EP3461782A1 - Dispositif de levage destiné à lever et à abaisser des objets lourds - Google Patents

Dispositif de levage destiné à lever et à abaisser des objets lourds Download PDF

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Publication number
EP3461782A1
EP3461782A1 EP17193838.4A EP17193838A EP3461782A1 EP 3461782 A1 EP3461782 A1 EP 3461782A1 EP 17193838 A EP17193838 A EP 17193838A EP 3461782 A1 EP3461782 A1 EP 3461782A1
Authority
EP
European Patent Office
Prior art keywords
lifting
traction means
frame assembly
oblique
tensioning
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
Application number
EP17193838.4A
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German (de)
English (en)
Other versions
EP3461782B1 (fr
Inventor
Christoph Mohr
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.)
Mohr Lizenz Verwaltungs GmbH
Original Assignee
Mohr Lizenz Verwaltungs 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
Priority to PL17193838T priority Critical patent/PL3461782T3/pl
Application filed by Mohr Lizenz Verwaltungs GmbH filed Critical Mohr Lizenz Verwaltungs GmbH
Priority to EP17193838.4A priority patent/EP3461782B1/fr
Priority to ES17193838T priority patent/ES2809152T3/es
Priority to PT171938384T priority patent/PT3461782T/pt
Priority to US16/120,934 priority patent/US10737915B2/en
Priority to CN201811121726.5A priority patent/CN109573831B/zh
Publication of EP3461782A1 publication Critical patent/EP3461782A1/fr
Application granted granted Critical
Publication of EP3461782B1 publication Critical patent/EP3461782B1/fr
Priority to US16/934,149 priority patent/US20200346906A1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
    • B66C2700/012—Trolleys or runways

Definitions

  • the invention relates to a lifting device for lifting and lowering in particular heavy objects according to the preamble of claim 1.
  • Lifting devices serve the vertical lifting and lowering of objects with respect to a vertical direction. Depending on the design and weight of the objects to be moved, these can be operated both manually and motorized. In addition to the manipulation in the vertical direction, such lifting devices usually also have the possibility of displacement in at least one transverse direction, so that an attached object can be raised at one location and deposited again at another location. This can be done for example by the rotation of a boom of the lifting device and / or by the lateral linear displacement.
  • stationary lifting devices may be combined with a monorail to relocate the respective lifting device along a usually structurally defined path.
  • a monorail Arranged within a plant or on a factory or trans-shipment center, it is also possible to move heavy loads such as containers or vehicles.
  • the EP 1 106 563 A2 shows a lifting device with two with respect to a vertical direction superimposed frame assemblies, of which the lower frame assembly is arranged on several lifting traction means hanging on the upper frame assembly that by winding the Hub-traction means by means of a lifting-lowering device, the lower frame assembly electroziehbar on the upper frame assembly and can be lowered again by subsequent unwinding of the stroke-traction means relative to the upper frame assembly and vice versa.
  • the two frame arrangements can preferably be aligned parallel to one another, in order to obtain an overall compact construction in relation to the completely raised state of the lower frame arrangement.
  • the known lifting device has an economical and above all space-saving design, which allows a simple lifting and lowering. Already by the simultaneous use of several parallel spaced stroke-stroke an otherwise completely uncontrolled rotation of the respective attached object is reduced. In order to minimize as far as possible, already by a lateral deflection when starting or braking the equipped with a traction device lifting pendulum movements, the individual stroke traction means are additionally partially deflected several times. By deflecting a kind of outcrossing between the superimposed side portions of the two frame assemblies is achieved.
  • the present invention is therefore based on the object to develop a generic lifting device to the effect that it has an increased stability against lateral deflections, in particular also caused by rotational movements around a vertical direction around.
  • the invention is based on the fundamental idea that on a winding and winding the Lift-traction means-based lifting and lowering, insofar as the stroke of the lifting device, is realized solely by the stroke-traction means, while the necessary stability should be done via additional, decoupled from the stroke traction means traction means.
  • two of the oblique traction means are in each case crossed with one another in such a way that the lower frame arrangement is stabilized in at least one direction of deflection extending transversely to the vertical direction relative to the upper frame arrangement. In other words, this results in the stabilizing outcrossing of the side planes not by multiple deflections of the stroke-traction means, but by specially provided for this purpose additional inclined traction means.
  • the arrangement of a clamping device is proposed in addition to the lifting-lowering device.
  • the tensioning device is provided to wind or unwind the inclined traction means according to need, in order to effect their change in length necessary for a stroke of the lifting device.
  • the clamping device is configured and set up so that each of the oblique traction means during the winding and unwinding of the stroke-traction means by the clamping device under tension is durable.
  • the resulting advantage lies in the now possible, mechanically decoupled controllability of the individual traction means. In fulfillment of their intended use these are now specifically divided into stroke traction means and in this physically separate oblique traction means. Due to the decoupling, it is possible to control the oblique traction means independently of the stroke traction means, so that the oblique traction means are always acted upon with a stabilizing the lateral pendulum movements causing voltage.
  • the oblique traction means are under a continuous, for example, constant tensile force, which does not allow any uncontrolled elongation of one side of the triangular shapes formed by the outcrossings between the lifting and inclined traction means.
  • a biasing traction means may extend from a forward left corner region of the lower frame assemblies up to a background right corner region of the upper frame assembly, while another skew traction means may extend from a background left corner region of the lower frame assemblies extending in the foreground right corner of the upper frame assembly extends.
  • a biasing traction means may extend from a forward left corner region of the lower frame assemblies up to a background right corner region of the upper frame assembly
  • another skew traction means may extend from a background left corner region of the lower frame assemblies extending in the foreground right corner of the upper frame assembly extends.
  • the crossings of the oblique traction means can be such that they limit the space spanned between the two frame arrangements space parallel to its sides and thus do not intersect the space.
  • each of the two frame arrangements may each have at least three, in particular four, side sections. This results in a substantially triangular or quadrangular basic shape of the two frame arrangements. Between at least one of the side sections of the lower frame arrangement and a side section of the upper frame arrangement located in relation to the vertical direction there may then advantageously extend at least two inclined traction means which cross each other on their way between the associated side sections of the two frame arrangements.
  • This embodiment offers the advantage of the shortest possible diagonal traction means, so that their sometimes inherent elasticCnver S sad is largely compensated and / or a readjustment of the voltage across the clamping device is simplified.
  • At least two oblique traction means can be arranged in each side region of the space between the two frame arrangements, which then each extend between a side section of the lower frame arrangement and one with respect to the vertical direction extend over this located side portion of the upper frame assembly and thereby cross over.
  • the greatest possible stability of the lower frame assembly is achieved in all transverse directions relative to the upper frame assembly, so that between the frame assemblies otherwise possible unwanted oscillations and / or rotations are reduced to a minimum or even completely prevented.
  • the lifting and lowering device provided for winding and unwinding of the lifting and traction means, it can have at least one lifting drive, which is coupled to transmit torque to a lifting shaft.
  • the possible controlled rotation of the lifting shaft around its longitudinal axis is used to at least partially unwind and then unwind the lifting traction means then connected to the lifting shaft around the lifting shaft.
  • the lifting shaft can be coupled either directly or indirectly, for example by interposing at least one further component, with the lifting drive.
  • this can have at least one clamping drive, which is coupled to transmit torque with at least one clamping shaft.
  • the thus possible controlled rotation of the at least one tensioning shaft about its longitudinal axis is utilized to at least partially open and then rotate the oblique tensioning means then connected to the tensioning shaft around the tensioning shaft handle.
  • the at least one tensioning shaft can be coupled either directly or indirectly, for example by interposing at least one further component, with the tensioning drive.
  • this can have at least two individual clamping shafts, which are coupled torque-transmitting with the at least one clamping drive.
  • each of the at least two clamping shafts either directly or indirectly, for example by interposition of at least one further component, be coupled to the clamping drive.
  • at least two of the oblique traction means at least partially around each one of the two clamping shafts up around and unwound from this.
  • the clamping device may comprise a total of four individual chip shafts, which are coupled to transmit torque to the at least one tensioning drive.
  • each of the four clamping shafts either directly or indirectly, for example by interposition of at least one other component, be coupled to the clamping drive. Consequently, in each case at least two of the oblique traction means at least partially around each one of the four clamping shafts up around and unwound from this.
  • the tensioning drive designed to generate the necessary torque may preferably be incorporated between one of the tensioning shafts and the transmission unit.
  • the tensioning drive can only be connected, for example directly or indirectly, with the transmission unit to transmit torque. In any case, this results in a very economical construction, which manages with a single clamping drive.
  • this can have a total of three or preferably four individual clamping drives, which are then each coupled to a clamping shaft.
  • the arrangement of a plurality of tension drives offers the advantage of always applying the tensioning shafts connected to the tensioning means independently of one another with the respectively required pulling force. This can be useful, for example, if expected deflections can be better compensated by targeted activation of the individual tension drives. Moreover, the necessary power and thus the dimensioning of each individual chip drive can be smaller.
  • at least two of the oblique traction means at least partially surround one of the four Clamping shafts can be wound around and unwound again. In a particularly advantageous manner, these are in each case the oblique traction means that cross each other, so that the individual sides of the space defined between the two frame arrangements can be independently controlled via one of the tensioning drives.
  • each of the oblique traction means is fixedly attached to the lower frame arrangement.
  • the included between each side portion of the lower frame assembly and an associated oblique traction means angle even in the largest possible lowered position (largest distance between the upper and lower frame assembly) low fail.
  • a sufficient horizontal component of the applied to the oblique traction means tensile force is achieved in order to compensate for any pendulum movements as far as possible.
  • a respective side section of the lower frame arrangement and the upper section of the upper frame arrangement with respect to the vertical direction span a side plane therebetween, wherein each of the oblique traction means preferably lies on this side plane or within a plane parallel to the associated side plane from the lower frame arrangement may extend diagonally to the upper frame assembly.
  • the oblique traction means can extend up to a region of an upper corner located between two respective side sections of the upper frame arrangement.
  • each oblique traction means is deflected on the upper frame assembly to a central portion of the respective side portion.
  • each helical traction means can then be connected to a clamping shaft of the clamping device located in the region of the associated center section.
  • the two crossing traction means crossing each other can in principle be assigned to a single tensioning shaft, so that they can always be moved up and down synchronously and / or subjected to the required traction force.
  • the stroke traction means could preferably be secured in the region of a lower corner of the lower frame assembly located between each two of its side sections. From there, each of the lifting traction means can then extend to the upper frame assembly. Particularly preferably, the individual lifting traction means can run parallel to the vertical direction between the two frame assemblies, so that the existing in the lifting traction means pulling force is completely available for the necessary stroke of the lower frame assembly available.
  • each of the lifting traction means is thereby deflected to the upper frame assembly to a central portion of the respective side portion.
  • each stroke-traction means can then be connected to a located in the region of the associated center section of the lifting shaft lifting-lowering device.
  • the lifting traction means can all be assigned to a single lifting shaft, so that the lifting traction means are always synchronously up and unwound.
  • Such a configuration allows a very economical construction and operation of the lifting-lowering device.
  • the individual traction means so the lifting and / or inclined traction means can all be different from each other or the same.
  • Preferred may be all or at least individual traction means a belt or belt or rope.
  • combinations thereof are conceivable, which means, for example, the construction of a single traction means of a belt and a rope.
  • These may contain fibers of, for example, metal and / or a plastic and / or a natural substance or be formed from at least one of these.
  • the now presented lifting device has very advantageous properties with respect to the stability of the lower frame assembly relative to the upper frame assembly.
  • the known tendency of such suspended constructions with respect to lateral deflections and / or rotational movements around a vertical direction is achieved according to the invention by a consistent division and insofar physical separation of the individual traction means.
  • the task of the stroke traction means now exclusively in the raising and lowering of the lower frame assembly, while the decoupled from the stroke traction means diagonal traction means only serve to stabilize the lower frame assembly relative to the upper frame assembly. Due to the separate control of the so divided Traction means on the lifting-lowering device and the clamping device, it is possible to keep the stabilization serving inclined traction means always on the required length and to apply the necessary traction. Any interactions by deflections of the traction means for the purpose of their otherwise combined task performance (lifting and lowering and stabilizing) are thus safely excluded.
  • Fig. 1 shows a perspective view of a lifting device according to the invention 1.
  • the lifting device 1 comprises two frame assemblies 2, 3, which extend substantially parallel to a plane spanned between a longitudinal direction x and a transverse direction y ground plane G.
  • the two frame arrangements 2, 3 are arranged directly above one another with respect to a vertical direction z running perpendicular to the basic plane.
  • Lower frame assembly 2 shown at the lower edge, is suspended by means of individual lifting / pulling means H1-H4 by gravity against the upper frame assembly 3, which is in contrast.
  • This arrangement makes it possible for the lower frame assembly 2 on the upper frame assembly 3 to be pulled up parallel to the vertical direction z by means of a lifting-lowering device 4 by winding up the individual lifting / pulling means H1-H4 in detail here.
  • the subsequent lowering of the lower frame arrangement 2 taking place in the opposite direction to the vertical direction z takes place by corresponding unwinding of the previously hitherto at least partially wound-up lifting traction means H1-H4.
  • Each frame assembly 2, 3 has four a rectangular shape between enclosing side portions 2a-2d; 3a-3d, wherein the side portions 2a-2d of the lower frame assembly 2 are arranged opposite to the vertical direction z below the side portions 3a-3d of the upper frame assembly 3.
  • two mutually associated side sections 2a, 3a; 2b, 3b; 2c, 3c; 2d, 3d respectively a rectangular page level AD between them.
  • the lifting / lowering device 4 located in the region of the upper frame arrangement 3 has a total of two lifting drives 4a, 4b, which are coupled with a lifting shaft 40 to transmit torque.
  • the stroke-traction means H1-H4 are connected to the lifting shaft 40 so that they are at least partially wound around the lifting shaft 40 around.
  • the necessary deflections 401-404 of the lifting traction means H1-H4 are in Fig. 2 more clearly recognizable and explained in more detail in the following associated description of the figures.
  • the lifting shaft 40 may be constructed in one piece or, as can be seen here, in several parts.
  • the individual sections of the lifting shaft 40 can preferably be connected to one another via joints in order to transmit torque.
  • oblique traction means S1a-S1d, S2a-S2d are provided, which are each inclined relative to the vertical direction z also between the two frame assemblies 2, 3 extend.
  • the individual oblique traction means S1a-S1d, S2a-S2d are aligned and arranged relative to one another such that two of the oblique traction means S1a, S2a; S1b, S2b; S1c, S2c; Cross S1d, S2d with each other.
  • All oblique traction means S1a-S1d, S2a-S2d are connected to a tensioning device 5 and can thus be wound up and unwound via this, since the oblique traction means S1a-S1d, S2a-S2d during the winding and unwinding of the lifting traction means H1- H4 in a manner not shown for stabilization by the clamping device 5 under sufficient tensile strength are durable.
  • Both the stroke-traction means H1-H4 and the inclined traction means S1a-S1d, S2a-S2d are all firmly attached to the lower frame assembly 2.
  • the fixings required for this purpose are respectively arranged in the region of one of the lower corners 6a-6d situated between two respective side sections 2a-2d of the lower frame arrangement 2.
  • the stroke-traction means H1-H4 each extend parallel to the high-order direction z up to a region of one of the upper corners 7a-7d situated between in each case two of the side sections 3a-3d of the upper frame arrangement 3.
  • the oblique traction means S1a-S1d, S2a-S2d extend quasi-diagonally from a region of a lower corner 6a-6d high to parallel to the longitudinal direction x or transverse direction y opposite corner 7a-7d of the upper frame assembly.
  • Fig. 2 shows the lifting device 1 from Fig. 1 in a first side view looking at the side plane A.
  • the oblique traction means S1a attached to the lower frame assembly 2 is guided diagonally from a region of the lower corner 6a to an area of the upper corner 7d of the upper frame assembly 3 and from from there to a center portion 8a of the side portion 3a through a deflection 501 deflected.
  • the other oblique traction means S2a is diagonally led from a region of the opposite lower corner 6d up to a region of the opposite upper corner 7a of the upper frame assembly 3 and from there also to the middle portion 8a of the side portion 3a through a deflection 502 diverted.
  • a tensioning shaft 50a of the tensioning drive 5 is arranged, with which the two oblique tensioning means S1a, S2a are respectively connected.
  • the oblique traction means S1c, S2c which can not be seen here, are deflected in the region of the opposite side plane C by a respective deflection 503, 504 to a clamping shaft 50c of the clamping device 5 arranged in the region of the middle section 8c of the associated side section 3c and connected to it.
  • Fig. 2 shows the lifting device 1 from the Fig. 1 and 2 in a further side view looking at the side plane D.
  • this is the lower frame assembly 2 fastened oblique traction means S1d, analogous to the previous description, are led diagonally from a region of the lower corner 6d up to a region of the upper corner 7c of the upper frame arrangement 3 and are deflected from there to a center section 8d of the side section 3d via a deflection 505.
  • the other oblique traction means S2d is led diagonally from a region of the opposite lower corner 6c to a region of the opposite upper corner 7d of the upper frame arrangement 3 and from there also to the middle section 8d of the side section 3d via a Deflection 506 deflected.
  • a further tensioning shaft 50d of the tensioning drive 5 is arranged, with which the two oblique tensioning means S1d, S2d are respectively connected.
  • the oblique traction means S1b, S2b not visible here are deflected in the region of the opposite side plane B by a respective deflection 507, 508 to a clamping shaft 50b of the clamping device 5 arranged in the region of a middle section 8b of the associated side section 3b and connected to it.
  • Fig. 4 shows a plan view of the lifting device 1 of Fig. 1 to 3 ; More specifically, the deflection of the four stroke-traction means H1-H4 toward the lifting shaft 40 of the lifting-lowering device 4 is further clarified.
  • the tensioning shafts 50a-50d may each be an output shaft of the associated tensioning drive 5a-5d.
  • Fig. 5 an alternative embodiment of the clamping device 5 can be seen.
  • the individual clamping shafts 50a-50d are coupled to one another via a gear unit 9 located in the center of the upper frame arrangement 3.
  • the only tensioning drive 5a is incorporated between one of the tensioning shafts 50a and the transmission unit 9.
  • the torque transmitted by the tensioning drive 5a to the tensioning shaft 50a is synchronously transmitted by the gear unit 9 to the remaining tensioning shafts 50b-50d.
  • the individual clamping shafts 50a-50d are coupled to the transmission unit 9 and the tensioning drive 5a with the interposition of further shaft components.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Types And Forms Of Lifts (AREA)
  • Tyre Moulding (AREA)
EP17193838.4A 2017-09-28 2017-09-28 Dispositif de levage destiné à lever et à abaisser des objets lourds Active EP3461782B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
EP17193838.4A EP3461782B1 (fr) 2017-09-28 2017-09-28 Dispositif de levage destiné à lever et à abaisser des objets lourds
ES17193838T ES2809152T3 (es) 2017-09-28 2017-09-28 Dispositivo elevador para subir y bajar objetos pesados
PT171938384T PT3461782T (pt) 2017-09-28 2017-09-28 Dispositivo de elevação para levantamento e abaixamento de objectos pesados
PL17193838T PL3461782T3 (pl) 2017-09-28 2017-09-28 Urządzenie podnoszące do podnoszenia i opuszczania ciężkich przedmiotów
US16/120,934 US10737915B2 (en) 2017-09-28 2018-09-04 Lifting apparatus for raising and lowering heavy objects
CN201811121726.5A CN109573831B (zh) 2017-09-28 2018-09-26 用于起升和下降重物的起重设备
US16/934,149 US20200346906A1 (en) 2017-09-28 2020-07-21 Lifting apparatus for raising and lowering heavy objects

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17193838.4A EP3461782B1 (fr) 2017-09-28 2017-09-28 Dispositif de levage destiné à lever et à abaisser des objets lourds

Publications (2)

Publication Number Publication Date
EP3461782A1 true EP3461782A1 (fr) 2019-04-03
EP3461782B1 EP3461782B1 (fr) 2020-06-03

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ID=59974369

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17193838.4A Active EP3461782B1 (fr) 2017-09-28 2017-09-28 Dispositif de levage destiné à lever et à abaisser des objets lourds

Country Status (6)

Country Link
US (1) US10737915B2 (fr)
EP (1) EP3461782B1 (fr)
CN (1) CN109573831B (fr)
ES (1) ES2809152T3 (fr)
PL (1) PL3461782T3 (fr)
PT (1) PT3461782T (fr)

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Publication number Priority date Publication date Assignee Title
WO2023046276A1 (fr) * 2021-09-22 2023-03-30 Mohr Lizenz Verwaltungs Gmbh Dispositif de levage pour lever et abaisser des charges

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CN110171771B (zh) * 2019-06-24 2024-01-02 法兰泰克重工股份有限公司 一种小车吊运装置
US11772942B1 (en) * 2019-07-26 2023-10-03 Automatic Devices Company Modular lift system
AU2020418789B2 (en) * 2019-12-31 2023-06-22 Crrc Yangtze Co., Ltd. Vehicle frame, aerial transportation vehicle, and aerial rail container transportation method
CN113277433B (zh) * 2021-04-14 2022-10-14 重庆康爵特智能科技有限公司 一种用于送餐设备的升降系统
US11608252B1 (en) * 2022-02-15 2023-03-21 Innovative Minds, LLC Damper systems for suspended loads

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ES2809152T3 (es) 2021-03-03
US20190092605A1 (en) 2019-03-28
EP3461782B1 (fr) 2020-06-03
US10737915B2 (en) 2020-08-11
CN109573831B (zh) 2021-04-13
PT3461782T (pt) 2020-08-27
CN109573831A (zh) 2019-04-05
PL3461782T3 (pl) 2020-11-16

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