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EP3034242A1 - Machine-outil manuelle - Google Patents

Machine-outil manuelle Download PDF

Info

Publication number
EP3034242A1
EP3034242A1 EP14198722.2A EP14198722A EP3034242A1 EP 3034242 A1 EP3034242 A1 EP 3034242A1 EP 14198722 A EP14198722 A EP 14198722A EP 3034242 A1 EP3034242 A1 EP 3034242A1
Authority
EP
European Patent Office
Prior art keywords
part body
racket
sleeve
impact
working axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14198722.2A
Other languages
German (de)
English (en)
Inventor
Steffen Geiger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hilti AG
Original Assignee
Hilti AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hilti AG filed Critical Hilti AG
Priority to EP14198722.2A priority Critical patent/EP3034242A1/fr
Priority to CN201580069771.9A priority patent/CN107107321A/zh
Priority to PCT/EP2015/079698 priority patent/WO2016096791A1/fr
Priority to US15/537,229 priority patent/US20180264636A1/en
Priority to EP15817157.9A priority patent/EP3233382B1/fr
Publication of EP3034242A1 publication Critical patent/EP3034242A1/fr
Withdrawn legal-status Critical Current

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Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D11/00—Portable percussive tools with electromotor or other motor drive
    • B25D11/06—Means for driving the impulse member
    • B25D11/12—Means for driving the impulse member comprising a crank mechanism
    • B25D11/125—Means for driving the impulse member comprising a crank mechanism with a fluid cushion between the crank drive and the striking body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D17/00—Details of, or accessories for, portable power-driven percussive tools
    • B25D17/02—Percussive tool bits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D17/00—Details of, or accessories for, portable power-driven percussive tools
    • B25D17/06—Hammer pistons; Anvils ; Guide-sleeves for pistons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D2217/00—Details of, or accessories for, portable power-driven percussive tools
    • B25D2217/0011—Details of anvils, guide-sleeves or pistons
    • B25D2217/0023—Pistons
    • 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
    • B25D2250/181—Pneumatic tool components
    • 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
    • B25D2250/265—Trigger mechanism in handle
    • 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
    • B25D2250/345—Use of o-rings
    • 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
    • B25D2250/371—Use of springs

Definitions

  • the present invention relates to a hand tool with a motor-driven pneumatic percussion.
  • US 2002 003045 A discloses a generic hand tool with a motorized percussion drill and chisel.
  • a motor moves an exciter piston in a guide tube along a working axis back and forth.
  • a bat lies in the guide tube. Between the pathogen and the bat is a sealed pneumatic chamber that is periodically compressed and decompressed by the agent. The club is accelerated by built pressure difference from the environment and thereby coupled to the movement of the pathogen. The bat strikes in the direction of impact on an anvil, which transfers the blow to a tool.
  • the power provided by the engine should be implemented as efficiently as possible in a mining performance for the tool.
  • the machine tool has a tool holder for receiving a chiseling tool on a working axis, a motor and a driven by the motor pneumatic percussion.
  • the percussion mechanism has a club guided on the working axis and provided with a striking face in the direction of impact, an excitation piston driven by the motor and a pneumatic chamber formed between exciter piston and racket for coupling the racket to the movement of the exciter piston.
  • the racket has a first partial body forming the striking surface, a second partial body and a spring element.
  • the first part body is movable relative to the second part body along the working axis.
  • the second part body has an impact surface facing in the direction of impact.
  • the first part body has an impact surface opposite the impact surface for receiving a shock of the second part body on the first part body.
  • the spring element drives the first part body relative to the second Part body in the direction of impact in a basic position in which the impact surface is separated from the baffle by a gap.
  • the bat strikes with the first part of body on an anvil or the tool.
  • the second part of the body still moves in the direction of impact until the gap is closed and only then hits the first part of the body, which indirectly transfers the impact to the tool.
  • the impact of the second part body is delayed to the first part body, whereby the kinetic energy of the racket is transmitted over a prolonged stroke duration.
  • heavy impacters can thereby be increased efficiency.
  • the gap has a width between 0.3 mm to 1.5 mm.
  • the delay with the second partial body strikes the first partial body after the first partial body strikes the tool or an anvil is preferably between 25 ⁇ s and 125 ⁇ s.
  • a lower delay shows no effect.
  • a larger delay leads to a very inefficient double hit, since the first part body has already begun its backward movement in the meantime.
  • first part body and the second part body each have a proportion of at least 25% of the mass of the racket.
  • the mass ratio of the first part body to the second part body is preferably in the range between 1: 2 to 2: 1, more preferably 1: 1.5 to 1.5: 1.
  • the extension of the stroke is as even as possible over time.
  • a front side of a component designates the side facing the tool, that is to say pointing in the direction of impact; a rear side of the component designates the side facing away from the tool, that is, pointing counter to the direction of impact.
  • Fig. 1 schematically shows a hammer drill 1 as an example of a chiseling hand tool.
  • the hammer drill 1 has a tool holder 2, in which a shank end 3 of a tool, for example one of the drill 4, can be used.
  • a primary drive of the hammer drill 1 is a motor 5, which drives a striking mechanism 6 and an output shaft 7 .
  • a battery pack 8 or a power line supplies the motor 5 with power.
  • a user can guide the hammer drill 1 by means of a handle 9 and be by means of a system switch 10 to the hammer drill 1 is in operation.
  • the hammer drill 1 rotates the drill 4 continuously about a working axis 11 and can beat the drill 4 in the direction of impact 12 along the working axis 11 in a substrate.
  • the percussion 6 is a pneumatic percussion 6.
  • An exciter piston 13 and a racket 14 are movably guided in a guide tube 15 in the striking mechanism 6 along the working axis 11 .
  • the excitation piston 13 is coupled via an eccentric 16 to the motor 5 and forced to a periodic, linear movement.
  • a connecting rod 17 connects the eccentric 16 with the excitation piston 13.
  • An air spring formed by a pneumatic chamber 18 between the excitation piston 13 and the racket 14 couples a movement of the racket 14 to the movement of the exciter piston 13 .
  • the racket 14 can strike directly on a rear end of the drill 4 or indirectly transmit a portion of its pulse to the drill 4 via a substantially quiescent striker 19 .
  • the striking mechanism 6 and preferably the further drive components are arranged within a machine housing 20 .
  • the racket 14 has a cylindrical sliding surface 21, which rests radially on the guide tube 15 .
  • the racket 14 is guided by its sliding surface 21 on the inner surface of the guide tube 15 along the working axis 11 .
  • a sealing ring may be inserted into the sliding surface 21 on the side of the racket 14 facing away from the tool in order to improve the airtight sealing of the racket 14 with the guide tube 15 .
  • a rear side 22 of the racket 14 faces the excitation piston 13 .
  • the rear side 22 closes off the pneumatic chamber 18 in the direction of impact 8 .
  • a Front side of the racket 14 forms the striking surface 23, which strikes the striker 19 or the tool 4 .
  • the exemplary beater 14 has a tappet 24 forming the striking side , the diameter of which is smaller than the diameter of the cylindrical sliding surface 21 .
  • the striking surface 23 may be convex.
  • the striking surface 23 is preferably rotationally symmetrical to the working axis 11.
  • the racket 14 has a pot-shaped sleeve 25 and a core 26 inserted into the sleeve 25.
  • the sleeve 25 forms the sliding surface 21 of the racket 14.
  • the exemplary sleeve 25 also forms the striking surface 23 of the racket 14.
  • the sleeve 25 is closed at the front ,
  • the sleeve 25 may be provided with the plunger 24 .
  • the sleeve 25 has a cylindrical or prismatic cavity whose inner surface 27 is oriented parallel to the working axis 11 .
  • the cavity is coaxial with the working axis 11.
  • the exemplary cavity is open to the back of the sleeve 25 .
  • the core 26 is inserted into the cavity.
  • a cross section of the core 26 is complementary to the cross section of the cavity.
  • the core 26 is movably guided in the cavity along the working axis 11 on the inner surface 27 of the cavity.
  • the core 26 preferably has only one sliding clearance in the radial direction.
  • the racket 14 is preferably formed rotationally symmetrical to the working axis 11.
  • the sleeve 25 and the core 26 are arranged corresponding to each other coaxially.
  • the core 26 is enclosed in the racket 14 along the working axis 11 .
  • the axial movement of the core 26 is limited by the enclosure on a running route 28 .
  • the running distance of the core 26 is limited by a rear stop against the direction of impact 12 .
  • the sleeve 25 forms the rear stop by means of an exemplary snap ring 29.
  • the snap ring 29 is inserted near the rear side 22 in the inner surface 27 of the sleeve 25 .
  • the core 26 comes with his back to the snap ring 29 to concerns.
  • the rear stop may alternatively be formed by pins, split pins, screwed elements which are immovably inserted into the sleeve 25 .
  • the core 26 is located in its basic position on the rear stop (see upper half of FIG Fig. 2 ).
  • the route 28 is limited in the direction of impact 12 by a baffle 30 of the sleeve 25 .
  • the impact surface 30 pointing counter to the impact direction 12 can be formed, for example, by an inner surface of the closed front side of the sleeve 25 .
  • the baffle 30 and the striking surface 23 are preferably formed by a monolithic body, ie a body without joining zones.
  • the core 26 has a forwardly in the direction of impact 12 abutment surface 31.
  • the abutment surface 31 may be on the baffle 30 open (see FIG. Lower Half of the picture Fig. 2 ).
  • the exemplary impact surface 31 is provided at the front of the core 26 .
  • the abutment surface 31 may be less than the cross section of the core 26 .
  • the exemplary core 26 has a ram 31 forming the ram on its front side.
  • the baffle surface 30 of the sleeve 25 lies within the beater 14.
  • the baffle 30 is preferably rotationally symmetrical to the working axis 11.
  • the baffle 30 may be as shown on the working axis 11 or formed by an annular shoulder on the inner surface 27 .
  • the abutment surface 31 of the core 26 is formed complementary to the baffle 30 .
  • the core 26 is spaced in its basic position by the baffle 30 of the sleeve 25 through a gap 32 .
  • the width 28 of the gap 32 ie the distance of the baffle 30 of the sleeve 25 from the abutment surface 31 of the core 26 is equal to the possible running distance 28 of the core 26 in the racket 14th
  • the racket 14 has a spring element 33.
  • the spring element 33 is clamped between the sleeve 25 and the core 26 along the working axis 11 .
  • the spring element 33 holds the core 26 relative to the sleeve 25 in the basic position.
  • the core 26 is located on the rear stop, for example, the snap ring 29 at.
  • the spring element 33 is, for example, an O-ring of synthetic rubber, a leaf spring stack.
  • the spring element 33 is offset from the baffle surface 30 and the abutment surface 31. Although the spring element 33 acts with a force against impact of the abutment surface 31 on the baffle surface 30 , but allows for the impact at a sufficiently applied force.
  • a cord diameter of the exemplary O-ring 33 is greater than three times the travel distance 28.
  • the sleeve 25 Upon impact of the bat 14 on the striker 19 or the tool 4 , the sleeve 25 transmits its impulse almost instantaneously to the striker 19 and the tool 4.
  • the core 26 initially compresses the spring element 33 when it strikes (see the lower half of FIG Fig. 2 ), before the core 26 strikes the sleeve 25 and transmits indirectly via the sleeve 25 its pulse on the striker 19 .
  • the accompanying delay causes a longer lasting transmission of impact energy, which turns out to be advantageous.
  • the relevant running distance 28 or width 28 of the gap 32 is preferably in the range of 0.3 mm to 1.5 mm.
  • the mass of the racket 14 consists essentially of the mass of the core 26 and the mass of the sleeve 25 together.
  • the core 26 and the sleeve 25 each contribute at least 25% to the mass of the racket 14 .
  • Fig. 3 shows the striking mechanism 6 with a modified racket 14.
  • the racket 14 has a sleeve 34, a in the sleeve 34 along the working axis 11 movable core 35 and a spring element 33rd
  • the core 35 forms the striking surface 23 of the racket 14.
  • the core 35 has an oppositely directed impact direction 12 , inner baffle surface 36, on which an opposite impact surface 37 of the sleeve 34 can strike.
  • the sleeve 34 is bordered by the core 35 along the working axis 11 , whereby a running distance 28 of the sleeve 34 is limited relative to the core 35 .
  • the front stop of the enclosure is formed by the baffle 36 and the abutment surface 37 .
  • the spring element 33 drives the sleeve 34 in the rearward stop, whereby the baffle surface 30 is spaced from the abutment surface 31 by a gap 38 .
  • the width 28 of the gap 38 corresponds to the running distance 28.
  • the running distance 28 is in the range between 0.3 mm and 1.5 mm.
  • the sleeve 34 and the core 35 each contribute to at least 25% of the mass of the racket 14 .
  • the mass of sleeve 34 and core 35 differs by less than 50%.
  • the sleeve 34 forms the sliding surface 21 of the racket 14, which guides the racket 14 in the guide tube 15 along the working axis 11 .
  • the sleeve 34 has a cylindrical or prismatic portion of the inner surface 27.
  • the inner surface 27 further has a radial step or shoulder 39 with the impact direction pointing in the direction of impact 12 37.
  • the abutment surface 37 is annular, preferably coaxially aligned with the working axis 11 .
  • the core 35 forms the outer striking surface 23 of the racket 14, which strikes the striker 19 .
  • the core 35 has a cylindrical or prismatic sliding surface 40 which is guided by the inner surface 27 of the sleeve 34 parallel to the working axis 11 .
  • the core 35 has a radial step or shoulder 41, which is arranged in the direction of impact 12 behind the shoulder 39 of the sleeve 34 .
  • the shoulder 41 of the core 35 forms a baffle 36 which opposes the abutment surface 37 of the sleeve 34 .
  • the exemplary core 35 is composed of two building blocks 42, 43 .
  • the front monolithic module 42 forms the striking surface 23 and the baffle 30.
  • the rear module 43 forms the rear stop for the sleeve 34.
  • the rear module 43 is for example a disc which overlaps radially with the sleeve 34 .
  • a damping element 44 for example an O-ring, can be arranged between the rear component 43 and the sleeve 34 .
  • the two components 42, 43 can be screwed together.
  • the two building blocks contribute to the mass of the core 35 .
  • the spring element 33 is arranged offset to the baffle surface 36 and the abutment surface 37 .
  • the exemplary core 35 has a second radial step 45 with an opposite direction of impact 12 facing surface 46; the sleeve 25 has 47 thereof facing in the direction of impact 12 surface opposed to a second radial step 48 of the surface 46th
  • the distance between the two surfaces 48, 46 is preferably greater than the running distance 28, preferably more than three times greater than the running distance 28.
  • the spring element 33 for example, the O-ring is clamped between the two surfaces 48, 46 .
  • the exciter 13 may be designed as a cylindrical piston.
  • the guide tube is rigidly connected to the excitation piston 13 to a pathogen.
  • the exciter piston and the guide tube move together along the working axis 11.
  • the racket 14 is guided in the guide tube along the working axis 11 and coupled by the pneumatic chamber 18 to the movement of the exciter.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Percussive Tools And Related Accessories (AREA)
EP14198722.2A 2014-12-18 2014-12-18 Machine-outil manuelle Withdrawn EP3034242A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP14198722.2A EP3034242A1 (fr) 2014-12-18 2014-12-18 Machine-outil manuelle
CN201580069771.9A CN107107321A (zh) 2014-12-18 2015-12-15 手持式工具机
PCT/EP2015/079698 WO2016096791A1 (fr) 2014-12-18 2015-12-15 Machine-outil portative
US15/537,229 US20180264636A1 (en) 2014-12-18 2015-12-15 Hand-held Power Tool
EP15817157.9A EP3233382B1 (fr) 2014-12-18 2015-12-15 Machine-outil portable

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14198722.2A EP3034242A1 (fr) 2014-12-18 2014-12-18 Machine-outil manuelle

Publications (1)

Publication Number Publication Date
EP3034242A1 true EP3034242A1 (fr) 2016-06-22

Family

ID=52133935

Family Applications (2)

Application Number Title Priority Date Filing Date
EP14198722.2A Withdrawn EP3034242A1 (fr) 2014-12-18 2014-12-18 Machine-outil manuelle
EP15817157.9A Active EP3233382B1 (fr) 2014-12-18 2015-12-15 Machine-outil portable

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP15817157.9A Active EP3233382B1 (fr) 2014-12-18 2015-12-15 Machine-outil portable

Country Status (4)

Country Link
US (1) US20180264636A1 (fr)
EP (2) EP3034242A1 (fr)
CN (1) CN107107321A (fr)
WO (1) WO2016096791A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3034242A1 (fr) * 2014-12-18 2016-06-22 HILTI Aktiengesellschaft Machine-outil manuelle
EP3260239A1 (fr) * 2016-06-24 2017-12-27 HILTI Aktiengesellschaft Machine-outil portative
EP3670095A1 (fr) * 2018-12-20 2020-06-24 Hilti Aktiengesellschaft Machine-outil portative
US11864808B2 (en) * 2021-04-01 2024-01-09 DePuy Synthes Products, Inc. Gas spring surgical impacting tools
SE545906C2 (en) * 2022-12-09 2024-03-12 Atlas Copco Ind Technique Ab Hand-held percussive tool

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3717694A1 (de) * 1987-05-26 1988-12-08 Bosch Gmbh Robert Bohrhammer
US20020003045A1 (en) 2000-07-08 2002-01-10 Hans-Werner Bongers-Ambrosius Electric hand tool implement with no-load stroke disconnection
GB2408714A (en) * 2003-12-05 2005-06-08 Bosch Gmbh Robert Percussion mechanism for power tool
JP2006123025A (ja) * 2004-10-26 2006-05-18 Matsushita Electric Works Ltd 衝撃工具
US20060243467A1 (en) * 2005-04-28 2006-11-02 Gerhard Meixner Hand-held power tool hammer mechanism
US20100025061A1 (en) * 2006-12-20 2010-02-04 Gerhard Meixner Striking mechanism for a handheld power tool

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GB1511648A (en) * 1974-08-09 1978-05-24 Gerrish A Pile driving apparatus
NO172677C (no) * 1991-02-21 1993-08-25 Teeness As Anordning for demping av vibrasjoner, eksempelvis selvgenererte svingninger i borestenger og lignende
PT1238759E (pt) * 2001-03-07 2004-04-30 Black & Decker Inc Martelo
US8047302B2 (en) * 2001-12-21 2011-11-01 Wacker Neuson Produktion GmbH & Co. KG Drilling and/or striking hammer with a lubricating device
GB0213464D0 (en) * 2002-06-12 2002-07-24 Black & Decker Inc Hammer
FI121004B (fi) * 2003-01-03 2010-06-15 Sandvik Mining & Constr Oy Kallioporakone ja aksiaalilaakeri iskevää kallioporakonetta varten
JP4525904B2 (ja) * 2004-06-08 2010-08-18 日立工機株式会社 打撃工具
DE602005007166D1 (de) * 2004-12-23 2008-07-10 Black & Decker Inc Kraftwerkzeuggehäuse
FI122703B (fi) * 2006-12-14 2012-05-31 Foster Wheeler Energia Oy Likaantuvan pinnan ravistuslaite
DE102007000081A1 (de) * 2007-02-08 2008-08-21 Hilti Ag Handwerkzeugmaschine mit pneumatischem Schlagwerk
DE102007000131A1 (de) * 2007-03-07 2008-09-11 Hilti Ag Handwerkzeugmaschine mit pneumatischem Schlagwerk
DE102007056531A1 (de) * 2007-11-23 2009-05-28 Hilti Aktiengesellschaft Handwerkzeugmaschine mit Schlagwerkzeugaufnahme und zugeordnetes Werkzeug
SE531860C2 (sv) * 2007-12-21 2009-08-25 Atlas Copco Rock Drills Ab Impulsalstrande anordning för inducering av en stötvåg i ett verktyg samt bergborrningsrigg innefattande sådan anordning
GB0804964D0 (en) * 2008-03-18 2008-04-16 Black & Decker Inc Hammer
JP5154995B2 (ja) * 2008-03-28 2013-02-27 株式会社マキタ 打撃工具
WO2009137690A1 (fr) * 2008-05-07 2009-11-12 Milwaukee Electric Tool Corporation Ensemble enclume pour outil motorisé
JP5128391B2 (ja) * 2008-07-03 2013-01-23 株式会社マキタ ハンマードリル
DE102009026542A1 (de) * 2009-05-28 2010-12-09 Hilti Aktiengesellschaft Werkzeugmaschine
JP5428848B2 (ja) * 2009-12-25 2014-02-26 日立工機株式会社 電動工具
JP5463221B2 (ja) * 2010-07-02 2014-04-09 株式会社マキタ オイルパルス回転工具
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EP3034242A1 (fr) * 2014-12-18 2016-06-22 HILTI Aktiengesellschaft Machine-outil manuelle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3717694A1 (de) * 1987-05-26 1988-12-08 Bosch Gmbh Robert Bohrhammer
US20020003045A1 (en) 2000-07-08 2002-01-10 Hans-Werner Bongers-Ambrosius Electric hand tool implement with no-load stroke disconnection
GB2408714A (en) * 2003-12-05 2005-06-08 Bosch Gmbh Robert Percussion mechanism for power tool
JP2006123025A (ja) * 2004-10-26 2006-05-18 Matsushita Electric Works Ltd 衝撃工具
US20060243467A1 (en) * 2005-04-28 2006-11-02 Gerhard Meixner Hand-held power tool hammer mechanism
US20100025061A1 (en) * 2006-12-20 2010-02-04 Gerhard Meixner Striking mechanism for a handheld power tool

Also Published As

Publication number Publication date
CN107107321A (zh) 2017-08-29
EP3233382B1 (fr) 2018-08-15
US20180264636A1 (en) 2018-09-20
WO2016096791A1 (fr) 2016-06-23
EP3233382A1 (fr) 2017-10-25

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