EP3521235B1 - Materialhandhabungsfahrzeug - Google Patents

Materialhandhabungsfahrzeug Download PDF

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Publication number
EP3521235B1
EP3521235B1 EP18154547.6A EP18154547A EP3521235B1 EP 3521235 B1 EP3521235 B1 EP 3521235B1 EP 18154547 A EP18154547 A EP 18154547A EP 3521235 B1 EP3521235 B1 EP 3521235B1
Authority
EP
European Patent Office
Prior art keywords
material handling
mast
handling vehicle
vehicle
wheels
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
Application number
EP18154547.6A
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English (en)
French (fr)
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EP3521235A1 (de
Inventor
Peter TENGVERT
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Material Handling Manufacturing Sweden AB
Original Assignee
Toyota Material Handling Manufacturing Sweden AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Material Handling Manufacturing Sweden AB filed Critical Toyota Material Handling Manufacturing Sweden AB
Priority to EP18154547.6A priority Critical patent/EP3521235B1/de
Priority to CN201910093693.6A priority patent/CN110092325B/zh
Publication of EP3521235A1 publication Critical patent/EP3521235A1/de
Application granted granted Critical
Publication of EP3521235B1 publication Critical patent/EP3521235B1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07513—Details concerning the chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07559—Stabilizing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07581—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the present disclosure is related to a material handling vehicle according to the pre-characterizing part of claim 1.
  • the present disclosure is related to a material handling vehicle comprising, a mast and auxiliary equipment.
  • the auxiliary equipment comprises: a first and a second support leg each comprising at least one wheel.
  • the material handling vehicle comprises at least two drive motors each comprising at least one wheel.
  • the material handling vehicle further comprises an energy source device for powering the at least two drive motors. At least two of the wheels are independently steerable of the material handling vehicle.
  • a load carrier is comprised and attached to the mast in a movable manner such that a load can be lifted up along the mast.
  • the auxiliary equipment is fixedly attached to the mast.
  • L2 measure This is a well-known and accepted definition in this technical field and defines the length from the back end of the load carrier to the back end of the vehicle.
  • a shorter L2 generally provides for a shorter turning radius and allows for a better manoeuvrability in confined spaces.
  • the L2-measure is the definition for the measure of the horizontal length between the end of the material handling vehicle opposite the load carrier and the beginning of the load carrier in a direction from the end of the material handling vehicle and the load carrying back.
  • Another advantage is that it is very simple in its construction; in particular as the mast itself is actually the central part of the vehicle.
  • a further advantage is that by using the mast as the central main unit of the material handling vehicle a chassis is avoided and no longer necessary.
  • Hydraulics is particularly advantageous in order to achieve capability for heavy lifting operations.
  • the attachment of the hydraulic pump to the mast makes the footprint of the material handling vehicle smaller. And also it provides for a stable attachment as the mast needs to be stable in itself for the higher levels of lifting that the material handling vehicle is intended for.
  • the material handling vehicle is preferred to be electric. As preferred the attachment of the energy source device to the mast makes the footprint of the material handling vehicle smaller. And also it provides for a stable attachment as the mast needs to be stable in itself for the higher levels of lifting that the material handling vehicle is intended for.
  • the support leg can then function as both support leg and also holder for both drive motors and wheels and gearing for the drive wheels that is powered by the respective drive motor.
  • wheels and drive motors/steering motors can be switched in a group operation, by detaching the respective support leg if desired. And still normal maintenance is possible as wheels and drive motor can easily be detached from the support leg itself.
  • Navigation equipment on the material handling vehicle makes the vehicle able to completely independently perform material handling tasks in a warehouse.
  • a fully automated material handling vehicle with the compactness of the present disclosure is of great advantage in a warehouse environment where all space that can be used for goods storage is of importance.
  • the stabilisation device will make the mast and also the complete vehicle more stable. It will also prevent view through the mast if an operator is operating in the warehouse and thus constitutes very important information for any person in the warehouse as the material handling vehicle is easily identified and any person in its operating area will be more aware where this particular material handling vehicle is.
  • the material handling vehicle By introducing telescopic forks the material handling vehicle is able to reach goods further away from the vehicle.
  • the material handling vehicle is configured to perform material handling tasks in an environment where a reach truck would normally be operating.
  • a telescopic mast provides for high lifting capacity.
  • the material handling vehicle is thus able to position and handle loads that is positioned high above the floor of the warehouse.
  • a wireless interface for remotely controlling the vehicle can be useful if the vehicle needs to be moved by a remote operator, thus the operator need not operate in the vicinity of the vehicle but can reside in a control room elsewhere.
  • the present disclosure is related to a high lifting material handling vehicle.
  • high lifting is to be understood a vehicle that in general can lift higher than a stacker material handling vehicle.
  • a stacker in general can position a first load onto a second load.
  • the high lifting material handling vehicle can lift much higher than this and position and fetch a load that is positioned in a rack that can be as high as 10 meters or more. In general this requires a mast that has several sections that can telescopically extend the mast with a load carrier for lifting high.
  • the material handling vehicle has a load carrier.
  • the load carrier is in generally a pair of forks that is optimal for lifting a load that is positioned on a pallet.
  • the material handling vehicle in general comprises an energy source that can power a drive motor.
  • the energy source may be a battery, and the drive motor an electric motor.
  • Other energy sources are thinkable but not so common in a warehouse environment, such energy sources could be gas or fuel cells.
  • the material handling vehicle is in general not a counter balance vehicle.
  • the material handling vehicle is in general a reach material handling vehicle. This means that it can extend the load carrier in the longitudinal direction of the vehicle that is in the direction of the load carrier. Further the material handling vehicle has support legs that will bear the weight of a load such that the centre of gravity of the load itself is mainly positioned in the inner area of the wheels that bears the material handling vehicle.
  • Figure 1 discloses a high lifting material handling vehicle 1.
  • the vehicle 1 comprises a mast 2.
  • the mast 2 has a first vertical beam 2a.
  • the mast 2 has also a telescopic element 3.
  • the material handling vehicle 1 further comprises auxiliary equipment.
  • the auxiliary equipment is defined as equipment that is attached to the mast 2, in order for the mast to be able to move and perform a material handling task.
  • the auxiliary equipment comprises a first support leg 4 and a second support leg 5, as seen in figure 1 and 3 .
  • the support legs 4, 5 have as function to carry weight. This is as opposed to a counter balance truck where the weight of a load is balanced by a counter balance weight.
  • the support legs 4, 5 have a respective wheel 10, 13.
  • the wheels 10, 13 are shown as a single wheel on respective support leg, but can be any type of wheel pair as a boogie or the like. All wheels of the material handling vehicle can be installed to the support legs 4, 5.
  • the support legs 4, 5 are not movable in relation to each other and in particular in relation to the mast 2.
  • the support legs 4, 5 are fixedly attached to the mast at any moment. This provides for a very stable material handling vehicle that also can be easily controlled without any differing angles to the wheels installed onto the support legs 4, 5. Also the material handling vehicle 1 will be very sturdy and will lover maintenance needs.
  • the material handling vehicle 1 has at least two of its wheels steerable. This is preferred to be the drive wheels 7, 9 that are steerable by means of a respective servo motor. Individual steering of the drive wheels 7, 9 is preferred. This provides for a better control and adaptation to any movement of the vehicle.
  • the forward wheels 10, 13 of the support legs 4, 5 can be swivel wheels and only the drive wheels 7, 9 steerable. However one or both of the forward wheels 10, 13 may also be a steerable wheel.
  • the steering is made possible by a respective servo motor. The steering is preferred to be individual for each wheel to allow very precise steering and avoid wear on the wheels in curves etc.
  • the material handling vehicle 1 comprises at least two drive motors 6, 8.
  • the drive motors 6, 8 may be situated on the support legs 10, 13 and by means of these fixed to the mast 2 on each respective side of the mast 2, as seen in figures 1 and 3 .
  • the drive motors 6, 8 may also be fixed to the mast 2 by means of a separate holder 23, 24, as seen in figure 2 and 4 , in embodiments which do not form part of the invention.
  • the material handling vehicle 1 further has a load carrier 26 that is movably attached to the mast 2.
  • the load carrier 26 comprises forks 19, 27.
  • the forks 19, 27 have an outer end element 19a, 27a and an inner element.
  • the outer element 19a, 27a is extendable, for reach purposes. This is made possible as preferred by a hydraulic arrangement with hydraulic cylinders. This could also be achieved with an electric adjustment device.
  • the material handling vehicle 1 further has a hydraulic system comprising a motor 14 connected to a hydraulic pump 14a.
  • the hydraulic system powers the lifting and lowering functions of the material handling vehicle 1. Hydraulics may also power the extension of forks 19, 27 if desired.
  • a hydraulic cylinder 25 figure 3, 4 is pressurized from the pump 14a for lifting purposes.
  • the hydraulic pump is fixedly attached to the mast 2, preferably by means of a holder 15.
  • the motor 14 and the hydraulic pump 14a are preferred to be dimensioned such that lifting speeds without load can be reached in the excess of 3 m/s in vertical direction. It should be understood that there can be several lifting cylinders for performing lifting tasks. There can be one cylinder for lifting the load carrier 26 up to the top of the first mast element 2a, and a second hydraulic cylinder for lifting a further mast element 3.
  • the material handling vehicle 1 has an energy source device 16.
  • the energy source device 16 comprises a battery pack 16a and a holder 17.
  • the holder is fixedly attached to the mast 2.
  • the battery pack is preferred to be constituted of Li-Ion battery cells.
  • the electric system of the material handling vehicle is preferred to be using above 300 Volt. This will be an advantage as the current values can be kept lower and cabling will be simplified. This is in contrast to prior art where much lower Volt values are in general used, for example 24, 36 or 48 Volts.
  • the material handling vehicle 1 comprises a control unit.
  • the control unit has processor, memory and software to control the functions and operation of the vehicle.
  • All wheels 7, 9, 10, 13 may be steerable. This provides for a very excellent manoeuvrability and also provides for using narrow aisles in a warehouse. Thus the multi wheel steering improves efficiency of the warehouse material handling as a whole. In particular the vehicle 1 can move in diagonal direction and turn very narrowly of more wheels are steerable than one.
  • the sensors 21, 22 provided on the material handling vehicle 1.
  • the sensors provide for that the vehicle 1 can operate in very narrow environment of a warehouse.
  • the sensors 21, 22 can be of a suitable type such as laser, ultra-sound or radio based sensors.
  • the material handling vehicle 1 also has navigating equipment 28 for navigating in a warehouse. This is realised in conventional manner.
  • control unit together with the sensors 21, 22 and the navigation equipment 29 provides for an automated material handling vehicle 1 that can perform tasks in the warehouse without interaction of an operator.
  • the material handling vehicle 1 does not comprise any normal operating or control means, such as steering wheel or tiller arm.
  • the material handling vehicle comprises a remote interface, such that it can manually be controlled by a remote operator.
  • the remote interface may comprise a radio receiver and radio emitter. This can be achieved by means of Wi-Fi, GSM or any other wireless interface.
  • the material handling vehicle 1 is arranged such that it can store and perform tasks received over the remote interface. For this reason the material handling vehicle also comprises at least one camera that can send live video to a remote operator.
  • mast 2 is the main element of the material handling vehicle 1. This means that no chassis is needed or present in the material handling vehicle 1.
  • a stabilization device 18 is preferred to be installed to the mast 2, figure 5 disclosing the upper section of the mast 2 for all described material handling vehicles.
  • the stabilisation device is preferred to be a steel plate. The plate should not have holes for viewing through the mast as this would give lower stabilisation properties. And also as the material handling vehicle 1 shall not be operated directly by an operator at site in the warehouse the stabilisation device provides for detection of the vehicle at distance as being an automated vehicle.
  • the material handling vehicle 1 may be provided with a wireless interface 35 that provides for that the material handling vehicle can receive order for material handling but also for the possibility of remotely controlling the vehicle manually. This means that an operator that is not on board the vehicle can control the vehicle remotely.
  • the material handling vehicle can also be provided with at least one camera capable of sending live video to the operator.
  • the remote operator can take over the control of the vehicle and manually do what is needed to start the vehicle again, for example, steer the vehicle around the obstacle.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (11)

  1. Materialhandhabungsfahrzeug (1), das einen Mast (2) und eine Zusatzausrüstung umfasst, wobei die Zusatzausrüstung Folgendes umfasst:
    einen ersten (4) und ein zweiten (5) Stützbein, die jeweils mindestens ein Rad (10, 13) umfassen,
    mindestens zwei Antriebsmotoren (6, 8), die jeweils mindestens ein Rad (7, 9) umfassen,
    eine Energiequelleneinrichtung (16) zum Versorgen der mindestens zwei Antriebsmotoren (6, 8) mit Strom,
    wobei mindestens zwei der Räder voneinander unabhängig lenkbar sind,
    und ferner einen Lastträger (19, 19a) umfasst ist, der angebracht verschiebbar an dem Mast derart ist, dass eine Last entlang des Mastes (2) angehoben werden kann, wobei alle Räder (7, 9, 10, 13) des Fahrzeugs in oder an einem ersten und einem zweiten Stützbein (4, 5) angeordnet sind,
    dadurch gekennzeichnet, dass die Zusatzausrüstung fest an dem Mast (2) angebracht ist.
  2. Materialhandhabungsfahrzeug (1) nach Anspruch 1, wobei ferner ein Hydrauliksystem umfasst ist, das einen mit einer Hydraulikpumpe (14a) verbundenen Pumpenmotor (14) umfasst, wobei die Hydraulikpumpe (14a) vorzugsweise mittels einer fest am Mast (2) angebrachten Halterung (15) am Mast (2) angebracht ist.
  3. Materialhandhabungsfahrzeug (1) nach einem der vorstehenden Ansprüche, wobei ferner eine Energiequelleneinrichtung (16) umfasst ist, wobei die Energiequelleneinrichtung ein Batterieteil (16a) und eine Halterung (17) für das Batterieteil (16a) umfasst, wobei die Halterung (17) vorzugsweise fest am Mast (2) angebracht ist.
  4. Materialhandhabungsfahrzeug (1) nach einem der vorstehenden Ansprüche, wobei die Antriebsmotoren (6, 8) jeweils an oder in den Stützbeine (4, 5) angeordnet sind.
  5. Materialhandhabungsfahrzeug (1) nach einem der vorstehenden Ansprüche, wobei mindestens drei der Räder (7, 9, 10, 13) einzeln lenkbar sind, vorzugsweise alle Räder (7, 9, 10, 13) des Materialhandhabungsfahrzeugs (1) einzeln lenkbar sind.
  6. Materialhandhabungsfahrzeug (1) nach einem der vorstehenden Ansprüche, wobei das Materialhandhabungsfahrzeug (1) ferner Sensoren (21, 22) zum Erkennen von Objekten in der Umgebung des Fahrzeugs (1) umfasst.
  7. Materialhandhabungsfahrzeug (1) nach Anspruch 6, wobei das Fahrzeug (1) ferner mit einer Navigationsausrüstung (29) zum Navigieren in einer Warenlagerumgebung versehen ist, wobei das Fahrzeug (1) vorzugsweise ein automatisiertes Materialhandhabungsfahrzeug ist, das in einer Warenlagerumgebung Waren unabhängig von einer direkten Eingabe durch einen Bediener handhaben kann.
  8. Materialhandhabungsfahrzeug (1) nach einem der vorstehenden Ansprüche, wobei der Mast (2) eine am Mast (2) angebrachte Stabilisierungsvorrichtung (18) aufweist, wobei die angebrachte Vorrichtung (18) vorzugsweise eine Platte, die zumindest teilweise die Sicht durch die durch zwei vertikale Hauptmasttragbalken (30, 31) des Mastes (2) begrenzte Lücke verdeckt.
  9. Materialhandhabungsfahrzeug (1) nach einem der vorstehenden Ansprüche, wobei der Lastträger (19, 19a) derart teleskopierbar angeordnet ist, dass die Lastträger (19, 19a) für Ausstreckvorgänge in eine vom Mast (2) wegführende Richtung ausgefahren werden können.
  10. Materialhandhabungsfahrzeug (1) nach einem der vorstehenden Ansprüche, wobei der Mast (2) mindestens ein erstes (2a) und ein zweites (3) Mastelement umfasst, wodurch der Mast zum Heben von Lasten auf ein höheres Niveau als die Höhe des ersten Mastelements (2a) teleskopisch ausgelegt ist.
  11. Materialhandhabungsfahrzeug (1) nach einem der vorstehenden Ansprüche, wobei das Fahrzeug (1) mit einer drahtlosen Schnittstelle (35) zur manuellen Fernsteuerung des Fahrzeugs (1) versehen ist.
EP18154547.6A 2018-01-31 2018-01-31 Materialhandhabungsfahrzeug Active EP3521235B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP18154547.6A EP3521235B1 (de) 2018-01-31 2018-01-31 Materialhandhabungsfahrzeug
CN201910093693.6A CN110092325B (zh) 2018-01-31 2019-01-30 物料搬运车辆

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP18154547.6A EP3521235B1 (de) 2018-01-31 2018-01-31 Materialhandhabungsfahrzeug

Publications (2)

Publication Number Publication Date
EP3521235A1 EP3521235A1 (de) 2019-08-07
EP3521235B1 true EP3521235B1 (de) 2024-03-06

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EP (1) EP3521235B1 (de)
CN (1) CN110092325B (de)

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CN110092325A (zh) 2019-08-06
EP3521235A1 (de) 2019-08-07

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