EP3682981A1 - Procédé et dispositif de fluotournage - Google Patents
Procédé et dispositif de fluotournage Download PDFInfo
- Publication number
- EP3682981A1 EP3682981A1 EP20159889.3A EP20159889A EP3682981A1 EP 3682981 A1 EP3682981 A1 EP 3682981A1 EP 20159889 A EP20159889 A EP 20159889A EP 3682981 A1 EP3682981 A1 EP 3682981A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- workpiece
- roller
- support
- rotation
- radially
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000005096 rolling process Methods 0.000 title claims abstract description 20
- 239000000463 material Substances 0.000 claims abstract description 5
- 230000008719 thickening Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000007493 shaping process Methods 0.000 description 6
- 238000009987 spinning Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000010409 ironing Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000005482 strain hardening Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 208000016261 weight loss Diseases 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/14—Spinning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/14—Spinning
- B21D22/18—Spinning using tools guided to produce the required profile
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D53/00—Making other particular articles
- B21D53/26—Making other particular articles wheels or the like
- B21D53/30—Making other particular articles wheels or the like wheel rims
Definitions
- the invention relates to a method for pressure rolling, in particular a vehicle wheel, wherein a workpiece is set in rotation about an axis of rotation by means of a spindle and at least one outer roller is set on an outside of the workpiece by means of an external support, an axially extending jacket region of the workpiece being formed with thinning of the material is, according to the preamble of claim 1.
- the invention further relates to a device for pressure rolling with a spindle, which is driven by a drive rotating about an axis of rotation and designed to hold a workpiece, at least one outer roller which is rotatably mounted on an external support which is axially and radially for delivery to the workpiece can be moved relative to the axis of rotation, and at least one inner roller, which can be set on an inner side of the workpiece opposite the outer roller, according to the preamble of claim 10.
- a method for pressure rolling with increased flexibility in shaping is known from the EP 2 210 682 B1 known.
- a variable mandrel with a conical outer contour is provided as the chuck.
- the Mandrel is arranged concentrically to the axis of rotation.
- a variable inside diameter can be provided at the respective forming zone.
- this method is limited to certain inner contours.
- a tool for the pressure rolling of hollow cylindrical workpieces is known. Simultaneously with the delivery of outer rollers on an outer contour of the tube workpiece, inner rollers are fed to an outer contour with an inner roller carrier. A fixed distance is specified between the outer roller and the inner roller, which specifies the circumference of an ironing roll and the wall thickness of the tubular workpiece to be formed.
- the invention is based on the object of specifying a method and a device for pressing rollers, with which a particularly high dimensional variety of workpieces can be generated flexibly and efficiently.
- the method according to the invention is characterized in that at least one inner roller is fed to an inside of the workpiece by means of an inner support which can be moved axially and radially to the axis of rotation independently of the outer support, and that the inner support with the inner roller and the External support can be moved individually with the outer roller, a defined wall thickness profile with different wall thicknesses being formed between the at least one outer roller and the at least one inner roller on the jacket region.
- a basic idea of the invention is to depart from a predetermined pressing tool, which specifies a negative shape of an inner contour of the workpiece, and to provide at least one inner roller for shaping the inner contour.
- the inner roller is not moved in a straight line parallel to the outer roller, but the inner roller is mounted on an inner support which can be moved axially and radially to the axis of rotation independently of the outer support. In this way, an almost unlimited variety of shapes can be created without having to convert a pressing tool.
- a CNC control is provided, and preferably additional programming support software, which is used in particular offline on a PC.
- the inner support with the inner roller and the outer support with the outer roller can be moved independently of one another.
- a free contour course can be set on the inside and outside of the workpiece.
- the effective shaping gap and thus a wall thickness profile can be formed in the axial jacket area of the workpiece to be shaped with a high degree of freedom in shaping.
- pressure rolling is to be understood broadly in the sense of the invention and includes not only forming with a change in wall thickness but also pressing with a constant wall thickness.
- a preferred embodiment of the invention consists in that the at least one inner roller and the at least one assigned outer roller are moved radially and axially with respect to one another in order to form the jacket region.
- the wall thickness is not only determined by a radial distance between the inner roller and the outer roller.
- the inner role or the outer role of the other role axially ahead or lagging.
- an abutment function is also created in an axial direction, which can be essential for an accurate stretching.
- the workpiece is clamped on the spindle, with a free space in a central area remaining radially inside the jacket area.
- This jacket area is designed so large that at least one inner roller can be delivered to an inner contour of the jacket area.
- the workpiece is preferably clamped on one side on the spindle, for example by means of a three- or multi-jaw chuck.
- Other clamping mechanisms can be used, for example also with an axial clamping element or counter-holding element, which is attached to or through a central opening on a hub area of the workpiece.
- the workpiece it is advantageous for the workpiece to be clamped on a partial area of the outer circumference.
- the workpiece can be centered on the spindle from the outside using appropriate clamping jaws.
- the workpiece is provided with a clamping and / or centering aid before the pressure rolling.
- a centering is preferably provided for centering the workpiece during the clamping process.
- a corresponding centering aid can be attached to the workpiece, which is cast on in particular in cast wheels. This can be carried out, for example, by means of projections or stop edges that these support the torque transmission from the chuck to the workpiece.
- the clamping and / or centering aid is removed from the workpiece after the pressure rolling. This can be done in particular by simple machining. This can also be done with a separate machine, such as a lathe, or the pressure rolling device itself with an additional cutting tool.
- an internal clamping device is provided, by which a hub area of the workpiece is covered.
- a hub area of the workpiece is covered.
- the clamping device has a relatively large plate-like clamping surface, by means of which the specially designed and preformed hub area is covered and protected.
- the method according to the invention can be used to form any workpiece with an axially extending, tubular jacket region.
- the jacket area is designed as a rim bed of a vehicle wheel with at least one hump, which is formed as a thickening in the course of the wall thickness. It is further preferred to form a cast preform into a rim blank, which is then further processed to the finished wheel, in particular by machining.
- a largely weight-optimized vehicle wheel can be produced in which the wall thickness profile of the rim base is adapted to the actual load on the vehicle wheel during operation. Areas with low loads are formed with a small wall thickness, while heavily loaded areas are formed with a correspondingly large wall thickening.
- a hump that is to say a bead for fixing the tire to the rim base, can also be formed in a simple manner by thickening the wall along the rim base. The hump represents a radially outwardly projecting annular elevation on the rim well.
- the side rim flanges can also be shaped in a corresponding manner.
- Other and different inner rollers with a modified and adapted outer contour can also be used to form the rim flanges.
- contoured outer rollers to form the rim flanges. Thanks to the freely programmable interior and External rollers also make it possible to gradually shape the rim contour, so that higher work hardening and / or structural changes are brought about in specific areas of the rim. This enables stability increases and / or weight reductions on the workpiece.
- the device for pressure rolling according to the invention is characterized in that the at least one inner roller is rotatably mounted on an inner support, which is mounted so as to be movable independently of the outer support axially and radially to the axis of rotation, and in that a CNC control for the individual movement of the at least one inner support the inner roller and the at least one outer support with the outer roller is provided, a wall thickness profile of the workpiece being adjustable between the inner roller and the outer roller.
- the device according to the invention can be used in particular to carry out the method described above.
- the advantages described above can be achieved.
- a preferred embodiment of the device according to the invention consists in that several inner rollers and outer rollers are provided, one inner roller being assigned to one outer roller.
- a plurality of inner rollers, preferably three inner rollers, are preferably arranged on a common roller carrier.
- the individual inner rollers can be pivotably adjustable relative to the axis of rotation. In this way, a targeted shaping of the different contour areas of the workpiece can be achieved.
- axially and / or radially adjustable inner rollers or inner supports can be provided separately.
- a clamping device for clamping the workpiece is arranged on the spindle, with a free space in a central region remaining radially inside the jacket region of the workpiece.
- the at least one inner support can be moved into this free space, so that an inner contour of the jacket region of the workpiece can be formed by the at least one inner roller.
- a control device with a data memory in which data records for moving the inner roller and the outer roller are stored for different workpiece shapes.
- the device with the control device is provided via a remote data connection, in particular an Internet connection. In this way, new or updated data records for existing or new workpieces can be transferred to the machine's data memory.
- the device according to the invention can thus be provided for highly flexible use in Industry 4.0 projects.
- rollers are provided with an auxiliary drive for rotating the roller.
- Both the inner rollers and the outer rollers can be provided with a respective roller drive.
- the inner and / or outer rollers can be accelerated before they come into contact with the material of the rotating workpiece to be formed. This counteracts baking on the rollers and / or increased wear of the rollers.
- the roller drive is designed with a freewheel or speed control device which enables the peripheral speed of the roller to be automatically adapted to the component.
- An ejector in particular an axially adjustable ejector, can be used to eject from the tensioning device.
- the ejection is preferably carried out as a controlled movement.
- the device for pressure rolling is preferably designed as a vertical machine with a hanging or alternatively upright spindle, so that workpiece centering is made easier.
- the counter holder of the clamping device can also take on the function of loading and unloading.
- the inner and / or outer supports are preferably designed as independently controllable supports that are only electrically synchronized.
- the outer roller is preferably set at an angle of 0 to 15 ° to the axis of rotation while the inner rollers are preferably set from 0 to 45 ° and participate in the forming over a preferably significantly larger roller radius.
- the outer and inner rollers are preferably fed via two linear cross supports. Alternatively, the use of at least two inner rollers on the cross support can be dispensed with by simultaneously moving or starting the rollers using a wedge slide.
- a device 10 according to the invention for pressure rolling Fig. 1 has a spindle 12 driven in rotation via a drive, not shown.
- the spindle 12 rotates about a central axis of rotation 13, which runs horizontally in the illustrated example.
- the spindle 12 can be directed vertically with the axis of rotation 13, a workpiece 5 then resting on the spindle 12 or being clamped to an overhead spindle 12 in the case of a hanging spindle arrangement.
- a workpiece 5 can be connected to the spindle 12 in a detachable and rotationally fixed manner and centrally to the axis of rotation 13.
- the workpiece 5 is a preform of a vehicle wheel in the illustrated embodiment.
- the preform is preferably made from a metal material by casting or forging manufactured.
- the rotationally symmetrical workpiece 5 has an essentially radially running hub area 6 with a central opening 4 and an essentially axially extending drum-shaped jacket area 7. With the clamping claws 16, the workpiece 5 is fastened on one side on its outer circumference to the spindle 12.
- the spindle 12 is set in rotation with the workpiece 5.
- three outer rollers 20, of which only one outer roller 20 is shown are fed radially to the outside of the jacket region 7 of the workpiece 5 by means of external supports, not shown.
- an inner support 40 with three inner rollers 30 arranged offset by 120 ° to one another is fed into a central free space within the drum-shaped jacket region 7.
- the inner rollers 30 are initially placed adjacent to the radial hub area 6 on an inside of the jacket area 7.
- the inner support 40 has a central and conical center support 42, on the outside of which linear guides 44 for slides 46 are arranged.
- Roll holders 48 are pivotably mounted on the linearly movable carriage 46.
- the inner rollers 30 are rotatably supported in the pot-like roller holders 48 via roller bearings.
- the inner rollers 30 can be pivoted via the pivotable roller holders 48 during the pressure rolling process and can be moved radially and / or axially by means of the slide 46 and the inner support 40.
- the outer rollers 20 can be pivoted on an external support (not shown) and can be moved radially and axially.
- the outer roller 20 and the inner roller 30 are moved via a CNC control and actuators, not shown, based on stored data for shaping the desired workpiece 5 Fig. 2
- the jacket region 7 of the workpiece 5 can be formed into a rim bed with a hump 8, which represents a thickening in the wall thickness profile of the jacket region 7.
- the final shaped jacket area 7 is elongated with respect to the jacket area 7 of the starting workpiece 5 and thinned with respect to the wall thickness. Almost any external contour and an internal contour can be generated with the device 10 according to the invention.
- the second embodiment according to the Figures 3 and 4th corresponds essentially to the structure of the first device 10 according to the invention according to FIGS Figures 1 and 2nd .
- the device 10 in contrast to the first embodiment, a modified inner roller 30 with an annular radial projection 32 and an abutment section 34 adjacent in the front region is provided.
- the radially protruding radial projection 32 on the inner roller 30 can be used to form an inner contour along the inside of a jacket region 7 of the workpiece 5 in interaction with the radially externally acting outer roller 20.
- the front abutment portion 34 can be used to form a rim flange at the free end of the molded rim well, as shown in FIG Fig. 4 is shown.
- the abutment section 34 can in particular be designed as a negative shape of the inner contour of the rim flange and for absorbing the forming forces of the outer roller 20.
- different outer rollers 20 with an adapted outer contour can be delivered to the jacket area 7.
- an outer roller 20 can have an outer contour corresponding to the desired shape of the rim flange to be shaped.
- an axially movable counter-holder 18 is also provided. Particularly after an initial contouring of the jacket area 7, the counter-holder 18 can be pressed axially into the central free space of the drum-shaped jacket area 7 against the hub area 6 of the workpiece 5. As a result, additional axial clamping and centering of the workpiece can take place at least during an end stage of the pressure rolling process.
- the counter-holder 18 can have a plate-shaped contact element 19 which is adapted to a contouring of the hub area 6 of the workpiece 5.
- workpieces 5 with a large variety of shapes of a wall area 7 can be formed without conversion measures.
- this process enables repeated, gradual pressure rolling until the final end geometry or complete structural change has been achieved.
- the process can also be used for the cold forming of aluminum forged wheels, as well as for steel wheels.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Shaping Metal By Deep-Drawing, Or The Like (AREA)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP20159889.3A EP3682981B1 (fr) | 2017-01-18 | 2017-01-18 | Procédé et dispositif de fluotournage |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP20159889.3A EP3682981B1 (fr) | 2017-01-18 | 2017-01-18 | Procédé et dispositif de fluotournage |
EP17151935.8A EP3351313B1 (fr) | 2017-01-18 | 2017-01-18 | Procédé et dispositif de fluotournage |
Related Parent Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17151935.8A Division EP3351313B1 (fr) | 2017-01-18 | 2017-01-18 | Procédé et dispositif de fluotournage |
EP17151935.8A Division-Into EP3351313B1 (fr) | 2017-01-18 | 2017-01-18 | Procédé et dispositif de fluotournage |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3682981A1 true EP3682981A1 (fr) | 2020-07-22 |
EP3682981B1 EP3682981B1 (fr) | 2023-06-07 |
Family
ID=57868053
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17151935.8A Active EP3351313B1 (fr) | 2017-01-18 | 2017-01-18 | Procédé et dispositif de fluotournage |
EP20159889.3A Active EP3682981B1 (fr) | 2017-01-18 | 2017-01-18 | Procédé et dispositif de fluotournage |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17151935.8A Active EP3351313B1 (fr) | 2017-01-18 | 2017-01-18 | Procédé et dispositif de fluotournage |
Country Status (7)
Country | Link |
---|---|
US (1) | US11565300B2 (fr) |
EP (2) | EP3351313B1 (fr) |
JP (1) | JP2020507478A (fr) |
KR (1) | KR102281547B1 (fr) |
CN (1) | CN110312579B (fr) |
ES (1) | ES2789473T3 (fr) |
WO (1) | WO2018133959A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102020133114A1 (de) | 2020-12-11 | 2022-06-15 | Vibracoustic Se | Rotationsfähiges Bauteil, Werkzeug und Verfahren zur Herstellung eines rotationsfähigen Bauteils |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3351313B1 (fr) | 2017-01-18 | 2020-04-15 | Leifeld Metal Spinning AG | Procédé et dispositif de fluotournage |
DE102017112857A1 (de) * | 2017-06-12 | 2018-12-13 | WF Maschinenbau und Blechformtechnik GmbH & Co. KG | Verfahren zur Herstellung eines rotationssymmetrischen Formkörpers sowie Vorrichtung zur Durchführung des Verfahrens |
DE102018124997A1 (de) * | 2017-10-16 | 2019-04-18 | Ssb-Maschinenbau Gmbh | Herstellungsvorrichtung von Leichtmetallkraftfahrzeugfelgen |
AU2019351126B2 (en) | 2018-09-27 | 2023-10-26 | Inno-Spin LLC | Multi-axis roll-forming of stepped-diameter cylinder |
KR102268716B1 (ko) * | 2020-02-06 | 2021-06-25 | 주식회사 새한산업 | 자동차의 차체 휠하우스 제조장치 |
CN112058937A (zh) * | 2020-07-29 | 2020-12-11 | 宁波大学 | 一种长空心管内壁减薄成形方法 |
DE202021101035U1 (de) | 2021-03-02 | 2021-03-10 | Leifeld Metal Spinning Ag | Drückwalzmaschine |
EP4370259A1 (fr) | 2021-07-16 | 2024-05-22 | WF Maschinenbau- und Blechformtechnik GmbH & Co. KG | Procédé et dispositif de laminage par compression d'une roue de véhicule |
CN114603027B (zh) * | 2022-03-09 | 2023-03-31 | 西北工业大学 | 一种带内筋筒形件的多级旋轮式随动约束旋压成形方法 |
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US3287951A (en) | 1966-03-04 | 1966-11-29 | Ladish Co | Art of roll-reducing ring wall thickness |
DE3545506A1 (de) | 1985-12-20 | 1987-07-02 | Man Technologie Gmbh | Werkzeug zum drueckwalzen von hohlzylindrischen werkstuecken |
DE102010000004A1 (de) * | 2010-01-05 | 2011-07-07 | WF-Maschinenbau und Blechformtechnik GmbH & Co. KG, 48324 | Verfahren zur Herstellung einer Felge und Vorrichtung zur Durchführung des Verfahrens |
EP2210682B1 (fr) | 2009-07-09 | 2012-03-14 | Leifeld Metal Spinning AG | Méthode et appareil de fluotournage |
DE102011117034A1 (de) * | 2011-10-27 | 2013-05-02 | Ronal Ag | Vorrichtung und Verfahren zum Herstellen eines Metallrades |
US20130152652A1 (en) * | 2010-10-01 | 2013-06-20 | Cambridge Enterprise Limited | Spin forming process and apparatus for manufacturing articles by spin forming |
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-
2017
- 2017-01-18 EP EP17151935.8A patent/EP3351313B1/fr active Active
- 2017-01-18 ES ES17151935T patent/ES2789473T3/es active Active
- 2017-01-18 EP EP20159889.3A patent/EP3682981B1/fr active Active
- 2017-10-17 JP JP2019559160A patent/JP2020507478A/ja active Pending
- 2017-10-17 WO PCT/EP2017/076444 patent/WO2018133959A1/fr active Application Filing
- 2017-10-17 CN CN201780084022.2A patent/CN110312579B/zh active Active
- 2017-10-17 KR KR1020197021598A patent/KR102281547B1/ko active IP Right Grant
- 2017-10-17 US US16/476,013 patent/US11565300B2/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3287951A (en) | 1966-03-04 | 1966-11-29 | Ladish Co | Art of roll-reducing ring wall thickness |
DE3545506A1 (de) | 1985-12-20 | 1987-07-02 | Man Technologie Gmbh | Werkzeug zum drueckwalzen von hohlzylindrischen werkstuecken |
EP2210682B1 (fr) | 2009-07-09 | 2012-03-14 | Leifeld Metal Spinning AG | Méthode et appareil de fluotournage |
DE102010000004A1 (de) * | 2010-01-05 | 2011-07-07 | WF-Maschinenbau und Blechformtechnik GmbH & Co. KG, 48324 | Verfahren zur Herstellung einer Felge und Vorrichtung zur Durchführung des Verfahrens |
US20130152652A1 (en) * | 2010-10-01 | 2013-06-20 | Cambridge Enterprise Limited | Spin forming process and apparatus for manufacturing articles by spin forming |
DE102011117034A1 (de) * | 2011-10-27 | 2013-05-02 | Ronal Ag | Vorrichtung und Verfahren zum Herstellen eines Metallrades |
Cited By (1)
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DE102020133114A1 (de) | 2020-12-11 | 2022-06-15 | Vibracoustic Se | Rotationsfähiges Bauteil, Werkzeug und Verfahren zur Herstellung eines rotationsfähigen Bauteils |
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WO2018133959A1 (fr) | 2018-07-26 |
US20190374991A1 (en) | 2019-12-12 |
KR20190108116A (ko) | 2019-09-23 |
ES2789473T3 (es) | 2020-10-26 |
EP3351313A1 (fr) | 2018-07-25 |
EP3682981B1 (fr) | 2023-06-07 |
US11565300B2 (en) | 2023-01-31 |
CN110312579A (zh) | 2019-10-08 |
CN110312579B (zh) | 2021-10-08 |
JP2020507478A (ja) | 2020-03-12 |
EP3351313B1 (fr) | 2020-04-15 |
KR102281547B1 (ko) | 2021-07-23 |
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