WO2017172546A1 - B-pillar with tailored properties - Google Patents
B-pillar with tailored properties Download PDFInfo
- Publication number
- WO2017172546A1 WO2017172546A1 PCT/US2017/024200 US2017024200W WO2017172546A1 WO 2017172546 A1 WO2017172546 A1 WO 2017172546A1 US 2017024200 W US2017024200 W US 2017024200W WO 2017172546 A1 WO2017172546 A1 WO 2017172546A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- zone
- soft
- mpa
- pillar
- hard
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D25/00—Superstructure or monocoque structure sub-units; Parts or details thereof not otherwise provided for
- B62D25/04—Door pillars ; windshield pillars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C71/00—After-treatment of articles without altering their shape; Apparatus therefor
- B29C71/02—Thermal after-treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D29/00—Superstructures, understructures, or sub-units thereof, characterised by the material thereof
- B62D29/007—Superstructures, understructures, or sub-units thereof, characterised by the material thereof predominantly of special steel or specially treated steel, e.g. stainless steel or locally surface hardened steel
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/34—Methods of heating
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/62—Quenching devices
- C21D1/673—Quenching devices for die quenching
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C35/00—Heating, cooling or curing, e.g. crosslinking or vulcanising; Apparatus therefor
- B29C35/02—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould
- B29C35/04—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould using liquids, gas or steam
- B29C35/041—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould using liquids, gas or steam using liquids
- B29C2035/042—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould using liquids, gas or steam using liquids other than water
- B29C2035/043—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould using liquids, gas or steam using liquids other than water oil
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C35/00—Heating, cooling or curing, e.g. crosslinking or vulcanising; Apparatus therefor
- B29C35/02—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould
- B29C35/08—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould by wave energy or particle radiation
- B29C35/0805—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould by wave energy or particle radiation using electromagnetic radiation
- B29C2035/0811—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould by wave energy or particle radiation using electromagnetic radiation using induction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C35/00—Heating, cooling or curing, e.g. crosslinking or vulcanising; Apparatus therefor
- B29C35/02—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould
- B29C35/08—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould by wave energy or particle radiation
- B29C35/0805—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould by wave energy or particle radiation using electromagnetic radiation
- B29C2035/0822—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould by wave energy or particle radiation using electromagnetic radiation using IR radiation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C35/00—Heating, cooling or curing, e.g. crosslinking or vulcanising; Apparatus therefor
- B29C35/02—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould
- B29C35/08—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould by wave energy or particle radiation
- B29C35/0805—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould by wave energy or particle radiation using electromagnetic radiation
- B29C2035/0838—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould by wave energy or particle radiation using electromagnetic radiation using laser
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C71/00—After-treatment of articles without altering their shape; Apparatus therefor
- B29C71/02—Thermal after-treatment
- B29C2071/022—Annealing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C71/00—After-treatment of articles without altering their shape; Apparatus therefor
- B29C71/02—Thermal after-treatment
- B29C2071/027—Tempering, i.e. heating an object to a high temperature and quenching it
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C35/00—Heating, cooling or curing, e.g. crosslinking or vulcanising; Apparatus therefor
- B29C35/16—Cooling
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D2211/00—Microstructure comprising significant phases
- C21D2211/008—Martensite
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D2221/00—Treating localised areas of an article
Definitions
- the invention relates generally to structural components for automotive vehicles, more particularly to B-pillars formed of steel, and methods of manufacturing the same.
- High strength structural components formed of steel for automotive vehicles can be designed with tailored material properties to meet crash standards set by the automotive industry.
- B-pillars oftentimes experience unstable dimensions due to the production process, and thus do not fit well in a body-in-white assembly. Any distortion of the desired dimensions could lead to poor sealing along the surface and/or trim of the B-pillar, which in turn could increase noise, vibration, and harshness (NVH), as well as corrosion during use of the B-pillar in the automotive vehicle.
- the B-pillar is typically scrapped if it has a certain amount of distortion or dimensional issues.
- the production process can include holding the B-pillar between a pair of heated die for a long cooling step. However, some distortion could still occur. In addition, the cooling time required to reduce distortion of the B-pillar increases the total production cycle time, which is not desirable.
- a B-pillar for an automotive vehicle having tailored material properties and which is dimensionally stable comprises a component including a hard zone and at least one soft zone.
- the at least one soft zone has a volume less than a volume of the hard zone.
- a method of manufacturing the B-pillar includes heating a blank, and cooling at least one area of the blank at a slower rate than a remaining area of the blank to form at least one soft zone and a hard zone.
- the at least one soft zone has a volume less than a volume of the hard zone.
- Figures 1-7 each illustrate a B-pillar including localized soft zones surrounded by a hard zone according to example embodiments.
- the invention provides a structural component, specifically a B-pillar 20 for an automotive vehicle having customized tailored material properties which is
- the B-pillar 20 includes a forward side edge 22 and a rear side edge 24 each extending longitudinally from a top end 26 to a bottom end 28.
- the B-pillar 20 has a width w extending from the forward side edge 22 to the rear side edge 24, and the width w of the B-pillar 20 of the example embodiments varies between the top end 26 and bottom end 28.
- the B-pillar 20 can comprise various different shapes and dimensions.
- the B-pillar 20 has stable dimensions along its surface, ends 26, 28, and side edges 22, 24 or trim and thus can provide the sealing required to meet noise, vibration, and harshness (NVH) standards as well as good corrosion resistance during use of the B-pillar 20 in an automotive vehicle.
- NSH noise, vibration, and harshness
- the B-pillar 20 has tailored material properties which can meet crash standards, including a side impact standard (IIHS FMVSS 214) and roof crush standard (FMVSS 216).
- the tailored material properties are provided by at least one soft zone 30 surrounded by a hard zone 32.
- the hard zone 32 has a higher yield strength and higher tensile strength than the at least one soft zone 30.
- the hard zone 32 also has a lower elongation than the at least one soft zone 32.
- the hard zone 32 has a yield strength of 950 MPa to 1700 MPa; a tensile strength of 1200 MPa to 2100 MPa; and an elongation of greater than 4%.
- the soft zone or soft zones 30 each have a yield strength of 340 MPa to 780 MPa; a tensile strength of 400 MPa to 980 MPa; and an elongation of greater than 10%.
- the B-pillar 20 is formed of an iron-based material, such as steel.
- the microstructure of the hard zones 32 and the microstructure of the at least one soft zone 30 differ to achieve the desired performance.
- the hard zone 32 has a martensitic microstructure.
- the microstructure of the soft zones 30 can vary and still meet the crash standards.
- the microstructure of the at least one soft zone 30 includes at least one of tempered martensite, ferrite, pearlite, bainite, austenite, and cementite.
- the microstructure of the at least one soft zone 30 can include tempered martensite, ferrite pearlite bainite, ferrite pearlite austenite, ferrite pearlite, ferrite bainite, cementite austenite, and/or cementite bainite.
- the size and number of the soft zones 30 can vary depending on the desired performance of the B-pillar 20.
- the one or more soft zones 30 are localized, or limited to a small volume relative to the total volume of the B-pillar 20.
- the volume of the localized soft zone or the total volume of the soft zones 30 together is less than the volume of the hard zone 32.
- the localized soft zones 30 allow the B-pillar 20 to be dimensional stable and fit well in body-in-white assemblies.
- the relatively small volume of the soft zones 30 also reduces the potential for distortion of the B-pillar 20 and thus the undesirable scrap.
- the B-pillar 20 includes four soft zones 30 which are separate and spaced from one another by portions of the hard zone 32.
- Each soft zone 30 is located along one of the side edges 22, 24 of the B-pillar 20.
- Two of the soft zones 30 are located along the bottom end 28, and the other two soft zones 30 are slightly above the bottom end 28, but still located in the lower half of the B-pillar 20.
- the top two soft zones 30 are longitudinally aligned, and the lower two soft zones 30 are longitudinally aligned.
- the B-pillar 20 includes two soft zones 30 which are separate and spaced from one another by portions of the hard zone 32. Each soft zone 30 is located along the forward side edge 22. One of the soft zones 30 is located along the bottom end 28, and the other soft zone 30 is slightly above the bottom end 28, but still located in the lower half of the B-pillar 20.
- the B-pillar 20 includes two soft zones 30 which are separate and spaced from one another by portions of the hard zone 32. Each soft zone 30 is located along the rear side edge 24. One of the soft zones 30 is located along the bottom end 28, and the other soft zone 30 is slightly above the bottom end 28, but still located in the lower half of the B-pillar 20.
- the B-pillar 20 includes two soft zones 30 which are separate and spaced from one another by portions of the hard zone 32.
- One soft zone 30 is located along the forward side edge 22 and one is located along the rear side edge 24.
- Each soft zone 30 is slightly above the bottom end 28, but still in the lower half of the B-pillar 20.
- the two soft zones 30 are longitudinally aligned.
- the B-pillar 20 includes two soft zones 30 which are separate and spaced from one another by portions of the hard zone 32.
- One soft zone 30 is located along the forward side edge 22 and one is located along the rear side edge 24.
- Each soft zone 30 begins at the bottom end 28 and extends upward to encompass a larger portion of the B-pillar 20, compared to the soft zones 30 of Figures 4.
- the two soft zones 30 of Figure 5 are also longitudinally aligned.
- the B-pillar 20 includes two soft zones 30 which are separate and spaced from one another by portions of the hard zone 32.
- One soft zone 30 is located along the forward side edge 22 and one is located along the rear side edge 24.
- Each soft zone 30 is slightly above the bottom end 28, but still in the lower half of the B-pillar 20. However, the soft zones 30 are not longitudinally aligned.
- the soft zone 30 located along the forward edge 22 is closer to the bottom end 28 of the B-pillar 20 than the soft zone 30 located along the rear edge 24.
- the B-pillar 20 includes two soft zones 30 which are separate and spaced from one another by portions of the hard zone 32.
- One soft zone 30 is located along the forward side edge 22 and one is located along the rear side edge 24.
- Each soft zone 30 is slightly above the bottom end 28, but still in the lower half of the B-pillar 20.
- the soft zones 30 are not longitudinally aligned.
- the soft zone 30 located along the forward side edge 22 is closer to the bottom end 28 of the B-pillar 20 than the soft zone 30 located along the rear side edge 24.
- the soft zones 30 of Figure 7 are slightly larger than the soft zones 30 of Figure 6.
- the invention also provides a method of manufacturing the B-pillar 20.
- the method typically includes disposing a blank formed of the iron-based material in a die or between a pair of dies, and forming the blank into the shape of the B-pillar 20.
- Various different techniques can be used to form the localized soft zone(s) 30 surrounded by the hard zone 32.
- the method typically includes heating the blank, and cooling the localized area(s) of the blank slower than the remaining area of the blank in a manner which forms the at least one localized soft zone 30 surrounded by the hard zone 32.
- the cooling of the area of the soft zones 30 can occur using a heated die or by air outside of the die.
- the blank does not need to be held between the dies during the cooling step, which reduces process cycle time and provides a more efficient process.
- the tooling or equipment used to form the B-pillar 20 can be simplified, since the blank used to form the B-pillar 20 can be removed from the dies anytime, and the soft zones 30 can be cooled by air.
- the slow cooling step has no effect on distortion of the B-pillar 20, and the amount of scrap caused by distortion of the B-pillar 20 can be reduced.
- the soft zones 30 are localized and comprise a smaller volume, the duration of the cooling step can be reduced.
- the method includes heating and cooling the blank in the die or dies, wherein at least one of the dies includes a heated section and a cooled section.
- the heating is maintained by heating elements, such as heated cartridges.
- the insulation between the heated section and cooled section in the die provides a barrier to attain small transition zones, which are typically > 0 ⁇ 100 mm in size.
- the size of the typical transition zone is 30 to 60 mm.
- Heating of the blank in the die or between the pair of dies can be achieved by heated oil, infrared, induction, or other methods.
- the B- pillar 20 can also be post processed by using secondary operations to locally heat the areas of the soft zones 30.
- the medium used to conduct the post-softening step can be laser annealing, laser tempering, induction coils, conduction plates, infrared heating, or other methods.
- the in-die slow cooling rates can be maintained by creating no die contact in the area where the soft zones 30 are required. No contact can be achieved by local die modification so that there is gap between the die surface of the cooled section and the blank. For example, the localized areas of the blank can be spaced from the cooled section of the die to form the soft zones 30, and the remaining area of the blank can be located along the cooled section to form the hard zone 32.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Crystallography & Structural Chemistry (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Heat Treatment Of Articles (AREA)
- Body Structure For Vehicles (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP17776366.1A EP3436207B1 (en) | 2016-03-29 | 2017-03-26 | B-pillar with tailored properties |
CN201780014128.5A CN108698103B (en) | 2016-03-29 | 2017-03-26 | B-pillar with tailored properties |
CA3012712A CA3012712A1 (en) | 2016-03-29 | 2017-03-26 | B-pillar with tailored properties |
US16/089,473 US11148725B2 (en) | 2016-03-29 | 2017-03-26 | B-pillar with tailored properties |
MX2018008950A MX2018008950A (en) | 2016-03-29 | 2017-03-26 | B-pillar with tailored properties. |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201662314764P | 2016-03-29 | 2016-03-29 | |
US62/314,764 | 2016-03-29 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017172546A1 true WO2017172546A1 (en) | 2017-10-05 |
Family
ID=59966371
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2017/024200 WO2017172546A1 (en) | 2016-03-29 | 2017-03-26 | B-pillar with tailored properties |
Country Status (6)
Country | Link |
---|---|
US (1) | US11148725B2 (en) |
EP (1) | EP3436207B1 (en) |
CN (1) | CN108698103B (en) |
CA (1) | CA3012712A1 (en) |
MX (1) | MX2018008950A (en) |
WO (1) | WO2017172546A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019177390A (en) * | 2018-03-30 | 2019-10-17 | マツダ株式会社 | Hot press processing method and processing apparatus |
WO2020080487A1 (en) * | 2018-10-18 | 2020-04-23 | Neturen Co., Ltd. | Hot stamping method and hot stamped product |
JP2020066054A (en) * | 2018-10-18 | 2020-04-30 | 高周波熱錬株式会社 | Hot press molding method and hot press molded product |
CN112808789A (en) * | 2019-11-18 | 2021-05-18 | 丰田自动车株式会社 | Method for manufacturing steel plate member |
CN114616166A (en) * | 2019-10-30 | 2022-06-10 | 麦格纳国际公司 | Column with variable strength |
WO2024062036A1 (en) * | 2022-09-22 | 2024-03-28 | Autotech Engineering S.L. | Structural components for a vehicle and methods |
WO2024062035A1 (en) * | 2022-09-22 | 2024-03-28 | Autotech Engineering S.L. | Structural components for a vehicle and methods |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017030191A1 (en) * | 2015-08-20 | 2017-02-23 | 新日鐵住金株式会社 | Steel sheet member combination structure, automobile structural member, center pillar, bumper, and door beam |
CN109622615B (en) * | 2018-11-23 | 2020-12-18 | 南京理工大学 | Process for obtaining controllable soft and hard layered structure metal plate by laser heating |
WO2021125577A1 (en) * | 2019-12-20 | 2021-06-24 | 현대제철 주식회사 | Hot-stamped component, and method for manufacturing same |
CN115165641A (en) * | 2022-07-14 | 2022-10-11 | 重庆长安汽车股份有限公司 | Performance test and evaluation method of variable-strength part |
WO2024097326A1 (en) * | 2022-11-02 | 2024-05-10 | Magna International Inc. | Frame assembly for a vehicle with a detachable pillar |
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2017
- 2017-03-26 WO PCT/US2017/024200 patent/WO2017172546A1/en active Application Filing
- 2017-03-26 US US16/089,473 patent/US11148725B2/en active Active
- 2017-03-26 CN CN201780014128.5A patent/CN108698103B/en active Active
- 2017-03-26 EP EP17776366.1A patent/EP3436207B1/en active Active
- 2017-03-26 MX MX2018008950A patent/MX2018008950A/en unknown
- 2017-03-26 CA CA3012712A patent/CA3012712A1/en not_active Abandoned
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Also Published As
Publication number | Publication date |
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EP3436207A4 (en) | 2019-11-27 |
US20190106155A1 (en) | 2019-04-11 |
EP3436207B1 (en) | 2022-08-31 |
MX2018008950A (en) | 2018-09-03 |
CN108698103A (en) | 2018-10-23 |
EP3436207A1 (en) | 2019-02-06 |
US11148725B2 (en) | 2021-10-19 |
CA3012712A1 (en) | 2017-10-05 |
CN108698103B (en) | 2021-06-15 |
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