EP3347154A1 - Outil de filetage à la volée - Google Patents

Outil de filetage à la volée

Info

Publication number
EP3347154A1
EP3347154A1 EP16763227.2A EP16763227A EP3347154A1 EP 3347154 A1 EP3347154 A1 EP 3347154A1 EP 16763227 A EP16763227 A EP 16763227A EP 3347154 A1 EP3347154 A1 EP 3347154A1
Authority
EP
European Patent Office
Prior art keywords
cutting
type
plates
cutting plate
plate
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.)
Pending
Application number
EP16763227.2A
Other languages
German (de)
English (en)
Inventor
Eckhard Wagner
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.)
Hartmetall Werkzeugfabrik Paul Horn GmbH
Original Assignee
Hartmetall Werkzeugfabrik Paul Horn 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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=56893950&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP3347154(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Hartmetall Werkzeugfabrik Paul Horn GmbH filed Critical Hartmetall Werkzeugfabrik Paul Horn GmbH
Publication of EP3347154A1 publication Critical patent/EP3347154A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C5/00—Milling-cutters
    • B23C5/02—Milling-cutters characterised by the shape of the cutter
    • B23C5/08—Disc-type cutters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23G—THREAD CUTTING; WORKING OF SCREWS, BOLT HEADS, OR NUTS, IN CONJUNCTION THEREWITH
    • B23G1/00—Thread cutting; Automatic machines specially designed therefor
    • B23G1/32—Thread cutting; Automatic machines specially designed therefor by milling
    • B23G1/34—Thread cutting; Automatic machines specially designed therefor by milling with a cutting bit moving in a closed path arranged eccentrically with respect to the axis of the rotating workpieces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23G—THREAD CUTTING; WORKING OF SCREWS, BOLT HEADS, OR NUTS, IN CONJUNCTION THEREWITH
    • B23G5/00—Thread-cutting tools; Die-heads
    • B23G5/18—Milling cutters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C2210/00—Details of milling cutters
    • B23C2210/28—Arrangement of teeth
    • B23C2210/285—Cutting edges arranged at different diameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C2210/00—Details of milling cutters
    • B23C2210/50—Cutting inserts
    • B23C2210/503—Cutting inserts mounted internally on the cutter
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C2220/00—Details of milling processes
    • B23C2220/60—Roughing
    • B23C2220/605—Roughing and finishing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C2220/00—Details of milling processes
    • B23C2220/68—Whirling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C5/00—Milling-cutters
    • B23C5/16—Milling-cutters characterised by physical features other than shape
    • B23C5/20—Milling-cutters characterised by physical features other than shape with removable cutter bits or teeth or cutting inserts
    • B23C5/22—Securing arrangements for bits or teeth or cutting inserts
    • B23C5/2295—Securing arrangements for bits or teeth or cutting inserts the cutting elements being clamped simultaneously
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23G—THREAD CUTTING; WORKING OF SCREWS, BOLT HEADS, OR NUTS, IN CONJUNCTION THEREWITH
    • B23G2240/00—Details of equipment for threading other than threading tools, details of the threading process
    • B23G2240/60—Thread whirling, i.e. production of a thread by means of an annular tool rotating about an axis not coincident with the axis of the thread being produced

Definitions

  • the present invention relates to a swirling tool for machining a
  • the present invention relates to a swirl tool with exchangeable inserts.
  • This whirling tool is particularly suitable for thread whirling.
  • Whirling is a machining production process, which forms a special form of erfräsens with respect to the tool and the kinetics. Whirling, in particular, is used to make threads, but may also be generally used to make rotationally symmetric parts, such as screws, screws or rotors. Due to the high efficiency of this machining process manufacturing vortex is particularly suitable for machining workpieces made of tough materials, such as titanium or precious metal. For this reason, for example, nowadays the majority of all bone screws are made by thread whirling.
  • the swirl tool which determines the cutting speed, orbits eccentrically positioned at high speed around the slowly rotating workpiece.
  • the feed of the workpiece along its longitudinal axis is adjusted according to the desired thread pitch to be produced.
  • the swirling tool is pivoted about the x-axis depending on the desired thread pitch. The radial feed of the swirling tool relative to the workpiece determines the thread depth.
  • External swirling is typically used to make external threads
  • internal swirls are typically used to make internal threads.
  • external whirling the blades are directed inward, with the swirling tool rotating around the workpiece.
  • External whirling is therefore sometimes also referred to as milling with internally toothed milling cutters.
  • internal whirling the edges are directed outwards.
  • the vortex tool rotates within a bore of the workpiece.
  • the basic principle of the eccentric swirling movement of the tool and simultaneous movement of the workpiece (both rotationally and longitudinally) is otherwise the same for external and internal swirling.
  • the present invention is therefore an object of the invention to provide a whirling tool for machining a workpiece, in which the wear of the cutting edges used is reduced, so that can increase the life.
  • a swirling tool comprising: three or a plurality of three cutting plates, each of the cutting plates having at least one cutting edge; a cutting plate carrier having a plurality of cutting plate receptacles for receiving in each case one of the cutting plates, wherein the cutting plate receptacles are arranged distributed in the circumferential direction over the cutting plate carrier; and a plurality of fasteners for releasably securing the inserts in the inserts of the insert carrier, the inserts including at least two different types of inserts, at least one first type and a second type of insert per group of three inserts arranged side by side on the insert are provided, wherein the cutting plate of the first type of the cutting plate of the second type by their overall geometry, by a dimension of the at least one cutting edge and / or by a shape of the at least one cutting edge is different.
  • the whirling tool according to the invention characteristically has three inserts or a plurality of three inserts. Particularly preferably, the tool has exactly six, exactly nine or exactly twelve inserts. These inserts are interchangeable mounted on a cutting plate carrier. The inserts are arranged distributed in the circumferential direction of the cutting plate carrier and preferably spaced apart.
  • a particularly characteristic feature of the whirling tool according to the invention is the use of at least two different types of inserts, which differ either in their overall geometry (size and / or shape) and / or in the size and / or shape of the cutting edges. According to the invention, provision is made in particular for at least one cutting insert of the first type and one cutting insert of the second type to be used per group of three cutting disks arranged side by side on the cutting board support.
  • juxtaposed cutting plates present cutting plates are to be understood, which in the assembled state of the vortex tool viewed in the circumferential direction immediately successive. "Immediately” should not imply that the circumferentially successive cutting plates must touch.
  • juxtaposed cutting plates can basically touch, but preferably they are spaced apart.
  • cutting plates arranged next to one another are understood to mean those cutting plates which are arranged directly adjacent to one another on the cutting plate carrier
  • each of the cutting plates has its own two adjacent cutting plates (left and right) forms a group of three cutting plates, of which at least one cutting plate is a cutting plate of the first kind and a cutting plate is a cutting plate of the second kind.
  • the cutting inserts of the first type take on a different function when machining the workpiece than the inserts of the second type.
  • the inserts of the second type can be designed, for example due to the shape of the precutting or roughing, while the Cutting inserts of the first type have contour-forming cutting, which are responsible for the production of the final thread profile.
  • the inserts of the second type are relatively heavily stressed and They are relatively less materially stressed, and "only" form the contour to be imaged on the workpiece, which leads to a situation in which the inserts of the second type, relative to the inserts of the
  • this is more than acceptable, even advantageous, since the final contour forming cutting edges of the first type of cutting inserts are subject to less wear and tear long, the cutting edges of the cutting inserts of the first type are not worn too) sometimes even unnoticed, since this does not or only very little effect on the surface finish on the workpiece.
  • each group of three, the cutting plate carrier juxtaposed cutting plates each have two inserts of the first kind and a cutting plate of the second kind. It is particularly preferred that the inserts of the first type and the cutting plates of the second type are not always arranged alternately on the cutting plate carrier, but that each cutting plate of the first type between another cutting plate of the first type and a cutting plate of the second type is arranged on the cutting plate carrier , If the inserts of the first type are designated "A" for simplicity and the "B" inserts of the second type, this results in the following arrangement on the insert carrier: AABAAB... (Viewed in succession in the circumferential direction).
  • a cutting insert of the first type which touches the workpiece in the circumferential direction and therefore also in the direction of rotation of the swirling tool during the machining of the workpiece after a cutting insert of the second type and another cutting insert of the first type, is therefore relatively lightly loaded.
  • the cutting plates of the third type differ according to this embodiment of the cutting plates of the first and the second type in turn by their overall geometry, by a dimension of at least one cutting edge and / or by a shape of at least one cutting edge of the cutting plate.
  • the inserts of the first type each carry a first part of the material on the workpiece
  • the cutting plates of the second type another, second part of the material on the workpiece
  • the inserts of the third type are responsible for the final contour formation on the workpiece
  • the cutting plates of the third type follow, as already explained according to the first embodiment, viewed in the direction of rotation in each case according to a cutting plate of the first and a cutting plate of the second type, so that the cutting plates of the third type are subject to a relatively lower seal.
  • each cutting plate has a base body and at least one cutting body integrally connected to the base body, which projects from the base body and on which the at least one cutting edge of the cutting plate is arranged, wherein the respective at least one cutting body of the cutting inserts of the first type larger volume than the respective at least one cutting body of the cutting plates of the second type.
  • Cutting inserts of the second type each two cutting body, which are arranged at opposite ends of the base body.
  • the two cutting bodies of the cutting inserts of the first type are preferably identical.
  • the cutting bodies of the cutting plates of the second type are preferably identical. Only with each other (first type compared to the second type), the cutting body, as mentioned, differ from each other. This has the consequence that both the inserts of the first kind and the inserts of the second type detached from the cutting plate carrier and turned by 180 ° on Cutting plate carrier can be reapplied without this being the case before
  • the cutting-plate carrier has a central passage opening through which the workpiece can be guided during processing, wherein the cutting plates in the assembled state project into the through-opening of the swirling tool.
  • the inserts protrude in particular with one of their preferably two cutting body in the through hole.
  • the passage opening is designed symmetrically with respect to a longitudinal axis of the swirling tool, wherein each project at least one cutting edge of the cutting inserts of the first type in the assembled state of the swirling tool further into the through hole, so have a smaller distance from the longitudinal axis than each at least one cutting edge of the cutting plates of the second kind.
  • the at least one cutting edge of the cutting insert of the first type preferably has a more diverse contour than the respective at least one cutting edge of the cutting dies of the second type.
  • a "more faceted richer contour” is understood to mean a contour of the cutting edge, which, in relative terms, is a larger number
  • the respective at least one cutting edge of the cutting inserts of the first type is preferably rather curved and the respective at least one cutting edge of the cutting inserts of the second type is preferably rather straight or angular.
  • the cutting plate carrier is substantially annular in a plan view along the longitudinal axis. The cutting plate carrier can therefore be used in a substantially cylindrical base holder which can be coupled to a tool drive spindle.
  • the respective at least one cutting body of the cutting plates of the first type at a front end which protrudes in the assembled state of the swirling tool into the through hole, a lower height than the respective at least one cutting body of the cutting plates of the second type, wherein the Height is measured parallel to the longitudinal axis of the swirling tool. This also relieves the inserts of the first kind, whereby their wear is reduced.
  • each of the cutting plate receptacles each have a flat bearing surface, which extends transversely, preferably orthogonally, to the longitudinal axis of the swirling tool, and two mutually spaced abutment surfaces which are orthogonal to the support surface and the normal vectors a point Include angle. This results in a stable insert seat for each of the inserts arranged in the cutting plate carrier.
  • the fastening elements have clamping screws which engage in corresponding threads which are provided in the cutting plate carrier, wherein the central axes of the threads all have the same distance from the central longitudinal axis of the swirling tool.
  • the centers of the threads are, so to speak, on a common circle.
  • FIG. 1 shows a perspective view of an embodiment of the swirling tool according to the invention
  • FIG. 2 shows a top view of the embodiment of the swirling tool according to the invention shown in FIG. 1;
  • FIG. 3 shows a detailed view of the embodiment of the swirling tool according to the invention shown in FIG. 1;
  • FIG. 4 shows a perspective view of a cutting plate carrier of the swirling tool according to the invention according to the embodiment shown in FIG. 1;
  • Fig. 5 is a top plan view of the cutting plate carrier shown in Fig. 4;
  • FIG. 6 shows an embodiment of a cutting insert of a first type used in the swirling tool according to the invention.
  • Fig. 7 shows an embodiment of a cutting plate of a second type used in the whirling tool according to the invention.
  • Figs. 1-3 show an embodiment of the whirling tool according to the invention in a perspective view, a top view from above, and in a detailed view.
  • the whirling tool according to the invention is designated therein in its entirety by the reference numeral 10.
  • the whirling tool 10 has a cutting plate carrier 12, on which several
  • Cutting plates 14a, 14b are releasably secured by means of fastening elements 16.
  • the cutting plates 14a, 14b are preferably indexable inserts Hard metal.
  • the fastening elements 16 are preferably realized as clamping screws, which engage in corresponding threads 18 which are provided in the cutting plate carrier 12 (see FIGS. 4 and 5).
  • the clamping screws 16 are preferably provided with a Torx tool engagement or a Allen tool engagement, although in principle any types of tool interventions come into question.
  • the cutting plate carrier 12 is preferably made of steel. It can be constructed either in one piece (from a single integral component) or in several pieces (from a plurality of interconnected components).
  • the whirling tool 10 has according to the embodiment shown here a total of nine cutting plates 14a, 14b, which are arranged distributed in the circumferential direction 20 on the cutting plate carrier 12.
  • nine cutting plates 14a, 14b in alternative embodiments of the whirling tool 10 according to the invention, for example, three, six or twelve cutting plates 14a, 14b may be provided without departing from the scope of the present invention.
  • the number of inserts 14a, 14b is basically limited to three or a multiple of three.
  • the whirling tool 10 according to the invention is in the embodiment shown as
  • External swivel tool executed. Such external swiveling tools serve in particular for producing external threads.
  • the swirling tool 10 is usually in the circumferential direction 20 with relatively high
  • the cutting plate 12 is made
  • This passage opening 22 is preferably symmetrical to the longitudinal axis 24 of the whirling tool 10.
  • the passage opening 22 is cylindrical. However, this does not necessarily have to be the case. Other forms are conceivable in principle.
  • the cutting plate carrier 12, however, is not necessarily symmetrical to the longitudinal axis 24, as can be seen also in the illustrated embodiment.
  • the cutting plates 14a, 14b are each individually arranged in designated cutting plate recordings 26 on the cutting plate carrier 12.
  • Each of these inserts 26 has a flat support surface 28 and two mutually spaced abutment surfaces 30, 32 (see FIGS. 4 and 5).
  • the bearing surfaces 28 of the individual inserts 26 are, as shown in FIGS. 4 and 5 can be seen, preferably in one another. They are therefore coplanar with each other and preferably aligned orthogonal to the longitudinal axis 24 of the swirling tool 10.
  • the two contact surfaces 30, 32 are preferably aligned parallel to the longitudinal axis 24, that is orthogonal to the support surface 28.
  • the two contact surfaces 30, 32 of each insert 26 are aligned in the embodiment shown at an acute angle to each other. This allows a stable fit of the cutting plates 14a, 14b in the cutting plate receptacles 26th
  • first type of cutting plate 14a see FIG. 6 in detail
  • second type or second type of cutting plate 14b see in detail FIG. 7
  • Cutting plates 14a, 14b from each other by their overall geometry (size and / or shape) and by the dimension and / or shape of their cutting edges. They therefore differ in their function.
  • the cutting plates 14a of the first type are used in particular for contouring or for finishing the thread profile to be produced.
  • the cutting plates 14b of the second type are mainly used for dishing (material removal) or precutting the thread profile to be produced.
  • Both types of inserts 14a, 14b have a main body 38a and 38b respectively and two, from the main body 38a and 38b projecting, integral with this cutting body 40a and 40b.
  • the main body 38a of the cutting plates 14a of the first type does not differ at all or only slightly (at the transition to the cutting bodies) from the main body 38b of the second type of cutting plates 14b.
  • the essential difference between the two cutting plate types 14a, 14b lies in the different embodiment of the cutter body 40a, 40b.
  • the cutting bodies 40a of the cutting plates 14a of the first type are preferably made larger or have a larger volume than the cutting bodies 40b of the cutting plates 14b of the second type. Mainly the cutting bodies 40a of the cutting plates 14a of the first type are made deeper than the cutting bodies 40b of the cutting tools.
  • the term "lower” is to be understood as meaning that the front end of the cutting bodies 40a of the cutting plates 14a of the first type is a greater distance from the main body 38a than the front end of the cutting body 40b of the second type of cutting plates 14b.
  • the cutting edges 42a of the first type of cutting plates 14a therefore project further into the through hole 22 of the cutting plate carrier 12 than the second type of cutting plates 14b in the assembled state of the swirling tool 10.
  • the flying circle 34 of the cutting edges 42a of the cutting plates 14a is therefore In other words, the cutting bodies 40b of the second type of cutting plates 14b are made higher, in particular in the area of the front end, of the cutting bodies 40b than the cutting bodies 40a of the first type of cutting plates 14a 14a, 14b or derer Schneidkör
  • 40a, 40b is understood their dimension, which is measured in the installed state parallel to the longitudinal axis 24.
  • the cutting plates 14a, 14b are preferably not arranged alternately adjacent to each other on the cutting plate carrier 12, but in (imaginary) groups of three of two cutting plates 14a of the first type and a cutting plate 14b of the second type.
  • each cutting plate 14a of the first type is between a another cutting plate 14a of the first type and a cutting plate 14b of the second type are arranged on the cutting plate carrier 12. Therefore, the cutting plates 14b of the second type respectively cut the thread segments, and the two cutting plates 14a of the first kind immediately following in the direction of rotation 20 of the swirling tool 10 then cut the thread segments and finish the thread profile.
  • each cutting plate 14b in the direction of rotation 20 überambast Monode cutting plate 14a is thereby least stressed.
  • each with two cutting bodies 42a, 42b can in principle also inserts with only one cutting body (so-called one-cutter) or with more than two cutting bodies (for example, three-cutter or four-cutter) used without departing from the scope of the present invention.
  • three different types of inserts can be used.
  • the geometric configuration of the individual cutting edges 42a, 42b is also not limited to the shape shown in the figures.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Milling Processes (AREA)

Abstract

L'invention concerne un outil de filetage à la volée (10) pour l'usinage par enlèvement de copeaux d'une pièce, comprenant trois ou une pluralité de plaquettes de coupe (14a, 14b), chacune des plaquettes de coupe (14a, 14b) comprenant au moins une arête de coupe (42a, 42b) ; un support de plaquettes de coupe (12) comprenant plusieurs logements de plaquette de coupe (26) pour recevoir l'une des plaquettes de coupe (14a, 14b) respectives, les logements de plaquette de coupe (26) étant disposés de manière répartie sur le support de plaquettes de coupe (12) dans la direction périphérique (20) ; et plusieurs éléments de fixation (16) pour fixer de manière amovible les plaquettes de coupe (14a, 14b) dans les logements de plaquette de coupe (26) du support de plaquettes de coupe (12) ; les plaquettes de coupe (14a, 14b) comportant au moins deux types différents de plaquettes de coupe (14a, 14b), au moins une plaquette de coupe (14a) d'un premier type et une plaquette de coupe (14b) d'un deuxième type étant prévues pour chaque groupe de trois plaquettes de coupe (14a, 14b) disposées de manière juxtaposée sur le support de plaquettes de coupe (12), la plaquette de coupe (14a) du premier type se différentiant de la plaquette de coupe (14b) du deuxième type par sa géométrie globale, par une dimension de l'au moins une arête de coupe (42a, 42b) et/ou par une forme de l'au moins une arête de coupe (42a, 42b).
EP16763227.2A 2015-09-10 2016-08-31 Outil de filetage à la volée Pending EP3347154A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015115310.6A DE102015115310A1 (de) 2015-09-10 2015-09-10 Wirbelwerkzeug
PCT/EP2016/070452 WO2017042061A1 (fr) 2015-09-10 2016-08-31 Outil de filetage à la volée

Publications (1)

Publication Number Publication Date
EP3347154A1 true EP3347154A1 (fr) 2018-07-18

Family

ID=56893950

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16763227.2A Pending EP3347154A1 (fr) 2015-09-10 2016-08-31 Outil de filetage à la volée

Country Status (7)

Country Link
US (2) US10549366B2 (fr)
EP (1) EP3347154A1 (fr)
JP (1) JP6568307B2 (fr)
CN (1) CN108136526B (fr)
DE (1) DE102015115310A1 (fr)
RU (1) RU2698023C1 (fr)
WO (1) WO2017042061A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015115310A1 (de) 2015-09-10 2017-03-16 Hartmetall-Werkzeugfabrik Paul Horn Gmbh Wirbelwerkzeug
DE102017127307A1 (de) 2017-11-20 2019-05-23 Hartmetall-Werkzeugfabrik Paul Horn Gmbh Wirbelwerkzeug
DE202017007546U1 (de) 2017-11-20 2022-07-25 Hartmetall-Werkzeugfabrik Paul Horn Gmbh Wirbelwerkzeug
DE102017130056A1 (de) 2017-12-14 2019-06-19 Mirko Flam Wirbelapparat
DE202017107633U1 (de) 2017-12-14 2019-03-18 Mirko Flam Wirbelapparat
CH714283B1 (de) 2017-12-18 2019-04-30 Willen Pcm Sa Wirbelvorrichtung.
IT202200026868A1 (it) * 2022-12-27 2024-06-27 Tecno Lain S R L Utensile per filettature comprendente inserti taglienti rimovibili
EP4442395A1 (fr) 2023-04-04 2024-10-09 Gühring KG Outil de tourbillonnage avec boulon de coupe

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CN108136526A (zh) 2018-06-08
US20180193934A1 (en) 2018-07-12
DE102015115310A1 (de) 2017-03-16
JP2018526235A (ja) 2018-09-13
JP6568307B2 (ja) 2019-08-28
US10549366B2 (en) 2020-02-04
WO2017042061A1 (fr) 2017-03-16
US11559844B2 (en) 2023-01-24
RU2698023C1 (ru) 2019-08-21
CN108136526B (zh) 2019-08-27
US20200101545A1 (en) 2020-04-02

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