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EP3664945B1 - Machine à cintrer pour le cintrage de pièces en forme de tige ou de tube - Google Patents

Machine à cintrer pour le cintrage de pièces en forme de tige ou de tube Download PDF

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Publication number
EP3664945B1
EP3664945B1 EP18733859.5A EP18733859A EP3664945B1 EP 3664945 B1 EP3664945 B1 EP 3664945B1 EP 18733859 A EP18733859 A EP 18733859A EP 3664945 B1 EP3664945 B1 EP 3664945B1
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EP
European Patent Office
Prior art keywords
bending
workpiece
slide rail
bending machine
lever
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
EP18733859.5A
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German (de)
English (en)
Other versions
EP3664945A1 (fr
Inventor
Jürgen Wolf
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.)
Wafios AG
Original Assignee
Wafios 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 Wafios AG filed Critical Wafios AG
Publication of EP3664945A1 publication Critical patent/EP3664945A1/fr
Application granted granted Critical
Publication of EP3664945B1 publication Critical patent/EP3664945B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment
    • B21D7/021—Construction of forming members having more than one groove
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment
    • B21D7/024—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
    • B21D11/10—Bending specially adapted to produce specific articles, e.g. leaf springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
    • B21D11/10—Bending specially adapted to produce specific articles, e.g. leaf springs
    • B21D11/12—Bending specially adapted to produce specific articles, e.g. leaf springs the articles being reinforcements for concrete

Definitions

  • the invention relates to a bending machine for bending rod-shaped or tubular workpieces, with a bending tool which comprises a bending head with a bending disk with at least one circumferential bending groove, and also with two slide rails, each of which is provided with a shaped groove and which face each other laterally opposite longitudinal sides of the workpiece can be placed, each slide rail being attached to a support part, and in the state in which it is placed against the workpiece, the workpiece is laterally supported in an area from its tangential entry into the bending groove of the bending disc up to a point at a predetermined distance in front of it, and wherein each support part can be brought between an initial position in which the associated slide rail does not rest against the workpiece and an end position in which it is in contact with the workpiece, the other slide rail assuming its initial position when one slide rail is in contact with the workpiece .
  • slide rail devices are provided on both sides of the workpiece, which can be moved parallel to the workpiece independently of one another and perpendicular to the workpiece together.
  • a vertical movement of the slide rails is not provided here either.
  • the machine for bending pipe coils from the DE 1 652 817 A1 slide rails are specified that can be moved both in the vertical and in the direction of movement of the workpiece.
  • a horizontal movement directed perpendicular to the workpiece is not expressly described here, only a lifting of the slide rails from the workpiece is stated.
  • a bending machine of the type mentioned is from the EP 2 177 287 A2 known.
  • the slide rails attached to both sides of the workpiece can be moved parallel to the workpiece, with a vertical movement or a movement directed perpendicular to the workpiece not being provided.
  • left and right bending can also be carried out, with material from the coil and not pipe sections cut to length being processed.
  • collisions can occur in this known bending machine.
  • the invention is based on the object of improving this known tube bending machine so that it has fewer interfering contours with greater bending space and can be used without problems for machines with cut workpieces as well as for material from the coil.
  • this is achieved in a bending machine of the type mentioned in that the two support parts are attached to the ends of a pivoted, two-armed lever mirror images of each other, with one of the two sliders with its shape groove against the workpiece laterally in each pivoting end position of the lever is applied.
  • the slide rails are not moved via guides on which the longitudinal and transverse slides are mounted, but instead by means of a two-armed lever pivotably mounted on the machine.
  • This allows the slide rails to be swiveled to the right and left of the bending head, which is particularly suitable for right and left Turning left proves.
  • the slide rails can advantageously also be moved in the direction of movement of the workpiece, with the bending head also being particularly preferably arranged to be movable in the vertical and horizontal directions.
  • the bending machine according to the invention is particularly advantageous for bending thin-walled tubes in order to be able to bend them without an internal mandrel. It is also possible to bend aluminum pipes and stainless steel pipes without cold welding, as the clamping jaw opens horizontally before turning back at the end of the bend and no longer rests on the workpiece.
  • the bending machine according to the invention Compared to bending machines that work without a slide rail and with counter-holding rollers, the bending machine according to the invention has the advantage that the counter-holding rollers are always arranged further away from the bending center than slide rails and thus not as high a bending quality as with the bending machine according to the invention can be achieved.
  • the pivotability of the two-armed lever with the slide rails also enables it to be rotated into a central position in which neither of the two slide rails is in lateral contact with the workpiece, but rather both slide rails are still removed from it.
  • a middle position is z. B. relevant for the last bend on a workpiece, because this allows short final straight lines to be realized on this.
  • the pipe wrench which holds the workpiece, can move forward into the tool area and transfer the workpiece, which is then held by means of the bending tool and clamping jaws. The pliers can then move back without a workpiece, after which the relevant slide rail is placed on the workpiece and the last bend is produced on it.
  • the two-armed lever By suitably designing the two-armed lever, it can be ensured that when one slider rests laterally against the workpiece to be treated, the other slider is brought into a starting position that is well below the bending plane and is thus in the Area of the bending plane and above the same no interfering contour due to this lowered slide rail and thus a large bending space is guaranteed.
  • the pivotably mounted lever is attached between a workpiece guide on the machine frame and the bending tool.
  • the lever can advantageously be pivotably mounted on a bracket that is attached to the machine housing, preferably at the front of the machine frame, or also pivotably attached to the bending head and can also be moved horizontally (perpendicular to the longitudinal axis of the workpiece).
  • the design of the two-armed pivotable lever can take place in any suitable shape for this, but it is particularly preferably designed to be V-shaped or C-shaped.
  • the slide rails are attached to the two-armed lever inclined at an angle of 60 ° to each other, which enables a relatively short distance to be covered to swivel right and left bending (and vice versa) which also has a very positive effect on the non-productive times.
  • the lever arms should also be as far apart as possible in order to ensure the greatest possible bending space.
  • each slide rail on the associated support part is provided so that it can be moved parallel to the longitudinal direction of the workpiece, with the slide rail being pulled along with the movement of the workpiece in its longitudinal direction when a slide rail is in contact with the workpiece until its bending is completed, after which the slide rail is again must be returned to its original position.
  • each slide rail is advantageously seated on a tool holder attached to the associated support part, which in turn can be moved parallel to the longitudinal direction of the workpiece via a linear guide on the lever, with an adjustable stop again preferably being provided on the linear guide, by means of which a desired starting position of the slide rail can be set in Seen longitudinally, can be determined.
  • an adjustable stop again preferably being provided on the linear guide, by means of which a desired starting position of the slide rail can be set in Seen longitudinally, can be determined.
  • each slide rail in the direction of the adjustable stop in the linear guide is spring-loaded. Instead of using an elastic spring, this can also be done using pneumatic or electrical means.
  • the bending machine according to the invention is used for treating workpieces cut to length, it is particularly advantageous if the workpiece feed is provided in the form of a gripper guide.
  • the bending head can be moved laterally and / or vertically relative to the machine frame.
  • the bending machine according to the invention can be used both for processing material from the coil and for processing pipe sections cut to length. It has few interfering contours with a particularly large bending space and allows rapid switching from right to left bending (and vice versa), so that the non-productive times that occur are also only relatively short.
  • Fig. 1 shows a perspective view (from the front and obliquely from above) of a pipe bending machine 1 with a machine frame 2, on which a switch cabinet 3 with a control panel 4 and a screen 5 for operating the pipe bending machine 1 is attached to the side.
  • a spindle arrangement 6 with a protective hood 7 is assigned to the machine frame 2, a pipe wrench 8 being provided here for holding and advancing and also for rotating a workpiece 9 (pipe) cut to length about its longitudinal axis.
  • a bending unit 10 with a bending head 11 is also attached to the front face of the machine frame 2, the bending unit 10 being movable both vertically (Z-axis) and perpendicular (B-axis) to the direction of movement of the workpiece 9 (the directions of movement are in Fig. 1 illustrated by the arrow representations assigned to the bending unit 10).
  • a pivotable lever device 12 is attached to the machine frame 2, which is shown in more detail in FIG Fig. 2 is shown in a perspective view:
  • This lever device 12 is essentially formed by a two-armed lever 13 which is pivotably attached to a bracket 18 via a bearing pin 19, the pivot point of which simultaneously represents the pivot axis for the lever 13.
  • Fig. 2 shows the lever 13 on the front side of the console 18, on the rear side of which the two-armed lever 13 is connected to a servomotor 20 via a gear, via which the drive for the pivoting movements of the lever 13 is generated.
  • the lever 13 has on one (in Fig. 2 shown on the left) side a lever arm 16 for left bending and on its other side a lever arm 17 for right bending.
  • a support part 22 is formed at the end of the lever arm 16 for left-hand bending and a support part 23 is formed at the end of the lever arm 17 for right-hand bending, on each of which a linear guide 25 or 26 is attached, in each of which a displaceable tool holder 15 is seated, on which a slide rail 14 is attached via a clamp 21.
  • An adjustable stop 27 or 28 is provided in each of the linear guides 25 and 26, which is attached in the form of a rotatable nut in the embodiment shown and by means of which the starting position of the slide rail 14 of the relevant lever arm 16 or 17 can be adjusted.
  • Such positioning is necessary because the slide rail 14 must be adapted to the position of the workpiece 9 to be bent in accordance with the bending step to be performed.
  • this function is essential if a pipe that has been cut to length is to be bent, the end of which has already been machined (such as an end reshaping or an attached nut) and the inner contour of the slide rail 14 has a certain shape (groove, groove, etc.) .).
  • the slide 14 Due to the frictional force occurring when the slide 14 rests against the workpiece 9, the slide 14 is pulled along by the workpiece 9 during the corresponding bending step until the bend is finished, after which the slide 14 must be returned to its starting position. Such a return to the initial position can be achieved by the slide 14 z. B., as in Fig. 2 shown, can be implemented via suitable biasing springs 29, but could also be suitably controlled via pneumatic or electrical means.
  • the entire lever device 12 with the individual elements attached to it represents an assembly which could also be referred to as a pivotable support device or a counter-holder unit.
  • the bending machine 1 according to the invention is shown in different positions of the lever device 12, which can or must be approached during a working cycle of the bending machine 1.
  • FIG. 3a a front view of a pipe bending machine 1
  • Figure 3b a top view of this in a position intended for left-hand bending, the workpiece not being shown in both figures (as well as in the figures that follow).
  • the workpiece is fed to the bending unit 10 via the feed, for example a pipe wrench feed, and is threaded between a clamping jaw 30 and the bending form 31 and clamped by these.
  • the lever device 12 then pivots up to the right (viewed in the longitudinal direction of the workpiece 9 to be treated), cf. Fig. 3a , and the slide rail 14 of the lever arm 16 for left-hand bending rests against the workpiece.
  • the lever device 12 serves as a corresponding support device or counter-holder unit for the workpiece to be machined.
  • the sliding rail 14 is thereby separated from the forward moving workpiece 9 by the frictional force pulled along until the bend is completed. Then, when the slide rail 14 is lifted off the side of the workpiece 9, the support part 22 holding the slide rail 14 is pushed back into its initial position via the pretensioned spring 29.
  • a shaped groove 24 is attached to each slide rail 14 on the side facing the workpiece 9, which runs parallel to the longitudinal direction of the workpiece 9 and, when the slide rail 14 rests against the side of the workpiece 9 to be supported, comes to rest against its outer circumference .
  • At least one (in the figures: two) bending groove 32 is also attached to the bending form 31.
  • This middle position is run over when switching from turning right to turning left (or vice versa). It is also essential for making a final bend on the workpiece 9 insofar as short final straight lines can be produced as a result.
  • the lever 13 is in this central position, the z. B. held by a pipe wrench 8 workpiece 9 moved from the front into the tool area and there between the clamping jaws 30 and the bending form 31 are received and held. The pipe wrench 8 then moves back without the workpiece 9, after which the slide rail 14 is placed laterally against this and the last bend is initiated.
  • Figure 5a shows the bending machine 1 in the position for right-hand bending from the front and Figure 5b shows a plan view of the lever device 12 (support device) in this position.
  • the bending head 11 is lowered vertically, then moved transversely to the longitudinal direction of the workpiece 9 and then positioned again in its new working position, as shown in the Figure 5a and 5b is shown.
  • the bending head 11 is moved vertically downwards as a function of the central axis of the workpiece 9.
  • the lever device 12 or support device pivots clockwise from right to left, viewed in the feed direction of the workpiece 9, until the into the Figures 5a and 5b The end position shown is reached, in which the slide rail 14 held on the lever arm 17 for right-hand bending can be placed laterally against the workpiece 9 and with this at the advance of which is carried along by friction in the transport direction for the execution of the bend, so that the support by this slide rail 14 is always realized over the same distance on the workpiece 9.
  • the arrangement of the slide rails 14 is such that they are set at an angle of 60 ° to one another.
  • This angle is particularly advantageous because, on the one hand, only a relatively short distance has to be covered to swivel right and left turns, which can lead to a significant reduction in non-productive times.
  • the lever arms 16 and 17 are nevertheless sufficiently far apart at this angle to ensure a very large amount of bending space.
  • a different size of the relative angle of incidence of the two slide rails 14 to one another would also be possible, for example larger or smaller than 90 °.
  • the shape of the two-armed lever 13 can be designed in any suitable manner, e.g. B. V-shaped or C-shaped (as the latter is indicated in the figure representations).
  • the embodiment of the lever device 12 according to the invention can also be used to advantage, in particular, for thin-walled tubes which can also be bent without an internal mandrel.
  • the bending of aluminum pipes and stainless steel pipes without cold welding is also possible with this lever device 12.
  • the bending quality is increased compared to conventional bending systems, whereby the undesired non-productive times are reduced at the same time.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Claims (13)

  1. Machine à cintrer (1) pour le cintrage de pièces à travailler en forme de tige ou de tube (9), comprenant un outil de cintrage qui comprend une tête de cintrage (11) dotée d'un disque de cintrage (31) ayant au moins une rainure de cintrage périphérique (32), comprenant en outre deux glissières (14), dont chacune est munie d'une rainure de façonnage (24), et qui peuvent être appliquées latéralement contre des côtés longitudinaux opposés de la pièce à travailler (9), chaque glissière (14) étant fixée à une partie de support (15) et, à l'état appliquée contre la pièce à travailler (9), dans une zone allant de son entrée tangentielle dans la rainure de cintrage (32) du disque de cintrage (31) jusqu'à un endroit à une distance prédéfinie devant celle-ci, soutenant la pièce à travailler (9) latéralement, et dans laquelle chaque partie de support (15) peut être déplacée entre une position initiale, dans laquelle la glissière (14) associée n'est pas appliquée contre la pièce à travailler (9), et une position finale, dans laquelle elle se trouve en application contre la pièce à travailler (9), dans laquelle, lorsqu'une glissière (14) est appliquée contre la pièce à travailler (9) l'autre glissière (14) occupe respectivement sa position initiale, caractérisée en ce que les deux parties de support (15) sont agencées en symétrie l'une à l'autre aux extrémités d'un levier (13) à deux bras, monté pivotant, dans laquelle, dans chaque position finale de pivotement du levier (13), l'un des deux coulisseaux (14) peut être appliqué latéralement contre la pièce à travailler (9) par sa rainure de façonnage (24).
  2. Machine à cintrer selon la revendication 1, caractérisée en ce que le levier (13) monté pivotant est agencé entre un guidage de pièce à travailler (8) sur le bâti de machine (2) et l'outil de cintrage (11).
  3. Machine à cintrer selon la revendication 1 ou 2, caractérisée en ce que le levier (13) est monté pivotant sur une console (18) qui est fixée au carter de machine (2).
  4. Machine à cintrer selon la revendication 1 ou 2, caractérisée en ce que le levier (13) est fixé de manière pivotante à la tête de cintrage (11) tout en pouvant toujours être déplacé horizontalement.
  5. Machine à cintrer selon l'une quelconque des revendications 1 à 4, caractérisée en ce que le levier (13) à deux bras est réalisé en forme de V ou en forme de C.
  6. Machine à cintrer selon l'une quelconque des revendications 1 à 5, caractérisée en ce que les glissières (14) sont inclinées l'une par rapport à l'autre selon un angle de 60°, de préférence de 90°.
  7. Machine à cintrer selon l'une quelconque des revendications 1 à 6, caractérisée en ce que chaque glissière (14) peut être déplacée sur la partie de support associée (15) en parallèle à la direction longitudinale de la pièce à travailler (9).
  8. Machine à cintrer selon l'une quelconque des revendications 1 à 7, caractérisée en ce qu'un servomoteur (20) est associé au levier (13) pour l'entraînement en pivotement.
  9. Machine à cintrer selon l'une quelconque des revendications 1 à 8, caractérisée en ce que chaque glissière (14) est située dans un logement d'outil (15) aménagé sur la partie de support associée (15) et qui peut à son tour être déplacé par un guidage linéaire (25 ; 26) en parallèle à la direction longitudinale de la pièce à travailler (9).
  10. Machine à cintrer selon la revendication 9, caractérisée en ce que sur le guidage linéaire (25 ; 26), une butée réglable (27 ; 28) est prévue pour fixer une position initiale de la glissière (14).
  11. Machine à cintrer selon la revendication 10, caractérisée en ce que chaque glissière (14) est précontrainte par ressort en direction de la butée réglable (27 ; 28).
  12. Machine à cintrer selon l'une quelconque des revendications 1 à 11, caractérisée en ce que la tête de cintrage (11) peut être déplacée latéralement et/ou verticalement par rapport au bâti de machine (2).
  13. Machine à cintrer selon l'une quelconque des revendications 1 à 12, caractérisée en ce qu'un guidage à pince (8) est prévu pour faire avancer la pièce à travailler.
EP18733859.5A 2017-08-08 2018-06-25 Machine à cintrer pour le cintrage de pièces en forme de tige ou de tube Active EP3664945B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017117979.8A DE102017117979A1 (de) 2017-08-08 2017-08-08 Biegemaschine zum Biegen von stab- oder rohrförmigen Werkstücken
PCT/EP2018/066866 WO2019029893A1 (fr) 2017-08-08 2018-06-25 Machine à cintrer pour le cintrage de pièces en forme de tige ou de tube

Publications (2)

Publication Number Publication Date
EP3664945A1 EP3664945A1 (fr) 2020-06-17
EP3664945B1 true EP3664945B1 (fr) 2021-05-19

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP18733859.5A Active EP3664945B1 (fr) 2017-08-08 2018-06-25 Machine à cintrer pour le cintrage de pièces en forme de tige ou de tube

Country Status (5)

Country Link
US (1) US11484928B2 (fr)
EP (1) EP3664945B1 (fr)
JP (1) JP6899955B2 (fr)
DE (1) DE102017117979A1 (fr)
WO (1) WO2019029893A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112775231B (zh) * 2020-12-21 2022-11-18 嘉兴慧轶金属科技有限公司 一种金属加工用折弯装置
FR3134526B1 (fr) * 2022-04-14 2024-06-07 Numalliance Dispositif de cintrage, dans deux sens de cintrage, d’un profilé
CN115106437B (zh) * 2022-06-11 2025-02-14 上海精通空调有限公司 一种全自动扩口弯管一体机
USD1041518S1 (en) * 2022-12-28 2024-09-10 Promau S.R.L. Bending machine
CN117840280B (zh) * 2024-03-08 2024-05-14 山西盛福昌管业有限公司 一种镀锌弯折机

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GB1257253A (fr) 1968-03-02 1971-12-15
DE9316052U1 (de) 1993-10-21 1994-01-13 Schwarze, Rigobert, Dipl.-Ing., 51109 Köln Rohrbiegemaschine
JP3148663B2 (ja) * 1997-01-28 2001-03-19 三桜工業株式会社 曲げ加工装置
JPH11138215A (ja) * 1997-11-06 1999-05-25 Yamamoto Suiatsu Kogyosho:Kk パイプベンダー
FR2833868B1 (fr) 2001-12-20 2004-03-05 Silfax Machine a cintrer les tubes et son dispositif de cintrage a gauche et/ou a droite
FR2841162B1 (fr) 2002-06-25 2005-01-14 Silfax Support de reglette pour machine a cintrer les tubes
US7021102B2 (en) * 2003-03-15 2006-04-04 Trumpf Rohrtechnik Gmbh + Co. Kg Bending machine with bending tools on opposite sides of a tool platen
JP2005305520A (ja) * 2004-04-23 2005-11-04 Opton Co Ltd 曲げ加工装置
EP2177287B1 (fr) 2008-10-17 2011-11-30 WAFIOS Aktiengesellschaft Agencement de joues de support destiné au support latéral de coulissement de pièces usinées en forme de tiges ou de tubes sur des cintreuses
ATE528082T1 (de) * 2009-01-16 2011-10-15 Wafios Ag Rotationszugbiegewerkzeug mit exzenterklemmung
DE102013200850B4 (de) * 2013-01-21 2015-01-22 Wafios Aktiengesellschaft Vorrichtung zum Biegen strangförmiger Werkstücke
ITRM20130259A1 (it) * 2013-05-02 2014-11-03 Cml Int Spa Macchina curvatrice del tipo a matrice e contromatrice per curvare a destra e a sinistra un pezzo allungato
US20160175908A1 (en) * 2013-12-04 2016-06-23 DENSO Air Systems Corporation Machining unit and machining apparatus

Also Published As

Publication number Publication date
EP3664945A1 (fr) 2020-06-17
JP2020529324A (ja) 2020-10-08
WO2019029893A1 (fr) 2019-02-14
US20210086246A1 (en) 2021-03-25
JP6899955B2 (ja) 2021-07-07
DE102017117979A1 (de) 2019-02-14
US11484928B2 (en) 2022-11-01

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