EP3403763B2 - Machine de rectification destinée à rectifier une surface d'un objet - Google Patents

Machine de rectification destinée à rectifier une surface d'un objet

Info

Publication number
EP3403763B2
EP3403763B2 EP18169294.8A EP18169294A EP3403763B2 EP 3403763 B2 EP3403763 B2 EP 3403763B2 EP 18169294 A EP18169294 A EP 18169294A EP 3403763 B2 EP3403763 B2 EP 3403763B2
Authority
EP
European Patent Office
Prior art keywords
grinding
grinding machine
brush
machine according
rotation
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
EP18169294.8A
Other languages
German (de)
English (en)
Other versions
EP3403763B1 (fr
EP3403763A1 (fr
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.)
Karl Heesemann Maschinenfabrik GmbH and Co KG
Original Assignee
Karl Heesemann Maschinenfabrik GmbH and Co KG
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
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Application filed by Karl Heesemann Maschinenfabrik GmbH and Co KG filed Critical Karl Heesemann Maschinenfabrik GmbH and Co KG
Publication of EP3403763A1 publication Critical patent/EP3403763A1/fr
Publication of EP3403763B1 publication Critical patent/EP3403763B1/fr
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Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
    • B24B29/005—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents using brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/04—Headstocks; Working-spindles; Features relating thereto
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
    • B24B7/06—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor involving conveyor belts, a sequence of travelling work-tables or the like

Definitions

  • the invention relates to a grinding machine for grinding the surface of an object, wherein the grinding machine comprises a plurality of grinding brushes rotatably mounted about a brush rotation axis, at least one brush carrier on which at least one of the grinding brushes is mounted and which is rotatably mounted about a carrier rotation axis, and a conveying direction for conveying the object through the grinding machine at a feed rate.
  • a grinding machine is, for example, made from the DE 10 2007 022 194 B4 These types of grinding machines are known. They are used for grinding the surfaces of objects, and the desired grinding result can vary considerably.
  • the workpiece is to be further processed after grinding, for example, painted, it is advantageous to achieve the most uniform grinding pattern possible, so that as few grinding marks, grooves, scratches, or other depressions as possible remain on the surface.
  • the surface to be ground is not to be further processed, it may be desirable to leave specific types of grinding marks on the surface to achieve a decorative effect.
  • a grinding machine that... DE 10 2011 116 842 A1 It is known to use a grinding machine equipped with a transverse grinding belt in such a way that the grinding direction is not necessarily perpendicular to the feed direction, but rather the angle between the two directions is adjustable. Furthermore, active areas of the grinding belt can alternate with passive areas.
  • the distance between the individual grinding brushes and the conveyor is typically adjustable. This allows for adaptation to workpieces of varying thicknesses and also enables adjustment of the contact pressure or grinding pressure of the individual grinding brushes on the surface being ground.
  • Prior art grinding machines are known in which this adjustment is made automatically via sensor control. If the same grinding effect is to be achieved for every workpiece, this is certainly achievable with prior art grinding machines. However, switching from, for example, a uniform grinding result to a specific grinding pattern is either impossible or only possible with considerable effort.
  • a polishing machine which forms the basis for the preamble of claim 1, a polishing machine is known in which various polishing parameters such as a rotational speed of the polishing brushes, a polishing duration or a rotational speed of the polishing brushes can be set by entering the corresponding values into a control.
  • the invention is therefore based on the objective of further developing a grinding machine in such a way that as many different grinding results as possible can be achieved and the corresponding settings can be made as easily as possible.
  • a grinding machine according to the invention offers additional adjustable parameters. This is particularly true when several of the parameters mentioned in the claim are adjustable.
  • the brush rotation speed, the carrier rotation speed, and the feed rate all have their own influence on the expected grinding result. Since the adjustment of all these parameters involves a multidimensional parameter space, even experienced engineers cannot predict the individual grinding results, or can only do so with great difficulty. This is especially true when, for example, the brush rotation speed and the carrier rotation speed are adjustable independently of each other.
  • This, in combination with an adjustable feed rate allows for a wide variety of movement patterns of the individual brushes relative to the surface being ground. Therefore, the machine also has an output device that can display an expected grinding result, which naturally depends on the brush rotation speed, the carrier rotation speed, and the feed rate.
  • the output device is a display device, for example a display, particularly preferably an LCD or LED display, on which the expected grinding result is shown.
  • a display particularly preferably an LCD or LED display
  • This can be in black and white or, more preferably, in color, with the color preferably encoding a grinding depth or applied grinding pressure.
  • the display can be two-dimensional or three-dimensional.
  • the operator of the grinding machine can therefore see what the expected grinding result will look like after setting the respective parameters at the output device. If necessary, further parameters, such as brush contact pressure, different brush rotation speeds for different brushes, different carrier rotation speeds for different carriers, the surface finish of the surface to be ground, and other parameters, can be entered and included in the expected grinding result that is output via the output device.
  • further parameters such as brush contact pressure, different brush rotation speeds for different brushes, different carrier rotation speeds for different carriers, the surface finish of the surface to be ground, and other parameters, can be entered and included in the expected grinding result that is output via the output device.
  • the grinding machine has an electrical control system, in particular a microprocessor, which is configured to The expected grinding result is calculated using the set parameters.
  • an algorithm stored in an electronic data memory is executed on the electronic data processing unit, i.e., the electrical control unit.
  • the set parameters are fed into the algorithm and processed within it. For example, a movement pattern of the individual brushes relative to the grinding surface is determined.
  • a surface finish, in particular the surface material of the surface to be ground can be included in the execution of the algorithm, so that, for example, a grinding depth or varying grinding pressure is factored into the calculation and incorporated into the displayed expected grinding result.
  • the grinding machine has several brush holders for which different holder rotation speeds can be set via the input device. Additionally or alternatively, the grinding machine has several grinding brushes for which different brush rotation speeds can be set via the input device. For some embodiments, it is perfectly sufficient to provide identical holder rotation speeds and/or identical rotation speeds for some of the grinding brushes. In this case, the different brush holders and/or the different brushes can, if necessary, only be set to a single rotation speed together.
  • the brush holders are rotatable in the same direction. "Bis” means that they can all be rotated in the same direction, i.e., with the same direction of rotation, for example, clockwise.
  • the brush holders are arranged offset in the feed direction. This ensures that the effective areas of the individual brush holders and the grinding brushes attached to them can overlap along a direction perpendicular to the feed direction. This prevents areas of the surface to be ground from being untreated or excessively treated by a single grinding brush.
  • the spacing of the individual brush holders in the feed direction and/or perpendicular to the feed direction is also adjustable. This further influences the grinding result and thus increases the versatility of achievable grinding results.
  • the brush holders are arranged such that the effective circles of the grinding brushes overlap.
  • An effective circle of a brush is understood to be, in particular, the area swept by a grinding brush when the brush holder on which the grinding brush is located completes one revolution.
  • the effective circle of a brush holder is the sum of the effective circles of the grinding brushes arranged on that brush holder.
  • Abrasive circles can overlap directly. This occurs when there are points that are brushed by two different grinding brushes, even if the surface itself is not moved, but only the brush holders are. Abrasive circles can also overlap indirectly. In this case, points on the surface to be ground are only brushed by multiple grinding brushes mounted on different brush holders when the workpiece or object is moved along the feed direction. This type of overlap is particularly easy to achieve when the brush holders are offset in the feed direction.
  • At least one brush holder is mounted eccentrically. This means that the holder's axis of rotation does not pass through its center point. As a result, the different grinding brushes on this brush holder have different distances from the holder's axis of rotation and, while they move in circular paths when the brush holder rotates, these paths may be of different sizes for the different grinding brushes.
  • the degree of eccentricity is adjustable via the input device.
  • the degree of eccentricity is, for example, a measure of the distance between the carrier's axis of rotation and the center point of the brush carrier.
  • it can be advantageous to provide adjustable degrees of eccentricity for different brush carriers.
  • the input device has an interface to a data connection, in particular a Bluetooth interface, a USB interface, an internet application, or a wireless interface, such as a radio or WLAN interface.
  • a data connection in particular a Bluetooth interface, a USB interface, an internet application, or a wireless interface, such as a radio or WLAN interface.
  • preset parameter sets can be transmitted, for example, by a customer and made available to the grinding machine or the electronic data processing device.
  • the expected grinding result can also be sent via the same data connection to another location, such as a customer, via the output device. It is therefore not necessary to be at the location of the grinding machine to operate or monitor it.
  • the input device has a control element through which the parameters can be manually adjusted.
  • a control element through which the parameters can be manually adjusted.
  • This could be, for example, a keyboard or a keyboard displayed on a screen.
  • an external data processing device such as a computer, laptop, smartphone, or tablet, as the corresponding control element.
  • this could be an app that, for instance, can be downloaded from the internet and allows operation of the grinding machine or at least the adjustment of individual parameters.
  • the grinding machine has an electronic data storage device in which set parameters can be stored. It is sufficient if the grinding machine has access to such an electronic data storage device. According to the present invention, the electronic data storage device need not be part of the grinding machine itself.
  • the set parameter sets can be stored in such a data storage device and reused at a later time.
  • the grinding machine has a detection device that can record the grinding result achieved.
  • This detection device is, for example, a camera and is preferably directed at the grinding surface. It is therefore arranged downstream of the actual grinding mechanism, i.e., the grinding brushes and brush holders, in the feed direction.
  • the detection device is connected to an electronic data processing unit.
  • the recorded data for example, captured images, are transmitted to the data processing unit and processed therein.
  • the data processing unit is configured to compare the data of the achieved grinding result with the expected grinding result.
  • the electronic data processing unit can change at least one parameter, for example, the brush rotation speed, the holder rotation speed, a contact pressure, and/or the feed rate, and thus iteratively adjust the achieved grinding result to the expected grinding result.
  • the result of the comparison can therefore be used as a control parameter.
  • Figure 1 schematically shows a part of a grinding machine according to a first embodiment of the present invention. It has a plurality of grinding brushes 2, of which, in the illustrated embodiment, three are arranged on each brush holder 4.
  • Each of the brush holders 4 is rotatably mounted about a carrier rotation axis 6.
  • a carrier drive 8 for example in the form of an electric motor, is provided, by which the carrier rotation axes 6 and thus the brush holders 4 can be set into rotation via a first transmission belt 10.
  • Deflection rollers 12 ensure that the carrier gears 14 surrounding the respective carrier rotation axes 6 are surrounded by the first transmission belt 10 with sufficient tension.
  • the grinding machine according to Figure 1 It also features a brush drive 16, which can also be in the form of an electric motor.
  • This motor drives the individual brushes 2 via a second transmission belt 18 (not shown).
  • each brush carrier 4 has a third transmission belt 20, through which the movement transmitted via the second transmission belt 18 is transferred to the individual brushes 2 of each brush carrier 4.
  • Figure 1 Figure 17 also shows an output device 17, which is, for example, a monitor. Preferably, it also includes an input device, for example, in the form of a keyboard, so that the desired values for the parameters to be set can be entered.
  • the output device 17 is coupled to a schematically depicted electronic data processing device 19, which is connected to the brush drive 16 and the carrier drive 8.
  • FIG. 2 The schematic representation shows a similar embodiment of the grinding machine.
  • the individual grinding brushes 2 are designed as cup brushes, so that the bristles 22 of the individual grinding brushes 2 are located only in their edge region.
  • disc brushes or other brush shapes are also conceivable.
  • the carrier rotation axes 6 are also visible. They are each surrounded by a first brush gear 24 in which they can rotate freely. The first brush gears 24 are connected to each other via the second transmission belt 18.
  • a drive gear 26 drives a component of the Figure 2
  • the torque applied by the brush drive 16 (not shown) is transmitted to the second transmission belt 18 and thus to the first brush gears 24. These are coupled to a second brush gear 28, which engages with the third transmission belt 20 and transmits the motion to the actual grinding brushes 20. Since the grinding brushes 2 are driven by the brush drive 16 and the brush carriers 4 by the carrier drive 8, the respective rotational speeds can be set independently of each other. However, in the illustrated embodiment, it is not possible to set different carrier rotational speeds for different brush carriers 4 or different brush rotational speeds for different grinding brushes 2.
  • the four brush holders 4 in Figure 1 and 2 are arranged in a transverse direction.
  • the feed direction runs perpendicular to this, in the illustrated embodiments from bottom to top or from top to bottom. This can be seen in Figure 2 , that the individual brush carriers 4 are arranged offset in this feed direction, which is indicated by the arrow 30.
  • the individual working circles of the brushes are in Figure 3
  • the diagram shows the brush holders 4, each with three grinding brushes 2. These brushes extend beyond the circumference of the brush holder 4.
  • the brush holders 4 are moved along the brush rotation direction indicated by arrow 32, the grinding brushes 2 rotate with them, and the outermost edge of the grinding brushes 2 describes the effective circle 34 shown in the dashed-dotted line.
  • the individual grinding brushes 2 are moved in the brush rotation direction indicated by arrow 36.
  • FIG. 4 The diagram schematically shows the structure of the different drives.
  • Two grinding brushes 2 are visible, arranged on a brush holder 4. This is driven via a drive shaft 38, at the upper end of which is the carrier gear 14, which engages with the first transmission belt 10.
  • the first brush gear 24 is arranged around the drive shaft 38 and engages with the second transmission belt 18. It extends in Figure 2 downwards and is connected to the second brush gear 28, which engages with the third transmission belt 20 and transmits the movement to the actual grinding brushes 2.
  • Figure 5 shows one of the Figure 3 Similar representation.
  • Three brush carriers 4 can be seen, each with three grinding brushes 2 arranged on it. These also protrude beyond the outer circumference of the brush carrier 4 and are rotated along the brush rotation direction shown by arrow 36.
  • the individual brush carriers 4 are arranged eccentrically around the carrier rotation axis 6. The individual brush carriers are rotated around this carrier rotation axis 6 in the direction indicated by arrow 32.
  • each of the grinding brushes 2 describes a circular path around the carrier rotation axis 6.
  • the individual distances of the grinding brushes from the carrier rotation axis 6 are of different sizes, resulting in different effective circles 34 for different grinding brushes 2.
  • Figure 6 Figure 1 shows a further embodiment of the different arrangements.
  • Three brush holders 4 are visible, each holding three grinding brushes 2, which are rotated around the brush rotation direction indicated by arrow 36.
  • the individual brush holders 4 are not offset from one another but are positioned on a common support beam 40.
  • This beam is attached at both ends to a rotating disk 42, with the mounting 44 being eccentric.
  • the support beam 40 undergoes a pivoting or wobbling motion.
  • the rotational speed of the rotating disks 42 can also be adjusted.
  • Figure 7 This shows that, in principle, two different rotation modes can be selected.
  • the two rotating disks 42 which are in Figure 7
  • the movements are only shown schematically, in the same direction.
  • An additional rotational movement is superimposed on the movement of the brush carriers 4 (not shown) and the grinding brushes 2, since the support beam 40 is moved without changing its orientation.
  • the two rotating discs 42 rotate in different directions.
  • the direction of rotation of at least one of the two rotating discs can therefore be adjusted in order to achieve further grinding patterns.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Claims (11)

  1. Rectifieuse destinée à rectifier une surface d'un objet, la rectifieuse comprenant :
    a. une pluralité de brosses de rectification (2),
    i. qui sont montées de façon mobile en rotation autour d'un axe de rotation de brosse,
    b. au moins un support de brosse (4),
    i. sur lequel est montée l'une au moins des brosses de rectification (2), et
    ii. qui est monté de façon mobile en rotation autour d'un axe de rotation de support (6), et
    c. un dispositif de transport pour transporter l'objet à une vitesse d'avance à travers la rectifieuse,
    dans laquelle
    la rectifieuse comprend un dispositif d'entrée et un dispositif de sortie, et
    le dispositif d'entrée permet de régler une vitesse de rotation de brosse autour de l'axe de rotation de brosse et/ou une vitesse de rotation de support autour de l'axe de rotation de support (6) et/ou la vitesse d'avance,
    la rectifieuse étant caractérisée en ce que
    le dispositif de sortie est conçu de manière à pouvoir émettre un résultat de rectification attendu qui dépend des paramètres réglés par le dispositif d'entrée.
    dans laquelle la rectifieuse présente un dispositif de détection par lequel un résultat de rectification obtenu est détecté et traité et un dispositif électronique de traitement des données est conçu pour comparer les données du résultat de rectification obtenu avec le résultat de rectification attendu et pour modifier au moins un paramètre, comme par exemple la vitesse de rotation de brosse, la vitesse de rotation de support, une pression d'application et/ou la vitesse d'avance et pour adapter ainsi de manière itérative le résultat de rectification obtenu au résultat de rectification attendu, lorsqu'une divergence constatée ce faisant est supérieure à une valeur de tolérance prédéterminée.
  2. Rectifieuse selon la revendication 1,
    caractérisée en ce que le dispositif de sortie comprend un dispositif d'affichage permettant d'afficher le résultat de rectification attendu.
  3. Rectifieuse selon la revendication 1 ou 2,
    caractérisée en ce que la rectifieuse comporte une commande électrique, en particulier un microprocesseur, qui est conçu(e) pour calculer le résultat de rectification attendu au moyen des paramètres réglés.
  4. Rectifieuse selon l'une des revendications précédentes,
    caractérisée en ce que la rectifieuse comprend plusieurs supports de brosse (4) pour lesquels différentes vitesses de rotation de support peuvent être réglées par le dispositif d'entrée, les supports de brosse pouvant de préférence tourner dans le même sens.
  5. Rectifieuse selon la revendication 4,
    caractérisée en ce que les supports de brosse (4) sont disposés de manière décalée dans la direction d'avance.
  6. Rectifieuse selon la revendication 4 ou 5,
    caractérisée en ce que les supports de brosse (4) sont disposés de telle sorte que des cercles d'action des brosses de rectification se chevauchent.
  7. Rectifieuse selon l'une des revendications précédentes,
    caractérisée en ce qu'au moins un support de brosse (4) est monté de manière excentrée.
  8. Rectifieuse selon la revendication 7,
    caractérisée en ce qu'un degré d'excentricité est réglable par le dispositif d'entrée.
  9. Rectifieuse selon l'une des revendications précédentes,
    caractérisée en ce que le dispositif d'entrée présente une interface avec une connexion de données, en particulier une interface Bluetooth, une interface USB, une connexion Internet ou une interface sans fil, par exemple une interface radio ou WLAN.
  10. Rectifieuse selon l'une des revendications précédentes,
    caractérisée en ce que le dispositif d'entrée comprend un élément de manœuvre permettant de régler manuellement les paramètres.
  11. Rectifieuse selon l'une des revendications précédentes,
    caractérisée en ce que la rectifieuse comprend une mémoire électronique de données permettant de stocker des paramètres réglés.
EP18169294.8A 2017-05-19 2018-04-25 Machine de rectification destinée à rectifier une surface d'un objet Active EP3403763B2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017110950.1A DE102017110950B4 (de) 2017-05-19 2017-05-19 Schleifmaschine zum Schleifen einer Oberfläche eines Objektes

Publications (3)

Publication Number Publication Date
EP3403763A1 EP3403763A1 (fr) 2018-11-21
EP3403763B1 EP3403763B1 (fr) 2021-07-07
EP3403763B2 true EP3403763B2 (fr) 2025-11-19

Family

ID=62063429

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18169294.8A Active EP3403763B2 (fr) 2017-05-19 2018-04-25 Machine de rectification destinée à rectifier une surface d'un objet

Country Status (5)

Country Link
US (1) US11458585B2 (fr)
EP (1) EP3403763B2 (fr)
CN (1) CN108942575B (fr)
DE (1) DE102017110950B4 (fr)
TW (1) TWI794223B (fr)

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CN111644954A (zh) * 2020-05-19 2020-09-11 浙江君鸿机械有限公司 一种全自动贴合推挽式多工位打磨抛光机
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SE545824C2 (en) * 2021-07-07 2024-02-13 Arilds Betongslipning Ab A grinding apparatus with a vertical adjustment device for grinding a concrete surface and a method for operating the same
CN114346854A (zh) * 2022-01-08 2022-04-15 曹忆安 一种用于制备永生花瓣的打磨设备及其生产工艺
DE102023113967A1 (de) * 2023-05-26 2024-11-28 Karl Heesemann Maschinenfabrik Gmbh & Co. Kg Schleifmaschine zum Schleifen einer Oberfläche eines Objektes
CN117325018B (zh) * 2023-09-21 2026-01-09 科达制造股份有限公司 一种板材抛磨装置及板材抛磨方法

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TWI794223B (zh) 2023-03-01
US20180333823A1 (en) 2018-11-22
TW201900330A (zh) 2019-01-01
CN108942575A (zh) 2018-12-07
US11458585B2 (en) 2022-10-04
CN108942575B (zh) 2022-04-26
DE102017110950A1 (de) 2018-11-22
EP3403763B1 (fr) 2021-07-07
EP3403763A1 (fr) 2018-11-21
DE102017110950B4 (de) 2022-12-22

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