EP3887094B1 - Procédé de traitement d'un article abrasif et article abrasif - Google Patents

Procédé de traitement d'un article abrasif et article abrasif Download PDF

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Publication number
EP3887094B1
EP3887094B1 EP19805949.5A EP19805949A EP3887094B1 EP 3887094 B1 EP3887094 B1 EP 3887094B1 EP 19805949 A EP19805949 A EP 19805949A EP 3887094 B1 EP3887094 B1 EP 3887094B1
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EP
European Patent Office
Prior art keywords
abrasive article
release agent
agent dispersion
abrasive
dispersion
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
EP19805949.5A
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German (de)
English (en)
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EP3887094A1 (fr
Inventor
Johannes Huber
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.)
Robert Bosch GmbH
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Robert Bosch GmbH
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Publication date
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Publication of EP3887094A1 publication Critical patent/EP3887094A1/fr
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    • 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

Definitions

  • the invention relates to a method for treating an abrasive article, wherein a release agent dispersion is applied to produce a top layer on at least one surface of the abrasive article intended for grinding, the release agent dispersion having at least one anti-adhesive agent.
  • the invention also relates to a corresponding abrasive article.
  • Methods for treating an abrasive article are already known, for example from US 5,766,277B and US 2,768,886B , wherein a release agent dispersion is applied to produce a top layer at least on the surface of the abrasive article intended for grinding, wherein the release agent dispersion has at least one anti-adhesive agent.
  • the invention is based on a method for treating an abrasive article, in particular a coated abrasive article, wherein a release agent dispersion is applied to produce a top layer on at least one surface of the abrasive article intended for grinding, the release agent dispersion having at least one anti-adhesive agent.
  • an “abrasive article” is used for grinding or abrasive processing of a workpiece, in which material of the workpiece is mechanically removed from the surface of the workpiece in the form of chips.
  • the abrasive article is a coated abrasive article.
  • the abrasive article comprises an abrasive article backing, in particular a flexible one, with at least one layer.
  • the backing for the abrasive article can include, in particular, paper, cardboard, vulcanized fiber, foam, a plastic, a textile structure, in particular a woven fabric, knitted fabric, crocheted fabric, mesh, fleece, or a combination of these materials, in particular paper and fabric, in one or more layers.
  • the abrasive article backing which is particularly flexible, gives the abrasive article specific properties in terms of adhesion, elongation, tear and tensile strength, flexibility and stability.
  • abrasive grits are held in place on the abrasive article backing by a bonding agent (often referred to as a make coat).
  • the abrasive grains are at least pre-fixed, in particular fixed, in a desired position and/or distribution on the abrasive backing.
  • Such prior art binders are typically solvent-based adhesives such as polychloroprenes.
  • another so-called top binder can be used, which is applied in particular in layers over the abrasive grains fixed to the abrasive backing by means of the base binder.
  • the top binder connects the abrasive grains firmly to each other and to the abrasive backing.
  • suitable cover binders from the prior art are well known to those skilled in the art. Synthetic resins, such as phenolic resin, epoxy resin, urea resin, melamine resin, polyester resin, are particularly suitable as top binders.
  • other additives (“abrasive additives") may be provided to impart specific properties to the abrasive article. Such additives are familiar to the person skilled in the art.
  • bonded abrasive articles are typically synthetic resin-bonded cutting and grinding wheels are familiar to the person skilled in the art.
  • synthetic resin-bonded cutting and grinding wheels a mass is mixed from abrasive minerals and fillers, powdered resin and liquid resin, which is then pressed into cutting and grinding wheels of various strengths and diameters.
  • the cutting and grinding wheels also include fabric layers made of glass fiber. The compound typically hardens at approx. 180 °C.
  • advantages according to the invention can also be achieved with such abrasive articles.
  • the abrasive article has a surface intended for grinding, i.e. an abrasive surface, in particular on that side of the abrasive article on which the abrasive grains are fixed and optionally provided with a top binder and/or another additive.
  • abrasive surface of the grinding article is moved over a workpiece to be machined, so that a grinding effect is produced by means of the grinding grains arranged on the abrasive surface.
  • the abrasive article can be in different ready-made forms, for example as a grinding wheel or as an abrasive belt, as a sheet, roll, strip or even as a web of abrasive articles (e.g. in production).
  • a "release agent dispersion" which is applied to the surface of the abrasive article intended for grinding is to be understood in particular as a lubricant dispersion.
  • the release agent dispersion is used to apply substances contained in the dispersion to the surface of the abrasive article, with the substances contained being present as fine, essentially insoluble particles in the dispersion medium (also: dispersant) of the release agent dispersion.
  • the release agent dispersion has water as the dispersion medium.
  • the dispersion medium can also be realized by ethanol, alcohol, an organic solvent or the like.
  • the release agent dispersion is intended to be applied to the surface of the abrasive article and cause a size coating to form on the surface.
  • the release agent dispersion has at least one anti-adhesive agent, in particular as a substance contained in the dispersion medium.
  • anti-seize agent is meant an agent that prevents or reduces the accumulation of chips during a grinding operation.
  • the antiseize agent serves to prevent or reduce accumulation of chips in the spaces between adjacent abrasive grains, which can particularly lead to clogging or loading of the abrasive surface of the abrasive article.
  • the anti-seize agent is used to prevent or reduce the effect of chips sintering, sticking or melting together under the heat generated during a grinding process and melting onto the abrasive surface of the abrasive article and thus also leading to a blockage or clogging of the abrasive surface of the abrasive article (As is often the case, for example, with plastics, plastic paints or the like that are to be ground). In this way, a cutting ability and in particular a service life (life) of the abrasive article is advantageously improved.
  • the anti-adhesive agent serves as a kind of lubricant between the abrasive article and the workpiece surface to be machined during a grinding operation.
  • the release agent may include metal salts of fatty acids (e.g., zinc stearate or calcium stearate), salts of phosphate esters (e.g., potassium behenyl phosphate), phosphate esters, urea-formaldehyde resins, waxes, mineral oils, crosslinked silanes, crosslinked silicones, fluorochemicals, and/or combinations thereof.
  • fatty acids e.g., zinc stearate or calcium stearate
  • salts of phosphate esters e.g., potassium behenyl phosphate
  • phosphate esters e.g., potassium behenyl phosphate
  • phosphate esters e.g., urea-formaldehyde resins
  • waxes e.g., mineral oils, crosslinked silanes, crosslinked silicones, fluorochemicals, and/or combinations thereof.
  • anti-stick agents are often made from fats containing a mixture of fatty acids.
  • an anti-adhesion agent - referred to in the literature as "stearate” - can also contain calcium salts of other fatty acids, for example palmitate, myristate or laurate.
  • the release agent typically does not dissolve in the dispersing medium of the release agent dispersion (e.g., water), so that a release agent dispersion containing the release agent is present. This "float", especially the finest, anti-adhesive particles in the dispersion medium release agent dispersion. In this sense, the anti-adhesion agent or the anti-adhesion agent particles are present as fine, essentially insoluble particles in the dispersion medium of the release agent dispersion.
  • the release agent dispersion has at least one film-forming agent, in particular a film-forming agent and/or a gap-filling agent.
  • the film-forming agent can be used to treat an abrasive article so that no streaks or streaks remain on the surface thereof as residue from a coating of the release agent.
  • a “film-forming agent” is understood to mean a substance that is suitable and, in particular, also intended to create a bond between individual anti-adhesive particles on the surface of the abrasive article and/or to close gaps between individual anti-adhesive particles on the surface of the abrasive article.
  • the cover layer no longer has any individual anti-adhesion agent particles capable of refraction.
  • film-forming agent which brings about the dissolving and bonding of (two or more) adjacent anti-adhesive particles.
  • film-forming agent causes adhering and filming (ie film formation) of adjacent anti-adhesion agent particles.
  • this dissolving, connecting, sticking (also to be characterized as melting) and/or filming of adjacent anti-adhesive particles occurs at advantageously low temperatures between 0 °C and 100 °C, in particular between 15 °C and 80 °C, especially between 30 °C and 60 °C possible.
  • the filming agent thus acts in the same way as an adhesive, which dissolves the materials of objects to be connected close to the surface and then dries.
  • a film-forming agent that causes gaps between adjacent anti-adhesion agent particles to be filled is referred to as a “gap-filling agent”.
  • a gap filler has a refractive index similar to that of the anti-adhesion agent particles, so that there is no or only very little refraction of light at the gap-filler-filled points between adjacent anti-adhesion agent particles, and thus the gap-filler also contributes to the production of an optically transparent (or occasionally translucent), but homogeneous top layer serves.
  • the film-forming agent has at least one component that is suitable for dissolving anti-adhesive particles.
  • the component can, for example, be selected from a list, the list including at least organic acids, alcohols, amines, phosphines, lactic acid, acetic acid, salts of lactic acid, salts of acetic acid, in particular ammonium salts of lactic acid (ammonium lactate) or ammonium salts of acetic acid (ammonium acetate), polyethyleneimine, polyethylene glycol, urea, and mixtures thereof.
  • Polyethyleneimine in particular, has good properties as a film-forming agent, particularly as a film-forming agent, since it solidifies after treatment of the abrasive article and does not diffuse, particularly does not diffuse into the abrasive article.
  • Polyethylene glycol has proven to be a beneficial gap filler.
  • Urea which is partially dissolved by one of the film-forming agents mentioned, is also suitable as a good gap filler.
  • the release agent dispersion contains at least one surfactant.
  • surfactants are useful in achieving good leveling, i.e., good spreading, of the release agent dispersion on the surface of the abrasive article while the abrasive article is being treated in the method of the present invention.
  • a surfactant leads to an advantageous leveling out of the amounts of release agent dispersion applied to the surface if the release agent dispersion is not applied homogeneously over the surface (self-levelling). This equalization takes place through the flow of the release agent dispersion.
  • the release agent dispersion is applied to the surface of the abrasive article at a temperature of the abrasive article between 0°C and 100°C, in particular between 15°C and 80°C, more particularly between 30°C and 60°C.
  • a temperature above 0°C will result in the evaporation of the water dispersion medium, leaving the release agent and film-forming agent on the surface of the abrasive article - with a gap filler filling gaps between release agent particles and/or a filming agent dissolving and bonding adjacent release agent particles - and thus the optical homogeneous top layer is formed.
  • the higher the temperature selected the faster the evaporation of the dispersion medium takes place.
  • the release agent dispersion is applied to the surface of the abrasive article during the manufacturing process of the abrasive article, particularly after a step of heating the abrasive article, most particularly before a step of cooling the abrasive article. Accordingly, in order to maintain the recommended temperatures, it is sufficient to treat the abrasive article while it is still warm during or immediately after its manufacture—during which heating to typically over 70-140° C. takes place to harden the binder.
  • Heating means heating of the abrasive article well above room temperature, ie above 30°C, in particular above 50°C, very particularly above 70°C. According to the invention, residual heat that is still present in the grinding article can be used and there is no need to reheat the grinding article in a heating oven in a (further) process step or process step of a post-processing necessary.
  • the term “manufacturing method” is to be understood as meaning the sequence of method steps or process steps that serve to manufacture and provide the abrasive article.
  • these method/process steps may be given by (1) applying make binder to an abrasive article backing, (2) sprinkling abrasive grits onto the make binder-covered abrasive article backing, (3) curing the make binder, (4) applying a size binder, ( 5) drying and/or curing the abrasive article so produced while heating the abrasive article, (6) cooling the abrasive article, and (7) fabricating (stamping or laser cutting) the abrasive article.
  • the release agent dispersion can be applied to the surface of the abrasive article during the manufacturing process of the abrasive article, in particular after the heating process step (5) for drying and/or curing the abrasive article (also: drying process step), particularly before the cooling process step (6) of the dried/cured abrasive article are applied and the residual heat in the abrasive article can be used in this way.
  • the method according to the invention can be integrated in an existing process chain of the manufacturing method and a corresponding process landscape, for example in an existing production plant, without the need for additional, particularly complex machines or restructuring in the process chain and/or process landscape.
  • the release agent dispersion can be applied "in-line" directly to an abrasive product belt (so-called web) that has been heated in advance to dry and harden the binder and is moving through a production plant, with the dispersion medium water of the release agent dispersion evaporating and filming of the surface takes place to form the top layer.
  • the top layer produced by applying the release agent dispersion to the surface of the abrasive article in the method step for cooling the abrasive article with a be dried in an air stream. This intensifies the cooling effect on the abrasive article and at the same time speeds up the drying of the top coat.
  • the release agent dispersion can be applied to the surface of the abrasive article by means of a knife, roller, imprint, brush, or the like.
  • the release agent dispersion is applied to the surface of the abrasive article using a pulsed spray.
  • Pulsed spraying i.e. repeated spraying with short breaks (intermittent spraying) - makes dosing easier because the pressure and associated droplet formation of the release agent dispersion applied to the surface of the abrasive article remains constant.
  • the amount of release agent dispersion sprayed can easily be changed by varying the opening time of the spray valve (e.g. changing the opening time from 10 milliseconds to 50 milliseconds per pulse).
  • the spraying process is carried out cleanly, an otherwise necessary cleaning of the glue boat and applicator roller(s) can be avoided.
  • the release agent dispersion has a solids content of between 20% and 60%, in particular between 25% and 50%, very particularly between 30% and 40%.
  • the values according to the invention represent advantageous solids contents for processing the release agent dispersion.
  • a particularly high solids content makes it possible to achieve a high density of sprayed anti-adhesive particles on the surface of the abrasive article.
  • a low solids content i.e. a low-viscosity or free-flowing property
  • a release agent dispersion sprayed onto the surface with a low solids content can be better distributed on or over the surface (by running). In one embodiment, the solids content can be 33%.
  • the invention also relates to an abrasive article treated by a method of the invention.
  • FIG 1 shows a detail of an exemplary embodiment of an abrasive article 10 according to the invention with abrasive grains 12 in a schematic sectional view.
  • the abrasive article 10 in the illustrated embodiment is a coated abrasive article 10 having an abrasive article backing 22 made of vulcanized fiber.
  • the vulcanized fiber abrasive backing 22 serves as a flexible backing for the abrasive grains 12.
  • Vulcanized fiber is a composite material made of wood pulp, particularly cotton or cellulosic fibers, and is well known to those skilled in the art as a flexible backing for abrasive articles.
  • the abrasive grains 12 are attached to the abrasive article backing 22 by means of a binding agent 20, in particular a basic binding agent 24, which is implemented, for example, as phenolic resin.
  • the layer of base binder 24 and abrasive grains 12 is additionally coated with a top binder 26 (the top binder 26 also represents a binder 20), in particular also made of phenolic resin.
  • the abrasive article 10 is treated in accordance with the method of treating an abrasive article 10 of the present invention by applying an additional size coat 30 to the surface 28 of the abrasive article 10 that is to be abraded.
  • the top layer 30 is applied by using the method 100 according to the invention, cf. figure 2 .
  • FIG 2 1 is a process diagram illustrating one embodiment of the method 100 of the present invention for treating an abrasive article 10, wherein treating the abrasive article 10 includes applying a release agent dispersion to at least one surface 28 of the abrasive article 10 to form a size coat 30.
  • a release agent dispersion which has at least one anti-adhesive agent, is provided.
  • the release agent dispersion also has a surfactant.
  • This release agent dispersion has water as the dispersion medium, for example, and a stearate, in particular a calcium stearate, as the anti-adhesion agent.
  • the release agent dispersion has a solids content of between 30% and 40%, for example 35%.
  • the release agent dispersion is added to the release agent dispersion provided.
  • the mixing takes place in particular by mixing or stirring the mixture of release agent dispersion and film-forming agent.
  • the film-forming agent has, in particular, a film-forming agent and/or a gap-filling agent.
  • the film forming agent is a mixture of lactic acid and polyethylene glycol.
  • the release agent dispersion mixed with the film-forming agent is applied to the at least one surface 28 of the abrasive article 10.
  • the application takes place by pulsed spraying onto the surface 28 of the abrasive article 10 using at least one atomizer nozzle (not shown in detail here).
  • the pulsed spraying is carried out by repeated intermittent spraying at an average frequency of 20 Hz, with valve opening times of around 20 milliseconds.
  • FIG. 10 is a process diagram illustrating an example integration of the method 100 of the present invention figure 2 in a manufacturing process 200 of an abrasive article 10 is rendered.
  • the manufacturing process 200 includes at least the following method steps.
  • an abrasive article backing 22 for example made of vulcanized fiber
  • a base binder 24 is applied to the abrasive article backing 22, for example by squeegee or roller.
  • abrasive grits are sprinkled onto the make coat-covered abrasive article backing 22, such as by means of electrostatic gritting, as is known in the art.
  • the base binder 24 is first hardened and then, in method step 210, coated with a top binder 26, in particular by rolling or brushing on.
  • method step 212 the abrasive article 10 realized in this way is dried/cured (in particular, the top binder 26 is also cured) by being guided through a heating oven and heated up in the process.
  • the heating furnace is heated to 120 °C, for example.
  • method steps of method 100 according to the invention can be carried out, in particular method steps 102 to 104, as in figure 3 (alternatively, these method steps 102 to 104 can also be carried out before or after the method steps 202 to 212 are carried out).
  • the release agent dispersion is applied to the surface 28 of the abrasive article 10 intended for grinding, ie method step 106 of the method is carried out figure 2 .
  • the release agent dispersion comprises at least one anti-adhesive agent and one film-forming agent, possibly a surfactant.
  • the abrasive article 10 has a temperature of approximately 50°C. As described, the application takes place by means of pulsed spraying (see above for method step 106).
  • the top layer 30 produced by applying the release agent dispersion to the surface 28 of the abrasive article 10 is dried in a process step 216 for cooling (cooling process step) the still warm abrasive article 10 with an air stream, with the still warm Abrasive article 10 is cooled and at the same time the water dispersion medium of the release agent dispersion applied to the surface evaporates.
  • the film-forming agents, ie the gap-filling agent and the film-forming agent act through the residual heat and form an optically homogeneous, ie streak-free, top layer.
  • the grinding article 10 realized in this way can be finished in method step 218, for example by punching or laser cutting.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Polishing Bodies And Polishing Tools (AREA)

Claims (8)

  1. Procédé de traitement d'un article abrasif (10), notamment d'un article abrasif revêtu (10), une dispersion d'agent de séparation étant appliquée au moins sur une surface (28) de l'article abrasif (10) prévue pour le meulage pour produire une couche de recouvrement (30), la dispersion d'agent de séparation présentant au moins un agent antiadhérent, caractérisé en ce que la dispersion d'agent de séparation présente en outre au moins un agent filmogène, notamment un agent de filmage et/ou un agent de remplissage de vide.
  2. Procédé selon la revendication 1, caractérisé en ce que la dispersion d'agent de séparation contient au moins un tensioactif.
  3. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la dispersion d'agent de séparation est appliquée sur la surface (28) de l'article abrasif (10) à une température de l'article abrasif (10) comprise entre 0 °C et 100 °C, notamment entre 15 °C et 80 °C, tout particulièrement entre 30 °C et 60 °C.
  4. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la dispersion d'agent de séparation présente une teneur en matières solides comprise entre 20 % et 60 %, notamment entre 25 % et 50 %, tout particulièrement entre 30 % et 40 %.
  5. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la dispersion d'agent de séparation est appliquée sur la surface (28) de l'article abrasif (10) au moyen d'une pulvérisation pulsée.
  6. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la dispersion d'agent de séparation est appliquée sur la surface (28) de l'article abrasif (10) pendant le procédé de fabrication de l'article abrasif (10), notamment après une étape de procédé de chauffage (212) de l'article abrasif (10), tout particulièrement avant une étape de procédé de refroidissement (216) de l'article abrasif (10).
  7. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la couche de couverture (30) produite par application de la dispersion d'agent de séparation sur la surface (28) de l'article abrasif (10) est séchée par un courant d'air dans une étape de procédé de refroidissement (216) de l'article abrasif (10).
  8. Article abrasif (10), traité par un procédé selon les revendications précédentes, une dispersion d'agent de séparation étant appliquée au moins sur une surface (28) de l'article abrasif (10) prévue pour le meulage afin de produire une couche de recouvrement (30), la dispersion d'agent de séparation présentant au moins un agent antiadhérent, caractérisé en ce que la dispersion d'agent de séparation présente en outre au moins un agent filmogène, notamment un agent de filmage et/ou un agent de remplissage de vide.
EP19805949.5A 2018-11-30 2019-11-18 Procédé de traitement d'un article abrasif et article abrasif Active EP3887094B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018220672.4A DE102018220672A1 (de) 2018-11-30 2018-11-30 Verfahren zur Behandlung eines Schleifartikels sowie Schleifartikel
PCT/EP2019/081588 WO2020109042A1 (fr) 2018-11-30 2019-11-18 Procédé de traitement d'un article abrasif et article abrasif

Publications (2)

Publication Number Publication Date
EP3887094A1 EP3887094A1 (fr) 2021-10-06
EP3887094B1 true EP3887094B1 (fr) 2022-10-26

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EP19805949.5A Active EP3887094B1 (fr) 2018-11-30 2019-11-18 Procédé de traitement d'un article abrasif et article abrasif

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US (1) US20220193865A1 (fr)
EP (1) EP3887094B1 (fr)
CN (1) CN113365783B (fr)
DE (1) DE102018220672A1 (fr)
WO (1) WO2020109042A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020209521A1 (de) * 2020-07-29 2022-02-03 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Herstellung eines strukturierten Schleifartikels sowie Schleifartikel
DE102020209520A1 (de) 2020-07-29 2022-02-03 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Behandlung eines Schleifartikels sowie Schleifartikel
EP3960370A1 (fr) * 2020-08-31 2022-03-02 Hermes Schleifmittel GmbH Procédé d'application d'un revêtement de substance active sur un abrasif
USD1016110S1 (en) * 2021-09-01 2024-02-27 Tokyo Diamond Tools Mfg. Co., Ltd. Rotary disc grinding stone

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2768886A (en) 1954-06-29 1956-10-30 Norton Co Sandpaper
US4988554A (en) * 1989-06-23 1991-01-29 Minnesota Mining And Manufacturing Company Abrasive article coated with a lithium salt of a fatty acid
WO1997042007A1 (fr) * 1996-05-08 1997-11-13 Minnesota Mining And Manufacturing Company Articles abrasifs dotes d'un composant anti-encrassement
US5766277A (en) 1996-09-20 1998-06-16 Minnesota Mining And Manufacturing Company Coated abrasive article and method of making same
US6261682B1 (en) * 1998-06-30 2001-07-17 3M Innovative Properties Abrasive articles including an antiloading composition
FR2820666B1 (fr) * 2001-02-14 2003-04-11 Arjo Wiggins Sa Support autoagrippant pour un produit abrasif applique et procede de fabrication dudit produit abrasif l'incorporant
JP2008266397A (ja) * 2007-04-18 2008-11-06 Three M Innovative Properties Co 研磨材用目詰まり防止組成物及び目詰まり防止皮膜を有する研磨材
US10759023B2 (en) * 2015-12-30 2020-09-01 3M Innovative Properties Company Abrasive articles and related methods

Also Published As

Publication number Publication date
WO2020109042A1 (fr) 2020-06-04
DE102018220672A1 (de) 2020-06-04
US20220193865A1 (en) 2022-06-23
CN113365783B (zh) 2023-10-20
CN113365783A (zh) 2021-09-07
EP3887094A1 (fr) 2021-10-06

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