EP3223979B1 - Installation de coulée continue pour brames minces - Google Patents

Installation de coulée continue pour brames minces Download PDF

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Publication number
EP3223979B1
EP3223979B1 EP15801184.1A EP15801184A EP3223979B1 EP 3223979 B1 EP3223979 B1 EP 3223979B1 EP 15801184 A EP15801184 A EP 15801184A EP 3223979 B1 EP3223979 B1 EP 3223979B1
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EP
European Patent Office
Prior art keywords
furnace
strand
bending
rollers
straightening
Prior art date
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Active
Application number
EP15801184.1A
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German (de)
English (en)
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EP3223979A1 (fr
Inventor
Thomas Heimann
Markus Reifferscheid
Uwe Plociennik
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SMS Group GmbH
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SMS Group GmbH
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Publication of EP3223979A1 publication Critical patent/EP3223979A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/12—Accessories for subsequent treating or working cast stock in situ
    • B22D11/128—Accessories for subsequent treating or working cast stock in situ for removing
    • B22D11/1282—Vertical casting and curving the cast stock to the horizontal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/04—Continuous casting of metals, i.e. casting in indefinite lengths into open-ended moulds
    • B22D11/041—Continuous casting of metals, i.e. casting in indefinite lengths into open-ended moulds for vertical casting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/12—Accessories for subsequent treating or working cast stock in situ
    • B22D11/1213—Accessories for subsequent treating or working cast stock in situ for heating or insulating strands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/12—Accessories for subsequent treating or working cast stock in situ
    • B22D11/126—Accessories for subsequent treating or working cast stock in situ for cutting

Definitions

  • the invention relates to a device for continuous casting of thin slabs with a strand guide arranged in the casting direction behind a mold, an adjoining bending / straightening area for deflecting the cast strand, a cutting device for cutting the strand in thin slabs and a furnace for temperature compensation in the strand is provided.
  • a plant for the casting of thin slabs goes for example from the WO 2007/101685 A1 out.
  • the cast strand is guided vertically downwards by means of a strand guide.
  • the strand leaves the strand guide, it is solidified.
  • the cast strand is bent and straightened only after solidification to avoid undesirable strand elongation and cracking. Due to the vertically downwardly directed leadership of the strand and the adjoining Deflection in the horizontal, this type of plant is also called vertical turning plant. After bending and straightening the strand follows a temperature compensation furnace, which is not discussed in detail in the WO document.
  • the FIG. 1a shows a vertical turning plant of the prior art.
  • the reference numeral 10 denotes a funnel mold, from which the cast steel emerges vertically as strand 1 downwards.
  • the thus formed strand 1 is then guided along a strand guide 20 (further vertically downwards) and cooled by means of cooling segments 30.
  • the cooling segments 30 form the so-called secondary cooling.
  • the strand 1 is completely solidified.
  • the strand 1 then passes below the strand guide 20 in the bending region 40, where it is exposed to bending forces and on the other hand actively driven in the conveying direction. This is done by means of rollers and roller pairs 41, whose location from the FIG. 1a evident.
  • the bending region 40 is followed by the straightening region 50, in which the strand 1 is brought into horizontal alignment.
  • rollers 51 are provided.
  • One or more of the rollers 41, 51 are drive rollers and drive the strand in the transport direction, other rollers 41, 51 serve to guide and align the strand 1.
  • the rollers 41 and 51 form means for driving and bending the strand.
  • the strand 1 is cut into thin slabs by means of a cutting device 60 (sometimes simply called scissors in the figures).
  • the isolated slabs are in the FIG. 1a not shown separately.
  • the slabs then pass into a furnace 70, the inlet of which is designated by the reference numeral 71.
  • the furnace 70 is designed as a tunnel furnace and serves as a connection of the casting machine with a rolling mill, not shown, and to compensate for the thin slab temperature (seen in the cross-sectional direction of the slab).
  • the transport direction of the strand 1 or the slabs is indicated by an arrow line T.
  • FIG. 1b An exemplary temperature profile of the strand 1 along the transport direction is in the FIG. 1b shown.
  • the graph shows the temperature profile on the surface of the strand 1, in the core and the average temperature as a function of the distance, starting from the mold level of the mold, for a low-carbon material with a slab dimension of 1,600 mm x 60 mm at a casting speed of 5.2 m / min.
  • the solidification is about 7.4 m, about 0.5 m before the last roll of the cooling segments 30.
  • the average temperature of the strand 1 between the end of the cooling segments 30 decreases - over bending range 40, straightening area 50 and cutting device 60 - strongly down to the kiln inlet 71.
  • the average temperature drops from about 1.247 ° C after the cooling segments 30 by about 200 ° C to about 1041 ° C from.
  • FIG. 2a An alternative, more compact design of the CSP plant is in the FIG. 2a shown.
  • An exemplary temperature profile of the strand 1 along the transport direction is derived from the FIG. 2b out.
  • Analogous to FIG. 1b shows the graphic of the FIG. 2b the temperature profile on the surface of the strand 1, in the core and the average temperature as a function of the distance, starting from the casting mirror on the mold, for a low-carbon material with a slab dimension of 1,350 mm x 40 mm at a casting speed of 4 m / minute
  • the strand guide 20 is designed to be shorter overall.
  • the system is characterized by fewer segments and has an overall lower overall height.
  • the solidification point is just before the last roll of the cooling segments 30.
  • the average temperature drops by approx. 200 ° C from 1.246 ° C to 1.041 ° C.
  • An object of the invention is to provide a device for continuous casting of thin slabs with improved energy efficiency and / or reduced size.
  • the device according to the invention is designed for the continuous casting of thin slabs.
  • thin slabs are in particular slabs with a thickness between 35 mm and 90 mm, preferably between 40 mm and 60 mm into consideration.
  • the casting of thin slabs was technically unsolved for a long time because the thin material is susceptible to stretching and cracking.
  • the redirecting and straightening of the thin strand was the subject of research and development. A comparison with plants for casting thick slabs is therefore not readily possible.
  • the device according to the invention has a strand guide which follows a funnel-shaped casting mold in the casting direction. From the mold the still molten steel in the core and solidifies from outside to inside, while it is guided by the strand guide.
  • one or more cooling segments are preferably provided.
  • the strand guide and the cooling segments are aligned along a first direction, which is preferably vertically parallel to the direction of gravity vertically from top to bottom. At the end or just before the end of the strand guide or the cooling segments of the strand is completely solidified. Subsequently, there is a bending / straightening area, which has means for urging and bending the strand in a second direction, which differs from the first direction.
  • the mentioned means for driving and bending preferably comprise rollers and / or roller pairs that may be at least partially actively driven to convey the strand along the transport direction.
  • the second direction is preferably provided substantially horizontally, so that the strand can be continued in this way to a rolling mill, which is not part of the device described here.
  • the strand is cut by means of a cutting device in thin slabs.
  • the device further comprises a first furnace, which is provided for temperature compensation in the strand, more precisely along the cross section perpendicular to the longitudinal extent thereof.
  • the first furnace extends arcuately at least partially over the bending / straightening area and partly along the second direction.
  • the oven is preferably designed as a tunnel oven.
  • the cutting device is preferably located behind the first oven in order to move the oven as far forward as possible towards the mold.
  • a technical effect of the invention is that the average temperature of the strand between the outlet from the last cooling segment to the cutting device decreases less, since the strand enters the temperature compensation furnace earlier due to the forwardly extended and bent first furnace.
  • An extension of the furnace forward is a technical innovation, which refrains from the earlier idea that no oven should be provided in the bending and / or straightening area; on the one hand, in order to leave this neuralgic area accessible, on the other hand, in order to make no temperature compensation in the strand during the bending and straightening of the strand.
  • a positive consequence of the innovation presented here are lower energy costs. This is enhanced if the furnace only needs to be heated prior to casting and at low casting speeds and otherwise can be used for passive heat balance.
  • the temperature does not drop so much, less precipitates occur, which reduces the risk of cracking and improves the mechanical properties of the slabs.
  • the Low-oxygen furnace atmosphere reduces scale growth, resulting in higher output. Overall, the furnace can be made more compact and thus the production hall shorter.
  • one or more cooling segments for cooling the strand are preferably provided in the region of the strand guide. These accelerate cooling and also allow better control over the cooling process. At or shortly before the end of the last cooling segment, the strand is solidified and can be deflected by the bending / straightening area.
  • the first furnace is preferably bent in a range between 10 ° and 80 °. Even a small extension of 10 ° forward in the directional area into it creates a reduction in the temperature drop of the strand. An extension beyond 80 ° is technically difficult to achieve. A distance between the end of the strand guide and between the end of the last cooling segment and the kiln inlet is desirable for maintenance and other reasons. However, the oven should tend to grow as close as possible to the end of the strand guide or cooling since the hot strand emits much heat, especially at high temperatures.
  • a second oven is provided behind the first oven and the cutter is provided between two ovens according to a further preferred embodiment.
  • the second oven preferably extends completely along the second direction and is not bent.
  • the second furnace can in many cases be made shorter than the first furnace, since this may be responsible only for compensating for the temperature gradient that has built up on the short open path on the cutting device.
  • the bending / straightening range of a bending area with bending rollers and a straightening area is constructed with straightening rollers, wherein one or more of the bending rollers and / or straightening rollers are arranged in the first furnace.
  • the open guidance in the bending / straightening area had long been regarded as indispensable in the casting of thin slabs.
  • the means for driving and bending the strand can be provided partially or completely in the furnace, without this technical measure having a negative effect on the quality of the thin slabs.
  • the means, such as the rollers, for driving and bending the strand, which are located in the oven must be made of a heat-resistant material.
  • a cooling device may also be provided for cooling the corresponding means.
  • the technical measures mentioned (cooling and / or heat-resistant material) are particularly preferred for the so-called straightening rollers in the directional range.
  • a Wasserabstreifer is provided for the removal of spray before entering the first furnace. Extending the stove forward and bending it upwards prevents water from entering the oven.
  • the water scraper can be realized by means of one or more stripping plates and / or air pressure and / or water radiation and / or by means of a suction device.
  • the area at the inlet of the first furnace is preferably designed such that a strand, for example the cold strand and / or the strand in the event of an accident, can be conducted past the furnace. This can be achieved by beveling the kiln inlet. Alternatively or additionally, the kiln inlet or the front portion of the first furnace is at least on the Bottom formed movable.
  • one or more heat-resistant cameras are preferably provided in the first furnace.
  • one or more rollers are preferably provided movable in the bending / straightening area. This is especially preferred for the rolls in the area of the kiln inlet.
  • the FIG. 1a shows a conventional CSP plant with horizontal furnace; the FIG. 1b shows temperature profiles of a strand cast therewith as a function of the distance from the casting mirror.
  • FIG. 2a shows a conventional CSP compact system with horizontal furnace; the FIG. 2b shows temperature profiles of a strand cast therewith as a function of the distance from the casting mirror.
  • FIG. 3 shows a CSP plant according to a bent furnace embodiment.
  • FIG. 4 shows an enlarged section of the kiln inlet of the embodiment of FIG. 3 .
  • FIG. 5a shows a CSP plant according to another embodiment with two ovens; the FIG. 5b shows a temperature profile of a strand cast therewith as a function of the distance from the casting mirror.
  • FIG. 6a shows a CSP compact system according to another embodiment with two ovens; the FIG. 6b shows a temperature profile of a strand cast therewith as a function of the distance from the casting mirror.
  • the FIG. 3 shows a vertical turning plant according to a first embodiment.
  • the reference numeral 10 denotes a funnel mold, from which the cast steel emerges vertically as strand 1 downwards.
  • the thus formed strand 1 is then guided along a strand guide 20 (further vertically downwards) and cooled by means of cooling segments 30.
  • the cooling segments 30 form the so-called secondary cooling.
  • the strand 1 is completely solidified.
  • the strand 1 then passes below the Strand guide 20 in the bending region 40, where it is exposed to bending forces. This is done by means of rollers and roller pairs 41, whose location from the FIG. 1a evident.
  • the bending region 40 is followed by the straightening region 50, in which the strand 1 is brought into horizontal alignment.
  • rollers 51 are provided.
  • One or more of the rollers 41, 51 are drive rollers and drive the strand in the transport direction, other rollers 41, 51 serve to guide and align the strand 1.
  • the rollers 41 and 51 form means for driving and bending the strand.
  • the oven 80 has a horizontal portion 85 (generally, a portion along the second direction) and a bent portion 86 extending at least partially over the bending / straightening area 40 , 50 stretches. Compared to the plant of FIG. 1a the oven 80 is thus extended towards the mold 10 forward in or beyond the straightening region 50 addition.
  • the furnace 80 is preferably designed as a tunnel furnace and serves to equalize the temperature in the strand. Subsequently, the strand 1 is cut by means of the cutting device 60, not shown, in thin slabs. The transport direction of the strand 1 is shown with an arrow line T.
  • the arc length of the section 86 of the furnace is preferably in the range of 10 ° to 80 °. Even a small extension of 10 ° in the directional range 50 into it creates a significant reduction in the temperature drop of the strand 1. An extension beyond 80 ° is technically difficult to achieve.
  • the strand 1 should preferably be completely solidified before the kiln inlet 81, on the other hand, a distance between the end of the strand guide 20 and between the end of the last cooling segment 30 and the kiln inlet 81 for maintenance and other reasons, which will become apparent below , desirable.
  • oven 80 should tend to stick as far as possible to the End of the cooling 30 be grown, as the hot strand 1 radiates much heat especially at high temperatures.
  • the strand 1 by means of in the FIG. 3 not shown cutting device 60 cut into thin slabs. That the positioning of the cutting device 60 is also possible otherwise, shows the FIG. 5a , which except for the execution of the furnace 80 and the position of the cutter 60 of the plant FIG. 3 like. In the FIG. 5a the cutter maintains its conventional position (compared to the installation of the FIG. 1a ).
  • the cutting device 60 is located in a space between the oven 80, which is also referred to in this context as the first oven, and a second oven 90.
  • the second oven is provided completely horizontally or along the second direction.
  • a water scraper (not shown) is preferably provided in front of the kiln inlet 81.
  • the water scraper can be realized by means of one or more stripping plates and / or air pressure and / or water radiation and / or by means of a suction device.
  • the kiln inlet 81 is preferably designed such that the cold strand can be guided past the kiln 80, in particular during removal (not shown in the figures) or the strand 1 in the event of an accident. This can be achieved by beveling the kiln inlet 81, as shown in the FIG. 4 is shown.
  • the furnace inlet 81 or the front region of the furnace 80 is designed to be movable at least on the underside, which also includes any pivoting movement.
  • cold strand is meant that strand which is introduced into the casting plant before casting. On this cold strand, the liquid material is poured.
  • the cold strand is used to ensure that the still liquid at the start of casting material is not fast through the Cooling segments 30 flows, but only forms a solid strand shell and then slowly pulled together with the dummy strand through the secondary cooling 30. After cooling, the material is solidified and can be continued without cold strand.
  • This cold strand is to be separated according to this embodiment in front of the furnace 80 from the real strand 1 and removed vertically downwards.
  • the cold strand can be manufactured as a cold strand chain.
  • one or more of the rollers 41, 51 are slidably provided.
  • the positions of the two inlet rollers, which are designated by the reference numeral 82, are preferably provided changeable.
  • Such movability can also be provided for other rollers, in particular the straightening rollers 51.
  • the oven 80 must provide sufficient space to the top so that the straightening rollers 51 can be opened wide enough for strand guide 20.
  • the adjustment of the respective rollers 41, 51 in the oven 80, the moving apart of pairs of rollers, etc. can be realized by means of a hydraulic control.
  • one or more heat-resistant cameras are installed in the oven 80.
  • the furnace 80 may be designed as a passive furnace which will only actively heat when casting or at low casting speeds (lower average temperature); otherwise it serves as good isolation. Whether the kiln 80 is operated as an active or passive kiln can vary individually and depends heavily on the concrete casting conditions. Examples will be discussed below.
  • the straightening rollers 51 are preferably cooled.
  • the rollers 51 are made of a high-strength and heat-resistant material, so that no heat is released through the rollers 51.
  • FIG. 5a shows an embodiment that the the FIG. 3 is similar. Instead of a furnace 80, however, two furnaces 80 and 90 are provided, between which the cutting device 60 is arranged.
  • FIG. 5b An exemplary temperature profile of the strand 1 along the transport direction is in the FIG. 5b shown.
  • the graph shows the temperature profile on the surface of the strand 1, in the core and the average temperature as a function of the distance, starting from the mold level of the mold, for a low-carbon material with a slab dimension of 1,600 mm x 60 mm at a casting speed of 5.2 m / min.
  • the 60 mm thick strand is cast in the CSP plant with a metallurgical length of about 8 m.
  • a low-carbon material with a liquidus temperature of 1,529 ° C and solidus temperature of 1,499 ° C solidifies at an overheating of 25 ° C after about 7.4 m.
  • the first furnace 80 in this example is about 6 meters long and does not need to actively heat the strand 1 at this casting speed. At least, however, it has to be raised to 1,200 ° C before the first casting.
  • the straightening rollers 51 located in the first oven 80 substantially remove no heat from the strand 1.
  • the furnace outlet which is designated by the reference numeral 84
  • the temperature has balanced in the strand 1 and is at each cross-sectional position about 1,200 ° C.
  • the Cutting device 60 are located. Due to the free heat radiation and roller contact, the average temperature of the strand 1 decreases by about 50 ° C to about 1,150 ° C from.
  • the strand 1 now passes into the second furnace 90. Therein a renewed temperature compensation takes place.
  • the temperature in the strand 1 has again compensated if necessary without active heating, and the strand 1 can directly in running in the subsequent rolling mill.
  • ovens 80, 90 can be built much longer and the position of cutter 60 could be placed farther back.
  • FIG. 6a An alternative embodiment, which relates to the compact system of FIG. 2a is in the FIG. 6a shown.
  • the temperature course of the plant goes out of the FIG. 6b out.
  • Analogous to FIG. 2b shows the graphic of the FIG. 6b the temperature profile on the surface of the strand 1, in the core and the average temperature as a function of the distance, starting from the casting mirror on the mold, for a low-carbon material with a slab dimension of 1,350 mm x 40 mm at a casting speed of 4 m / minute
  • the structure of the individual components and their functions remain valid, and a repetitive description is omitted to avoid redundancy.
  • a positive consequence is lower energy costs. This is enhanced when the oven 80 and / or 90 just before casting and at low Casting speeds must be heated and otherwise can be used for passive heat balance. Since the temperature does not drop so much, less precipitates occur, which reduces the risk of cracking and improves the mechanical properties of the slabs.
  • the low-oxygen furnace atmosphere reduces scale growth, resulting in higher output. Overall, the furnace can be made more compact and thus the production hall shorter.
  • the average strand temperature is also high enough for the subsequent rolling mill when installing a cutting device between two ovens 80 and 90 (about 3 m free radiation).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Metal Rolling (AREA)
  • Continuous Casting (AREA)

Claims (12)

  1. Dispositif pour la coulée continue de brames minces, comprenant : un guide de barre (20) disposé après une lingotière (10) dans le sens de la coulée, qui guide la barre (1) qui quitte la lingotière (10) dans une première direction ; une zone de cintrage/dressage (40, 50) qui s'y raccorde directement, qui présente des moyens pour l'entraînement et le cintrage de la barre (1) dans une deuxième direction, qui se distingue de la première direction ; un mécanisme de découpe (60) qui découpe la barre (1) en brames minces ; et un premier four (80) qui est prévu pour la compensation de la température dans la barre (1),
    caractérisé en ce que le premier four (80) s'étend en prenant une forme arquée au moins en partie dans la zone de cintrage/dressage (45, 50) et en partie dans la deuxième direction.
  2. Dispositif selon la revendication 1, caractérisé en ce qu'on prévoit, dans la zone du guide de barre (20), un ou plusieurs segments de refroidissement (30) pour le refroidissement de la barre (1).
  3. Dispositif selon la revendication 1 ou 2, caractérisé en ce que le premier four (80) prend une forme arquée dans une plage entre 10° et 80°.
  4. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif est conçu pour la coulée de brames minces dont l'épaisseur se situe entre 35 mm et 90 mm, de préférence entre 40 mm et 60 mm.
  5. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que le mécanisme de découpe (60) est disposé derrière le premier four (80).
  6. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce qu'on prévoit, derrière le premier four (80), un deuxième four (90) et, entre les deux fours, le mécanisme de découpe (60).
  7. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que la zone de cintrage/dressage (40, 50) est réalisée avec une zone de cintrage (40) comprenant des galets de cintrage (41) et avec une zone de dressage (50) comprenant des galets de dressage (51) ; dans lequel un ou plusieurs des galets de cintrage (41) et/ou des galets de dressage (51) sont disposés dans le premier four (80).
  8. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce qu'on prévoit, avant l'entrée (81) dans le premier four (80), un dispositif de raclage de l'eau pour éliminer l'eau de pulvérisation.
  9. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que la zone à l'entrée (81) du premier four (80) est conçue d'une manière telle que l'on peut faire passer une barre, de préférence la fausse barre et/ou la barre (1), dans le cas d'une avarie, le long du premier four (80).
  10. Dispositif selon la revendication 9, caractérisé en ce que la zone antérieure du four (80) est réalisée de manière à pouvoir être déplacée et/ou de manière à pouvoir pivoter.
  11. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce qu'on prévoit une ou plusieurs caméras résistant à la chaleur dans le premier pour (80).
  12. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce qu'un ou plusieurs galets dans la zone de cintrage/dressage (40, 50) sont aptes à se déplacer.
EP15801184.1A 2014-11-28 2015-11-27 Installation de coulée continue pour brames minces Active EP3223979B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014224390.4A DE102014224390A1 (de) 2014-11-28 2014-11-28 Stranggießanlage für Dünnbrammen
PCT/EP2015/077909 WO2016083574A1 (fr) 2014-11-28 2015-11-27 Installation de coulée continue pour brames minces

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EP3223979A1 EP3223979A1 (fr) 2017-10-04
EP3223979B1 true EP3223979B1 (fr) 2018-09-12

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US (1) US10610927B2 (fr)
EP (1) EP3223979B1 (fr)
KR (1) KR101934077B1 (fr)
CN (1) CN107107171B (fr)
DE (1) DE102014224390A1 (fr)
WO (1) WO2016083574A1 (fr)

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WO2016064168A2 (fr) 2014-10-22 2016-04-28 주식회사 윌러스표준기술연구소 Procédé de communication sans fil, et terminal de communication sans fil
CN109093084B (zh) * 2018-09-29 2020-03-31 东北大学 一种连铸薄板坯的生产方法

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US20170341135A1 (en) 2017-11-30
CN107107171B (zh) 2020-11-13
US10610927B2 (en) 2020-04-07
EP3223979A1 (fr) 2017-10-04
KR101934077B1 (ko) 2019-03-25
KR20170088386A (ko) 2017-08-01
WO2016083574A1 (fr) 2016-06-02
CN107107171A (zh) 2017-08-29
DE102014224390A1 (de) 2016-06-02

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