EP3858781A1 - Dispositif de compensation de la tension oblique des grues - Google Patents

Dispositif de compensation de la tension oblique des grues Download PDF

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Publication number
EP3858781A1
EP3858781A1 EP21162860.7A EP21162860A EP3858781A1 EP 3858781 A1 EP3858781 A1 EP 3858781A1 EP 21162860 A EP21162860 A EP 21162860A EP 3858781 A1 EP3858781 A1 EP 3858781A1
Authority
EP
European Patent Office
Prior art keywords
crane
boom
sensor
load
deformation
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.)
Pending
Application number
EP21162860.7A
Other languages
German (de)
English (en)
Inventor
Alexander STRÄHLE
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.)
Liebherr Werk Biberach GmbH
Original Assignee
Liebherr Werk Biberach GmbH
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 Liebherr Werk Biberach GmbH filed Critical Liebherr Werk Biberach GmbH
Publication of EP3858781A1 publication Critical patent/EP3858781A1/fr
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Program control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/26—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable

Definitions

  • the invention relates to a crane with a device for compensating diagonal pull in cranes with at least one boom, a boom drive for adjusting an angle and / or a length of the boom and / or for moving a trolley, and a control / regulating device for control / regulation of the boom drive.
  • the object of the invention is to provide a device by means of which the compensation of the diagonal pull in cranes can be improved or simplified.
  • this object is achieved by a crane with a device for compensating diagonal pull in cranes with the features of claim 1.
  • a crane with a device with at least one boom, a boom drive for adjusting an angle and / or a length of the boom and / or for moving a trolley, a sensor for detecting the angle of the boom and / or the deformation of at least part of the crane and a control / regulating device for controlling the boom drive, whereby when lifting and / or lowering a load by the crane the detected sensor value is kept constant by means of the control / regulating device and the boom drive, in which a mode can optionally be set in which the control / regulating device automatically corrects the cantilever displacement or a mode in which the deformation is only displayed on one Display is visualized.
  • the necessary correction movement is designed to be controllable via a button, a control lever and / or via a display input.
  • the boom drive can be, for example, a motor winch for changing the bracing of the crane or the position of the trolley and / or a hydraulic cylinder-piston device by means of which the boom can be pivoted.
  • the device according to the invention can also be applied to or coupled to a mobile crane and used accordingly to reduce or prevent oblique pull in mobile cranes.
  • the recorded sensor value can mean an angle of the boom that is spanned by the boom and the horizontal.
  • the sensor value can be a value that is proportional to a deformation of the crane and, for example, corresponds to a tension in the crane structure.
  • the open-loop and closed-loop control device detects a first actual value by means of the sensor and, in the event of a subsequent change in the first measured actual value, controls / regulates the boom drive so that the error or the change or deviation between an actual value measured initially and one afterwards measured deviating value is minimized.
  • the deformation of the crane can be, for example, the bending of the tower or the boom of the crane. In this way, according to the invention, an oblique pull compensation can advantageously be carried out using sensors provided in known cranes.
  • the boom drive is a pull-in winch or a guy winch.
  • the corresponding winch can be controlled or regulated via the control / regulating device for moving the boom so that the sensor value or parameter detected by the sensor is constant or a deviation between a sensor value measured first and a value measured during further operation of the crane is reduced or . is minimized.
  • the pull-in winch or the guy winch is used to change the length of the boom of the crane by extending or retracting the boom accordingly. As a result, the diagonal pull can also be reduced, but not fully compensated, since the deflection of the tower or the boom is not compensated.
  • the boom drive is designed as a cylinder piston device and is coupled to the boom for pivoting the boom.
  • the at least one sensor is an inclination sensor, an optical sensor, a length transmitter for measuring deformations, a GPS sensor and / or a cable sensor in or on a bracing of the crane. Accordingly, it is possible to use more than one sensor for recording the respective crane parameters or the geometric design or deformation of the crane. In particular, it is possible to use more than one sensor in combination to detect the alignment or deformation of the crane.
  • control / regulating device controls the boom drive on the basis of a reference value calculated from a plurality of sensor values.
  • the reference value can be, for example, the load moment, which can be derived from the weight of the load lifted by the crane and the corresponding outreach or from the supporting forces acting on the crane and the outreach.
  • the ratio of the sensor value and / or reference value to the cantilever displacement due to the deformation of the crane is scaled or determined and / or calculated with a test weight.
  • the rigidity and the crane structure or the geometry of the crane can be used for the computational determination of the relationship between the sensor value or the reference value and the projection displacement.
  • the invention is also directed to a crane with a device according to one of Claims 1 to 7.
  • FIG. 1a shows a crane 1 known from the prior art with a boom 2 which does not have a device according to the invention for compensating diagonal pull.
  • the crane 1 comprises a boom drive 3, which can adjust the boom 2 and / or move the trolley 7.
  • the crane 1 is at least not loaded by the load 6 and therefore also has no deformations caused by the load 6.
  • boom drive 3 can mean a drive for moving the boom 2 or any other drive provided on the crane, such as a pull-in winch 8 or guy winch 9, by means of which further or other crane components can be moved.
  • the crane 1 When the load 6 is lifted from the ground, the crane 1 is correspondingly loaded, even while the load initially remains on the ground or touches the ground. This leads, among other things, to a horizontal movement of the overhead crane or, in particular, of the boom 2 and a corresponding diagonal pull of the rope, as FIG. 1b shows.
  • the horizontal movement or rotary movement of the overhead crane shown in FIG can lead to load swaying and correspondingly to an enlargement of the radius due to the load swaying.
  • the crane 1 shown in FIG. 2a with a device according to the invention for compensating the diagonal pull initially hardly differs from the crane 1 shown in FIG. However, if the crane 1 according to the invention begins to lift the load 6 as shown in FIG the load 6 is prevented. If the crane 1 lifts the load from the ground, as shown in FIG. 2b, the trolley 7 is moved and / or the boom 2 is pivoted so that the rope has no diagonal pull or is arranged vertically.
  • At least one corresponding sensor 5 can be provided, for example, on the boom 2 or, alternatively or in addition, on other components such as the tower of the crane.
  • the open-loop / closed-loop control device 4 can detect the values detected by the sensor 5 or by the sensors 5 and, on the basis of these, determine how the boom drive 3 is to be controlled so that there is as little diagonal pull as possible.
  • a known test weight can be lifted by means of the crane 1, whereby the detected sensor values can be stored accordingly. This can be carried out with different boom angles or projections of the crane 1.
  • a correspondingly created table of values with the recorded sensor values, the test weight and / or the corresponding boom angles or projections can be used to compensate for the diagonal pull when the crane 1 is in operation.
  • FIG. 3 shows a schematic representation of the active structure when using a crane 1 with a device according to the invention.
  • one or more reference variables are first determined which are clearly related to the deformation of the crane 1 or the steel structure of the crane 1.
  • an in particular computational variable can be generated or recorded.
  • the following sensors can be used in any combination and number: load torque sensors, inclination sensors in the tower and / or boom 2 of crane 1, force sensors or a measuring axis or a tensile force sensor in the hoist rope line, projection sensors, force sensors in the bracing, in the guy rope, in the neck rope and / or in the pull-in rope, GPS sensors, optical sensors such as a camera, force sensors and / or strain sensors and / or Length sensors in the steel structure of the crane 1, force sensors and / or hydrostatic pressure sensors in the support of the crane 1, pressure sensors in an adjusting cylinder of the crane 1, and / or absolute value sensors on a cable drum or winch.
  • the deformation of the crane 1 can be generated or determined from the determined reference variable or from the determined reference variables.
  • the transfer function can be mapped, for example, with a computational relationship or a map.
  • the deformation can correspond, for example, to a shift in the projection and / or to a change in the angle of the tower and / or boom 2.
  • different crane configurations or tower / boom configurations or hoisting rope reeving can be taken into account.
  • the deformation of the crane 1 can be measured, for example, using a payload sensor and an outreach sensor.
  • the corresponding sensors 5 for measuring the payload and the outreach can be installed in the crane 1.
  • the load torque which in this case represents the reference variable, is computed in the crane control from these two sensors 5. It is also conceivable that, in addition to the load moment, the overhang is a second reference variable. This essentially depends on the crane structure and the resulting static relationships.
  • the diagonal pull can then be determined by a reference measurement or by scaling.
  • a reference measurement can be used to determine the relationship between the reference variable “load torque” and the shift in the radius.
  • the displacement of the cantilever can correspond to the deformation of the steel structure of the crane 1.
  • a known payload is raised at a known radius and the increase in the radius resulting from the lifting is measured.
  • FIGS. 4a-4c illustrate this relationship.
  • FIG. 4a shows a crane with a load placed on the ground, the crane not being loaded by the load.
  • FIG. 4b shows a crane in which the load to be lifted by it still rests on the ground, but already has part of its weight applied to the crane. In this state, a horizontal movement of the crane 1 or the overhead crane is effected.
  • FIG. 4c shows the crane from FIG. 4b at the moment when the load is lifted from the ground, the measured extension of the projection ⁇ s being shown in FIGS. 4b and 4c.
  • the crane operator can activate the automatic correction of the diagonal pull on a display in order to compensate for an undesired diagonal pull.
  • the load torque is then calculated from the payload and the outreach, especially online.
  • the outreach with the trolley 7 is automatically corrected by the correspondingly determined outreach shift.
  • the invention is used in connection with a mobile crane with an adjustable boom, another operating principle is also possible. So it is conceivable that the deformation of the steel structure is measured by inclination sensors in the boom and absolute encoder of the guy winch 9. In this situation, the diagonal pull can be determined by means of a transfer function that can be permanently stored in the controller. The diagonal pull is then compensated for using appropriate correction commands.
  • the boom inclination is adjusted with the guy winch 9, which is designed with an absolute encoder.
  • the guy winch 9 which is designed with an absolute encoder.
  • the absolute encoder of the guy winch When attaching a payload, the inclination of the changes due to the deformation of the steel structure of the tower and boom and the elongation of the guy rope Jib, the absolute encoder of the guy winch, however, remains constant. This changes the relationship between the boom angle and the absolute encoder. More details on this can be found in FIG.
  • the deflection of the tower can also be compensated for.
  • the boom angle must be set steeper than originally when there is a load. Further details can be found in FIG. 9.
  • the crane operator is shown the diagonal pull visually on a display, possibly with an acoustic signal. With a button or an input on the touch display, he can then trigger the correction movement or a correction command to adjust the boom.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
EP21162860.7A 2016-11-09 2017-11-09 Dispositif de compensation de la tension oblique des grues Pending EP3858781A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102016013320 2016-11-09
DE102017125715.2A DE102017125715A1 (de) 2016-11-09 2017-11-03 Vorrichtung zur Kompensation von Schrägzug bei Kranen
EP17803779.2A EP3532425B1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de traction oblique dans des grues
PCT/EP2017/001305 WO2018086740A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de traction oblique dans des grues

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP17803779.2A Division EP3532425B1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de traction oblique dans des grues
EP17803779.2A Division-Into EP3532425B1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de traction oblique dans des grues

Publications (1)

Publication Number Publication Date
EP3858781A1 true EP3858781A1 (fr) 2021-08-04

Family

ID=62003123

Family Applications (2)

Application Number Title Priority Date Filing Date
EP17803779.2A Active EP3532425B1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de traction oblique dans des grues
EP21162860.7A Pending EP3858781A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de la tension oblique des grues

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP17803779.2A Active EP3532425B1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de traction oblique dans des grues

Country Status (7)

Country Link
US (1) US11174134B2 (fr)
EP (2) EP3532425B1 (fr)
CN (1) CN110167865A (fr)
DE (1) DE102017125715A1 (fr)
DK (1) DK3532425T3 (fr)
ES (1) ES2877702T3 (fr)
WO (1) WO2018086740A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK180746B1 (en) * 2020-08-18 2022-02-10 Hmf Group As Control system for cantilever crane and method for controlling a cantilever crane
EP4015436B1 (fr) 2020-12-15 2024-09-04 Schneider Electric Industries SAS Méthode d'optimisation d'une fonction anti-balancement
CN116216527B (zh) * 2023-03-29 2025-10-17 福建省送变电工程有限公司 一种基于物联网的变电站管母水平提升协同控制系统
DE102023110203A1 (de) * 2023-04-21 2024-10-24 Liebherr-Werk Biberach Gmbh Kran sowie Verfahren zum automatisierten Positionieren und/oder Verfahren des Lastaufnahmemittels eines solchen Krans
US20250276877A1 (en) * 2024-03-01 2025-09-04 Palfinger Ag Control circuitry for a crane, crane, winch arrangement for a crane, remote control unit for a crane and method to operate a crane

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JPH01167199A (ja) * 1987-12-22 1989-06-30 Kobe Steel Ltd クレーンの鉛直吊上げ方法
JPH01256496A (ja) * 1988-04-04 1989-10-12 Tadano Ltd ブームを有するクレーンの吊荷地切時荷振防止装置
DE19842436A1 (de) * 1998-09-16 2000-03-30 Grove Us Llc Shady Grove Verfahren und Vorrichtung zur Kompensation der Verformung eines Kranauslegers bei dem Aufnehmen und Absetzen von Lasten

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CN86203711U (zh) * 1986-06-09 1987-02-11 张文胜 缆索塔式起重机
JPH01256497A (ja) * 1988-04-04 1989-10-12 Tadano Ltd 伸縮ブームを有するクレーンの吊荷地切時荷振防止装置
DE4409153A1 (de) 1994-03-17 1995-09-21 Faun Gmbh Verfahren zur Erfassung der Änderung des Radius eines Auslegers eines Kranes unter Last
JP2005306602A (ja) * 2004-03-23 2005-11-04 Tadano Ltd ブーム式クレーンに用いられる荷物の地切装置
US7489098B2 (en) 2005-10-05 2009-02-10 Oshkosh Corporation System for monitoring load and angle for mobile lift device
DE102007039408A1 (de) 2007-05-16 2008-11-20 Liebherr-Werk Nenzing Gmbh Kransteuerung, Kran und Verfahren
NO337712B1 (no) 2010-03-24 2016-06-06 Nat Oilwell Varco Norway As Anordning og fremgangsmåte for å redusere dynamiske laster i kraner
CN101920914A (zh) * 2010-06-19 2010-12-22 张培霞 汽车式上回转塔吊
DE102012004803A1 (de) * 2012-03-09 2013-09-12 Liebherr-Werk Nenzing Gmbh Kransteuerung mit Antriebsbeschränkung
JP5889688B2 (ja) * 2012-03-26 2016-03-22 株式会社タダノ 作業機械
DE102014012457B4 (de) * 2014-08-20 2025-03-20 Liebherr-Werk Ehingen Gmbh Automatisches Aufrichten eines Krans
DE202015001024U1 (de) * 2015-02-09 2016-05-10 Liebherr-Werk Biberach Gmbh Kran mit Überwachungsvorrichtung zum Überwachen der Überlastsicherung

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Publication number Priority date Publication date Assignee Title
JPH01167199A (ja) * 1987-12-22 1989-06-30 Kobe Steel Ltd クレーンの鉛直吊上げ方法
JPH01256496A (ja) * 1988-04-04 1989-10-12 Tadano Ltd ブームを有するクレーンの吊荷地切時荷振防止装置
DE19842436A1 (de) * 1998-09-16 2000-03-30 Grove Us Llc Shady Grove Verfahren und Vorrichtung zur Kompensation der Verformung eines Kranauslegers bei dem Aufnehmen und Absetzen von Lasten

Also Published As

Publication number Publication date
WO2018086740A1 (fr) 2018-05-17
DK3532425T3 (da) 2021-06-28
DE102017125715A1 (de) 2018-05-09
CN110167865A (zh) 2019-08-23
EP3532425B1 (fr) 2021-04-21
US20200180917A1 (en) 2020-06-11
US11174134B2 (en) 2021-11-16
EP3532425A1 (fr) 2019-09-04
ES2877702T3 (es) 2021-11-17

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