EP3003650A1 - Method and apparatus for managing laser process parameters in a robotic laser cell - Google Patents
Method and apparatus for managing laser process parameters in a robotic laser cellInfo
- Publication number
- EP3003650A1 EP3003650A1 EP13885471.6A EP13885471A EP3003650A1 EP 3003650 A1 EP3003650 A1 EP 3003650A1 EP 13885471 A EP13885471 A EP 13885471A EP 3003650 A1 EP3003650 A1 EP 3003650A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- laser
- process parameters
- laser process
- robotic
- cell
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4093—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
- G05B19/40937—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine concerning programming of machining or material parameters, pocket machining
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36283—Select, enter machining, cutting conditions, material file, tool file
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45104—Lasrobot, welding robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- Embodiments of the present disclosure generally relate to a robotic laser cell and more particularly relate to a method and apparatus for managing laser process parameters in a robotic laser cell.
- Laser machining technology is a machining process for processing a work piece by directing a beam of laser towards the work piece.
- the laser machining has been widely used in various applications, such as cutting, welding, surface treatment, perforating, micro-machining and etc.
- the laser machining may be performed on various materials such as metal material, nonmetal material, metal base or nonmetal base composite material, leather, woods, fibers and so on.
- the laser machining is performed by a laser process tool or machine under control of a machining program.
- an industrial robot unit which may be used to perform laser machining.
- the industrial robot unit may be programmed to carry out work along an operation path.
- the robot unit In order to program or teach the robot unit to work, the robot unit is manipulated to position along the desired operation path.
- the industrial robot unit can be operated in different operating modes. For example, when the robot unit is put into manual operating mode, the robot unit is controlled by means of a portable operator control device, generally denoted a Teach Pendant Unit (TPU). On the other hand, when the robot unit is switched into automatic mode, the robot controller will control the robot unit.
- TPU Teach Pendant Unit
- the portable operator control device TPU is used for manually controlling the industrial robot unit, for example, to teach or program the robot unit to following a predetermined operations path.
- the TPU may also be used for monitoring the robot program, change certain variables in the programs, starting, stopping and editing program, and so on.
- a robotic laser cell for laser machining may normally comprise a robot for performing laser cutting, a cutting head carried by an arm of the robot, a laser source for providing the laser, and a laser directing means for directing the laser towards the work piece to be cut.
- the present disclosure provides an improved solution for managing laser process parameters in a robotic laser cell so as to solve or at least partially mitigate at least a part of problems in the prior art.
- a method for managing laser process parameters in a robotic laser cell may comprise: displaying, in a teach pendant unit TPU of the robotic laser cell, the laser process parameters, wherein the laser process parameters are stored in a laser process parameter table at a robot controller of the robotic laser cell; and performing an operation on the laser process parameters in the TPU.
- the laser process parameter table may be stored separately from a robot program, at the robot controller of the robotic laser cell
- the method may further comprise: transmitting at least one of the laser process parameters, which is related to laser process control to a laser head and/or a laser source of the robotic laser cell during a laser processing, so as to control the laser head and the laser source.
- the method may further comprise loading laser process parameters in an activated table into a robot program so as to control a laser processing.
- the operation may comprise at least one of: checking; activating; creating; deleting; editing; saving and copying.
- the laser process parameters associated with a laser processing may be displayed in a tab with tags, and wherein the tags are configured to display laser process parameters for laser sub-processes individually.
- the laser process parameters may be displayed in response to opening a laser parameter table referenced in a robot program.
- the laser process parameters may be displayed in a table list comprising at least one parameter table having cutting parameters associated therewith.
- an apparatus for managing laser process parameters in a robotic laser cell may comprise a parameter display unit configured to display, in a teach pendant unit TPU of the robotic laser cell, the laser process parameters, wherein the laser process parameters are stored in a laser process parameter table at a robot controller of the robotic laser cell; and a parameter operation unit configured to perform an operation on the laser process parameters in the TPU.
- a teach pendant unit in a robotic laser cell may comprise an apparatus according to the second aspect of the present disclosure.
- a robotic laser cell may comprise a teach pendant unit according to the third aspect of the present disclosure.
- laser process parameters are stored in a laser process parameter table at the robot controller, and thus all laser process parameters may be collectively managed in the TPU.
- critical tasks such as setting laser process parameters, which would have been rather difficult, may become an easy job, due to reuse of verified parameters in a parameter table that is created by laser expert or programmer.
- it may save operation time and keep a high machining quality; for a factory, it may improve the programming efficiency, keep high quality, reduce demands of the expert operators and save training for freshmen; and for system integrator, it can help build up a laser machining knowledge library and extend best practices.
- FIG. 1 schematically illustrates a system configuration of an exemplary robotic laser cell according to an embodiment of the present disclosure
- FIG. 2 schematically illustrates a flow chart of a method for managing laser process parameters in a robotic laser cell according to an embodiment of the present disclosure
- FIG. 3 schematically illustrates a diagram showing a robot program with a laser parameter table as an argument
- Fig. 4 schematically illustrates a diagram of a laser cutting parameter table in an edit view in TPU according to an embodiment of the present disclosure
- Fig. 5 schematically illustrates a diagram of cutting groups in the laser cutting parameter table according to an embodiment of the present disclosure.
- FIG. 6 schematically illustrates a diagram of a cutting table list view
- TPU according to an embodiment of the present disclosure.
- Fig. 7 schematically illustrates a diagram of laser parameter tables management according to an embodiment of the present disclosure
- FIG. 8 schematically illustrates of a diagram of synchronization between the robot movement and the laser process control according to an embodiment of the present disclosure.
- FIG. 9 schematically illustrates a block diagram of an apparatus for managing laser process parameters in a robotic laser cell according to an embodiment of the present disclosure.
- each block in the flowcharts or block may represent a module, a program, or a part of code, which contains one or more executable instructions for performing specified logic functions and indispensible step, operation, or block is illustrated in a dotted line.
- these blocks are illustrated in particular sequences for performing the steps of the methods, as a matter of fact, they may not necessarily be performed strictly according to the illustrated sequence. For example, they might be performed in reverse sequence or simultaneously, which is dependent on natures of respective operations.
- block diagrams and/or each block in the flowcharts and a combination of thereof may be implemented by a dedicated hardware-based system for performing specified functions/operations or by a combination of dedicated hardware and computer instructions.
- the robotic laser cell 100 may comprise a robot 110, a laser head 120, a control box 130 for the laser head 120, and a laser source 140.
- the robot 110 includes a robot arm 111, a robot controller 112 and a TPU 113.
- the robot arm 111 is a key mechanical component of the robot 110, which will position along the desired operation path under control of the robot controller 112.
- the robot controller 112 is a core control component in the robotic laser cell 100, which will issue commands to the robot arm, the control box of the laser head and the laser source so as to control the machining process.
- the robot controller 112 there is stored a robot program 114 and a laser parameter table 115.
- the robot program 114 is a program for controlling detailed operations of the laser machining process and in the laser parameter table 155 are stored all parameters that are to be used in laser machining process. Just by means of the robot program and the laser parameter table loaded therein, the robot controller 112 controls the whole laser machining process.
- the TPU 113 is used for manually controlling the industrial robot unit, for example, so as to teach or program the robot unit.
- the TPU 113 may comprise a control means such as operation keys, a joystick, etc., and a display unit for displaying data or information, such as a liquid crystal display (LCD), a thin-film transistor display (TFT), a light-emitting diode (LED) display, and etc.
- a control means such as operation keys, a joystick, etc.
- a display unit for displaying data or information such as a liquid crystal display (LCD), a thin-film transistor display (TFT), a light-emitting diode (LED) display, and etc.
- LCD liquid crystal display
- TFT thin-film transistor display
- LED light-emitting diode
- the laser head 120 for example, a laser cutting head is a machining component for processing work pieces, and there is provided a control box 130 for the laser head 120, so as to control operations of the laser head 120.
- the laser source 140 is a source for emitting a laser beam under control of the robot controller 112 and the laser beam will be directed towards the work piece to be machined. Under control of the robot controller 112, the robot arm 111 will carry the laser head long the desired operation path and the laser emitted from the laser source will be directed to desired location of a work piece, thereby performing desired laser machining operations.
- step S201 the laser process parameters are displayed in TPU of the robotic laser cell, wherein the laser process parameters are stored in a laser process parameter table at a robot controller of the robotic laser cell.
- the laser process parameters are set at the laser source, some of the laser process parameters are set at the laser head, and other laser process parameters are managed in the robot. That means, if to set laser process parameter for a laser process, it required operators to set at three different components. Such parameter setting is quite inconvenience and has a low efficiency.
- the management of laser process parameters are centralized in the robotic laser cell. Specifically, these parameters may be stored in a parameter table at the robot controller of the robotic laser cell and be managed by means of the TPU of the robotic laser cell.
- Fig. 3 illustrates a diagram showing a robot program with a laser parameter table as an argument.
- the diagram of the robot program is that displayed in the TPU of the robotic laser cell, it is used for laser cutting and includes many instructions as illustrated in Fig. 3.
- a cut instruction moves the robot and uses the laser parameters table as an argument to control the laser process.
- Fig. 3 there is illustrated a highlighted instruction, wherein "TableConf31" that is a laser process parameter table, is referenced in the instruction as an argument.
- the operator may select the robot instruction, and, in response to this, the parameter table may be opened and the laser process parameter in the laser table may be displayed accordingly, for example as illustrated in Fig. 4.
- Fig. 4 schematically illustrates a diagram of a laser cutting parameter table in an edit view in TPU according to an embodiment of the present disclosure.
- the laser process parameters associated with a laser process are displayed in a tab.
- the tab may contain a plurality of tags, and the tags are configured to display laser process parameters for laser sub-processes individually, i.e., one tag displays laser process parameters for one laser sub-process.
- one tag displays laser process parameters for one laser sub-process.
- in a first tag it may also display summary or key information of the laser process parameters, for example, a cut power, a focal length, a focal point, a laser type, material, nozzle, thickness and etc.
- Laser process parameters for different sub-processes such as Cutl, Cut2, Cut4, Cut4, Cut 5, Pierl, Pier2 and etc.
- Laser process parameters for a sub-process may be called as a laser parameter group. That is to say, the laser process parameter table may have several laser parameter groups and each of the laser parameter groups has different parameter values which are used for different cutting features in a work piece such as a big shape, a small shape, a piercing hole, or the like.
- Fig. 5 schematically illustrates a diagram of one of cutting groups in the laser cutting parameter table according to an embodiment of the present disclosure.
- a laser parameter group relating to cut 1 is illustrated, which includes value of parameters such as a cut speed, a power level, a minimum power level, a critical speed, acceleration, a cut program, type of gas and so on.
- an operation may be performed on the laser process parameters in the TPU.
- the laser process parameters table For example, as illustrated in Figs. 4 and 5, in the displayed laser process parameters table, experts or operators may edit the parameter based on the knowledge they have and save the edited parameters or save a table as another table (i.e. copying).
- Fig. 6 schematically illustrates a diagram of a cutting table list view in TPU according to an embodiment of the present disclosure.
- the cutting table list there are two tables, i.e., a first one with a table name of newTable and a second one with a table name of (*)defaultLscuttingParameterTable.
- experts or operators may search all cutting parameter tables in the controller and shows each table as a line with its key attributes such as robot type, max cutting power, part material, part thickness, focal point, and so on. Based on those key attributes as illustrated in Fig. 6, operator can, for example, select and active a proper cutting table for a cutting process.
- the laser process parameters in an activated table will be loaded into a robot program so as to control a laser processing (Step S203). Additionally, experts or operators may also cancel the activated table parameters.
- Fig. 7 schematically illustrates a diagram of laser parameter table management according to an embodiment of the present disclosure.
- laser process parameters will be stored in a laser process parameter table at the robot controller 112 and these parameters will be managed collectively in the robot system, specifically by means of the TPU.
- the laser process parameter tables are stored separately from the robot programs so that they can be reused between different robot programs. That is to say, the operator may activate a parameter table for a current robot program, which is a robot program that has been loaded from stored robot programs, by selecting a parameter table displayed in the TPU and then the activated parameter table may be loaded into the robot program, for example as an argument of the robot instruction in the robot program.
- experts and operators may also check or review a laser process parameter table, create a new laser process parameter table, delete a laser process parameter table, editing a laser process parameter table, saving an edited laser process parameter table, copying a laser process parameter table, or performing any other operations on the laser process parameters, etc.
- Fig. 8 schematically illustrates of a diagram of synchronization between the robot movement and the laser process control according to an embodiment of the present disclosure.
- the laser process control should be synchronized with the robot movement.
- parameters of the laser process table 115 will be used in different phase of process according to the predetermined sequence. For example, in phases 0 and 1, piercing parameters will be used; at phases 2 and 3, cutting parameters will be used. By the way, the piercing parameters used in phases 0 and 1 may be different and the cutting parameters used in phases 2 and 3 may be different also.
- step S204 as illustrated in Fig. 2 at least one of the laser process parameters, which is related to laser process control, will be transmitted to a laser head and/or a laser source of the robotic laser cell during a laser processing, so as to control the laser head and the laser source.
- Fig. 9 schematically illustrates a block diagram of an apparatus for managing laser process parameters in a robotic laser cell according to an embodiment of the present disclosure.
- the apparatus 900 may comprise a parameter display unit 910 and a parameter operation unit 920.
- the parameter display unit 910 may be configured to display, in a teach pendant unit TPU of the robotic laser cell, the laser process parameters, wherein the laser process parameters are stored in a laser process parameter table at a robot controller of the robotic laser cell.
- the parameter operation unit 920 may be configured to perform an operation on the laser process parameters in the TPU.
- the laser process parameter table for storing the laser process parameters may be stored separately from a robot program, at the robot controller of the robotic laser cell.
- the apparatus may further comprise a parameter transmitting unit 930.
- the parameter transmitting unit 930 may be configured to transmit at least one of the laser process parameters, which is related to laser process control, to a laser head and/or a laser source of the robotic laser cell during a laser processing, so as to control the laser head and the laser source.
- the apparatus may further comprise a parameter loading unit 940.
- the parameter loading unit 940 may be configured to load laser process parameters in an activated table into a robot program so as to control a laser processing.
- the operation may comprise at least one of checking; activating; creating; deleting; editing; saving and copying.
- the parameter display unit 910 may be further configured to display the laser process parameters associated with a laser processing in a tab with tags, wherein the tags are configured to display laser process parameters for laser sub-processes individually. Additionally or alternatively, the parameter display unit 910 may also be further configured to display the laser process parameters in response to open of a laser parameter table referenced in a robot program. As another alternative, the parameter display unit 910 may also be configured to display the laser process parameters in a table list comprising at least one parameter table having cutting parameters associated therewith.
- the present disclosure also presents a teach pendant unit TPU in a robotic laser cell, which may comprise an apparatus as described hereinbefore, for example with reference to Fig. 9.
- the parameter display unit 910 may be implemented by, for example, a display unit of the TPU or is an additional display
- the parameter operation unit 920 may be implemented by the control means of the TPU or any additional control means.
- a robotic laser cell which comprises the robotic laser cell as proposed in the present disclosure.
- apparatus 900 may be configured to implement functionalities as described with reference to Fig. 1 to Fig. 8. Therefore, for details about the operations of modules in these apparatus, one may refer to those descriptions made with respect to the respective steps of the methods with reference to Fig. 1 to 8.
- the components of the apparatus 900 may be embodied in hardware, software, firmware, and/or any combination thereof.
- the components of apparatus 900 may be respectively implemented by a circuit, a processor or any other appropriate device with sufficient data processing power.
- Those skilled in the art will appreciate that the aforesaid examples are only for illustration instead of limitation.
- the apparatus 900 may comprise at least one processor.
- the at least one processor suitable for use with embodiments of the present disclosure may include, by way of example, both general and special purpose processors already known or developed in the future.
- the apparatus 900 may further comprise at least one memory.
- the at least one memory may include, for example, semiconductor memory devices, e.g., RAM, ROM, EPROM, EEPROM, and flash memory devices.
- the at least one memory may be used to store program of computer executable instructions.
- the program can be written in any high-level and/or low-level compilable or interpretable programming languages.
- the computer executable instructions may be configured, with the at least one processor, to cause apparatus 900 to at least perform operations according to the method as discussed with reference to Figs. 1 to 8.
- laser process parameters may be managed in the TPU without performing parameter management at several different locations.
- task such as setting laser process parameters, which would have been difficult but import, may become an easy job, due to reuse of verified parameters in a table that is created by laser expert or programmer.
- it may save operation time and keep a high machining quality; for a factory, it may improve the programming efficiency, keep high quality, reduce demands of the expert operators and saving training for freshmen; and for system integrator, it can help build up a laser machining knowledge library and extend best practices.
- the present disclosure may be embodied in an apparatus, a method, or a computer program product.
- the various exemplary embodiments may be implemented in hardware or special purpose circuits, software, logic or any combination thereof.
- some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software which may be executed by a controller, microprocessor or other computing device, although the disclosure is not limited thereto.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Geometry (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2013/076314 WO2014190483A1 (en) | 2013-05-28 | 2013-05-28 | Method and apparatus for managing laser process parameters in a robotic laser cell |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3003650A1 true EP3003650A1 (en) | 2016-04-13 |
EP3003650A4 EP3003650A4 (en) | 2017-01-25 |
Family
ID=51987846
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13885471.6A Withdrawn EP3003650A4 (en) | 2013-05-28 | 2013-05-28 | Method and apparatus for managing laser process parameters in a robotic laser cell |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3003650A4 (en) |
CN (1) | CN105163913B (en) |
WO (1) | WO2014190483A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6514273B2 (en) * | 2017-06-19 | 2019-05-15 | ファナック株式会社 | Robot system that displays speed |
CN110007653B (en) * | 2019-04-02 | 2021-04-30 | 博众精工科技股份有限公司 | Configuration method, device and equipment of welding control system and storage medium |
JP7256931B1 (en) * | 2022-08-26 | 2023-04-12 | ファナック株式会社 | Numerical Control Systems, Numerical Control Devices, Industrial Devices and Computer Programs |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3132463B2 (en) * | 1998-04-07 | 2001-02-05 | 松下電器産業株式会社 | Robot controller |
JP2006247677A (en) * | 2005-03-09 | 2006-09-21 | Fanuc Ltd | Laser welding instruction device and method |
WO2010025768A1 (en) * | 2008-09-04 | 2010-03-11 | Abb Technology Ab | A device and a method for facilitating editing of a robot program |
CN102483625B (en) * | 2009-08-14 | 2015-09-09 | Abb技术有限公司 | The method of industrial robot and adjustment robot program |
CN202336657U (en) * | 2011-10-21 | 2012-07-18 | 上海莱克气割机有限公司 | Robot sectional steel cutting system |
CN202438792U (en) * | 2011-12-20 | 2012-09-19 | 徐州工程学院 | Control system for welding robot |
CN102601493B (en) * | 2012-03-29 | 2014-10-08 | 华南理工大学 | Embedded multi-device real-time control welding robot system and control method |
-
2013
- 2013-05-28 CN CN201380076087.4A patent/CN105163913B/en not_active Expired - Fee Related
- 2013-05-28 EP EP13885471.6A patent/EP3003650A4/en not_active Withdrawn
- 2013-05-28 WO PCT/CN2013/076314 patent/WO2014190483A1/en active Application Filing
Non-Patent Citations (1)
Title |
---|
See references of WO2014190483A1 * |
Also Published As
Publication number | Publication date |
---|---|
CN105163913A (en) | 2015-12-16 |
CN105163913B (en) | 2017-10-20 |
EP3003650A4 (en) | 2017-01-25 |
WO2014190483A1 (en) | 2014-12-04 |
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