EP3368823B1 - Lance flexible pour le traitement ou l'inspection d'un fond tubulaire d'un générateur de vapeur - Google Patents
Lance flexible pour le traitement ou l'inspection d'un fond tubulaire d'un générateur de vapeur Download PDFInfo
- Publication number
- EP3368823B1 EP3368823B1 EP16788666.2A EP16788666A EP3368823B1 EP 3368823 B1 EP3368823 B1 EP 3368823B1 EP 16788666 A EP16788666 A EP 16788666A EP 3368823 B1 EP3368823 B1 EP 3368823B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- band
- flexible lance
- recesses
- longitudinal direction
- flexible
- 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.)
- Active
Links
- 238000003754 machining Methods 0.000 title description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 25
- 238000007689 inspection Methods 0.000 claims description 12
- 238000005452 bending Methods 0.000 claims description 5
- 239000007769 metal material Substances 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 3
- 238000005755 formation reaction Methods 0.000 description 19
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000000465 moulding Methods 0.000 description 6
- 238000005304 joining Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 229910000639 Spring steel Inorganic materials 0.000 description 2
- 239000000356 contaminant Substances 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 230000001464 adherent effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 239000005304 optical glass Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
- F22B37/003—Maintenance, repairing or inspecting equipment positioned in or via the headers
- F22B37/005—Positioning apparatus specially adapted therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/02—Component parts or details of steam boilers applicable to more than one kind or type of steam boiler
- F22B37/48—Devices for removing water, salt, or sludge from boilers; Arrangements of cleaning apparatus in boilers; Combinations thereof with boilers
- F22B37/483—Devices for removing water, salt, or sludge from boilers; Arrangements of cleaning apparatus in boilers; Combinations thereof with boilers specially adapted for nuclear steam generators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23J—REMOVAL OR TREATMENT OF COMBUSTION PRODUCTS OR COMBUSTION RESIDUES; FLUES
- F23J1/00—Removing ash, clinker, or slag from combustion chambers
- F23J1/04—Hand tools, e.g. rakes, prickers, tongs
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/02—Component parts or details of steam boilers applicable to more than one kind or type of steam boiler
- F22B37/48—Devices for removing water, salt, or sludge from boilers; Arrangements of cleaning apparatus in boilers; Combinations thereof with boilers
- F22B37/52—Washing-out devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/02—Component parts or details of steam boilers applicable to more than one kind or type of steam boiler
- F22B37/48—Devices for removing water, salt, or sludge from boilers; Arrangements of cleaning apparatus in boilers; Combinations thereof with boilers
- F22B37/54—De-sludging or blow-down devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28G—CLEANING OF INTERNAL OR EXTERNAL SURFACES OF HEAT-EXCHANGE OR HEAT-TRANSFER CONDUITS, e.g. WATER TUBES OR BOILERS
- F28G1/00—Non-rotary, e.g. reciprocated, appliances
- F28G1/16—Non-rotary, e.g. reciprocated, appliances using jets of fluid for removing debris
- F28G1/166—Non-rotary, e.g. reciprocated, appliances using jets of fluid for removing debris from external surfaces of heat exchange conduits
Definitions
- the invention relates to a flexible lance for processing or inspecting a tube plate of a steam generator, with a first and a second band, each consisting of a flexible, metallic material, and a longitudinally extending formation for receiving a supply line for a free end of the flexible lance arranged machining or inspection head.
- both the first and the second band outside openings.
- the flexible lance for processing or inspecting a tubesheet of a steam generator comprises a first band of a flexible metallic material and a second band of a flexible metallic material.
- the second band is arranged longitudinally on the first band.
- at least the second band has a longitudinally extending formation for receiving at least one supply line for a processing or inspection head arranged at the free end of the flexible lance.
- the first band is connected to the second band such that an open side of the formation formed by the second band is covered by the first band forming a guide channel.
- At least one longitudinally extending edge region of the flexible lance is merely formed by the first band or the second band.
- the edge region or in both, longitudinally and outwardly extending edge regions of the flexible lance only one of the two bands is present, i. the first and second bands have different widths.
- the advantages of the invention are, in particular, that due to the smaller size of the first or second band, which is not the Border area forms, material is saved. Furthermore, the flexural strength, stability and flexibility of the flexible lance can be influenced in a structurally simple manner already solely by the variation of the width of the bands and thus the size of the edge region.
- a further advantage of the invention is that supply lines necessary for the operation of the processing or inspection head, such as e.g. a water or power supply or optical glass fibers to illuminate the body to be cleaned or processed, are protected within the guide channel from damage and also an uncontrolled kinking of the supply lines is largely avoided.
- both bands can have a shape for receiving supply lines.
- the first band is preferably formed largely flat and thus has two flat, opposite flat sides.
- the molding is thus formed only by the second band, whereby the production is further simplified, since only one band must be formed.
- the edge region is then preferably formed only by the first, substantially plan trained band.
- the second band is preferably disposed longitudinally and symmetrically about a central longitudinal axis of the first band on the first band, thereby increasing the stability of the flexible lance. If the second band itself also has a symmetrical configuration, the shaping is thus formed centrally or centrally in the longitudinal direction, so that the guide channel is also arranged centrally about a central longitudinal axis of the first band or the flexible lance. As a result, a mechanical load on the supply lines, for example, in a lateral kinking of the lance, minimized.
- openings for engagement of a feed device or a gear of such a feed device are arranged in the edge region of the flexible lance in the longitudinal direction.
- the openings are at the same distance from each other or equidistant in a row, that is arranged one behind the other in the longitudinal direction.
- the openings are arranged in the edge region and thus only present in the first or the second band.
- the first and second bands are connected at junctions. This can be done by rivets, screws or similar mechanical fasteners. In particular, however, the connection is made at the joints by means of spot welding, which requires fewer manufacturing steps and affects the material only slightly in the vicinity of the joints.
- the second band in the longitudinal direction of successively arranged recesses which extend perpendicular to the longitudinal direction or in the transverse direction of the flexible lance.
- the recesses extend in particular at least partially beyond the formation.
- the recesses are formed as slots.
- the second band is in one piece and the formations are for example by means of laser cutting generated.
- the first band can also have recesses, for example in the region covering the guide channel. The recesses ensure that the second and optionally also the first band and thus the flexible lance will not become impermissibly stiff for some applications.
- a minimum radius of curvature of the flexible lance can be adjusted.
- the minimum radius of curvature is to be understood as the radius at which a further turning of the lance is made considerably more difficult, that is to say a further lateral bending is largely prevented.
- permanent deformation and breakage of the supply lines arranged in the guide channel are reliably prevented.
- a part of the recesses is formed as first recesses, which extend on both sides and completely beyond the formation and end at a distance in front of the edge of the second band.
- a part of the recesses is formed as second recesses, which each extend from an edge of the second band to the molding out.
- two second recesses lie opposite each other in pairs, that is to say they are arranged along or parallel to a line relative to the transverse direction of the flexible lance.
- the band has only one of the two forms of recesses or these follow one another in any order.
- the first and the second recesses each follow one another alternately in the longitudinal direction. This further improves the flexibility of the lance.
- an edge portion of the second band each arranged between two second recesses, has a rounded shape.
- round edge sections can be produced more easily.
- round edge sections or edges have an advantageous force distribution and better sliding properties.
- the first and second bands preferably have different bending strengths.
- a material for the flexible lance or for the first and the second band spring steel for example, is used.
- the bending strength of the first and the second band is varied in that the first and the second band have a different thickness.
- FIG. 1 shows a flexible lance 2 for processing or inspecting a tube plate of a steam generator.
- the flexible lance 2 is composed of a flexible, metallic first band 4 and a flexible, metallic second band 6.
- the two bands 4, 6 are made of spring steel, such as stainless steel, and have a thickness or wall thickness of about 0.1 to 0.3 mm.
- the width B 1 of the first band 4 is about 40 mm, the width B 2 of the second band 6 about 24 mm.
- the second band 6 thus has a smaller width than the first band 4.
- the second band 6 is arranged in the longitudinal direction L on the first band 4 and has a longitudinally extending L forming 8 or recording for receiving three supply lines 10 , which are arranged on a at the free end 12 of the flexible lance 2, in Fig. 1 for reasons of clarity not shown processing or inspection head are connected.
- the molding 8 has a cross-sectionally U-shaped profile and is extended in the longitudinal direction L of the lance.
- the first band 4 and the second band 6 have different bending strengths.
- the first and the second band 4, 6 may have a different thickness.
- the first band 4 and the second band 6 are at connection points 14, which lie in an edge portion 34 of the second band 6 (see. Fig. 3 ), connected by spot welding.
- the first band 4 has two opposite flat sides 16.
- the existing in the second band 6 formation 8 and one, the second band 6 facing flat side 16 of the first band 4 form a guide channel 18 between them, in which the supply lines 10 are guided.
- the guide channel 18 extends as well as the formation 8 in the longitudinal direction L of the flexible lance. 2
- the second band 6 has a smaller width than the first band 4, in the middle or symmetrical arrangement of the second band 6 around a central longitudinal axis M of the first band 4, longitudinally extending edge regions 20, 22 of the flexible lance 2 only from the first Volume 4 formed. In the edge regions 20, 22 openings 28 are provided for engagement of a feed device not explicitly shown.
- Fig. 2 shows a section of a longitudinal view of the first band 4 of the flexible lance 2 from Fig. 1 before joining in a longitudinal view.
- the connection points 14 are indicated by dashed lines.
- the flexible lance 2 or the first band 4 in each case has a row 24, 26 of openings 28 arranged at an equidistant distance A one behind the other in the longitudinal direction.
- the width of the openings 28 is about 2 mm, the length about 2.5 mm.
- the openings 28 each have a distance A of approximately 5 mm in the longitudinal direction.
- Fig. 3 is a section of a longitudinal view of the second band 6 of the flexible lance 2 from Fig. 1 before being connected to the first band 4 shown in a longitudinal view.
- the second band 6 has a U-shaped formation 8 in the finished lance, the regions 8 'forming the legs of the formation.
- the second band 6 has recesses 30, 32 arranged one behind the other in the longitudinal direction L. which extend perpendicular to the longitudinal direction L, ie in a transverse direction Q and parallel to each other.
- the recesses 30, 32 extend partially beyond the formation 8, so are present in a region of the formation 8 or of the guide channel 18 partially formed by the formation 8.
- the second band 6 or the formation 8 of recesses which are slit-shaped in the present case, interrupted.
- the recesses are a few tenths of a millimeter wide and laser cut and the distance B of the recesses 30, 32 in the longitudinal direction L to each other is about 1 mm.
- the second band 6 has two differently shaped recesses 30, 32.
- a first form of the recesses hereinafter referred to as first recesses 30, is designed slot-shaped in each case and extends on both sides and completely beyond the molding 8.
- the first recesses 30 each terminate at a distance C from the edge of the second band 6.
- the first formations 30 have a length L 1 of about 20 mm.
- a second form of the recesses each extend from an edge of the second band 6 to the molding 8 and partly beyond this.
- the second formations 32 are also slot-shaped and have a length L 2 of about 10 mm.
- a respective edge portion 34 of the second band 6 arranged between two second recesses 32 adjacent in the longitudinal direction L has a rounded shape.
- the first recesses 30 and the second recesses 32 follow one another alternately in the longitudinal direction L, that is to say they are arranged in an alternating sequence.
- Fig. 4 the use of the flexible lance 2 for processing or inspection of a tube plate 50 of a steam generator 52 is shown, wherein only a section of the steam generator 52 is shown with tubes 54 shown in cross-section.
- the tubes 54 are arranged on both sides of a tube lane 56, which is accessible from outside through a hand hole 58 in a wall 60 of the steam generator 52.
- a manipulator 62 which in Fig. 4 is indicated only schematically, is inserted into the tube lane 56 and is in the direction 68 back and forth movable.
- the manipulator 62 includes a drive roller 64 with which the flexible lance 2 is inserted between the tubes 54.
- a processing or inspection head 66 is arranged at the free end 12 of the flexible lance.
- the processing or inspection head 66 is guided by movement of the flexible lance 2 in the direction 70 to the position to be examined or processed between the tubes 54.
- the flexible lance 2 can be deflected on both sides, but it is advantageous if the first band 4, which has two flat sides 16 and thus is largely planar, lies in the deflection at the inside.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Thermal Sciences (AREA)
- Rigid Pipes And Flexible Pipes (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Endoscopes (AREA)
- Details Or Accessories Of Spraying Plant Or Apparatus (AREA)
- Nozzles (AREA)
- Laser Beam Processing (AREA)
Claims (14)
- Lance flexible (2) pour l'usinage ou l'inspection d'une plaque tubulaire d'un générateur de vapeur, avec une première bande (4) constituée d'un matériau métallique flexible et une deuxième bande (6) constituée d'un matériau métallique flexible, la deuxième bande (6) étant disposée dans la direction longitudinale (L) sur la première bande (4) et au moins la deuxième bande (6) comprenant une déformation (8) s'étendant dans la direction longitudinale (L) pour le logement d'une ligne d'alimentation (10) pour une tête d'usinage ou d'inspection (66) disposée à l'extrémité libre (12) de la lance flexible (2) et la première bande (4) étant reliée avec la deuxième bande (6) de façon à ce qu'un côté ouvert de la déformation (8) soit recouvert par la première bande (4) en formant un canal de guidage (18), caractérisé en ce qu'au moins une zone de bord (20, 22), s'étendant dans la direction longitudinale (L), de la lance flexible (2) est constituée uniquement de la première bande (4) ou de la deuxième bande (6).
- Lance flexible (2) selon la revendication 1, la première bande (4) comprenant deux côtés plats (16) qui se font face.
- Lance flexible (2) selon la revendication 1 ou 2, la deuxième bande (6) étant disposée dans la direction longitudinale (L) et de manière symétrique autour d'un axe longitudinal central (M) de la première bande (4) sur la première bande (4).
- Lance flexible (2) selon l'une des revendications précédentes, avec des ouvertures (28) disposées dans sa zone de bord (20, 22) dans la direction longitudinale (L) pour l'emboîtement d'un dispositif d'avance.
- Lance flexible (2) selon l'une des revendications précédentes, la première bande (4) et la deuxième bande (6) étant reliées au niveau de points de liaison (14) à l'aide d'une soudure par points.
- Lance flexible (2) selon l'une des revendications précédentes, au moins la deuxième bande (6) comprenant au moins des évidements (30, 32), disposés les uns derrière les autres dans la direction longitudinale (L), qui s'étendent perpendiculairement à la direction longitudinale (L).
- Lance flexible (2) selon la revendication 6, les évidements (30, 32) s'étendant au moins partiellement au-delà de la déformation (8).
- Lance flexible (2) selon l'une des revendications 6 ou 7, les évidements (30, 32) étant conçus comme des fentes.
- Lance flexible (2) selon l'une des revendications 6 à 8, une partie des évidements (30, 32) étant conçus comme des premiers évidements (30) qui s'étendent chacun des deux côtés et entièrement au-delà de la déformation (8) et se terminent avec une distance (C) devant le bord de la deuxième bande (6).
- Lance flexible (2) selon l'une des revendications 6 à 9, une partie des évidements (30, 32) étant conçus comme des deuxièmes évidements (32) qui s'étendent chacun d'un bord de la deuxième bande (6) vers la déformation (8).
- Lance flexible (2) selon l'une des revendications 6 à 10, les premiers et deuxièmes évidements (30, 32) se succédant de manière alternée dans la direction longitudinale (L).
- Lance flexible (2) selon l'une des revendications 10 ou 11, une portion de bord (34), disposée entre deux deuxièmes évidements (32), de la deuxième bande (6) présentant une forme arrondie.
- Lance flexible (2) selon l'une des revendications précédentes, la première bande (4) et la deuxième bande (6) présentant des résistances à la flexion différentes.
- Lance flexible (2) selon l'une des revendications précédentes, la première bande (4) et la deuxième bande (6) présentant des épaisseurs différentes.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SI201630627T SI3368823T1 (sl) | 2015-10-30 | 2016-10-27 | Prožno kopje za obdelovanje ali pregledovanje cevnega dna generatorja pare |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015118615.2A DE102015118615B3 (de) | 2015-10-30 | 2015-10-30 | Flexible Lanze zum Bearbeiten oder Inspizieren eines Rohrbodens eines Dampferzeugers |
PCT/EP2016/075883 WO2017072209A1 (fr) | 2015-10-30 | 2016-10-27 | Lance flexible pour le traitement ou l'inspection d'un fond tubulaire d'un générateur de vapeur |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3368823A1 EP3368823A1 (fr) | 2018-09-05 |
EP3368823B1 true EP3368823B1 (fr) | 2019-11-13 |
Family
ID=56682754
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16788666.2A Active EP3368823B1 (fr) | 2015-10-30 | 2016-10-27 | Lance flexible pour le traitement ou l'inspection d'un fond tubulaire d'un générateur de vapeur |
Country Status (9)
Country | Link |
---|---|
US (1) | US11060718B2 (fr) |
EP (1) | EP3368823B1 (fr) |
CN (1) | CN108351097B (fr) |
CA (1) | CA3003609C (fr) |
DE (1) | DE102015118615B3 (fr) |
ES (1) | ES2772694T3 (fr) |
RU (1) | RU2721154C2 (fr) |
SI (1) | SI3368823T1 (fr) |
WO (1) | WO2017072209A1 (fr) |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SU773423A1 (ru) * | 1978-08-22 | 1980-10-23 | Государственный Союзный Завод По Механической И Химической Очистке Котельных Агрегатов "Котлоочистка" | Ручна пика дл очистки труб воздухоподогревателей котлоагрегатов от внутренних отложений |
US4407236A (en) * | 1981-09-21 | 1983-10-04 | Combustion Engineering, Inc. | Sludge lance for nuclear steam generator |
JPS59500065A (ja) * | 1982-01-25 | 1984-01-12 | シーメンス、アクチエンゲゼルシヤフト | 熱交換器を高圧で洗泥するための管隘路マニピュレ−タ、噴射ヘッドおよびその噴射方法 |
EP0459597A1 (fr) * | 1987-03-18 | 1991-12-04 | Electric Power Research Institute, Inc | Lance flexible pour l'élimination des dépôts d'impuretés dans le côté secondaire d'un générateur de vapeur |
US5022463A (en) * | 1990-03-08 | 1991-06-11 | Ohmstede Mechanical Services, Inc. | Multi-hose flexible lance tube cleaning system |
US5002120A (en) * | 1990-03-08 | 1991-03-26 | Boisture Thomas B | Multi-lance tube cleaning system |
JP3599745B2 (ja) * | 1995-03-15 | 2004-12-08 | フラマトム アンプ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 蒸気発生器の管床の加工あるいは点検用フレキシブルランス |
US6412449B1 (en) * | 1998-07-29 | 2002-07-02 | The Babcock & Wilcox Company | Segmented lance assembly |
DE60042400D1 (de) * | 2000-02-03 | 2009-07-30 | Mitsubishi Heavy Ind Ltd | Entkalkungsvorrichtung für dampferzeuger |
DE10006066A1 (de) * | 2000-02-10 | 2001-08-30 | Siemens Ag | Flexible Lanze zum Bearbeiten oder Inspizieren eines Rohrbodens eines Dampferzeugers |
DE10006056A1 (de) * | 2000-02-10 | 2001-08-30 | Siemens Ag | Flexible Lanze zum Bearbeiten oder Inspizieren eines Rohrbodens eines Dampferzeugers |
ES2370240T3 (es) * | 2002-01-14 | 2011-12-13 | R. Brooks Associates, Inc. | Dispositivo de inspección a distancia de tubos generadores de vapor o la eliminación de material del exterior de, o entre dichos tubos. |
US20090211612A1 (en) * | 2008-01-08 | 2009-08-27 | Christos Athanassiu | Super-thin water jetting lance |
DE102013101656B4 (de) * | 2013-02-20 | 2015-04-16 | Areva Gmbh | Lanze zum Entfernen von am Rohrboden eines Dampferzeugers haftenden Ablagerungen |
CN205868650U (zh) * | 2016-07-19 | 2017-01-11 | 四川海隆石油技术有限公司 | 弯管内壁喷涂机 |
-
2015
- 2015-10-30 DE DE102015118615.2A patent/DE102015118615B3/de active Active
-
2016
- 2016-10-27 EP EP16788666.2A patent/EP3368823B1/fr active Active
- 2016-10-27 CA CA3003609A patent/CA3003609C/fr active Active
- 2016-10-27 ES ES16788666T patent/ES2772694T3/es active Active
- 2016-10-27 SI SI201630627T patent/SI3368823T1/sl unknown
- 2016-10-27 CN CN201680063654.6A patent/CN108351097B/zh active Active
- 2016-10-27 US US15/771,860 patent/US11060718B2/en active Active
- 2016-10-27 RU RU2018119982A patent/RU2721154C2/ru active
- 2016-10-27 WO PCT/EP2016/075883 patent/WO2017072209A1/fr active Application Filing
Non-Patent Citations (1)
Title |
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None * |
Also Published As
Publication number | Publication date |
---|---|
RU2018119982A (ru) | 2019-12-05 |
ES2772694T3 (es) | 2020-07-08 |
RU2721154C2 (ru) | 2020-05-18 |
DE102015118615B3 (de) | 2016-09-01 |
RU2018119982A3 (fr) | 2020-03-05 |
SI3368823T1 (sl) | 2020-03-31 |
CA3003609C (fr) | 2023-10-31 |
EP3368823A1 (fr) | 2018-09-05 |
CN108351097B (zh) | 2019-09-24 |
WO2017072209A1 (fr) | 2017-05-04 |
US20180347807A1 (en) | 2018-12-06 |
CA3003609A1 (fr) | 2017-05-04 |
US11060718B2 (en) | 2021-07-13 |
CN108351097A (zh) | 2018-07-31 |
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