EP3898025B1 - Procédé pour produire une préforme pour une soupape à tige creuse pour des moteurs à combustion interne - Google Patents
Procédé pour produire une préforme pour une soupape à tige creuse pour des moteurs à combustion interne Download PDFInfo
- Publication number
- EP3898025B1 EP3898025B1 EP20703184.0A EP20703184A EP3898025B1 EP 3898025 B1 EP3898025 B1 EP 3898025B1 EP 20703184 A EP20703184 A EP 20703184A EP 3898025 B1 EP3898025 B1 EP 3898025B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- forming
- workpiece
- valve
- preform
- cavity
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21K—MAKING FORGED OR PRESSED METAL PRODUCTS, e.g. HORSE-SHOES, RIVETS, BOLTS OR WHEELS
- B21K1/00—Making machine elements
- B21K1/20—Making machine elements valve parts
- B21K1/22—Making machine elements valve parts poppet valves, e.g. for internal-combustion engines
-
- 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
- B21D22/16—Spinning over shaping mandrels or formers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J7/00—Hammers; Forging machines with hammers or die jaws acting by impact
- B21J7/02—Special design or construction
- B21J7/14—Forging machines working with several hammers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
- F01L3/00—Lift-valve, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces; Parts or accessories thereof
- F01L3/12—Cooling of valves
- F01L3/14—Cooling of valves by means of a liquid or solid coolant, e.g. sodium, in a closed chamber in a valve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21H—MAKING PARTICULAR METAL OBJECTS BY ROLLING, e.g. SCREWS, WHEELS, RINGS, BARRELS, BALLS
- B21H7/00—Making articles not provided for in the preceding groups, e.g. agricultural tools, dinner forks, knives, spoons
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
- F01L2303/00—Manufacturing of components used in valve arrangements
- F01L2303/01—Tools for producing, mounting or adjusting, e.g. some part of the distribution
Definitions
- the present invention relates to a method for producing a preform of a valve body of hollow valves, or cavity valves, for internal combustion engines.
- Hollow valves are usually manufactured using a combination of different processes, such as forging, turning and welding. Turning or milling the cavity is particularly costly. Weld points on the plate surface or other operationally critical points should also be avoided. Another disadvantage of known processes is that a large number of process steps are often necessary, such as in EP 2325446 A1 However, fast forming processes are advantageous for cost-effective production of large quantities.
- a further object of the present invention is to adapt the manufacturing process so that wear on the tool is reduced.
- a step of producing a cavity in the workpiece into which the protective layer is introduced can take place prior to the introduction of a protective layer.
- pressure forming takes place at 1050 - 1200 °C.
- a valve stem and a valve head with a valve plate and a valve plate base can be formed by pressure forming or after pressure forming in a further process step, in particular by extrusion or forging.
- the shaft diameter can be any suitable diameter. According to a preferred aspect of the present invention, the shaft diameter can be any suitable diameter.
- An additional method for producing a valve body of a hollow valve comprises the steps of providing a workpiece, i.e. a blank or semi-finished product, and drilling the workpiece to produce a preform having a bowl with a hollow shape formed by the bowl wall.
- the hole spinning can be carried out by means of a forming punch which is pressed against the workpiece with an axial force and at least one spinning roller which is pressed onto the workpiece with a radial force.
- the preform may comprise a valve head/plate and a valve stem having a reduced stem diameter compared to the valve plate.
- the at least one spinning roller can be arranged relative to the forming punch such that its radial force acts between the tip and a thickest diameter or therebetween.
- the workpiece can be held in a workpiece holder on a spindle and rotated about its longitudinal axis and the forming punch can rotate synchronously with the spindle.
- the at least one spinning roller and the forming punch can synchronously perform an axial movement.
- the process can be carried out as cold, warm or hot forming.
- the shaft diameter can be determined by means of Necking, rotary swaging, drawing in, flow forming or axial feed cross rolling of the preform after bore spinning can be further reduced in a further process step.
- the cross-section of the hollow mold may be circular or have a driver profile such as equal thickness, ellipse, polygon or axially directed spline and tooth profiles.
- the valve head after the bore pressing, can be formed by extrusion or forging in a further process step.
- Figures 1a - 1f various intermediate steps in the manufacture of a valve body of a hollow valve (shown in Fig. 1d or Fig. 1f ) from a blank (shown in Fig. 1a );
- Figures 2a, 2b, 2b a process step of drilling in a 3D view;
- Figure 3 show an inventive application of a protective layer during production.
- a blank 2 made of a valve steel known to the person skilled in the art has an at least partially cylindrical shape, preferably a circular cylindrical shape, corresponding to the circular shape of the valve body or valve to be produced.
- the blank 2 is placed in a Fig. 1b
- the cup-shaped semi-finished product (or workpiece) 4 shown is formed.
- the semi-finished product 4 in the form of a cup comprises a base section 10, from which a valve head (or valve plate) 12 is later formed, and a tubular wall (or annular wall) 14, which surrounds a cylindrical, preferably circular cylindrical, cavity 8 of the cup-shaped semi-finished product 4 and from which a valve stem 20 is later formed.
- material can possibly flow between the base section 10 and the tubular wall 14.
- cup-shaped semi-finished product 4 can be provided directly; the process then starts with the provision of the Fig. 1b shown cup-shaped semi-finished product 4.
- valve head 12 is formed from the base section 10.
- a preform 6 of the valve body obtained in this way is Fig. 1c shown.
- Both the forming of the blank 2 into a bowl-shaped workpiece 4 and the forming of the valve head 12 from the base section 10 can be carried out, for example, by a hot or cold forming process.
- extrusion or forging is used.
- a stamp is pressed into the blank 2 or the semi-finished product 4 in order to form the cavity 8 or the valve head 12, ie it is Essentially, it is about (cup) backward extrusion or transverse extrusion.
- the preform 6 can also be formed directly from the blank 2 in a single forming step, e.g. forging or extrusion.
- an axial length of the tubular wall 14 is increased.
- 'Axial' here refers to the direction defined by the tubular wall 14 (ie the later shaft), i.e. to the (central) axis of the tubular wall; 'radial' is accordingly a direction orthogonal to the axial direction. A length of the tubular wall 6 is therefore measured in the axial direction.
- spinning or cylindrical spinning can be carried out over a spinning mandrel 22.
- the preform rotates and at least one spinning roller 24, 26, which rotates due to friction, is pressed against the outside of the tubular wall and moved in the axial direction, so that a plastic change in shape occurs.
- the associated incremental deformation leads to advantageous work hardening of the processed steel.
- the wall thickness of the tubular wall is reduced while at the same time the axial length of the tubular wall increases.
- the at least one spinning roller is moved several times in the axial direction if necessary until the desired increase in length or reduction in wall thickness is achieved.
- the radial distance of the at least one spinning roller from the axis of the tubular wall is successively reduced in successive passes.
- the flow forming essentially leads to an elongation of the tubular wall 14, whereby its outer diameter decreases slightly (corresponding to the decrease in the wall thickness). If a larger decrease in the outer diameter is desired, flow forming can also be carried out with several spinning rollers without a flow forming mandrel.
- a valve body 16 for a hollow stem valve can be obtained in this way (cf. Fig. 1d , it being noted that the relative dimensions shown in the figures do not necessarily correspond to the actual relative dimensions, in particular Fig. 1d the diameter of the valve disc/head in relation to the shaft diameter is shown smaller than in a typical actual valve, and the shaft diameter in relation to the length of the shaft 20 is also shown larger than usual).
- the outer diameter of the tubular wall 14 is optionally reduced in order to obtain a finished valve body 18 for a hollow disc valve, the valve stem 20 of which has a predetermined outer diameter, ie has a desired target diameter; cf. Fig. 1f .
- This forming step is preferably carried out without a mandrel being used so that the diameter can be effectively reduced.
- this step also leads to a further elongation of the tubular wall 14 and, if carried out without a mandrel, to an increase in the wall thickness of the tubular wall 14.
- the wall thickness would therefore have to be set somewhat smaller in the preceding flow-forming step in order to obtain a certain wall thickness, and thus a certain inner diameter for a given outer diameter D, taking into account the increase in thickness in the final step.
- the reduction of the outside diameter of the tubular wall 14 can be carried out by swaging or necking, whereby swaging is preferred.
- swaging it is important that after swaging to reduce the outside diameter of the tubular wall 14, no further forming step of the valve body 18 for a hollow plate valve takes place, as this would impair the positive material properties obtained by swaging. In this case, swaging is therefore the final forming step.
- Rotary swaging is an incremental pressure forming process in which the workpiece to be machined is hammered in a radial direction from different sides in rapid succession. The resulting pressure causes the material to 'flow', so to speak, and the material structure is not distorted by tensile stresses.
- Rotary swaging is preferably carried out as a cold forming process, i.e. below the recrystallization temperature of the material being machined.
- the main advantage of using rotary swaging as the final forming step is that during rotary swaging, compressive stresses are induced by the radial introduction of force, which prevents the occurrence of tensile stresses that increase the susceptibility to cracks; this is particularly true for the edge layers of the hollow shaft.
- Rotary swaging therefore works together advantageously with the previous, also incremental forming process of flow-forming, so that optimal material properties, e.g. strength, are achieved.
- a cooling medium e.g. sodium
- a cooling medium e.g. sodium
- a valve stem end piece which is attached, for example by means of friction welding or another welding process (not shown in the figures).
- the reduction of the outer diameter can be carried out in several sub-steps (an intermediate step is, for example, in Fig. 1e shown), whereby the individual sub-steps can be carried out either with or without a mandrel (at the beginning of a sub-step, the diameter of a mandrel can be smaller than the diameter of the cavity); the diameter of the mandrels can also be reduced in successive sub-steps.
- Fig. 2a, 2b and 2c represent the process step of drilling, which takes place between Fig. 1a or Fig. 1b and Fig. 1c takes place in a 3D view.
- a cavity is introduced into the blank 2 at the point on the blank 2 where the later cavity 8 is to be created. This serves to place the forming punch 22 on the blank 2 and to center it or to simplify the following production step. This creates a workpiece as a semi-finished product 4 with a cavity, as in Fig. 1b
- the workpiece for the hole spinning can thus be an unmachined blank 2 or a semi-finished product 4.
- the workpiece 2, 4 is as in Fig. 2a shown inserted into a workpiece holder 32 and clamped in a spindle of a lathe or automatic lathe.
- the actual step of hole pressing begins with the positioning of the forming punch 22 (and the pressing rollers 24, 25, 26) centrally on the front side 3 of the workpiece 2, 4, as shown in Fig. 2a and 2b (enlarged).
- a preform 6 can be manufactured in a single process step starting directly from the rod material 2. This preform can then have a valve plate 12 and a valve stem 20 with a reduced stem diameter compared to the valve plate. The stem diameter of this preform 6 can be larger than that of the finished valve.
- the spindle causes the workpiece 2, 4 to rotate 33 around its longitudinal axis.
- the forming punch 22, which can also be referred to as a spinning punch or spinning mandrel, can rotate with the workpiece 2, 4, e.g. by Frictional engagement or by a drive. Alternatively, the forming punch 22 may not rotate but only move axially. In the latter case, a high level of heat development would be expected.
- the three pressure rollers 24, 25, 26 synchronous pressure rollers
- they rotate 27 about their axes (not about the axis of rotation of the spindle 33) due to frictional engagement.
- the direction of rotation 33 of the workpiece 2, 4, together with the workpiece holder 32 and (optional) forming punch 22 and the direction of rotation 27 of the pressure rollers 24, 25, 26 are indicated in the figure by curved arrows.
- the arrangement of the forming punch 22 and the spinning rollers 24, 25, 26 are moved uniformly and synchronously in the axial direction in the direction of the spindle.
- the workpiece 2, 4 can be moved against the tool arrangement. This results in a plastic deformation of the workpiece 2, 4.
- the spinning rollers and the axially acting forming punch work simultaneously.
- the forming punch 22 penetrates centrally into the workpiece and forms a tubular wall 14 of a bowl with an inner diameter that corresponds to the outer diameter of the forming punch 22.
- the outer diameter of the tubular wall 14 is limited by the spinning rollers 24, 25, 26.
- the excess, displaced material of the workpiece 2, 4 flows away so that the length of the tubular wall 14 increases in the axial direction (backward extrusion of a bowl).
- the translational direction of movement 21 of the forming punch 22 and the pressure rollers 24, 25, 26 are indicated by arrows in the figure.
- the flow direction of the material of the tubular wall 14 is opposite.
- Three spinning rollers 24, 25 26 are shown as an example, but it is also possible to use just one, two or more than three spinning rollers. If several spinning rollers are used, they are preferably distributed evenly over the circumference; ie with two spinning rollers, the angle (in the circumferential direction) between the spinning rollers is approximately 180°, with three spinning rollers approximately 120°, etc. This means that the preform 6 is supported in all directions and transverse forces are applied to the workpiece 2, 4. avoided.
- Partial bulk forming processes such as hole spinning, are characterized by the fact that the material is not plasticized in the entire forming volume, but in increments limited in time and space. Compared to cup-back extrusion, this makes it possible to reduce the punch force, while even achieving a length-to-diameter ratio of around four times.
- the process is particularly suitable for high-strength materials. Tools with low shape memory are used for hole spinning.
- FIG.3 An idea is presented which can be applied to almost all types of extrusion under pressure.
- a protective layer 41 is produced between the tool 22 and the workpiece 2, 4 during processing.
- Such a protective layer 41 is under the pressure between the tool 22 and the workpiece 2, 4 to form a liquid film and reduces the wear that would otherwise occur due to the radial flow of the material on the front face of the forming punch 22 subjected to an axial force.
- the punch thus only comes into contact with the powder 40 (or its liquid phase) in the area of the points with the greatest susceptibility to wear.
- the forming punch 22 is shielded from the material of the workpiece. This avoids high levels of wear and a longer service life of the tool and greater economic efficiency of the manufacturing process can be achieved.
- the process can be carried out in two stages. Then, in a first step, a cavity with a hollow space 8 is formed in a blank 2 or slug, in particular by forging, in particular by hot forming.
- the cavity can have various shapes.
- a protective layer 41 is introduced into the cavity.
- a protective layer 41 can also be applied directly to the contact surface between the blank 2 and the forming punch 22.
- the material of the protective layer can be held in position by an appropriate die, for example by preventing it from flowing off to the side.
- Powder 40 made of the Ti-Fe alloy or of iron oxide is used as the starting material for the protective layer 41, which is filled into the cavity or applied to the surface 3 of the blank 2.
- the process chain is then continued, for example, as described in the description of the Figures 1 described, the wall thickness 14 of the bowl can be reduced and an elongation of the bowl can be achieved.
- Different preforms 6 with different hollow shapes can be produced by mapping the shaping tool (forming punch 22).
- the cross-section of the hollow shape can be circular or have a driver profile such as uniform thickness, ellipse, polygon or axially directed spline and tooth profiles.
- the process with the protective layer 41 can offer particular advantages in low-wear production, because the simultaneous production of the cavity 8 by means of the forming punch 22 and the simultaneous pressure from the outside by the spinning rollers 24, 25, 26 means that the tool load is higher than in conventional processes. Therefore, low wear is particularly important (but not exclusively) for this process.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Forging (AREA)
- Shaping Metal By Deep-Drawing, Or The Like (AREA)
Claims (7)
- Procédé de fabrication d'une préforme (6) d'un corps de soupape (16, 18) d'une soupape creuse, comprenant les étapes suivante consistant à :fournir une pièce à usiner (2, 4) et une matrice (22) ;introduire une poudre de Ti-Fe ou d'oxyde de fer (40) comme couche protectrice (41) entre la pièce (2, 4) et le poinçon de forme (22) ; etfaçonner sous pression la pièce pour produire une préforme (6) à 1050°C à 1200°C.
- Procédé selon la revendication 1, caractérisé en ce que
après avoir fourni la pièce (2, 4) et avant d'introduire le Ti-Fe ou la poudre d'oxyde de fer, une étape de réalisation d'une cavité a lieu dans la pièce (2, 4), dans laquelle la poudre (40) est introduite. - Procédé selon la revendication 2, caractérisé en ce que la cavité est réalisée par façonnage à chaud.
- Procédé selon une des revendications précédentes, caractérisé en ce que la poudre (40) ou une combinaison de poudres est adaptée pour augmenter l'effet de refroidissement d'une base de plaque de soupape (10) du corps de soupape, qui est reliée à la plaque de soupape (12) pour former une couche de refroidissement (42).
- Procédé selon une des revendications précédentes, caractérisé en ce que
une tige de soupape (20) et une tête de soupape (12) avec une plaque de soupape et un pied de plaque de soupape (10) sont formées par façonnage sous pression ou après façonnage sous pression dans une autre étape de procédé, notamment par extrusion ou forgeage. - Procédé selon une des revendications précédentes, caractérisé en ce que
le diamètre de l'arbre au moyen d'une striction, d'un pétrissage rotatif, d'une aspiration, de rouleaux de filage ou d'un laminage croisé à alimentation axiale de la préforme (6) avec ou sans mandrin après qu'une pression d'alésage a été davantage réduite au cours d'une étape ultérieure du processus par formage à froid, à mi-chaud ou à chaud. - Procédé selon une des revendications précédentes, dans lequel la pièce est une ébauche (2) ou un produit semi-fini (4).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102019106222.5A DE102019106222A1 (de) | 2019-03-12 | 2019-03-12 | Verfahren zur Herstellung eines Hohlventils für Verbrennungsmotoren |
| PCT/EP2020/052227 WO2020182365A1 (fr) | 2019-03-12 | 2020-01-30 | Procédé pour produire une soupape à tige creuse pour des moteurs à combustion interne |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP3898025A1 EP3898025A1 (fr) | 2021-10-27 |
| EP3898025B1 true EP3898025B1 (fr) | 2024-08-21 |
Family
ID=69423306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP20703184.0A Active EP3898025B1 (fr) | 2019-03-12 | 2020-01-30 | Procédé pour produire une préforme pour une soupape à tige creuse pour des moteurs à combustion interne |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US11524330B2 (fr) |
| EP (1) | EP3898025B1 (fr) |
| DE (1) | DE102019106222A1 (fr) |
| PL (1) | PL3898025T3 (fr) |
| WO (1) | WO2020182365A1 (fr) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102021106647A1 (de) | 2021-03-18 | 2022-09-22 | Federal-Mogul Valvetrain Gmbh | Gepanzertes Tellerventil und Verfahren zu seiner Herstellung |
| DE102022206387A1 (de) * | 2022-06-24 | 2024-01-04 | Mahle International Gmbh | Wasserstoffverbrennungsmotor sowie Personenkraftfahrzeug und Nutzfahrzeug |
| CN119016663B (zh) * | 2024-09-18 | 2025-08-08 | 钢铁研究总院有限公司 | 一种轴类锻件盲孔挤压模具及盲孔深度控制方法 |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB543573A (en) * | 1939-06-17 | 1942-03-04 | Thompson Prod Inc | Improvements in or relating to method of making rigid headed metal articles, particularly hollow poppet valves, and the improved articles resulting therefrom |
| JPS63109210A (ja) * | 1986-10-28 | 1988-05-13 | Fuji Valve Co Ltd | 中空エンジンバルブの製造方法 |
| JPH07102917A (ja) * | 1993-09-30 | 1995-04-18 | Mitsubishi Heavy Ind Ltd | Na封入中空エンジンバルブの製造方法 |
| JPH09184404A (ja) * | 1995-12-28 | 1997-07-15 | Fuji Oozx Inc | 内燃機関用中空弁 |
| DE59707222D1 (de) * | 1997-08-19 | 2002-06-13 | Trw Deutschland Gmbh | Hohlventil für Verbrennungsmotoren |
| JP2009013935A (ja) * | 2007-07-06 | 2009-01-22 | Toyota Motor Corp | 内燃機関用中空バルブ |
| JP4390291B1 (ja) * | 2008-09-18 | 2009-12-24 | 株式会社 吉村カンパニー | 中空エンジンバルブの弁傘部の製造方法及び中空エンジンバルブ |
| JP5297402B2 (ja) * | 2010-02-26 | 2013-09-25 | 三菱重工業株式会社 | 金属ナトリウム封入エンジンバルブの製造方法 |
| DE102010051871A1 (de) * | 2010-11-22 | 2012-05-24 | Märkisches Werk GmbH | Verfahren zur Herstellung von Ventilen für den Gasaustausch und nach einem derartigen Verfahren hergestellte Ventile |
| JP5950440B2 (ja) * | 2012-01-30 | 2016-07-13 | 三菱重工工作機械株式会社 | 中空エンジンバルブの製造方法 |
| CN104791040B (zh) * | 2015-05-11 | 2017-10-27 | 怀集登云汽配股份有限公司 | 一种中空充钠气门 |
| DE102015118495A1 (de) * | 2015-10-29 | 2017-05-04 | WF Maschinenbau und Blechformtechnik GmbH & Co. KG | Verfahren zur Herstellung eines Ventilstößels sowie Ventilstößel |
| DE102017114524A1 (de) * | 2017-06-29 | 2019-01-03 | Federal-Mogul Valvetrain Gmbh | Verfahren zur Herstellung von Hohlraumventilen |
-
2019
- 2019-03-12 DE DE102019106222.5A patent/DE102019106222A1/de active Pending
-
2020
- 2020-01-30 PL PL20703184.0T patent/PL3898025T3/pl unknown
- 2020-01-30 US US17/437,782 patent/US11524330B2/en active Active
- 2020-01-30 WO PCT/EP2020/052227 patent/WO2020182365A1/fr not_active Ceased
- 2020-01-30 EP EP20703184.0A patent/EP3898025B1/fr active Active
Also Published As
| Publication number | Publication date |
|---|---|
| US20220152690A1 (en) | 2022-05-19 |
| PL3898025T3 (pl) | 2024-11-25 |
| DE102019106222A1 (de) | 2020-09-17 |
| WO2020182365A1 (fr) | 2020-09-17 |
| EP3898025A1 (fr) | 2021-10-27 |
| US11524330B2 (en) | 2022-12-13 |
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