EP3302853B1 - Verfahren zum ausschlagen eines giesskerns und verfahren zur herstellung durch formen mit solch einem verfahren - Google Patents

Verfahren zum ausschlagen eines giesskerns und verfahren zur herstellung durch formen mit solch einem verfahren Download PDF

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Publication number
EP3302853B1
EP3302853B1 EP16733144.6A EP16733144A EP3302853B1 EP 3302853 B1 EP3302853 B1 EP 3302853B1 EP 16733144 A EP16733144 A EP 16733144A EP 3302853 B1 EP3302853 B1 EP 3302853B1
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EP
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Prior art keywords
knocking out
during
cavity
core
tank
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EP16733144.6A
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English (en)
French (fr)
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EP3302853A1 (de
Inventor
Didier BALLANT
Patrick FAUVELLIERE
Vincent KALETA
Yann MARGUTTI
Jean-Paul PARLANGE
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Safran Aircraft Engines SAS
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Safran Aircraft Engines SAS
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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
    • B22D29/00—Removing castings from moulds, not restricted to casting processes covered by a single main group; Removing cores; Handling ingots
    • B22D29/001—Removing cores
    • B22D29/002—Removing cores by leaching, washing or dissolving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22C—FOUNDRY MOULDING
    • B22C9/00—Moulds or cores; Moulding processes
    • B22C9/02—Sand moulds or like moulds for shaped castings
    • B22C9/04—Use of lost patterns
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22C—FOUNDRY MOULDING
    • B22C9/00—Moulds or cores; Moulding processes
    • B22C9/10—Cores; Manufacture or installation of cores
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D29/00—Removing castings from moulds, not restricted to casting processes covered by a single main group; Removing cores; Handling ingots
    • B22D29/001—Removing cores
    • B22D29/005—Removing cores by vibrating or hammering

Definitions

  • the invention relates to a method of unhitching a foundry core, and a method of manufacturing by molding comprising such a method of shakeout.
  • a turbomachine as used for propulsion in the aeronautical field, comprises an atmospheric air inlet which communicates with one or more compressors, driven in rotation about the same axis.
  • the primary flow of this air after being compressed, feeds a combustion chamber disposed annularly around this axis and is mixed with a fuel that is burned to provide hot gases, downstream, to one or more turbines through which they are relaxed, the turbine rotors driving the rotors of the compressors.
  • the engines operate at a turbine inlet gas temperature, which is sought as high as possible, because this temperature conditions the performance of the turbomachine.
  • the materials of the hot parts are selected to withstand these operating conditions and the walls of the parts swept by the hot gases, such as the walls of the distributors or turbine blade wheels, are provided with cooling means, and in particular internal cavities which are intended to allow the routing of a flow of cooling air.
  • this flow of air comes from an inner part of the rotor.
  • a lost wax model is created which traps nuclei which are used during the casting of the metal to create a cavity which will serve cooling the dawn in the turbomachine.
  • the metal When pouring the metal, it replaces the volume previously occupied by the wax by trapping the nuclei or nuclei. These nuclei must be removed after the solidification of the metal during a so-called "shakeout" operation.
  • the nuclei are dissolved in a dissolution liquid whose agitation and temperature are controlled. Such an operation does not guarantee a good dissolution of the nuclei in the cavities.
  • nuclei are dissolved in an aqueous solution subjected to stirring means. Such an operation does not guarantee a good dissolution of lost wax cores.
  • the cores mounted on a rotating drum are dissolved in an alkaline solution subjected to stirring means, in particular by ultrasound. Such an operation does not guarantee good accessibility of lost wax cores to the alkaline solution.
  • an autoclave chamber is used for this purpose subjected in a known manner to a compressed air pressure of the order of 4 to 20 bars, filled with a basic solution, generally based on sodium hydroxide.
  • the operator in charge of the removal of the cores may decide to inject into the cavity or cavities of the water under a pressure of 70 and 130 bar.
  • This water injection makes it possible to clean the internal surface of the part and theoretically contributes to removing the remaining ceramic residues in the cavity, which are most often located in so-called cavity bottom areas that are difficult to access, even for basic baths under pressure.
  • the invention overcomes the disadvantages known from the state of the art by proposing a new mode of unhinging kernels to eliminate residues remaining in particular cavity bottom in a simple, fast, and effective way.
  • the invention proposes a method of unhinging a foundry core trapped in an internal cavity of a part at the end of a molding operation, in particular a lost-wax molding operation of the type previously described. , which comprises in known manner at least one primary step of chemical stall in which the piece is subjected to a chemical dissolution solution of the core, in a closed chamber.
  • this method comprises a secondary step of ultrasound stalling during which the piece is subjected to ultrasound to take off wall core residues of the cavity.
  • the invention also relates more generally to a manufacturing process by lost-wax molding of a casting having at least one internal cavity opening on one of its faces.
  • Figures 2 to 6 a method of manufacturing by lost-wax molding of a casting part, in particular a turbine engine blade of the type of that which has been shown in FIGS. FIGS. 1A or 1B .
  • such a turbine engine blade 10 essentially comprises a blade 12 and a foot 14 secured to the blade 12, the blade being intended to be received in a rotor disk (not shown) to form a wheel of compressor or turbine of a turbomachine, including an aircraft engine.
  • each blade 10 generally comprises at least one internal cavity 16 of main general direction C which is intended to allow the circulation of a flow of air F to the inside of dawn 10.
  • the internal cavity 16 can take different forms.
  • the blade 10 may also comprise several cavities, but also channels for bringing the flow of air F inside the cavity 16, and to extract it.
  • the dawn 10 may comprise a supply channel 15 which opens at the base 13 of its foot 14, which communicates with the cavity 16, and through which the cavity 16 is fed by a flow F of pressurized cooling air coming from an inner part of the rotor of the turbomachine.
  • the blade 10 may also include evacuation channels 17, which communicate with the cavity 16, and which open into a trailing edge 19 of the blade 10, through which the flow of cooling air F is evacuated from the cavity 16.
  • the number of channels 15 and 17 is also not limiting of the invention.
  • the internal cavity 16 opens into one of the faces or parts of the blade 10, that is to say either in the trailing edge 19 of the blade 10 via the discharge channels 17, or in a lower face 13 of its foot 14 via the feed channel 15.
  • the blade 10 could include a cavity, known as a bathtub, which would open into its upper end opposite to the lower face 13 of the foot 14, and which would communicate with its internal cavity through outlet orifices.
  • the circulation of an air flow F inside the cavity 16 of the blade 10 makes it possible to cool the blade 10 during its operation, and is particularly advantageous in the case of turbine blades which are particularly subjected to hot gases at high temperature from the combustion chamber of the turbomachine, and for which cooling is necessary to prevent their deterioration.
  • Such a blade 10 is obtained by a lost wax molding process, a first step of which is represented in FIG. figure 2 consists of the manufacture of at least one core 18. On the figure 2 , there is shown the manufacture of a core 18 of complementary shape of the cavity 16 to obtain, to form said cavity 16 during the molding of the blade 10.
  • the core 18 is generally made of a ceramic material, and may, by way of example and in a nonlimiting manner of the invention, be molded in a mold 20 in two parts 22A, 22B which form complementary impressions of the shapes of the core 18 to obtain.
  • the core 18 is extracted from the mold 20. It is then assembled with other cores intended to form the channels 15 and 17 previously mentioned.
  • the shape of the core 18 which has been represented at figure 2 is not limiting of the invention, and that in particular the core 18 could comprise shapes intended to form in one piece the channels 15 and 17, so as to use only one single core for molding of dawn 10.
  • a model 24 of the blade 10 is produced by injection of wax into a press in which the previously mentioned core 18 has previously been disposed.
  • the core 18 comprises two branches 18A, 18B complementary to the branches 16A, 16B of the cavity 16 to be obtained in the blade 10.
  • the core 18 described above, as well as complementary cores of the cavities forming the channels 15 and 17 of the blade 10, are placed in a mold 25 comprising a lower part 25A and an upper part 25B. who were not represented in the cutting plan of the figure 3 .
  • the core can be maintained between the two parts 25A and 25B of the mold directly or via pins which have not been shown.
  • the wax 26 is then injected into the mold 25 to coat the core 18.
  • a model 24 is obtained in wax, including the core 18.
  • Cluster 28 shown in figure 4 , essentially comprises a central trunk 30 made of wax and branches 32 also in wax which radiate from the central trunk 30 and which are each connected to at least one model 24 of the type described above.
  • the trunk 30 and the branches 32 are intended to create cavities allowing, after dewaxing and during the casting of the metal, the transport of the molten metal in said cavities.
  • a ceramic mold 34 or shell is manufactured to receive the cluster 28 of models 24.
  • the ceramic mold 34 or shell is cast around the cluster 28 so that the cluster 28 in wax is completely trapped in the ceramic material of the mold 34.
  • the ceramic shell 34 is derived from the ceramic coating of depositing on the cluster 28 or wax tree a succession of ceramic layers.
  • the ceramic mold 34 or carapace is decried, that is to say, after removal of the wax or dewaxing, cavities corresponding to a volume are obtained inside the carapace. in negative of the cluster 28 or wax tree.
  • the casting of the metal in the mold 34 is carried out.
  • the molten metal travels in the mold by successively moving in the cavities previously occupied by the trunk 30, the branches 32, and the models 24 of the wax tree, the molten metal thus occupying the volume released by the dewaxing.
  • the metal has thus completely occupied the volume of the models 24 initially in wax and it traps the cores 18 of the models 24.
  • the entire mold 34 containing the cluster 28 is allowed to cool until complete solidification of the casting metal.
  • the ceramic mold 34 or shell around the cluster 28 is destroyed. This destruction can be mechanical and / or chemical.
  • the result obtained is a cluster of molded vanes 10 which are then separated from each other to be subjected to finishing operations.
  • the blades 10 must be subjected to a shakeout process for eliminating for each of these blades 10, the last residues of the ceramic mold 34 and the core 18.
  • the removal of the residues of the ceramic mold 34 does not pose any particular difficulties. Indeed, the mold 34 is arranged in contact with external surfaces of the blades 10, and thus the majority of the mold 10 is removed in one operation when it is destroyed around the cluster 28. The few mold residues 34 likely to remain in contact with the blades 10 may be eliminated during the same operations that will be described with reference to the shakeout method subject of the invention.
  • a method of conventionally shaking a foundry core 18 trapped in an internal cavity 16 of a blade 10 at the end of a molding operation as described above comprises at least one primary step of shakeout chemical, as represented in figure 5 , during which the blade 10 is subjected to a chemical solution 36 for dissolving the core 18 in a closed chamber 38.
  • FIG. 5 On the figure 5 four blades 10 being processed in a vertical autoclave enclosure 38 are shown schematically. This configuration is of course not limiting, and during this primary shake step, a greater number of blades can be treated, just as a vertical autoclave chamber 38, of higher capacity, can also be used.
  • the autoclave enclosure 38 comprises a tank 56 which is sealed by a cover 58, the seal being provided by a seal 60 which is interposed between the tank 56 and the cover 58.
  • the cover is fixed to the tank 56 by means of swinging wing nuts 62 which allow the lid to withstand the high pressures prevailing inside the tank 56.
  • baskets 64 Inside the tank 56 are arranged baskets 64 on which are arranged the blades 10 to be treated.
  • a basic solution 36 is disposed at the bottom of the tank 56, which is heated via a heating means 68, for example one or more electrical resistors.
  • the tank 56 is also subjected to a compressed air pressure of the order of 4 to 20 bar, which is provided by a conduit 70 opening in the tank 56, said duct 70 being connected to a source 72 of compressed air via a nonreturn valve 74.
  • the autoclave chamber 38 finally comprises a manometer 76 for controlling the pressure in the tank 56, as well as a safety valve 78 and a purge duct 80.
  • the tank 56 of the autoclave enclosure 38 is heated so as to vaporize the basic solution 36 which creeps under pressure in the cavities of the blades 10 and causes the dissolution of the cores.
  • Such a primary stalling step is generally insufficient to ensure perfect stalling of the core 18.
  • the internal cavity 16 of the blade 10 is subjected to an injection of water under a high pressure, for example of the order of 70 to 130 bar.
  • the primary step of shakeout thus comprises this water injection step, which occurs after the passage of the vanes 10 in the autoclave enclosure 38.
  • the invention overcomes this disadvantage by proposing a shakeout process including a new shake step to ensure complete removal of the residues of the core 18.
  • the method according to the invention comprises a secondary step of ultrasonic shakeout during which the blade 10 is subjected to ultrasound to loosen the residues of the core 18 of the walls of the cavity 16.
  • Ultrasound is already used in other processes, especially in high-speed machining processes to clean parts. Ultrasound makes it possible to subject the chips resulting from the high-speed machining which are mixed with lubricant, to vibrations which allow the separation of said chips.
  • the invention advantageously proposes applying the use of ultrasound, hitherto reserved for chip separation, to detaching the ceramic material residues of the amalgamated core in a basic solution and adhering to the inner walls of the blades 10, subjecting them to vibrations, propagated by ultrasonic waves, which allow the detachment of said residues.
  • the installation for carrying out the process according to the invention comprises a second ultrasonic bath tank 42 containing a basket or support 72 intended to receive the blades 10 extracted from the autoclave enclosure 38 previously described.
  • the ultrasonic bath tank 42 contains water or an aqueous solution 44, possibly comprising an additive that promotes the dissolution of the nuclei, and it is equipped with at least one transducer 46 capable of generating ultrasound within the body. the tank 42.
  • the blade 10 is fully immersed in the water or aqueous solution contained in the tank 42 ultrasound.
  • the arrow U represents the propagation direction of the ultrasound inside the tank 42.
  • the blade 10 is subjected to ultrasound oriented in a direction U parallel to a general direction C of orientation of the cavity 16, or transversely to said general direction of orientation C of the cavity.
  • the ultrasounds are not reflected randomly by vertical walls 54 of the cavity 16, as shown in FIGS. Figures 1A and 1B , so as not to be disturbed by phenomena of reflection and interference of sound waves on said vertical walls.
  • a reflection of the ultrasonic waves on the vertical walls 54 at any angle could promote the propagation of ultrasound in different directions because of successive reflections, and therefore to be a source of interference that would disrupt the action of ultrasound.
  • the transducer 46 is preferably placed at the bottom and at a lower end 48 of the tank 42 so that the ultrasound is emitted towards the end upper 50 of the tank 42, that is to say towards the surface 52 of the water or of the aqueous solution 44.
  • the ultrasonic propagation direction U is oriented substantially parallel to the vertical direction V.
  • This configuration advantageously makes it possible to limit the influence of the ultrasonic reflection phenomena emitted by the transducer 46 against the lateral walls 49 of the tank 42. Indeed, such reflection being inevitable, the sound waves reflected by each side wall 49 have a reduced power compared to the waves emitted by the transducer 46. This is due firstly to a phenomenon of absorption by the side wall 49 considered of the tank 42, and secondly to interference with the waves reflected by the other walls of the tank, and in particular by the opposite side wall 49.
  • the ultrasound emitted by the transducer 46 is emitted in a direction U parallel to the side walls 49 so that they penetrate into the cavity of the blade 10 without being reflected by the walls 49 of the tank 46; that is to say in a direction U parallel to the vertical direction V.
  • This configuration is however not limiting of the invention.
  • an optimum configuration can be proposed for implementing the secondary stage, according to which the blade 10 is preferably disposed in the tank 42 by orienting its general direction, and therefore the general direction of the cavity 16, in the vertical direction V, corresponding with the direction of emission U of the ultrasonic waves, the transducer 46 being oriented so that the ultrasound is emitted to the surface 52 of water or aqueous solution 44.
  • the ultrasound emitted by the transducer 46 being emitted preferably at a frequency of 14 to 50 kHz and at a power of 500 to 1300W for a period of between 10 and 100 minutes.
  • the ultrasonic tanks used in the finishing workshop have frequency characteristics of about 28 kHz at a power of about 900 W.
  • this secondary step can occur immediately after a primary step of shake under basic solution, or under a primary step of shake under basic solution supplemented by an injection of water under pressure, as described above.
  • the secondary stage makes it possible to ensure complete unhitching of the part 10 without deterioration of the material of this part.
  • This secondary step is of great ease of implementation, and can as such be applied in the context of a series processing of parts 10 by the process. In addition, this necessary step does not require expensive investments. The process according to the invention is therefore economically very advantageous.
  • the manufacturing method according to the invention may comprise an additional finishing step carried out for example using a high-speed machining center, said step comprising a non-destructive inspection of the blade 10.
  • the invention thus proposes a method of particularly advantageous stalling of a cavity 16 of a blade 10 of turbomachine, and more generally, a method of manufacturing a turbomachine blade 10 allowing a fast unhinging of 18 lost-wax foundry ceramic cores which does not require the prolonged occupation of autoclave enclosures 38 of stall by the same batch of blades 10, and which does not present any risk of deformation of the blades 10.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Turbine Rotor Nozzle Sealing (AREA)
  • Molds, Cores, And Manufacturing Methods Thereof (AREA)

Claims (9)

  1. Verfahren zum Ausschlagen eines Gießkerns (18), eingeschlossen in einem inneren Hohlraum (16) eines Teils (10) nach einem Formbetrieb, insbesondere eines Formbetriebs durch Wachsausschmelzen, mindestens einen Primärschritt zum chemischen Ausschlagen beinhaltend, im Laufe dessen das Teil (10) einer chemischen Lösung (36) zum Auflösen des Kerns (18) in einem geschlossenen Behälter (38) oder Autoklav unterzogen wird, dadurch gekennzeichnet, dass es einen Sekundärschritt zum Ausschlagen durch Ultraschall beinhaltet, im Laufe dessen das Teil (10) in Wasser oder eine wässrige Lösung (44), die in einem Ultraschalltank (42) enthalten ist, eingetaucht wird und, Ultraschall ausgesetzt wird, um Rückstände des Kerns (18) von den Wänden (40) des Hohlraums (16) abzulösen.
  2. Verfahren zum Ausschlagen nach dem vorstehenden Anspruch, dadurch gekennzeichnet, dass das Teil (10) im Laufe des Sekundärschritts Ultraschall unterzogen wird, dessen Ausbreitungsrichtung gemäß einer allgemeinen Ausrichtungsrichtung (C) des Hohlraums ausgerichtet ist, und/oder quer in Bezug auf die allgemeine Ausrichtungsrichtung (C) des Hohlraums (16).
  3. Verfahren zum Ausschlagen nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Ultraschall im Laufe des Sekundärschritts mindestens durch einen Wandler (46) emittiert wird, der vorzugsweise am Boden des Tanks (42) platziert ist, sodass der Ultraschall zur Oberfläche des Wassers oder der wässrigen Lösung (44) hin emittiert wird.
  4. Verfahren zum Ausschlagen nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass es zum Ausschlagen mindestens eines Kerns (18) mindestens eines Teils (10) von einer allgemeinen länglichen Form, ausgerichtet gemäß einer allgemeinen Richtung geeignet ist, und dadurch, dass das mindestens eine Teil im Laufe des Sekundärschritts im Ultraschalltank (42) angeordnet ist, wobei seine allgemeine Ausrichtungsrichtung nach der vertikalen Richtung (V) ausgerichtet wird.
  5. Verfahren zum Ausschlagen nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Temperatur der Lösung im Laufe des Sekundärschritts zwischen 10 bis 60 °C enthalten ist, und der Ultraschall bei einer Frequenz von 14 bis 50 kHz und bei einer Leistung von 500 bis 1300 W, während einer Dauer von 10 bis 100 Minuten emittiert wird.
  6. Verfahren zum Ausschlagen nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass das Teil (10) im Laufe des Primärschritts des Ausschlagens in einem Autoklavbehälter (38) angeordnet wird, der einem Druckluftdruck von 4 bis 20 bar unterzogen wird und eine basische Lösung (36) enthält.
  7. Verfahren zum Ausschlagen nach dem vorstehenden Anspruch, dadurch gekennzeichnet, dass während des Primärschritts des Ausschlagens, nach der Verarbeitung des Teils in der basischen Lösung, der Hohlraum (16) des Teils (10) einem Einspritzen von Wasser unter einem Druck von 70 bis 130 bar unterzogen wird.
  8. Verfahren zur Herstellung durch Formen durch Wachsausschmelzen eines Gießteils (10), mindestens einen inneren Hohlraum (16) beinhaltend, der auf eine seiner Flächen (13, 19) mündet, dadurch gekennzeichnet, dass es mindestens beinhaltet:
    - einen Schritt zum Herstellen eines Kerns (18) aus keramischem Material, dazu bestimmt, mindestens einen Hohlraum (16) im fertigen Teil (10) zu bilden,
    - einen Schritt zum Herstellen eines Modells (24) aus auszuschmelzendem Wachs, im Laufe dessen ein Modell des Teils durch Einspritzen von Wachs (26) in eine Presse realisiert wird und im Laufe dessen der Kern (18) in das Modell (24) eingeschlossen wird,
    - einen Schritt zum Zusammensetzen zu einer Gießtraube (28) von mehreren Modellen (24), die durch Wiederholen des zweiten Schritts realisiert werden,
    - einen Schritt zum Herstellen einer keramischen Form oder Maske (34) und eines Platzierens der Gießtraube (28) der Modelle (24) in die Form (34),
    - einen Schritt zum Gießen des Metalls in die Form (34),
    - einen Schritt zum Abkühlen,
    - einen Schritt zum Ausschlagen der Maske, und
    - die Schritte des Verfahrens zum Ausschlagen nach einem der vorstehenden Ansprüche,
    wobei das Verfahren eventuell einen zusätzlichen Schritt zur Endbearbeitung, insbesondere durch Hochgeschwindigkeitsbearbeitung, und zur zerstörungsfreien Prüfung des Teils (10) umfasst.
  9. Anlage zum Umsetzen des Verfahrens zum Ausschlagen nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass die umfasst:
    - einen ersten geschlossenen Tank (56) oder einen Autoklavbehälter (38), eine vorzugsweise basische Lösung zum chemischen Auflösen eines Gießkerns (18) enthaltend, und
    - einen zweiten Tank (42) für ein Ultraschallbad, Wasser oder eine wässrige Lösung (44), eventuell ein Additiv beinhaltend, enthaltend, wobei der zweite Tank (42) mit mindestens einem Wandler (46) ausgestattet ist.
EP16733144.6A 2015-05-29 2016-05-19 Verfahren zum ausschlagen eines giesskerns und verfahren zur herstellung durch formen mit solch einem verfahren Active EP3302853B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1554911A FR3036637B1 (fr) 2015-05-29 2015-05-29 Procede de decochage d'un noyau de fonderie, et procede de fabrication par moulage comportant un tel procede
PCT/FR2016/051196 WO2016193567A1 (fr) 2015-05-29 2016-05-19 Procede de decochage d'un noyau de fonderie, et procede de fabrication par moulage comportant un tel procede

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Publication Number Publication Date
EP3302853A1 EP3302853A1 (de) 2018-04-11
EP3302853B1 true EP3302853B1 (de) 2019-09-11

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US (1) US10870147B2 (de)
EP (1) EP3302853B1 (de)
CN (1) CN107660167A (de)
FR (1) FR3036637B1 (de)
WO (1) WO2016193567A1 (de)

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JP7327797B2 (ja) * 2019-10-15 2023-08-16 株式会社全晴 鋳砂掻き出し具及び鋳砂掻き出し具セット
CN112191829A (zh) * 2020-10-10 2021-01-08 中国航发北京航空材料研究院 一种精密铸造空心叶片型芯的脱芯釜及脱除方法

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US20180133791A1 (en) 2018-05-17
FR3036637A1 (fr) 2016-12-02
CN107660167A (zh) 2018-02-02
US10870147B2 (en) 2020-12-22
WO2016193567A1 (fr) 2016-12-08
EP3302853A1 (de) 2018-04-11
FR3036637B1 (fr) 2019-06-07

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