EP3325545A1 - Verfahren zum recycling benzoxazinharzhaltiger materialien, insbesondere von benzoxazinharzhaltigen faserverbundkunststoffen - Google Patents
Verfahren zum recycling benzoxazinharzhaltiger materialien, insbesondere von benzoxazinharzhaltigen faserverbundkunststoffenInfo
- Publication number
- EP3325545A1 EP3325545A1 EP16739134.1A EP16739134A EP3325545A1 EP 3325545 A1 EP3325545 A1 EP 3325545A1 EP 16739134 A EP16739134 A EP 16739134A EP 3325545 A1 EP3325545 A1 EP 3325545A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- reactive
- benzoxazine
- fibers
- group
- benzoxazine resin
- 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.)
- Withdrawn
Links
Classifications
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08J—WORKING-UP; GENERAL PROCESSES OF COMPOUNDING; AFTER-TREATMENT NOT COVERED BY SUBCLASSES C08B, C08C, C08F, C08G or C08H
- C08J11/00—Recovery or working-up of waste materials
- C08J11/04—Recovery or working-up of waste materials of polymers
- C08J11/10—Recovery or working-up of waste materials of polymers by chemically breaking down the molecular chains of polymers or breaking of crosslinks, e.g. devulcanisation
- C08J11/18—Recovery or working-up of waste materials of polymers by chemically breaking down the molecular chains of polymers or breaking of crosslinks, e.g. devulcanisation by treatment with organic material
- C08J11/28—Recovery or working-up of waste materials of polymers by chemically breaking down the molecular chains of polymers or breaking of crosslinks, e.g. devulcanisation by treatment with organic material by treatment with organic compounds containing nitrogen, sulfur or phosphorus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B17/00—Recovery of plastics or other constituents of waste material containing plastics
- B29B17/02—Separating plastics from other materials
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08G—MACROMOLECULAR COMPOUNDS OBTAINED OTHERWISE THAN BY REACTIONS ONLY INVOLVING UNSATURATED CARBON-TO-CARBON BONDS
- C08G18/00—Polymeric products of isocyanates or isothiocyanates
- C08G18/06—Polymeric products of isocyanates or isothiocyanates with compounds having active hydrogen
- C08G18/28—Polymeric products of isocyanates or isothiocyanates with compounds having active hydrogen characterised by the compounds used containing active hydrogen
- C08G18/40—High-molecular-weight compounds
- C08G18/64—Macromolecular compounds not provided for by groups C08G18/42 - C08G18/63
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08G—MACROMOLECULAR COMPOUNDS OBTAINED OTHERWISE THAN BY REACTIONS ONLY INVOLVING UNSATURATED CARBON-TO-CARBON BONDS
- C08G18/00—Polymeric products of isocyanates or isothiocyanates
- C08G18/06—Polymeric products of isocyanates or isothiocyanates with compounds having active hydrogen
- C08G18/28—Polymeric products of isocyanates or isothiocyanates with compounds having active hydrogen characterised by the compounds used containing active hydrogen
- C08G18/65—Low-molecular-weight compounds having active hydrogen with high-molecular-weight compounds having active hydrogen
- C08G18/6505—Low-molecular-weight compounds having active hydrogen with high-molecular-weight compounds having active hydrogen the low-molecular compounds being compounds of group C08G18/32 or polyamines of C08G18/38
- C08G18/6511—Low-molecular-weight compounds having active hydrogen with high-molecular-weight compounds having active hydrogen the low-molecular compounds being compounds of group C08G18/32 or polyamines of C08G18/38 compounds of group C08G18/3203
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
- B29K2039/00—Use of polymers with unsaturated aliphatic radicals and with a nitrogen or a heterocyclic ring containing nitrogen in a side chain or derivatives thereof as moulding material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
- B29K2277/00—Use of PA, i.e. polyamides, e.g. polyesteramides or derivatives thereof, as reinforcement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
- B29K2307/00—Use of elements other than metals as reinforcement
- B29K2307/04—Carbon
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
- B29K2309/00—Use of inorganic materials not provided for in groups B29K2303/00 - B29K2307/00, as reinforcement
- B29K2309/08—Glass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
- B29K2311/00—Use of natural products or their composites, not provided for in groups B29K2201/00 - B29K2309/00, as reinforcement
- B29K2311/10—Natural fibres, e.g. wool or cotton
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08G—MACROMOLECULAR COMPOUNDS OBTAINED OTHERWISE THAN BY REACTIONS ONLY INVOLVING UNSATURATED CARBON-TO-CARBON BONDS
- C08G2101/00—Manufacture of cellular products
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08J—WORKING-UP; GENERAL PROCESSES OF COMPOUNDING; AFTER-TREATMENT NOT COVERED BY SUBCLASSES C08B, C08C, C08F, C08G or C08H
- C08J2377/00—Characterised by the use of polyamides obtained by reactions forming a carboxylic amide link in the main chain; Derivatives of such polymers
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08J—WORKING-UP; GENERAL PROCESSES OF COMPOUNDING; AFTER-TREATMENT NOT COVERED BY SUBCLASSES C08B, C08C, C08F, C08G or C08H
- C08J2379/00—Characterised by the use of macromolecular compounds obtained by reactions forming in the main chain of the macromolecule a linkage containing nitrogen with or without oxygen, or carbon only, not provided for in groups C08J2361/00 - C08J2377/00
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
Definitions
- the invention relates to a process for the chemical degradation of benzoxazine resinous materials, in particular benzoxazine resins, benzoxazine resin prepolymers and benzoxazinharz condominiumn plastics, a high-quality recycling process for spent benzoxazinharzHO materials, especially the separation of composite materials such as duromer-based fiber reinforced plastics with Benzoxazinharzmatrix and reuse of benoxazin ambiencen materials allows.
- Benzoxazine resins are heterocyclic macromolecules whose heterocyclic ring contains nitrogen and oxygen and also shares two carbon atoms with a benzene ring.
- benzoxazine resins can be prepared by reaction of the following three compounds: a phenol derivative, formaldehyde and a primary amine (see scheme 1 below).
- benzoxazine resins are, for example, monomers produced by Huntsman Corporation (Salt Lake City, USA) based on aniline and bisphenol A, bisphenol F, thiodiphenol, dicyclopentadiene or phenolphthalein.
- Another manufacturer of benzoxazine resins is Henkel AG & Co. KGaA (Düsseldorf, Germany).
- Benzoxazine resins cure in a polyaddition reaction and thus without elimination of volatile substances, as can be seen from the following scheme 2.
- benzoxazine resins can be copolymerized with different compounds, including a higher network density and thus higher glass transition temperatures, which for the thermo-mechanical
- thermosets particularly interesting as matrix materials for fiber composites.
- duromers or their products in particular
- Fiber composite plastics with Duromermatrix only very energy and / or time consuming and thus costly recycled.
- Duromers can no longer be melted or dissolved as three-dimensionally crosslinked plastics and thus can not undergo a simple recycling process analogous to thermoplastics or metals.
- Pre-treatment is to be disposed of as a result of the amendment to municipal waste disposal which entered into force on 01.06.2005 and the regulation on landfills and long-term storage,
- the invention is therefore based on the object to provide a method by which benzoxazinharzumble materials can be chemically decomposed so that
- reusable products can be obtained from the benzoxazine resinous material.
- Plastic can be removed and removed without adhesions and with properties close to those of Neuturan.
- This object is achieved by a method in which the benzoxazine resin-containing material is subjected to aminolysis with an agent containing at least one reactive NH 2 or NH group.
- an agent containing at least one reactive NH 2 or NH group In the case of a fiber composite resin with Benzoxazinharzmatrix almost all commonly used reinforcing fibers, for example. Carbon, glass, aramid, natural fibers, not damaged. In individual cases where sensitive fibers are used over strong basic amines, a special choice of the decomposition reagent is required.
- the reactive NH 2 and NH groups are any amino group capable of initiating an aminolysis reaction on benzoxazine resins.
- These are in particular ammonia, hydrazine, primary and secondary amines, hydrazines having aliphatic or aromatic radicals, which in turn may be substituted.
- the branching or chain length of the hydrocarbon radical plays no role in the reaction, as long as the Amino function has sufficient reactivity to the benzoxazine resins.
- the primary and secondary amines used can have further substituents, depending on the desired substitution pattern of the reaction products. Particularly advantageous is another amino or hydroxyl function. Like any other
- the said process has been or is preferably prepared by aminolysis with an aminolysis reagent selected from an amine of the formula (1)
- X is selected from -H (dhua ammonia), -OH, -NH 2 and -NHR 1 and R 1 is an aliphatic or aromatic hydrocarbon radical having in particular 1 to 20 C.
- - is atoms that can be unsubstituted or substituted.
- X may instead be a group R 2 -Y in which R 2 is a divalent aliphatic or aromatic hydrocarbon radical having in particular 1 to 20 C atoms and Y is any radical, but in particular -H, -OH, -NH 2 or -NHR 1 .
- Z is an aliphatic or aromatic hydrocarbon radical having in particular 1 to 20 C atoms, which may be substituted.
- Z may in particular also be a group R 3 -A, in which R 3 is a divalent aliphatic or aromatic hydrocarbon radical having in particular 1 to 20 C atoms and A is any desired bivalent radical, but in particular -OH, -NH 2 or NHR 1 .
- the benzoxazine-containing starting materials are degraded by the agent to low molecular weight components, which according to appropriate
- thermosets working up or without workup directly, for example, for the production of new thermosets, can be recycled.
- the inventive method is preferably carried out at temperatures from -20 ° C to + 250 ° C, but especially up to the boiling point of the agent used.
- the at least one reactive NH 2 or NH group-containing agent can serve simultaneously as a suspending agent (for the starting material) and as a solvent (for the resulting substances). Optionally, it may be diluted by a (further) solvent. If the reaction is carried out under pressure, the temperature can be increased beyond the boiling point of the agent used.
- the process according to the invention gives low molecular weight compounds which can be used as starting materials for the production of polyurethanes, melamine resins, epoxy resins, polyesters, polycarbonates, acrylate resins, polyperfluorocyclobutanes, phenolic resins, etc. can be spoken of a genuine material recycling.
- polymer networks can be prepared by reacting the degradation products with isocyanates, the degradation products used for the reaction with the isocyanates must contain functional groups which can react with isocyanates. These are in particular terminal hydroxyl and amino compounds.
- hydroxyl-containing degradation products, and partly amino-containing degradation products can in addition to the isocyanates, for example, with acid chlorides, acid anhydrides, epoxy resins, phenolic resins, etc. to the aforementioned classes of polymers (eg.
- Epoxy resins Epoxy resins, phenolic resins, polyesters, acrylate resins, etc.).
- Bisphenol A melted at 120 ° C, placed in an open aluminum mold and cured according to the following curing regime.
- the preparation of benzoxazine pure resin plates based on bisphenol F. was carried out analogously.
- Example 2 5 g of cured benzoxazine resin based on bisphenol A were added in a mass ratio of 1: 4 with 2-aminoethanol in a 50 ml round bottomed flask with Dimrothkühler and boiled for 6 hours 45 minutes at 172 ° C under reflux.
- Example 3 5 g of cured benzoxazine resin based on bisphenol A were added in a mass ratio of 1: 4 with ethylenediamine in a 50 ml round bottom flask with Dimrothkühler and boiled for 120 h at 160 ° C under reflux.
- Example 5 5 g of cured benzoxazine resin based on bisphenol F were added in a mass ratio of 1: 4 with ethylenediamine in a 50 ml round bottom flask with Dimroth and boiled for 12 h at 160 ° C under reflux.
- the fiber rovings and yarns to be tested were stored at different temperatures in different decomposition reagents in 50 ml round-necked flasks with Dimroth cooler.
- the reagent-treated fiber rovings were then washed with ethanol and dried at room temperature in a vacuum oven.
- tensile tests were carried out with an Instron 3369 with a 500 N load cell and a special module for testing filigree samples. The distance between the two clamping jaws and thus the measuring length was always 30 mm and the test speed was set to 2.5 mm-min -1 .
- PAN-based 3K carbon fiber rovings (2,000 dtex), glass fiber rovings (E-glass, approximately 680 dtex), aramid fiber rovings (approximately 1,730 dtex), polyamide fiber rovings (PA 6, approximately 1,880 dtex) and twisted natural fibers (shallow-based about 530 dtex).
- the five selected fiber types were stored in each of the following experiments per 1 h in three different reagents at the respective set temperature and their mechanical properties tested by tensile tests on fiber rovings or fiber yarns.
- Aramid fibers are damaged by the use of ethylenediamine or 2-aminoethanol.
- Flax fibers used in experiments were chemically modified by storage in ethylene diamine.
- the polyamide fibers (PA 6) form an exception in the context of here
- FIGS. 6 and 7 show the results of the tensile tests (tensile force on the left, darker bar, tensile elongation respectively on the right, lighter bar) on untreated carbon fiber rovings stored in the refluxing reagents for 24 h (FIG. Glass fibers ( Figure 7).
- the following table shows an overview of the reagents used and their boiling points. The fibers are not damaged by the reagents tested and could thus find use again as reinforcing fibers after decomposition of a benzoxazine resin-containing matrix.
- Example 2 6 g of a bisphenol A-based benzoxazine resin cured as in Example 1 was subjected to aminolysis in 24 g of 2-aminoethanol at a temperature of 172 ° C. under reflux for 2 hours. The excess reagent was removed by distillation using a rotary evaporator under vacuum at 10 mbar and an oil bath temperature of 150 ° C.
- the material produced is a
- Polyurethane foam with closed cells Polyurethane foam with closed cells.
- the cured material was characterized by DMA with single cantilever equipment. The measured by DMA curves and the respective tanö are shown in Figure 8.
- the polymer foam thus produced has a glass transition temperature of about 30 ° C (tan5 max ).
- the polymer produced is insoluble in the following organic solvents: ethanol, methanol, methyl ethyl ketone, acetone, tetrahydrofuran, dimethyl sulfoxide, chloroform.
- the degradation products used here must contain functional groups that can react with isocyanates. These are in particular terminal hydroxyl and amino compounds.
- the recyclate was prepared analogously to Example 13. 16.6% by mass of the highly viscous recyclate were melted at 130 ° C. and dissolved in 9.8% by mass of 1,4-butanediol. The resulting solution was added to 73.6% by mass of a hexamethylene-1,6-diisocyanate-based (HDI) trimer. The components were then homogenized with a planetary mixer for 2 minutes.
- HDI hexamethylene-1,6-diisocyanate-based
- the cured material was characterized by DMA with single cantilever equipment. The measured by DMA curves and the respective tanö are shown in Figure 9.
- the hard foam thus produced has a glass transition temperature of 53 ° C (tan5 max ).
- the polymer produced is insoluble in the following organic solvents: ethanol, methanol, methyl ethyl ketone, acetone, tetrahydrofuran, dimethyl sulfoxide, chloroform.
- the degradation products used here must contain functional groups that can react with isocyanates. These are in particular terminal hydroxyl and amino compounds.
Landscapes
- Chemical & Material Sciences (AREA)
- Polymers & Plastics (AREA)
- Health & Medical Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Medicinal Chemistry (AREA)
- Organic Chemistry (AREA)
- Engineering & Computer Science (AREA)
- Sustainable Development (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Mechanical Engineering (AREA)
- Phenolic Resins Or Amino Resins (AREA)
- Reinforced Plastic Materials (AREA)
- Separation, Recovery Or Treatment Of Waste Materials Containing Plastics (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015111939.0A DE102015111939B3 (de) | 2015-07-22 | 2015-07-22 | Verfahren zum Recycling benzoxazinharzhaltiger Materialien, insbesondere von benzoxazinharzhaltigen Faserverbundkunststoffen |
| PCT/EP2016/066835 WO2017012997A1 (de) | 2015-07-22 | 2016-07-14 | Verfahren zum recycling benzoxazinharzhaltiger materialien, insbesondere von benzoxazinharzhaltigen faserverbundkunststoffen |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP3325545A1 true EP3325545A1 (de) | 2018-05-30 |
Family
ID=55531419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP16739134.1A Withdrawn EP3325545A1 (de) | 2015-07-22 | 2016-07-14 | Verfahren zum recycling benzoxazinharzhaltiger materialien, insbesondere von benzoxazinharzhaltigen faserverbundkunststoffen |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US10501600B2 (de) |
| EP (1) | EP3325545A1 (de) |
| CN (1) | CN107849289B (de) |
| DE (1) | DE102015111939B3 (de) |
| WO (1) | WO2017012997A1 (de) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016104518A1 (de) * | 2015-11-13 | 2017-05-18 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Verfahren zum Recycling von phenolharzhaltigen Materialien, insbesondere phenolharzbasierten Faserverbundkunststoffen |
| CN114478971B (zh) * | 2022-03-09 | 2023-07-14 | 电子科技大学 | 一种腈基功能化苯并噁嗪树脂及其聚合物和复合材料的制备方法 |
| EP4596609A4 (de) * | 2022-09-29 | 2025-11-19 | Swancor Innovation & Incubation Co Ltd | Aminierbares benzoxazinharzgehärtetes produkt und herstellungsverfahren und aminolyseverfahren dafür |
| TWI844121B (zh) * | 2022-09-29 | 2024-06-01 | 上緯創新育成股份有限公司 | 可胺解的苯并噁嗪樹脂固化物及其製法與胺解方法 |
| FR3148734B1 (fr) * | 2023-05-16 | 2025-06-06 | Saint Gobain Adfors | Procédé de recyclage de voiles de fibres minérales |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4432965C1 (de) * | 1994-09-16 | 1996-01-25 | Fraunhofer Ges Forschung | Verfahren zum Abbau von polycyanurathaltigen Materialien |
| US8863809B2 (en) * | 2011-11-14 | 2014-10-21 | The Boeing Company | Methods and systems for recycling of laminated materials |
| DE102012112254B4 (de) * | 2012-08-17 | 2018-08-16 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Verfahren zur Wiederverwertung von recycelten polycyanurathaltigen Materialien in neuen polymeren Werkstoffen |
-
2015
- 2015-07-22 DE DE102015111939.0A patent/DE102015111939B3/de active Active
-
2016
- 2016-07-14 CN CN201680043096.7A patent/CN107849289B/zh active Active
- 2016-07-14 WO PCT/EP2016/066835 patent/WO2017012997A1/de not_active Ceased
- 2016-07-14 US US15/745,948 patent/US10501600B2/en active Active
- 2016-07-14 EP EP16739134.1A patent/EP3325545A1/de not_active Withdrawn
Also Published As
| Publication number | Publication date |
|---|---|
| US20180208737A1 (en) | 2018-07-26 |
| DE102015111939B3 (de) | 2016-04-07 |
| US10501600B2 (en) | 2019-12-10 |
| CN107849289A (zh) | 2018-03-27 |
| CN107849289B (zh) | 2021-03-02 |
| WO2017012997A1 (de) | 2017-01-26 |
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