EP3414028A1 - Verfahren und vorrichtung zum erzeugen gehärteter stahlbauteile - Google Patents
Verfahren und vorrichtung zum erzeugen gehärteter stahlbauteileInfo
- Publication number
- EP3414028A1 EP3414028A1 EP17703744.7A EP17703744A EP3414028A1 EP 3414028 A1 EP3414028 A1 EP 3414028A1 EP 17703744 A EP17703744 A EP 17703744A EP 3414028 A1 EP3414028 A1 EP 3414028A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- tool
- forming
- oxygen
- sheet
- sheet metal
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or tools
- B21D22/022—Stamping using rigid devices or tools by heating the blank or stamping associated with heat treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or tools
- B21D22/06—Stamping using rigid devices or tools having relatively-movable die parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/20—Deep-drawing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/20—Deep-drawing
- B21D22/208—Deep-drawing by heating the blank or deep-drawing associated with heat treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/16—Heating or cooling
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/56—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering characterised by the quenching agents
- C21D1/613—Gases; Liquefied or solidified normally gaseous material
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/62—Quenching devices
- C21D1/673—Quenching devices for die quenching
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/46—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for sheet metals
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D2211/00—Microstructure comprising significant phases
- C21D2211/001—Austenite
Definitions
- the invention relates to a method and an apparatus for producing hardened steel components.
- Hardened steel components have the advantage in particular in car body of motor vehicles that, by their protruding ⁇ mechanical properties, there is a way to create a particularly stable passenger cell, without construction ⁇ parts must be used, which are formed in normal strength much more massive and thus heavy become.
- steel grades which are curable by quench hardening are used.
- Such steels are, for example, boron-alloyed manganese carbon steels, with the most widely used, here 22MnB5. But other boron-alloyed Mangankoh ⁇ lenstoffstähle be used for this purpose.
- the steel material must be heated and to wait until the steelworks ⁇ material is austenitized to the austenitizing temperature (> AC 3). Depending on the desired degree of hardness partial or full austenitisings can be achieved here.
- the device thus produced is then austenitized and then inserted into a shape hardening tool, in the pressed it, but is converted into very low and the heat from the component flowing through the pressure in the pressing tool, with the above the critical Härtegeschwindig ⁇ not or speed.
- press hardening in which a board separated from a steel strip bsp. From ⁇ cut or punched, then the board is made ⁇ tenitinstrument and the hot platinum at a temperature below 782 ° C in a preferably single-stage step umge ⁇ formed and cooled simultaneously with a velocity lying above the critical speed.
- Form hardening is also referred to as an indirect process and press hardening as a direct process.
- the advantage of the indirect process is that more complex workpiece geometries can be realized.
- the advantage of the direct process that a higher Mate ⁇ rialversgrad can be achieved.
- the achievable component complexity is lower, especially in the single-stage forming process.
- microcracks are formed in the surface.
- first-order microcracks and second-order microcracks.
- Microcracks of the first order are attributed to the so-called liquid metal embrittlement.
- Liquid zinc phases are thought to interact with remaining austenite phases during forming, ie, while tensile stresses are being applied to the material, creating microcracks with depths of up to several hundred microns in the material.
- the applicant has succeeded by active or passive cooling of the material between removal from the Erhitzungs ⁇ oven and before the start of Warmumformvorgangs on tempera ⁇ reindeer, where no liquid zinc phases are left, to stop these microcracks first order. This means that hot working takes place at temperatures below about 750 ° C.
- the second order microcracks to date in the Warmumfor ⁇ tion despite pre-cooling can not be controlled and are also formed in Warmumformtemperaturen below 600 ° C.
- the crack depths here are up to several 10 pm.
- Neither microcracks first order still microcracks second Ord ⁇ voltage be accepted by the users, as this is a Moegli ⁇ che source of damage.
- a production of components can not be backed up without Darge ⁇ microcracks second order.
- the die used for hot forming and press hardening should be liquid coated in its defined by a positive drawing radius Ziehkanten Society with a material material or be provided with an insert which has a thermal conductivity which is lower by at least 10 W / (mx K) than the thermal conductivity of the drawing edges ⁇ area adjacent section of the die which comes into contact during Warmum ⁇ forming and press hardening of the work piece with the same.
- the workpiece-facing surface of the material applied in the draw ⁇ edge region or the arranged Einsat zers should have a extending over the drawing edge transverse dimension, which is in the range of 1.6 times to 10 times the positive drawing radius of the die. This makes the flow characteristics of workpieces made of sheet steel is to be improved during the hot forming and thus the risk of occurrence of cracks during hot forming of work pieces made of sheet steel, preferably galvanized steel plates, are fixed ⁇ Lich reduced. With such a tool, however, microcracks of the second kind can not be avoided.
- the object of the invention is to avoid microcracks of the second kind in directly hot-formed, ie press-hardened components.
- micro-cracks of the second type are corresponds when entering tensile-strained areas occurring zinc ⁇ vapor in sufficient concentration to the steel, so- ⁇ -called Vapor metal embrittlement (VME).
- VME Vapor metal embrittlement
- Zinc vapor is formed by tearing the zinc iron layer during stretching during the forming process.
- Sufficient concentration occurs in particular in those areas in which direct contact of the sheet with the tool prevails or there is a very small distance between the sheet and the tool.
- a very small distance in the sense of the invention is less than 0.5 mm.
- the zinc vapor occurs either by gas streams ⁇ in the tensile-strained regions (Deh ⁇ voltage rand fiber) (convection) is discharged or blown off or sufficiently diluted.
- gas streams ⁇ in the tensile-strained regions (Deh ⁇ voltage rand fiber) (convection) is discharged or blown off or sufficiently diluted.
- by access Of zinc fluids are rapidly converted into a stable compound such as zinc oxide or ZnJ2.
- protection of the steel against second order microcracks can also be achieved by creating a protective layer such as an oxide layer by supplying a fluid. All measures described have ever ⁇ shown wells that microcracks are significantly reduced.
- microcracks of the second order is ensured by the fact that at the sheet metal blank to be formed during the forming and hardening process, the surrounding medium is exchanged in those areas at which tensile strains occur at an edge fiber. By replacing the passing on ⁇ zinc vapor is diluted or removed.
- the medium for this may be air, oxygen, nitrogen or ⁇ particular to fluids or gases.
- gaseous oxygen-containing fluids such as air or oxygen, as these may not unduly contaminate the tool or a allvert ⁇ celled unwanted massive cooling effect as Ex. Water can be easily regulated by tempering the fluid.
- These media are introduced through holes or other accesses such as by means of recesses in the tool and particularly preferably injected with an overpressure of more than 1 bar. In a suction, this is also preferably carried out with more than 1 bar pressure.
- a continuous exchange of Me ⁇ diums in operation because as uniform as possible Herstellbedin ⁇ conditions are created.
- a preheating unit may be provided for heating the fluid prior to introduction in order to achieve a certain temperature and the cooling effect verrin ⁇ like, since the curing of the component is preferably carried out only at the end of the forming process, ie when the tool is completely closed ,
- cutout can in the mold is present, wel ⁇ surface is dimensioned such that on the one hand the deep drawing is not compromised or the board or the workpiece is wavy and the other hand is dimensioned so that the heat dissipation flow which is necessary for curing, also did not measure ⁇ gebod impaired.
- the recesses but are dimensioned so that they constitute a reservoir for fluids, in particular oxygen so that enough oxygen to which pulling board or the material passes in order to supply mywer ⁇ Dende zinc phases or zinc iron phases for oxidation with Sauer ⁇ material.
- the recesses on the tool side during the forming continuously with fluids or sour ⁇ containing fluids are fed, for example by suitable access openings, which can advantageously form a Strö ⁇ ment cushion.
- the tool cavity may be flushed with an oxygen-containing fluid which is then present in the recesses.
- an oxygen-containing fluid is air, which is supplied gasför ⁇ mig and the already mentioned fluids.
- Figure 1 shows the tool area, adjacent to a pulling edge with an exemption according to the invention
- 2 shows the pulling edge portion of a tool with a white ⁇ more advanced embodiment of the exemption of the invention
- FIG. 3 shows the drawing edge region of a tool with a he ⁇ inventive slot arrangement in a partially sectioned side view
- Figure 4 shows the arrangement of Figure 3 in a plan view.
- FIG. 5 shows the drawing edge region of a tool with a sheet demold and fluid feed nozzles
- the pulling edge region 1 or region of a positive radius 1 is arranged on a molding tool and has two workpiece-side surfaces 3, 4, which meet in the region of a drawing edge or a positive radius 2.
- the drawing edge 2 in the drawing direction subsequent surface 4 a cutout 5 is arranged.
- the cutout 5 is as ⁇ dimensioned in such a way that the remaining thickness of Ziehkan- te 2 between the surface 3 and the cutout 5 in approximately corresponds to its radius in order to provide an adequate supporting effect for the material to be drawn.
- the cutout 5 has between the pulling edge 2 and the surface 4 has a height which is approximately 25 to 35 mm, at ei ⁇ ner depth of 5 to 9 mm.
- Figure 2 is instead of a large-scale cutout 5 adjacent to the drawing edge 2, and this belas ⁇ send in already described strength, in the surface 4, a groove 6 is introduced.
- the groove 6 be ⁇ sits a height between the surface 4 and the drawing edge 2, which is approximately 8 to 12 mm, at a depth of 5 to 9 mm.
- a continuous cutout 5 in the region of the wall 4 adjacent to the drawing edge 2 there are a plurality of grooves 7 running in drawing direction, wherein the grooves 7 or Schlit ⁇ ze 7, for example, a slot width of 4 to 8 mm and ei ⁇ nen slot spacing of 7 to 11 mm have, so that the ver ⁇ remaining webs have a width of 1 to 5 mm.
- the slots 7 or slots 7 here likewise have a depth of 5 to 9 mm.
- the relatively small amount of fluid is sufficient in the pre ⁇ called geometries within the recesses 5, 6, 7, in spite of the webs 4 to prevent the formation of microcracks second kind we ⁇ kung fully by the making available of oxygen to stop.
- the recesses 5, the groove 6, the slots 7 can back, that is from here tool, by means of leads and corresponding drilled pipes with an oxygen-containing fluid ver ⁇ provides, as necessary, the oxygen partial pressure in Area of the recesses 5, grooves 6 and 7 slots still increase.
- a supply of acid ⁇ stoff Häm gas is thereby ensured in all cases that can be supplied via Zubowboh ⁇ stanchions 8 in the tool 1, or in a sheet hold-down or in a male mold 9 with gas pressure.
- This gas can hereby be 4 ( Figure 2) or to the surfaces 4, 3 ge ⁇ into a cutout ( Figures 1 to 4) and / or the surface.
- the corresponding holes 8 may be present, which extend to a hold-down surface 10. This is especially important if also take place in the sem ⁇ sheet metal stretching.
- the supply bores 8 each have a diameter of preferably ⁇ 3 to 8 mm. However, if necessary, smaller diameters can also be used if the amount of outflowing fluid is large enough.
- Titanium (Ti) 0, 01-0, 08
- Titanium (Ti) 0, 03-0, 04
- the optimum place of introduction of the oxygen-containing medium depends on the component geometry, since beading or undercutting must also be taken into account.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Crystallography & Structural Chemistry (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Shaping Metal By Deep-Drawing, Or The Like (AREA)
- Heat Treatment Of Articles (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016102344.2A DE102016102344B4 (de) | 2016-02-10 | 2016-02-10 | Verfahren und Vorrichtung zum Erzeugen gehärteter Stahlbauteile |
| PCT/EP2017/052605 WO2017137379A1 (de) | 2016-02-10 | 2017-02-07 | Verfahren und vorrichtung zum erzeugen gehärteter stahlbauteile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP3414028A1 true EP3414028A1 (de) | 2018-12-19 |
| EP3414028B1 EP3414028B1 (de) | 2020-04-08 |
Family
ID=57984947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP17703744.7A Active EP3414028B1 (de) | 2016-02-10 | 2017-02-07 | Verfahren und vorrichtung zum erzeugen gehärteter stahlbauteile |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US20190047032A1 (de) |
| EP (1) | EP3414028B1 (de) |
| JP (1) | JP6692911B2 (de) |
| KR (1) | KR102224344B1 (de) |
| CN (1) | CN109070173B (de) |
| DE (1) | DE102016102344B4 (de) |
| ES (1) | ES2786781T3 (de) |
| WO (1) | WO2017137379A1 (de) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118786228A (zh) | 2023-02-10 | 2024-10-15 | 奥钢联金属成型有限公司 | 制备硬化钢部件的方法 |
Family Cites Families (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60221134A (ja) * | 1984-04-16 | 1985-11-05 | Aida Eng Ltd | プレス金型 |
| JPH049056Y2 (de) * | 1987-11-24 | 1992-03-06 | ||
| US6033499A (en) * | 1998-10-09 | 2000-03-07 | General Motors Corporation | Process for stretch forming age-hardened aluminum alloy sheets |
| DE10000138A1 (de) * | 2000-01-04 | 2001-07-12 | Binder Technologie Ag Gams | Verfahren und Vorrichtung zur Herstellung von Formteilen |
| KR100825975B1 (ko) * | 2003-07-29 | 2008-04-28 | 뵈스트알파인 스탈 게엠베하 | 경화 강판 부품의 제조 방법 |
| JP3863874B2 (ja) * | 2003-10-02 | 2006-12-27 | 新日本製鐵株式会社 | 金属板材の熱間プレス成形装置及び熱間プレス成形方法 |
| DE102004038626B3 (de) * | 2004-08-09 | 2006-02-02 | Voestalpine Motion Gmbh | Verfahren zum Herstellen von gehärteten Bauteilen aus Stahlblech |
| JP2007098459A (ja) * | 2005-10-07 | 2007-04-19 | Nippon Steel Corp | 亜鉛系めっき鋼板の高速ガスシールドアーク溶接方法 |
| JP2008036709A (ja) * | 2006-07-10 | 2008-02-21 | Nippon Steel Corp | 熱間プレス成形方法及び熱間プレス成形装置 |
| DE102007061489A1 (de) * | 2007-12-20 | 2009-06-25 | Voestalpine Stahl Gmbh | Verfahren zum Herstellen von gehärteten Bauteilen aus härtbarem Stahl und härtbares Stahlband hierfür |
| JP5477016B2 (ja) * | 2009-02-03 | 2014-04-23 | 新日鐵住金株式会社 | 亜鉛系めっき熱処理鋼材の製造方法 |
| DE102009050533A1 (de) * | 2009-10-23 | 2011-04-28 | Thyssenkrupp Sofedit S.A.S | Verfahren und Warmumformanlage zur Herstellung eines gehärteten, warm umgeformten Werkstücks |
| EP2520693B1 (de) * | 2009-12-28 | 2017-01-25 | Nippon Steel & Sumitomo Metal Corporation | Verfahren zur herstellung eines heisspressgeformten elements |
| BR112012021348A2 (pt) * | 2010-02-26 | 2016-08-23 | Nippon Steel & Sumitomo Metal Corp | "material de aço tratado por calor, método para produzir o mesmo, e material de base de aço para o mesmo." |
| DE102010012579B3 (de) * | 2010-03-23 | 2011-07-07 | Benteler Automobiltechnik GmbH, 33102 | Verfahren und Vorrichtung zur Herstellung von gehärteten Formbauteilen |
| JP5695381B2 (ja) * | 2010-09-30 | 2015-04-01 | 株式会社神戸製鋼所 | プレス成形品の製造方法 |
| DE102011053939B4 (de) * | 2011-09-26 | 2015-10-29 | Voestalpine Stahl Gmbh | Verfahren zum Erzeugen gehärteter Bauteile |
| RU2552819C1 (ru) * | 2011-05-23 | 2015-06-10 | Ниппон Стил Энд Сумитомо Метал Корпорейшн | Способ горячего прессования и форма для горячего прессового формования |
| DE112011105387B4 (de) * | 2011-06-29 | 2025-02-27 | Toyota Jidosha Kabushiki Kaisha | Heißpressvorrichtung |
| DE102011052773A1 (de) | 2011-08-17 | 2013-02-21 | Kirchhoff Automotive Deutschland Gmbh | Werkzeug für ein Presshärtwerkzeug |
| CN103764310B (zh) * | 2011-09-01 | 2015-09-30 | 株式会社神户制钢所 | 热压成形品及其制造方法 |
| DE102011114691A1 (de) * | 2011-10-04 | 2013-04-04 | Benteler Defense Gmbh & Co. Kg | Verfahren zum Warmumformen und Härten eines Werkstückes aus Stahl in einer Gesenkpresse unter Einbringen eines oder mehrerer Kühlfluide in Gesenkausnehmungen |
| DE102011055643A1 (de) | 2011-11-23 | 2013-05-23 | Thyssenkrupp Steel Europe Ag | Verfahren und Umformwerkzeug zum Warmumformen und Presshärten von Werkstücken aus Stahlblech, insbesondere verzinkten Werkstücken aus Stahlblech |
| DE102012104734A1 (de) * | 2012-05-31 | 2013-12-05 | Outokumpu Nirosta Gmbh | Verfahren und Vorrichtung zur Herstellung von umgeformten Blechteilen bei Tieftemperatur |
| JP5901493B2 (ja) * | 2012-10-17 | 2016-04-13 | 本田技研工業株式会社 | 熱間プレス成形方法及び金型 |
| JP6075304B2 (ja) * | 2013-03-28 | 2017-02-08 | 株式会社豊田中央研究所 | 熱間プレス成形方法および熱間プレス成形装置 |
| JP5830056B2 (ja) * | 2013-06-05 | 2015-12-09 | トヨタ自動車株式会社 | プレス装置及び噴射ノズル |
| MX369615B (es) * | 2013-09-12 | 2019-11-14 | Nippon Steel Corp | Metodo de enfriamiento para estampado por prensado en caliente y dispositivo de estampado por prensado en caliente. |
-
2016
- 2016-02-10 DE DE102016102344.2A patent/DE102016102344B4/de active Active
-
2017
- 2017-02-07 US US16/076,975 patent/US20190047032A1/en not_active Abandoned
- 2017-02-07 CN CN201780010625.8A patent/CN109070173B/zh active Active
- 2017-02-07 EP EP17703744.7A patent/EP3414028B1/de active Active
- 2017-02-07 KR KR1020187025953A patent/KR102224344B1/ko active Active
- 2017-02-07 WO PCT/EP2017/052605 patent/WO2017137379A1/de not_active Ceased
- 2017-02-07 JP JP2018541172A patent/JP6692911B2/ja active Active
- 2017-02-07 ES ES17703744T patent/ES2786781T3/es active Active
Also Published As
| Publication number | Publication date |
|---|---|
| ES2786781T3 (es) | 2020-10-13 |
| EP3414028B1 (de) | 2020-04-08 |
| KR102224344B1 (ko) | 2021-03-09 |
| JP2019504772A (ja) | 2019-02-21 |
| KR20180114104A (ko) | 2018-10-17 |
| US20190047032A1 (en) | 2019-02-14 |
| DE102016102344A1 (de) | 2017-08-10 |
| DE102016102344B4 (de) | 2020-09-24 |
| CN109070173B (zh) | 2021-04-27 |
| JP6692911B2 (ja) | 2020-05-13 |
| CN109070173A (zh) | 2018-12-21 |
| WO2017137379A1 (de) | 2017-08-17 |
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