EP3774100A1 - Dispositif de refroidissement servant à refroidir un produit métallique et procédé permettant sa fabrication et son fonctionnement - Google Patents
Dispositif de refroidissement servant à refroidir un produit métallique et procédé permettant sa fabrication et son fonctionnementInfo
- Publication number
- EP3774100A1 EP3774100A1 EP19715872.8A EP19715872A EP3774100A1 EP 3774100 A1 EP3774100 A1 EP 3774100A1 EP 19715872 A EP19715872 A EP 19715872A EP 3774100 A1 EP3774100 A1 EP 3774100A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- cooling
- coolant
- cross
- temperature
- metallic material
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/74—Temperature control, e.g. by cooling or heating the rolls or the product
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B45/00—Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B45/02—Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills for lubricating, cooling, or cleaning
- B21B45/0203—Cooling
- B21B45/0209—Cooling devices, e.g. using gaseous coolants
- B21B45/0215—Cooling devices, e.g. using gaseous coolants using liquid coolants, e.g. for sections, for tubes
- B21B45/0233—Spray nozzles, Nozzle headers; Spray systems
-
- 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
- C21D1/56—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering characterised by the quenching agents
- C21D1/60—Aqueous agents
-
- 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
- C21D1/667—Quenching devices for spray quenching
-
- 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
- C21D11/00—Process control or regulation for heat treatments
- C21D11/005—Process control or regulation for heat treatments for 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
- C21D8/00—Modifying the physical properties of ferrous metals or ferrous alloys by deformation combined with, or followed by, heat treatment
- C21D8/02—Modifying the physical properties of ferrous metals or ferrous alloys by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips
- C21D8/0247—Modifying the physical properties of ferrous metals or ferrous alloys by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips characterised by the heat treatment
- C21D8/0263—Modifying the physical properties of ferrous metals or ferrous alloys by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips characterised by the heat treatment following hot rolling
-
- 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
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/46—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for sheet metals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2261/00—Product parameters
- B21B2261/20—Temperature
- B21B2261/21—Temperature profile
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B45/00—Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B45/02—Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills for lubricating, cooling, or cleaning
- B21B45/0203—Cooling
- B21B45/0209—Cooling devices, e.g. using gaseous coolants
- B21B45/0215—Cooling devices, e.g. using gaseous coolants using liquid coolants, e.g. for sections, for tubes
-
- 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
- Cooling device for cooling a metallic material and method for its production and operation
- the invention relates to a cooling device for cooling a metallic material, in particular after a rolling of the metallic material. Moreover, the invention relates to a method for operating this cooling device and to a method for producing or selecting a cooling beam for such a cooling device.
- WO 2016/189903 A1 discloses a binary approach in which overcooling of the metallic material in the edge region is compensated by the provision of width masking at the edges of the metallic material in conjunction with coolant collecting containers.
- European patent EP 2 155 411 B1 also discloses a solution for reducing a non-uniform temperature distribution, in particular at the edges of a metallic material. Again, masks are provided for covering the edges, but these masks are displaced or adjustable in the width direction and also allow a certain amount of coolant to the edges of the goods to be cooled.
- European patent specification EP 2 986 400 B1 discloses a cooling beam with a plurality of chambers, which can be charged individually with the coolant.
- different pressures or volume flows for the coolant can be adjusted over the width of the nozzle bar.
- the pressure or volume flow distribution of the coolant over the width of the Cooling beam can be adapted to the actual course of the temperature over the width of the metallic material in the inlet of a cooling device.
- the invention has the object, a known cooling device and known methods for their production and operation in such a way that the cooling effect generated by the cooling device can be better adapted to the metallic material to a real inlet temperature distribution.
- the cooling device according to the invention is characterized in that the density of the cross-sectional areas of the outlet openings of thedeffenbeaufschlagungsetti is distributed and dimensioned in the width direction of the cooling beam in accordance with the amount of slope of the distribution of the temperature of the metallic material over its width before the inlet under the chilled beam.
- density of the cross-sectional areas in the context of the present description means the sum of the cross-sectional areas of the outlet openings of the coolant charging elements per unit area of the cooling beam. In simple terms, this density refers to the ratio of exit area for the coolant to area unit on the chilled beam.
- cross-sectional area may also mean the cross-sectional area of a spray spot on the material to be cooled. Due to the claimed distribution of the density of the cross-sectional areas in accordance with or according to the amount of the slope of the distribution of the temperature of the metallic material over its width, it is possible, the cooling performance - even when exposed to the metallic material with a constant coolant volume flow or coolant pressure - very adapt much more closely to the actual temperature conditions in the metallic material. In particular, progressive or degressive temperature curves can be compensated or cooled very accurately.
- the slope becomes progressively greater toward the edges and, accordingly, the density of the cross-sectional areas of the outlet openings of the coolant-applying elements is to be reduced.
- the temperature increases towards the edges, for example, then it requires more cooling, which is achieved by increasing the coolant outlet area of the loading elements in the corresponding width ranges.
- the density of the cross-sectional areas of the outlet openings of thedeffenbeetzschlagungs- elements is represented or can be represented by the projected in the width direction of the cooling beam distance between two adjacentdeffenbeetzhausungs instituten.
- this Projected distance in the width direction of the cooling bar is increased toward an edge of the cooling bar, when the temperature of the metallic material drops to this edge of the cooling bar out. Due to the drop in temperature then less cooling power is required in these width ranges, which is achieved in that the projected distance between individual, in particular adjacent nozzles is increased. This is equivalent to a reduction in the density of the cross-sectional areas of the outlet openings of thedeffenbeetzschungs institute.
- the density of the cross-sectional areas of the exit openings need not be zero if the amount of the slope is zero, ie if the temperature distribution is constant in the width direction.
- the density of the cross-sectional areas of the exit openings in the width direction is also constant over the corresponding width section, but typically not equal to zero, more precisely greater than zero.
- the invention offers the advantage that, even when the material to be cooled is subjected to a constant volume flow or a constant pressure of the coolant over the width of the cooling beam, the exact adaptation of the cooling power to the actual temperature profile is already solely due to the corresponding claimed density distribution of thedeffenbeaufschlagungsetti can be achieved with their respective cross-sectional areas.
- the volume flow or the pressure of the coolant in individual width ranges can also be set differently in order to adapt the distribution of the coolant and the cooling capacity in the width direction to the real temperature distribution.
- the cooling beam may preferably be formed with a plurality of individual cooling chambers, which are subjected to different amounts of coolant. This is typically done via the individual chambers associated valves, which are controlled by a control device according to individually.
- the above object of the invention is further achieved by a method for producing or selecting a cooling bar for a cooling device according to one of the preceding claims.
- the claimed selection of a cooling bar relates to the case where the user has a plurality of different cooling bars in stock and he has to select a suitable cooling bar for each particular application.
- Figure 1 shows the cooling device 100 according to the invention with a density distribution of the cross-sectional areas of the outlet openings of the ku hl medium beauf- schlagungsiata according to a first embodiment
- 2 shows the cooling device according to the invention with a cooling beam with a distribution of the density of the cross-sectional areas according to a second embodiment
- Figure 3 shows the cooling device with a chilled beam with a distribution of
- Density of the cross-sectional areas of the outlet openings shows.
- FIG. 1 shows in the middle the cooling device 100 according to the invention for cooling a metallic material 200, as shown in the lower part of FIG.
- the cooling device 100 comprises at least one cooling beam 110 with a plurality of coolant-charging elements 112. These may be spray nozzles, slots or U-tubes with corresponding outlet openings for the coolant.
- the points or small circles within the cooling bar 110 shown in FIG. 1 represent the coolant elements 112.
- the concentric circles around the coolant charging elements 112 symbolize the respective cross-sectional areas 112 'of the outlet openings of the coolant application elements 112 is supplied with the aid of a pump 140 with coolant, which is pumped by means of the pump 140 from a tank 130 in the chilled beam.
- the pumping of the coolant via a valve 150, which, preferably as well as the pump 140 is controlled by a control device 160 individually.
- the cooling beam in the embodiment shown in Figure 1 forms only one chamber for the coolant from; Accordingly, alldeffenbeetzungs institute 112 are applied over the entire width of the cooling beam with the same pressure or the same volume flow of coolant.
- Thedeffenbeetzungsetti 112 are arranged in Figure 1 on the underside of the cooling beam 110 in the form of parallel rows in the width direction. In one embodiment, this may be so; However, this series arrangement is by no means mandatory.
- thedestoffbeaufschungs institute 112 may be arranged distributed anywhere on the underside of the cooling beam. It is also not necessary that thedestoffbeetzungs institute 112 must be arranged in several parallel rows; For example, thedeffenbeetzschungs institute can also in only one row in
- Width direction can be arranged side by side. Also, for example, individual of thehariffenschbeetzungs institute 112 z. B. arranged offset in the y direction. For the purposes of the invention, it is only the distribution of the density of the cross-sectional areas in the width direction y of the cooling beam 110 that is important.
- the distance between two coolant supply elements spaced apart in the width direction or their corresponding cross-sectional areas is designated by a in FIG.
- the density of the cross-sectional areas 112 'of the outlet openings of the coolant charging elements 112 in the width direction y of the cooling beam 110 is distributed uniformly.
- This uniform distribution is according to the invention conditioned by the uniformly distributed temperature of the metallic material shown over the cooling bar 110 in FIG. 1 over its width y.
- the temperature here is for example T 0 and is constant over the entire width of the metallic material, ie the slope d of the T distribution is zero here.
- an equal cooling capacity is required over the entire width of the cooling beam, but this must be equal to zero, more precisely greater than zero.
- This is by the said Uniform distribution of the cross-sectional areas of the outlet openings of thedeffenschetzschungsetti realized.
- this means that the coolant traces produced by the application of coolant preferably lie close to one another on the metal good to be cooled, without an axial spacing, as shown in the lower illustration of FIG.
- the cross-sectional areas 112 'of the outlet openings of thedeffenbeetzschungs institute 112 on the chilled beam 110 can be all the same size, but need not.
- spray nozzles each having a cylindrical coolant jet can be provided as the coolant-applying elements 112, the cross-sectional areas 112 of the outlet openings of the coolant-applying elements 112 touching one another, as shown in FIG. 1 in a detail figure of FIG.
- the use of spray nozzles, each with the same cross-sectional areas recommended; their radii r1 and r2 would then be the same size.
- spray nozzles each with the same cross-sectional areas recommended; their radii r1 and r2 would then be the same size.
- the cooling bar according to the invention is in each case manufactured or selected individually with regard to a predetermined temperature distribution of the metallic material prior to entry into the cooling device. Different temperature distributions require different density distributions of the cross-sectional areas of the outlet openings of the cooling medium impingement elements.
- the following steps according to the invention are to be carried out:
- the temperature distribution of the metallic material to be cooled must be determined over its width before entry under the chilled beam. This determined temperature distribution is then Ay with regard to width sections evaluate, in which the temperature rises, remains constant or falls. This evaluation is carried out by evaluating or determining the slope of the temperature distribution.
- the temperature distribution is understood to be a functional relationship between the temperature and the width direction of the metallic material or the cooling beam, it being possible to determine this functional relationship by interpolation of individual temperature measured values in the width direction.
- the sign of the slope is not important; Therefore, the amounts of the gradients at individual locations or points in the width direction are to be determined in each case.
- the cooling beam according to the invention is then to be provided with coolant-charging elements in the width direction such that the density of the cross-sectional areas of the outlet openings, ie. H. the density of the coolant exit surfaces of thedeffenbeaufschlagungs institute in the width direction of the cooling beam in accordance with the amount of the slope of the distribution of the temperature of the metallic material over its width before the inlet distributed and dimensioned under the chilled beam.
- Figure 2 shows a second embodiment of the invention. It differs from the first embodiment shown in FIG. 1 in that the density of the cross-sectional areas 112 'of the discharge openings of the coolant charging members 112 in the width direction of the cooling beam 110 decreases toward the edges of the cooling beam and the metallic material, respectively. Accordingly, in this embodiment, the edges of the metallic good less strongly cooled than its central area. This is due to the temperature distribution shown in the upper part of Figure 2, where it can be seen that the temperature distribution drops towards the edges. The slopes of the tangents to the temperature distribution are denoted by d.
- the reduced density of the cross-sectional areas in the edge regions of the cooling beam is realized in the second embodiment in that the distances between the coolant traces 114 produced by the coolant application become larger towards the edges on the metallic good to be cooled.
- these distances a, a1, a2, a3 can be greater than zero, d. H. the coolant traces need not be immediately adjacent and close to each other, but spaced from each other.
- Figure 3 shows a third embodiment of the invention, wherein the density of the cross-sectional areas 112 'of the outlet openings of thedeffenbeetzschlagungs institute 112 in the width direction y of the cooling beam 110 increases.
- the coolant traces 114 caused by the individual coolant application elements or their coolant jets on the metallic good 200 to be cooled can increasingly overlap towards the edges, as shown in the lower partial image of FIG.
- the distances a, a1, a2, a3 therefore become increasingly smaller towards the edges.
- This said density distribution of the coolant supply elements or their cross-sectional areas is due to the temperature distribution shown in the upper illustration of FIG.
- the temperature increases with respect to the center region of the metallic material towards its edges.
- the slope of the temperature distribution is again denoted by the reference numeral d.
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Crystallography & Structural Chemistry (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Heat Treatments In General, Especially Conveying And Cooling (AREA)
Abstract
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018205619 | 2018-04-13 | ||
| DE102018211177.4A DE102018211177A1 (de) | 2018-04-13 | 2018-07-06 | Kühleinrichtung zum Kühlen eines metallischen Gutes sowie Verfahren zu deren Herstellung und Betrieb |
| PCT/EP2019/058124 WO2019197182A1 (fr) | 2018-04-13 | 2019-04-01 | Dispositif de refroidissement servant à refroidir un produit métallique et procédé permettant sa fabrication et son fonctionnement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP3774100A1 true EP3774100A1 (fr) | 2021-02-17 |
| EP3774100B1 EP3774100B1 (fr) | 2022-06-29 |
Family
ID=68053454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP19715872.8A Revoked EP3774100B1 (fr) | 2018-04-13 | 2019-04-01 | Dispositif de refroidissement servant à refroidir un produit métallique et procédé permettant sa fabrication et son fonctionnement |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US11446720B2 (fr) |
| EP (1) | EP3774100B1 (fr) |
| JP (1) | JP7074883B2 (fr) |
| CN (1) | CN112041098B (fr) |
| DE (1) | DE102018211177A1 (fr) |
| WO (1) | WO2019197182A1 (fr) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102018211177A1 (de) * | 2018-04-13 | 2019-10-17 | Sms Group Gmbh | Kühleinrichtung zum Kühlen eines metallischen Gutes sowie Verfahren zu deren Herstellung und Betrieb |
Family Cites Families (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE851382A (fr) | 1977-02-11 | 1977-05-31 | Centre Rech Metallurgique | Perfectionnements aux procedes et aux dispositifs pour combattre le bombage des cylindres de laminoir |
| DE2855906A1 (de) | 1978-12-23 | 1980-07-10 | Lechler Gmbh & Co Kg | Spritzvorrichtung |
| JPS612443U (ja) * | 1984-06-12 | 1986-01-09 | 川崎製鉄株式会社 | 鋼板冷却設備のマスキング |
| JPS63149954U (fr) * | 1987-03-23 | 1988-10-03 | ||
| DE4009868A1 (de) | 1990-03-28 | 1991-10-02 | Schloemann Siemag Ag | Vorrichtung zum kuehlen von walzband |
| JPH05228525A (ja) * | 1992-02-19 | 1993-09-07 | Sumitomo Metal Ind Ltd | 熱間圧延鋼帯の幅方向温度制御方法および装置 |
| US5725046A (en) * | 1994-09-20 | 1998-03-10 | Aluminum Company Of America | Vertical bar caster |
| US6062056A (en) * | 1998-02-18 | 2000-05-16 | Tippins Incorporated | Method and apparatus for cooling a steel strip |
| DE10215229A1 (de) * | 2002-04-06 | 2003-10-16 | Sms Demag Ag | Vorrichtung zum Kühlen von Walzgut innerhalb der Kühlstrecke einer Walzanlage |
| JP2004034109A (ja) * | 2002-07-04 | 2004-02-05 | Sumitomo Metal Ind Ltd | 高温鋼材の冷却方法と冷却装置および熱間圧延鋼板の製造方法 |
| DE102007053523A1 (de) | 2007-05-30 | 2008-12-04 | Sms Demag Ag | Vorrichtung zur Beeinflussung der Temperaturverteilung über der Breite |
| DE102008049537A1 (de) * | 2008-09-30 | 2010-04-01 | Sms Siemag Aktiengesellschaft | Verfahren und Vorrichtung zum Kühlen eines Vorbandes oder Bandes eines Metallstrangs in einem Warmwalzwerk |
| JP5573728B2 (ja) | 2011-02-25 | 2014-08-20 | Jfeスチール株式会社 | 高強度冷延鋼板の製造方法及び製造装置 |
| EP2792428A1 (fr) | 2013-04-15 | 2014-10-22 | Siemens VAI Metals Technologies GmbH | Dispositif de refroidissement avec effet de refroidissement dépendant de la largeur |
| DE102014001146A1 (de) * | 2014-01-31 | 2015-08-06 | Loi Thermprocess Gmbh | Einrichtung zum Abkühlen von platten- oder bahnförmigem Blech aus Metall und Verfahren zur Wärmebehandlung |
| JP6245766B2 (ja) | 2015-05-26 | 2017-12-13 | Primetals Technologies Japan株式会社 | 熱延鋼板の冷却装置及びそのマスク部材位置調整方法 |
| EP3308868B1 (fr) | 2016-10-17 | 2022-12-07 | Primetals Technologies Austria GmbH | Refroidissement d'un rouleau d'une cage de laminoir |
| EP3395463B2 (fr) * | 2017-04-26 | 2024-10-30 | Primetals Technologies Austria GmbH | Refroidissement d'un laminé |
| DE102018211177A1 (de) * | 2018-04-13 | 2019-10-17 | Sms Group Gmbh | Kühleinrichtung zum Kühlen eines metallischen Gutes sowie Verfahren zu deren Herstellung und Betrieb |
| CN109092913A (zh) * | 2018-07-31 | 2018-12-28 | 燕山大学 | 改变层流冷却集管喷管间距的层流冷却方法 |
-
2018
- 2018-07-06 DE DE102018211177.4A patent/DE102018211177A1/de active Pending
-
2019
- 2019-04-01 US US17/047,053 patent/US11446720B2/en active Active
- 2019-04-01 JP JP2020555900A patent/JP7074883B2/ja active Active
- 2019-04-01 CN CN201980025719.1A patent/CN112041098B/zh active Active
- 2019-04-01 EP EP19715872.8A patent/EP3774100B1/fr not_active Revoked
- 2019-04-01 WO PCT/EP2019/058124 patent/WO2019197182A1/fr not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| JP7074883B2 (ja) | 2022-05-24 |
| CN112041098A (zh) | 2020-12-04 |
| CN112041098B (zh) | 2022-10-28 |
| JP2021517866A (ja) | 2021-07-29 |
| EP3774100B1 (fr) | 2022-06-29 |
| US20210154713A1 (en) | 2021-05-27 |
| US11446720B2 (en) | 2022-09-20 |
| WO2019197182A1 (fr) | 2019-10-17 |
| DE102018211177A1 (de) | 2019-10-17 |
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