EP3724107A1 - Dispositif servant à examiner une installation de convoyage ainsi qu'unité de commande, rouleau moteur et installation de convoyage et procédé - Google Patents

Dispositif servant à examiner une installation de convoyage ainsi qu'unité de commande, rouleau moteur et installation de convoyage et procédé

Info

Publication number
EP3724107A1
EP3724107A1 EP18819069.8A EP18819069A EP3724107A1 EP 3724107 A1 EP3724107 A1 EP 3724107A1 EP 18819069 A EP18819069 A EP 18819069A EP 3724107 A1 EP3724107 A1 EP 3724107A1
Authority
EP
European Patent Office
Prior art keywords
motor
conveyor
roller
conveyor system
motor roller
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.)
Withdrawn
Application number
EP18819069.8A
Other languages
German (de)
English (en)
Inventor
Andreas Hampe
Herbert Henze
Michael Margowski
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.)
Interroll Holding AG
Original Assignee
Interroll Holding AG
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 Interroll Holding AG filed Critical Interroll Holding AG
Publication of EP3724107A1 publication Critical patent/EP3724107A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B65G13/02—Roller-ways having driven rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0275—Damage on the load carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0291—Speed of the load carrier

Definitions

  • the invention relates to a device for inspecting a conveyor system with a motor roller and a control unit, a motor roller and a conveyor system and a method for examining a conveyor system with a motor roller.
  • Conveyors are used for different purposes in logistic applications. They can be used, for example, in pallet handling, in the conveyance of parcels in parcel delivery centers, for the transport of containers in warehouses of different types or for the transport of luggage in airports and in numerous other applications.
  • a conveyor system regularly comprises one or more conveyor sections, each of which comprises a plurality of juxtaposed rollers whose upper peripheral surface serves in each case for receiving the conveyed material.
  • motorized rollers can be used in conveyor systems with belt conveyors and / or belt conveyors in which motor rollers drive a belt and / or a belt and the belt and / or the belt serves to receive the conveyed material.
  • non-driven conveyor rollers may be arranged, which are also referred to as idler rollers or slaving rollers, which are without drive and are rotatably mounted only in a conveyor frame.
  • motor rollers may be arranged in these conveyor lines, which are also referred to as driven conveyor rollers and are motorized and are rotated by an electric drive unit in rotation.
  • the motor rollers can serve on the one hand, directly over the outer peripheral surface of its roller body to transport the conveyed.
  • one or more idler rollers can be rotated by the motor roller in order to drive the conveyed material also via its outer circumferential surfaces.
  • Conveyor rollers and in particular motor rollers are known, for example, from DE 10 2006 054 575 A1, EP 1 02 1664 B1, DE 20 2009 012 822 U 1, DE 10 2015 104 130, DE 10 2015 1 14 030 or DE 10 2016 120 415 of the Applicant ,
  • German Patent and Trademark Office has in the priority application for the present application the following further prior art research: DE 10 201 1 053 145 A1.
  • a device for inspecting a conveyor system with one or more motor rollers comprising a measuring unit for determining a current flow of the motor roller, wherein the measuring unit has a first interface and a second interface, which are adapted to the measuring unit in the To switch conveyor between the motor role and the motor role controlling unit, a third interface for receiving data on an operating situation, which exists during the determination of the current profile, an evaluation unit which is designed, the determined current profile of the motor role with a characteristic for the operating situation Compare reference history.
  • Conveyor rollers and in particular motor rollers are preferably constructed such that the roller body is at least partially hollow and in particular has a hollow end, preferably two hollow ends.
  • the drive unit is preferably arranged within an interior of the roller body.
  • a drive unit arranged in the interior of the roller body may, for example, have a coupling unit which is designed and arranged to transmit a torque from the drive unit to an inner peripheral surface of the interior of the roller body.
  • Motor rollers of this type are used for different purposes in logistical applications, for example to be mounted in a rack by means of a drum motor shaft and a drum motor shaft.
  • the electric drive unit is configured to transmit a delivery torque from the drum motor shaft to the drum tube.
  • This transmission can take place via a drum motor transmission encompassed by the motor roller.
  • the drum motor axis typically only serves to support the motor rollers in the frame.
  • a motorized roller can serve to drive other means by means of a belt or the like, for example a conveyor track consisting of several conveyor rollers. Furthermore, the motor roller can be used directly as a conveyor member in a conveyor line and carry the conveyed and promote by the rotation of the motor role.
  • a preferred application is the motor roller in a conveyor belt section as a drive element, preferably as an end-side drive element insert and guide a conveyor belt or a belt in partial wrapping around the drum body and to set this by the rotation of the drum body in motion.
  • Motor rollers are used in intralogistics in a variety of applications, for example, for the promotion of luggage, products, packages, containers, pallets or the like in logistics centers, in industrial manufacturing, in mail distribution centers, baggage handling and the like.
  • Such motor rollers are regularly used in conveyor sections of larger conveyor systems and serve to move the conveyed.
  • the motor rollers may be coupled by means of drive belts, chains and the like to adjacent idling idler rollers and drive them so as to define a uniformly controlled conveyor zone. Several such conveyor zones can then be arranged one behind the other in the conveyor line in order to convey the items to be conveyed along this conveyor line.
  • Motor rollers of this type are also referred to as motor-driven conveyor rollers, roller drives and in other ways.
  • a motor roller can also be a drum motor, which is used, for example, for driving a conveyor belt as an end deflection roller or in another form drives a conveyor track with a conveyor belt or otherwise constructed conveyor track.
  • a requirement of such motor rollers in use in conveyor lines and conveyor applications is to be able to operate them in a control or regulation in order to convey the conveyed material in a certain way.
  • the so-called LPA Low Pressure Accumulation often desired in the conveyance located on the conveyor goods do not come into contact or only with low back pressure come into contact with each other, so that can not result from accumulated contact forces damage to a conveyed.
  • the solution of the invention provides to determine the current profile of a motor role with a device for inspecting a conveyor system and to compare with a characteristic reference curve. For this purpose, data about the operating situation present during the determination of the current profile is acquired, and a reference profile which is characteristic of this operating situation is used for the comparison. For this purpose, the measuring unit of the device is switched with its first and second interface between the motor roller and the control unit.
  • a third interface of the measuring unit is used to acquire remote data about an operating situation which exists during the determination of the current profile.
  • a course of values in particular over a certain period of time, can be understood as reference curve.
  • a value curve can also be derived from gradients of one, two or more individual quantities.
  • an earlier determined current profile of the same or another motor roller can also be used.
  • the invention is based inter alia on the recognition that for certain operating situations specific courses of the current, in particular of the input current, of the motor roller are characteristic. In particular, such characteristic curves are used as reference curves. Furthermore, the invention is based on the finding that conclusions can be drawn not only on the motor reel itself but also on the conveyor zone and / or the conveyor system by comparing the ascertained current profile of the motor reel with a characteristic reference curve for the operating situation, in particular conclusions on the efficiency. Adequacy of design or ways to increase performance or cost savings. In this way, by determining the current flow of the motor roller in a particular operating situation, a particularly simple and efficient as well as reliable possibility of Examination of larger parts of a conveyor system or an entire conveyor system can be provided.
  • the third interface is preferably configured to receive data from an operating condition sensor.
  • the operating state sensor is designed as a light barrier sensor or comprises a light barrier sensor.
  • the operating state sensor can preferably be designed to detect when a conveyed material enters and / or leaves a conveying zone, in particular a specific section of a conveying zone.
  • the evaluation unit is designed to check whether the determined current profile of the motor roller deviates from the reference profile, in particular also in sections. It is further preferred that the evaluation unit is designed to check whether a deviation of the determined current profile of the motor roller from the reference profile, preferably in a certain section, exceeds a predetermined value. Furthermore, it is preferred that the evaluation unit is designed to check whether the determined current profile of the motor roller exceeds or falls below the reference curve, in particular in a specific section, by a predetermined value. This is preferably part of the comparison of the determined current profile of the motor roller with the reference curve.
  • the evaluation unit is designed to receive a signal from an operating state sensor of the conveyor system and the signal for qualification the determined current, for example, to derive information about the operating state, in particular for checking whether the reference operating state is present.
  • the signal from the operating condition sensor comprises data or is a data signal.
  • the operating state sensor is designed as a light barrier sensor or one Photocell sensor includes.
  • the operating state sensor can preferably be designed to detect when a conveyed material enters and / or leaves a conveying zone, in particular a specific section of a conveying zone.
  • the evaluation unit is designed to determine a temperature, for example by means of a temperature sensor, and the determined temperature for qualification of the determined current, for example for deriving information about the operating state, in particular for checking whether the reference operating state is present use.
  • temperature is understood as meaning both an internal temperature of the motor roller and an ambient temperature of the motor roller and / or the conveyor zone and / or the conveyor system, for example the room temperature.
  • a temperature sensor may be, for example, an ambient temperature sensor and / or an internal temperature sensor.
  • the consideration of the internal temperature of the motor roller has the advantage that overheating conditions can be detected.
  • the consideration of the internal temperature of the motor roller has the advantage that overheating conditions can be detected.
  • Ambient temperature of the motorized roller has the advantage that influences outside of the motor roller on the internal temperature of the motor roller can be taken into account (such as heating of the room due to strong solar radiation) and in this way the internal temperature of the motorized roller is assessed differently and / or in relation to the room temperature can, especially for further use.
  • the evaluation unit is designed to detect operating hours of the motor roller and to use the recorded operating hours for qualification of the determined current, for example for deriving information about the operating state, in particular for checking whether the reference operating state exists. In this way it can be ensured that a motor roller has "run in”.
  • the operating situation comprises two or more different operating states, in particular the operating states acceleration and / or loading and / or transport and / or discharge and / or idling and / or deceleration or deceleration, for example with regeneration of braking energy and / or standstill.
  • An operating situation can either refer to only one operating state and / or comprise two or more operating states.
  • An operating state can also be understood as a section of an operating situation.
  • the reference curve may preferably include reference times, which are characteristic in comparison for the respective operating states.
  • characteristic reference numerical values are used for the comparison for the respective operating states.
  • the current profile of the motor roller can preferably have the operating states and reference partial progressions corresponding sections.
  • the evaluation unit is designed to compare the ascertained current profile of the motor roller with a reference partial course characteristic of the respective operating state. A comparison based on different operating conditions allows a more accurate inspection of the conveyor. Since the current profiles, in different operating states usually differ from each other, the quality of the conclusions can be improved by the use of different, characteristic for the respective operating state reference sub-profiles.
  • the evaluation unit is designed to output an optimization parameter on the basis of the comparison. It is particularly preferred that the optimization parameter may comprise one or more of the following values:
  • Gear reduction, - change in particular increase or reduction, the downtime of the conveyor system and / or subsystem and / or motor role
  • the device output or derive optimization parameters.
  • a conveyor system can not only be examined or diagnosed, but also improved, or at least indicators can be given in the form of optimization parameters, which improvements can be achieved thereby.
  • the evaluation unit is designed to output a control signal for controlling, in particular the motor roller and / or the conveyor zone and / or the conveyor on the basis of the comparison. In this way, an identified potential for improvement can be translated into an improved control.
  • optimization parameters and / or control signals for this motor roller and / or conveyor zone and / or conveyor system and / or for other motor rollers and / or other conveyor zones and / or other conveyor systems can preferably be output or generated on the basis of the current profile determined for a motor roller.
  • the first and / or the second interface are designed as adapters.
  • a design as an adapter allows a particularly simple interposition between the motor roller and the control unit.
  • the intermediate circuit takes place at an existing, detachable (plug) connection between the motor roller and the control unit.
  • the third interface is configured to receive data on the operating situation, which exists during the determination of the current profile, from an operating state sensor.
  • the third interface is further preferably configured to receive data on two or more operating states present during the determination of the current profile from an operating state sensor.
  • the device comprises a memory unit in which characteristic reference curves characteristic of different operating situations are stored.
  • characteristic reference partial courses may preferably also be stored for different operating states.
  • the device comprises a memory unit in which optimization parameters are stored, in particular optimization parameters for different characteristic reference profiles and / or for different characteristic reference time sequences and / or for different comparison results.
  • a preferred embodiment is characterized in that a measuring unit is designed to determine a fed-back current and / or a total performed electrical work of the motor roller, in particular as part of the determination of the current profile and / or in particular during an operating situation.
  • the determination of the current flow of the motor roller also includes the determination of a recirculated current and / or a total performed electrical work, particularly qualified conclusions can be drawn about the motor roller and / or the conveyor zone and / or the conveyor system.
  • the object mentioned at the outset is achieved by a method for examining a conveyor system with one or more motor rollers, comprising the method - determining a current course of the motor roller, preferably by means of a device described above or by means of a control unit controlling the motor roller,
  • the method for inspecting a conveyor system with a motor roller can preferably be carried out with a previously described device for inspecting a conveyor system with a motor roller.
  • a control unit of a motor roller and / or a conveyor zone and / or a conveyor system is designed for carrying out the method for testing a conveyor system with a motor roller
  • the method can preferably also be carried out by means of the control unit.
  • no separate device for inspecting a conveyor system with a motor roller is then required for the investigation of the conveyor system.
  • the method for examining a conveyor with a motor roller can be performed without the need to provide and / or connect a separate device for inspecting a conveyor with a motorized roller. In this way, a particularly simple embodiment of the method for examining a conveyor system with a motor roller is possible.
  • the steps of the method for examining a conveyor system with a motor roller are preferably carried out several times, in particular for different motor rollers of a conveyor system, which are preferably arranged at different and / or important and / or comparable locations of the conveyor system. This can improve the quality of the investigation. These multiple comparisons are preferably taken into account when outputting an optimization parameter and / or when generating a control signal.
  • the object mentioned at the outset is achieved by a control unit for a motor roller and / or a conveyor zone of a conveyor system, wherein the control unit is designed to carry out the method described above for testing a conveyor system with a motor roller.
  • the object mentioned at the outset is achieved by a motor roller for a conveyor system, wherein the motor roller is designed to carry out the method described above for examining a conveyor system with a motor roller.
  • the object mentioned is achieved by a conveyor system with a motor roller and a control unit, wherein the conveyor system is designed to carry out the method described above for examining a conveyor system with a motor roller.
  • Fig. 1 a schematic representation of an embodiment of the device for examining a conveyor system with a motor roller
  • Figure 1 shows a schematic representation of an embodiment of the apparatus for examining a conveyor system with a motor roller.
  • FIG. 1 shows a motor roller 10 and a control unit 20 controlling the motor roller 10.
  • the motor roller 10 and the control unit 20 are part of a conveyor system which may comprise further elements.
  • the device 90 comprises a measuring unit 40, an evaluation unit 60 and a memory unit 70 as well as a first interface 51, a second interface 52 and a third interface 53.
  • the first and second interface 51, 52 With the first and second interface 51, 52, the device between the motor roller 10 and the control unit 20 is connected.
  • the first and second interfaces 51, 52 are designed as adapters, with which an intermediate circuit to an existing, detachable (plug) connection between the motor roller and control unit is particularly easy.
  • the third interface 53 serves to obtain data from an operating state sensor 30 about an operating situation present during the determination of a current profile of the motor roller 10.
  • the evaluation unit 60 is designed to compare the determined current profile of the motor roller 10 with a characteristic for the operating situation reference curve.
  • the evaluation unit 60 can access data stored in the memory unit 70, in particular reference characteristic curves characteristic of different operating situations and / or optimization parameters for different characteristic reference profiles and / or for different comparison results.
  • FIG. 2 shows the ascertained current profile of four motor rollers (current 1, current 2, current 3, current 4) and the associated operating situations which were detected by four operating state sensors (sensor 1, sensor 2, sensor 3, sensor 4) the time.
  • the operating situations determined by the four operating state sensors are represented by the lines 101, 201, 301, 401.
  • the signal profile of the first operating state sensor has a first maximum 101a and a second maximum 101b. These maxima 101a, b indicate that a conveyed material is the first motor roller or the associated first
  • time-offset courses can also be seen in the courses 202, 302, 402 of the determined currents of the further motor rollers.
  • These current curves 102, 202, 302, 402 are compared with reference curves that correspond to the respective operating situations.
  • reference partial courses may be used for this, which are characteristic of different operating states of operating situations, and are correspondingly compared with sections of the current courses 102, 202, 302, 402.
  • FIG. 3 shows a comparison of four motor rollers in different operating states.
  • a conveyor system 900 is shown schematically.
  • the conveyor system 900 has a plurality of conveyor rollers 910 (both motor rollers and non-driven conveyor rollers) in four conveyor zones Z0, Z1, Z2, Z3.
  • Each conveyor zone Z0, Z1, Z2, Z3 has in each case an operating state sensor and a motor roller.
  • a conveyed material 920 is shown schematically, which is moved in conveying direction 930 from conveying zone to conveying zone.
  • FIG. 3 schematically shows the operating situations with different operating states determined with the four operating state sensors SO, S1, S2, S3 and the associated states of the four motor rollers in the four conveying zones over time.
  • Z0, Z1, Z2, Z3 first show the general activity of a production zone. With LOAD Z0, LOAD Z1, LOAD Z2, LOAD Z3 the load state is then represented by a conveyed material and with NO LOAD Z0, NO LOAD Z1, NO LOAD Z2, NO LOAD Z3 the state without load.
  • FIG. 4 shows a comparison of the mean values for the determined current profile of a motor roller with respective average values for the reference characteristics in four operating states BZ1, BZ2, BZ3, BZ4.
  • Operating state BZ1 corresponds to the load, operating state BZ2 to the transport, operating state BZ3 of the discharge, and operating state BZ4 to the idling situation.
  • mean values for the reference curves in the various operating states were formed from a number of reference measurements.
  • mean values in the various operating states were formed for the respectively determined current profiles.
  • FIG. 4 shows the average values for the determined current profile for a conveyed item, specifically with 1201, 1202, 1203, 1204 in the respective operating states BZ1, BZ2, BZ3, BZ4.
  • the average values 1201, 1202, 1203, 1204 for the determined current profile lie above the average values for the reference characteristics. This can be an indication of a fault or malfunction which results in the overcoming of a higher mass inertia. This can be caused for example by a bluff body or the defect of a drive component.
  • a drive component may be any component that causes movement, for example, a drive component may be a motor pulley, a slave pulley, a drive belt, a drive element, or a drive unit.
  • FIG. 4 shows the average values for the determined current profile for a conveyed item, specifically with 1301, 1302, 1303, 1304 in the respective operating states BZ1, BZ2, BZ3, BZ4.
  • the values 1301, 1302, 1303, 1304 for the detected current are below the reference values. This can be an indication of a fault or failure, which decouples, for example, a passive drive component, such as an interrupted traction / drive belt.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)
  • Rollers For Roller Conveyors For Transfer (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)

Abstract

L'invention concerne un dispositif servant à examiner une installation de convoyage comprenant un ou plusieurs rouleaux moteurs, ainsi qu'une unité de commande, un rouleau moteur et une installation de convoyage et un procédé servant à examiner une installation de convoyage pourvue d'un ou de plusieurs rouleaux moteurs. Le dispositif comprend une unité de mesure servant à déterminer une progression de courant du rouleau moteur. L'unité de mesure comporte une première interface et une deuxième interface réalisées pour commuter l'unité de mesure dans l'installation de convoyage entre le rouleau moteur et une unité de commande commandant le rouleau moteur, une troisième interface servant à recevoir des données portant sur une situation de fonctionnement qui est de mise pendant la détermination de la progression de courant, une unité d'analyse réalisée pour comparer la progression de courant déterminée du rouleau moteur à une progression de référence caractéristique de la situation de fonctionnement.
EP18819069.8A 2017-12-11 2018-12-10 Dispositif servant à examiner une installation de convoyage ainsi qu'unité de commande, rouleau moteur et installation de convoyage et procédé Withdrawn EP3724107A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017129460.0A DE102017129460A1 (de) 2017-12-11 2017-12-11 Vorrichtung zur Untersuchung einer Förderanlage sowie Steuereinheit, Motorrolle und Förderanlage und Verfahren
PCT/EP2018/084166 WO2019115454A1 (fr) 2017-12-11 2018-12-10 Dispositif servant à examiner une installation de convoyage ainsi qu'unité de commande, rouleau moteur et installation de convoyage et procédé

Publications (1)

Publication Number Publication Date
EP3724107A1 true EP3724107A1 (fr) 2020-10-21

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP18819069.8A Withdrawn EP3724107A1 (fr) 2017-12-11 2018-12-10 Dispositif servant à examiner une installation de convoyage ainsi qu'unité de commande, rouleau moteur et installation de convoyage et procédé

Country Status (6)

Country Link
US (1) US11136198B2 (fr)
EP (1) EP3724107A1 (fr)
JP (1) JP2021505497A (fr)
CN (1) CN111527034A (fr)
DE (1) DE102017129460A1 (fr)
WO (1) WO2019115454A1 (fr)

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EP4283419A1 (fr) * 2022-05-23 2023-11-29 Kyowa Europe GmbH Système de convoyeur, contrôleur de rouleau moteur et procédé de fonctionnement d'un système de convoyeur

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Also Published As

Publication number Publication date
WO2019115454A1 (fr) 2019-06-20
US11136198B2 (en) 2021-10-05
JP2021505497A (ja) 2021-02-18
CN111527034A (zh) 2020-08-11
DE102017129460A1 (de) 2019-06-13
US20210171288A1 (en) 2021-06-10

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