EP3837070A1 - Procédé d'impression de métal 3d et dispositif associé - Google Patents

Procédé d'impression de métal 3d et dispositif associé

Info

Publication number
EP3837070A1
EP3837070A1 EP19762302.8A EP19762302A EP3837070A1 EP 3837070 A1 EP3837070 A1 EP 3837070A1 EP 19762302 A EP19762302 A EP 19762302A EP 3837070 A1 EP3837070 A1 EP 3837070A1
Authority
EP
European Patent Office
Prior art keywords
starting material
radiation
metal
material layer
layer
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.)
Pending
Application number
EP19762302.8A
Other languages
German (de)
English (en)
Inventor
Kai K.O. Bär
Karl NEULINGER
Lars-Erik RÄNNAR
Andrey KOPTYUG
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.)
Value and Intellectual Properties Management GmbH
Additive Innovation And Research Sweden AB
Aim Sweden AB
Original Assignee
Value and Intellectual Properties Management GmbH
Additive Innovation And Research Sweden AB
Aim Sweden AB
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 Value and Intellectual Properties Management GmbH, Additive Innovation And Research Sweden AB, Aim Sweden AB filed Critical Value and Intellectual Properties Management GmbH
Publication of EP3837070A1 publication Critical patent/EP3837070A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y10/00—Processes of additive manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B22F10/60—Treatment of workpieces or articles after build-up
    • B22F10/64—Treatment of workpieces or articles after build-up by thermal means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B22F10/20—Direct sintering or melting
    • B22F10/28—Powder bed fusion, e.g. selective laser melting [SLM] or electron beam melting [EBM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
    • B22F12/10—Auxiliary heating means
    • B22F12/13—Auxiliary heating means to preheat the material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
    • B22F12/40—Radiation means
    • B22F12/41—Radiation means characterised by the type, e.g. laser or electron beam
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K15/00—Electron-beam welding or cutting
    • B23K15/002—Devices involving relative movement between electronbeam and workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K15/00—Electron-beam welding or cutting
    • B23K15/0046—Welding
    • B23K15/0086—Welding welding for purposes other than joining, e.g. built-up welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
    • B33Y40/20—Post-treatment, e.g. curing, coating or polishing
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B19/00—Condensers, e.g. light collectors or similar non-imaging optics
    • G02B19/0004—Condensers, e.g. light collectors or similar non-imaging optics characterised by the optical means employed
    • G02B19/0019—Condensers, e.g. light collectors or similar non-imaging optics characterised by the optical means employed having reflective surfaces only (e.g. louvre systems, systems with multiple planar reflectors)
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B19/00—Condensers, e.g. light collectors or similar non-imaging optics
    • G02B19/0033—Condensers, e.g. light collectors or similar non-imaging optics characterised by the use
    • G02B19/009—Condensers, e.g. light collectors or similar non-imaging optics characterised by the use for use with infrared radiation
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B3/00—Ohmic-resistance heating
    • H05B3/0033—Heating devices using lamps
    • H05B3/0038—Heating devices using lamps for industrial applications
    • H05B3/0061—Heating devices using lamps for industrial applications for metal treatment
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B3/00—Ohmic-resistance heating
    • H05B3/40—Heating elements having the shape of rods or tubes
    • H05B3/42—Heating elements having the shape of rods or tubes non-flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B22F10/70—Recycling
    • B22F10/73—Recycling of powder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
    • B22F12/50—Means for feeding of material, e.g. heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
    • B22F12/60—Planarisation devices; Compression devices
    • B22F12/67—Blades
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P10/00—Technologies related to metal processing
    • Y02P10/25—Process efficiency

Definitions

  • the invention relates in particular to an electron beam-based 3D metal printing method for producing a spatial metal product in the
  • Metal product layer by layer by applying layers of starting material to a respective previously generated layer and selective local heating of predetermined points of the layer above a sintering or melting temperature and sintering or fusion of the melted points with the underlying layer at the corresponding points and a preliminary Heating of the existing partial metal product and / or a thermal aftertreatment is carried out. It also relates to an arrangement for performing such a method.
  • additive manufacturing or “3D printing”.
  • additive manufacturing or “3D printing”
  • These processes are based in part on melting and solidification steps and then exclude a selective local heating previously applied layers of starting material, which is also referred to here as “point-by-point” or “point-by-point scanning” heating.
  • a coordinate control is usually carried out via the Layers of raw material, movable laser beam or electron beam are used.
  • LMB laser beam processes
  • starting material cannot easily be recovered and used to manufacture further products, so that the use of the starting material in such processes leaves something to be desired.
  • the finished products have to be subjected to a subsequent thermal treatment (tempering, annealing) to relieve tension due to the selective thermal loads that occur in the manufacturing process.
  • a subsequent thermal treatment titanium, annealing
  • this takes a considerable amount of time and thus significantly reduces the productivity of the laser-based processes.
  • Electron beam processes require a lot of equipment and are currently only economically replaceable for products with relatively small dimensions and are therefore relatively little used. With them
  • the invention is based on the object of specifying an improved method of the generic type and an arrangement for its implementation, with which high productivity, economical use of materials and moderate energy consumption and thus overall reduced product costs
  • a thermal aftertreatment immediately after local melting is equally area or
  • Another idea of the invention is to perform the preheating or post-heating not spot-wise as in the established electron beam methods, but rather over a relatively large area (compared to the spot diameter of an electron beam).
  • the preheating should take place over an area of at least 5 mm 2 , more particularly of more than 20 mm 2 and even more particularly of more than 100 mm 2 .
  • Various contours of the radiation spot can be realized here, but from a practical point of view this will generally be rectangular. With a rectangular radiation spot, a scanning pre-heating or post-heating of the entire surface of the respective starting material layer can be implemented reliably and with relatively little control effort and with a short treatment tent.
  • Infrared (IR) radiation available at very low cost is used as the energy source, this expressly including the use of near-IR radiation, that is to say those with a radiation density maximum in the wavelength range between 0.8 and 1.5 mhi.
  • IR radiation Infrared
  • a combination with ceramic or other non-metallic powder is also possible.
  • the process can also be carried out with filament-shaped starting materials or as granules.
  • the IR radiation is sequentially in sections
  • Sections of the total area of the respective starting material layer are irradiated, the selective local heating via the sintering or
  • Melting temperature is carried out for predetermined points within a preheated section.
  • the pre-heating or voltage-reducing area after-heating thus “wanders” in particular in preparation and accompanying with the local heating via the sintering or melting temperature over the surface of the particular one to be treated
  • stripe-shaped i.e. the shape of a narrow rectangle
  • the geometry of the radiation spot is adjusted by choosing a reflector with a suitable geometry in accordance with the parameters of the IR emitter or NIR emitter used in such a way that the power density achieved meets the process requirements.
  • An important aspect here is that driving over the entire surface with the radiation spot to be preheated is coordinated with the subsequent selective local (selective) heating of the material for sintering and melting. The whole process should be in the interest of a high
  • the power density of the IR radiation irradiated over a large area or “migrating” on the surface of the uppermost starting material layer is above 1 MW / m 2
  • the radiation from at least one halogen radiator, in particular a plurality is considered to be near IR radiation Halogen lamps, with a lamp temperature of up to 3200 K, in particular in the range from 2900 K to 3200 K, are used.
  • the preheating according to the invention enables the application of much thicker layers of material than in the previous EBM processes, from the current point of view a thickness of more than 150 mm, more particularly of more than 300 mm and even more particularly of more than 500 mm.
  • the invention ensures that the starting material layers dimensioned in this way are completely warmed and, if necessary, also sufficient heat conduction into an underlying layer for better connection of the successive layers or to their layers
  • a temperature setting in the range between 600 and 800 ° C appears for the processing of titanium alloys and in the range between 1000 and 1200 ° C for nickel-based alloys or so-called super alloys.
  • the proposed solution enables a significant reduction in process times, both in relation to the layer and in relation to an overall product, in the order of 50% or more.
  • This device has an IR irradiation device for irradiation of IR radiation with a high power density on a predetermined area
  • Area areas should be considered, especially if the technology is made applicable to products that are significantly larger than those produced.
  • the IR irradiation device can have a smaller footprint than the work table and can also be positioned diagonally above or even laterally from this.
  • the NIR irradiation device When using the present invention in the context of the EBM process, which is carried out in a high vacuum, the NIR irradiation device
  • the special NIR radiation device has at least one rod-shaped (linear)
  • Halogen emitters in particular a plurality of halogen emitters, with an associated reflector in such a way that the radiation from the or each infrared emitter is concentrated in the direction of the work table.
  • the IR irradiation device can also comprise an array of high-performance NIR laser diodes, and in such an embodiment it is also possible to largely dispense with special reflectors.
  • the plurality of halogen spotlights with an associated reflector are mounted above the work table in a position-controlled manner in at least one axis direction of an XY plane.
  • Execution serves to implement a process control in which the preheating is carried out only for a specific Tell surface section of the metal product being created and this area “wanders” over the surface to be processed.
  • the plurality of halogen spotlights with an associated reflector are attached in a stationary manner or at most vertically adjustable above the work table.
  • the means for effecting a selective local heating of predetermined points include a previously applied point
  • the invention provides, at least in certain embodiments, several significant advantages over methods according to the prior art.
  • the heating essentially only enables the last starting material layer immediately before local sintering or melting to heat large workpiece volumes, and is therefore basically energy-saving and reduces the thermal load on the overall device.
  • the procedure according to the invention reduces the permanent action of relatively high temperatures on areas not sintered or fused according to the program of starting material layers processed in earlier method steps and thus unintentional softening and
  • the invention enables improved drying of the starting material as the basis for a qualitatively improved melting or sintering process, and there also appears to be a positive influence on the conductivity of the metal powder with regard to the to result in subsequent selective exposure to the electron beam, in particular in the sense of accelerating the desired changes compared to electron beam preheating.
  • the invention further provides the advantages of a substantial time and cost saving through the extensive elimination of such support structures and thus also the elimination of the post-processing steps for their removal. Equally serious is the time saved and the resulting productivity advantage due to the elimination or at least the shortening of a total thermal post-processing of the finished product to relieve tension.
  • FIG. 1 shows a sketch of an arrangement 100 for the additive manufacturing of a spatial metal product P (which is still incompletely shown here), which is formed from a metal powder bed 101 by means of layer-wise application of metal powder and scanning local heating of the individual layers
  • the arrangement comprises a work table 103, on which the
  • a powder application device for feeding metal powder into the actual work area comprises a stamp 105 which can be moved vertically in the direction of arrow B, that is to say in the opposite direction to arrow A, and a powder application doctor 107 which can be moved in the direction of arrow C and on the stamp 105 Metal powder 109 taken up as a supply in individual layers
  • predetermined thickness in the work area ie in the figure to the right in the powder bed 101. It is pointed out that the means for the successive application of powder layers to the work table, the metal powder bed 101 formed there are shown only by way of example and symbolically in the figure; The actual execution of this step in the implementation of the invention can take place according to established techniques.
  • An NIR radiation source 111 which in the example is formed by a single halogen lamp purple and an associated reflector 111b, is positioned above the working area. As symbolized by the arrows D1 and D2, the NIR radiation source 111 can be moved laterally back and forth over the powder bed 101 and serves to preheat the respectively irradiated sections of the powder bed to a temperature below a sintering or melting temperature
  • Metal powder is also used for thermal aftertreatment
  • the NIR radiation source 111 can also comprise a plurality of halogen lamps with a reflector which is then appropriately shaped.
  • Deflection unit 115 is arranged above the work area. The
  • Deflection unit 115 directs an electron beam E generated by the electron beam tube 113 to any one, through manufacturing drawings of the
  • Metal product P with respect to its individual layers predetermined points on the surface of the preheated powder bed 101.
  • the powder bed 101 preheated by the NIR radiation on its surface is heated above the sintering or melting temperature at the impact points predetermined according to the product geometry. This will make one in those places Sintering with the respective underlying layer and thus the next layer of the metal product P is formed.
  • the metal powder 109 remains in those places where it does not have the sintered or
  • Electron tube 113 the performance of the
  • the entire arrangement is accommodated in a vacuum chamber 117, which is assigned a vacuum generator 119 for generating a high vacuum in the vacuum chamber during the manufacturing process of a product.

Landscapes

  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • General Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Powder Metallurgy (AREA)

Abstract

L'invention concerne un procédé d'impression de métal 3D destiné à fabriquer un produit métallique tridimensionnel sensiblement à partir d'une poudre métallique ou d'un filament métallique comme matériau de départ. La poudre ou les filaments sont agencés en couches par application de couches de matériau de départ sur une couche respective précédemment générée et par chauffage local sélectif de points prédéterminés de la couche au-dessus d'une température de frittage ou de fusion de la poudre et par frittage ou fusion des points fondus avec la couche sous-jacente et par recuit éventuel des points. Au moins la couche de matériau de départ à chaque fois nouvellement appliquée est préchauffée par irradiation sensiblement bidimensionnelle avec un rayonnement IR de façon à former un spot de rayonnement ayant une surface d'au moins 5 mm2, plus particulièrement de plus de 20 mm2 et plus spécifiquement de plus de 100 mm2, et/ou post-traitée après le chauffage local des points spécifiés pour la compensation des contraintes thermiques.
EP19762302.8A 2018-08-16 2019-08-09 Procédé d'impression de métal 3d et dispositif associé Pending EP3837070A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018120015.3A DE102018120015A1 (de) 2018-08-16 2018-08-16 3D-Metalldruckverfahren und Anordnung für ein solches
PCT/DE2019/100723 WO2020035109A1 (fr) 2018-08-16 2019-08-09 Procédé d'impression de métal 3d et dispositif associé

Publications (1)

Publication Number Publication Date
EP3837070A1 true EP3837070A1 (fr) 2021-06-23

Family

ID=67840890

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19762302.8A Pending EP3837070A1 (fr) 2018-08-16 2019-08-09 Procédé d'impression de métal 3d et dispositif associé

Country Status (6)

Country Link
US (1) US20210178487A1 (fr)
EP (1) EP3837070A1 (fr)
JP (1) JP7170142B2 (fr)
CN (1) CN112839758A (fr)
DE (1) DE102018120015A1 (fr)
WO (1) WO2020035109A1 (fr)

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DE102020112719A1 (de) * 2020-05-11 2021-11-11 Pro-Beam Gmbh & Co. Kgaa Verfahren sowie Anlage zum Bearbeiten eines pulverförmigen Werkstoffes zur additiven Herstellung eines Werkstücks
US11925981B2 (en) * 2020-06-29 2024-03-12 Arcam Ab Method, apparatus and control unit for selectively sintering a powder layer in additive manufacturing processes to achieve a future, desired heat conductivity
CN113591300B (zh) * 2021-07-29 2024-03-15 深圳市创想三维科技股份有限公司 3d打印文件的生成方法、装置、计算机设备和存储介质
CN114851549B (zh) * 2022-05-14 2024-01-26 重庆理工大学 一种选择性激光烧结成形的产品制造方法
CN115229206B (zh) * 2022-07-20 2023-07-21 成都飞机工业（集团）有限责任公司 电子束选区熔化3d打印零件的方法、存储介质和电子设备

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Also Published As

Publication number Publication date
DE102018120015A1 (de) 2020-02-20
WO2020035109A1 (fr) 2020-02-20
JP7170142B2 (ja) 2022-11-11
US20210178487A1 (en) 2021-06-17
JP2021535963A (ja) 2021-12-23
CN112839758A (zh) 2021-05-25

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