EP4051569B1 - Klampe zum festmachen eines wasserfahrzeugs und festmachbaugruppe, die eine klampe und eine leine aufweist, die einen stopper aufweist - Google Patents

Klampe zum festmachen eines wasserfahrzeugs und festmachbaugruppe, die eine klampe und eine leine aufweist, die einen stopper aufweist Download PDF

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Publication number
EP4051569B1
EP4051569B1 EP20796811.6A EP20796811A EP4051569B1 EP 4051569 B1 EP4051569 B1 EP 4051569B1 EP 20796811 A EP20796811 A EP 20796811A EP 4051569 B1 EP4051569 B1 EP 4051569B1
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EP
European Patent Office
Prior art keywords
rope
cleat
slot
chamber
stopper
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20796811.6A
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English (en)
French (fr)
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EP4051569A1 (de
Inventor
Sébastien GRALL
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Exail SAS
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Exail SAS
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Publication of EP4051569A1 publication Critical patent/EP4051569A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/04—Fastening or guiding equipment for chains, ropes, hawsers, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/04—Fastening or guiding equipment for chains, ropes, hawsers, or the like
    • B63B21/08—Clamping devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
    • B63B2021/203—Mooring cables or ropes, hawsers, or the like; Adaptations thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

Definitions

  • the present invention generally relates to the field of navigation and ships and floating devices and, more particularly, relates to a cleat for mooring a boat.
  • the invention also relates to a mooring assembly with cleat and bumper rope. It has applications particularly in the field of shipbuilding.
  • the present invention proposes a solution which makes it possible to almost automatically moor a boat following a throw of rope on the boat to “hook”/“remote hook” the boat, then bring it back or tow it.
  • the present invention therefore proposes a solution allowing one to moor to the boat without getting on board and without having to approach within a reasonable distance.
  • the invention consists of a metal plate or another sufficiently strong material which is here called a cleat but which could also be called a “towing chain”.
  • This plate is equipped with a fixing means adapted to the boat on which it is mounted, typically a base used for fixing on the boat.
  • the rope has at its thrown end a stopper or stopper which can, preferably, constitute a weight which will also make it possible to increase the throwing distance.
  • a cleat intended for mooring a boat to a launched end of a rope comprising a rope and at least one stopper, the launched end of the rope comprising the stopper formed by a transverse projection across the rope,
  • the cleat comprising a base surmounted by a body elongated along a main plane and narrow in a direction transverse to the main plane and having two lateral faces, the base being adapted to be fixed on a bridge of the boat such that the main plane of the body is substantially vertical when the boat is in the water, the cleat comprising an engagement part at a longitudinal end of the body, the engagement part being adjacent to the base and comprising a passage opening of a groove for passage of the rope, the groove extending longitudinally towards the inside of the body and being open on the two lateral faces of the body, the groove comprising an upper face and a lower face and having a height allowing the longitudinal progression and the transverse circulation of the rope outside the stopper in the groove from the passage opening and towards the interior of
  • the invention also relates to a mooring assembly comprising a cleat according to the invention and a rope comprising a rope and a stopper consisting of at least one transverse projection on the periphery of the rope.
  • the invention also relates to a method of mooring a boat to a launched end of a rope, a cleat according to the invention being implemented on the boat and a stopper being implemented at the end of the rope formed of a rope and said end stopper.
  • the boat may be stopped or inert and therefore no longer moves actively.
  • This shutdown must be considered in the marine context and may correspond to the fact that said boat finds itself subject to the sea current and/or wind and that it may drift somewhat if this current and/or wind is/are relatively important(s). In other cases, if the boat includes means of positioning in a fixed location making it possible to counter the effects of current and wind, then this shutdown corresponds to immobilization in a fixed location.
  • the system of the invention works with any type of line and it is the person using the line and possibly the towing vessel on which they are, who execute(s) all the actions and possibly the trajectories. which allows the mooring and recovery of the machine.
  • the line can be launched manually or by a launching device.
  • the present invention relates to a cleat which has a geometry such that a rope sent at a distance and more or less perpendicular to the cleat finds itself “captured” as soon as we apply forward traction of the cleat to the cleat. rope, to pull the rope.
  • the rope automatically slides into the cleat like a spinner.
  • the rope is equipped with a bulky end, a stopper, which is typically a toulin apple, so that it gets stuck in the cleat and thus allows the boat to be moored.
  • the cleat is completely inert/passive as shown on the figures 1 to 5 .
  • the cleat comprises at least one moving part, in particular at least one retractable tilting ramp, or articulated spring finger, which functions like a carabiner.
  • the cleat and the towing chain can be equipped with a device securing the grip, that is to say allowing the grip/hooking of the rope but not its extraction/unhooking like a mobile piston, in particular hydraulic , pneumatic or electric.
  • the cleat can be placed in two stable states, an active state allowing the rope to be captured and hooked and an inactive state in which the rope cannot be hooked and there can be no mooring by a simple throw of the rope as permitted by the active state.
  • a cleat of a simple embodiment is presented.
  • This mode is said to be simple because the retention of the rope in the cleat is obtained passively unlike embodiments where retractable devices, in particular a retractable ramp, are used.
  • retractable devices in particular a retractable ramp
  • the rope 2 used to hook and moor the boat includes a line 20 and a stopper 21 at its launched end.
  • the cleat 1 comprises a base 17 surmounted by a narrow elongated vertical body 10 with two lateral faces 18, 19 defining a main longitudinal plane.
  • the base 17 is intended to be fixed on the deck 3 of a boat 6.
  • the cleat 1 comprises at the rear of the body an engagement part 11 adjoining the base and comprising a passage opening 12 of a groove 13 , the passage opening 12 being funnel-shaped.
  • the groove 13 extends towards the inside of the body 10, opening into a chamber 14 of the body. This funnel shape is in fact reduced to the thickness of the body and its upper and lower faces are substantially flat.
  • the passage opening 12 at the entrance to the groove 13, on the engagement part 11 side has a shape flared towards the rear by forming a sort funnel to guide the rope 20 into the groove 13 and the interior of the body 10 of the cleat 1.
  • the rope 20 can progress longitudinally along the groove 13 towards the chamber 14 and also circulate transversely in the groove 13 and the chamber 14.
  • the cleat 1 has a rounded upper edge whose front end, opposite the rear end on the engagement part 11 side, joins the base 17.
  • the rear end of the upper edge of the cleat, on the engagement part 11 side, is continues with a spur 16 further back and above the engagement part 11.
  • the rope 20 can therefore have two possibly combined movements relative to the cleat 1: on the one hand, a longitudinal progression, the rope 20 moving from the engagement part towards the chamber or in the opposite direction and, on the other hand , a transverse circulation, the rope 20 being pulled laterally through the body 10 of the cleat to bring the stopper end 21 closer to the cleat 1 which will end up blocking against a side face 18, 19 (in the figures in side view or from the side, the side face not visible, 18 figure 1 or 19 Figure 5 , is marked by a dashed arrow) of body 10.
  • the rope 20 having passed into the chamber 14 it will be difficult for it to return to the groove without direct human intervention, in particular if the groove 13 opens at a high point of the chamber 14 and/or has upper and lower protrusions 15 engaging in the chamber 14.
  • the groove 13 is bypassed with a high point and/or if it comprises on at least one of its two faces a retractable tilting ramp allowing the progression of the rope 20 only towards the chamber, removing the rope from the cleat will be made even more difficult and even impossible without human intervention.
  • the line 20 is flexible and can be launched remotely, on deck 3 of the boat to be recovered and moored.
  • the rope 2 has at its thrown end a stopper 21.
  • the stopper 21 is distinct from the weight 22 of the end of the rope 2 but in other embodiments, the stopper 21' is also a weight, it is then a stopper weighing 21'.
  • the weight (22) makes it possible to increase the impulse when throwing and therefore to send the thrown end of the rope 2 further.
  • the rope 2 must be able to lock in the cleat 1 and this is why it has towards its thrown end a stopper 21 which constitutes a transverse/perpendicular protrusion to the rope, at least bilateral to the rope 20 or circular around the rope 20
  • This stopper 21 has a transverse dimension, length or diameter, greater than the largest height dimension of the groove 13 and the chamber 14 in order to be able to be blocked against a lateral face 18, 19 of the body 10 of the cleat 1 once the rope 20 has circulated transversely through the body 10 until 'for the stopper 21 to meet the stopper 1.
  • the stopper is a simple bilateral excrescence of the straight rod type
  • the groove 13 has a rectilinear portion the latter is less long than the protrusion 21 to prevent the latter from escaping from the cleat when it finds itself aligned with and in the rectilinear portion.
  • a contoured groove can be formed or a protrusion with at least three arms distributed radially around the rope 20 can be provided.
  • a ball is placed at the launched end of the rope 2 which constitutes both an excrescence and a weight which will block against a side face 18, 19 of the body 10 of the cleat 1.
  • the stopper end 21 of the rope 2 is thrown above the rope receiving part 4, 4' which is located at the rear of the rear end of the cleat 1 so that the rope 20 falls back on this receiving part 4, 4' while the stopper 21 falls well beyond the cleat 1.
  • This receiving part 4 can correspond to the actual deck 3 of the boat.
  • This receiving part 4' can correspond to an inclined cable 5 which will allow the rope 20 to slide easily towards the engagement part 11 of the cleat 1 due to the force of gravity.
  • traction must be exerted on the rope 20 at an angle to the body 10 of the cleat 1, essentially towards the front of the cleat 1.
  • the orientation of the main plane of the body 10 of the cleat 1 relative to the main front/bow-rear/stern axis of the boat 6 may depend on the intended use of the mooring. If only towing is planned then it is preferable that the cleat 1 is installed vertically, along the main axis of the boat 6, on deck 3 and with the main axis of the boat in the main plane P of body 10 of cleat 1 or with a slight angle between them. If the use is simply an edge-to-edge approach between the boat 6 and a ship or a pontoon, the cleat can be placed on a side edge of the deck 3 of the boat 6.
  • the engagement part 11 with its opening passage 12 is preferably oriented in the opposite direction from where the rope 2 will be pulled so that the rope is brought into the groove 13 and the chamber 14 when the rope is pulled after having launched it and that it will have fallen back onto deck 3, behind cleat 1.
  • the latter, or the two tilting ramps facing each other typically constitute the funnel-shaped part of the passage opening 12 at the entrance to the throat 13.
  • the boat 6 is seen from a lateral side with its bow/front on the left of the figure.
  • the cleat 1 is fixed on the deck 3, above the waterline, towards the front of the boat 6.
  • the cleat and rope mooring assembly of the invention could operate under the water given the weight of the end of the rope and that the line of the rope could be made submersible or be submersible.
  • the groove 13 has been reduced to its simplest expression and corresponds to the passage opening 12 in the shape of a funnel.
  • a cleat is used whose body is in two upper and lower parts articulated together, in the manner of a gillotine (the upper part can be lifted as a whole) or a clamp (the upper and lower parts are articulated together towards the front of the cleat), which widens the throat and the chamber and allows the rope and its stopper to pass directly from one side to the other of the body and therefore to release the rope.
  • the clamp variant includes a spring forcing the upper part to open, the tab being closed manually by countering the spring and locked closed in a removable manner, in particular by remote control.
  • the chamber 14 and the stopper 21, 21' have complementary shapes allowing the partial introduction of the stopper into the chamber through the body of the cleat, which can increase the retaining capacity of the rope by the cleat.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Emergency Lowering Means (AREA)
  • Catching Or Destruction (AREA)
  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
  • Escalators And Moving Walkways (AREA)

Claims (10)

  1. Klampe (1), die zum Festmachen eines Wasserfahrzeugs (6) an einem geworfenen Ende eines eine Leine (20) und mindestens einen Stopper (21, 21') aufweisenden Taus (2) bestimmt ist, wobei das geworfene Ende des Taus (2) den aus einem die Leine (20) durchquerenden Quervorsprung gebildeten Stopper (21, 21') aufweist, wobei die Klampe (1) eine Basis (17) aufweist, die von einem Körper (10) überragt ist, der sich in einer Hauptebene (P) erstreckt und in einer zur Hauptebene (P) querverlaufenden Richtung schmal ist und zwei Seitenflächen (18, 19) aufweist, wobei die Basis (17) dazu ausgelegt ist, auf einer Brücke (3) des Wasserfahrzeugs (6) so befestigt zu sein, daß die Hauptebene des Körpers im Wesentlichen senkrecht ist, wenn sich das Wasserfahrzeug im Wasser befindet, wobei die Klampe (1) an einem Längsende des Körpers (10) ein Eingriffsteil (11) aufweist, wobei das Eingriffsteil (11) an der Basis (17) anliegt und eine Durchgangsöffnung (12) einer Kehle (13) zum Hindurchführen der Leine (20) aufweist, wobei sich die Kehle (13) in Längsrichtung zum Inneren des Körpers (10) hin erstreckt und an den beiden Seitenflächen (18, 19) des Körpers (10) offen ist, wobei die Kehle (13) eine Oberseite und eine Unterseite aufweist und eine Höhe hat, die die Fortbewegung in der Längsrichtung und die Querbewegung der Leine (20) außer dem Stopper (21, 21') in der Kehle (13) von der Durchgangsöffnung (12) aus und zum Inneren des Körpers hin ermöglicht, wobei die Leine (20) dann quer durch den Körper zwischen den beiden Seitenflächen (18, 19) des Körpers (10) angeordnet ist,
    wobei die Durchgangsöffnung (12) eine nach außen hin aufgeweitete Form hat, um einen Führungstrichter für die Leine (20) zum Inneren der Kehle (13) hin zu bilden, wobei die Kehle (13) im Körper in einer zu den beiden Seitenflächen (18, 19) des Körpers (10) hin offenen Kammer (14) endet,
    wobei die Kammer (14) eine in der Hauptebene des Körpers (10) gemessene minimale Abmessung hat, die größer als die minimale Höhe der Kehle (13) ist, wobei die in der Hauptebene des Körpers (10) gemessene maximale Abmessung der Kammer (14) kleiner als die Abmessung des den Stopper (21, 21') bildenden, quer zur Leine (20) gemessenen Vorsprungs ist, damit der Stopper (21, 21') einer quer durch den Körper (10) laufenden Leine (2) gegen eine Seitenfläche (18 oder 19) des Körpers (10) blockiert werden kann, und zwar sowohl wenn die Leine (20) in der Kehle (13) ist als auch wenn die Leine (20) in der Kammer (14) ist,
    dadurch gekennzeichnet, daß die Oberseite und die Unterseite der Kehle (13) durch einen oberen und einen unteren Vorsprung (15) enden, die in die Kammer (14) hineinragen.
  2. Klampe (1) gemäß Anspruch 1, dadurch gekennzeichnet, daß sie eine Karabinerhakenklampe ist, wobei die Kehle (13) auf mindestens einer ihrer beiden Seiten Oberseite und Unterseite eine kippbare Rampe aufweist, die unter dem Druck einer sich auf der Rampe in Richtung auf die Kammer fortbewegenden Leine (20) elastisch versenkbar ist, wobei die Kehle im Bereich der Rampe und bei nicht vorhandenem Druck der Leine (20) auf die Rampe eine Höhe aufweist, die kleiner als der Durchmesser der Leine (20) ist, wobei das Versenken der Rampe unter dem Druck der Leine eine Vergrößerung der Höhe der Kehle (13) im Bereich der Rampe bewirkt und das Fortbewegen der Leine mindestens in Richtung auf die Kammer (14) ermöglicht.
  3. Klampe (1) gemäß Anspruch 2, dadurch gekennzeichnet, daß die kippbare Rampe dazu ausgelegt ist, nur bei einer sich in Richtung auf die Kammer (14), nicht aber in der Gegenrichtung bewegenden Leine (20) zu versinken, so daß sich die Leine (20) entlang der Kehle (13) von der Durchgangsöffnung (12) zur Kammer (14) hin, aber nicht in der Gegenrichtung bewegen kann.
  4. Klampe (1) gemäß Anspruch 3, dadurch gekennzeichnet, daß die kippbare Rampe eine Vorrichtung zum manuellen Steuern des Versenkens aufweist, die dazu bestimmt ist, das Bewegen der Leine (20) entlang der Kehle (13) von der Kammer (14) zur Durchgangsöffnung (12) hin zu ermöglichen, um das Tau (2) von Hand aus der Klampe herauszuführen.
  5. Klampe (1) gemäß Anspruch 2 oder Anspruch 3 oder Anspruch 4, dadurch gekennzeichnet, daß die kippbare Rampe die Unterseite der Kehle (13) bildet.
  6. Klampe (1) gemäß Anspruch 1, dadurch gekennzeichnet, daß die Kehle (13) auf ihrem Weg eine im Wesentlichen konstante Höhe hat und entweder einen horizontalen Weg oder einen von unten und der Durchgangsöffnung (12) nach oben zum Inneren des Körpers hin geneigten Weg oder einen sinusförmigen Weg mit einem Scheitel aufweist und daß die Kehle (13) in einen oberen Teil der Kammer (14) mündet.
  7. Klampe (1) gemäß einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß die Kehle in einen oberen Teil der Kammer mündet.
  8. Klampe (1) gemäß einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, daß die Klampe (1) einen abgerundeten oberen Rand aufweist, dessen vorderes Ende, das vom hinteren Ende auf der Seite des Eingriffsteils (11) abgewandt ist, mit der Basis (17) zusammentrifft und dessen hinteres Ende auf der Seite des Eingriffsteils (11) sich mit einem Sporn (16) weiter hinten und oberhalb des Eingriffsteils (11) fortsetzt.
  9. Andockeinheit mit einer Klampe (1) gemäß einem der Ansprüche 1 bis 8 und einem Tau (2), das eine Leine (20) und einen Stopper (20), der aus mindestens einem Quervorsprung auf dem Umfang der Leine (20) besteht, aufweist.
  10. Einheit (1) gemäß Anspruch 9, dadurch gekennzeichnet, daß der Stopper eine gewichtige Kugel ist.
EP20796811.6A 2019-10-29 2020-10-27 Klampe zum festmachen eines wasserfahrzeugs und festmachbaugruppe, die eine klampe und eine leine aufweist, die einen stopper aufweist Active EP4051569B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1912113A FR3102456B1 (fr) 2019-10-29 2019-10-29 Taquet pour amarrage d’une embarcation et ensemble d’amarrage à taquet et cordage à butoir
PCT/EP2020/080161 WO2021083883A1 (fr) 2019-10-29 2020-10-27 Taquet pour amarrage d'une embarcation et ensemble d'amarrage à taquet et cordage à butoir

Publications (2)

Publication Number Publication Date
EP4051569A1 EP4051569A1 (de) 2022-09-07
EP4051569B1 true EP4051569B1 (de) 2023-12-27

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EP20796811.6A Active EP4051569B1 (de) 2019-10-29 2020-10-27 Klampe zum festmachen eines wasserfahrzeugs und festmachbaugruppe, die eine klampe und eine leine aufweist, die einen stopper aufweist

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Country Link
US (1) US20220371692A1 (de)
EP (1) EP4051569B1 (de)
FR (1) FR3102456B1 (de)
WO (1) WO2021083883A1 (de)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3757722A (en) * 1972-04-21 1973-09-11 Us Navy Submersible submersible underway docking unit
FR2567842A1 (fr) * 1984-07-17 1986-01-24 Normandie Const Meca Dispositif pour embarquer des embarcations a bord de navires
US5398636A (en) * 1993-09-13 1995-03-21 The United States Of America As Represented By The Secretary Of The Navy System for effecting underwater coupling of optical fiber cables characterized by a novel lateral arm cable capture mechanism
US5396859A (en) * 1993-09-13 1995-03-14 The United States Of America As Represented By The Secretary Of The Navy System for effecting underwater coupling of optical fiber cables characterized by a novel V-probe cable capture mechanism
US6904861B1 (en) * 2004-03-24 2005-06-14 The United States Of America As Represented By The Secretary Of The Navy Boat capture system
FR2994560B1 (fr) * 2012-08-17 2014-08-15 Thales Sa Dispositif permettant de remorquer un engin sous-marin autonome
DE102012111988A1 (de) * 2012-12-07 2014-06-12 Atlas Elektronik Gmbh Vorrichtung sowie Verfahren zum Einholen eines unbemannten Unterwasserfahrzeugs

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WO2021083883A1 (fr) 2021-05-06
FR3102456B1 (fr) 2023-01-27
FR3102456A1 (fr) 2021-04-30
EP4051569A1 (de) 2022-09-07
US20220371692A1 (en) 2022-11-24

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