel
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.)
Honsel Distribution GmbH and Co KG
Original Assignee
V V G-Befestigungstechnik & Co 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 V V G-Befestigungstechnik & Co GmbH filed Critical V V G-Befestigungstechnik & Co GmbH
Publication of EP3184194A1 publication Critical patent/EP3184194A1/fr
Application granted granted Critical
Publication of EP3184194B1 publication Critical patent/EP3184194B1/fr
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/02—Riveting procedures
    • B21J15/04—Riveting hollow rivets mechanically
    • B21J15/043—Riveting hollow rivets mechanically by pulling a mandrel
    • 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
    • B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/105—Portable riveters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/16—Drives for riveting machines; Transmission means therefor
    • B21J15/20—Drives for riveting machines; Transmission means therefor operated by hydraulic or liquid pressure
    • B21J15/205—Riveting tools having hand operated pumps for building up the hydraulic pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/16—Drives for riveting machines; Transmission means therefor
    • B21J15/26—Drives for riveting machines; Transmission means therefor operated by rotary drive, e.g. by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
    • B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
    • B21J15/326—Broken-off mandrel collection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49908—Joining by deforming
    • Y10T29/49938—Radially expanding part in cavity, aperture, or hollow body
    • Y10T29/49943—Riveting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49947—Assembling or joining by applying separate fastener
    • Y10T29/49954—Fastener deformed after application
    • Y10T29/49956—Riveting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
    • Y10T29/53048—Multiple station assembly or disassembly apparatus
    • Y10T29/53052—Multiple station assembly or disassembly apparatus including position sensor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
    • Y10T29/53061—Responsive to work or work-related machine element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53709—Overedge assembling means
    • Y10T29/53717—Annular work
    • Y10T29/53726—Annular work with second workpiece inside annular work one workpiece moved to shape the other
    • Y10T29/5373—Annular work with second workpiece inside annular work one workpiece moved to shape the other comprising driver for snap-off-mandrel fastener; e.g., Pop [TM] riveter

Definitions

  • the present invention relates to a method for operating an electrically operated, in the hand of a user durable, mobile riveting apparatus, and such a riveting apparatus having a housing in which a rivet setting mechanism is accommodated, are placed with the rivet elements in the workpieces to be joined, said Setting the rivet elements Nietrestdorne be generated, which are conveyed through a conveyor channel in a collecting container of riveting.
  • a pneumatically operated riveting tool shows, for example, the DE 81 19 147 U1 .
  • the riveting tool is used for setting blind rivets in workpieces to be joined, and during the rivet setting parts of the rivet mandrel are torn off, and for collecting the demolished residual rivet mandrels serves the collecting container.
  • Most of the containers for the remaining rivet mandrels are not clear and made for example of a non-transparent plastic.
  • the operator of the riveting tool must Check regularly whether the collecting container is already full. Even with transparent collection containers often emptying is omitted, and the collection container is full, the Restnietdorne can no longer be removed and clog the conveyor channel, so that it often leads to jamming of Restnietdorne in the delivery channel or in the collection container, even a non-empty container can lead to total loss of the riveting tool.
  • the DE 10 2011 111 535 A1 discloses a further embodiment of a pneumatically operated riveting tool, and on the rear side, the riveting tool has a collecting container arranged on the housing, and by the rivet setting mechanism extends from the mouthpiece starting a delivery channel, which opens into the collecting container and through which the demolished Restnietdorne can be moved.
  • the collecting container can be opened via a rear-side closure in order to empty it, whereby in the case of a non-empty collecting container there is a risk that the collecting container will automatically open, and for example in the case of overhead riveting, injuries may occur to the eyes, for example.
  • the DE 78 19 059 U1 discloses a device for collecting and aspirating demolished residual rivet mandrels of blind rivets for pneumatically operated blind riveting with a passage in the device head, which serves as a delivery channel for the residual rivet mandrels.
  • the free end of the collecting container has a compressed air operated by a vacuum system. This ensures that the collection and suction of the demolished Restnietdorne works easily and reliably, the compressed air is used to transport the Restnietdorne. In electrically operated especially hand-held riveting such a vacuum system is not applicable.
  • JP 2012-1210026 discloses a pneumatically operated riveting tool in which the resulting residual rivet pins are regsitrated and brought to the attention of the user.
  • the DE 10 2013 012 075 A1 discloses a pneumatically operated riveting apparatus which is held by a robot arm and in which the residual rivet mandrels are conveyed via a hose into a separately arranged collecting container. Also in this case, the number of residual rivet pins is determined.
  • the object of the invention is the development of a method for operating a hand-held electrically operated riveting tool and the development of such a riveting tool, the security against a failure of the riveting tool by the method for operating the riveting tool and by the riveting tool itself should be reduced.
  • a riveting tool is to be created, which has an increased ease of use.
  • the invention proposes the technical teaching to provide means by which the number of Restnietdornen is determined in the collecting container and that a user is provided the information as to whether an emptying of the collecting container is required.
  • the essence of the invention is to inform the user of the electrically operated riveting tool, which is in particular designed as a cordless device, about whether and when the collecting container is filled with Restnietdornen and must be emptied.
  • means are provided according to the invention with which the number of residual rivet mandrels in the collecting container is determined. If the number of remaining rivet pins in the collection container reaches a maximum permissible absorption capacity of the collection container, the information is provided to the user that the emptying of the collection container is required.
  • this information is not limited to a currently necessary emptying of the collection container, but the user can be supplied with information according to the invention, when the collection container must be emptied, for example, how many rivets can still be set until the collection container full is.
  • these include a sensing counter, with which the number of rest rivet mandrels carried into the receptacle is counted and a sum of residual rivet mandrels is formed so that over the sum formed the user is provided with the information as to whether the receptacle must be emptied. If the sum of the remaining rivet mandrels has not yet reached the maximum absorption capacity of the collecting container, the information to the user is as a rule not yet provided. Only when the collecting container must be emptied, the user receives from the riveting the information that the collecting container must be emptied.
  • a number of still possible rivet setting operations may be dispensed prior to reaching the receiving capacity of the collection container, such that the user does not interrupt setting, for example, a series of rivets, but a new series does not commence prior to emptying the collection container.
  • the means comprise an electronic counting device, with which the number of operations of the riveting device is counted by means of an activation switch by the user, which advantageously determines the number of residual rivet pins which are transported into the collecting container.
  • the riveting device has a control unit, in particular if the riveting device is designed as an electrically operated riveting device and in particular if the activation switch is designed to be electrically effective.
  • the riveting device additionally has a display means, and with the control unit can be displayed on the display means after how many rivet setting operations, the collecting container must be emptied. This enables the user to decide whether a rivet setting sequence can still be made or not before emptying the container.
  • the hand-held riveting tool on a removal sensor with a removal of the collection container from the housing of the riveting device is detected, and wherein after removal of the collection container from the housing, the count of Restnietdorne is rinsed in the collecting container.
  • the control unit may be coupled to the removal sensor, so that, for example after a temporary removal of the collection container is assumed that this was emptied, and with the control unit, the count of transported into the container rest rivet mandrel start over. It is necessary that the user actually empties the collecting container when the collecting container is detached from the housing.
  • the riveting device is designed for communication with a mobile phone via a wireless connection, so that the riveting device to the mobile phone information at least comprising the remaining number of remaining riveting operations and / or the need for emptying the collection container is transmitted and by means of an app the User is displayed on the mobile phone.
  • the mobile phone can vibrate or generate audible signals when an action of the user of the riveting device is necessary, in particular with respect to the collecting container.
  • the object of the invention is further achieved by a hand-held riveting tool with a housing in which a rivet setting mechanism is accommodated, with the rivet elements can be placed in workpieces to be joined, and with a Delivery channel through which Restietietdorne generated when setting the rivet elements are conveyed into a collecting container of the riveting tool.
  • a hand-held riveting tool with a housing in which a rivet setting mechanism is accommodated, with the rivet elements can be placed in workpieces to be joined, and with a Delivery channel through which Restietietdorne generated when setting the rivet elements are conveyed into a collecting container of the riveting tool.
  • means are provided with which the number of residual rivet mandrels in the collecting container can be determined, and it is provided that a user can be provided with the information as to whether emptying of the collecting container is required.
  • the means comprise a sensing counter, with which the number of transported into the receptacle Restietietdorne is countable. Additionally or alternatively, the means comprise an electronic counting device with which the frequency of operation of the riveting device can be counted by means of an activation switch.
  • the riveting device has a removal sensor, with which a removal of the collecting container from the housing of the riveting tool can be seen.
  • a removal sensor with which a removal of the collecting container from the housing of the riveting tool can be seen.
  • Such sampling sensors are used according to an advantageous development of the hand-held riveting tool to recognize the arrangement of the collecting container, so that in interaction with the control unit of the riveting this can only be operated when the sampling sensor detects the presence of a collecting container.
  • the security is achieved that the Restnietdorne not reach beyond the rear of the housing of the riveting tool through the conveyor channel to the outside, and cause, for example, the user an eye injury.
  • such withdrawal sensors provided in a manner known per se can be used to zero the count of the number of remaining rivet mandrels in the collecting container, if it is assumed that the collecting container is also emptied during a temporary removal.
  • the hand-held riveting tool has a display means adapted to indicate a remaining number of riveting operations until it is necessary to empty the collection container.
  • the display means is arranged, for example, in the form of a window on the housing of the riveting tool, for example and in particular in the region of the handle, in the side area or in the roof area of an upper housing part in which the rivet setting mechanism is accommodated.
  • a still further embodiment of the hand-held riveting device provides an unlocking means for manual unlocking, by means of which a removal of the collecting container takes place, wherein when a required emptying of the collecting container, the unlocking means lights up or flashes.
  • the riveting tool is designed for autonomous operation with an accumulator.
  • the accumulator of the riveting tool is an electrical energy supply, with which the inventive method for operating the hand-held riveting tool can be performed.
  • the electrically operated riveting tool 1 has a housing 10, in which a rivet setting mechanism 11 is accommodated, and the rivet setting mechanism 11 comprises a front-side mouthpiece 21, in which a rivet element 12 is taken up by way of example.
  • the rivet 12 serves to connect the workpieces 13, which are indicated only schematically.
  • On the underside of the housing 10 is located as part of the same handle 24 for hand-held recording of the riveting tool 1, and to the handle 24, an accumulator 22 connects.
  • the riveting tool 1 is thus designed as an autonomously operating electric riveting tool which is held and operated by a user in his hand.
  • a collecting container 16 On the housing 10 is located on the opposite side of the mouthpiece 21 a collecting container 16, and the collecting container 16 serves to receive Restnietdornen 14.
  • the Restnietdorne 14 arise during riveting by a part of the rivet pin or rivet pin is sheared, which is then transferred from the mouthpiece 21 via a coaxially aligned to the mouthpiece conveyor channel 15 into the collecting container 16.
  • the delivery channel 15 extends coaxially through the housing 10 and through the rivet setting mechanism 11 therethrough and forms a straight channel-like connection between the mouthpiece 21 and the collecting container 16.
  • a Restnietdorn 14 is shown arranged in the conveying channel 15, in the illustrated arrow direction through the conveyor channel 15 is transported to the collecting container 14.
  • a sensing counter 17 On conveyor channel 15 is a sensing counter 17, with which it can be recognized how many residual rivet pins 14 are transferred into the collecting container 16.
  • a removal sensor 20 which serves to sense the arrangement of the collecting container 16 on the housing 10. By means of the removal sensor 20 can be seen whether the collecting container 16 is arranged on the housing 10 or whether it has been removed.
  • sampling sensors 20 are used in a conventional manner to prevent the activation of the riveting tool 1 via the activation switch 19, provided that no collecting container 16 is on the back of the housing 10.
  • Such a safety device is intended to prevent the operation of the riveting tool 1 without collecting container 16 in order to prevent injury to the user, for example by the Restnietdorne 14 can not get out of the back of the housing 10.
  • a control unit 23 is shown schematically, which is also part of a riveting tool 1 in a manner known per se, and serves to control the rivet setting mechanism 11.
  • the embodiment shows that the sensing counter 17 and the removal sensor 20 are connected to the control unit 23.
  • a further electronic counting device 18 is shown as part of the control unit 23, with which the number of set rivet elements 12 can be counted.
  • An interaction arrow indicates an operative connection with a display means 25, which is arranged by way of example in the handle 24.
  • the user of the riveting tool 1 can be shown, for example, for which classification of rivet elements 12 the operating mode of the riveting tool 1 is set; Display means 25 are displayed, how many rivet pins 14 are already present in the receptacle 16 and if or when this must be changed.
  • the number of residual rivet pins 14 in the collecting container 16 is determined, and it can be provided to the user the information as to whether an emptying of the collecting container 16 is required.
  • This information can be displayed to the user via the display means 25, for example, or an acoustic signal can be emitted, an additional light signal can also be given or haptic information is sent to the user, for example by a vibration device in the riveter 1.
  • the counter 17 supplies the information about the number of residual rivet pins 14 to the control unit 23, wherein the recognition of the number takes place, for example, at the conveyor channel 15. Detection via the sensing cell device 17 can also take place at another location, for example within the rivet setting mechanism 11.
  • the number of residual rivet mandrels 14 in the collecting container 16 is detected via the electronic counter 18 via the number of activations of the activation switch 19, so that in particular no further sensor means are required since the number of rivet elements 12 set by a simple electronic counting in the control unit 23 can be counted.
  • the count can be zeroed, for example, if the removal sensor 20 detects the removal of the collecting container 16, if it is assumed that when a collecting container 16 this is also emptied.
  • the removal sensor 20 may also include a metallic detector with which it can be seen whether there are actually any residual rivet pins 14 in the collecting container 16.
  • the control unit 23 prevents the assumption of activation of the activation switch 19 when the collecting container 16 is full and must be emptied. This condition can be communicated to the user by means of the Display means 25 are displayed so that it must first empty the collecting container 16 in order to continue to use the riveting tool 1.
  • a mobile telephone 26 Also shown is a mobile telephone 26, and the riveter 1 may be configured to communicate with the mobile telephone 26 via a wireless connection 28 such that the riveter 1 to the mobile telephone 26 contains information including at least the remaining number of remaining riveting operations and / or the need for emptying Receiving container 16 is transmitted and displayed by means of an app 27 to the user on the mobile phone 26.
  • About the display means 25 also has the ability to provide the user information about how many rivet elements 12 can still be set until emptying of the collection container 16 must be done. This information can be done, for example, by a count back of remaining rivet setting operations, which is displayed in the display means 25.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Portable Nailing Machines And Staplers (AREA)
  • Insertion Pins And Rivets (AREA)
  • Automatic Assembly (AREA)
EP16203585.1A 2015-12-21 2016-12-13 Appareil à riveter portatif électrique et son procédé de fonctionnement Active EP3184194B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102015122374.0A DE102015122374B4 (de) 2015-12-21 2015-12-21 Verfahren zum Betrieb eines handhaltbaren Nietgerätes und handhaltbares Nietgerät

Publications (2)

Publication Number Publication Date
EP3184194A1 true EP3184194A1 (fr) 2017-06-28
EP3184194B1 EP3184194B1 (fr) 2022-03-09

Family

ID=57614126

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16203585.1A Active EP3184194B1 (fr) 2015-12-21 2016-12-13 Appareil à riveter portatif électrique et son procédé de fonctionnement

Country Status (5)

Country Link
US (1) US10478889B2 (fr)
EP (1) EP3184194B1 (fr)
CN (1) CN106890922B (fr)
DE (1) DE102015122374B4 (fr)
ES (1) ES2912984T3 (fr)

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Publication number Priority date Publication date Assignee Title
EP3563946B1 (fr) * 2016-12-28 2021-11-03 Makita Corporation Outil de fixation
DE102022128654A1 (de) * 2022-10-28 2024-05-08 Tkr Spezialwerkzeuge Gmbh Verfahren zur Verwendung einer handhaltbaren Zug- und Druckvorrichtung zur Reparatur von Kraftfahrzeugbauteilen

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DE102015122374B4 (de) 2023-12-07
DE102015122374A1 (de) 2017-06-22
CN106890922A (zh) 2017-06-27
US10478889B2 (en) 2019-11-19
CN106890922B (zh) 2021-05-04
ES2912984T3 (es) 2022-05-30
US20170173662A1 (en) 2017-06-22

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