EP4566954A2 - Procédé de commande de la position du bord d'une bande de matériau - Google Patents

Procédé de commande de la position du bord d'une bande de matériau Download PDF

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Publication number
EP4566954A2
EP4566954A2 EP25164393.8A EP25164393A EP4566954A2 EP 4566954 A2 EP4566954 A2 EP 4566954A2 EP 25164393 A EP25164393 A EP 25164393A EP 4566954 A2 EP4566954 A2 EP 4566954A2
Authority
EP
European Patent Office
Prior art keywords
web
packaging
packaging machine
roll
sensor
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
EP25164393.8A
Other languages
German (de)
English (en)
Other versions
EP4566954A3 (fr
Inventor
Frank SABATO
Jochen REHN
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.)
GEA Food Solutions Germany GmbH
Original Assignee
GEA Food Solutions Germany 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 GEA Food Solutions Germany GmbH filed Critical GEA Food Solutions Germany GmbH
Priority to EP25205837.5A priority Critical patent/EP4650284A2/fr
Publication of EP4566954A2 publication Critical patent/EP4566954A2/fr
Publication of EP4566954A3 publication Critical patent/EP4566954A3/fr
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B41/00—Supplying or feeding container-forming sheets or wrapping material
    • B65B41/18—Registering sheets, blanks, or webs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B41/00—Supplying or feeding container-forming sheets or wrapping material
    • B65B41/12—Feeding webs from rolls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
    • B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B9/00—Enclosing successive articles, or quantities of material, e.g. liquids or semiliquids, in flat, folded, or tubular webs of flexible sheet material; Subdividing filled flexible tubes to form packages
    • B65B9/02—Enclosing successive articles, or quantities of material between opposed webs
    • B65B9/04—Enclosing successive articles, or quantities of material between opposed webs one or both webs being formed with pockets for the reception of the articles, or of the quantities of material

Definitions

  • the present invention relates to a method for controlling the position of a lower and/or upper product web on a packaging machine, wherein the lower product web is unrolled from a supply roll and transported intermittently or continuously along the packaging machine and, if appropriate, packaging troughs are formed into the lower product web in a forming station and the lower product web, preferably the packaging troughs, are then covered with a packaging product, wherein subsequently, in a sealing station, an upper product web is sealed to the lower product web, wherein the lower and upper product webs are each unrolled from a supply roll.
  • the bottom web of fabric is usually transported along the packaging machine using two endless chains or endless toothed belts, each of which has holders that hold the side edge of the bottom web.
  • Experts know that webs of fabric have tolerances in their width and that webs run approximately transversely to the transport direction, i.e., are not aligned parallel to their transport direction. In extreme cases, this leads to the holders on the transport chains no longer gripping the web of fabric or not gripping it sufficiently, resulting in a production stoppage.
  • the problem is solved by a method for controlling the position of a lower and/or upper web on a packaging machine, wherein the lower web is unwound from a supply roll and transported intermittently or continuously along the packaging machine and, if appropriate, packaging troughs are formed in the lower web in a forming station and the lower web, preferably the packaging troughs, are then covered with a packaged item, wherein a top web is subsequently connected to the lower web in a sealing station, wherein the lower and upper webs are each unwound from a supply roll, wherein the position of a reference point on the lower and/or upper web relative to a preferably stationary component of the packaging machine is detected and, based on this detection, the position of the lower and/or upper web transverse to its transport direction is changed if necessary.
  • the present invention relates to a method carried out on a packaging machine, in which a lower web of product, in particular a plastic web, which preferably has a width between 200 mm and 1 m or more, is unwound from a supply roll and preferably transported intermittently/cyclically along the packaging machine in a transport direction.
  • a forming station if present, this lower web of product is then first heated, and packaging troughs are formed into the lower web of product by means of a thermoforming tool.
  • several packaging troughs are formed simultaneously and subsequently transported simultaneously along the packaging machine.
  • the lower web of product preferably each packaging trough
  • a packaged product preferably a format of packaged products, in particular a foodstuff such as sausage, ham, or cheese
  • a sealing station connected to an upper web of product, wherein the upper web of product is usually sealed to the lower web of product.
  • the packaged product can also be filled/placed in an unformed web of product.
  • the finished packaging is then separated.
  • the top web of fabric is also unwound from a supply roll.
  • a dancer can be located downstream of at least one supply roll, which keeps the tension in the web at least essentially constant.
  • the material web can be, for example, a paper, cardboard, and/or plastic film web.
  • the material web can consist of several layers.
  • the lower and upper webs usually differ in their structure.
  • Each material web can be transparent, translucent, or opaque.
  • Each material web can be printed.
  • the lower and/or upper webs can be deep-drawn.
  • the packaging produced using the method according to the invention may have an intermediate layer.
  • the entire disclosure made regarding the top and bottom films and the control of their position transversely to the longitudinal direction of the packaging machine and/or transversely to the position of the bottom and/or top product web also applies to the intermediate layer web.
  • At least one web of material has one or more reference points with which the transverse position of the respective web of material, ie perpendicular and/or horizontal to its transport direction and relative to a preferably stationary component of the packaging machine, can be detected.
  • the reference points can be used to determine whether the nominal width of the web has changed. Webs, especially low-quality webs, exhibit deviations from their parallelism relative to the transport direction of the web. This deviation can also be determined using the reference point(s).
  • a possible reference point is, for example, at least one of the two edges of the web.
  • Preferred reference points are also printed marks, which are preferably applied and/or embedded in the web at regular intervals.
  • a print, such as a logo, on the web can serve as a reference point.
  • a reference point within the meaning of the invention can have any shape and size. Preferably, the reference points are repeated at regular intervals.
  • the position of the web of material can be changed transversely to its transport direction in any way familiar to a person skilled in the art.
  • the supply roll is displaced along its axis of rotation. This can be achieved by providing the axis of rotation itself for axial movement and/or by displacing the supply roll relative to the axis of rotation on which it is mounted. Normally, the axis of rotation is arranged horizontally and at a 90° angle to the transport direction of the web of material.
  • the supply roll can be provided so as to be rotatable about at least one axis, for example a vertical and/or horizontal axis.
  • the reference point is preferably detected by a sensor.
  • the sensor is preferably an optical or ultrasonic sensor or a tactile sensor, which, particularly with regard to its orientation transverse to the transport direction of the web, is preferably provided in a stationary manner.
  • the sensor can, for example, be a sensor that emits waves towards the surface of the web, which are at least partially reflected by the web, wherein the wave reflected by the web has a different wavelength than the emitted wave, and the extent of the wavelength change is a measure of the change in position of the web (Doppler effect).
  • the sensor preferably detects deviations of the reference point in two directions, for example to the right and to the left transverse to the transport direction of the web.
  • Its exact position transverse to the transport direction can preferably be input into a control/regulation system.
  • its distance from a reference of the packaging machine for example its central axis in the longitudinal direction, the frame of the packaging machine, and/or the position of one or both chain strands, can be input.
  • the sensor can also be calibrated to a specific position of the reference point and then detects deviations from this position in two directions without its exact position being specified.
  • the sensor detects the reference point(s) after the respective web of material has been unwound.
  • the sensor is located immediately adjacent to the film roll, in particular when the roll has its maximum diameter.
  • the sensor is located in the inlet area of the chain strand, i.e. where the grippers of the chain clamp the edge of the web of material.
  • the sensor is located between the supply roll and the inlet area of the chain strand.
  • a combination of at least two sensors is preferably arranged at preferably different positions between the supply roll and the inlet area of the chain strand, for example in order to determine positional deviations at different points and, for example, to use this to detect trends in the course and/or effects of changes in the position and then to correct the changes in the position.
  • a sensor is preferably provided upstream of the sealing station, preferably directly upstream of the sealing station, in order to detect the position of the upper web of goods relative to the position of the lower web of goods, so that the control can intervene in the event of significant deviations, for example in order to adapt a printed image and/or a deep-drawn shape on the upper web of goods to the position of the packaging goods and/or the packaging troughs on/in
  • the lower fabric web must be aligned in the transverse direction. Experts will understand that the position of the upper fabric web can also be recorded with more than one sensor and, if necessary, trends in its tracking behavior.
  • the edge of the web, one, in particular several print mark(s) and/or one, in particular several print image(s), in particular the edge of a print image and/or the surface of the web are detected as the reference point.
  • control system measures the distance between the reference point and the center of the packaging machine, the frame of the packaging machine, and/or the chain strand. These values can then be used to control the position of the web of material transverse to its transport direction.
  • the senor is height and/or length adjustable. This allows, for example, the decreasing diameter of the supply roll to be taken into account, especially if the sensor is located in the area of the supply roll.
  • the method according to the invention corrects the course of the web.
  • the method according to the invention can preferably compensate for deviations in the nominal width of the web.
  • deviations in the parallelism of the web relative to its transport direction can be compensated.
  • the edges of the web are often not straight, but curved.
  • the method according to the invention is also suitable for compensating for inhomogeneities in the material web.
  • inhomogeneities for example, in the thickness and/or composition of the material web, lead to web sagging, which can be compensated for using the method according to the invention.
  • the transverse position of the web roll can also be detected and corrected if necessary. This function is particularly useful during a roll change.
  • the sensor detects the position, for example, of one of the first reference points.
  • the transverse position of the Web roll corrected if necessary.
  • the target position of the web roll and/or its actual position relative to a tolerance window is displayed, preferably after the web roll has been roughly positioned on its axis of rotation and the start of the web has been brought into its takeover position, for example by attaching it to the end of the previous web, and the new web has been placed under a minimum longitudinal tension and, if necessary, the actual position of the web roll has been recorded, after which the position of the web roll is corrected if necessary, preferably until the displayed target position is at least approximately reached or the actual position is sufficiently accurate within the tolerance window.
  • the target position and/or actual position can be displayed, for example, by means of an optical display on or near the axis of rotation of the web roll and/or on the control panel and/or on a display.
  • the rotation axis is first brought into a position based on the desired position of the web roll, preferably centered with respect to the adjustment paths of the actuators, such that the usually limited adjustment paths of the actuators allow axial adjustment of the rotation axis or the supply roll relative to the rotation axis without having to exceed the limits of the adjustment paths.
  • a trend analysis is preferably carried out using the data recorded by the sensor. This preferably determines whether there is a preferred direction in which the pattern occurs. This analysis can then be used, for example, to make a change to the packaging machine. The analysis can also be used to investigate whether the pattern is batch-dependent and, if so, to determine with the respective manufacturer what causes the pattern and how this error can be remedied.
  • a pattern can be due, for example, to a non-consistent thickness of the web and/or that the web was not stretched evenly.
  • the trend analysis can also indicate fluctuations in the width of the web and/or that the edges of the web are not parallel to the direction of transport, but for example curved, in particular sine or cosine-shaped.
  • error messages are recorded and analyzed per unit of time.
  • This analysis can be used to prevent errors and/or improve the quality of the web.
  • the tolerance in the web can be reduced and/or parallelism to the transport direction can be improved.
  • a sensor is positioned near both edges of the web. This allows, for example, the width of the web to be checked, particularly during unwinding.
  • the two sensors can also detect any lack of parallelism with the web's running direction. If possible, this deficiency is corrected.
  • Figure 1 shows the packaging machine 1 according to the invention, which here has a thermoforming station 2, a filling station 7 and a sealing station 15.
  • a bottom web 8, here a plastic web 8 is drawn off from a supply roll 22 and transported in cycles along the packaging machine from right to left in its transport direction 40. In one cycle, the bottom web 8 is transported further by one format length/feed length.
  • the packaging machine has two transport means 24 (in Figure 1 not shown), in this case two endless chains, two chain strands, arranged to the right and left of the bottom web 8. At least one gear wheel is provided for each chain at both the beginning and the end of the packaging machine. provided around which the respective chain is deflected. At least one of these gears is driven.
  • the gears in the input area and/or in the output area can be connected to one another, preferably by a rigid shaft.
  • Each transport means has a plurality of clamping means 42 (cf. Figure 3 ) which clamp the lower web 8 in the inlet area 19 and transfer the movement of the transport means to the lower web 8.
  • clamping means 42 cf. Figure 3
  • the clamped connection between the transport means and the lower web 8 is released again.
  • a heating means 13 can be provided which heats the web 8, in particular when the web is stationary.
  • the packaging trays 6 are formed into the optionally heated web 8.
  • the lower tool 4 is arranged on a lifting table 5 which, as symbolized by the double arrow, is vertically adjustable. Before each web feed, the lower tool 4 is lowered and then raised again. As the packaging machine continues, the packaging troughs or a flat lower web are then filled/loaded with the packaging material 16 in the filling station 7. In the subsequent sealing station 15, which also consists of an upper tool 12 and a vertically adjustable lower tool 11, an upper web 14 is firmly sealed to the lower web 8. This transfers the movement of the lower web 8 to the upper web 14. In the sealing station, the upper tool and/or the lower tool are also lowered or raised before and after each web transport.
  • the upper film 14 can also be guided in transport means or transported by transport chains, whereby these transport means then only extend in front of the sealing station and, if necessary, downstream. Otherwise, the statements made regarding the transport means for the lower film apply.
  • the upper film can also be heated and deep-drawn using a heating medium.
  • a heatable sealing frame is provided as the lower tool 11, for example, which has an opening for each packaging cavity into which the packaging cavity dips during sealing, i.e. during the upward movement of the lower sealing tool.
  • the upper and lower webs of material are pressed together between the upper and lower tools 12, 11 and bond under the influence of heat and pressure. After sealing, the tools 11, 12 are moved apart vertically again.
  • a dancer 20, here a rotary dancer, can be provided between the supply roll 21 and the sealing tool, which keeps the web 14 at a constant tension if possible.
  • the person skilled in the art understands that several upper webs/intermediate layers can be present, for example in a multi-layer pack or a pack with several Upper product web.
  • a dancer is then provided along the path of each upper film.
  • a dancer can also preferably be provided in the region of the lower film, preferably downstream of the supply roll 22.
  • the dancer is preferably a linear dancer.
  • a gas exchange Before and/or during the sealing of the upper film to the lower film, a gas exchange preferably takes place in each packaging trough.
  • the air present in the packaging trough is first partially sucked out and then replaced with a replacement gas.
  • holes are made in the lower product web in the area of each format in the lower film in the area of the transport chains, through which the air between the product webs 8, 14 is sucked out and the replacement gas is then blown in.
  • the finished packages are separated, which in the present case is done with the cross cutter 18 and the longitudinal cutter 17.
  • the cross cutter 18 can also be raised or lowered using a lifting device 9.
  • At least one supply roll 21, 22 is driven by a motor, in particular a torque motor, such that the required length of advance of the respective web of fabric is unrolled from the roll without the tensile force of the two transport means, the transport chains, and/or the tensile force of the lower web of fabric being significantly transferred to the upper web of fabric.
  • a motor in particular a torque motor
  • the respective web of fabric is subjected to only a comparatively low tension and is thus pre-stretched at most slightly, producing fewer wrinkles.
  • the rotation of the motor driving the supply roll 21, 22 is controlled/regulated by a computer means, which may be part of the packaging machine or part of a line control system.
  • the rotation speed of the supply roll is controlled such that the unrolled web length corresponds to the feed rate and/or that the speed profiles of the unrolling of the web and/or the feed rate of the transport means, in particular the transport chains, are at least substantially identical.
  • the respective current diameter or the respective current weight of the supply roll is taken into account.
  • the dancer is provided with a motion sensor, for example a rotary encoder or a linear encoder, with which it can be determined which stored
  • the movement of the dancer corresponds to the length of the web.
  • This information can be used, for example, to determine the diameter of the supply roll.
  • Figures 2 and 3 show a first embodiment of the method according to the invention, wherein in Figure 3 a detail from Figure 2 is shown.
  • a web of material 8, 14 is unwound from a roll 20, 22 and transported in a transport direction 40.
  • a path 46 of the web of material transverse to its transport direction 40 can occur, which is compensated for by the method according to the invention.
  • the packaging machine has a sensor 39, in particular a stationary sensor fixed to the machine frame, which detects the position of one or more reference points. Based on this measurement, a control system can determine whether the web of material is running and/or whether the reference point is located within an acceptable range relative to a component of the packaging machine.
  • the reference point is, for example, the web edge 38, a print mark, or a printed image.
  • the distance 43 between the reference mark and the center axis 41 of the packaging machine is determined and/or the distance 44 between the reference mark, here the edge of the web of material and the chain strand and/or its gripper 42 is determined.
  • the distance of the reference mark to the machine frame 28 can also be determined.
  • a control system Based on the signal from this sensor 39, a control system corrects the position of the film web 8, 14 transversely to its transport direction. This can be done, for example, using a device that uses Figure 4 is described in more detail. The correction preferably takes place upstream of the sensor 39.
  • FIG 4 shows a further embodiment of the packaging machine, essentially referring to the embodiments according to Figure 1 can be referred to.
  • the supply roll 21, 22 is mounted on a shaft 23, preferably in a rotationally fixed and/or axially non-displaceable manner.
  • the shaft 23 rotates as the lower and/or upper fabric web 8, 14 unwinds in the direction indicated by the arrow 40.
  • the shaft 23 is preferably mounted in the region of its two ends by means of a bearing 31 so that it can rotate and, if necessary, also be longitudinally displaceable.
  • a bearing 31 can, for example, be mounted on the housing of the web unwinder or the packaging machine. For longitudinal displacement, the bearings 31 can be designed as plain bearings.
  • the shaft 23 is preferably driven in rotation by a motor 25.
  • a coupling 26, for example a sliding coupling or a gear, preferably a sliding gear, can be provided between the motor 25 and the shaft 23.
  • the shaft 23 alone and/or the frame 29, on which the shaft 23 of the web unwinder is mounted is provided to be longitudinally displaceable, as symbolized by the arrow 37 and/or transversely to the transport direction 40 of the web.
  • the frame 29, on which the shaft 23 and the motor 25 are provided is provided to be longitudinally displaceable, for example along a guide 32.
  • the movement 37 is brought about, for example, by an adjusting drive 35, which moves at least the shaft 23 along its central axis, but preferably also the frame 29.
  • the drive motor 25 can also be moved during the longitudinal displacement, but this is not required.
  • the bearings 32-34 are preferably arranged on a base frame 28, in particular a stationary one.
  • the sensor signal can also be used to correct the axial position of the roll on the shaft 23.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
  • Containers And Plastic Fillers For Packaging (AREA)
  • Replacement Of Web Rolls (AREA)
EP25164393.8A 2018-05-18 2019-05-20 Procédé de commande de la position du bord d'une bande de matériau Pending EP4566954A3 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP25205837.5A EP4650284A2 (fr) 2018-05-18 2019-05-20 Procédé de commande de la position du bord d'une bande de matériau

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE102018207924 2018-05-18
DE102018218582 2018-10-30
DE102019205541 2019-04-17
PCT/EP2019/062938 WO2019219967A1 (fr) 2018-05-18 2019-05-20 Procédé de commande de la position du bord de bande de produits
EP19728328.6A EP3793907B1 (fr) 2018-05-18 2019-05-20 Procédé de commande de la position du bord de bande de produits

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP19728328.6A Division EP3793907B1 (fr) 2018-05-18 2019-05-20 Procédé de commande de la position du bord de bande de produits

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP25205837.5A Division-Into EP4650284A2 (fr) 2018-05-18 2019-05-20 Procédé de commande de la position du bord d'une bande de matériau
EP25205837.5A Division EP4650284A2 (fr) 2018-05-18 2019-05-20 Procédé de commande de la position du bord d'une bande de matériau

Publications (2)

Publication Number Publication Date
EP4566954A2 true EP4566954A2 (fr) 2025-06-11
EP4566954A3 EP4566954A3 (fr) 2026-02-25

Family

ID=66752046

Family Applications (3)

Application Number Title Priority Date Filing Date
EP25164393.8A Pending EP4566954A3 (fr) 2018-05-18 2019-05-20 Procédé de commande de la position du bord d'une bande de matériau
EP25205837.5A Pending EP4650284A2 (fr) 2018-05-18 2019-05-20 Procédé de commande de la position du bord d'une bande de matériau
EP19728328.6A Revoked EP3793907B1 (fr) 2018-05-18 2019-05-20 Procédé de commande de la position du bord de bande de produits

Family Applications After (2)

Application Number Title Priority Date Filing Date
EP25205837.5A Pending EP4650284A2 (fr) 2018-05-18 2019-05-20 Procédé de commande de la position du bord d'une bande de matériau
EP19728328.6A Revoked EP3793907B1 (fr) 2018-05-18 2019-05-20 Procédé de commande de la position du bord de bande de produits

Country Status (5)

Country Link
US (2) US11767138B2 (fr)
EP (3) EP4566954A3 (fr)
CN (1) CN112236366A (fr)
ES (1) ES3032741T3 (fr)
WO (1) WO2019219967A1 (fr)

Families Citing this family (7)

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EP4566954A3 (fr) * 2018-05-18 2026-02-25 Gea Food Solutions Germany GmbH Procédé de commande de la position du bord d'une bande de matériau
JP7298867B2 (ja) * 2019-03-08 2023-06-27 株式会社タカゾノ 巻回体と包装装置との組み合わせ
US20250033821A1 (en) * 2020-11-09 2025-01-30 Iow, Llc System and method for automatically packaging an item
US12605923B2 (en) 2020-11-09 2026-04-21 Iow, Llc Packaging material having expandable layers
US20250033817A1 (en) * 2020-11-09 2025-01-30 Iow, Llc System and method for automatically packaging an item
EP4166464A1 (fr) 2021-10-15 2023-04-19 MULTIVAC Sepp Haggenmüller SE & Co. KG Dispositif de déroulage pour une machine d'étanchéité
DE102022129119A1 (de) * 2022-11-03 2024-05-08 Syntegon Technology Gmbh Querverfahreinheit für eine Vorrichtung zur Herstellung von Verpackungselementen aus faserbasierten Materialien

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US12600512B2 (en) 2026-04-14
EP3793907A1 (fr) 2021-03-24
US20210229849A1 (en) 2021-07-29
CN112236366A (zh) 2021-01-15
EP4566954A3 (fr) 2026-02-25
WO2019219967A1 (fr) 2019-11-21
EP4650284A2 (fr) 2025-11-19
ES3032741T3 (en) 2025-07-24
EP3793907B1 (fr) 2025-03-19
US20240308708A1 (en) 2024-09-19
US11767138B2 (en) 2023-09-26

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