EP3501811B1 - Procédé de régulation de la vitesse de rotation de rotor d'un rotor d'une presse à comprimés rotative et presse à comprimés rotative - Google Patents

Procédé de régulation de la vitesse de rotation de rotor d'un rotor d'une presse à comprimés rotative et presse à comprimés rotative Download PDF

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Publication number
EP3501811B1
EP3501811B1 EP18214860.1A EP18214860A EP3501811B1 EP 3501811 B1 EP3501811 B1 EP 3501811B1 EP 18214860 A EP18214860 A EP 18214860A EP 3501811 B1 EP3501811 B1 EP 3501811B1
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EP
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Prior art keywords
rotor
tablet press
torque
rotational speed
rotary drive
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EP18214860.1A
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German (de)
English (en)
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EP3501811A1 (fr
Inventor
Alexander Evers
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Fette Compacting GmbH
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Fette Compacting GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B11/00—Presses specially adapted for forming shaped articles from material in particulate or plastic state, e.g. briquetting presses, tabletting presses
    • B30B11/005—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B11/00—Presses specially adapted for forming shaped articles from material in particulate or plastic state, e.g. briquetting presses, tabletting presses
    • B30B11/02—Presses specially adapted for forming shaped articles from material in particulate or plastic state, e.g. briquetting presses, tabletting presses using a ram exerting pressure on the material in a moulding space
    • B30B11/08—Presses specially adapted for forming shaped articles from material in particulate or plastic state, e.g. briquetting presses, tabletting presses using a ram exerting pressure on the material in a moulding space co-operating with moulds carried by a turntable

Definitions

  • the invention relates to a method for regulating the rotor speed of a rotor of a rotary tablet press, the rotor having a rotary drive for rotating the rotor, a die disk rotating with the rotor with a plurality of cavities and a plurality of upper and lower punches also rotating with the rotor, which are assigned in pairs to a cavity of the die disk for pressing filling material in the cavity into a compact, with a speed controller controlling the rotary drive of the rotor based on a comparison of a measured rotor speed with a target speed value.
  • the invention also relates to a rotary tablet press, comprising a rotor with a rotary drive for rotating the rotor, a die disk rotating with the rotor with a plurality of cavities and a plurality of upper and lower punches also rotating with the rotor, which are paired in pairs with a cavity of the die disk Pressing filling material in the cavity to form a compact are assigned, further comprising a speed controller which is designed to control the rotary drive of the rotor based on a comparison of a measured rotor speed with a target speed value.
  • the speed controller reliably provides a constant rotor speed in standard operation of a rotary tablet press at rotor speeds of, for example, more than 60 rpm.
  • rotor speeds for example, more than 60 rpm.
  • EP 1 445 093 A1 proposed to measure the pressing force and, if the pressing force is too low, as occurs in particular with matrices that are not or not completely filled with molding compound, to reduce the speed of the rotor and thus the stamp to a speed below the nominal speed.
  • Another tablet press is out RU 2 165 851 C1 known, in which there is also speed control. If there is an unacceptable increase in the pressing force, for example due to a foreign body in a die, the electric motor driving the rotor is switched off using a mechanical safety device and the machine is stopped.
  • the invention is therefore based on the object of providing a method and a rotary table press of the type mentioned at the outset, with which reliable operation at all times is possible with constant process results without unwanted noise, even at low rotor speeds.
  • the invention solves the problem in that an additional target torque for controlling the rotary drive is provided as a pilot control based on directly or indirectly determined pressing force values of upper and/or lower punches.
  • the invention solves the problem in that a pilot control device is also provided, which is designed to provide an additional target torque for controlling the rotary drive as a pilot control based on directly or indirectly determined pressing force values of upper and / or lower punches to provide.
  • the invention is used in a rotary tablet press with a rotor that is driven to rotate by a rotary drive.
  • the rotor has a die disk that rotates during rotation and has a plurality of cavities into which the usually powdery filling material to be pressed into a tablet is filled during operation.
  • the cavities can pass through immediately Holes may be formed in the die disk. However, they can also be formed by die sleeves inserted into the die disk.
  • the matrix disk can be a one-piece ring disk or consist of several ring segments.
  • the rotor also has a plurality of upper and lower punches that also rotate with the rotor. A pair of upper and lower punches is assigned to a cavity in the die disk and rotates with it.
  • the rotary tablet press can include a pre-press station and a main press station.
  • the filling material is pre-compressed in the pre-pressing station and the filling material is pressed into the finished tablet in the main pressing station.
  • several pressing stations in particular several pre-pressing stations and several main pressing stations, can also be provided.
  • Each press station can have upper and lower pressure rollers that press the upper and lower punches into the cavities.
  • a speed controller of the rotary tablet press compares a measured speed, which can be made available to the speed controller as an input variable, for example, with a target speed value for the rotor speed specified to the speed controller. If the speed controller detects a deviation here, the speed controller controls the rotary drive in order to adapt the measured speed back to the target speed value. In the method according to the invention or the rotary tablet press according to the invention, this speed control can take place permanently during operation of the rotary tablet press.
  • the speed can be detected, for example, by a speed sensor provided on the rotary drive or the rotor.
  • the specified target speed value can depend on different process conditions, such as: The material to be pressed depends on the tablet size or the equipment of the rotary tablet press.
  • the speed controller only maintains the constant frictional torque of the pressing stations, in particular the upper and lower punches, due to the high moment of inertia of the rotor, which weighs more than 100 kg, for example
  • the pressure rollers pressing the cavities must be compensated.
  • the momentum energy of the rotor is sufficient to guide the upper and lower punches past the pressure rollers.
  • the speed controller therefore only needs to adjust slightly at high rotor speeds, so that the rotor speed can be kept constant without any problems.
  • the invention is further based on the idea that at low speeds of, for example, 20 rpm or less, the rotational energy of the rotor is no longer sufficient to guide the upper and lower punches past the pressure rollers. This results in a significant drop in speed when a pair of upper and lower punches comes into contact with a pair of pressure rollers.
  • the speed controller In order to intervene, the speed controller must first determine a speed error. In response to the sharp drop in speed, the speed controller adjusts strongly to adjust the rotor speed back to the target speed value. Due to the time delay associated with this, the speed controller provides a significantly higher drive torque for the rotary drive when the pair of upper and lower punches that previously came into contact with the pressure rollers comes out of the contact area with the pressure rollers again.
  • the invention provides a pilot control based on pressing force values of upper and/or lower punches.
  • Pressing force values of at least one upper punch and/or at least one lower punch, preferably several upper and/or lower punches, more preferably all of the upper and/or lower punches are determined.
  • the pressing force values are measured during the pressing process to press the filling material into the cavity.
  • the pressing force values are therefore determined in particular when the upper and/or lower punches are in contact with pressure rollers of the pressing station(s) of the rotary tablet press.
  • the pressing force measurement can be carried out at all pressing stations of the rotary tablet press.
  • pre- and main press stations can be provided, with pre-pressure rollers and main pressure rollers.
  • the pressing force measurement can be carried out accordingly then take place at the pre-press station (upper and/or lower pre-pressure rollers) and/or at the main press station (upper and/or lower main pressure rollers). In principle, it is sufficient to carry out a pressing force measurement on one pressure roller per pressing station, i.e. on the upper or lower pressure roller.
  • the expected load moment for the rotary drive is determined when passing through the pressing stations, in particular the pressure rollers.
  • This expected load torque is given to the rotary drive control in the form of the additional target torque as a pilot control variable.
  • the rotary drive is therefore controlled in such a way that it also applies the additional target torque in addition to the torque required to reach the target speed.
  • the invention is based on the idea that the pressing forces that occur when pressing tablets in rotary tablet presses are proportional to the torque to be applied to the rotor by the rotary drive. Particularly at low speeds, when the rotational energy of the rotor is not sufficient to push the upper and lower punches under the pressure rollers, the additional torque required can be determined in this way.
  • the invention is further based on the idea that the friction torque that occurs when the rotor, in particular the pressure rollers, rotates is essentially constant. What is variable, on the other hand, is a (highly) dynamically changing torque, caused by the upper and lower punches alternately coming into contact with the pressure rollers and emerging from contact with the pressure rollers.
  • this dynamically changing torque is compensated for by the high rotational energy of the rotor.
  • the speed controller only has to compensate for the constant frictional torque. While in the invention the speed controller continues to compensate for this constant frictional torque in order to keep the speed constant, the pilot control according to the invention also ensures that the dynamic torque is balanced safely and evenly by the pressing processes, even if the rotational energy of the rotor is not sufficient for this.
  • the speed does not drop when contact begins between the upper and lower punches and the pressure rollers and does not increase beyond the target speed value when the upper and lower punches exit the pressure rollers. Rather, the load torque expected in the course of the process is already given to the rotary drive by the pilot control as an additional target torque, so that the rotor speed can be safely kept constant even at low speeds and high pressing forces.
  • the control of the rotary drive adapts the required torque based on the pilot control before a significant deviation of the measured speed from the target speed value occurs. This means that the speed fluctuations explained and the associated shaking of the rotary tablet press do not occur.
  • the invention can also advantageously be retrofitted into existing rotary tablet presses.
  • the control can take place via a fieldbus.
  • the invention is particularly advantageous in galenics, i.e. in laboratory operations, when, for example, low speeds are desired for experimental purposes, possibly with high pressing forces, and constant experimental parameters are of utmost importance.
  • the pilot control device and/or the speed controller can use a characteristic map, a table or a calculation rule.
  • the control of the rotary drive based on the additional target torque can take place according to a control ramp, so that the torque of the rotary drive is increased (slowly) according to the ramp. In this way, overshoots can be avoided.
  • the pilot control device or the pilot control can take into account one or more further parameters, such as the position of the pressing force sensors and possible phase offset of the measurement signals, type of pressing force sensors, type and nominal torque of the rotary drive, a speed threshold at which the pilot control is activated, for example less than 30 rev /min, preferably less than 20 rpm, number and size (for example punch head geometry) of the upper and lower punches, rotor diameter, diameter of the pitch circle of the cavities, equipping the rotary tablet press with upper and lower punches, position of the pressing stations, in particular the position of the pressure rollers relative to one another .
  • a speed threshold at which the pilot control is activated for example less than 30 rev /min, preferably less than 20 rpm
  • number and size (for example punch head geometry) of the upper and lower punches, rotor diameter, diameter of the pitch circle of the cavities equipping the rotary tablet press with upper and lower punches, position of the pressing stations, in particular the position of the pressure rollers relative to one another
  • the additional target torque can be determined during at least one entire revolution of the rotor.
  • the pilot control device is then designed accordingly to determine the additional target torque during at least one entire revolution of the rotor.
  • an additional target torque profile (expected load profile) can be provided as a pilot control for at least one entire rotation of the rotor.
  • the rotary drive can be controlled in such a way that it can compensate in advance for the load torque expected during a rotation according to the entry and exit of the upper and lower punches into and out of the pressure rollers. This results in a particularly reliable pilot control.
  • the method according to the invention can be used with the method according to the invention Pilot control is carried out permanently during operation of the rotary tablet press, for example, as explained above, a speed threshold can be specified below which the pilot control is used.
  • the speed controller usually works permanently during operation of the rotary tablet press anyway.
  • a frequency converter can act as a speed controller to control the rotary drive.
  • the frequency converter can receive the target speed value as the first input variable and the additional target torque as the second input variable, with the frequency converter controlling the rotary drive based on the target speed value and the additional target torque.
  • the frequency converter can determine a target torque by comparing the target speed value with the actual speed value of the rotor in order to adjust the speed of the rotor back to the target speed.
  • the frequency converter can also use the additional target torque to control the rotary drive.
  • the additional target torque can be provided by a pilot control device that receives pressing force measurements as an input variable.
  • the pressing force measurement can be carried out by at least one pressing force sensor, which is arranged on at least one pressure roller of the rotary tablet press which presses the upper and/or lower punches for pressing the filling material into the cavities.
  • a direct pressing force measurement takes place.
  • the at least one pressing force sensor can, for example, be at least one load cell arranged on the at least one pressure roller of the pressing station(s).
  • Such press force sensors are usually provided in rotary tablet presses anyway, since the press force curve is an important parameter for the Quality assurance is evaluated. This means that no new sensors need to be installed for the invention. Retrofitting existing presses is particularly easy, for example as part of a software update.
  • the pressing force measurement with such pressing force sensors is a rotation angle-related pressing force measurement, i.e. position-dependent.
  • a precise local assignment is possible and thus a particularly reliable pre-control of the rotary drive.
  • the time value does not have to be assigned to a specific position, as is the case, for example, with a time-resolved pressing force measurement. This eliminates a source of error.
  • the pilot control also takes into account any tolerances or deviations between the punches. In addition, the pilot control works reliably in this way even if, for example, in laboratory operation, individual pairs of stamps have been removed, i.e. not all stamp positions of the rotor are equipped.
  • the pressing force of all upper and/or lower punches can be determined.
  • the pressing force can be evaluated at all pressing stations, as already explained. It would also be conceivable to provide the additional target torque for the pilot control based on an average of pressing forces measured for several punches of the rotary tablet press. It would also be conceivable to provide the additional target torque based on a maximum value of the measured pressing force of several punches.
  • the pressing force measurement can be carried out based on a torque determination of the rotary drive.
  • the torque is proportional to the pressing force. Therefore, the pressing force can be measured indirectly via torque measurement.
  • the torque can be calculated, for example, from a pressing force curve.
  • the rotor can be rotated in the method according to the invention at a speed of less than 30 rpm, preferably less than 20 rpm.
  • a speed threshold can be specified, for example, below which the pilot control or the pilot control device according to the invention becomes active. This speed threshold can have the aforementioned values.
  • the pilot control according to the invention is particularly advantageous at low speeds.
  • the method according to the invention can be carried out with the device according to the invention. Accordingly, the device according to the invention and its components can be designed to carry out the method according to the invention and its method steps.
  • the rotary tablet press has a machine housing 10 in which a rotor 12 of the rotary tablet press can be driven in rotation by means of a rotary drive 14 which is also arranged within the machine housing 10.
  • the rotor has, in a manner known per se, a die disk that rotates with the rotor and has a plurality of cavities, as well as a plurality of upper and lower punches that also rotate with the rotor, which are paired in pairs with a cavity of the die disk for pressing filling material in the cavity into a compact , in particular a tablet, are assigned.
  • the filling material is pressed in a manner known per se in pressing stations that include pressure rollers. For reasons of illustration, only two upper pressure rollers 18 are shown in the single figure.
  • each pressure roller 18 is assigned a pressing force sensor 20, for example a load cell 20.
  • the pressing force sensors 20 measure the pressing forces of the upper and lower punches passed through the pressure rollers 18. This happens in a manner known per se on the pressure rollers 18. It goes without saying that corresponding pressing force sensors can also be assigned to other pressure rollers provided, in particular lower pressure rollers.
  • the measured values of the pressing force sensors 20 are applied to a pilot control device 22, as illustrated by the arrows 24.
  • the pilot control device 22 is arranged in a control housing 26, in which a frequency converter 28 forming a speed controller is also arranged.
  • the pilot control device 22 specifies a target speed value for the rotor speed of the rotor 12 to the frequency converter 28, as illustrated by the arrow 30.
  • the frequency converter 28 also receives the actual rotor speed of the rotor 12 as a comparison measurement value.
  • the frequency converter 28 in the example shown determines a target torque value for controlling the rotary drive 14 by the frequency converter 28, as illustrated by the arrow 32, in order to adapt the actual rotor speed to the target speed value.
  • the pilot control device 22 determines an additional target torque as a pilot control based on the pressing force values provided by the pressing force sensors 20 in order to compensate in advance for the load torque expected when the rotor 12 rotates due to the interaction between the upper and lower punches and the pressure rollers 18.
  • the additional target torque is also made available to the frequency converter 28 by the pilot control device 22, as illustrated by the arrow 34 in the figure.
  • the frequency converter 28 adds this additional target torque to the target torque determined by it for speed control.
  • the rotary drive 14 is therefore controlled on the basis of the target torque value determined by the frequency converter 28 in the course of speed control and the additional target torque provided by the pilot control device 22. In this way, a constant rotor speed can be ensured even at low speeds of the rotor 12.
  • the explained pilot control in particular the determination of the additional target torque, only becomes active from a threshold of, for example, less than 30 rpm, preferably less than 20 rpm, of the rotor 12.
  • a threshold for example, less than 30 rpm, preferably less than 20 rpm, of the rotor 12.
  • the additional target torque is then permanently determined by the pilot control device 22 during operation of the rotary tablet press. In particular, this results in an additional target torque profile for the respective rotation of the rotor 12, which is also taken into account in the speed control, which is also carried out permanently.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Medical Preparation Storing Or Oral Administration Devices (AREA)
  • Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
  • Control Of Presses (AREA)

Claims (16)

  1. Procédé de régulation de la vitesse de rotation de rotor d'un rotor (12) d'une presse à comprimés rotative, le rotor (12) présentant un entraînement rotatif (14) pour la rotation du rotor (12), un disque porte-matrices tournant avec le rotor (12) avec une multiplicité de cavités ainsi qu'une multiplicité de poinçons supérieurs et inférieurs tournant également avec le rotor (12), lesquels sont attribués par paires à une cavité du disque porte-matrices pour le pressage de matériau de remplissage dans la cavité en une ébauche, un régulateur de vitesse de rotation commandant l'entraînement rotatif (14) du rotor (12) basé sur une comparaison entre une vitesse de rotation de rotor mesurée et une valeur de vitesse de rotation prescrite, caractérisé en ce qu'un couple de charge prévisible pour l'entraînement rotatif (14) est déterminé sur la base de valeurs de force de pressage de poinçons supérieurs et/ou inférieurs déterminées directement ou indirectement, lors du passage de rouleaux de pressage (18) de la presse à comprimés rotative, et en ce que le couple de charge prévisible déterminé est fourni comme commande pilote sous la forme d'un couple de rotation prescrit supplémentaire pour la commande de l'entraînement rotatif (14).
  2. Procédé selon la revendication 1, caractérisé en ce que le couple de rotation prescrit supplémentaire est déterminé pendant au moins un tour complet du rotor (12).
  3. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'un convertisseur de fréquence (28) commande l'entraînement rotatif (14) comme régulateur de vitesse de rotation.
  4. Procédé selon la revendication 3, caractérisé en ce que le convertisseur de fréquence (28) reçoit la valeur de vitesse de rotation prescrite comme première grandeur d'entrée, et en ce que le convertisseur de fréquence (28) reçoit le couple de rotation prescrit supplémentaire comme deuxième grandeur d'entrée, le convertisseur de fréquence (28) commandant l'entraînement rotatif (14) sur la base de la valeur de vitesse de rotation prescrite et du couple de rotation prescrit supplémentaire.
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que le couple de rotation prescrit supplémentaire est fourni par un dispositif de commande pilote (22), lequel reçoit des valeurs de mesure de force de pressage comme grandeur d'entrée.
  6. Procédé selon l'une des revendications précédentes, caractérisé en ce que la mesure de force de pressage est effectuée par au moins un capteur de force de pressage (20), lequel est disposé sur au moins un rouleau de pressage (18) de la presse à comprimés rotative pressant les poinçons supérieurs et/ou inférieurs pour le pressage du matériau de remplissage dans les cavités.
  7. Procédé selon l'une des revendications précédentes, caractérisé en ce que la mesure de force de pressage est effectuée à l'aide d'une détermination de couple de rotation de l'entraînement rotatif (14).
  8. Procédé selon l'une des revendications précédentes, caractérisé en ce que le rotor (12) tourne avec une vitesse de rotation inférieure à 30 tr/min, de préférence inférieure à 20 tr/min.
  9. Presse à comprimés rotative, comprenant un rotor (12) avec un entraînement rotatif (14) pour la rotation du rotor (12), un disque porte-matrices tournant avec le rotor (12) avec une multiplicité de cavités ainsi qu'une multiplicité de poinçons supérieurs et inférieurs tournant également avec le rotor (12), lesquels sont attribués par paires à une cavité du disque porte-matrices pour le pressage de matériau de remplissage dans la cavité en une ébauche, comprenant en outre un régulateur de vitesse de rotation, lequel est conçu pour commander l'entraînement rotatif (14) du rotor (12) sur la base d'une comparaison entre une vitesse de rotation de rotor mesurée et une valeur de vitesse de rotation prescrite, caractérisée en ce qu'un dispositif de commande pilote (22) est prévu en outre, lequel est conçu pour déterminer un couple de charge prévisible pour l'entraînement rotatif (14) sur la base de valeurs de force de pressage de poinçons supérieurs et/ou inférieurs déterminées directement ou indirectement, lors du passage de rouleaux de pressage (18) de la presse à comprimés rotative, et pour fournir le couple de charge prévisible déterminé comme commande pilote sous la forme d'un couple de rotation prescrit supplémentaire pour la commande de l'entraînement rotatif (14).
  10. Presse à comprimés rotative selon la revendication 9, caractérisé en ce que le dispositif de commande pilote (22) est conçu pour déterminer le couple de rotation prescrit supplémentaire pendant au moins un tour complet du rotor (12).
  11. Presse à comprimés rotative selon l'une des revendications 9 ou 10, caractérisée en ce qu'un convertisseur de fréquence (28) est prévu comme régulateur de vitesse de rotation pour la commande de l'entraînement rotatif (14).
  12. Presse à comprimés rotative selon la revendication 11, caractérisée en ce que la valeur de vitesse de rotation prescrite est appliquée comme première grandeur d'entrée au convertisseur de fréquence (28), et en ce que le couple de rotation prescrit supplémentaire est appliqué comme deuxième grandeur d'entrée au convertisseur de fréquence (28), le convertisseur de fréquence (28) étant conçu pour commander l'entraînement rotatif (14) sur la base de la valeur de vitesse de rotation prescrite et du couple de rotation prescrit supplémentaire.
  13. Presse à comprimés rotative selon l'une des revendications 9 à 12, caractérisée en ce que des valeurs de mesure de force de pressage sont appliquées comme grandeur d'entrée au dispositif de commande pilote (22).
  14. Presse à comprimés rotative selon l'une des revendications 9 à 13, caractérisée en ce qu'au moins un capteur de force de pressage (20) est prévu pour la détermination des valeurs de mesure de force de pressage, lequel est disposé sur au moins un rouleau de pressage (18) de la presse à comprimés rotative pressant les poinçons supérieurs et/ou inférieurs pour le pressage du matériau de remplissage dans les cavités.
  15. Presse à comprimés rotative selon l'une des revendications 9 à 14, caractérisée en ce qu'un dispositif de détermination de couple de rotation est prévu pour la détermination du couple de rotation de l'entraînement rotatif (14) pour la détermination des valeurs de force de pressage.
  16. Presse à comprimés rotative selon l'une des revendications 9 à 15, caractérisée en ce que le dispositif de commande pilote (22) est conçu pour être actif uniquement à partir d'une vitesse de rotation de rotor inférieure à 30 tr/min, de préférence inférieure à 20 tr/min.
EP18214860.1A 2017-12-21 2018-12-20 Procédé de régulation de la vitesse de rotation de rotor d'un rotor d'une presse à comprimés rotative et presse à comprimés rotative Active EP3501811B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017130885.7A DE102017130885B4 (de) 2017-12-21 2017-12-21 Verfahren zum Regeln der Rotordrehzahl eines Rotors einer Rundläufertablettenpresse sowie Rundläufertablettenpresse

Publications (2)

Publication Number Publication Date
EP3501811A1 EP3501811A1 (fr) 2019-06-26
EP3501811B1 true EP3501811B1 (fr) 2023-10-04

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US (1) US11511506B2 (fr)
EP (1) EP3501811B1 (fr)
JP (1) JP6986005B2 (fr)
CN (1) CN109940921A (fr)
DE (1) DE102017130885B4 (fr)
PL (1) PL3501811T3 (fr)

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DE102022131493A1 (de) 2022-11-29 2024-05-29 Fette Compacting Gmbh Verfahren zum Bewerten des Zustands von Pressstempeln einer Rundläuferpresse sowie Rundläuferpresse

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JP6986005B2 (ja) 2021-12-22
PL3501811T3 (pl) 2024-03-11
EP3501811A1 (fr) 2019-06-26
US11511506B2 (en) 2022-11-29
DE102017130885A1 (de) 2019-06-27
CN109940921A (zh) 2019-06-28
DE102017130885B4 (de) 2020-01-23
US20190193362A1 (en) 2019-06-27

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