CN110382163A - Clamp assembly for lathe and the lathe with clamp assembly - Google Patents
Clamp assembly for lathe and the lathe with clamp assembly Download PDFInfo
- Publication number
- CN110382163A CN110382163A CN201880015299.4A CN201880015299A CN110382163A CN 110382163 A CN110382163 A CN 110382163A CN 201880015299 A CN201880015299 A CN 201880015299A CN 110382163 A CN110382163 A CN 110382163A
- Authority
- CN
- China
- Prior art keywords
- lathe
- clamp assembly
- cutter
- fixture
- workpiece
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
- B23Q17/0952—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining
- B23Q17/0971—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining by measuring mechanical vibrations of parts of the machine
- B23Q17/0976—Detection or control of chatter
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Control Of Machine Tools (AREA)
- Auxiliary Devices For Machine Tools (AREA)
Abstract
The invention proposes a kind of clamp assemblies (4) for being used for lathe (1), wherein, lathe (1) has the cutter (2) for workpieces processing (3), clamp assembly has fixture (5), wherein, fixture (5) has the machine interface (9) for coupling with lathe (1) and the workpiece interface (8) for accommodating workpiece (3), clamp assembly also has sensor module (6), wherein, sensor module (6) is configured to receive the vibration of cutter (2) as sensing data, and clamp assembly also has the control device (7) for the sensing data of receiving sensor component (6), wherein, there is fixture (5) at least one to be arranged in the actuator (10) on fixture (5), wherein, control device (7) is configured to control at least one actuating based on sensing data Device (10), to compensate the vibration of cutter (2).
Description
Technical field
The clamp assembly for lathe of the feature of the present invention relates to a kind of preamble with claim 1.This hair
It is bright to further relate to a kind of lathe with the clamp assembly.
Background technique
Separation, especially in the processing method cut, workpiece or vibration cutting will lead to the processing of workpiece.When
When adjusting too high by the feed speed of cutter during processing, this vibration will be enhanced.This case is for example in turnery processing
When may result in " trembling ", wherein have it is representational, regular tremble pattern or trembling label be applied to workpiece
On, to reduce the processing quality on workpiece.Therefore, the feed speed reduced from this viewpoint in processing is advantageous
, to improve processing quality.On the other hand it is desirable that adjusting feed speed as far as possible high, to the greatest extent may be used to realize
Energy low process time.
10 2,006 049 867 A1 of DE discloses a kind of lathe, has the piece-holder equipment for clamping workpiece
And tool table, tool table can be by electric motor movements.Piece-holder equipment is that workpiece can be opposite by piezoelectric actuator in turn
It is moved in tool table.Here, being equipped with piezoelectric working platform securely on tool table, wherein piezoelectric actuator is disposed in work
Between part fixture and piezoelectric working platform.Known lathe is set up to greatly reduce vibration, formula of such as trembling vibration.
However, usually using older lathe, not having the equipment for generating this vibration in manufacturing enterprise.
Purchase new machine will lead to high cost.
Summary of the invention
Therefore, the task of the present invention is a kind of clamp assembly for various traditional lathes is provided, lead to this vibration
Dynamic reduction.
The task by the clamp assembly of the feature with claim 1 and the lathe of the feature with claim 8 come
It solves.Preferred or advantageous embodiment of the invention is obtained by dependent claims, description below and attached drawing.
Subject of the present invention is clamp assembly, it is suitable for and/or be configured for various traditional lathes.Lathe tool
There is the cutter for workpieces processing.Cutter is in particular for separation processing, particularly for the cutter of machining.In particular,
Cutter can be configured to boring cutter, milling cutter, lathe tool or broaching tool.Workpiece is particular preferably realised as metal works.
Clamp assembly has fixture, and fixture can also be referred to as grip device.Fixture has the machine for coupling with lathe
Device interface and workpiece interface for accommodating workpiece.In particular, fixture is configured to storing apparatus, is arranged in workpiece and lathe
Between.Fixture can also be referred to as the adapter of workpiece and lathe.
Preferably, fixture jointly rotates during processing with workpiece.Alternative or addedly, it is preferred that cutter is quiet
Only fixedly arrangement or at least only feed.
Clamp assembly has sensor module, wherein sensor module is configured to receive the vibration of cutter as sensing
Device data.Therefore, the vibration of cutter forms measurement parameters in sensor module.Measurement parameters and/or vibration can directly exist
It is obtained on cutter.However, the vibration of cutter also can be for example known via the toolframe of cutter indirectly.The vibration of cutter is direct
It is transmitted on toolframe, so that the vibration of cutter on the tool rack be made to be distortionless or approximate distortionless.
Clamp assembly also has the control device of the sensing data for receiving sensor component.Control device for example by
It is configured to the data processing equipment of number.In particular, which can be implemented as microcontroller, computer etc..As an alternative,
The control device can be configured to the data processing equipment of simulation or be configured to the group of number and simulation data processing equipment
It closes.
It proposing within the scope of the invention, fixture has at least one actuator for being arranged on fixture, and at least one
A actuator particularly preferably utilizes external energy to run.Since at least one actuator itself is arranged on fixture, so that root
It can independently be realized with machine tool type according to the loading of fixture of the invention.It therefore, can be unquestionably also to the machine of old type
Device is reequiped and can be improved the quality of processed workpiece.
In particular, at least one actuator is configured to the actuator of active.Control device is with programming technique and/or circuit skill
The mode of art is configured to assessment sensing data and is controled actuating based on sensing data and/or based on their assessment
Device.Controling for actuator is carried out as follows, that is, compensate the vibration of cutter.In particular, actuating is controled as follows
Device, that is, reduce or eliminate the negative effect to work pieces process.Controling for actuator is especially carried out in real time, especially with
Manipulation frequency equal to or higher than the basic frequency of vibration carries out.
It is an advantage of the invention that fixture structure is the fixture of active, by by actuator-operated workpiece come balanced or
Compensate the vibration occurred due to processing and on cutter.Therefore, clamp assembly can be realized the improvement to the processing effect of lathe,
Or as an alternative to this, allow higher feed speed, and thus make production process more cost effective.
Preferably, fixture structure is encapsulated system, with various arbitrary lathes or is at least adapted to many lathes.
In preferred implementation of the invention, control device is configured as controling actuator in this wise, so that
Inverse vibration occurs for workpiece, to generate the counteracting to vibration cutting.
It is particularly preferred that realizing feedforward regulation by control device and/or clamp assembly.Feedover the basic principle of regulation
Be, in the following way compensate main path on (being on cutter herein) interference, that is, via secondary path (being on workpiece herein) to
System assigns inverse vibration, so as to therefore real in the output (being at the processing district between cutter and workpiece herein) of main path
Existing vibration cancellation.Here, the reference signal on input terminal of the inverse vibration directly by acting on main path (is sensor number herein
According to) calculate.Therefore, feedforward regulation, especially feed-forward regulation, feedforward control or feedforward are grasped in the access of term interference parameter
Control is also common.
In the implementation in preferred structure of the invention, workpiece interface configurations are clamping chuck, clamp chuck example
It can such as open and be closed, to clamp workpiece.In particular, clamping chuck is embodied as rotating chuck.Therefore, workpiece can be direct
It is clamped in fixture.The inverse vibration of at least one actuator is transmitted to workpiece to be particularly easy to realize.
Alternative or addedly, is configured with the machine interface for coupling with machine flange.Machine interface can be according to DIN
The standardized interface of ISO 702-1 to 702-4 (in April, 2010 publication).In particular, in a preferred embodiment, its energy
It is enough quick-replaceable connector, e.g. bayonet fittings.This can be realized as interior to enterprise using unique clamp assembly short time
A variety of different lathes of industry are replaced.
It is particularly preferred that being provided with decoupling module between fixture and machine flange, which is prevented from fixture
Vibration be transmitted on lathe.Decoupling module is more particularly to being integrated into fixture and/or machine flange.This decoupling module base
It is passively supporting part on this, arranges to especially adjacent machine flange contact facings.For example be able to use as decoupling module by
Imbedding piece made of granite, reaction resin concrete or the like.
In preferred implementation of the invention, sensor module has at least one piezoelectric transducer.This pressure
Electric-type sensor can receive vibration with the low error of very high frequency.It is particularly preferred that there are two this for sensor module tool
The piezoelectric transducer of sample, to execute redundant measurement.
Preferably, actuator can be realized workpiece interface and/or workpiece on the direction of rotation axis (i.e. along Z-direction)
Movement and perpendicular to rotation axis relative to the movement on the direction of workpiece (i.e. in X direction).In this manner, it is possible in workpiece
Any vibration is applied on workpiece interface or workpiece in the case where rotation.
In implementation in structure, actuator can for example be configured to annular actuator or be configured to disc type actuating
Device.Here it is preferred, in particular, that the actuator is also substantially configured to piezoelectric actuator, so as to be driven by control device
Quickly response and/or frequency are realized when control.
Lathe forms other theme of the invention, which has the cutter for workpieces processing as described above.
As described above, lathe has clamp assembly.
Method for compensating the vibration on cutter using clamp assembly as described above and/or lathe is of the invention
Optional other theme.When compensating to vibration, the vibration of cutter is received as sensing data and by controling cause
Dynamic device is compensated with inverse vibration, to reduce and vibration at the processing district preferably between counteracting workpiece and cutter.
Detailed description of the invention
Other feature, advantage of the invention and effect by the preferred embodiments of the present invention be described below and
Attached drawing obtains.Wherein:
Fig. 1 is shown as the schematic diagram of the lathe with clamp assembly of the embodiment of the present invention；
Fig. 2 shows the basic structures in feed-forward regulation portion, such as the feed-forward regulation portion to be able to use in clamp assembly.
Specific embodiment
Fig. 1 shows the knife as embodiment of the invention having for workpieces processing 3 with extremely schematical figure
The lathe 1 of tool 2.In terms of design, workpiece 3 rotates during processing around rotation axis R, and rotation axis is parallel to the seat of lathe 1
Z-direction in mark system KO extends.In the side view shown in, in coordinate system KO, X-direction perpendicular to Z-direction extends.Especially
Show X-Z plane.
Cutter 2 can for example be configured to boring cutter, milling cutter, lathe tool or broaching tool.In the present embodiment, cutter 2 is embodied as lathe tool.
Cutter 2 has toolframe 14, and toolframe has shank and head, wherein Indexable insert is disposed on head as cutting
Body 17.
Lathe 1 has clamp assembly 4, and the clamp assembly is built-up by sensor module 6, fixture 5 and control device 7.
Fixture 5 has the clamping chuck as workpiece interface 8, especially rotating chuck, wherein workpiece 3 is contained in workpiece interface simultaneously
And it is especially clamped in retaining wedge disk or rotating chuck.It is provided with machine interface 9 at the other free end of fixture 5,
Fixture 5 and lathe 1, the rotation axis of especially lathe 1 or main shaft can be connected using the machine interface.Machine interface 9
It is configured to standard interface.In particular, machine interface 9 is configured to the quick-replaceable connector that form is bayonet fittings.
It is integrated with actuator 10 in fixture 5, can be realized, makes workpiece interface 8 and then is workpiece 3 in Z-direction
Above and additionally it is displaced or tilted in the X direction.It considers, workpiece 3 is during processing with fixture 5 jointly around rotation
Axis R rotation, so as to tilt workpiece 3 on the arbitrary direction perpendicular to rotation axis R by actuator 10.However
It is also possible that using other actuators 10.Actuator 10 couples on signalling technique via cable 11 with control device 7.Mirror
In the rotation of fixture 5, rotation guiding piece 12 is provided with for the signal transmission and confession between control device 7 and actuator 10
Electricity.
There are two sensor 13a, b for the tool of sensor module 6, they are arranged on the toolframe 14 of cutter 2.It is one of to pass
Sensor 13a is fastened on the shank of toolframe 14, and another sensor 13b is arranged in the head of toolframe 14 close to 17 ground of cutting body
In portion.Two sensors 13a, b are configured to vibrating sensor and constitute especially in accordance with piezoelectric type action principle.Via
Other cable 15, sensor 13a, b or be more generally that sensor module 6 is connect on signalling technique with control device 7.
Fixture 5 has decoupling module 16, be arranged for making lathe 1 and fixture 5 decouple and especially with actuating
The inverse vibration uncoupling of device 10.Fixture 5 is configured to the system being entirely encapsulated, which can generally be adapted to each lathe 1.
In brief, working method carries out as follows: by using illustratively as cutting body 17 shown in it is various
Cutter (boring cutter, milling cutter, lathe tool, broaching tool etc.) carry out machining, may be vibrated during cutting.These vibrations are logical
Cross connecing on cutter 2 or on toolframe 14 as according to sensor 13a, b of the vibrating sensor of piezoelectric type working principle
It receives, wherein two sensors 13a, b are the systems of redundancy.Detected vibration is as sensing data via the axis of lathe 1
Positioning in real time in control device 7 be accredited and via interface (being cable 11 in this case) will control signal be conveyed to it is whole
The actuator 10 in fixture 5 is closed, control signal is converted into inverse vibration, to be offset between cutter 2 and workpiece 3 in this way
Processing district in vibration.
Such vibration compensation can for example realize that the structure in the feed-forward regulation portion is as schemed by feed-forward regulation portion
Shown in 2.In the signal path, the dominant interference PM due to caused by processing is imparted on workpiece 2 as main road section, this will lead to
Vibration in treatment region B.Compensation is carried out via secondary section, which is formed by the fixture 5 and workpiece 3 of active, they
Generate inverse vibration.Reference signal RS is received via sensor module 6 and delivers this to control device 7, and the control device is by structure
It makes as adjuster, is especially configured to adaptive filter.Control device 7 calculates control signal, the control signal quilt
It is conveyed to the fixture 5 of active, to generate inverse vibration on workpiece 3.In the vibration in main road section and the inverse vibration in secondary section
It is dynamic to lead to cancelling out each other at the B of processing district.It can be provided that, also receive error signal FS via sensor module 6, so as to
Adjust control device 7, especially adjuster.
Therefore, a kind of fixture 5 is proposed by clamp assembly 4, can be commonly used and has in all lathes
Vibration damping having active, being integrated portion, thus make fixture 5 easily accommodate workpiece that is unstable, slightly vibrating and
Occurred vibration can be resisted during processing.Advantage is to improve component quality and/or reduce pitch time and drop
The low cost of charp tool.
Reference signs list
1 lathe
2 cutters
3 workpiece
4 clamp assemblies
5 fixtures
6 sensor modules
7 control devices
8 workpiece interfaces
9 machine interfaces
10 actuators
11 cables
12 rotation guiding pieces
13a, b sensor
14 toolframes
15 other cables
16 decoupling modules
17 cutting bodies
R rotation axis
KO coordinate system
PM dominant interference
The processing district B
RS reference signal
FS error signal
Claims (10)
1. being used for the clamp assembly (4) of lathe (1), wherein the lathe (1) has the cutter (2) for workpieces processing (3),
The clamp assembly has fixture (5), wherein there is the fixture (5) machine for coupling with the lathe (1) to connect
Mouth (9) and the workpiece interface (8) for accommodating the workpiece (3),
It is characterized in that,
The clamp assembly (4) also has sensor module (6), wherein the sensor module (6) is configured to described in reception
The vibration of cutter (2) is as sensing data, and the clamp assembly also has for receiving the sensor module (6)
The control device (7) of sensing data, and wherein,
The fixture (5) has at least one actuator (10) being arranged on the fixture (5), wherein the control device
(7) it is configured to control at least one described actuator (10) based on the sensing data, to compensate the cutter (2)
Vibration.
2. clamp assembly (4) according to claim 1, which is characterized in that the control device (7) is configured to control institute
Actuator (10) are stated, to make the workpiece (2) that inverse vibration occurs, to generate the counteracting of the vibration to the cutter (2).
3. clamp assembly (4) according to claim 1 or 2, which is characterized in that the workpiece interface (8) is configured to clamp
Chuck.
4. clamp assembly (4) according to any one of the preceding claims, which is characterized in that for coupling with machine flange
Machine interface (9) be configured to quick-replaceable connector.
5. clamp assembly (4) according to any one of the preceding claims, which is characterized in that the sensor module (6)
With at least one piezoelectric transducer.
6. clamp assembly (4) according to any one of the preceding claims, which is characterized in that the actuator (10) can
Realize the workpiece interface (8) and/or the workpiece (2) on the direction of the rotation axis (R) of the fixture (5) and vertical
Movement on the direction of the rotation axis.
7. clamp assembly (4) according to claim 6, which is characterized in that the actuator (10) is configured to annular cause
Dynamic device or disk actuator.
8. lathe (1), the lathe has the cutter (2) for workpieces processing (2), it is characterised in that the lathe has basis
Clamp assembly described in any one of preceding claims (4).
9. lathe (1) according to claim 8, which is characterized in that during processing, the cutter (2) is stationaryly
Arrangement, and rotate fixture (5).
10. lathe (1) according to claim 8 or claim 9, which is characterized in that the cutter (2) is configured to boring cutter, milling cutter, vehicle
Knife or broaching tool.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017105257.7A DE102017105257A1 (en) | 2017-03-13 | 2017-03-13 | Clamping arrangement for a machine tool and machine tool with the clamping device arrangement |
| DE102017105257.7 | 2017-03-13 | ||
| PCT/DE2018/100178 WO2018166557A1 (en) | 2017-03-13 | 2018-03-01 | Clamping means assembly for a machine tool, and machine tool comprising the clamping means assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110382163A true CN110382163A (en) | 2019-10-25 |
Family
ID=61832227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880015299.4A Pending CN110382163A (en) | 2017-03-13 | 2018-03-01 | Clamp assembly for lathe and the lathe with clamp assembly |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP3595844A1 (en) |
| CN (1) | CN110382163A (en) |
| DE (1) | DE102017105257A1 (en) |
| WO (1) | WO2018166557A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113510503A (en) * | 2021-07-28 | 2021-10-19 | 安庆皖台精密机械有限公司 | Fixing mechanism for production and processing of precision machine tool |
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|---|---|---|---|---|
| CN1173653A (en) * | 1996-04-30 | 1998-02-18 | 朗迅科技公司 | Apparatus and method for adaptive suppression of vibrations in mechanical systems |
| US20020036091A1 (en) * | 1998-10-22 | 2002-03-28 | Ingvar Claesson | Method and a device for vibration control |
| WO2008049764A1 (en) * | 2006-10-23 | 2008-05-02 | Siemens Aktiengesellschaft | Machine tool |
| US20100164156A1 (en) * | 2005-11-30 | 2010-07-01 | Siemens Aktiengesellschaft | Method for reducing vibrations of a machine element and/or of a workpiece |
| CN102653057A (en) * | 2011-03-04 | 2012-09-05 | 麦克隆·阿杰·查米莱斯股份公司 | Machine tool with a workpiece table |
| CN103978240A (en) * | 2014-04-28 | 2014-08-13 | 河南航天液压气动技术有限公司 | Machine tool clamp and machine tool using machine tool clamp |
Family Cites Families (4)
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| US6241435B1 (en) * | 1998-03-25 | 2001-06-05 | Vought Aircraft Industries, Inc. | Universal adaptive machining chatter control fixture |
| DE19859360C2 (en) | 1998-12-22 | 2003-07-17 | Schwaebische Werkzeugmaschinen | Machine tool with piezoelectric position correction device |
| DE10340697A1 (en) * | 2003-03-26 | 2004-10-07 | GFE-Gesellschaft für Fertigungstechnik und Entwicklung Schmalkalden/Chemnitz mbH | Measurement, evaluation and alteration device for changing the dynamic behavior of a rotating cutting machine, has vibration sensors and an actuator unit that controls the actuator based on the evaluated sensor signals |
| DE102007050911A1 (en) | 2007-10-23 | 2009-04-30 | Eras Entwicklung Und Realisation Adaptiver Systeme Gmbh | Method and apparatus for suppressing the chattering of work rolls of a rolling stand |
-
2017
- 2017-03-13 DE DE102017105257.7A patent/DE102017105257A1/en not_active Ceased
-
2018
- 2018-03-01 EP EP18714427.4A patent/EP3595844A1/en not_active Ceased
- 2018-03-01 WO PCT/DE2018/100178 patent/WO2018166557A1/en unknown
- 2018-03-01 CN CN201880015299.4A patent/CN110382163A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1173653A (en) * | 1996-04-30 | 1998-02-18 | 朗迅科技公司 | Apparatus and method for adaptive suppression of vibrations in mechanical systems |
| US20020036091A1 (en) * | 1998-10-22 | 2002-03-28 | Ingvar Claesson | Method and a device for vibration control |
| US20100164156A1 (en) * | 2005-11-30 | 2010-07-01 | Siemens Aktiengesellschaft | Method for reducing vibrations of a machine element and/or of a workpiece |
| WO2008049764A1 (en) * | 2006-10-23 | 2008-05-02 | Siemens Aktiengesellschaft | Machine tool |
| CN102653057A (en) * | 2011-03-04 | 2012-09-05 | 麦克隆·阿杰·查米莱斯股份公司 | Machine tool with a workpiece table |
| CN103978240A (en) * | 2014-04-28 | 2014-08-13 | 河南航天液压气动技术有限公司 | Machine tool clamp and machine tool using machine tool clamp |
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| 颜伟: "《现代制造及其优化技术》", 31 January 2011, 西南交通大学出版社 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113510503A (en) * | 2021-07-28 | 2021-10-19 | 安庆皖台精密机械有限公司 | Fixing mechanism for production and processing of precision machine tool |
| CN113510503B (en) * | 2021-07-28 | 2022-06-03 | 安庆皖台精密机械有限公司 | Fixing mechanism for production and processing of precision machine tool |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3595844A1 (en) | 2020-01-22 |
| DE102017105257A1 (en) | 2018-09-13 |
| WO2018166557A1 (en) | 2018-09-20 |
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