EP3374129B1 - Élément abrasif céramique fritté, polycristallin, de forme plate et d'une certaine structure géométrique, procédé de fabrication dudit élément et son utilisation - Google Patents

Élément abrasif céramique fritté, polycristallin, de forme plate et d'une certaine structure géométrique, procédé de fabrication dudit élément et son utilisation Download PDF

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Publication number
EP3374129B1
EP3374129B1 EP16790612.2A EP16790612A EP3374129B1 EP 3374129 B1 EP3374129 B1 EP 3374129B1 EP 16790612 A EP16790612 A EP 16790612A EP 3374129 B1 EP3374129 B1 EP 3374129B1
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Prior art keywords
abrasive element
flat
grinding
ceramic
geometrically structured
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German (de)
English (en)
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EP3374129A1 (fr
Inventor
Jean-André Alary
Florent POLGE
Patrick Ronach
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Imertech SAS
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Imertech SAS
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Priority to SI201631173T priority Critical patent/SI3374129T1/sl
Priority to PL16790612T priority patent/PL3374129T3/pl
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D3/00—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents
    • B24D3/02—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents the constituent being used as bonding agent
    • B24D3/20—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents the constituent being used as bonding agent and being essentially organic
    • B24D3/28—Resins or natural or synthetic macromolecular compounds
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D5/00—Bonded abrasive wheels, or wheels with inserted abrasive blocks, designed for acting only by their periphery; Bushings or mountings therefor
    • B24D5/12—Cut-off wheels

Definitions

  • the present invention relates to a sintered, polycrystalline, flat, geometrically structured ceramic grinding element for use in synthetic resin-bonded grinding wheels, in particular cutting wheels.
  • the present invention also relates to a method for producing such a sintered, polycrystalline, flat, geometrically structured ceramic grinding element and its use.
  • a special form of synthetic resin-bonded grinding wheels are the synthetic resin-bonded cutting disks, which are used in the context of this application as examples of synthetic resin-bonded grinding wheels, but this does not mean that the invention is limited to cutting-off wheels. Rather, it has been found in the present work that the grinding elements according to the invention, which were originally designed for use in cutting wheels, are generally suitable for synthetic resin-bonded grinding wheels.
  • Cutting disks are flat circular disks that are mostly used to cut off sections of material. Different cutting discs are used for the different materials to be processed, such as metal, stainless steel, natural stone, concrete or asphalt, whereby the cutting discs can be divided into two main groups, namely synthetic resin-bonded cutting discs and diamond cutting discs.
  • synthetic resin-bonded cutting discs abrasive grains such as corundum or silicon carbide are mixed together with fillers, powder resin and liquid resin to form a mass, which is then pressed into cutting discs of various thicknesses and diameters in special machines. In doing so, the abrasive is made into a fabric Glass fiber embedded in order to be able to withstand the enormous centrifugal forces that occur when using the cutting discs.
  • diamond cutting discs which are used almost exclusively for use in natural stone, concrete or asphalt, diamond segments are applied to steel stems using various processes, such as sintering, soldering or laser welding.
  • the EP 1 007 599 B1 Cutting discs that have a mixture of different sol-gel corundums as abrasive grains.
  • the EP 0 620 082 B1 describes cutting discs which, in addition to highly abrasive components such as cubic boron nitride or diamond, have microcrystalline filament-shaped aluminum oxide particles with a uniform orientation, the abrasives being in the form of segments that are applied to a metal blade.
  • Ceramic abrasive grains in the form of tetrahedra or pyramids obtained via the sol-gel process are produced according to FIG U.S. Patent Application No. 2013/0040537 A1 used in a mixture with other high-quality abrasive grains in synthetic resin-bonded cutting discs. Similar synthetic resin-bonded cutting discs are used in the U.S. Patent Application No. 2013/0203328 A1 described, wherein ceramic abrasive grains obtained via sol-gel processes in the form of triangular platelets, prisms or truncated conical pyramids are used in turn alongside other high-quality abrasive grains in a mixture with phenolic resins, grinding aids, fillers and other additives.
  • the present invention is therefore based on the object of offering abrasives for use in synthetic resin-bonded grinding wheels, in particular cutting wheels, which have advantages over the prior art.
  • the object is achieved by sintered, polycrystalline, flat, geometrically structured ceramic grinding elements according to claim 1, which are intended to be installed in synthetic resin-bonded grinding wheels, in particular cutting wheels, instead of grinding grains.
  • the object of the present invention is also to provide a method for producing sintered, polycrystalline, flat, geometrically structured ceramic grinding elements for use in synthetic resin-bonded grinding wheels.
  • Another object of the present invention is to provide improved synthetic resin-bonded grinding wheels, in particular cutting wheels.
  • This object is achieved by using sintered, polycrystalline, flat, geometrically structured ceramic grinding elements as a replacement of abrasive grains in synthetic resin-bonded grinding wheels, in particular cutting wheels, according to claim 10 or claim 11.
  • Said sintered, polycrystalline, flat, geometrically structured grinding elements are sintered molded bodies with a homogeneous microstructure, a chemical composition that is uniform over the entire area of the grinding element and a uniform geometric structure.
  • the sintered body has a first surface and a second surface which is opposite and parallel to the first surface. Both surfaces are separated from one another by a side wall with a thickness (t) between 50 ⁇ m and 2000 ⁇ m.
  • the ratio of diameter to thickness of the grinding element is greater than 30, preferably greater than 50.
  • the mean diameter of the crystals forming the homogeneous microstructure is less than 10 ⁇ m, preferably less than 5 ⁇ m.
  • the chemical composition of the sintered, polycrystalline, flat, geometrically structured ceramic grinding elements is preferably based on aluminum oxide and / or other chemical compounds selected from the group consisting of carbides, oxides, nitrides, oxy-carbides, oxy-nitrides and at least carbides one of the elements selected from the group consisting of Al, B, Si, Ti and Zr.
  • the sintered polycrystalline, flat, geometrically structured grinding elements preferably have a Vickers hardness Hv of at least 15 GPa, particularly preferably at least 18 GPa.
  • the density of the sintered, polycrystalline, flat, geometrically structured ceramic abrasive elements is at least 95% of the theoretical density, preferably at least 97.5% of the theoretical density.
  • the grinding elements are preferably circular disks or segments of a circle, the diameter and thickness of which are adapted to the cutting disks to be formed therefrom.
  • the grinding elements according to the invention are designed as perforated ceramic bodies provided with recesses.
  • the perforation or the recesses of the ceramic body advantageously have a homogeneous geometric structure with geometrically shaped openings or recesses.
  • the volume ratio of the openings to the massive proportions of the grinding elements is preferably constant over the entire usable diameter of the grinding elements, the usable diameter being understood to mean the area of the grinding element that is used when working with the grinding element.
  • the sintered, polycrystalline, flat, geometrically structured ceramic grinding elements are porous ceramic bodies which either per se have sufficient porosity to guarantee the porosity required for the grinding wheels, or additionally likewise are perforated or have recesses, the perforation or the recesses, however, then being less pronounced.
  • Porous ceramic bodies in the context of the present invention are to be understood as those ceramic bodies which are interspersed with more or less small pores, while the above-mentioned perforations and recesses are large-volume and preferably geometrically structured.
  • the basis for the chemical composition of the abrasive elements is aluminum oxide, the chemical composition preferably at least 50% by weight aluminum oxide and optionally one or more of the oxides selected from the group consisting of SiO 2 , MgO, TiO 2 , Cr 2 O 3 , MnO 2 , Co 2 O 3 , Fe 2 O 3 , NiO, Cu 2 O, ZnO, ZrO 2 and the rare earth oxides.
  • the grinding elements according to the invention can be produced by different processes, in which case a moldable ceramic mass is first produced from which flat, geometrically structured precursors for ceramic grinding elements are formed, which are sintered to polycrystalline, flat geometrically structured ceramic grinding elements.
  • the ceramic mass or the ceramic precursor material can be added by wet grinding ⁇ -aluminum oxide with an average particle size of preferably less than 1 ⁇ m in a ball mill in the presence of a dispersant and subsequent addition of an organic binder and optionally a plasticizer and / or an antifoam agent the dispersion can be obtained.
  • the dispersion is mixed for several hours until a stable colloidal dispersion has formed, which is processed into a layer with a layer thickness of up to 3 mm using film casting.
  • the film-cast layer is dried and precursors of the flat, geometrically structured grinding elements are cut out, which are then calcined and sintered.
  • sol-gel processes are also very suitable for producing a moldable ceramic mass
  • the sol-gel compositions comprising a liquid carrier in which the ceramic precursor material is converted into a ceramic material, such as, for example, ⁇ -aluminum oxide , Silicon oxide, titanium oxide, zirconium oxide or mixtures thereof, can be converted, dissolved or dispersed.
  • a ceramic material such as, for example, ⁇ -aluminum oxide , Silicon oxide, titanium oxide, zirconium oxide or mixtures thereof.
  • a ceramic material such as, for example, ⁇ -aluminum oxide , Silicon oxide, titanium oxide, zirconium oxide or mixtures thereof.
  • Many of these for the production of ceramics based on Sols suitable for aluminum oxide are commercially available as boehmite sols under the brand names “Dispal”, “Disperal”, “Pural” or “Catapal”.
  • the sol-gel compositions can comprise modifying additives or precursors to modifying additives.
  • the function of these additives is to improve the desired properties of the sintered, flat, geometrically structured ceramic abrasive elements.
  • Typical modifying additives or precursors of modifying additives are oxides, carbides, nitrides, oxy-carbides, oxy-nitrides, carbon-nitrides or water-soluble salts of magnesium, zinc, iron, silicon, cobalt, nickel, zirconium, hafnium and rare earths.
  • the sol-gel composition can contain crystallization nuclei in order to accelerate the conversion of hydrogenated or calcined aluminum oxide into ⁇ -aluminum oxide and thus to limit crystal growth.
  • Suitable crystallization nuclei for this include fine particles of ⁇ -aluminum oxide, finely divided ⁇ -iron oxide or its precursors, titanium oxide and titanates, chromium oxide or other compounds which are able to promote the conversion to ⁇ -aluminum oxide.
  • the particular advantage of the sol-gel process is that grinding elements with a particularly fine crystalline structure, high hardness and extraordinary toughness can be obtained in this way.
  • layers are formed which are then dried.
  • the precursors of the flat, geometrically structured grinding elements are cut out of the dried layers and then sintered.
  • the gels obtained in the sol-gel process can also be placed directly in a corresponding mold, then dried and then sintered.
  • the Figure 1 shows a plan view of a radially designed round grinding element, in the center of which a circular recess 1 can be seen, which corresponds to the receptacle of the grinding wheel in which the grinding element is to be installed.
  • the body 2 of the grinding element is star-shaped, the ends of the rays 3 being perpendicular to the circular recess 1 and forming a circle whose diameter corresponds to the diameter of the grinding wheel for which the grinding element is intended.
  • Recesses 4 can be seen between the rays 3, which are suitable for providing the grinding wheel with the required porosity.
  • the recesses 4 are like this dimensioned so that the volume ratio of recesses 4 to the solid areas of the grinding element is constant over the diameter of the grinding element used in the grinding process.
  • the Figures 2 and 3rd also show top views of radially designed grinding elements, the rays 3 in FIG Figure 2 Form an angle to the circular recess 1.
  • the rays 3 are additionally curved.
  • the recesses 4 are again dimensioned in such a way that the volume ratio of the recesses to the solid areas of the grinding element is constant over the diameter of the grinding element used in the grinding process, which is again determined by the ratio of the distances A / B and A '/ relating to the circumference. B 'is clarified.
  • rake angle ⁇ which corresponds to the inclination of the chip surface (contact surface) to the reference surface, which is arranged perpendicular to the tangent of the disk.
  • rake angle Y There are three different types of rake angle possible: positive, negative and exactly zero.
  • a positive rake angle ⁇ helps to reduce the cutting force and thus the energy requirement during cutting, whereas a negative rake angle Y increases the edge strength and the service life of the grinding element or grinding wheel.
  • the rake angle Y is also based on the Figures 3, 4 , 8th , 10a, 10b and 10c explained.
  • the grinding element according to Figure 3 has a positive rake angle Y of 18 °. During the grinding process, the rake angle Y falls back to zero with increasing wear (decreasing radius) of the grinding wheel.
  • the Figure 4 shows a circular disk-shaped grinding element, the body 2 of which has a circular recess 1 corresponding to the receptacle of the grinding disk.
  • the porosity of the grinding wheel is ensured in the present case with round holes 4, which become larger with increasing radius of the wheel, so that here too the volume ratio of recesses 4 to the solid areas of the grinding element is constant over the diameter of the grinding element used in the grinding process, which is again illustrated by the ratio of the distances A / B and A '/ B' relating to the circumference.
  • the rake angle Y of the grinding element begins with + 29 ° and changes with decreasing grinding wheel radius after passing the zero in the negative range down to -90 °. In the next row of round holes 4, the rake angle starts with + 90 °, falls back to zero and then changes to the negative range down to -90 °. This process then repeats itself with each beginning row of holes.
  • the Figures 5 to 8 also show circular disk-shaped grinding elements that have perforations 4 in other geometric shapes.
  • trapezoidal holes 4 in which Figure 6 diamond-shaped holes 4 in which Figure 7 hexagonal, honeycomb-shaped holes 4 and in the Figure 8 triangular holes 4 can be seen.
  • the volume ratio of recesses 4 to the solid areas of the grinding element is constant over the diameter of the grinding element used in the grinding process, which is again illustrated by the ratio of the distances A / B and A '/ B' relating to the circumference.
  • the rake angle ⁇ of the grinding element according to Figure 8 is 32 ° and remains constant during the entire grinding process.
  • the rake angle ⁇ is generally based on the Figures 10a to 10c explained, where Figure 10a shows a positive rake angle Y, the rake angle ⁇ according to Figure 10b is zero and Figure 10c shows a negative rake angle ⁇ -
  • the grinding element 7 produces a chip 6 on the workpiece 5, with a positive rake angle Y contributing to reducing the cutting force and thus the energy requirement during cutting, while a negative rake angle Y the edge strength and the service life of the Increased sanding element 7.
  • the geometric design of the grinding elements essentially depends on the field of application of the grinding wheel, with the person skilled in the art choosing the geometric shape with which the desired grinding conditions can best be set and which is also the easiest to manufacture.
  • An 80% ⁇ -aluminum oxide suspension with an average particle size D 50 of 0.144 ⁇ m was obtained by wet grinding an ⁇ -aluminum oxide starting powder with an average particle size of less than 1 ⁇ m.
  • the suspension was stabilized by adding 0.75% by weight of a polymethacrylate (KV5182, Zschimmer & Schwarz).
  • a latex binder (B-1000, Dow Chemicals) was then added to the stabilized suspension.
  • the precursors of the abrasive elements were dried, whereby due to the high aluminum oxide content only a slight contraction in volume and no cracking could be seen.
  • the dried precursors were heated to 600 ° C. at a heating rate of 1 ° C./min to remove the binder, and then sintered at a heating rate of 5 ° C./min up to a maximum temperature of 1600 ° C.
  • the holding time at 1600 ° C. was 30 minutes.
  • the flat, geometrically structured grinding elements obtained in this way have a density of 3.94 g / cm 3 (98.3% of the theoretical density), a Vickers hardness Hv of 18.4 GPa and a crystallite size of less than 2 ⁇ m.
  • a star-shaped, flat, geometrically structured grinding element according to FIG Figure 1 used with a thickness of 300 ⁇ m.
  • corundum was added to the resin as a filler.
  • a comparison disk with a single crystal corundum (TSCTSK, Imerys Fused Minerals) with the grain size F46 / 60 was used as the standard.
  • Table 1 example G ratio cm 2 / cm 2 Grinding performance (%) According to Figure 1 300 ⁇ m 3.41 112 Standard (comparison) TSCTSK 46/60 3.04 100
  • the example given above illustrates the potential of the abrasive elements of the invention.
  • tailor-made grinding elements can be made available for a wide variety of applications.
  • Grinding elements with high inherent porosity are, for example, porous oxide ceramics, the porosity of which can be set between 10% and 90% pore volume with the aid of known ceramic technologies.
  • An example of such a disk is a double-layer staggered cutting disk which has two flat, geometrically structured grinding elements, each of which is 150 ⁇ m thick.
  • the physical properties of the grinding elements can be changed by doping them.
  • the toughness and breaking strength of the grinding elements can be improved by adding zirconium oxide.
  • the choice of the starting materials and the production process offers further possibilities for variation and optimization approaches for the invention Grinding elements.
  • the sol-gel process can be used to produce particularly fine-crystalline grinding elements with known technologies, which have an average crystallite size in the range of 100 nm. Ceramic materials of this type have extraordinary toughness and hardness and are particularly suitable for machining high-alloy steels.
  • a particularly interesting field of application for the grinding elements according to the invention are thin synthetic resin-bonded disks with a thickness between 100 ⁇ m and 200 ⁇ m and a small diameter between 1 cm and 4 cm, as used in the dental field.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Polishing Bodies And Polishing Tools (AREA)

Claims (11)

  1. Élément abrasif céramique géométriquement structuré, plat, polycristallin et fritté, constitué en un corps conformé fritté avec
    - une microstructure homogène,
    - une composition chimique régulière à travers l'élément abrasif entier et
    - une structure géométrique uniforme,
    où le corps fritté dispose d'une première surface et d'une deuxième surface parallèle et opposée à la première surface, où les deux surfaces sont séparées l'une de l'autre par une paroi latérale avec une épaisseur entre 50 µm et 2000 µm, et le rapport entre le diamètre et l'épaisseur de l'élément abrasif est supérieur à 30,
    caractérisé en ce que
    le diamètre moyen des cristaux formant la microstructure homogène est inférieur à 10 µm, et en ce que
    l'élément abrasif est un corps céramique perforé.
  2. Élément abrasif selon la revendication 1,
    caractérisé en ce que
    la composition chimique de l'élément abrasif est à base d'alumine et/ou d'autres composés chimiques sélectionnés parmi le groupe constitué en les carbures, les oxydes, les nitrures, les oxycarbures, les oxynitrures et les carbo-nitrures d'au moins un des éléments sélectionnés parmi le groupe constitué en Al, B, S, Zr et Ti.
  3. Élément abrasif selon la revendication 1 ou 2,
    caractérisé en ce que
    l'élément abrasif est un disque ou un segment circulaire.
  4. Élément abrasif selon la revendication 3,
    caractérisé en ce que
    la perforation du corps céramique a une structure géométrique homogène avec des ouvertures géométriquement façonnées.
  5. Élément abrasif selon une des revendications 1 à 4,
    caractérisé en ce que
    l'élément abrasif est un corps céramique poreux.
  6. Élément abrasif selon une des revendications 1 à 5,
    caractérisé en ce que
    le rapport volumique des ouvertures par rapport aux parties massives de l'élément abrasif est constant à travers tout le diamètre utilisable de l'élément abrasif.
  7. Élément abrasif selon une des revendications 1 à 6,
    caractérisé en ce que
    la composition chimique de l'élément abrasif est au moins 50 pour cent en poids d'alumine et éventuellement un ou plusieurs oxydes sélectionnés parmi le groups constitué en SiO2, MgO, TiO2, Cr2O3, MnO2, Co2O3, Fe2O3, NiO, Cu2O, ZnO, ZrO2 et les oxydes des terres rares.
  8. Procédé de production d'un élément abrasif céramique géométriquement structuré et plat d'une des revendications 1 à 6, comprenant les étapes de :
    - produire une masse façonnable d'un matériau précurseur céramique ;
    - façonner un précurseur pour un élément abrasif céramique géométriquement structuré et plat de la masse façonnable ; et
    - calciner et fritter ledit précurseur pour obtenir un élément abrasif céramique géométriquement structuré et plat.
  9. Procédé selon la revendication 8,
    caractérisé en outre par les étapes de :
    - produire une dispersion d'a-alumine dans l'eau par broyage humide d'a-alumine avec un taille de particules moyenne de moins de 1 µm en présence d'un dispersant ;
    - ajouter un liant organique et éventuellement un plastifiant et/ou un agent anti-mousse à la dispersion ;
    - mélanger la dispersion pendant plusieurs heures, pour obtenir une dispersion colloïdale stable ;
    - couler en feuille la dispersion colloïdale stable en une couche d'une épaisseur jusqu'à 3 mm ;
    - sécher la couche coulée en feuille ;
    - découper des précurseurs d'un élément abrasif céramique géométriquement structuré et plat ; et
    - calciner et fritter le précurseur pour obtenir des éléments abrasifs céramiques géométriquement structurés et plats.
  10. Utilisation d'éléments abrasifs céramiques géométriquement structurés et plats d'une des revendications 1 à 6 pour la production de meules liés par résine synthétique.
  11. Scies circulaires, comprenant des éléments abrasifs céramiques géométriquement structurés et plats d'une des revendications 1 à 6.
EP16790612.2A 2015-11-09 2016-11-03 Élément abrasif céramique fritté, polycristallin, de forme plate et d'une certaine structure géométrique, procédé de fabrication dudit élément et son utilisation Active EP3374129B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SI201631173T SI3374129T1 (sl) 2015-11-09 2016-11-03 Sintrani polikristalni ploščati keramični brusilni element določene geometrijske strukture, postopek za njegovo izdelavo in njegova uporaba
PL16790612T PL3374129T3 (pl) 2015-11-09 2016-11-03 Spiekany, polikrystaliczny, płasko ukształtowany ceramiczny element szlifierski o geometrycznej strukturze, sposób jego wytwarzania i jego zastosowanie

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015119213 2015-11-09
DE102016120863.9A DE102016120863A1 (de) 2015-11-09 2016-11-02 Gesintertes, polykristallines, flach ausgebildetes, geometrisch strukturiertes keramisches Schleifelement, Verfahren zu seiner Herstellung und seine Verwendung
PCT/EP2016/076496 WO2017080897A1 (fr) 2015-11-09 2016-11-03 Élément abrasif céramique fritté, polycristallin, de forme plate et d'une certaine structure géométrique, procédé de fabrication dudit élément et son utilisation

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EP3374129A1 EP3374129A1 (fr) 2018-09-19
EP3374129B1 true EP3374129B1 (fr) 2021-03-03

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US (1) US11618129B2 (fr)
EP (1) EP3374129B1 (fr)
JP (1) JP6909796B2 (fr)
KR (1) KR102639639B1 (fr)
CN (1) CN108430700B (fr)
DE (1) DE102016120863A1 (fr)
ES (1) ES2873826T3 (fr)
HU (1) HUE054381T2 (fr)
PL (1) PL3374129T3 (fr)
PT (1) PT3374129T (fr)
SI (1) SI3374129T1 (fr)
WO (1) WO2017080897A1 (fr)

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CN108687680A (zh) * 2018-04-17 2018-10-23 株洲钻石切削刀具股份有限公司 一种用于粗磨硬质合金刀具容屑槽的成型砂轮
JP7145494B2 (ja) * 2018-09-26 2022-10-03 株式会社ナノテム 砥石
CN111451506A (zh) * 2020-05-27 2020-07-28 中南大学 一种金属陶瓷结合剂cbn超薄切割片的3d打印制作工艺
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KR102279391B1 (ko) * 2020-09-14 2021-07-21 (주)대경셈코 반도체 노광 장비용 세라믹 부재 및 동 부재의 제조방법

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Publication number Publication date
PT3374129T (pt) 2021-04-05
CN108430700A (zh) 2018-08-21
PL3374129T3 (pl) 2021-09-20
KR20180081100A (ko) 2018-07-13
DE102016120863A1 (de) 2017-05-11
EP3374129A1 (fr) 2018-09-19
WO2017080897A1 (fr) 2017-05-18
HUE054381T2 (hu) 2021-09-28
ES2873826T3 (es) 2021-11-04
KR102639639B1 (ko) 2024-02-21
JP2018534166A (ja) 2018-11-22
US11618129B2 (en) 2023-04-04
JP6909796B2 (ja) 2021-07-28
SI3374129T1 (sl) 2021-08-31
CN108430700B (zh) 2021-07-27
US20200254587A1 (en) 2020-08-13

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