EP3571010B1 - Robot de meulage pour meuler des pièces électriquement conductrices et procédé pour son fonctionnement - Google Patents

Robot de meulage pour meuler des pièces électriquement conductrices et procédé pour son fonctionnement Download PDF

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Publication number
EP3571010B1
EP3571010B1 EP17822173.5A EP17822173A EP3571010B1 EP 3571010 B1 EP3571010 B1 EP 3571010B1 EP 17822173 A EP17822173 A EP 17822173A EP 3571010 B1 EP3571010 B1 EP 3571010B1
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EP
European Patent Office
Prior art keywords
grinding
transmission unit
workpiece
measurement
robot according
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EP17822173.5A
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German (de)
English (en)
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EP3571010A1 (fr
Inventor
Martin Rohrer
Florian WEIGL
Stefan Karner
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.)
Voith Patent GmbH
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Voith Patent GmbH
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Publication date
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Publication of EP3571010A1 publication Critical patent/EP3571010A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • B24B1/002—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes using electric current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/002—Grinding heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/04—Headstocks; Working-spindles; Features relating thereto
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/10—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving electrical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/18—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the presence of dressing tools
    • B24B49/183—Wear compensation without the presence of dressing tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D3/00—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents
    • B24D3/34—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents characterised by additives enhancing special physical properties, e.g. wear resistance, electric conductivity, self-cleaning properties
    • B24D3/346—Physical features of abrasive bodies, or sheets, e.g. abrasive surfaces of special nature; Abrasive bodies or sheets characterised by their constituents characterised by additives enhancing special physical properties, e.g. wear resistance, electric conductivity, self-cleaning properties utilised during polishing, or grinding operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D5/00—Bonded abrasive wheels, or wheels with inserted abrasive blocks, designed for acting only by their periphery; Bushings or mountings therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like

Definitions

  • the present invention relates to a grinding robot for grinding electrically conductive workpieces and a method for operating such a grinding robot.
  • Grinding robots are known from the general prior art.
  • the approach of the grinding wheel to the workpiece is controlled by measuring the position of the grinding wheel towards the workpiece and by measuring the force exerted by the workpiece on the grinding wheel.
  • the EP 0 421 323 A1 please refer to the EP 0 421 323 A1 referred.
  • the CN 103 056 759 B discloses a generic grinding robot for grinding an electrically conductive workpiece, comprising a grinding body, a unit for actuating the grinding body and a controller which is connected to and controls the unit for actuating the grinding body, the grinding body comprising a wavy tool holder which has an axis of rotation defined, around which the grinding body can rotate during grinding, and a head which is rotationally symmetrical with respect to the axis of rotation and which contains abrasive material and has a grinding surface which is in contact with the workpiece during grinding.
  • the GB 891 680 A. discloses a device which enables the diameter of a grinding wheel, which changes as a result of wear, to be determined in order to increase its speed accordingly.
  • the measurement of the quantities mentioned proves to be difficult in practice.
  • the grinding wheel also wears out during operation. In the known grinding robots, this is not taken into account, which affects the accuracy of the Grinding result reduced.
  • the inventors have set themselves the task of specifying a grinding robot for grinding electrically conductive workpieces, in which the grinding process can be controlled in normal operation solely by measuring electrical quantities. In addition, the accuracy of the grinding result should be increased.
  • this object is achieved by a grinding robot with the features of the independent device claim and by a method for operating one with the features of the independent method claim. Further advantageous configurations result from the dependent subclaims.
  • a grinding robot uses a grinding tool to remove material from the surface of a workpiece, e.g. in order to form the hydraulic contour of the blades in the case of cast blades of an impeller for a hydraulic machine.
  • the current head diameter can only be estimated during operation, e.g. over the respective operating time. However, such an estimate is too imprecise for the narrow tolerances of the hydraulic contours mentioned above.
  • FIG. 1 shows a grinding robot according to the invention in a very highly schematic form.
  • the grinding robot according to the invention is suitable for the automated grinding of a conductive workpiece, which is designated by 6.
  • the grinding robot has a grinding body, which is designated 5.
  • the grinding body 5 comprises a rotationally symmetrical head, which is denoted by 1, a tool holder, which is denoted by 3, and a measuring and transmission unit, which is denoted by 2.
  • the grinding robot further comprises a unit for actuating the grinding body 5, which are denoted by 7.
  • the actuation of the grinding wheel 5 comprises, on the one hand, the holding and rotation of the grinding wheel 5 by means of the tool holder 3.
  • the Unit 7 for actuating the grinding body 5 can comprise, for example, a robot arm.
  • the grinding robot 8 further comprises a controller, which is designated 8.
  • the controller 8 is connected to the unit 7 for actuating the grinding wheel 5 and controls the same, using data generated by the measuring and transmission unit 2 and transmitted to the controller.
  • Figure 2 shows a grinding body 5 for use in a grinding robot according to the invention in a first embodiment along the axis of rotation.
  • the rotationally symmetrical head is denoted by 1 and the tool holder by 3.
  • the grinding wheel rotates around the tool holder 3.
  • the grinding wheel 5 further comprises a measuring and transmission unit, which is designated by 2.
  • the measuring and transmission unit 2 is equipped with an independent power supply, which comprises, for example, a battery or a supercapacitor (not shown). At least 2 conductor strands are embedded in the rotationally symmetrical head 1, two of which are designated by way of example with 10 and 11.
  • the conductor strands each extend from that outer surface of the rotationally symmetrical head 1, which is in contact with the workpiece 6 during operation, into the interior of the head 1 and are there electrically connected to the measuring and transmission unit 2.
  • the conductor strands are electrically insulated from one another, which can be achieved either by spacing the conductor strands from one another or by electrically insulating them.
  • Figure 3 shows the same embodiment of the grinding wheel 5 as Figure 1 in a section transverse to the axis of rotation with the same names. It can be seen that the conductor strands 10 and 11 lie one behind the other in this representation and run radially from the cylindrical outer surface of the head 1 into the interior thereof.
  • the grinding wheel 5 from Figure 2 and 3rd is designed so that the cylindrical outer surface of the head 1 is in contact with the electrically conductive workpiece 6 during operation. With suitable rotational positions of the grinding wheel 5, an electrical connection between the strands of a pair of conductor strands 10 and 11 is established during operation by the contact of the conductive workpiece 6, so that a circuit is formed which extends from the measuring and transmission unit 2 via the conductor strand 10, the workpiece 6 and the conductor strand 11 runs back to the measuring and transmission unit 2 (or vice versa). This circuit is used by the measuring and transmission unit 2 for a resistance measurement.
  • the conductor strands are designed so that the measured resistance is dominated by the resistance of the conductor strands.
  • the measuring and transmission unit 2 is designed to transmit the measured resistance values and thus the degree of wear to the controller 8.
  • the transmission can take place via Bluetooth, for example.
  • the signals received by the controller 8 are used to control the grinding process in order to generate the desired contour of the workpiece. If the head 1 does not touch the workpiece 6, there is no closed circuit and no current can flow through the conductor strands 10 and 11. In this case, the measuring and transmission unit 2 does not transmit a resistance value to the controller 8. Instead, the measuring and transmission unit can transmit another signal to the controller 8. This signal or the absence of a resistance signal is used by the controller 8 for the procedure for bringing the grinding wheel 5 closer to the workpiece 6.
  • the in the Figures 2 and 3rd The arrangement of the conductor strands 10, 11 shown is only one of many possible arrangements. The radial course is particularly simple and therefore advantageous for the production of a grinding wheel 5 for use in a grinding robot according to the invention.
  • the conductor strands in Figure 3 also spiral inwards or in Figure 2 are not perpendicular to the cylindrical surface, but run obliquely or curved. The only requirement is that the length of the conductor strand is continuously shortened with the expected wear of the head 1, so that the decrease in the length of the conductor strand represents a constant measure of the degree of wear and the measured resistance is therefore inversely proportional to the degree of wear.
  • FIG 3 a plurality of conductor strand pairs 10, 11 are shown. Since the grinding wheel rotates very quickly during operation, however, such pairs are also less sufficient for periodic resistance measurement, since each pair repeatedly passes the electrically conductive workpiece. Therefore, one conductor strand pair 10, 11 is already sufficient to provide the functionality according to the invention. On the contrary, the use of too many conductor strand pairs 10, 11 may be unfavorable, since more than one conductor pair may then be in contact with the workpiece at a time (if, for example, the Surface of the workpiece 6 is curved accordingly), which means that several circuits are closed at the same time. However, a suitably designed measuring and transmission device 2 can take this problem into account by recognizing such states and taking them into account accordingly, or most simply by using a smaller number of conductor strand pairs 10, 11.
  • Figure 4 shows a grinding body 5 for use in a grinding robot according to the invention in a second embodiment in a section along the axis of rotation with the same designations as in FIGS Figures 1 , 2nd and 3rd .
  • the in Figure 4 The grinding wheel 5 shown has a rotationally symmetrical head 1, which has a spherical shape. Since such a head 1 is rather in selective contact with the workpiece during operation, the conductor strand pairs 10, 11 must open much closer to the surface of the head 1 and run closely together in the expected wear area of the head 1. Therefore in Figure 4 the conductor strand pairs 10, 11 each represented by a single line. It is clear that this arrangement generally makes it necessary for the conductor strands 10 to be electrically insulated from the conductor strands 11.
  • One way of achieving this is to use coaxial conductor strands which are insulated from one another, ie one of the conductor strands 10 or 11 encloses the other in a tubular manner, a suitable insulation material being located between the inner and outer conductors.
  • the two strands 10 and 11 can equally well run parallel, with the insulation material being between the same.
  • Shaped grinding wheel is to be expected that it will not wear isotropically, but rather the parts of the head 1 located to the side of the axis will wear out faster than the parts in the area in the area of the intersection of the axis of rotation with the surface of the head 1. It is therefore advantageous that conductor strand pairs 10, 11 are provided, which open in different areas of wear on the surface of the head 1, and that the measuring and transmission unit 2 can distinguish between these pairs 10, 11. In this way, the controller 8 can also be informed of such anisotropic wear.
  • the embodiment according to the invention Figure 4 also includes an optional device for measuring a bending of the tool holder 3 that may occur.
  • a device for measuring a bending of the tool holder 3 that may occur.
  • the controller gets 8 permanent feedback from the measuring and transmission unit 2 that there is no closed circuit and therefore no resistance measurement can take place. Since an existing resistance signal also informs the controller 8 of the contact of the grinding wheel with the workpiece, the controller 8 would assume that there is no contact and would therefore try to bring the grinding wheel 5 closer to the workpiece 6. This would increase the pressure on the grinding wheel 5, which is already on the workpiece. This would result in excessive bending of the tool holder 3.
  • the device for measuring the bending of the tool holder 3 Figure 4 additionally comprises a disk which is located on the tool holder 3 and is designated by 4. There is a suitable distance between the disk 4 and the measuring and transmission unit 2, and the measuring and transmission unit 2 has suitable sensors which can measure this distance at several locations distributed over the circumference of the disk. The measuring and transmission unit 2 also transmits these measured values to the controller 8. If the tool holder 3 bends only slightly, this leads to one or more of the measured distances changing.
  • the distance between the disk 4 and the measuring and transmission unit 2 can be measured, for example, by means of optical, mechanical, capacitive or inductive sensors.
  • Graphite or carbon fiber can be used as material for the conductor strands 10, 11. However, other materials with a suitable resistivity can also be used.
  • FIG. 5 shows a method for operating a grinding robot according to the invention.
  • the method comprises two method steps, which are designated V1 and V2.
  • step V1 the grinding wheel 5 is brought closer to the workpiece 6 until the grinding wheel 5 is in contact with the workpiece.
  • the measuring and transmission unit 2 delivers a signal to the controller 8 that says that no circuit is closed via a pair of conductor strands as long as there is no contact between the grinding wheel 5 and the workpiece 6.
  • the measuring and transmission unit 2 transmits the measured resistance values to the controller 8, whereupon the latter ends the approach step V1.
  • the measuring and transmission unit 2 cannot transmit a signal as long as there is no contact.
  • the approach step V1 is ended by the controller 8 as soon as the measurement and Transmission unit 2 has transmitted a measured resistance value to the controller 8.
  • the workpiece 6 is processed by means of the grinding body 5 until the desired surface contour is reached, the measuring and transmission unit 2 permanently transmitting the measured resistance values to the controller 8, which takes these values into account when deciding whether the desired one Surface contour is reached or not.
  • the measured resistance values contain the information about the current degree of wear of the grinding head 1.
  • the measured resistance values can also be transmitted periodically, ie the measuring and transmission unit 2 transmits a resistance value whenever a predefined constant time interval has elapsed. The period is determined in advance according to the expected wear per unit of time and the required surface accuracy. The narrower the surface tolerance, the shorter the period must be selected.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Claims (14)

  1. Robot de meulage pour meuler une pièce (6) électriquement conductrice, comprenant un corps de meulage (5), une unité (7) d'actionnement du corps de meulage (5) et un dispositif de commande (8) qui est relié à l'unité (7) d'actionnement du corps de meulage (5) et qui la commande, dans lequel le corps de meulage (5) comprend un logement d'outil (3) en forme d'arbre qui définit un axe de rotation autour duquel le corps de meulage peut tourner lors du meulage, et une tête (1) symétrique de rotation par rapport à l'axe de rotation, qui contient un matériau abrasif et présente une surface de meulage, qui est en contact avec la pièce (6) pendant le meulage,
    caractérisé en ce que le corps de meulage comprend une unité de mesure et de transmission (2) et au moins une paire de brins conducteurs présentant deux brins conducteurs (10, 11) électriquement isolés l'un de l'autre, dans lequel les brins conducteurs (10, 11) sont incorporés dans la tête symétrique de rotation (1) et s'étendent de la surface de meulage de la tête (1) à l'intérieur de la tête (1) et y sont reliés électriquement à l'unité de mesure et de transmission (2), dans lequel les brins conducteurs (10, 11) sont disposés de manière à ce qu'un circuit fermé permettant de mesurer une valeur de résistance puisse être créé pendant le meulage du fait du contact avec la pièce (6), dans lequel le circuit part de l'unité de mesure et de transmission (2), passe par le brin conducteur (10), la pièce (6) et le brin conducteur (11) pour revenir à l'unité de mesure et de transmission (2), et dans lequel les brins conducteurs (10, 11) sont configurés et disposés de manière à ce que la résistance mesurée soit dominée par la résistance des brins conducteurs (10, 11), de sorte que la résistance mesurée représente une mesure inversement proportionnelle du degré d'usure du corps de meulage (5), et dans lequel l'unité de mesure et de transmission (2) est configurée pour mesurer ladite résistance et transmettre la valeur de mesure au dispositif de commande (8), et dans lequel le dispositif de commande (8) est conçu de manière à ce que les valeurs de résistance transmises soient prises en compte pour décider si un contour de surface prédéfini de la pièce (6) est atteint ou non.
  2. Robot de meulage selon la revendication 1, dans lequel les brins conducteurs (10, 11) sont conçus pour être espacés les uns des autres pour une isolation mutuelle.
  3. Robot de meulage selon la revendication 1, dans lequel un matériau d'isolation électrique approprié se trouve entre les brins conducteurs (10, 11).
  4. Robot de meulage selon l'une des revendications 2 ou 3, dans lequel les brins conducteurs (10, 11) sont parallèles entre eux.
  5. Robot de meulage selon la revendication 3, dans lequel les brins conducteurs (10, 11) s'étendent coaxialement l'un par rapport à l'autre, et dans lequel un brin conducteur (10) est réalisé sous forme tubulaire et comprend le brin conducteur (11).
  6. Robot de meulage selon l'une des revendications précédentes, dans lequel les brins conducteurs (10, 11) sont constitués de graphite.
  7. Robot de meulage selon l'une des revendications 1 à 5, dans lequel les brins conducteurs (10, 11) sont constitués de fibre de carbone.
  8. Robot de meulage selon l'une des revendications précédentes, dans lequel l'unité de mesure et de transmission (2) comprend une batterie.
  9. Robot de meulage selon l'une des revendications 1 à 7, dans lequel l'unité de mesure et de transmission (2) comprend un supercondensateur.
  10. Robot de meulage selon l'une des revendications précédentes, dans lequel l'unité de mesure et de transmission (2) est conçue pour transmettre les valeurs de mesure au dispositif de commande (8) par Bluetooth.
  11. Robot de meulage selon l'une des revendications précédentes, dans lequel le corps de meulage (5) possède des moyens (4) permettant de mesurer la flexion du logement d'outil (3), et l'unité de mesure et de transmission (2) est conçue pour transmettre les valeurs de mesure de la flexion au dispositif de commande (8).
  12. Robot de meulage selon la revendication 11, dans lequel le corps de meulage (5) comprend un disque (4) qui se trouve sur le logement d'outil (3), et l'unité de mesure et de transmission (2) comprend plusieurs capteurs qui sont conçus pour mesurer la distance entre le disque (4) et l'unité de mesure et de transmission (2) en plusieurs points répartis sur la circonférence du disque (4) .
  13. Procédé pour le fonctionnement d'un robot de meulage selon l'une des revendications précédentes, dans lequel le procédé comprend les étapes suivantes :
    V1 : rapprochement du corps de meulage (5) de la pièce (6) jusqu'à ce que le corps de meulage (5) entre en contact avec la pièce (6) ;
    V2 : usinage de la pièce (6) au moyen du corps de meulage (5) jusqu'à ce qu'un contour de surface prédéfini de la pièce (6) soit atteint ;
    caractérisé en ce que le dispositif de commande (8) termine l'étape V1 et passe à l'étape V2 dès qu'il a reçu une valeur de mesure de résistance en provenance de l'unité de mesure et de transmission (2), et dans lequel, à l'étape V2, l'unité de mesure et de transmission (2) transmet en permanence les valeurs de résistance mesurées au dispositif de commande (8), qui prend en compte les valeurs de résistance pour décider si le contour de surface prédéfini a été atteint ou non.
  14. Procédé selon la revendication 13 pour le fonctionnement d'un robot de meulage selon la revendication 11 ou 12, dans lequel le dispositif de commande (8) génère un message d'erreur et retire le corps de meulage (5) de la pièce (6) si, à l'étape V1, l'unité de mesure et de transmission (2) transmet une flexion qui dépasse une valeur prédéfinie de la flexion.
EP17822173.5A 2017-01-23 2017-12-04 Robot de meulage pour meuler des pièces électriquement conductrices et procédé pour son fonctionnement Active EP3571010B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017101175 2017-01-23
PCT/EP2017/081302 WO2018133984A1 (fr) 2017-01-23 2017-12-04 Robot de meulage pour meuler des pièces électriquement conductrices et procédé pour son fonctionnement

Publications (2)

Publication Number Publication Date
EP3571010A1 EP3571010A1 (fr) 2019-11-27
EP3571010B1 true EP3571010B1 (fr) 2020-07-01

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Country Link
US (1) US11772233B2 (fr)
EP (1) EP3571010B1 (fr)
CN (1) CN110177648B (fr)
WO (1) WO2018133984A1 (fr)

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CN114473806B (zh) * 2022-01-19 2023-11-17 庚显表面处理(江门)有限公司 一种带有补偿功能的抛光设备

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JP2765166B2 (ja) * 1990-03-12 1998-06-11 三菱マテリアル株式会社 磨耗検出機構付き砥石および砥石の磨耗検出方法
JPH1034541A (ja) * 1996-07-19 1998-02-10 Toshiba Corp 砥石およびこれを用いた研削盤、工作用ロボット
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DE102013113202B4 (de) 2013-11-28 2016-12-08 Rhodius Schleifwerkzeuge Gmbh & Co. Kg Anordnung mit einer handgeführten Werkzeugmaschine und einer Schleifscheibe; Verfahren zum Steuern der Drehzahl einer handgeführten Werkzeugmaschine sowie Verwendung dieses Verfahrens und dieser Anordnung
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Publication number Publication date
US20190344400A1 (en) 2019-11-14
US11772233B2 (en) 2023-10-03
EP3571010A1 (fr) 2019-11-27
BR112019010965A2 (pt) 2019-10-01
WO2018133984A1 (fr) 2018-07-26
CN110177648A (zh) 2019-08-27
CN110177648B (zh) 2021-05-28

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