EP3470190B1 - Outil de fraisage destiné au traitement du bois, des matériaux en bois, des matières plastiques ou des métaux légers - Google Patents

Outil de fraisage destiné au traitement du bois, des matériaux en bois, des matières plastiques ou des métaux légers Download PDF

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Publication number
EP3470190B1
EP3470190B1 EP18198655.5A EP18198655A EP3470190B1 EP 3470190 B1 EP3470190 B1 EP 3470190B1 EP 18198655 A EP18198655 A EP 18198655A EP 3470190 B1 EP3470190 B1 EP 3470190B1
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Prior art keywords
machining
milling tool
tool
tool according
pressure ring
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EP18198655.5A
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German (de)
English (en)
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EP3470190A1 (fr
Inventor
Andreas Kisselbach
Jürgen Graef
Heiko Ehrensperger
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Leitz GmbH and Co KG
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Leitz GmbH and Co KG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27D—WORKING VENEER OR PLYWOOD
    • B27D5/00—Other working of veneer or plywood specially adapted to veneer or plywood
    • B27D5/006—Trimming, chamfering or bevelling edgings, e.g. lists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27C—PLANING, DRILLING, MILLING, TURNING OR UNIVERSAL MACHINES FOR WOOD OR SIMILAR MATERIAL
    • B27C5/00—Machines designed for producing special profiles or shaped work, e.g. by rotary cutters; Equipment therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27G—ACCESSORY MACHINES OR APPARATUS FOR WORKING WOOD OR SIMILAR MATERIALS; TOOLS FOR WORKING WOOD OR SIMILAR MATERIALS; SAFETY DEVICES FOR WOOD WORKING MACHINES OR TOOLS
    • B27G13/00—Cutter blocks; Other rotary cutting tools
    • B27G13/005—Tools composed of two or more rotating discs
    • B27G13/007—Tools composed of two or more rotating discs which are adjustable relatively to each other

Definitions

  • Milling tool for processing wood, wood-based materials, plastics or light metals, with a processing side and a spindle side and with a first stationary processing tool arranged around a rotation axis, as well as at least one second processing tool that can be moved coaxially to the first processing tool between a rest position and a processing position arranged and can be brought into connection for displacement in the axial direction with a cam disk arranged in the housing so as to be rotatable about the axis of rotation.
  • Such a milling tool is in the not pre-published EP 3 354 386 A1 and is used for profiling edges and corners on plate-shaped workpieces. If the edgeband thickness is changed, the profile radius of the milling tool must also be adapted to the edgeband thickness. When manufacturing small batches, there are frequent tool changes with production interruptions. For this reason, some solutions with switchable tools have been developed in order to be able to change the profile without removing and installing the tools. Sometimes even with the tool rotating.
  • Another milling tool is, for example, from DE 199 15 672 A1 known.
  • differently profiled cutting edges are attached.
  • the cutting edge with the largest radius is always in the machining position.
  • a differently profiled cutting edge with a smaller radius is pushed into its machining position and covered the profile of the first cutting edge is complete except for the circumferential profile outlet.
  • the cutting profile is changed by a linear movement of one of the movably arranged processing tools, which is triggered pneumatically.
  • the disadvantage here is that a separate control is necessary for each movable machining tool, which leads to a complex construction if there are more than two differently profiled cutting edges.
  • a milling tool in which the differently profiled cutting edges are not moved axially but rather radially into their machining position.
  • the cutting edges are arranged on radially displaceable cutting edge carriers and the pneumatically triggered axial movement of the coaxially arranged actuating elements is converted into a radial movement of the cutting edge carriers via bevels.
  • a separate control must take place for each movable machining tool.
  • the machining tools that are not in the working position have to be held back by pneumatic pressure against the acting centrifugal forces, which requires high adjustment forces at high speeds.
  • the individual machining tools are stored individually in the tool head and axially displaceable. As a result, they can easily be moved from a rest position to a processing position. A machining tool is firmly positioned in the machining position. Editing tools that are not required are withdrawn in their rest position. During machining, the activated machining tool must always be held in its machining position by an external force against cutting pressure and spring restoring forces. Because the individual machining tools are arranged outside of the axis of rotation, centrifugal forces that are dependent on the speed act on the machining tools, which requires very precise mounting in order to avoid an expansion of the diameter of the cutting edges under load.
  • the DE 10 2014 008 033 A1 discloses a milling tool in which cutting edges with different profiles are arranged on rotatably adjustable cutting edge carriers. A profile change takes place through a defined synchronous rotational movement of the Cutter carrier. With this milling tool, it is also possible to change more than three profiles without increasing the complexity.
  • the DE 74 26 183 U discloses a milling tool which is composed of two tool bodies which are positively connected to one another and which are approximately symmetrical and which carry the cutting edges.
  • the tool bodies are arranged such that they can be moved relative to one another via a threaded spindle.
  • the U.S. 4,541,165 A discloses an automatic cutting edge changer for changing the cutting edges on a tool. If a sensor detects wear or chipping on the cutting edges, the cutting edge changer moves the cutting insert out of its cutting position and inserts a new cutting edge.
  • the ones from the DE 10 2011 004 536 A1 known multi-profile milling device is equipped with a first tool which is in a working position and a second tool which can be brought into a working position. An additional spindle is provided between a sliding cylinder for the second tool and the tool. When the second tool is in the working position, the machining profile of the second tool is superimposed on the machining profile of the first tool so that a workpiece to be machined receives the second machining profile.
  • the DE 10 2013 226 214 A1 discloses a device for machining a workpiece made of wood, wood-based materials, plastics or the like, which has two milling tools for contour machining an edge of the workpiece.
  • the second milling tool is adjustable with respect to the first milling tool between a rest position in which the first milling tool can be brought into engagement with the workpiece, and a machining position in which the second milling tool can be brought into engagement with the workpiece.
  • a third milling tool which is arranged coaxially to the other two milling tools, can be used to mill the edge flush on the workpiece.
  • the EP 2 011 614 A1 discloses a milling tool with two machining tools which are arranged to be displaceable relative to one another.
  • the invention is based on the object of enabling an automatic profile change of at least three or more profiles with a stationary tool without changing tools.
  • the generic milling tool is characterized in that at least two machining tools are provided which are arranged displaceably between a rest position and a machining position.
  • the mechanism for changing the profile takes up little space and the milling tool is simple. Basically, a large number of second processing tools can be provided.
  • the cam disk which is provided with cams pointing in the axial direction, can preferably be rotated incrementally. This makes it possible to bring the machining tools into their machining position by means of an axial back and forth stroke movement.
  • the first machining tool is preferably rigidly connected to a base body which is coupled to the housing in a rotationally fixed manner.
  • the machining tool is preferably screwed to the base body.
  • the cam disk can be connected to a sleeve-shaped pressure ring, which has at least one, preferably three, balls protruding radially inwards (as sliding blocks), which run in a meandering circumferential groove (as a sliding link) of a locking sleeve connected to the housing in a rotationally fixed manner and which forms a sliding block guide, wherein the inner diameter of the pressure ring is larger than the outer diameter of the locking sleeve.
  • the ball or balls are preferably arranged (with play) in a radial bore in the inner wall of the pressure ring and are preferably adjustable radially towards the locking sleeve via a grub screw.
  • the meander runs at an acute angle (zigzag formation) so that the at least one ball can be guided either clockwise or only counterclockwise, no reversal point can occur when the direction of the stroke is reversed.
  • an overlap in the running direction of the ball is preferably provided at the reversal points of the groove.
  • the cam disk is preferably connected to the pressure ring so as to be non-rotatable and displaceable in the axial direction. It is advantageous if at least one compression spring acting in the axial direction is provided between the pressure ring and the base body.
  • each displaceably arranged machining tool has regularly spaced cylindrical pins on a pitch circle, which run parallel to the axis of rotation and can be brought into operative connection with cams arranged on the cam disk. This simplifies the engagement of the cam disk with the respective machining tool.
  • the at least one compression spring is preferably guided axially in a spring ring and the spring ring is rotatably mounted in relation to the pressure ring via an axial bearing.
  • One or three compression springs are arranged between the stationary processing tool and the displaceable processing tool or tools (at least the second processing tool).
  • the pressure ring can be provided on the spindle side with a closed circumferential end face which serves as a running surface for a rolling element. This configuration reduces the operating forces for setting the machining position of the machining tools.
  • Each machining tool is preferably provided with a plurality of cutting edges, the cutting edges being profiled identically on each individual machining tool, but each of the machining tools having differently profiled cutting edges having. It is also conceivable that two machining tools have cutting edges that are identically profiled.
  • the profiles of the cutting edges are preferably radii or chamfers and the fixed machining tool carries the cutting edge with the largest radius.
  • the pressure ring is provided on the spindle side with markings for the respective cutting edges, which interact with a marking in the housing, depending on the rotational position of the pressure ring, the respective active cutting edge profile can be indicated and made visible to the viewer.
  • a machining device which is provided with a tool designed according to the invention has an axially movable actuating device with which a disengaging movement and a return stroke can be carried out and which has at least one pressure element and one rolling element.
  • the pressure element is preferably a spring-loaded bolt and the rolling element is a ball roller.
  • a method for operating this machining device is characterized in that, during the disengaging movement of the actuating device, the contact between the axially movable machining tools and the cam disk is released in a first step, in a second step via the meandering groove in the locking sleeve and the at least one ball in the pressure ring the cam disk is set in rotation, the rotary movement of the cam disk is completed during the subsequent return stroke of the actuating device and in a third step at the end of the return stroke the axially movable machining tools come to rest on the cam disk again.
  • the milling tool consists of a base body 4, which carries a first machining tool 1 firmly connected by screws 29 with a first cutting profile 31 and at least one second axially displaceable machining tool 2 with a second cutting profile 32.
  • the base body 4 has a flange region 30 with bores for receiving machining tools 1, 2, 3 and with an interface for attachment to a rotatable drive (machine spindle, not shown), z. B. a bore 25, advantageously with a conical bore for centering without play.
  • the milling tool is closed on the circumference by a housing 11, which is connected to the base body 4 in a rotationally fixed and axially displaceable manner via grub screws 40 which engage in corresponding grooves 44 in the base body 4 (cf. Figure 5 ).
  • the illustrated embodiment has a tool 1 firmly screwed to the base body 4 with a cutting edge profile 31 and two axially displaceable machining tools 2, 3 each with a cutting edge profile 32, 33, which are guided on different coaxially arranged cylinder surfaces of the base body 4.
  • the displaceable machining tools 2, 3 are braced in the axial direction relative to the fixed tool 1 via springs 26, 27 and they are connected to the base body 4 in a rotationally fixed and axially displaceable manner via cylindrical pins 37, 38.
  • the cylindrical pins 37, 38 reach through the bores 37.1, 38.1 in the flange of the base body 4 in order to interact with a cam disk 7.
  • the axially displaceable machining tools 2, 3 are pressed away from the fixed tool 1 by the springs 26, 27.
  • the cam disk 7, which has cams 17 protruding in the axial direction, is rotatably mounted in the base body 4 and axially fixed by a locking ring 10.
  • the axial position of the movable machining tools 2, 3 is changed by the angular position of the cam disk 4 between a working position and a rest position. If the position of the cams 17 is such that none of the machining tools 2, 3 has contact with the cams 17 via the cylinder pins 37, 38, then both axially displaceable machining tools 2, 3 rest with their flat back surface 39 on the base body 4 and the cutting edge profiles 32, 33 are outside the machining position (in rest position). The fixed processing tool 1 is in the working position.
  • the different edge profiles to be generated are advantageously distributed over the machining tools 1, 2, 3 in such a way that the fixed machining tool 1 has the largest profile radius and the smaller profile radii and chamfer profiles are assigned to the axially displaceable machining tools 2, 3. If all cutting edge profiles 31, 32, 33 are designed so that they have the same reference point for the "glue line" in the working position, the profile of the fixed processing tool 2, 3 is always overlapped by the profile of an axially displaceable processing tool 1, so that only this axially displaceable processing tool 2, 3 is profiling.
  • the locking sleeve 5 is firmly connected to the housing 4, for. B. via grub screws 34.
  • the locking sleeve 5 has a circumferential, essentially zigzag-shaped groove 18 which serves as a backdrop for a link guide.
  • the groove 18 has a semicircular cross-section and serves as a track for at least one ball 19.
  • the locking sleeve 5 interacts with a pressure ring 9 which is movably connected to the locking sleeve 5 via the groove 18 via at least one ball 19, preferably three balls .
  • the movement between the locking sleeve 5 and the pressure ring 9 is forcibly guided by the meandering shape of the groove 18.
  • the pressure ring 9 is in turn connected to the cam disk 7 in a rotationally fixed and axially displaceable manner via projections 15 which engage in grooves 16 of the cam disk 7.
  • an actuating device 21 arranged on the drive side is used to press in the axial direction onto the housing 11 and the pressure ring 9.
  • the actuating device 21 is arranged on the spindle side and via bores 23 with a linear movement unit, for. B. a pneumatic piston (not shown) connected.
  • the actuation device 21 has at least one spring-loaded bolt 35, which acts on the housing 11, and at least one rolling element 36, which is located radially further inward, and which acts on the pressure ring 9.
  • the pressure ring 9 In the contact area of the at least one rolling element 36, the pressure ring 9 has an encircling, continuous one Tread.
  • the rotating milling tool is first stopped. There are four phases in the profile change.
  • phase 1 the housing 11 is first pushed by the disengaging movement of the actuating device 21 via the spring-loaded bolts against the force of the springs 26, 27 in the direction of the machining side A.
  • the housing 11 takes the two axially displaceable machining tools 2, 3 with it via its end face until they strike the stationary machining tool 1, so that the cylinder pins 37, 38 come outside of the contact area with the cam disk 7 and there is no longer any contact between the back plane surface 39 and the base body 4 consists.
  • the total spring force of the spring-loaded bolts 35 must be greater than the total spring force of the springs 26, 27.
  • the cam disk 7 is relieved, which reduces the friction during its subsequent rotary movement.
  • the sprung bolts 35 are not compressed.
  • the rolling element 36 presses against the running surface of the pressure ring 9 and also moves it axially in the direction of the machining side A.
  • the spring-loaded bolts 35 give way. Since the housing 11 is locked in a rotationally fixed manner via the contact with the spring-loaded bolts 35 and the housing 11 is in turn coupled in a rotationally fixed manner to the base body 4 and the locking sleeve 5 by means of a positive fit, a rotational movement of the pressure ring 9 occurs when there is axial pressure on the pressure ring 9 via the link guide forced until the at least one ball 19 reaches the processing-side reversal point of the link guide. The rotational movement of the pressure ring 9 is transmitted to the cam disk 7 via the form-fit elements 15, 16.
  • the cams 17 assume a different position in relation to the machining tools 2, 3.
  • phase 3 begins.
  • the rotary movement of the pressure ring 9 and the cam disk 7 is now caused by the spring force the springs 28 causes and continues until the at least one ball 19 reaches the spindle-side reversal point of the link. In this position the pressure ring 9 and with it the cam disk 7 are locked.
  • phase 4 the axially displaceable machining tools 2, 3 are moved with the help of the springs 26, 27 in the direction of the spindle side B until, depending on the position of the cam disk 7, they are either with their cylindrical pins 37, 38 on the cams 17 of the cam disk 7 or with their back plane surface 39 rest on the base body 4.
  • the actuating device 21 After the end of the profile change, the actuating device 21 no longer has any contact with the tool (gap).
  • the essentially zigzag-shaped groove 16 of the locking sleeve 5 is designed in such a way that the cam disk 7 always rotates in incremental steps in the same direction - i.e. either clockwise or counterclockwise - so that after the end of an actuation cycle consisting of disengaging and resetting movements (outward - and return stroke), the cams 17 of the cam disk 7 are in a changed rotational angle position to the machining tools 2, 3.
  • the essentially zigzag-shaped groove 16 of the locking sleeve 5 (link guide) at the reversal points has an overlap in the running direction of the ball 19, so that when the stroke movement is reversed, no dead center can occur and the at least one ball 19 passes through the link guide in one direction.
  • the inclined areas of the essentially zigzag-shaped groove 16 have different slopes.
  • an overlap of the zigzag groove 16 is only required at the reversal points from the large to the small slope.
  • An embodiment is advantageous in which the groove areas in the direction of the disengaging movement triggered by the actuating device 21 have a greater gradient than the groove areas in the direction of the restoring movement triggered by the springs 28. Due to the different gradients, the frictional resistance can be adapted to different forces during the release and return stroke movement and the wear of the link can be reduced.
  • the slope of the steeper groove areas in the direction of movement of the ball 19 decreases degressively. Such a groove course can reduce the force impulse in the event of a sudden disengagement movement and minimize wear on the link guide.
  • the division of the link guide and cams or cylinder pins 37, 38 is expediently coordinated with one another in such a way that a different tool is brought into the working position after each actuation cycle. Due to the bias by the springs 28 and the zigzag shape of the groove 16, the device locks into the new position after each switching cycle (profile change).
  • the pressure ring 9 changes its angular position with respect to the housing 11 after each switching operation. Since each angular position can be clearly assigned a cutting edge profile 31, 32, 33, the angular position of the pressure ring 9 relative to the housing 11 can be used to index the active cutting edge profile 31, 32, 33 be used on the spindle side B of the milling tool by z. B. an index marking 43 is attached to the housing 11 and different markings 42 for the various cutting edge profiles 31, 32, 33 are attached to the pressure ring 9, so that the profile marking opposite the indexing marking always shows the active cutting edge profile 31, 32, 33 ("Parking disc" principle). This possibility of recognizing the active cutting edge profile 31, 32, 33 is particularly necessary for referencing the machine control during initial start-up or after malfunctions. The markings 42 attached on the spindle side are easily visible from the operator's side, while the cutting edge profiles 31, 32, 33 are generally not accessible because they are covered by a suction hood.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Wood Science & Technology (AREA)
  • Forests & Forestry (AREA)
  • Milling Processes (AREA)

Claims (14)

  1. Outil de fraisage pour l'usinage de bois, de matériaux à base de bois, de matières plastiques ou de métaux légers, comportant une face d'usinage (A) et une face de broche (B) et un premier outil d'usinage fixe (1) disposé dans un boîtier (11) pouvant tourner autour d'un axe de rotation (D) et au moins un deuxième outil d'usinage (2, 3) qui est disposé coaxialement au premier outil d'usinage (1) de façon mobile en translation entre une position de repos et une position d'usinage et qui, en vue d'une translation en direction axiale, peut être relié à un disque à cames (7) disposé dans le boîtier (11) de manière à pouvoir tourner autour de l'axe de rotation (D),
    caractérisé en ce que
    il est prévu au moins deux outils d'usinage (2, 3) qui sont disposés de façon mobile en translation entre une position de repos et une position d'usinage.
  2. Outil de fraisage selon la revendication 1,
    caractérisé en ce que
    le disque à cames (7) peut tourner de manière incrémentale.
  3. Outil de fraisage selon la revendication 1 ou 2,
    caractérisé en ce que
    l'outil de fraisage (1) est relié de manière rigide, de préférence vissé, à un corps de base (4) qui est couplé solidairement en rotation au boîtier (11).
  4. Outil de fraisage selon la revendication 2 ou 3,
    caractérisé en ce que
    le disque à cames (7) est relié à une bague de pression (9) en forme de douille, qui présente au moins une, de préférence trois, billes (19) faisant saillie radialement vers l'intérieur, à titre de coulisseau, qui circule dans une rainure périphérique (18) en forme de méandre d'une douille d'enclenchement (5), à titre de coulisse, qui est reliée solidairement en rotation au boîtier (11), le diamètre intérieur de la bague de pression (9) étant supérieur au diamètre extérieur de la douille d'enclenchement (5).
  5. Outil de fraisage selon la revendication 4,
    caractérisé en ce que
    la bille (19) est disposée avec jeu dans un alésage radial (24) dans la paroi intérieure de la bague de pression (9).
  6. Outil de fraisage selon la revendication 4 ou 5,
    caractérisé en ce que
    le méandre forme un angle aigu, ladite au moins une bille (19) pouvant être guidée soit uniquement dans le sens des aiguilles d'une montre, soit uniquement dans le sens inverse aux aiguilles d'une montre.
  7. Outil de fraisage selon l'une des revendications 4 à 6,
    caractérisé en ce que
    le disque à cames (7) est relié à la bague de pression (9) solidairement en rotation et de façon mobile en translation dans la direction axiale.
  8. Outil de fraisage selon l'une des revendications 4 à 7,
    caractérisé en ce que
    au moins un ressort de compression (28) agissant dans la direction axiale est prévu entre la bague de pression (9) et le corps de base (4).
  9. Outil de fraisage selon l'une des revendications précédentes,
    caractérisé en ce que
    chaque outil d'usinage (2, 3) disposé de façon mobile en translation comporte des tiges cylindriques (37, 38) disposées à intervalles réguliers sur un cercle partiel, qui s'étendent parallèlement à l'axe de rotation (D) et peuvent être amenées en liaison active avec des cames (17) disposées sur le disque à cames (7).
  10. Outil de fraisage selon la revendication 8,
    caractérisé en ce que
    ledit au moins un ressort de compression (28) est guidé axialement dans une rondelle élastique (6) et la rondelle élastique (6) est montée de manière à pouvoir tourner par rapport à la bague de pression (9) par l'intermédiaire d'un palier axial (8).
  11. Outil de fraisage selon l'une des revendications précédentes,
    caractérisé en ce que
    chaque outil d'usinage (1, 2, 3) est muni d'une pluralité d'arêtes de coupe (31, 32, 33) et les arêtes de coupe (31, 32, 33) de chaque outil d'usinage individuel (1, 2, 3) sont profilées de manière identique, mais chacun des outils d'usinage (1, 2, 3) présente des arêtes de coupe (31, 32, 33) profilées différemment.
  12. Dispositif d'usinage comportant un outil de fraisage selon l'une des revendications précédentes et un dispositif d'actionnement (21) mobile axialement, avec lequel un mouvement de déploiement et une course de retour peuvent être effectués et qui présente au moins un élément de pression (35) et un élément de roulement (36).
  13. Dispositif d'usinage selon la revendication 12,
    caractérisé en ce que
    l'élément de pression (35) est un goujon à ressort et l'élément de roulement (36) est un rouleau à billes.
  14. Procédé pour faire fonctionner un dispositif d'usinage selon la revendication 12 ou 13,
    caractérisé en ce que
    lors du mouvement de déploiement du dispositif d'actionnement (21), dans une première étape, le contact entre les outils d'usinage (2, 3) mobiles axialement et le disque à cames (7) est libéré, dans une deuxième étape, le disque à cames (7) est mis en rotation par l'intermédiaire de la rainure en forme de méandre (18) dans la douille d'enclenchement (5) et de ladite au moins une bille (19) dans la bague de pression (9), le mouvement de rotation du disque à cames (7) est achevé lors de la course de retour suivante du dispositif d'actionnement (21), et dans une troisième étape, à la fin de la course de retour, les outils d'usinage (2, 3) mobiles axialement viennent à nouveau en appui contre le disque à cames (7).
EP18198655.5A 2017-10-11 2018-10-04 Outil de fraisage destiné au traitement du bois, des matériaux en bois, des matières plastiques ou des métaux légers Active EP3470190B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017123681.3A DE102017123681C5 (de) 2017-10-11 2017-10-11 Fräswerkzeug zum Bearbeiten von Holz, Holzwerkstoffen, Kunststoffen oder Leichtmetallen

Publications (2)

Publication Number Publication Date
EP3470190A1 EP3470190A1 (fr) 2019-04-17
EP3470190B1 true EP3470190B1 (fr) 2020-09-02

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EP (1) EP3470190B1 (fr)
CN (1) CN109648652B (fr)
DE (1) DE102017123681C5 (fr)

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IT202000024274A1 (it) * 2020-10-14 2022-04-14 Eima S R L Assemblaggio di utensile rotativo

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CN109648652A (zh) 2019-04-19
DE102017123681B4 (de) 2020-01-09
DE102017123681A1 (de) 2019-04-11
CN109648652B (zh) 2022-03-08
EP3470190A1 (fr) 2019-04-17
DE102017123681C5 (de) 2022-01-27

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