EP3442753B1 - Machine-outil portative - Google Patents
Machine-outil portative Download PDFInfo
- Publication number
- EP3442753B1 EP3442753B1 EP17716251.8A EP17716251A EP3442753B1 EP 3442753 B1 EP3442753 B1 EP 3442753B1 EP 17716251 A EP17716251 A EP 17716251A EP 3442753 B1 EP3442753 B1 EP 3442753B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- impact
- striker
- power tool
- anvil
- hand
- 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.)
- Active
Links
- 239000012528 membrane Substances 0.000 claims description 15
- 229920001971 elastomer Polymers 0.000 claims description 6
- 239000000806 elastomer Substances 0.000 claims description 6
- 125000005575 polycyclic aromatic hydrocarbon group Chemical group 0.000 claims description 2
- 238000011144 upstream manufacturing Methods 0.000 claims 1
- 230000035939 shock Effects 0.000 description 12
- 239000006096 absorbing agent Substances 0.000 description 10
- 238000007789 sealing Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 5
- 230000005284 excitation Effects 0.000 description 5
- 239000000428 dust Substances 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 229920000459 Nitrile rubber Polymers 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D17/00—Details of, or accessories for, portable power-driven percussive tools
- B25D17/06—Hammer pistons; Anvils ; Guide-sleeves for pistons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D17/00—Details of, or accessories for, portable power-driven percussive tools
- B25D17/24—Damping the reaction force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D2211/00—Details of portable percussive tools with electromotor or other motor drive
- B25D2211/06—Means for driving the impulse member
- B25D2211/068—Crank-actuated impulse-driving mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D2217/00—Details of, or accessories for, portable power-driven percussive tools
- B25D2217/0011—Details of anvils, guide-sleeves or pistons
- B25D2217/0015—Anvils
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D2217/00—Details of, or accessories for, portable power-driven percussive tools
- B25D2217/0057—Details related to cleaning or cooling the tool or workpiece
- B25D2217/0065—Use of dust covers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D2217/00—Details of, or accessories for, portable power-driven percussive tools
- B25D2217/0073—Arrangements for damping of the reaction force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D2222/00—Materials of the tool or the workpiece
- B25D2222/54—Plastics
- B25D2222/57—Elastomers, e.g. rubber
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
- B25D2250/051—Couplings, e.g. special connections between components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
- B25D2250/141—Magnetic parts used in percussive tools
- B25D2250/145—Electro-magnetic parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
- B25D2250/255—Switches
- B25D2250/265—Trigger mechanism in handle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
- B25D2250/365—Use of seals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
- B25D2250/371—Use of springs
Definitions
- the present invention relates to a chiseling hand-held machine tool according to the preamble of claim 1.
- Such a hand tool is from the EP 1048415 A2 known.
- the hammer drill of the EP 1048415 A2 has a striking mechanism with a racket which is periodically moved back and forth on a working axis via an electro-pneumatic drive. The club strikes a tool in each direction in one direction.
- a flexible, impermeable fabric that extends from the racket to a tube surrounding the racket. The fabric has no influence on the movement of the racket and prevents dust from entering the striking mechanism.
- the hand tool according to the invention according to claim 1 has a tool holder for receiving and locking a tool on a working axis and a machine housing.
- a striking mechanism has a racket for striking in the striking direction and a striker for picking up the strikes and transmitting the strikes in the striking direction to the tool accommodated in the tool holder.
- a sleeve is attached to the machine housing and to the die. When the striker bears against a shock absorber against the direction of impact, the elastic sleeve exerts a force acting in the direction of impact on the striker.
- a striker improves the design of the striking mechanism with regard to differently heavy chisels.
- the striker In contrast to the racket, the striker is not moved continuously, but is only moved for a short time with very high acceleration.
- the cuff attached to the striker has improved durability when the membrane exerts a force to counteract the impact.
- the sleeve has, for example, an inner ring which is fastened to the striker, an outer ring which is fastened to the machine housing, and an elastic membrane which connects the inner ring to the outer ring.
- the membrane is According to the invention, it is elastically pretensioned when the striker rests on the impact shock absorber. The force is applied through the membrane and not through a separate component.
- the membrane is preferably made of an elastomer.
- the striker can have an end pointing in the direction of impact for transmitting an impact to a tool to which the inner ring is attached.
- the striker has a stop ring, which is arranged in the direction of impact before the end pointing in the direction of impact. In the working position, the stop ring lies against a shock absorber against the direction of impact.
- An empty shock absorber is arranged in the direction of impact after the stop ring.
- the inner ring is preferably arranged in the direction of impact after the empty shock absorber.
- the striker is movably mounted in the machine housing along the working axis with respect to the racket.
- Fig. 1 shows schematically an electric hammer 1 as an example of a hand-held chiseling machine tool .
- the electric hammer 1 has a tool holder 2, in which a chisel or other tool 3 can be inserted and locked along a working axis 4 .
- the electric hammer 1 has a handle 5, which is typically attached to an end of a machine housing 6 of the electric hammer 1 facing away from the tool holder 2 .
- An additional handle can be attached, for example, near the tool holder 2 .
- the user can guide and hold the electric hammer 1 with the handles 5 while chiseling.
- Energy can be supplied via a battery or a power line 7 .
- the electric hammer 1 has a striking mechanism 8 which can periodically strike the chisel 3 in the direction of impact 9 .
- the striking mechanism 8 has a racket 10 and a striker 11.
- the racket 10 is arranged to be movable on the working axis 4 .
- the racket 10 is excited by a drive 12 to perform a periodic movement on the working axis 4 .
- the striker 11 is also movably arranged on the working axis 4, independently of the racket 10 .
- the striker 10 strikes the striker 11 during its periodic movement in the striking direction 9 .
- the shock wave of the blow passes through the striker 11 and is passed on to the tool 3 lying on the striker 11 .
- the striker 11 is in its working position ( Fig. 2 ) against the impact direction 9 on a shock absorber 13 .
- the striker 11 is held indirectly by the user in the working position.
- the user presses the electric hammer 1 and the chisel 3 in the direction of impact 9 against a surface to be removed. In this case, the bit 3 moves against the impact direction 9 in the electric hammer 1.
- the chisel 3 moves the anvil 11 against the impact direction 9, until the striker 11 abuts the bumper shock damper 13 to abut.
- the efficiency of the striking mechanism 8 is optimized for the working position of the striker 11 .
- the striking mechanism 8 preferably switches off automatically when the striker 11 comes to rest outside the working position or when the striker 10 strikes the striker 11 outside the working position.
- the anvil 11 is a monolithic steel body.
- the striker 11 has an impact-receiving end 14 for receiving the impact of the racket 10 and an impact-releasing end 15 for transmitting the impact to the chisel 3.
- the impact-receiving end can be cylindrical.
- the striking end 15 is substantially cylindrical.
- a diameter of the two ends 14, 15 can be approximately the same size.
- the striker 11 has a stop ring 16 between the two ends 14, 15.
- the stop ring 16 has an enlarged diameter compared to the two ends 14, 15 .
- the striker 11 can bear with the stop ring 16 against the impact direction 9 on the impact shock absorber 13 and in the impact direction 9 against an empty shock absorber 17 .
- the stop ring 16 and the two dampers 13, 17 determine the working position and the maximum running distance of the striker 11 .
- the striker 11 and the tool 3 are mostly immobile.
- the striker 11 is briefly very strongly accelerated by the impact of the racket 10 .
- the acceleration is greater than 10,000 times the acceleration due to gravity.
- the high acceleration with every stroke and the typical stroke frequency in the range from 10 Hz to 100 Hz strain the material of the striker 11 strong.
- the striker 11 and the tool 3 move in direct succession in one stroke typically by less than two centimeters in the direction of impact 9.
- the maximum running distance is greater than the typical movement in one stroke.
- the deflection of the striker 11 is considerably less than the distance traveled between the strikes by the striker 10 within the striking mechanism 8 .
- a sealing sleeve 18 is fastened to the impact-producing end 15 of the striker 11 and to the machine housing 6 .
- the collar 18 has an inner ring 19 which is attached to the end 15 along the working axis 4 and an outer ring 20 which is attached to the machine housing 6 along the working axis 4 .
- the movement of the striker 11 along the working axis 4 leads to a displacement of the inner ring 19 relative to the outer ring 20.
- the inner ring 19 or outer ring 20 can be rotatably mounted on the striker 11 or the machine housing 6 about the working axis 4 .
- the two rings 19, 20 are connected by a membrane 21 .
- the membrane 21 has a flat or curved surface, the only edges of which are formed by the inner ring 19 and the outer ring 20 .
- the membrane 21 can have the form of a tube which closes a cavity which is preferably only open on the rings 19, 20 .
- the membrane 21 can also be folded one or more times like a bellows.
- the membrane preferably has exactly one fold or exactly two folds. When the striker 11 is moved, the membrane 21 is deformed.
- the sleeve 18 closes the striking mechanism 8 in a dust-tight manner in the striking direction 9 .
- the inner ring 19 is inserted, for example, into an annular groove in the striker 11 .
- the inner ring 19 moves with the striker 11 along the working axis 4.
- the cuff 18 is arranged in the direction of impact 9 after the empty shock absorber 17 .
- the dampers 13, 17 are isolated from the dust-loaded tool holder 2 by the sleeve 18 .
- the cuff 18 is preferably formed entirely from an elastomer.
- the elastomer is preferably a polyurethane or a hydrogenated nitrile rubber. This class of elastomers has the necessary dynamic resistance to permanently withstand the accelerations on the die 7 , especially when the elastomer is free of polycyclic aromatic hydrocarbons.
- the cuff 18 has an axial prestress in the working position.
- the pretension increases the stability of the collar 18.
- the collar 18 exerts a force acting in the striking direction 9 on the striker 11 when the striker 11 is in the working position.
- the elastic hose 21 has an original shape.
- the membrane 21 counteracts a deformation along the working axis 4 by a corresponding force.
- the bias is set by the axial offset of the inner ring 19 to the outer ring 20 .
- the pretension is sufficient, for example, to shift the striker 11 from the working position into a position that switches off the striking mechanism 8 .
- a sealing ring 22 abuts the end 15 of the striker 11 which delivers the impact.
- the sealing ring 22 is arranged in the direction of impact 9 in front of the sleeve 18 .
- the sealing ring 22 is, for example, anchored in the machine housing 6 and slides on the cylindrical surface of the striker 11. Alternatively, the sealing ring 22 can be anchored in the striking end 15 and slide on a hollow cylindrical surface of the 6 .
- the sealing ring 22 is preferably arranged in the direction of impact 9 behind the empty shock absorber 17 .
- the chamber between the sleeve 18 and the sealing ring 22 is provided with the environment for an air exchange via a puncture 23 .
- the puncture 23 preferably opens the chamber in the radial direction.
- the electric motor 24 is powered by the energy supply.
- the electric motor 24 can be a universal motor, a mechanically commutating electric motor 24 or an electrically commutating electric motor 24 .
- the user can switch the electric motor 24 on and off with an operating button 25 .
- the operating switch 25 is arranged on or near the handle 5 and can preferably be actuated by the hand holding the handle 5 .
- the electric motor 24 moves the excitation piston 26 back and forth on the working axis 4 .
- the exciter piston 26 is guided on the working axis 4 , for example in a guide tube 27.
- a converting gear 28 connects the electric motor 24 to the exciter piston 26.
- the converting gear 28 converts the rotational movement of the electric motor 24 into a translational movement of the exciter piston 26 .
- Exemplary converting gears 28 are based on an eccentric wheel and a connecting rod or a swash plate and a wobble finger.
- a step-down gear 29, a slip clutch, etc. can be arranged in the drive train between the electric motor 24 and the converting gear 28 .
- the periodicity of the excitation piston 26 is mechanically synchronized with the speed of the electric motor 24 by the drive train.
- the pneumatic chamber 31 is closed by the exciter piston 26 and the striker 10 along the working axis 4 .
- the exemplary guide tube 27 can close off the pneumatic chamber 31 in the radial direction.
- the excitation piston 26 and the striker 10 are movable in the guide tube 27 .
- the excitation piston 26 closes the guide tube 27 in the direction of impact 9 and the exciter piston 26 closes the guide tube 27 in the direction of impact 9.
- the excitation piston 26 compresses and decompresses the pneumatic chamber 31.
- the striker 10 is correspondingly affected by the pressure difference between the pneumatic chamber 31 and the environment accelerated in the direction of impact 9 and counter to the direction of impact 9 .
- the exciter piston can be cup-shaped and the racket can be guided in the exciter piston or the racket is cup-shaped and encompasses the exciter piston.
- the drive 12 can have two magnetic coils 32, 33 which move the racket 10 along the working axis 4 according to the reluctance principle ( Fig. 3 ).
- the magnetic coils 32, 33 can accelerate the racket 10 in addition to the pneumatic drive 12 described above.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Percussive Tools And Related Accessories (AREA)
Claims (8)
- Machine-outil à main (1) comprenant un porte-outil (2) pour recevoir et verrouiller un outil (3) sur un axe de travail (4), un boîtier de machine (6), un mécanisme de battage (8) qui présente un batteur (10) pour générer des frappes dans une direction de battage (9) et une bouterolle (11) pour recevoir les frappes et pour transférer les frappes dans la direction de battage (9) à l'outil (3) reçu dans le porte-outil (2), un manchon élastique (18) qui est fixé sur le boîtier de machine (6) et sur la bouterolle (11),
caractérisée en ce que
le manchon élastique (18), lorsque la bouterolle (11) s'applique à l'encontre de la direction de battage (9) contre un amortisseur de recul de battage (13), exerce une force agissant dans la direction de battage (9) sur la bouterolle (11), et en ce que la membrane (21) est précontrainte élastiquement lorsque la bouterolle (11) s'applique contre l'amortisseur de recul de battage (13). - Machine-outil à main (1) selon la revendication 1,
caractérisée en ce que le manchon (18) présente une bague intérieure (19) qui est fixée à la bouterolle (11), présente une bague extérieure (20) qui est fixée au boîtier de machine (6) et présente une membrane (21) élastique reliant la bague intérieure (19) à la bague extérieure (20). - Machine-outil à main (1) selon la revendication 1,
caractérisée en ce que la membrane (21) se compose d'un élastomère qui est exempt d'hydrocarbures aromatiques polycycliques. - Machine-outil à main (1) selon l'une quelconque des revendications précédentes,
caractérisée en ce que la bouterolle (11) présente une extrémité (15) tournée dans la direction de battage (9) pour le transfert d'une frappe à un outil (3) au niveau duquel est fixée la bague intérieure (19). - Machine-outil à main (1) selon la revendication 4,
caractérisée en ce que la bouterolle (11) présente une bague d'arrêt (16) qui est disposée dans la direction de battage (9) avant l'extrémité (15) tournée dans la direction de battage (9). - Machine-outil à main (1) selon la revendication 5,
caractérisée en ce que la bague d'arrêt (16), dans la position de travail, s'applique à l'encontre de la direction de battage (9) contre l'amortisseur de recul de battage (13). - Machine-outil à main (1) selon la revendication 5 ou 6,
caractérisée en ce que dans la direction de battage (9) après la bague d'arrêt (16) est disposé un amortisseur de frappe à vide (17) et la bague intérieure (19) est disposée dans la direction de battage (9) après l'amortisseur de frappe à vide (17). - Machine-outil à main selon l'une quelconque des revendications précédentes,
caractérisée en ce que la bouterolle (11) est supportée de manière déplaçable dans le boîtier de machine (6) le long de l'axe de travail (4) par rapport au batteur (10).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP16165048.6A EP3231560A1 (fr) | 2016-04-13 | 2016-04-13 | Machine-outil portative |
PCT/EP2017/058624 WO2017178461A1 (fr) | 2016-04-13 | 2017-04-11 | Machine-outil portative |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3442753A1 EP3442753A1 (fr) | 2019-02-20 |
EP3442753B1 true EP3442753B1 (fr) | 2020-04-01 |
Family
ID=55755382
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16165048.6A Withdrawn EP3231560A1 (fr) | 2016-04-13 | 2016-04-13 | Machine-outil portative |
EP17716251.8A Active EP3442753B1 (fr) | 2016-04-13 | 2017-04-11 | Machine-outil portative |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16165048.6A Withdrawn EP3231560A1 (fr) | 2016-04-13 | 2016-04-13 | Machine-outil portative |
Country Status (4)
Country | Link |
---|---|
US (1) | US11072062B2 (fr) |
EP (2) | EP3231560A1 (fr) |
CN (1) | CN109070325B (fr) |
WO (1) | WO2017178461A1 (fr) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7236921B2 (ja) * | 2019-04-18 | 2023-03-10 | 株式会社マキタ | 打撃工具 |
EP3822036A1 (fr) * | 2019-11-12 | 2021-05-19 | Hilti Aktiengesellschaft | Agencement de mécanisme de frappe |
EP3822030A1 (fr) * | 2019-11-15 | 2021-05-19 | Hilti Aktiengesellschaft | Marteau perforateur et/ou burin avec agencement de mécanisme de percussion |
JP2023180163A (ja) * | 2022-06-08 | 2023-12-20 | パナソニックIpマネジメント株式会社 | インパクト回転工具 |
CN116220540A (zh) * | 2023-03-06 | 2023-06-06 | 徐州徐工基础工程机械有限公司 | 一种冲击零件及冲击机构 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB209354A (en) * | 1923-04-24 | 1924-01-10 | Det Tekniske Forsogsaktieselsk | Improvements in percussive tools |
US1657387A (en) * | 1925-06-17 | 1928-01-24 | Goldschmidt Rudolf | Mechanical hammer |
CH470212A (de) * | 1966-08-25 | 1969-03-31 | Wacker Werke Kg | Schwinggerät |
DE1289344B (de) | 1966-08-25 | 1969-02-13 | Wacker Werke Kg | Arbeitsschwinger |
GB9909987D0 (en) | 1999-04-30 | 1999-06-30 | Black & Decker Inc | Rotary hammer |
DE10061810A1 (de) | 2000-12-12 | 2002-06-13 | Hilti Ag | Schlagendes Handwerkzeuggerät mit drehendem Führungsrohr |
DE102004043831B4 (de) * | 2004-09-10 | 2021-08-26 | Robert Bosch Gmbh | Handwerkzeugmaschine mit Schlagbolzendichtung |
US7878265B2 (en) * | 2007-02-06 | 2011-02-01 | Makita Corporation | Impact power tool |
DE102007000255A1 (de) * | 2007-05-03 | 2008-11-06 | Hilti Aktiengesellschaft | Handwerkzeugmaschine mit geschmiertem Schlagwerk |
DE102007060636A1 (de) * | 2007-12-17 | 2009-06-18 | Robert Bosch Gmbh | Elektrohandwerkzeug, insbesondere ein Bohr- und/oder Meißelhammer, mit einer Tilgereinheit |
DE102010029917A1 (de) * | 2010-06-10 | 2011-12-15 | Hilti Aktiengesellschaft | Werkzeugmaschine |
DE102010044011A1 (de) * | 2010-11-16 | 2012-05-16 | Hilti Aktiengesellschaft | Handwerkzeugmaschine |
US9079286B1 (en) * | 2011-12-15 | 2015-07-14 | Christian DeCamillis | Pneumatic actuator for impact engraving tool |
EP2871030A1 (fr) * | 2013-11-06 | 2015-05-13 | HILTI Aktiengesellschaft | Machine-outil manuelle |
-
2016
- 2016-04-13 EP EP16165048.6A patent/EP3231560A1/fr not_active Withdrawn
-
2017
- 2017-04-11 US US16/092,823 patent/US11072062B2/en active Active
- 2017-04-11 CN CN201780023635.5A patent/CN109070325B/zh active Active
- 2017-04-11 EP EP17716251.8A patent/EP3442753B1/fr active Active
- 2017-04-11 WO PCT/EP2017/058624 patent/WO2017178461A1/fr active Application Filing
Non-Patent Citations (1)
Title |
---|
None * |
Also Published As
Publication number | Publication date |
---|---|
EP3442753A1 (fr) | 2019-02-20 |
WO2017178461A1 (fr) | 2017-10-19 |
US11072062B2 (en) | 2021-07-27 |
CN109070325B (zh) | 2021-09-17 |
US20190118363A1 (en) | 2019-04-25 |
EP3231560A1 (fr) | 2017-10-18 |
CN109070325A (zh) | 2018-12-21 |
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