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EP3756827A1 - Procédé de fonctionnement d'une machine-outil et machine-outil - Google Patents

Procédé de fonctionnement d'une machine-outil et machine-outil Download PDF

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Publication number
EP3756827A1
EP3756827A1 EP19182851.6A EP19182851A EP3756827A1 EP 3756827 A1 EP3756827 A1 EP 3756827A1 EP 19182851 A EP19182851 A EP 19182851A EP 3756827 A1 EP3756827 A1 EP 3756827A1
Authority
EP
European Patent Office
Prior art keywords
operating mode
machine tool
electric motor
current pulses
current
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Withdrawn
Application number
EP19182851.6A
Other languages
German (de)
English (en)
Inventor
Qin Liu
Bernd Gillmeier
Stefan Schmid
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.)
Hilti AG
Original Assignee
Hilti AG
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 Hilti AG filed Critical Hilti AG
Priority to EP19182851.6A priority Critical patent/EP3756827A1/fr
Priority to US17/615,248 priority patent/US12491617B2/en
Priority to PCT/EP2020/066743 priority patent/WO2020260088A1/fr
Priority to EP20732605.9A priority patent/EP3990223B1/fr
Priority to CN202080034824.4A priority patent/CN113811411B/zh
Publication of EP3756827A1 publication Critical patent/EP3756827A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B45/00—Hand-held or like portable drilling machines, e.g. drill guns; Equipment therefor
    • B23B45/02—Hand-held or like portable drilling machines, e.g. drill guns; Equipment therefor driven by electric power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • B25B23/145—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for fluid operated wrenches or screwdrivers
    • B25B23/1456—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for fluid operated wrenches or screwdrivers having electrical components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
    • B25F5/001—Gearings, speed selectors, clutches or the like specially adapted for rotary tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B45/00—Hand-held or like portable drilling machines, e.g. drill guns; Equipment therefor
    • B23B45/008—Gear boxes, clutches, bearings, feeding mechanisms or like equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/20—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors for controlling one motor used for different sequential operations
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/40—Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
    • B25B23/1475—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers for impact wrenches or screwdrivers

Definitions

  • the present invention relates to a method for operating a machine tool with a rechargeable battery and an electric motor according to the type described in more detail in the preamble of claim 1. Furthermore, the present invention relates to a machine tool according to the type described in more detail in claim 15.
  • a mechanical coupling is characterized by a high weight, itself requires installation space and has a negative impact on the manufacturing costs of the machine tool.
  • the mechanical components are subject to wear and tear and may have to be serviced or replaced.
  • a release torque of the clutch can disadvantageously change as a result of wear of the mechanical clutch, so that a maximum possible release torque of the clutch can decrease in the course of the operation of the clutch.
  • machine tools with an electronically implemented clutch are known from practice, which is implemented by a corresponding control of the electric motor, for which purpose, for example, signals from the electric motor are determined and evaluated.
  • the electric motor is activated after a trigger event has been detected, for example a torque applied to the output shaft which exceeds a defined limit value or a sudden braking of the drive shaft is greater than a defined limit value or a speed applied to the output shaft, which occurs in a defined time interval when starting because of the blocking tool a minimum limit value is not reached, transferred from a first operating mode to a second operating mode in which the electric motor is supplied with current pulses.
  • the object of the present invention is to provide a method for operating a machine tool and a machine tool, wherein the machine tool can be operated in the second operating state over an advantageously long period of time with a desired high voltage.
  • a method for operating a machine tool with a rechargeable battery and an electric motor is therefore proposed, which is designed for the rotary drive of an output shaft that can be coupled to a tool, a control device for operating the electric motor and a device for determining a parameter being provided, the Machine tool can be operated in a first operating mode and a second operating mode, and wherein the control device transfers the machine tool from the first operating mode to the second operating mode when the parameter determined by the device exceeds or falls below a defined threshold value.
  • control device controls the electric motor in the second operating mode with a current intensity profile comprising current pulses, a maximum level of the current pulses being varied by the control device as a function of a current charge status of the battery.
  • a machine tool operated with a method according to the invention provides a user with haptic feedback in a simple manner, for example in the event of a blocking of the drive shaft, even without the provision of a mechanical coupling, comparable to a machine tool with a mechanical coupling.
  • a machine tool operated with a method according to the invention can advantageously be used for a long time in the second operating mode by providing the various current pulses with different maximum currents compared to a machine tool that is supplied with identical current pulses in the second operating mode and with high current pulses to release the output shaft operate. If the machine tool is intended for machining a hard material, the tool coupled to the output shaft, for example a bit, a screwdriver, a drill or the like, can come to an abrupt stop.
  • a torque applied to the output shaft increases until it reaches a permissible limit torque.
  • the output shaft does not reach a defined minimum speed in a predetermined time interval when it starts up and therefore, for example, a drill that has already been detected at the beginning of a machining process is detected. In these cases, the machine tool is transferred from the first operating mode to the second operating mode.
  • the energy-efficient operation of the machine tool in the second operating mode is achieved by adapting a maximum level of the current pulses depending on the current charge status of the battery, so that when the charge status decreases, the power consumption is also reduced and the machine tool can thus advantageously be operated for a long time in the second operating mode is. Furthermore, the method according to the invention can be used to ensure in a simple manner that a voltage in the course of operating the machine tool in the second operating mode is reliably above a defined limit value.
  • a maximum level of current pulses with which the electric motor is applied in the second operating mode does not increase over time and in particular decreases.
  • the maximum level of the first current pulse and / or the maximum level of the second current pulse is discrete, ie, for example, in a stepped manner, or in particular with continuous monitoring of the charge status of the battery is continuously adapted depending on the charge status of the battery.
  • the electric motor is acted upon in the second operating mode with first current pulses and second current pulses, the magnitude of a maximum current intensity of the first current pulses being greater than the magnitude of a maximum current intensity of the second current pulses.
  • the second current pulses with the smaller maximum current intensity are provided in order to provide the user in the second operating mode of the machine tool with comparable haptic feedback to a machine tool designed with a mechanical clutch in the released state of the clutch. It was found that lower maximum currents are sufficient for this.
  • a sequence of first current pulses and second current pulses takes place in particular on the basis of a predetermined pattern.
  • a level of the maximum current strength of the first current pulses and / or a level of the maximum current strength of the second current pulses are adapted as a function of the charge state of the battery and, in particular, decrease over time.
  • the electric motor is activated in the second operating mode alternately with a defined number of first current pulses and a defined number of second current pulses, this sequence in particular being repeated.
  • a desired haptic feedback and, on the other hand, a desired torque transmitted to the output shaft is achieved in an energy-efficient manner, which is provided, for example, to release a bit blocking in a background.
  • the electric motor is controlled in the second operating mode in such a way that the length of the first current pulses varies from differs from a length of the second current pulses, wherein the first current pulses are in particular longer than the second current pulses, and are preferably substantially twice as long as the second current pulses. This is based on the knowledge that short, second current pulses are sufficient to achieve a desired haptic feedback compared to the first current pulse, whereas longer current pulses are useful for releasing the tool.
  • a time interval between successive current pulses corresponds in particular to a length of the first current pulse. It can be provided that a distance between all the current pulses is essentially identical.
  • the maximum current strength of the first current pulses is between 25% and 80% greater, particularly preferably essentially 50% greater, than the maximum current strength of the second current pulses.
  • the ratio of the maximum current strength of the first current pulses to the maximum current strength of the second current pulses can also change in the course.
  • the electric motor is essentially the same for a defined period of time with a current strength before a transition to the second operating mode the value zero is applied and the electric motor is stopped in particular.
  • the machine tool is transferred from the second operating mode to the first operating mode if a torque applied to the output shaft and determined by the device is lower as a limit torque.
  • the electric motor is accelerated to a desired speed via a, for example, predetermined ramp.
  • the electric motor can be stopped when the electric motor is in the second operating mode for a period of time greater than a predefined limit value.
  • the machine tool is thereby in particular Protected against damage by overheating of components of the machine tool, in particular electronics, a rotor or windings of the electric motor.
  • the device is designed to determine a torque applied to the output shaft, the machine tool being operated in the first operating mode when the torque determined by the device is less than a defined limit torque, and the control device controls the machine tool from transferred from the first operating mode to the second operating mode when the torque determined by the device exceeds the defined limit torque.
  • the determined torque corresponds to the parameter determined by the device.
  • the device can be implemented as an algorithm stored in the control device, which calculates or estimates the torque applied to the output shaft on the basis of input parameters such as, for example, an engine speed and a current intensity present.
  • the device is designed to determine an acceleration value of the output shaft, the machine tool being transferred from the first operating mode to the second operating mode when the determined acceleration value of the output shaft exceeds a defined negative acceleration value and the output shaft is thus stronger than a defined value is braked. This case can occur in particular if, for example, a drill jams in a hard surface.
  • the determined acceleration corresponds to the parameter determined by the device.
  • the parameter determined by the device is a speed of the drive shaft, the machine tool being transferred from the first operating mode to the second operating mode if a speed of a motor shaft or the output shaft does not reach a defined limit speed after a predetermined period of time .
  • This makes it possible in particular to determine if, for example, a tool coupled to the output shaft is already blocked in a substrate at the start of a machining process.
  • a machine tool according to the invention has the advantage that with it, in a structurally simple, inexpensive, weight-optimized and energy-efficient manner, a user can be provided with a haptic feedback comparable to that of a machine tool with a mechanical clutch in the event that a braking torque applied to the output shaft is greater than a is a defined limit torque and the mechanical clutch is triggered.
  • the energy-efficient operation of the machine tool in the second operating mode is achieved by adapting a maximum level of the current pulses depending on the current charge status of the battery, so that when the charge status decreases, the power consumption is also reduced and the machine tool can thus advantageously be operated for a long time in the second operating mode is. Furthermore, it can be ensured that a voltage is reliably above a defined limit value during the operation of the machine tool in the second operating mode.
  • Fig. 1 shows an exemplary flow chart of an embodiment of a method according to the invention for operating a machine tool 1, in particular a cordless screwdriver, a drill or the like.
  • the machine tool 1 has a rechargeable battery 2 which is provided for supplying power to an electric motor 3 of the machine tool 1.
  • the electric motor 3 is designed for the rotary drive of an output shaft 4 of the machine tool 1, wherein the output shaft 4 can be coupled to a tool 5, for example a bit, a drill or the like.
  • the machine tool 1 also has a control device 6 for actuating the electric motor 3, the control device 6 being designed for controlled actuation of the electric motor 3 on the basis of a current intensity.
  • the machine tool 1 also has a device 7 for determining a parameter of the machine tool 1, in particular a torque applied to the output shaft 4 and / or an acceleration value of the output shaft 4.
  • the machine tool 1 is designed without a mechanical coupling, so that the electric motor 3 is directly in operative connection with the output shaft 4, possibly with the interposition of a gear.
  • the machine tool 1 can be operated in a first operating mode and in a second operating mode. This is discussed in more detail below.
  • the method begins with the start S.
  • the machine tool 1 is operated in the first operating mode, which for example corresponds to a normal drilling mode, after a user request.
  • the device 7 detects a defined operating state in which continued operation in the first operating mode can lead, for example, to damage to the electric motor 3, in particular due to overheating.
  • the device 7 detects or determines, for example, an undesirably high braking torque applied to the output shaft 4 of the tool 5 which exceeds a predetermined threshold value or a limit torque. This case can occur, for example, when drilling a hole at an advanced borehole depth.
  • the defined operating state can be detected by the device 7 in that the determined absolute value of the acceleration of the output shaft 4 is greater than a defined threshold value and the tool 5 thus experiences a defined deceleration. This case can occur with a blocking tool 5, for example.
  • the device 7 can be implemented, for example, as an algorithm stored in the control device 6 which determines a parameter directly or indirectly from other input values or calculates or estimates and compares this with a defined limit value.
  • the parameter can be, for example, the torque applied to the output shaft 4 or an acceleration value of the output shaft 4.
  • step S3 After a corresponding detection of the defined operating state, the electric motor 3 is braked by the control device 6 in step S3 to a speed n mot essentially equal to zero.
  • the control device 6 then transfers the machine tool 1 to the second operating mode in step S4, which aims on the one hand to release the tool 5 and on the other hand to provide haptic feedback to the user comparable to a machine tool with a mechanical coupling.
  • the second operating mode is discussed in more detail below.
  • step S5 After the tool 5 has been released again, i. That is, if the device 7 detects, for example, that a torque applied to the output shaft 4 is less than a defined torque value, the control device 6 transfers the machine tool 1 back to the first operating mode in step S5 and a check is made again in step S6, whether a defined operating state described in more detail above occurs again.
  • step E the method is ended, for example, if requested by the user.
  • Fig. 2 shows an exemplary sequence of a drilling process, the upper diagram showing a course of the motor speed n mot and the lower diagram showing an actual course of the current intensity A over time.
  • the current intensity curve essentially corresponds to a curve of a torque applied to the output shaft 4.
  • the machine tool 1 is operated in a first phase P1 in the first operating mode, the motor speed n mot essentially constantly assuming an operating value n mot1 and the current A required to operate the electric motor 3 being below a threshold value A limit . It can also be provided that instead of the current strength A in the control device 6, an applied load torque is estimated.
  • the current strength A rises up to the threshold value A limit or the estimated load torque increases up to a threshold value M limit .
  • the defined operating state is determined by the control device 6.
  • the motor speed n mot is then set essentially to the value zero in a second phase P2 up to the point in time t2.
  • the machine tool 1 is transferred from the first operating mode to the second operating mode, in which the control device 6 controls the electric motor 3 with a predefined and in Fig. 4 excerpted closer visible current intensity profile applied.
  • the electric motor 3 is controlled by the control device 6 in the second operating mode on the basis of the detail in FIG Fig. 3 shown current intensity profile controlled or regulated to this current intensity profile.
  • the current intensity profile has first current pulses 10 and second current pulses 11, which in the present case are designed as rectangular pulses.
  • the maximum current strength A2 of the second current pulses 11 is essentially constant for all first current pulses 11, the current strength A2 in the present case being approximately 50% smaller than a maximum current strength A1 of the first current pulse 10.
  • the first current pulse 10 according to Fig. 4 has a maximum current strength A1 when the battery 2 is fully charged.
  • the maximum current strength A1 of the first current pulse 10 decreases as a function of the state of charge of the rechargeable battery 2, a further first current pulse 10 'having a maximum current strength A1' less than the maximum current strength A1.
  • a dependency of the maximum current strength of the first current pulses 10 on the state of charge of the battery 2 is shown as an example, the maximum current strength of the first current pulses 10 decreasing in discrete values as the state of charge of the battery 2 decreases.
  • the charge status of battery 2 is in Fig. 5 shown as a percentage of a maximum state of charge of the battery 2.
  • the maximum current intensity of the first current pulses 10 decreases essentially continuously when prompt or current information is available regarding the charge state of the rechargeable battery 2.
  • the maximum current strength of the second current pulses 11 decreases as a function of the state of charge of the battery 2.
  • the first current pulses 10, 10 ′ extend over a first time period T1, which in the present case is essentially twice as long as a time period T2 of the second current pulses 11.
  • a time span T3 between two successive current pulses 10, 10 '11 corresponds in the present case essentially to the time span T1 of the first current pulse 10, 10'.
  • a first current pulse 10, 10 ′ is followed by nine second current pulses 11. It has been found that this is a favorable compromise between a desired haptic feedback to the user, which is comparable to that of a machine tool with a releasing mechanical clutch, and results in low power consumption.
  • the first current pulses 10, 10 ′ generate a torque applied to the output shaft 4, which is intended to release the tool 5 from the blocked situation.
  • the motor speed n mot increases up to the point in time t4 in a fourth phase P4, this being due to the removal of the blocking situation of the tool.
  • the machine tool 1 is then returned to the first operating state by the control device 6 from the point in time t4 in a fifth phase P5, the engine speed n mot being returned to the value n mot1 after an acceleration phase .
  • the electric motor 3 is stopped to prevent overheating of the electric motor 3.
  • Fig. 6 an alternatively designed current intensity profile is shown which, in contrast to the current intensity profile according to FIG Fig. 4 does not have two fundamentally different types of current pulses, but only provides one type of current pulse 12.
  • the current pulses 12 differ from one another only in the magnitude of the maximum current intensity, this being dependent on the state of charge of the accumulator 2 in the manner described above and decreasing over time from a value A1 to a value A4.
  • the maximum current strength of the first current pulses 10 decreases in the present case in discrete values as the charge state of the battery 2 decreases.
  • individual or several current pulses 12 of the current intensity profile extend over a longer period of time than other current pulses 12, so that the longer current pulses for applying a desired high output torque to the output shaft 4 and the further current pulses to achieve a desired haptic feedback is comparable to a triggered mechanical clutch.
  • the maximum current strength of the first current pulses 10, 10 ′ or of the current pulses 12 decreases essentially continuously when prompt or current information is available regarding the state of charge of the battery 2.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Portable Power Tools In General (AREA)
  • Control Of Electric Motors In General (AREA)
  • Numerical Control (AREA)
EP19182851.6A 2019-06-27 2019-06-27 Procédé de fonctionnement d'une machine-outil et machine-outil Withdrawn EP3756827A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP19182851.6A EP3756827A1 (fr) 2019-06-27 2019-06-27 Procédé de fonctionnement d'une machine-outil et machine-outil
US17/615,248 US12491617B2 (en) 2019-06-27 2020-06-17 Method for operating a machine tool and machine tool
PCT/EP2020/066743 WO2020260088A1 (fr) 2019-06-27 2020-06-17 Procédé pour faire fonctionner une machine-outil et machine-outil
EP20732605.9A EP3990223B1 (fr) 2019-06-27 2020-06-17 Procédé de fonctionnement d'une machine-outil et machine-outil
CN202080034824.4A CN113811411B (zh) 2019-06-27 2020-06-17 操作机加工工具的方法和机加工工具

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19182851.6A EP3756827A1 (fr) 2019-06-27 2019-06-27 Procédé de fonctionnement d'une machine-outil et machine-outil

Publications (1)

Publication Number Publication Date
EP3756827A1 true EP3756827A1 (fr) 2020-12-30

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
EP19182851.6A Withdrawn EP3756827A1 (fr) 2019-06-27 2019-06-27 Procédé de fonctionnement d'une machine-outil et machine-outil
EP20732605.9A Active EP3990223B1 (fr) 2019-06-27 2020-06-17 Procédé de fonctionnement d'une machine-outil et machine-outil

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP20732605.9A Active EP3990223B1 (fr) 2019-06-27 2020-06-17 Procédé de fonctionnement d'une machine-outil et machine-outil

Country Status (4)

Country Link
US (1) US12491617B2 (fr)
EP (2) EP3756827A1 (fr)
CN (1) CN113811411B (fr)
WO (1) WO2020260088A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
EP4173756A1 (fr) * 2021-10-27 2023-05-03 Nanjing Chervon Industry Co., Ltd. Outil électrique

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US10565256B2 (en) 2017-03-20 2020-02-18 Google Llc Contextually disambiguating queries
EP3756826A1 (fr) 2019-06-27 2020-12-30 Hilti Aktiengesellschaft Procédé de fonctionnement d'une machine-outil et machine-outil

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EP3990223B1 (fr) 2023-08-02
EP3990223A1 (fr) 2022-05-04
US12491617B2 (en) 2025-12-09
CN113811411B (zh) 2024-07-02
US20220250227A1 (en) 2022-08-11
WO2020260088A1 (fr) 2020-12-30
CN113811411A (zh) 2021-12-17

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