EP3901347A1 - Elliptische nadelwebmaschine mit abgedichtetem gehäuse und schwenkendem kreuzschienen-führungstopf - Google Patents

Elliptische nadelwebmaschine mit abgedichtetem gehäuse und schwenkendem kreuzschienen-führungstopf Download PDF

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Publication number
EP3901347A1
EP3901347A1 EP21169002.9A EP21169002A EP3901347A1 EP 3901347 A1 EP3901347 A1 EP 3901347A1 EP 21169002 A EP21169002 A EP 21169002A EP 3901347 A1 EP3901347 A1 EP 3901347A1
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EP
European Patent Office
Prior art keywords
column
drive means
connecting rod
rod
axis
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.)
Granted
Application number
EP21169002.9A
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English (en)
French (fr)
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EP3901347C0 (de
EP3901347B1 (de
Inventor
Frédéric DEMANGE
Eric Potdevin
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.)
Andritz Asselin Thibeau SAS
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Andritz Asselin Thibeau SAS
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Publication of EP3901347A1 publication Critical patent/EP3901347A1/de
Application granted granted Critical
Publication of EP3901347C0 publication Critical patent/EP3901347C0/de
Publication of EP3901347B1 publication Critical patent/EP3901347B1/de
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Classifications

    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04H—MAKING TEXTILE FABRICS, e.g. FROM FIBRES OR FILAMENTARY MATERIAL; FABRICS MADE BY SUCH PROCESSES OR APPARATUS, e.g. FELTS, NON-WOVEN FABRICS; COTTON-WOOL; WADDING ; NON-WOVEN FABRICS FROM STAPLE FIBRES, FILAMENTS OR YARNS, BONDED WITH AT LEAST ONE WEB-LIKE MATERIAL DURING THEIR CONSOLIDATION
    • D04H18/00—Needling machines
    • D04H18/02—Needling machines with needles

Definitions

  • the present invention relates to a needling machine for consolidating by needling a web or a web of fibers, in particular of nonwoven, comprising at least one needle board, in front of which the web or the web of fibers passes while moving in a direction of advance or machine direction or MD, and drive means configured to give at least one column secured to the at least one needle board and / or the needles a back and forth movement in the perpendicular direction or substantially perpendicular to the plane of the web or web so that the needles pass in one direction, then in the other, the web or the web of fibers, having an elliptical path.
  • the needle board is there integral with a rod or column which extends along a longitudinal axis and which passes through the wall of a casing by means of a guide pot in which it slides, while having a movement at both vertical and in the MD direction to thereby give the needles an elliptical path movement, the pot being arranged so as to be able to pivot with respect to an axis extending in the CD direction (i.e. perpendicular to both in the vertical direction and in the MD direction).
  • This prior art needling device has the advantage of being able to be received in large part, namely the major part of the column and the column drive means, in a sealed casing allowing lubrication of the various parts. and mechanical joints to ensure increased longevity and reliability of the installation.
  • this needling device has the drawback of being of a complex structure, requiring in particular means for producing a phase shift between two eccentric shafts which drive the column to give it an elliptical path movement.
  • a needling device comprising a needle board, a column secured to the needle board, drive means configured to impart to the column an elliptical reciprocating movement, a housing in which are received a part of the column and a part of the drive means, and a sleeve disposed in an opening of the casing, the column passing through the casing via the sleeve.
  • the casing is not sealed and part of the drive means, namely those intended to impart a transverse movement in the MD direction, are outside the casing.
  • a needling device for consolidating by needling a web or a sheet of fibers, in particular of nonwoven is as defined in claim 1.
  • a system is thus obtained which is less complex than those of the prior art, in particular from a mechanical point of view, and which is also more compact.
  • it is no longer necessary to carry out a phase shift between two eccentric shafts.
  • the possibility of integrating all the drive means in a sealed casing allowing the lubrication of the various mechanical parts is preserved and even increased, thus ensuring a great longevity and reliability of the installation.
  • the transverse drive means comprise a control device, which in itself constitutes an invention independent of the invention described above, but which can be combined with the latter, and which comprises: a drive rod adapted to be coupled to the needles and / or to the needle board and / or to an element integral with the board or to the needles and / or to a tilting pot to impart to them a back and forth movement in one direction mainly parallel to the MD direction or parallel to the MD direction, an eccentric shaft and a connecting rod, the eccentric shaft driving the connecting rod in rotation along an axis of rotation, in particular which extends in the direction CD perpendicular to the direction MD and in the vertical direction, and the connecting rod being connected to the connecting rod by means of a element forming an intermediate lever, in one piece or made up of several pieces which are not articulated together, pivoting relative to a pivot axis, in particular parallel to the axis of rotation of the eccentric shaft, the lever being articulated on the one hand directly to the connecting rod, in particular along an axis parallel to
  • control device comprises means for adjusting the reciprocating stroke of the drive rod.
  • the adjustment means adjust the distance between the pivot axis of the lever and the drive rod and / or the distance between the pivot axis of the lever and the rod.
  • the adjustment means comprise a slide secured to the drive rod or to the pivot axis of the lever or to the axis of articulation of the rod to the lever, the slide and the lever being arranged to allow the slide to slide relative to the lever between several positions, and fixing means for securing the slide to the lever in each of said several positions.
  • the adjustment means comprise a guide slot in which the slide can slide between two extreme positions, in particular a high position in which the drive rod is located at the level of the pivot axis and a low position in which the drive rod is as far as possible from the pivot axis, thus allowing, depending on the position in the slot in which the slide is secured to the lever, an adjustment of the amplitude of the movement back and forth of the rod, in particular between a zero amplitude (stationary rod) and a maximum amplitude.
  • the means for fixing the position of the slide in the slot comprise an adjustment rod connected to an adjustment rod, the adjustment rod being articulated to an auxiliary eccentric shaft. adjustment, the rotation of the auxiliary adjustment shaft allowing the adjustment and fixing of the position of the slide in the slot.
  • the means for fixing the position of the slide in the slot comprise an adjustment rod integral with a spiral cam comprising a disc driven in rotation by an auxiliary adjustment shaft in which a slot is formed. spiral along which the adjustment rod can move.
  • the means for fixing the position of the slide in the slot comprise an adjustment rod connected to an adjustment rod driven by a jack, allowing linear movement of the adjustment rod, the adjustment rod being pivoting relative to the axis of the adjustment rod.
  • FIG. 1 there is shown a first embodiment of a needling machine according to the invention.
  • the housing is shown in a sectional view and the rest of the needling machine in a front view, part of the guide pot being cut away.
  • This needling machine comprises a needle board 10 comprising needles 1 projecting from the underside of the board being arranged either in rows and columns, or in a random or pseudo-random manner, as is well known in the field.
  • the needle board 10 is carried by a beam 2, called a movable beam.
  • the beam 2 and board 10 are integral with one another, but in a removable manner, to allow, when the needles are worn and / or broken, to easily replace a board with a new board.
  • the needles are intended to have a reciprocating movement with an elliptical trajectory perpendicular or substantially perpendicular to the plane of the web or the web, in particular from top to bottom and from bottom to top to cross in one direction, then in the another, a sheet or a web of fibers which is passed in front of them in a feed direction or MD, namely from left to right in the horizontal direction in the figure.
  • a longitudinal column 3 extending along a longitudinal axis 11 perpendicular to the plane of the board is secured to the mobile beam 2, so that the movements of the column 3, the mobile beam 2, the needle board 10 and the needles are identical, namely with the same elliptical path.
  • Drive means are provided to impart to the column 3 (and therefore also to the needle board 10, to the mobile beam 2 and to the needles 1) a movement having a component in a direction parallel to the longitudinal axis 11 and a component in the direction MD, so as to have an elliptical trajectory as shown in figure 1 by an ellipse for the needles.
  • a sealed casing 7 encloses the drive means and part of the column 3, the latter passing through the wall of the casing 7 by passing through a guide pot 4, the interface of which with the casing 7 is sealed by means of a seal, which according to a possible embodiment may take the form of a bellows seal 50.
  • the guide pot 4 is mounted to tilt relative to an axis 5 fixed relative to the housing 7, parallel to the direction CD (perpendicular to the direction MD and to the longitudinal axis 11).
  • the column 3 can slide inside the guide pot 4.
  • Guide rings 16 are arranged on the inner wall of the guide pot 4, to ensure sliding and lubrication between the column 3 and the guide pot 4.
  • the seal between the column 3 and the guide pot 4 is provided by a seal, not shown, fixed to the base of the guide pot.
  • the pin 5 is positioned substantially at the level of the opening of the casing through which the guide pot 4 passes, in particular in the opening.
  • the drive means comprise first longitudinal drive means configured to impart a reciprocating movement to the column in a direction parallel to the longitudinal axis.
  • These first drive means consist of two systems 6 with eccentric shafts 12 and connecting rods 13 and of an intermediate connecting rod 9.
  • the shafts 12 drive the heads of the two connecting rods 13 while rotating (as represented by the two arrows at the top of the figure 1 ) in opposite directions.
  • the feet 14 of the two connecting rods 13 are each articulated at one end of the intermediate connecting rod 9 which extends in the direction MD.
  • the intermediate link 9 further comprises a tab 15 extending centrally downwards. The end of the tab 15 is articulated to the upper end of the column 3.
  • These first longitudinal drive means make it possible to impart to the column 3 a movement only back and forth along the longitudinal axis.
  • Second transverse drive means are also provided in the form of a main rod 8 arranged in the MD direction.
  • One end of the rod 8 is mounted articulated to the guide pot 4, inside the housing 7, at a point 17 at a distance from the axis 5 of rotation of the pot, in particular substantially at the upper end of the pot. It is thus imparted to the guide pot 4 a back and forth oscillation movement which results in the column 3 which passes through it by a back and forth movement in the direction MD, or substantially in the direction MD (as represented by the double arrow above the rod 8 to the figure 1 ).
  • the other end of the connecting rod 8 is coupled to a control system, called an advance system, which may in particular be like those shown below in figures 3 to 5 .
  • a system balancing mass 19 is coupled to the guide pot 4, being fixed to the latter on the side opposite to that where the advance system is located.
  • the advance system being received in the sealed casing, it can be actuated either by an independent motor, or by one of the control shafts 6 of the first vertical drive means, or by a connecting rod mounted directly on an integral eccentric. one of the control shafts 6 of the first drive means.
  • FIG. 2 there is shown another embodiment of a needling machine according to the invention.
  • the housing is shown in a sectional view and the rest of the needling machine in a front view, part of a guide pot being cut away.
  • This needling machine comprises two needle boards 10 'comprising needles 1' projecting from the underside of the board being arranged either in rows and columns, or in a random or pseudo-random manner, as is well known in the art. domain.
  • Each needle board 10 ′ is carried by a respective beam 2 ′, called a movable beam.
  • the needles are intended to have a back and forth movement with an elliptical trajectory from top to bottom and from bottom to top to cross in one direction, then in the other, a web or a veil of fibers that we make walk past it in a feed direction or MD, i.e. from left to right in a horizontal direction to the figure.
  • the two trajectories can be in opposition, that is to say that the two ellipses are mirror images of one another.
  • Drive means are provided to impart to each column 3 '(and therefore also to the needle boards 10', to the mobile beams 2 'and to the needles 1) a movement having a component in a direction parallel to the longitudinal axis 11 'and a component along the direction MD, so as to have an elliptical trajectory as shown in figure 2 by an ellipse for the needles.
  • a sealed casing 7 ' encloses the drive means and part of the columns 3', the latter passing through the wall of the casing 7 'by passing through respective guide pots 4', the interfaces of which with the casing 7 'are sealed by through seals (not shown, but which for example can be made in the form of bellows seals as shown in figure 1A ).
  • Each guide pot 4 ′ is mounted to tilt relative to an axis 5 ′, fixed with respect to the casing 7 ′ and parallel to the direction CD (perpendicular to the direction MD and to the longitudinal axis 11 ′).
  • Each column 3 ' can slide inside the respective guide pot 4'.
  • Guide rings 16 are arranged on the inner wall of each guide pot 4 ', to ensure sliding and lubrication between the column 3' and the respective guide pot 4 '.
  • the seal between the column 3 'and the respective guide pot 4' is ensured by a seal, not shown, fixed to the base of the guide pot.
  • the drive means comprise first longitudinal drive means configured to impart a reciprocating movement to each column in a direction parallel to the longitudinal axis.
  • These first drive means consist of two systems 6 'with eccentric shafts 12' and connecting rods 13 '.
  • the shafts 12 ' drive the heads of the two connecting rods 13' while rotating (as represented by the two arrows at the top of the figure 1 ) in opposite directions.
  • the feet 14 ′ of the two connecting rods 13 ′ are each articulated at one end of a respective column 3 ′.
  • These first vertical longitudinal drive means make it possible to impart to each column 3 ′ a reciprocating movement in a direction mainly parallel to the longitudinal axis.
  • Second transverse drive means are also provided in the form of a main link 8 'and an auxiliary link 9' which are arranged in the direction MD and which are located inside the casing 7 '.
  • One end of the rod 8 ' is mounted articulated to one of the guide pots 4' at a point 17 'at a distance from the axis 5' of rotation of the pot, in particular substantially at the upper end of the pot.
  • the other end of the connecting rod 8 ' is coupled to a drive system, called the advance system, which may in particular be like those shown below in figures 3 to 5 .
  • the auxiliary rod 9 ′ is mounted articulated at its two ends opposite to the respective one of the pots 4 ′.
  • the connecting rod 9 ' is also articulated at the end of the connecting rod 8' articulated at point 17 ', but this is not compulsory, the system also functioning if the ends of the connecting rods 8' and 9 'are not articulated at the same point, the link 8 'being able to be articulated with an independent axis fixed on the guide pot.
  • a mass 19 ′ for balancing the system is coupled to the auxiliary rod 9 ′, being fixed to the latter on the upper side at mid-distance from the two shafts 12 ′.
  • the advance system being received in the sealed casing, it can be actuated either by an independent motor, or by one of the control shafts 12 'of the first vertical drive means, or by a connecting rod mounted directly on an eccentric. integral with one of the control shafts 12 'of the first drive means.
  • a mechanical connection is provided between the main link 8 'and a transverse drive link 51 driven by the eccentric shaft 12' of one of the two systems 6 'with connecting rod and eccentric shaft, for example, as shown in figure 2A , by the eccentric shaft 12 'which also drives the connecting rod 13' articulated to the pot 4 'also connected directly to the connecting rod 8'.
  • an intermediate lever 52 rotatably mounted relative to an axis 53 fixed relative to the housing 7 'and directly articulated, at its two ends, respectively to the connecting rod 51 and to the main connecting rod 8'.
  • first longitudinal drive means are distinct from the second transverse drive means.
  • FIGS. 3 , 3A , 3B , 4A , 4B and 5 there are shown embodiments of a system that can be used to control the reciprocating movement in the MD direction of the rods 8 and 8 ', respectively embodiments of the figures 1 and 2 .
  • this control system is not necessary per se and other systems for controlling the reciprocating movement in the MD direction of the links 8 and 8 'known in the prior art can be used, for example systems. like those described in EP-A1-1736586 , EP-B1-3372716 , FR2738846 , US6161269 and the like.
  • the system comprises an eccentric shaft 21 coupled to a connecting rod 22 mounted articulated directly to a one-piece vertical lever 23 arranged to pivot with respect to a fixed pivot axis 24 offset, in the vertical direction, below the axis of articulation of the connecting rod 22 to the lever 23.
  • a connecting rod 27 is coupled directly to the lever 23.
  • the connecting rod 27 is integral with a slide 25 and one end of a rod 26 whose axis extends parallel to axis 24.
  • the relative position of the rod 26, and therefore also of the connecting rod 27, relative to the pivot axis 24 of the lever along the vertical direction and / or relative to the articulation axis of the connecting rod 22 at the lever can be adjusted by means of an adjustment system consisting of an eccentric shaft 29 auxiliary adjustment and an adjustment rod 28.
  • the adjusting rod 28 is hingedly coupled at its upper end to the eccentric shaft (or crankshaft) 29, while its lower end is pivotally mounted relative to the axis of the rod 26.
  • the lever has an opening in the form of a slot 30, in which slides the slide 25 integral in translation with the rod 26.
  • the amplitude of the back and forth movement of the rod 27 can be varied both when running and at a standstill, the movement reflected from the movement of the crankshaft 21 and of the rod 22 acting on the lever 23.
  • the link 27 it can be secured or articulated to one or the other of the main links 8 and 8 'of the embodiments of the figures 1 and 2 .
  • the distance between the connecting rod 22 and the drive rod 27 is adjusted by adjusting the position along the slot 30 of the axis 31 of articulation of the connecting rod 22 on the lever 23 , which makes it possible to adjust the distance between the axis 31 of articulation of the connecting rod 22 and the fixed pivot axis 24 of the lever, and therefore also to adjust the distance between the axis 31 and the connecting rod 27, the distance between the rod 27 and the axis 24 being, in this variant, fixed, while in the embodiment of the figure 3 , it is the distance between the axis 31 and the axis 24 which is fixed.
  • FIG. 3B there is shown a variant of the arrangement of the figure 3 .
  • the distance between the connecting rod 22 and the driving rod 27 is adjusted by adjusting the position along a slot 30 'formed in the lever 23 of the fixed pivot axis 24 of the lever.
  • the axis 24 of the lever is integral with a slide 25 'slidably mounted in the slot 30'.
  • the connecting rod 22 is articulated to the lever 23 along an articulation axis 31 which is in a fixed position on the lever 23.
  • the articulation end of the connecting rod 27 to the lever 23 is in a fixed position (as in the embodiment of the figure 3 ).
  • the rod 26 coming from the adjusting rod 28 is articulated to the lever 23 in a fixed position.
  • a spiral cam is used, consisting of a disc 40 in which is formed a spiral-shaped slot along which the rod 26 can move.
  • the rod 26 follows the profile of the spiral slot, which has the effect of moving the rod 26 and therefore the slide 25 along the slot 30.
  • a maximum given stroke of back and forth is obtained for the rod 27.
  • FIG. 5 there is shown yet another embodiment, in which a cylinder 41 is used instead of the crankshaft 29 of the figure 3 , the rest of the embodiment being identical.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Transmission Devices (AREA)
  • Nonwoven Fabrics (AREA)
EP21169002.9A 2020-04-23 2021-04-16 Elliptische nadelwebmaschine mit abgedichtetem gehäuse und schwenkendem kreuzschienen-führungstopf Active EP3901347B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR2004057A FR3109586B1 (fr) 2020-04-23 2020-04-23 Aiguilleteuse elliptique à carter étanche et pot de guidage de traversée basculant

Publications (3)

Publication Number Publication Date
EP3901347A1 true EP3901347A1 (de) 2021-10-27
EP3901347C0 EP3901347C0 (de) 2024-07-03
EP3901347B1 EP3901347B1 (de) 2024-07-03

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EP21169002.9A Active EP3901347B1 (de) 2020-04-23 2021-04-16 Elliptische nadelwebmaschine mit abgedichtetem gehäuse und schwenkendem kreuzschienen-führungstopf

Country Status (6)

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US (1) US11505885B2 (de)
EP (1) EP3901347B1 (de)
KR (1) KR20210131253A (de)
CN (1) CN113550077A (de)
FR (1) FR3109586B1 (de)
TW (1) TW202144638A (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202020106554U1 (de) * 2020-11-16 2022-02-17 Autefa Solutions Austria Gmbh Nadelmaschine

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996021764A1 (fr) * 1995-01-12 1996-07-18 Asselin Dispositif d'actionnement alternatif et aiguilleteuse ainsi equipee
FR2738846A1 (fr) 1995-09-15 1997-03-21 Dilo Kg Maschf Oskar Dispositif d'entrainement des barres d'aiguilles d'une aiguilleteuse pour le traitement d'une nappe de feutre non tisse
GB2335931A (en) * 1998-03-31 1999-10-06 Fehrer Textilmasch Needling apparatus with two eccentric drives
US6161269A (en) 1997-07-16 2000-12-19 Oskar Dilo Maschinenfabrik Kg Apparatus for needling non-woven fiber fleece webs
FR2800396A1 (fr) 1999-10-29 2001-05-04 Fehrer Textilmasch Dispositif pour aiguilleter un matelas de fibres
FR2862988A1 (fr) * 2003-11-28 2005-06-03 Fehrer Textilmasch Dispositif d'aiguilletage d'un matelas de fibres
EP1736587A1 (de) * 2005-06-22 2006-12-27 Asselin-Thibeau Nadelmaschine für die Vernadelung eines Vliesses
EP1736586A1 (de) 2005-06-22 2006-12-27 Asselin-Thibeau Verfahren und Vorrichtung zur Vernadelung einer Faserbahn mit zwei Nadelbrettern
EP3372716B1 (de) 2017-03-09 2019-09-04 Oskar Dilo Maschinenfabrik KG Nadelmaschine

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3849845A (en) * 1973-09-20 1974-11-26 Fehrer Textilmasch Apparatus for needle-punching a web
FR2727990A1 (fr) * 1994-12-08 1996-06-14 Asselin Aiguilleteuse a tige coulissante
AT406390B (de) * 1998-03-31 2000-04-25 Fehrer Textilmasch Vorrichtung zum nadeln eines vlieses
ATA160899A (de) * 1999-09-21 2000-09-15 Fehrer Monika Mag Vorrichtung zum nadeln einer gemusterten filzbahn
AT408234B (de) * 1999-10-08 2001-09-25 Fehrer Textilmasch Vorrichtung zum nadeln eines vlieses
AT409868B (de) * 2001-06-12 2002-12-27 Fehrer Textilmasch Vorrichtung zum nadeln eines vlieses
AT413387B (de) * 2004-03-31 2006-02-15 Fehrer Textilmasch Vorrichtung zum nadeln eines vlieses
US8793848B2 (en) * 2009-09-09 2014-08-05 Hi Tech Textile Holding Gmbh Device for needling a fibrous web
FR3026112B1 (fr) * 2014-09-22 2017-06-23 Andritz Asselin Thibeau Installation de consolidation, notamment par aiguilletage, d'une nappe de fibres
FR3063742B1 (fr) * 2017-03-09 2021-06-18 Andritz Asselin Thibeau Dispositif de transfert et/ou d'introduction d'une nappe de fibres dans une installation de consolidation, notamment une aiguilleteuse

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996021764A1 (fr) * 1995-01-12 1996-07-18 Asselin Dispositif d'actionnement alternatif et aiguilleteuse ainsi equipee
FR2738846A1 (fr) 1995-09-15 1997-03-21 Dilo Kg Maschf Oskar Dispositif d'entrainement des barres d'aiguilles d'une aiguilleteuse pour le traitement d'une nappe de feutre non tisse
US6161269A (en) 1997-07-16 2000-12-19 Oskar Dilo Maschinenfabrik Kg Apparatus for needling non-woven fiber fleece webs
GB2335931A (en) * 1998-03-31 1999-10-06 Fehrer Textilmasch Needling apparatus with two eccentric drives
FR2800396A1 (fr) 1999-10-29 2001-05-04 Fehrer Textilmasch Dispositif pour aiguilleter un matelas de fibres
FR2862988A1 (fr) * 2003-11-28 2005-06-03 Fehrer Textilmasch Dispositif d'aiguilletage d'un matelas de fibres
EP1736587A1 (de) * 2005-06-22 2006-12-27 Asselin-Thibeau Nadelmaschine für die Vernadelung eines Vliesses
EP1736586A1 (de) 2005-06-22 2006-12-27 Asselin-Thibeau Verfahren und Vorrichtung zur Vernadelung einer Faserbahn mit zwei Nadelbrettern
EP3372716B1 (de) 2017-03-09 2019-09-04 Oskar Dilo Maschinenfabrik KG Nadelmaschine

Also Published As

Publication number Publication date
TW202144638A (zh) 2021-12-01
EP3901347C0 (de) 2024-07-03
CN113550077A (zh) 2021-10-26
US20210332514A1 (en) 2021-10-28
FR3109586B1 (fr) 2022-05-13
FR3109586A1 (fr) 2021-10-29
US11505885B2 (en) 2022-11-22
EP3901347B1 (de) 2024-07-03
KR20210131253A (ko) 2021-11-02

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