EP3507524A1 - Mechanical transmision device and system comprising such a device - Google Patents
Mechanical transmision device and system comprising such a deviceInfo
- Publication number
- EP3507524A1 EP3507524A1 EP17761072.2A EP17761072A EP3507524A1 EP 3507524 A1 EP3507524 A1 EP 3507524A1 EP 17761072 A EP17761072 A EP 17761072A EP 3507524 A1 EP3507524 A1 EP 3507524A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- main axis
- support
- axis
- members
- output member
- 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- Withdrawn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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/2018—Screw mechanisms with both screw and nut being driven, i.e. screw and nut are both rotating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/16—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types with a driving or driven member which both rotates or oscillates on its axis and reciprocates
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2053—Screws in parallel arrangement driven simultaneously with an output member moved by the screws
Definitions
- the invention relates to a mechanical transmission device, and a system comprising such a mechanical transmission device.
- FR-A-2,957,005 and FR-A-2,957,014 disclose parallel robots comprising more than two input members and multiple output members animated with multiple movements.
- FR-A-2 892 789 describes a gearbox actuation system, an output member of which is driven by a translation and rotation movement. The axes of movement of the input members are not symmetrical with respect to the main axis of the output member and the actuators for obtaining these movements are decoupled.
- DE-U-298 20 787 and DE-U-201 01 545 describe robots combining two rotary input members driven by motors, and an articulated arm driven by a translation and a rotation. The actuators making it possible to obtain these movements define different kinematic chains.
- the invention intends to remedy more particularly by proposing a new device for transmitting movements, making it possible to obtain, on an output member, two movements according to two degrees of freedom thanks to a structure that does not imply no decoupled actuators.
- the invention relates to a mechanical transmission device having a main axis.
- the transmission device comprises a support; first and second input members, independent of each other, arranged in parallel, and intended to be actuated by associated motors, the first and second members having, relative to the support, a single degree of freedom in rotation or translation along a first axis, respectively a second axis, the first and second axes being parallel to the main axis and arranged symmetrically on either side of the main axis.
- the transmission device further comprises an output member having, with respect to the support, a single degree of freedom of rotation along the main axis or along an axis orthogonal to the main axis and a single degree of freedom of translation along the main axis; and means for coupling the input members to the output member.
- the output member is driven by a rotational movement and a translational movement obtained by means of two independent actuators operating in a coupled and preferably symmetrical manner, and the device does not comprise integrated actuators. on moving output elements.
- such a device may incorporate one or more of the following features, taken in any technically permissible combination:
- the first and second input members are identical or symmetrical with respect to the main axis.
- the coupling means define a first and a second kinematic chain respectively connecting the first and second input members to the output member and whose components are identical or symmetrical with respect to the main axis.
- the first and second kinematic chains have kinematic symmetry.
- the first and second input members are formed by screws with not reversed, while the coupling means is formed by two nuts mounted on the screws and on which are mounted rotating drive members of the body exit around the main axis.
- the nuts and the output member are rotatably mounted in a carriage driven in translation along the main axis by the nuts.
- the driving elements are belts or chains.
- the drive elements are formed by a gear train.
- the first and second input members are each formed by a carriage movable in translation, the coupling means being formed by two connecting rods each mounted on one of the carriages and each connected to one of two branches of the carrier member. output, which is rotatably mounted along the axis orthogonal to the main axis on a carriage movable in translation relative to the support along the main axis.
- the invention also relates to a system comprising a support and a movable element connected to the support by three motorized legs.
- the legs are connected to the support by mechanical transmission devices such as that defined above, the first and second input members are motorized.
- a system may incorporate one or more of the following features, taken in any technically permissible combination:
- the legs are connected to the movable member by links, each forming either a ball joint or a set of three pivot links whose axes are concurrent with each other.
- the legs are connected to the transmission devices by pivot links centered on axes of rotation, the axis of rotation of each transmission device being either orthogonal and concurrent with the main axis of this transmission device, or orthogonal and concurrent with the axis orthogonal to the main axis of this transmission device.
- the invention also relates to a system comprising a support, a movable element and three mechanical transmission devices, such as the one defined above, connecting the movable element and the support, the movable element being connected to the output members of the devices.
- mechanical transmission by gimbals the supports of the mechanical transmission devices being connected to the support of the system by gimbals.
- the gimbals connecting the movable element to the output members have connection centers merged at one and the same point.
- FIG. 1 is a schematic view of a mechanical transmission device according to a first embodiment of the invention
- FIG. 2 is a perspective view of a variant of the mechanical transmission system of FIG. 1;
- FIG. 3 is a schematic view of a mechanical transmission device according to a second embodiment of the invention.
- FIG. 4 is a perspective view of the mechanical transmission device of FIG. 3;
- FIG. 5 is a perspective view of a system equipped with the mechanical transmission devices of FIG. 2,
- FIG. 6 is a perspective view of a second system equipped with the mechanical transmission devices of FIG. 2;
- FIG. 7 illustrates a detail according to a frame C7 of FIG. 6, and FIG. 8 is a perspective view of a system equipped with the mechanical transmission devices represented in FIG. 4.
- Figure 1 shows a mechanical transmission device 1, which has a main axis X1.
- the device 1 comprises a support 3, and first and second input members 5 and 6.
- the input members 5 and 6 are independent of each other, arranged in parallel and intended to be actuated by motors 51 and 61 shown in Figure 2.
- the first and second members 5 and 6 are similar to each other and have, relative to the support 3, a single degree of freedom in rotation along respective axes X5 and X6 which are parallel to the main axis X1.
- the axes X5 and X6 are also arranged on either side of the main axis X1, preferably symmetrically.
- the device 1 also comprises an output member 8 which has, relative to the support 3, a single degree of freedom in rotation about the main axis X1 and a single degree of freedom of translation along the main axis X1. Between the input members 5 and 6 and the output member 8, the device 1 comprises means for coupling the input members 5 and 6 to the output member 8.
- the first and second input members 5 and 6 are formed by screws, driven in rotation about axes X5 and X6 by motors 51 and 61. The pitch of the screw 5 is reversed relative to that of the screw 6, as illustrated in FIG.
- Two nuts 9 and 10 are mounted on the input members 5 and 6. On the nuts 9 and 10 are mounted rotating elements of the output member 8 about the main axis X1. In FIG. 1, these driving elements are formed by two belts 91 and 101.
- the nuts 9 and 10 are themselves mounted free to rotate about the axes X5 and X6 in a carriage 12 driven in translation along the main axis X1 by the cooperation between the nuts 9 and 10 and the screws 5 and 6.
- the nuts 9 and 10, and the output member 8 are rotatably supported relative to the carriage 12 by bearings 13, which may be ball bearings, or of any other suitable type.
- balls are incorporated in the threads of the screws 5 and 6.
- the nuts 9 and 10 and the screws 5 and 6 respectively form two screw-nuts ball.
- the device 1 makes it possible to obtain, with input, two rotations of parallel axes, a rotational movement along the main axis X1 conjugated to a translation movement along the same principal axis X1, which are transmitted to the 8.
- the rotation of the screws 5 and 6 in the nuts 9 and 10 induces their translation along the axes X5 and X6, and the freedom in rotation of the nuts 9 and 10 relative to the carriage 12 allows their rotation around the axes.
- X5 and X6 The nuts 9 and 10 are integral in translation with the carriage 12 and thus transmit to the output member 8 a translation along the main axis X1, while the coupling in rotation between the nuts 9 and 10 and the output member 8 allows the drive in rotation about the axis X1 of the output member 8.
- the elements for rotating the output member 8 around the main axis X1 by the nuts 9 and 10 may be formed by a gear train, including a first wheel. toothed 52 integral with the screw 5, a second toothed wheel 62 secured to the screw 6, and a third gear 82 integral with the output member 8.
- a gear train including a first wheel. toothed 52 integral with the screw 5, a second toothed wheel 62 secured to the screw 6, and a third gear 82 integral with the output member 8.
- an assembly comprising parts 3A, 3B and 3C forms the support 3, in which are guided in rotation the input members 5 and 6, respectively about an axis X5 and an axis X6.
- the output member 8 is guided in rotation about the axis X1, parallel to the axes X5 and X6, relative to the carriage 12.
- the output member 8 is in cylindrical connection with respect to the axis member 3A X1.
- the driving elements 5 and 6 can also be formed by chains.
- FIG. 3 and 4 A second embodiment of the invention is shown in Figures 3 and 4.
- a device 15 is shown.
- This device 15 has a main axis X15, and comprises a support 17.
- the device 15 has first and second input members 19 and 20, independent of one another, arranged in parallel and intended to be actuated by associated engines. These motors may be, for example, linear motors or cylinders.
- the input members 19 and 20 are similar to one another and have, relative to the support 17, a single degree of freedom in translation along respective axes X 19 and X 20 which are parallel to the main axis X 15 and arranged, preferably, symmetrically by relative to the main axis X15.
- the device 15 also comprises an output member 22, having, relative to the support 17, a single degree of freedom in rotation about an axis Y22 orthogonal to the main axis X15 and a single degree of freedom of translation according to the invention.
- main axis X15 Between the output member 22 and the input members 19 and 20, the device 15 comprises means for coupling the input members 19 and 20 to the output member 22.
- This coupling means includes two connecting rods 24 and 25, each mounted on one of the input members 19 and 20 which are formed by carriages movable in translation on the rails 170 and 171 of the support 17 aligned with the axes X19 and X20.
- the connecting rods 24 and 25 are articulated on the input members 19 and 20, and at their other end, the rods 24 and 25 are each connected to a branch 221 and 222 of the output member 22, which is itself rotatably mounted about the axis Y22 on a carriage 27 movable in translation relative to the support 17 along the main axis X15.
- the support 17 comprises a slideway 172 aligned with the axis X15 and on which the carriage 27 is mounted.
- the device 15 thus makes it possible, from two inputs formed by two parallel translations, to transmit a simultaneous translation movement along the main axis X15 and rotation about the axis Y22 orthogonal to the main axis X15.
- FIG. 5 shows a system 30 comprising a support 300 forming a plate extending parallel to a plane P30.
- the system 30 also comprises a mobile element, formed by a mobile platform 305, connected to the support by three motorized legs 307.
- the legs 307 are themselves connected to the support by transmission devices 1 which are fixed to the support 300. and second respective input members of the transmission devices 1 equipping the system 30 are motorized and controlled to obtain displacements of the mobile platform 305.
- the legs 307 are hinged relative to the platform 305 by ball joints which bear the reference 308.
- the legs 307 are articulated to the transmission devices 1 by pivot links defining axes of rotation A7.
- Each of these axes A7 is orthogonal and contributes to the axis X1 of the transmission device 1 associated with it.
- the axis A7 pivot links are rotated about the axis X1, and in translation parallel to the axis X1, of their respective transmission device 1, by rotation and translation of the device output member. transmission 1 concerned.
- the axes A7 are found parallel to the plane P30, but rotate around the axis X1 together with the output member of the device 1 concerned.
- the system 30 makes it possible to confer on the mobile platform 305, that is to say to exert on the mobile platform 305, movements with six degrees of mobility, useful in the context of robots or industrial production machines.
- each connection between the legs 307 and the movable platform 305 can be achieved by a set of three pivotal links axes intersecting.
- the point of competition of the three axes is located at the location of the center of the ball joint 308 replaced.
- one of the three axes preferably corresponds to the longitudinal axis of the legs 307.
- the mechanical transmission devices 1 may also be used in the context of a second system 40 shown in FIGS. 6 and 7.
- the system 40 comprises a support of parallelepipedal shape, shaped in a square in this example, and comprising structural bars 401 .
- the system 40 also comprises a mobile element 403.
- a system 40 also comprises three mechanical transmission devices 1 A, 1 B and 1 C identical to the mechanical transmission device 1, and which connect the movable member 403 to the bars 401.
- the respective output members 1A8, 1B8 and 1C8 of the devices 1A, 1B and 1C respectively form shafts articulated on the movable member 403 by universal joints 405A, 405B and 405C.
- each cardan 405A, 405B and 405C defines two axes of rotation concurrent and, in this example, orthogonal to each other. More specifically, each gimbal 405A, 405B and 405C comprises an intermediate member 406A, 406B and 406C, connected to one of the output members 1A8, 1B8 and 1C8 by a primary pivot link 408A, 408B and 408C, and linked to the movable member 403 by a secondary pivot link 409A, 409B and 409C.
- the primary pivot links 408A, 408B and 408C are respectively centered on pivot axes X403B, X403C and X403A.
- the secondary pivot links 409A, 409B and 409C are respectively centered on the X403C, X403A and X403B axes.
- the rotation of the output shafts 1A8, 1B8 and 1C8 is performed respectively about axes coaxial with the axes X403A, X403B and X403C, so that the intermediate members 406A, 406B and 406C are respectively rotated around these same axes.
- each gimbal 405A, 405B and 405C therefore define a connecting center of the concerned gimbal, the three connecting centers being merged at the point of concurrence of the three axes X403A, X403B and X403C.
- the supports 3 of the devices 1A, 1B and 1C are connected to the bars 401 by cardans 407.
- the system 40 comprises transmission devices 1 equipped with gear trains.
- the movable member 403 comprises six degrees of mobility relative to the support.
- the system 40 of FIGS. 6 and 7 makes it possible to control, in a decoupled manner, the translation movements and the rotational movements of the mobile platform 403 as a function of the output movements of the mechanical transmission devices 1A, 1B and 1C.
- the system 40 corresponding to the preferred embodiment of FIGS. 6 and 7, presents a unique solution of a parallel mechanism with six degrees of mobility, where the translational and rotational movements are decoupled.
- This invention can be used in applications or processes requiring the generation of complex high dynamic motions with high precision and rigidity while having simple control.
- the mechanical transmission device 15 can also be used in the context of a system 30 'shown in FIG. 8, similar to the system 30, and in which the devices 1 are replaced by the devices 15 for connecting the mobile platform 305 to the support .
- the devices 15 are mounted on pairs of branches 301, 302 and 303 defining a plane P30 '.
- the pivot connections connecting the legs 307 to the mechanical transmission devices 15 are centered on axes of rotation A7, so that each of the three axes of rotation A7 is orthogonal and concurrent with the axis Y22 of the device. mechanical transmission concerned.
- the axes X15 and A7 are parallel to the plane P30'.
- Devices 1 and 15 and systems 30, 30 'and 40 provide improvements in efficiency, simplicity and modularity for designing complex machines.
- Devices 1 and 15 make it possible to use standard components symmetrically.
- the systems 30, 30 'and 40 make it possible to manufacture robot architectures with six degrees of mobility with only three legs, without integrating a motorized link in series in the legs or non-symmetrical transmissions.
- the device 1 makes it possible to obtain rotational movements whose amplitude is unlimited and translation movements limited only by the dimensions of the device.
- the device 15 makes it possible to generate very high output torques that can be used to orient objects accurately, particularly in the case where the linear movements of the input members are obtained by the ball screw systems.
- the movements of the output member are in a two-dimensional space including a translation coordinate and a coordinate in angular orientation, which is suitable for working in an environment where the tasks and movements desired are defined in cylindrical coordinates.
- the invention makes it possible to improve the modularity of the actuators referred to in mechanisms with several degrees of mobility while reducing the kinematic complexity and the control, compared with robots having a single actuator per leg or several actuators in series per leg.
- the invention notably offers the possibility of actuating a translation with two identical motors without generating internal mechanical stresses due to the lack of synchronization of the speeds of the two motors that can be found on the gantry type architecture machines (usually called "gantry").
- the powers of the two motors add up to generate the translation output, even if their angular velocities are not exactly identical.
- the devices 1 and 15 average the speeds of the two motors.
- the differential speed of the motors is absorbed by the unused rotational movement for power transmission.
- the systems 30 and 40 may especially be used for industrial production, in the context of machine tools, production robotics and processes requiring the displacement or positioning of objects, tools, or other devices with precision and a controlled speed.
- the input members 5 and 6 of the device 1 and the input members 19 and 20 of the device 15 are symmetrical with respect to the main axis X1 or X15 or the same.
- the screws 5 and 6 are symmetrical with respect to the main axis because they are screws of the same diameter, pitch length and thread depth, the only difference being the inversion of their pitch.
- Carriages 19 and 20 are identical in that they are formed by identical mechanical parts, functioning in the same way.
- the mechanical parts forming the carriages 19 and 20 may in particular be interchangeable.
- the mechanical parts forming the input members can be manufactured using the same methods in series. This results in great ease of manufacture and assembly.
- the coupling means of the input members 5 and 6 of the device 1 and 19 and 20 of the device 15 to the output members 8 and 22 define a first and second kinematic chain.
- the first kinematic chain connects the first input member 5 to the output member 8 and comprises components formed by the nut 9 and the belt 91 or the toothed wheel 52.
- the second kinematic chain connects the second input member 6 to the output member 8 via the nut 10 and the belt 101 or the gear wheel 62.
- these two kinematic chains respectively connecting the first and second input members 19 and 20 to the output member 22 comprise components respectively formed by the rods 24 and 25.
- the components of the two kinematic chains are identical, in that they are formed by the same parts, which can be mounted indifferently after the first or second input member, or symmetrical with respect to the main axis in the case of the device 1.
- kinematic chains also have on both sides the output member a kinematic symmetry, in that they have the same sequence of kinematic links.
- these are pivot links in the input each followed by a helical link and then a pivot connection, in the device 15 there are two slide links each followed by two successive pivot links.
- the kinematic chains are interchangeable, can be assembled beforehand, it results in a great ease of assembly and manufacture.
- the symmetry of the axes of the input members with respect to the main axes facilitates the modularity and control of the devices and systems in which they are used. This also allows a better distribution of efforts and wear, and a better compactness.
- the invention can also be used in the context of medical robotic applications, and services, including haptic interfaces, motion assistance, the positioning of optical systems, and motion simulators.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transmission Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1658089A FR3055383B1 (en) | 2016-08-31 | 2016-08-31 | MECHANICAL TRANSMISSION DEVICE AND SYSTEM COMPRISING SUCH A DEVICE |
PCT/EP2017/071899 WO2018041966A1 (en) | 2016-08-31 | 2017-08-31 | Mechanical transmision device and system comprising such a device |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3507524A1 true EP3507524A1 (en) | 2019-07-10 |
Family
ID=57286658
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17761072.2A Withdrawn EP3507524A1 (en) | 2016-08-31 | 2017-08-31 | Mechanical transmision device and system comprising such a device |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3507524A1 (en) |
FR (1) | FR3055383B1 (en) |
WO (1) | WO2018041966A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022076340A1 (en) * | 2020-10-07 | 2022-04-14 | Moog Inc. | Multiple load path actuator with fault detection |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3159046A (en) * | 1962-10-15 | 1964-12-01 | Gen Motors Corp | Ball nut screw differential |
JPS6396350A (en) * | 1986-10-13 | 1988-04-27 | Koji Onuma | Linear movement device by screw rotation of screw shaft and nut |
JPH01228792A (en) * | 1988-03-07 | 1989-09-12 | Matsushita Electric Ind Co Ltd | Linear and rotary motion unit |
DE29820787U1 (en) * | 1998-11-20 | 1999-04-01 | SPN Schwaben Präzision Fritz Hopf GmbH, 86720 Nördlingen | Drive device |
DE20101545U1 (en) * | 2001-01-30 | 2001-04-26 | SPN Schwaben Präzision Fritz Hopf GmbH, 86720 Nördlingen | Device for driving an organ performing a lifting movement and a swiveling movement |
FR2892789B1 (en) * | 2005-10-27 | 2009-04-24 | Renault Sas | PASSING ACTUATOR FOR ROBOTIC GEAR BOX. |
JP2010506792A (en) * | 2006-10-18 | 2010-03-04 | ムーグ インコーポレイティド | Fault-tolerant redundant differential actuator |
US8322242B2 (en) * | 2009-09-29 | 2012-12-04 | Hamilton Sundstrand Corporation | Velocity summing linear actuator |
FR2957005A1 (en) * | 2010-03-05 | 2011-09-09 | Francois Nicolas | Parallel robot for use as e.g. haptic device, has displacing unit comprising actuators with fixed part that is connected to base by passive connector of first connection element, where fixed part is integrated with base |
FR2957014A1 (en) * | 2010-03-05 | 2011-09-09 | Francois Nicolas | Parallel robot for moving e.g. medical measurement device, has articulation whose fixed part connects platform with mobile structure, so that center of rotation of articulation coincides with single point of sub assembly |
PL222470B1 (en) | 2012-08-14 | 2016-07-29 | Włodarczyk Władysław Igloo | Head module for collection and placement of components dedicated in SMT technology |
-
2016
- 2016-08-31 FR FR1658089A patent/FR3055383B1/en active Active
-
2017
- 2017-08-31 WO PCT/EP2017/071899 patent/WO2018041966A1/en unknown
- 2017-08-31 EP EP17761072.2A patent/EP3507524A1/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
FR3055383B1 (en) | 2019-11-15 |
WO2018041966A1 (en) | 2018-03-08 |
FR3055383A1 (en) | 2018-03-02 |
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