EP3699390B1 - Dispositif de forage du sol, système comprenant le dispositif de forage du sol, procédé de fabrication d'un dispositif de forage du sol et utilisation d'un dispositif de forage du sol - Google Patents

Dispositif de forage du sol, système comprenant le dispositif de forage du sol, procédé de fabrication d'un dispositif de forage du sol et utilisation d'un dispositif de forage du sol Download PDF

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Publication number
EP3699390B1
EP3699390B1 EP20158166.7A EP20158166A EP3699390B1 EP 3699390 B1 EP3699390 B1 EP 3699390B1 EP 20158166 A EP20158166 A EP 20158166A EP 3699390 B1 EP3699390 B1 EP 3699390B1
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EP
European Patent Office
Prior art keywords
transmission element
force transmission
channel
drive train
drilling device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20158166.7A
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German (de)
English (en)
Other versions
EP3699390A2 (fr
EP3699390A3 (fr
Inventor
Lucas Jostes
Stefan Hermes
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.)
Tracto Technik GmbH and Co KG
Original Assignee
Tracto Technik GmbH and Co KG
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
Application filed by Tracto Technik GmbH and Co KG filed Critical Tracto Technik GmbH and Co KG
Publication of EP3699390A2 publication Critical patent/EP3699390A2/fr
Publication of EP3699390A3 publication Critical patent/EP3699390A3/fr
Application granted granted Critical
Publication of EP3699390B1 publication Critical patent/EP3699390B1/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B3/00—Rotary drilling
    • E21B3/02—Surface drives for rotary drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B3/00—Rotary drilling
    • E21B3/02—Surface drives for rotary drilling
    • E21B3/022—Top drives
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B4/00—Drives for drilling, used in the borehole
    • E21B4/006—Mechanical motion converting means, e.g. reduction gearings
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B6/00—Drives for drilling with combined rotary and percussive action
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/002—Drilling with diversely driven shafts extending into the borehole
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/20—Driving or forcing casings or pipes into boreholes, e.g. sinking; Simultaneously drilling and casing boreholes

Definitions

  • the invention relates to an earth drilling device, a system comprising the earth drilling device, a method for producing an earth drilling device and a use of an earth drilling device.
  • a drill rod having rod sections is usually used, which is connected to a drive in order to be able to move the drill rod in a translatory, pushing or pressing manner and/or rotating about its longitudinal axis.
  • a drive that is axially connected to the drill rod is usually used.
  • Such a drive is known and its handling has proven itself; however, the complexity of constructing an earth drilling apparatus may increase if mud is to be passed through the interior of the drill string axis to aid in drilling the bore and/or a dual drill string is used for drilling the earth bore having an inner drill pipe and an outer drill pipe.
  • the invention is based on the object of creating an earth drilling device, a system comprising the earth drilling device, a method for producing an earth drilling device and a use of an earth drilling device in which a simpler construction of the earth drilling device and/or a more flexible construction of the earth drilling device is adapted to different requirements is possible.
  • the core idea of the invention is to form a channel to the drill string in a simple manner or to form a channel that can be easily accessed, by means of which in particular a supply of flushing fluid into the drill string, a supply of a cable for cable-guided drilling into the drill string and/or or a force application is made possible by means of a further drive train.
  • a power transmission element is used for this purpose, which is part of the drive train and through which the channel is at least partially formed, i.e. the channel protrudes through the power transmission element. So that the channel, which extends through the power transmission element, is not disturbed or has no excessively large obstacles, provision is made for the power transmission element to be driven radially in the drive train.
  • the radial drive of the force transmission element makes it possible to use a force acting radially from the outside to move the force transmission element.
  • An axial access or reaching through at least the section of the channel that extends through the force transmission means or the section of the channel that protrudes through the force transmission element is possible.
  • Such axial access simplifies the construction of the earth boring device.
  • the interior of a rod section or the interior of the drill rod can still be accessed axially, which means that room and space can remain for a flexible connection with flushing fluid and/or a further drive for a particularly further, in particular internal, drill rod .
  • the invention provides an earth drilling device with a drive train for rotating a drill string according to the content of claim 1.
  • an "earth drilling device” is any device which, in particular, moves a drill rod containing rod sections in an existing or to be created channel in the ground in order to create or widen a bore, in particular a horizontal bore (HD), or pipelines or other long bodies to sink into the ground.
  • the earth drilling device can in particular be an HD device, in which case the borehole or the channel or the pipeline can be arranged at least partially horizontally.
  • An earth drilling device can thus be a device that drives a drill rod, which can work in a soil-displacing manner and introduces the drill rod in a translatory and/or rotary manner in the longitudinal axial direction of the drill rod into the ground.
  • One Boreholes can be drilled into the ground by applying tension or pressure to the drill rods.
  • rod section in the sense of the description does not exclusively include rigid, individual force transmission elements that can be connected directly or indirectly to one another and that can be used in an earth drilling device.
  • a rod section can in particular be a section of a simple rod or a section of a double drill rod with outer drill rod and inner drill rod.
  • a front section of the drill pipe, which can be the first to come into contact with the ground, can be configured as a drill head or drilling tool.
  • the drill rod can have a probe housing, in particular in a front area.
  • a "drive train” within the meaning of the description includes elements or components that are present for rotating the drill rod in the ground.
  • the elements or components can in particular be elements or components that generate the power for the drive to rotate and transmit it to the drill string or to the end of the drill string that is spaced apart from the drill head, ie the end that protrudes from the ground .
  • the drive train can thus have a drive in the form of a motor; the engine can form a "beginning" of the drive train.
  • the drive train can have a component or an element that creates a form fit with the drill pipe or the last rod section of the drill rod can form.
  • the component or the element can be referred to as an adapter and can be connected axially, in particular directly, to the force transmission element. Provision can also be made for there to be no element or an additional element between the force transmission element and the drill pipe.
  • a further element, in particular in the form of an adapter enables wear-related replacement, which can be carried out more easily than replacing the force transmission element, and more flexible planning or production of an earth drilling device. Except for the adapter, the drive train can be designed in the same way for different linkages; only the adapter needs to be adapted to the power transmission element.
  • channel in the sense of the description includes a passage that is closed in particular on the peripheral side, it being possible for the circumference of the passage to vary along its longitudinal extension. The variation can relate to the size and shape of the girth.
  • the passage can be round, elliptical or polygonal. In a particularly preferred embodiment, the passage is diametric round, in particular circular, designed.
  • channel includes in particular a passage whose cross-section or circumference over the length through the force-transmitting element up to the last rod section of the drill rod is not smaller than essentially the cross-section of the interior of the rod section which is connected to the force-transmitting element. can be.
  • the channel has an internal contour that can vary in the length of the channel and provides a perimeter of the channel in which other elements and/or irrigation fluid can be directed.
  • the term channel does not rule out the possibility of further channels being formed in the channel.
  • an "inner” channel can be formed in an “outer” channel, which in turn has an inner contour that is a boundary of the "inner” channel.
  • the term “force transmission element” includes an element with which a force, in particular a rotational force or a force for turning, is transmitted.
  • the force transmission element can be rotated and the applied force can be passed on in the direction in which the force is applied to the force transmission element from the outside.
  • the force transmission element can be connected at least indirectly to the drill pipe in the longitudinal direction.
  • the power transmission element can be connected at the end to the adapter and/or drill rod for power transmission.
  • the channel protrudes through the force transmission element, this means that the channel extends through the force transmission element or is at least partially formed in the force transmission element.
  • the force transmission element at least partially forms a section of the channel.
  • a further drive train is provided.
  • a section of the further drive train is designed to form a further channel between a further power transmission element of the further drive train and the drill rod.
  • the additional channel protrudes through the additional power transmission element and the additional power transmission element can be driven radially in the additional drive train. As a result, further access or further supply can take place.
  • the power transmission element can be at least partially penetrated by the additional drive train.
  • the further force transmission element can—just like the force transmission element—be penetrated by a channel for flushing liquid.
  • the further channel protrudes through the channel or is connected to it.
  • the force transmission element and the further force transmission element can be aligned coaxially with one another.
  • the power transmission element and/or—if a further drive train is present—the further power transmission element is a hollow shaft. Due to the design as a hollow shaft, axial access is possible and in the case of a hollow shaft, the selected type of drive results in an extension of the inventive idea radially from the outside.
  • the inventors have recognized that the use of a hollow shaft is possible despite the initially physically opposing consideration, namely the transmission of high forces. The inventors opposed the initially unrealistic approach of being able to use a hollow shaft.
  • a drive can be regarded as a hollow-shaft motor, by means of which the force-transmission element or the further force-transmission element, which can be designed in particular as hollow shafts, is accessed from the outside via teeth.
  • another form-fitting or non-positive connection or attachment or coupling can be possible, for example in the form of a polygonal profile or a feather key connection.
  • the hollow shaft motor can work according to a spindle (spindle) nut principle. It can be provided that an element arranged around the hollow shaft is driven by a motor and thus moves the hollow shaft.
  • the element can be a (further) hollow output shaft, for example with internal teeth, which—if internal teeth are present—meshes or engages with or on external teeth on the hollow shaft to be driven.
  • An element of the hollow shaft motor which is itself designed as a hollow shaft and which drives the hollow shaft, can extend around the hollow shaft, so that the driving element surrounds the hollow shaft.
  • a splined shaft/splined hub connection can be formed.
  • the driving element cannot be mounted laterally next to the hollow shaft.
  • the unit of the hollow shaft motor can be compact around the hollow shaft and can essentially have the same dimensions in the spatial directions without a significant extension in only one spatial direction—for example in the case of a spur gear.
  • the hollow shaft motor is designed as a hydraulically operated motor in order to be able to apply high torques for the rotary movement.
  • hydraulically operated motors are known in the field of earth drilling devices and are easy to handle.
  • an adapter is provided which is connected at one end to the power transmission member and at its other end is adapted to be connected to the last string section of the drill string.
  • the adapter also forms a section of the channel. Adapters enable flexible adaptation to different rod sections or rod section types.
  • the invention also provides a system comprising an earth boring device as described and at least one rod section.
  • the rod section is adapted to the power transmission element and/or to an adapter of the earth drilling device that may be present.
  • an “adapter” as used in the description comprises an element that can be adapted on one side to be connected to a rod section of the drill rod. The other end may be adapted for connection to the power transmission element.
  • the adapter provides the ability to connect to a rod section, so the adapter may also be referred to as a "connector".
  • connection and “adapter” can be used and understood synonymously.
  • the adapter In order to form a section of the channel or for the purpose of "not blocking" the channel, the adapter itself has a channel which can extend, in particular, in the longitudinal direction of the adapter.
  • the channel or the passage can in particular have a diameter which essentially corresponds to the diameter of the force transmission element.
  • An adapter can be connected to a power transmission element.
  • an adapter may be connected indirectly to a force transmission element, for example in order to bridge a greater length or spatial extent. This can be the case in particular when a further drive train is provided, which in turn protrudes through the force transmission element of the “first” drive train in order to extend through the channel of the “first” force transmission element.
  • the rod section is designed as a double-tube rod section.
  • the invention also provides a method of manufacturing an earth boring apparatus having a drive train for rotating a drill string.
  • the auger may be as described or any other type of auger act auger.
  • the method comprises the steps: providing a drive train, forming a channel between a power transmission element of the drive and a connection for the drill string, the channel being formed through the power transmission element. Furthermore, the method has the step that a radial force input is provided for the force transmission element.
  • the invention also provides a use of an earth boring device for earth boring.
  • the earth boring device has a drive train for rotating a drill string. At least a portion of the drive train is used to form a conduit between a power transmission member of the drive train and the drill string.
  • the force transmission element is projected through to form the channel and a radial force input is used to drive the force transmission element.
  • the invention is described by means of the aspects earth drilling device, system comprising the earth drilling device, method for producing an earth drilling device and use of an earth drilling device.
  • the explanations regarding the individual aspects complement one another, so that the explanations regarding the earth drilling device also apply to the other aspects relating to a system, a method and a use.
  • Features and configurations described with regard to one of the aspects are also disclosed in an analogous manner for the other aspects.
  • the earth drilling device 1 shows schematically an earth drilling device 1.
  • the earth drilling device 1 has a movable drilling rig 2, which serves as a guide for the drive 4.
  • a drill string which has rod sections, translatory, ie are pushed or pulled by means of a corresponding movement of the drive 4 on the drill carriage 2 through the ground.
  • the drive 4 is also designed for a rotary drive of the drill string.
  • a double drill rod which has a rod section, as in the 1 is shown schematically, are subjected to shearing or tensile forces.
  • the rod section which has an inner drill rod 5 and an outer drill rod 3 , can be loaded independently of one another with torques and/or speeds for the inner rod 5 and outer drill rod 3 by means of the rod adapter 6 .
  • the drive train 50 has a drive designed as a hydraulic motor 8 and a bearing housing 9 .
  • the hydraulic motor 8 is flanged to the bearing housing 9 .
  • the hydraulic motor 8 is designed as a hollow-shaft motor, which engages a force-transmitting element 11 designed as a hollow shaft via a toothing 10 .
  • the force transmission element 11 is connected to an adapter 20 .
  • the adapter 20 is mounted on the power transmission element 11 .
  • the adapter 20 is connected to the outer drill string 3 via the rod adapter 6 to transmit torque and rotary motion to the outer drill string 3 .
  • a channel is formed through the force transmission element 11 and through the adapter 20 connected to the force transmission element 11, inside which a supply to the drill rod can be established.
  • the supply is used both for driving the inner drill rod assembly 5 and for supplying flushing fluid, which will be described in more detail below.
  • a second hollow shaft motor 12 which is flanged to a second bearing housing 15 is provided as a drive for driving the inner drill rod assembly 5 .
  • the second hollow-shaft motor 12 uses a second toothing 13 to radially access a further force-transmitting element 14 , which is designed as a hollow shaft, from the outside.
  • the second force transmission element 14 is connected to an adapter 16 designed as an internal adapter.
  • the adapter 16 is in turn connected at the other end to the inner drill string 5 in order to transmit torque and rotary motion to the inner drill string 5 by means of the second drive train 51 independently of the drive of the outer drill string 3 .
  • a rotary feedthrough 17 is shown, which is mounted centrally on the further force transmission element 14 on the side spaced apart from the adapter 16 for the supply of rinsing liquid.
  • an asymmetric drill head can be used, which can be rotated via the outer drill string 3 in the drilling direction to be controlled.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)

Claims (9)

  1. Dispositif de forage de sol (1) comportant un train d'entraînement (50) pour faire tourner une tige de forage, dans lequel au moins une section du train d'entraînement (50) est conçue pour former un canal sous la forme d'un passage entre un élément de transmission de force (11) du train d'entraînement (50) et la tige de forage, dans lequel le canal dépasse en saillie à travers l'élément de transmission de force (11) de sorte que le canal s'étende à travers l'élément de transmission de force (11) et est au moins partiellement formé dans l'élément de transmission de force (11), et l'élément de transmission de force (11) peut être entraîné radialement dans le train d'entraînement (50), dans lequel l'élément de transmission de force (11) est conçu comme un arbre creux, caractérisé en ce que l'entraînement est un moteur à arbre creux (8 , 12).
  2. Dispositif de forage de sol (1) selon la revendication 1, caractérisé par un autre train d'entraînement (51) et une section de l'autre train d'entraînement (51) est conçue pour former un autre canal entre un autre élément de transmission de force (14) de l'autre train d'entraînement (51) et la tige de forage, dans lequel l'autre canal dépasse en saillie à travers l'autre élément de transmission de force (14) et l'autre élément de transmission de force (51) peut être entraîné radialement dans l'autre train d'entraînement (51).
  3. Dispositif de forage de sol (1) selon la revendication 1 ou 2, caractérisé en ce que l'autre élément de transmission de force (14) est un arbre creux.
  4. Dispositif de forage de sol (1) selon la revendication 2 ou la revendication 3, si elle dépend de la revendication 2, caractérisé en ce que l'autre entraînement est réalisé sous la forme d'un moteur à arbre creux (8, 12).
  5. Dispositif de forage de sol (1) selon la revendication 1, caractérisé en ce que le moteur à arbre creux (8, 12) est conçu comme un moteur à commande hydraulique.
  6. Dispositif de forage de sol (1) selon une des revendications 1 à 5, caractérisé par un adaptateur (20), qui est relié à une extrémité à l'élément de transmission de force (11) et à son autre extrémité est conçu pour être relié au dernier tronçon de tige (3) et forme une section du canal.
  7. Système comprenant le dispositif de forage de sol selon une quelconque des revendications 1 à 6 et au moins un tronçon de tige (4).
  8. Système selon la revendication 7, caractérisé en ce que le tronçon de tige est réalisé sous la forme d'un tronçon de tige à double tube.
  9. Utilisation d'un dispositif de forage de sol (1) pour le forage du sol, dans lequel le dispositif de forage de sol (1) présente un train d'entraînement (50) pour faire tourner une tige de forage, dans lequel au moins une section du train d'entraînement (50) est utilisée pour former un canal sous la forme d'un passage entre un élément de transmission de force (11) du train d'entraînement et la tige de forage, dans lequel l'élément de transmission de force (11) est utilisé pour une formation au moins partielle du canal et le canal s'étend à travers l'élément de transmission de force (11) de sorte que l'élément de transmission de force dépasse en saillie de celui-ci et pour entraîner l'élément de transmission de force (11), qui est conçu comme un arbre creux, une application de force radiale est utilisée, caractérisée en ce qu'un moteur à arbre creux (8, 12) est utilisé comme entraînement.
EP20158166.7A 2019-02-20 2020-02-19 Dispositif de forage du sol, système comprenant le dispositif de forage du sol, procédé de fabrication d'un dispositif de forage du sol et utilisation d'un dispositif de forage du sol Active EP3699390B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102019001201.1A DE102019001201A1 (de) 2019-02-20 2019-02-20 Erdbohrvorrichtung, System umfassend die Erdbohrvorrichtung, Verfahren zum Herstellen einer Erdbohrvorrichtung sowie Verwendung einer Erdbohrvorrichtung

Publications (3)

Publication Number Publication Date
EP3699390A2 EP3699390A2 (fr) 2020-08-26
EP3699390A3 EP3699390A3 (fr) 2020-09-02
EP3699390B1 true EP3699390B1 (fr) 2022-02-16

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EP20158166.7A Active EP3699390B1 (fr) 2019-02-20 2020-02-19 Dispositif de forage du sol, système comprenant le dispositif de forage du sol, procédé de fabrication d'un dispositif de forage du sol et utilisation d'un dispositif de forage du sol

Country Status (4)

Country Link
US (1) US11391092B2 (fr)
EP (1) EP3699390B1 (fr)
AU (1) AU2020201061B2 (fr)
DE (1) DE102019001201A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4033067B1 (fr) * 2021-01-21 2024-06-19 EURODRILL GmbH Agencement d'entraînement rotatif pour une tige de forage

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2093373B1 (fr) * 2008-02-21 2010-04-21 Klemm Bohrtechnik GmbH Dispositif de forage, en particulier pour l'établissement de trous de mine sur le sol d'un cours d'eau, et procédé d'introduction d'une charge d'explosif dans le sol d'un cours d'eau

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Publication number Priority date Publication date Assignee Title
DE19704263C1 (de) 1997-02-05 1998-08-13 Klemm Guenter W Bohrvorrichtung
DE19721059C1 (de) 1997-05-20 1998-11-12 Klemm Ingrid Erdbohrgerät
DE102006059171B3 (de) * 2006-12-14 2008-04-03 Klemm Bohrtechnik Zweigniederlassung Der Bauer Maschinen Gmbh Bohrvorrichtung und Verfahren zum Erstellen einer Bohrung im Erdboden
DE102008021491A1 (de) 2008-04-29 2009-11-05 Dietmar Scheider Spannkopf für eine Erdbohranlage
DE102010010036B4 (de) 2010-03-03 2011-11-24 Klemm Bohrtechnik Gmbh Bohrvorrichtung mit Dichtungsanordnung und Verfahren zum Betrieb einer Bohrantriebseinheit
CN103069096A (zh) * 2010-05-17 2013-04-24 维米尔制造公司 双管水平定向钻孔系统
DE202010014478U1 (de) * 2010-10-19 2010-12-16 Eurodrill Gmbh Antriebsvorrichtung
DE102011000320A1 (de) 2011-01-25 2012-07-26 TERRA AG für Tiefbautechnik Bohranlage zum Durchführen von Bohrungen im Erdreich
CN103930642B (zh) * 2011-10-03 2017-05-10 维米尔制造公司 水平定向的钻井系统
DE102011122143A1 (de) 2011-12-22 2013-06-27 Dietmar Scheider Spannkopf einer Erdbohranlage

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2093373B1 (fr) * 2008-02-21 2010-04-21 Klemm Bohrtechnik GmbH Dispositif de forage, en particulier pour l'établissement de trous de mine sur le sol d'un cours d'eau, et procédé d'introduction d'une charge d'explosif dans le sol d'un cours d'eau

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Publication number Publication date
AU2020201061B2 (en) 2022-01-06
US11391092B2 (en) 2022-07-19
EP3699390A2 (fr) 2020-08-26
DE102019001201A1 (de) 2020-08-20
AU2020201061A1 (en) 2020-09-03
EP3699390A3 (fr) 2020-09-02
US20200300041A1 (en) 2020-09-24

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