Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
  • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
  • B25B21/02—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose with means for imparting impact to screwdriver blade or nut socket
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
  • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
  • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
  • B25B23/1405—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers for impact wrenches or screwdrivers
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
  • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
  • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
  • B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
  • B25B23/1475—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers for impact wrenches or screwdrivers
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
  • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
  • B25F5/02—Construction of casings, bodies or handles
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
  • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25D—PERCUSSIVE TOOLS
  • B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
  • B25D2250/221—Sensors
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25D—PERCUSSIVE TOOLS
  • B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
  • B25D2250/255—Switches

Definitions

• the invention relates to a method for operating a handheld power tool, and a handheld power tool set up to carry out the method.
• the present invention relates to a method for a screwing or unscrewing a thread means with a hand tool machine.
• An impact wrench of this type includes, for example, a structure in which an impact force in a rotating direction is transmitted to a screw element by a rotation force of a hammer.
• the impact wrench which has this structure, includes a motor, a hammer to be driven by the motor, an am boss which is hit by the hammer, and a tool.
• the motor built into a housing is driven, the hammer being driven by the motor, the anvil in turn being struck by the rotating hammer and an impact force being applied to the tool, with two different operating states, namely "no impact operation” and " Schlag too "can be distinguished.
• an electrically driven tool with an impact mechanism is known, the hammer being driven by the motor.
• impact wrenches When using impact wrenches, the user must concentrate on the progress of the work in order to react accordingly when changing certain machine characteristics, for example the on or off of the hammer mechanism, for example to stop the electric motor and / or to change the speed to be carried out via the hand switch. Since the user often cannot react quickly enough or not adequately to the progress of work, the use of impact wrenches can lead to over-tightening of screws during screwing-in processes, for example, and screws to fall down during unscrewing processes if they are unscrewed at too high a speed .
• Such intelligent tool functions can be made available, among other things, by identifying the current operating status. In the prior art, this is identified independently of the determination of work progress or the status of an application, for example by monitoring the operating parameters of the electric motor, such as speed and electric motor current. Here, the operating parameters are examined to determine whether certain limit values and / or threshold values are reached. Corresponding evaluation methods work with absolute threshold values and / or signal gradients. The disadvantage here is that a fixed limit value and / or threshold value can practically only be perfectly set for one application. As soon as the application changes, the associated current or speed values or their temporal progressions also change, and impact detection based on the set limit value and / or threshold value or their temporal progression no longer works.
• additional sensors such as acceleration sensors, are used to infer the operating mode from the vibration states of the tool.
• Disadvantages of this method are additional costs for the sensors as well as losses in the robustness of the handheld power tool, since the number of built-in components and electrical connections increases compared to handheld power tools without these sensors.
• the object of the invention is to provide a method for operating a hand-held power tool which is improved over the prior art and which at least partially eliminates the above-mentioned disadvantages, or at least to provide an alternative to the prior art.
• Another task is to specify a corresponding handheld power tool.
• a method for operating a handheld power tool comprising the following steps:
• model signal shape being assignable to a work progress of the handheld power tool
• the method according to the invention effectively supports a user of the hand-held power tool in achieving reproducible high-quality application results.
• the method according to the invention enables a user to achieve a completely completed work progress more easily and / or more quickly.
• the impact wrench reacts to recognition of the impact state and the progress of work with the help of finding characteristic signal forms.
• Embodiments which include routines or reactions to “pure” hit recognition
• Embodiments which include routines or responses to non-strike detection
• Embodiments which include routines or reactions to work progress (impact assessment / impact quality);
• model waveform feature includes a signal form of continuous progress of an operation.
• the model signal shape is a State-typical model signal form that is state-typical for a certain work progress of the handheld power tool, for example the resting of a screw head on a mounting base or the free turning of a loosened screw.
• sensor units for detecting the tool-internal measured variables such as an acceleration sensor unit, so that essentially only the method according to the invention is used to detect the progress of work.
• the first routine comprises stopping the electric motor taking into account at least one defined and / or predeterminable parameter, in particular that can be predefined by a user of the handheld power tool.
• a parameter include a period of time, a number of revolutions of the electric motor, a number of revolutions of the tool holder, an angle of rotation of the electric motor, and a number of strikes of the hammer mechanism of the handheld power tool.
• the first routine comprises a change, in particular a reduction and / or an increase, in a speed of the electric motor.
• a change in the speed of the electric motor can for example be achieved by changing the motor current, the motor voltage, the Ak kustroms, or the battery voltage, or by a combination of these measures.
• an amplitude of the change in the speed of the electric motor can be defined by a user of the handheld power tool.
• the change in the speed of the electric motor can also be used can be specified by a target value.
• the term amplitude should also be understood generally in the sense of a level of change and should not be associated exclusively with cyclical processes.
• the change in the speed of the electric motor takes place several times and / or dynamically, in particular staggered over time and / or along a characteristic curve of the change in speed and / or based on the work progress of the handheld power tool.
• a work progress of the first routine is preferably output to a user of the handheld power tool using an output device of the handheld power tool.
• Output by means of the output device can in particular be understood to mean the display or documentation of the work progress.
• Documentation can also include the evaluation and / or storage of work progress. This includes, for example, the storage of multiple screwdriving processes in a memory.
• the first routine and / or characteristic parameters of the first routine can be set and / or displayed by a user via application software (“app”) or a user interface (“human-machine interface”, “HMI”).
• application software (“app”) or a user interface (“human-machine interface”, “HMI”).
• HMI human-machine interface
• the HMI can be arranged on the machine itself, while in other embodiments the HMI can be arranged on external devices, for example a smartphone, a tablet, or a computer.
• the first routine comprises an optical, acoustic, and / or haptic feedback to a user.
• the model signal shape is preferably an oscillation profile, for example an oscillation profile around a mean value, in particular an essentially tri gonometric oscillation profile.
• the model signal shape can be way represent an ideal percussion operation of the hammer on the anvil of the rotary percussion mechanism, the ideal percussion operation preferably being an impact without further turning the tool spindle of the handheld power tool.
• different operating parameters can be considered as operating parameters which are recorded by a suitable measuring transducer. It is particularly advantageous that, according to the invention, no additional sensor is necessary in this regard, since various sensors, such as, for example, for speed monitoring, preferably Hall sensors, are already built into electric motors.
• the operating variable is advantageously a speed of the electric motor or an operating variable that correlates with the speed.
• the rigid transmission ratio of the electric motor to the hammer mechanism results, for example, in a direct relationship between the motor speed and the hammer frequency.
• Another conceivable operating variable that correlates with the speed is the motor current.
• a motor voltage, a Hall signal from the motor, a battery current or a battery voltage are also conceivable as the operating variable of the electric motor, with an acceleration of the electric motor, an acceleration of a tool holder or a sound signal from a hammer mechanism of the hand power tool also being conceivable as the operating variable.
• the signal of the operating variable is compared by means of a comparison method to determine whether at least one predefined threshold value of correspondence is met.
• the comparison method preferably comprises at least one frequency-based comparison method and / or a comparative comparison method.
• the decision can be made at least partially by means of the frequency-based comparison method, in particular a bandpass filtering and / or a frequency analysis, as to whether a work progress to be recognized has been identified in the signal of the operating variable.
• the frequency-based comparison method comprises at least the bandpass filtering and / or the frequency analysis, the predefined threshold value being at least 90%, in particular 95%, especially 98%, of a predefined limit value.
• the recorded signal of the operating size is filtered via a bandpass whose pass band matches the model signal form.
• a corresponding amplitude in the resulting signal is to be expected when the relevant work progress to be recognized is present, in particular in the ideal stroke without further turning of the hit element.
• the predefined threshold value of the bandpass filtering can therefore be at least 90%, in particular 95%, in particular 98%, of the corresponding amplitude in the work progress to be recognized, in particular the ideal stroke without further turning the hit element.
• the pre-given limit value can be the corresponding amplitude in the resulting signal of an ideal work progress to be recognized, in particular an ideal impact without further turning of the struck element.
• the previously determined model signal shape for example a frequency spectrum of the work progress to be recognized, in particular an ideal stroke without further turning the hit element
• the recorded signals of the operating variable a corresponding amplitude of the work progress to be recognized, in particular of the ideal beat without further turning of the ge beat element, is to be expected.
• the predetermined threshold value of the frequency analysis can be at least 90%, in particular 95%, in particular 98%, of the corresponding amplitude in the work progress to be recognized, in particular the ideal stroke without further turning the hit element.
• the predetermined limit value can be the corresponding amplitude in the recorded signals of an ideal work progress to be recognized, in particular the ideal stroke without further turning of the hit element. Appropriate segmentation of the recorded signal of the farm size may be necessary.
• the comparative comparison method comprises at least one parameter estimation and / or a cross-correlation, the predefined threshold value being at least 40% of a match between the signal of the operating variable and the model signal shape.
• the measured signal of the operating variable can be compared with the model signal shape using the comparative comparison method.
• the measured signal of the operating variable is determined in such a way that it has essentially the same finite signal length as that of the model signal shape.
• the comparison of the model signal shape with the measured signal of the operating variable can be output as a, in particular discrete or continuous, signal of a finite length. Depending on a degree of correspondence or a deviation from the comparison, a result can be output as to whether the work progress to be recognized, in particular the ideal stroke without further turning of the hit element, is present. If the measured signal of the operating variable agrees at least 40% with the model signal form, the work progress to be recognized, in particular the ideal stroke without further turning the struck element, can be present.
• the comparative method can output a degree of comparison to one another as the result of the comparison by comparing the measured signal of the operating variable with the model signal shape.
• the comparison of at least 60% to each other can be a criterion for the existence of the work progress to be recognized, in particular the ideal stroke without further turning of the hit element. It can be assumed that the lower limit for agreement is 40% and the upper limit for agreement is 90%. Accordingly, the upper limit for the deviation is 60% and the lower limit for the deviation is 10%.
• a comparison between the previously established model signal shape and the signal of the operating variable can be made.
• estimated parameters of the model signal shape can be identified in order to match the model signal shape to the measured signal of the operating variables.
• a result on the existence of the work progress to be recognized, in particular the ideal Impact can be determined without further turning the struck element.
• a further evaluation of the result of the comparison can then follow whether the predefined threshold value has been reached. This evaluation can either be a determination of the quality of the estimated parameters or the correspondence between the defined model signal shape and the recorded signal of the operating variable.
• method step S3 contains a step S3a of a quality determination of the identification of the model signal shape in the signal of the operating variable, wherein in method step S4 the progress of the work is recognized at least partially on the basis of the quality determination.
• a quality of fit of the estimated parameters can be determined as a measure of the quality determination.
• step S4 by means of the quality determination, in particular the measure of the quality, a decision can be made as to whether the work progress to be recognized has been identified in the signal of the operating variable.
• method step S3a can include a determination of agreement between the identification of the model signal shape and the signal of the operating variable.
• the correspondence of the estimated parameters of the model signal shape with the measured signal of the operating variable can be, for example, 70%, in particular 60%, in particular 50%.
• the decision is made as to whether the work progress to be recognized is present, at least in part on the basis of the agreement determination.
• the decision as to whether the work progress to be recognized is present can be made with the predefined threshold value of at least 40% correspondence between the measured signal of the operating variable and the model signal shape.
• a comparison can be made between the previously established model signal shape and the measured signal of the operating variable.
• the previously defined model signal shape can be correlated with the measured signal of the operating variable.
• a measure the agreement of the two signals can be determined.
• the degree of agreement can for example be 40%, in particular 50%, very particularly 60%.
• the progress of work can be recognized at least partially on the basis of the cross-correlation of the model signal shape with the measured signal of the operating variable. This can be done at least partially on the basis of the predefined threshold value of at least 40% correspondence between the measured signal of the operating variable and the model signal shape.
• the threshold value of the correspondence can be established by a user of the handheld power tool and / or predefined at the factory.
• the handheld power tool is an impact wrench, in particular an impact screwdriver
• the work progress is the onset or suspension of an impact operation, in particular a rotary impact operation.
• the threshold value of the correspondence can be selected by a user on the basis of a factory-predefined preselection of applications of the handheld power tool. This can be done, for example, via a user interface, such as an HMI (human-machine interface), such as a mobile device, in particular a smartphone and / or a tablet.
• a user interface such as an HMI (human-machine interface)
• HMI human-machine interface
• the model signal shape can be defined variably, in particular by a user.
• the model signal shape is assigned to the work progress to be recognized, so that the user can specify the work progress to be recognized.
• the model signal shape is advantageously predefined in method step S1, in particular set at the factory.
• the model signal form is stored or stored inside the device, alternatively and / or additionally, the handheld power tool is provided, in particular is provided by an external data device.
• the signal of the operating variable is recorded in method step S2 as a time curve of measured values of the operating variable, or recorded as measured values of the operating variable as a variable of the electric motor that correlates with the time curve, for example an acceleration, a jolt, in particular a higher order, a power , an energy, an angle of rotation of the electric motor, an angle of rotation of the tool holder or a frequency.
• step S2 If the signal of the operating variable is recorded in method step S2 as a time curve of measured values of the operating variable, a transformation of the time curve of the measured values of the operating variable into a curve of the measured values of the operating variable takes place in a step S2a following method step S2 on the basis of a rigid transmission ratio of the transmission as a variable of the electric motor that correlates with the course of time. This again results in the same advantages as with the direct recording of the signal of the operating variable over time.
• the method according to the invention thus enables the progress of work to be recognized independently of at least one setpoint speed of the electric motor, at least one start-up characteristic of the electric motor and / or at least one charging state of a power supply, in particular a battery, of the handheld power tool.
• the signal of the company size should be understood here as a time sequence of measured values.
• the signal of the operating variable can also be a frequency spectrum.
• the signal of the operating variable can also be post-processed, such as smoothed, filtered, fitted and the like.
• the signal of the operating variable is stored as a sequence of measured values in a memory, preferably a ring memory, in particular the handheld power tool.
• the work progress to be recognized is based on less than ten blows of an impact mechanism of the hand tool machine, in particular less than ten impact oscillation periods of the electric motor, preferably less than six impacts of an impact mechanism of the hand tool machine, in particular less than six impact oscillation periods of the electric motor preferably less than four impacts of a hammer mechanism, in particular less than four impact oscillation periods of the electric motor, identifi ed.
• an impact of the striking mechanism is to be understood as an axial, radial, tangentia ler and / or circumferential impact of an impact mechanism hammer, in particular a hammer, on a striking mechanism, in particular an anvil.
• the impact oscillation period of the electric motor is correlated with the operating size of the electric motor.
• An impact oscillation period of the electric motor can be determined on the basis of operating variable fluctuations in the signal of the operating variable.
• a further subject matter of the invention is a handheld power tool, comprising an electric motor, a measured value sensor for an operating variable of the electric motor, and a control unit, the handheld power tool being advantageously an impact screwdriver, in particular a rotary impact screwdriver, and the handheld power tool being set up to carry out the method described above.
• the work progress that can be recognized preferably corresponds to an impact without further turning a tool holder of the handheld power tool.
• the electric motor of the hand machine tool sets an input spindle in rotation, and an output spindle is connected to the tool holder.
• An anvil is rotatably connected to the output spindle and is a hammer connected to the input spindle in such a way that it executes an intermittent movement in the axial direction of the input spindle as well as an intermittent rotational movement around the input spindle as a result of the rotational movement of the input spindle, the hammer in this way striking the anvil intermittently and so a striking and sends an angular momentum to the Am boss and thus to the output spindle.
• a first sensor transmits a first signal, for example to determine an engine rotation angle, to the control unit.
• a second sensor can transmit a second signal for determining an engine speed to the control unit.
• the handheld power tool advantageously has a memory unit in which various values can be stored.
• the handheld power tool is a battery-powered handheld power tool, in particular a battery-powered rotary impact wrench. In this way, flexible and network-independent use of the handheld power tool is guaranteed.
• the handheld power tool is advantageously an impact wrench, in particular a rotary impact wrench, and the work progress to be recognized is an impact of the rotary hammer mechanism without further turning the hammered element or the tool holder.
• the identification of the impacts of the impact mechanism of the handheld power tool, in particular the impact oscillation periods of the electric motor, can be achieved, for example, by using a fast-fitting algorithm, by means of which an evaluation of the impact detection within less than 100ms, in particular less than 60ms , in particular less than 40ms, can be made possible.
• the inventive method mentioned enables the detection of work progress essentially for all of the above-mentioned applications and a screw connection for loose as well as fixed fastening elements in the fastening carrier.
• the present invention largely eliminates the need for complex methods of signal processing such as filters, signal loopbacks, system models (static and adaptive) and signal tracking.
• these methods allow an even faster identification of the impact operation or the work progress, which can cause an even faster reaction of the tool. This applies in particular to the number of previous blows from the start of the hammer mechanism up to identification and also in special operating situations such as the start-up phase of the drive motor. No restrictions on the functionality of the tool, such as a reduction in the maximum drive speed, have to be made. Furthermore, the functioning of the algorithm is also independent of other influencing variables such as target speed and battery charge status.
• the handheld power tool is a cordless screwdriver, a drill, a percussion drill or a hammer drill, it being possible to use a drill, a drill bit or various bit attachments as the tool.
• the hand power tool according to the invention is designed in particular as an impact wrench tool, with a higher peak torque for a screwing in or unscrewing a screw or a screw nut being generated by the pulsed release of the engine energy.
• the transfer of electrical energy is to be understood in particular as meaning that the handheld power tool transfers energy to the body via a battery and / or via a power cable connection.
• the screwing tool can be designed to be flexible in the direction of rotation. In this way, the proposed method can be used both for screwing in and for unscrewing a screw or a screw nut.
• “determine” should in particular include measuring or recording, with “recording” being understood in the sense of measuring and storing, and “determining” should also include a possible signal processing of a measured signal.
• decide should also be understood as recognizing or detecting, with an unambiguous assignment being achieved.
• Identify is to be understood as recognizing a partial match with a pattern, which can be made possible, for example, by fitting a signal to the pattern, a Fourier analysis or the like.
• the “partial agreement” should be understood to mean that the fitting has an error that is less than a predefined threshold, in particular less than 30%, in particular less than 20%.
• Fig. 1 is a schematic representation of an electric handheld power tool
• FIG. 2 (b) shows a correspondence of the signal shown in FIG. 2 (a)
• 3 shows a work progress of an example application as well as two associated signals of operating variables
• Fig. 10 (a) shows a signal of an operational quantity
• FIG. 10 (b) shows an amplitude function of a first, in the signal of FIG. 10
• FIG. 10 (c) shows an amplitude function of a second frequency contained in the signal of Fig. 10 (a).
• FIG. 11 shows a joint illustration of a signal of an operating quantity and an output signal of a bandpass filtering based on a model signal
• FIG. 14 shows a joint illustration of a signal of an operating variable and a model signal for the cross-correlation.
• FIG. 1 shows a handheld power tool 100 according to the invention, which has a housing 105 with a handle 115.
• the handheld power tool 100 can be mechanically and electrically connected to a battery pack 190 for mains-independent power supply.
• the hand power tool 100 is exemplified as a cordless rotary impact screwdriver. It should be noted, however, that the present invention is not limited to cordless impact wrenches, but in principle can be used in handheld power tools 100 in which the detection of a work progress is necessary, such as impact drills.
• An electric motor 180 which is supplied with power by the battery pack 190, and a transmission 170 are arranged in the housing 105.
• the electric motor 180 is connected to an input spindle via the transmission 170.
• a control unit 370 is arranged within the housing 105 in the area of the battery pack 190, which is used to control and / or regulate the electrical motor 180 and the gearbox 170, for example by means of a set engine speed n, a selected angular momentum, a desired gearbox gear x or the like acts on these.
• the electric motor 180 can be operated, for example, via a manual switch 195, i. H. can be switched on and off and can be any type of motor, for example an electronically commutated motor or a direct current motor.
• the electric motor 180 can be electronically controlled or regulated in such a way that both a reversing operation and specifications with regard to the desired motor speed n and the desired angular momentum can be implemented.
• the mode of operation and the structure of a suitable electric motor are sufficiently known from the prior art, so that a detailed description is dispensed with here for the sake of brevity.
• a tool holder 140 is rotatably mounted in the housing 105 via an input spindle and an output spindle.
• the tool holder 140 serves to hold a tool and can be molded directly onto the output spindle or connected to it in the form of an attachment.
• the control unit 370 is connected to a power source and is designed in such a way that it can electronically control or regulate the electric motor 180 by means of various power signals.
• the different current signals ensure different rotational impulses of the electric motor 180, the current signals being passed to the electric motor 180 via a control line.
• the power source can be configured, for example, as a battery or, as in the exemplary embodiment provided, as a battery pack 190 or as a mains connection.
• operating elements not shown in detail can be provided in order to set different operating modes and / or the direction of rotation of the electric motor 180.
• a method for operating a handheld power tool 100 by means of which a work progress in, for example, the handheld power tool 100 shown in FIG Application, for example a screwing in or unscrewing process, can be determined, and in which, as a result of this determination, reactions or routines triggered by the machine are triggered.
• a work progress in, for example, the handheld power tool 100 shown in FIG Application for example a screwing in or unscrewing process
• reactions or routines triggered by the machine are triggered.
• aspects of the method are based, inter alia, on an examination of signal shapes and a determination of a degree of correspondence between these signal shapes, which can correspond, for example, to an assessment of the continued rotation of an element driven by the handheld power tool 100, for example a screw.
• FIG. 2 shows an exemplary signal of an operating variable 200 of an electric motor 180 of a rotary impact wrench, as it occurs in this way or in a similar form when a rotary impact wrench is used as intended. While the following explanations relate to a rotary impact wrench, they also apply accordingly within the scope of the invention to other handheld power tools 100 such as, for example, impact drills.
• the time is plotted as a reference variable on the abscissa x.
• a time-correlated variable is plotted as a reference variable, such as the angle of rotation of the tool holder 140, the angle of rotation of the electric motor 180, an acceleration, a jolt, in particular a higher order, a power, or an energy.
• the engine speed n present at any point in time is plotted on the ordinate f (x) in the figure.
• f (x) represents a signal of the motor current, for example.
• the motor speed and motor current are operating variables which, in the case of hand tool machines 100, are usually recorded by a control unit 370 without any additional effort.
• the determination of the signal of an operating variable 200 of the electric motor 180 is identified as method step S2 in FIG. 4, which shows a schematic flow chart of a method according to the invention.
• a user of the hand machine tool 100 can select based on which operating variable the inventive method is to be carried out.
• a loose fastening element for example a screw 900
• a fastening support 902 for example a wooden board
• the signal includes a first range 310, which is characterized by a monotonous increase in the engine speed ge, as well as a range of comparatively constant engine speed, which can also be referred to as a plateau.
• the intersection between abscissa x and ordinate f (x) in Figure 2 (a) corresponds to the start of the impact wrench during the screwing process.
• the screw 900 encounters a relatively low resistance in the mounting bracket 902, and the torque required for screwing in is below the disengagement torque of the rotary hammer mechanism.
• the course of the engine speed in the first range 310 thus corresponds to the operating state of screwing without impact.
• the head of the screw 900 in the area 322 does not rest on the fastening support 902, which means that the screw 900 driven by the impact wrench is rotated further with each impact.
• This additional angle of rotation can become smaller as the work progresses, which is reflected in the figure by a decreasing period duration.
• further screwing in can also be indicated by an average speed decrease.
• the rotary percussion operation carried out in the second 322 and third area 324 is characterized by an oscillating profile of the signal of the operating variable 200, the shape of the oscillation being, for example, trigonometric or oscillating in some other way.
• the oscillation has a course that can be described as a modified trigonometric function.
• This characteristic form of the signal of company size 200 in impact wrench operation is created by the pulling up and free running of the impact mechanism hammer and the system chain, including the gearbox 170, located between the impact mechanism and the electric motor 180.
• the qualitative signal form of the impact operation is known in principle due to the inherent properties of the impact wrench.
• at least one state-typical model signal shape 240 is provided in a step S1, the state-typical model signal shape 240 being assigned to a work progress, for example when the head of the screw 900 rests on the fastening support 902 .
• the model signal shape 240 typical for the state contains features typical for the work progress, such as the presence of an oscillation curve, oscillation frequencies or amplitudes, or individual signal sequences in continuous, quasi-continuous or discrete form.
• the work progress to be detected can be characterized by signal forms other than oscillations, for example by discontinuities or growth rates in the function f (x).
• the state-typical model signal form is characterized by these parameters instead of vibrations.
• the state-typical model signal shape 240 can be determined by a user in method step S1.
• the state-typical model signal form 240 can also be stored or stored inside the device.
• the state-typical model signal form can alternatively and / or additionally be provided to handheld power tool 100, for example from an external data device.
• the signal of the operating variable 200 of the electric motor 180 is compared with the state-typical model signal form 240.
• the “compare” feature is to be interpreted broadly and in the sense of a signal analysis, so that a result of the comparison can in particular also be a partial or gradual correspondence of the signal of the operating variable 200 of the electric motor 180 with the state-typical model signal form 240 , the degree of correspondence between the two signals can be determined using various mathematical methods that will be mentioned later.
• step S3 a correspondence evaluation of the signal of the operating variable 200 of the electric motor 180 with the state-typical model signal shape 240 is determined from the comparison and a statement is thus made about the agreement of the two signals.
• the implementation and sensitivity of the conformity assessment are parameters that can be set in the factory or by the user for recognizing the progress of work.
• FIG. 2 (b) shows a curve of a function q (x) of a correspondence evaluation 201 corresponding to the signal of the company variable 200 of FIG. 2 (a), which at every point on the abscissa x shows a value of the agreement between the signal of the company variable 200 of the electric motor 180 and the model signal shape 240 typical for the state.
• this evaluation is used to determine the amount of further rotation in the event of a blow.
• the state-typical model signal form 240 predetermined in step S1 corresponds in the example to an ideal impact without further turning, i.e. the state in which the head of the screw 900 rests on the surface of the mounting bracket 902, as shown in area 324 of FIG. 2 (a). Accordingly, there is a high degree of agreement between the two signals in the area 324, which is reflected by a consistently high value of the function q (x) of the agreement evaluation 201. In contrast, in the area 310, in which the impact is accompanied by high angles of rotation of the screw 900, only small agreement values achieved.
• a method step S4 of the method according to the invention the progress of the work is now at least partially recognized on the basis of the conformity assessment 201 determined in method step S3.
• the correspondence evaluation 201 of the signals for striking the distinction is well suited for this because of its more or less erratic form, this erratic change being caused by the likewise more or less erratic change in the further rotation angle of the screw 900 when the exemplary work process.
• the progress of work can be recognized, for example, at least partially on the basis of a comparison of the conformity assessment 201 with a threshold value, which is identified in FIG. 2 (b) by a dashed line 202.
• the intersection point SP of the function q (x) of the conformity assessment 201 with the line 202 is assigned to the progress of the work of resting the head of the screw 900 on the surface of the mounting bracket 902.
• the criterion derived from this on the basis of which the work progress is determined, can be set in order to make the function usable for a wide variety of applications. It should be noted that the function is not limited to screwing-in cases, but also includes use in unscrewing applications.
• an evaluation of the further rotation of an element driven by an impact wrench to determine the work progress of an application can therefore be made by distinguishing between signal shapes.
• FIG. 2 This behavior is shown in FIG. As in FIG. 2, for example, the time is plotted on the abscissa x, while an engine speed is plotted on the ordinate f (x) and the torque g (x) is plotted on the ordinate g (x).
• the graphs f and g accordingly indicate the curves of the engine speed f and the torque g over time.
• FIG. 3 again similar to the illustration in FIG. 2, different states are shown schematically during a screwing process of a wood screw 900, 900, and 900 ′′ into a fastening support 902.
• an application-related, suitable routine or reaction of the tool is carried out at least partially on the basis of the work progress recognized in process step S4, for example switching off the machine, in a method step S5, a change in the speed of the electric motor 180 and / or an optical, acoustic and / o the haptic feedback to the user of the handheld power tool 100.
• the first routine comprises stopping the electric motor 180 taking into account at least one defined and / or predeterminable parameter, in particular predeterminable by a user of the handheld power tool.
• FIG. 4 An example of this is shown schematically in FIG. 4 that the device is stopped immediately after the impact detection 310 ', whereby the user is supported in preventing the screw head from penetrating into the mounting bracket 902. In the figure, this is shown by branch f of graph f, which drops rapidly after area 310.
• An example of a parameter that can be defined and / or given, in particular by a user of the handheld power tool 100, is a time defined by the user after which the device stops, which is shown in FIG. 4 by the time period Tstopp and the associated branch f " of the graph f.
• the hand-held power tool 100 stops just so that the screw head is flush with the screw contact surface. Since the time until this occurs, however, differs from application to application, it is advantageous if the time period Ts topp can be defined by the user.
• the first routine comprises a change, in particular a reduction and / or an increase, of a speed, in particular a target speed, of the electric motor 180 and thus also the spindle speed after the impact detection.
• the embodiment in which the speed is reduced is shown in FIG.
• the handheld power tool 100 is again initially operated in the “no impact” operating state 310, which is characterized by the course of the engine speed represented by the graph f. After an impact has been detected in the area 310 ‘, the motor speed is reduced by a certain amplitude in the example, which is shown by the graphs f and f ′′.
• the amplitude or magnitude of the change in the rotational speed of the electric motor 180, for branch f ′′ of graph f in FIG. 5 marked by the A D can be set by the user in one embodiment of the invention.
• the user By By lowering the speed, the user has more time to react when the screw head approaches the surface of the mounting bracket 902. As soon as the user is of the opinion that the screw head is flush enough to the support surface, he can stop the handheld power tool 100 with the aid of the switch.
• the change in the motor speed in the example in FIG. 5 a reduction, has the advantage that this routine is largely independent of the application due to the user-specific shutdown.
• the amplitude A D of the change in the speed of the electric motor 180 and / or a target value of the speed of the electric motor 180 can be defined by a user of the handheld power tool 100, which again increases the flexibility of this routine in terms of applicability for the most diverse applications elevated.
• the change in the speed of the electric motor 180 takes place several times and / or dynamically in embodiments of the invention.
• the change in the speed of the electric motor 180 is staggered over time and / or takes place along a characteristic curve of the change in speed, and / or as a function of the progress of the work of the handheld power tool 100.
• the invention also comprises embodiments in which a time offset is provided between two or more routines. If, for example, the engine speed is reduced immediately after impact detection, the engine speed can also be increased again after a certain time value. Furthermore, embodiments are provided in which not only the different routines themselves, but also the time offset between the routines is never predetermined by a characteristic. As mentioned at the beginning, the invention comprises embodiments in which the progress of work is characterized by a change from the operating state “impact” in an area 320 to the operating state “no impact” in an area 310, which is illustrated in FIG.
• Such a transition of the operating states of the handheld power tool is given, for example, in the case of a work progress in which a screw 900 comes loose from a fastening support 902, that is, during a screwing operation, which is shown schematically in the lower area of FIG.
• graph f in FIG. 6 represents the speed of the electric motor 180
• graph g the torque.
• the operating state of the handicraft machine is recorded here with the help of finding characteristic Signalfor men, in the present case the operating state of the striking mechanism.
• the screw 900 In the “impact” operating state, ie in the area 320 in FIG. 6, the screw 900 does not turn and a high torque g is applied. In other words, the spindle speed is zero in this state.
• the torque g drops rapidly, which in turn ensures an equally rapid increase in the spindle and motor speed f. Due to this rapid increase in the engine speed f, caused by the decrease in torque g from the time the screw 900 is loosened from the mounting bracket 902, it is often difficult for the user to pick up the loosening screw 900 or nut and prevent it from falling .
• the method according to the invention can be used to prevent a thread means, which can be a screw 900 or a nut, from being unscrewed so quickly after being loosened from the fastening carrier 902 that it falls down.
• a thread means which can be a screw 900 or a nut
• FIG. 7 essentially corresponds to FIG. 6, and corresponding features characterizing corresponding reference symbols.
• the routine in step S5 includes stopping the handheld power tool 100 immediately after it is determined that the handheld power tool 100 is working in the “no impact” operating mode, which is shown in FIG. 7 by a steeply falling branch f of the graph f of the engine speed in the area 310 is shown.
• a time Ts topp can be defined by the user, after which the device stops. This is shown in the figure by branch f ′′ of the graph f of the engine speed.
• branch f ′′ of the graph f of the engine speed A person skilled in the art recognizes that the engine speed, as also shown in FIG. 6, increases rapidly after the transition from area 320 (operating state “impact”) to area 310 (operating state “no impact”) and drops sharply after the period Tsto has elapsed.
• the engine speed falls to “zero” precisely when the screw 900 or the nut is just still in the thread.
• the user can remove the screw 900 or nut with a few turns of the thread or, alternatively, leave it in the thread, for example to open a clamp.
• work progress is output to a user of the handheld power tool using an output device of the handheld power tool.
• the method steps S2 and S3 are carried out repeatedly during the operation of a handheld power tool 100 in order to monitor the work progress of the application carried out.
• the determined signal of the operating variable 200 can be segmented in method step S2, so that method steps S2 and S3 are carried out on signal segments, preferably always of the same, fixed length.
• the signal of the operating variable 200 can be stored as a sequence of measured values in a memory, preferably a ring memory.
• the handheld power tool 100 includes the memory, preferably the ring memory.
• the signal of the operating variable 200 is determined as the time curve of measured values of the operating variable, or as measured values of the operating variable as a variable of the electric motor 180 that correlates with the time curve.
• the measured values can be discrete, quasi-continuous or continuous.
• the signal of the farm variable 200 is recorded in method step S2 as a time curve of measured values of the farm variable and in a method step S2a following method step S2 a transformation of the time curve of the measured values of the farm variable into a curve of the measured values of the farm variable takes place as a variable of the electric motor 180 that correlates with the course of time, such as the angle of rotation of the tool holder 140, the angle of rotation of the motor, an acceleration, a jolt, in particular a higher order, a power, or an energy.
• FIG. 9a shows signals f (x) of an operating variable 200 over an abscissa x, in this case over time t.
• the operating variable can be an engine speed or a parameter that correlates with the engine speed.
• the figure contains two signal curves of the operating variable 200, which can each be assigned to a work progress, in the case of an impact screwdriver, for example, the impact screwdriving mode.
• the signal comprises a wavelength of an idealized sinusoidal waveform, the signal with a shorter wavelength, T1 with a higher beat frequency, and the signal with a longer wavelength, T2, with a profile with a lower beat frequency.
• Both signals can be generated with the same handheld power tool 100 at different engine speeds and are, among other things, dependent on the rotational speed the user requests from the handheld power tool 100 via the operating switch.
• the parameter “wavelength” is to be used to define the typical state model signal shape 240, in the present case at least two different wavelengths T1 and T2 would have to be stored as possible parts of the typical state model signal shape so that the comparison of the signal of the operating variable 200 with the state-typical model signal form 240 leads to the result “agreement” in both cases. Since the motor speed can change over time in general and to a large extent, this means that the searched wavelength also varies and the methods for recognizing this beat frequency would have to be adjusted accordingly.
• the time values on the abscissa are therefore transformed into values that correlate with the time values, such as acceleration values, higher-order jerk values, power values, energy values, frequency values, angle of rotation values of the tool holder 140 or angle of rotation values of the electric motor 180.
• the time values such as acceleration values, higher-order jerk values, power values, energy values, frequency values, angle of rotation values of the tool holder 140 or angle of rotation values of the electric motor 180.
• the state-specific model signal form 240 valid for all speeds by a single parameter of the wavelength via the time-correlating variable, such as the angle of rotation of the tool holder 140, the motor angle of rotation, an acceleration, an Jerk, especially higher order, a power, or an energy.
• the comparison of the signal of the operating variable 200 takes place in method step S3 using a comparison method, the comparison method comprising at least one frequency-based comparison method and / or a comparative comparison method.
• the comparison method compares the signal of the operating variable 200 with the state-typical model signal form 240, as to whether at least one predetermined threshold value is met.
• the comparison method compares the measured signal of the operating variable 200 with at least one predetermined threshold value.
• the frequency-based comparison method includes at least the bandpass filtering and / or the frequency analysis.
• the comparative comparison method comprises at least the parameter estimation and / or the cross-correlation. The frequency-based and the comparative comparison method are described in more detail below.
• the input signal transformed to a variable correlated with time is filtered via one or more bandpass filters whose passbands match one or more state-typical model signal forms.
• the pass band results from the state-typical model signal form 240. It is also conceivable that the pass band corresponds to a frequency established in connection with the state-typical model signal form 240. In the event that amplitudes of this frequency exceed a previously defined limit value, as is the case when the work progress to be recognized is reached, the comparison in method step S3 then leads to the result that the signal of the operating variable 200 is the same as the state-typical model signal shape 240, and that the work progress that can be recognized has been achieved.
• the definition of an amplitude limit value can be interpreted as determining the correspondence evaluation of the typical model signal shape 240 with the signal of the operating variable 200, on the basis of which it is decided in method step S4 whether the work progress to be recognized is present or not.
• the frequency analysis is used as the frequency-based comparison method
• the signal of the operating variable 200 which is shown in Figure 10 (a) and, for example, the course of the speed of the electric motor 180 corresponds over time, based on the frequency analysis, for example the fast Fourier transformation (Fast Fourier transformation, FFT), transformed from a time domain into the frequency domain with appropriate weighting of the frequencies.
• FFT Fast Fourier transformation
• time range is to be understood according to the above statements both as “course of the company size over time” and as “course of the company size as a variable that correlates with time”.
• Frequency analysis in this form is well known as a mathematical tool for signal analysis from many areas of technology and is used, among other things, to approximate measured signals as series developments of weighted periodic harmonic functions of different wavelengths.
• weighting factors KI (X) and K 2 (x) indicate, as function curves 203 and 204 over time, whether and to what extent the corresponding frequencies or frequency bands that are connected to this For the sake of clarity, they are not specified in the signal under investigation, that is to say the course of the operating variable 200.
• the frequency analysis can be used to determine whether and with what amplitude the frequency assigned to the state-typical model signal shape 240 is present in the signal of the operating variable 200.
• frequencies can also be defined, the non-existence of which is a measure of the existence of the recognizable work progress.
• a limit value of the amplitude can be established, which is a measure of the degree of correspondence between the signal of the operating variable 200 and the model signal shape 240 typical for the state.
• the amplitude KI (X) of a first frequency, which is typically not found in the state-typical model signal form 240, in the signal of the operating variable 200 falls below a corresponding limit value 203 (a), which in the example is a necessary but not sufficient criterion for the existence of the work progress to be recognized.
• the amplitude K2 (x) exceeds a second, in the State-typical model signal shape 240, the frequency typically found in the signal of the operating variable 200, an associated limit value 204 (a).
• the common occurrence of falling below or exceeding the limit values 203 (a), 204 (a) by the amplitude functions KI (X) or K 2 (x) is the decisive criterion for the conformity assessment of the signal the operating variable 200 with the state-specific model signal form 240.
• method step S4 it is determined that the work progress to be recognized has been achieved.
• the signal of the operating variable 200 is compared with the state-typical model signal form 240 in order to find out whether the measured signal of the operating variable 200 has at least a 50% agreement with the state-typical model signal form 240 and so that the specified threshold is reached. It is also conceivable that the signal of the operating variable 200 is compared with the state-typical model signal form 240 in order to determine whether the two signals match one another.
• the measured signal of the operating variables 200 is compared with the state-typical model signal shape 240, estimated parameters being identified for the state-typical model signal shape 240.
• estimated parameters it is possible to determine a degree of correspondence between the measured signal of the operating variables 200 and the state-typical model signal form 240, as to whether the work progress to be recognized has been achieved.
• the parameter estimation is based on the compensation calculation, which is a mathematical optimization method known to the person skilled in the art.
• the mathematical optimization method enables the state-typical model signal form 240 for a series of measurement data of the signal of the operating variable 200 to match.
• the decision as to whether the work progress to be recognized has been achieved can be made as a function of a degree of correspondence between the state-typical model signal shape 240 parameterized by means of the estimated parameters and a limit value.
• a degree of agreement between the estimated parameters of the state-typical model signal shape 240 and the measured signal of the operating variable 200 can be determined.
• a correspondence determination is carried out in method step S3 following method step S3a. If the correspondence between the state-typical model signal form 240 and the measured signal of the company size of 70% is determined, the decision can be made as to whether the work progress to be recognized was identified using the signal of the company variable and whether the work progress to be recognized was achieved.
• a quality determination for the estimated parameters is carried out in a further embodiment in a method step S3b following method step S3.
• values for a quality between 0 and 1 are determined, whereby the following applies that a lower value means a higher confidence in the value of the identified parameter and thus represents a higher correspondence between the state-typical model signal form 240 with the signal of the operating variable 200.
• the decision as to whether the work progress to be recognized is present is made in the preferred embodiment in method step S4 at least partially on the basis of the condition that the value of the quality is in a range of 50%.
• the method of cross-correlation is used as the comparative comparison method in method step S3 used.
• the method of cross-correlation is known per se to the person skilled in the art.
• the state-typical model signal form 240 is correlated with the measured signal of the operating variable 200.
• the result of the cross-correlation is again a signal sequence with an added signal length from a length of the signal of the operating variable 200 and the model signal shape 240 typical for the state, which represents the similarity of the time-shifted input signals.
• the maximum of this output represents the point in time at which the two signals, i.e. the signal of the operating variable 200 and the state-typical model signal form 240, correspond to the greatest possible extent and is therefore also a measure of the correlation itself, which in this embodiment is used as a decision criterion in method step S4 is used to achieve the work progress to be recognized.
• an essential difference to parameter estimation is that any state-typical model signal shapes can be used for the cross-correlation, while for parameter estimation the state-typical model signal shape 240 must be able to be represented by parameterizable mathematical functions.
• FIG. 11 shows the measured signal of the operating variable 200 for the case that bandpass filtering is used as the frequency-based comparison method.
• the time or a variable correlating with time is plotted as the abscissa x.
• FIG. 11a shows the measured signal of the operating variable as an input signal of the bandpass filtering, the handheld power tool 100 being operated in the first area 310 in screwdriving mode. In the second area 320, the handheld power tool 100 is operated in rotary impact mode.
• FIG. 11b shows the output signal after the bandpass filter has filtered the input signal.
• FIG. 12 shows the measured signal of the operating variable 200 for the case that the frequency analysis is used as the frequency-based comparison method.
• the first area 310 is shown in which the hand tool machine 100 is in screwing mode.
• the time t or a quantity correlated with time is plotted.
• the signal of the operating variable 200 is shown transformed, it being possible, for example, to transform from a time range into a frequency range by means of a Fast Fourier transformation.
• the frequency f is plotted on the abscissa x 'of FIG. 12b, so that the amplitudes of the signal of the operating variable 200 are shown.
• FIG. 12c shows the measured signal of operational variable 200 plotted over time in rotary percussion operation.
• FIG. 12d shows the transformed signal of operational variable 200, the signal of operational variable 200 being plotted against frequency f as abscissa x '.
• FIG. 12d shows characteristic amplitudes for rotary impact operation.
• FIG. 13a shows a typical case of a comparison by means of the comparative comparison method of parameter estimation between the signal of an operating variable 200 and a state-typical model signal shape 240 in the first area 310 described in FIG. 2. While the state-typical model signal shape 240 has an essentially trigonometric profile, the signal of farm size 200 has a course that deviates significantly from this. Regardless of the selection of one of the comparison methods described above, in this case the comparison carried out in method step S3 between the model signal shape 240 typical for the state and the signal of the operating variable 200 has the result that the degree of agreement between the two signals is so low that in method step S4 the work progress to be recognized is not recognized.
• FIG. 14 shows the comparison of the state-typical model signal form 240, see FIGS. 14b and 14e, with the measured signal of the operating variable 200, see FIGS. 14a and 14d, for the case that the cross-correlation is used as the comparative comparison method.
• FIGS. 14a-f the time or a quantity correlating with time is plotted on the abscissa x.
• FIGS. 14a-c the first area 310 is shown, corresponding to the screwdriving operation.
• FIGS. 14d-f the third area 324, corresponding to the work progress to be recognized, is shown.
• the measured signal of the operating variable, FIGS. 14a and 14d is correlated with the state-specific model signal form, FIGS. 14b and 14e.
• the respective results of the correlations are shown in FIGS. 14c and 14f.
• the result of the correlation during the first region 310 is shown in FIG. 14c, whereby it can be seen that there is little agreement between the two signals.
• the result of the correlation during the third area 324 is shown in FIG. 14f. It can be seen in FIG. 14f that there is a high degree of correspondence, so that it is decided in method step S4 that the work progress to be recognized has been achieved.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Human Computer Interaction (AREA)
• Manufacturing & Machinery (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
• Numerical Control (AREA)
• Control Of Electric Motors In General (AREA)
• Portable Power Tools In General (AREA)

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• 2019
  • 2019-07-30 DE DE102019211305.2A patent/DE102019211305A1/de active Pending
• 2020
  • 2020-07-08 KR KR1020227004747A patent/KR20220042375A/ko unknown
  • 2020-07-08 US US17/631,245 patent/US20220281082A1/en active Pending
  • 2020-07-08 JP JP2022504664A patent/JP7350978B2/ja active Active
  • 2020-07-08 CN CN202080068844.3A patent/CN114502326A/zh active Pending
  • 2020-07-08 EP EP20739620.1A patent/EP4003654A1/de active Pending
  • 2020-07-08 WO PCT/EP2020/069289 patent/WO2021018538A1/de unknown

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