Patent Application
20230405659
The present invention relates to a consistent set of solutions or technical functions intended to very significantly increase the autonomy of operation without human assistance, the flexibility and the productivity of one or a plurality of automated bending cells. The aim is to obtain “long lasting” autonomy in operation, i.e. automated operation without assistance other than the programming system, over a long period of time, typically at least 24 to 48 hours (i.e. 3 to 6 consecutive work shifts).
An analysis of prior art was conducted by the inventors. The analysis is summarized hereinafter:
The Importance of the Automated Magazine
A simple overview of a sheet metal workshop floor plan is enough to understand the importance of the areas dedicated to logistics flows. Further analysis of the direct (*) and indirect (**) handling costs then reveals the significant part taken by the internal logistics flows (***) in the cost of operation of a workshop1. 1 Handling of the workstation or machine, by the operator. (**) Handling by dedicated logistics personnel. (***) 25-35% of direct and indirect labor costs.
It is known that the concept of Industry 4.0 corresponds to a new way of organizing the means of production. The above new industry is establishing itself as the convergence between the virtual world, digital design, management (operations, finance and marketing) and real-world products and objects. It is often referred to as the fourth industrial revolution. The implementation of the 4.0 concept is thus not simply to provide the workshop with variably automated production tools but to understand, as a whole, all the functions of the workshop and the interactions thereof, in order to:
In the sheet metal plant 4.0, the automation of the machines for cutting and forming sheets is thus inseparable from the automated magazine to which same are connected, in all senses of the term, and which in a way form the backbone of the workshop.
While most manufacturers have solved, or are in the process of solving, the problems associated with the automatic supply to cutting machines and the reliability of the cutting operations, the same is not yet true for the optimization of flows and the automation of sheet forming processes, where much progress is still expected in order to make such tools and the heavy investments same represent, truly profitable.
After a long exploration of the market and meetings with the main players in the sector, it has been found that, ultimately, the sheet metal plant 4.0 will remain a utopia as long as the level of autonomy of the sheet metal forming machines and of the robotic bending cells in particular is not aligned with the autonomy of the cutting machines.
Within the work of comparison, done by the inventors, between the different techniques of forming sheet metal and the levels of automation same provide, it has been sought above all to understand the possibilities and especially the limits of technologies as different as:
While paneling machines are undoubtedly the closest technology to 4.0 concept in terms of automation, same are also the most limiting in terms of implementation possibilities. As an example, it has been found that, [in] the specific activity of the inventors, less than 5% of the parts are compatible with the constraints of paneling. Aware of the limitations, manufacturers of paneling machines now offer to couple same to an either robotic or manual press brake, but it is impossible to balance the load of such tandem of machines, which compromises the profitability thereof.
Today, apron bending machines have achieved an excellent level of automation and offer more extensive forming possibilities than paneling machines, while, however, being much slower. In this type of machine, the presence of an operator is unavoidable and the possibilities of implementation remain too limited, in particular when the parts have folds on the backs thereof or come from a punching machine where same have been subject to deformation operations (punctures, small stampings, ribbing, etc.).
The main advantages of conventional press brakes lie in their very extensive implementation possibilities and in their flexibility of adaptation to the quantities to be produced. The tandem CNC press brake (CNC machine tool) controlled by an operator still remains most often the most flexible and profitable investment, especially if production is located in a country with a low-cost labor force.
The automation of press brakes has thus become an important issue for all manufacturers of this type of machine.
A few manufacturers now offer automatic tool mounting systems integrated into the machine, such as SALVAGNINI (ATA System), TRUMPF (ToolMaster System), AMADA (ATC System), BYSTRONIC (Xpert Tool Changer System), etc. The main advantage of such type of servo-control lies in an increased comfort for the operator. However, the return on investment is not easily noticeable. The reduction in the set-up time is also very relative and is never commensurate with the very high cost of this option.
Automated bending cells are, even today, tools primarily intended for large-scale production and/or parts which are too large or too heavy to handle for one operator alone.
Despite the many advances made, no manufacturer is today able to offer a robotic bending cell able to operate without assistance for more than eight consecutive hours. In addition, this very relative performance is strongly conditioned by the combination of various parameters such as: batch size (series), volume of the bent parts, gripping possibilities, etc.
A robotic bending cell represents a heavy investment, the exploitation rate of which is still strongly limited by a low level of autonomy and by the dependence on the human factor. For the above reason, most workshops still favor the solution of a numerical control machine controlled by an operator.
Document WO 2012/063710 A1 discloses a press brake installation, with all the elements of the main installation claim, except the following elements:
It should thus be noted that the fact that the magazine is automated and the existence of supply and drop off areas in communication with the automated magazine are not disclosed in said document.
Document US 2018/056357 A1 discloses a press brake system, with a manipulation device having free movements on the ground (even in the absence of a fixed rail) enabling same to move from one machine to another or to a tool magazine, a coupling for attaching the manipulator to a given machine when the machine is operational. The goal is to improve the flexibility of movement of the manipulator with respect to the press brake. However, such solution, which is similar to the use of AGV, is likely to greatly increase the footprint of the cell and to greatly complicate flow management.
The following document:
In an embodiment, the present invention provides an industrial installation having an automated sheet metal bending cell and an automated magazine, having a spatial and functional organization for automating flows of materials entering and leaving the cell, aimed at increasing, in a reduced enclosure, autonomy of operation of the cell without human assistance, as well as flexibility and productivity of the cell, the installation comprising: a press brake; a bending robot; a rail, generally called a “track,” on which a carriage supporting the robot moves; a system for dropping off and retrieving parts during operation; a mechanical or optical system for controlling indexing of parts to be bent; a magazine or a set of racks for bending tools comprising punches and dies; at least one attachment device for grippers; a programming and monitoring system for the press brake; a control console; an automated magazine; and a supply area for parts to be bent and an area for dropping off the parts after bending, wherein the robot is configured to perform successive operations of placing one or several bending tools in the press brake, connecting to one of the grippers arranged on one of the attachment devices, conveying a flat part into the press brake from the supply area, and performing all manipulations for carrying out various bending operations, including regripping/repositioning and indexing control operations, wherein the bending cell, if applicable with its supply area and its drop off area, is in communication with the automated magazine due to: fully automated means for conveying parts to be bent on a pallet from the automated magazine to a dedicated location of the cell, via the supply area; fully automated means for removing bent parts outside the cell and storing the removed bent parts in a dedicated location of the automated magazine, via the drop off area; fully automated means for removing pallets emptied of a content of the pallets outside the cell and moving the pallets to a dedicated location of the automated magazine; and fully automated means for conveying into the cell, to a dedicated location, empty pallets coming from the automated magazine and for receiving bent parts; wherein a plurality of storage devices are configured to: store, in the enclosure of the cell, at configurable locations, all the bending tools necessary for guaranteeing autonomy of operation of the cell without assistance for a determined period of time; store, in the enclosure of the cell, at configurable locations, all the grippers necessary for manipulation of all the parts to be bent and autonomous operation of the cell for a determined period of time; and/or be used as palletizing and movement interface means that are either conveyed into the cell, or removed from the cell, by fully automated and programmable means, and that increase, within limits of the operation programming capacity, a presence of a quantity of elements necessary for performing operations carried out by the robot, the elements comprising: standard bending tools, special bending tools, or bending tools reserved for exclusive use by a customer; order organizers; universal or specific grippers; accessories configured to optimize stacking of complex bent parts and/or protect breakable parts; containers for bulk drop off of compact parts; palletizing systems for either to supplying the cell with parts to be bent or to receive bent parts, mixed palletizing systems to handle, on a same movement interface and in a fully automated and programmable manner, the parts to be bent, such same parts after bending and any accessories necessary for the operations to be carried out on these parts; and/or standard or special tools used for storage in the automated magazine and intended to be shared among several cells, in an automated and programmable manner.
The present invention will be described in even greater detail below based on the exemplary figures. The invention is not limited to the exemplary embodiments. Other features and advantages of various embodiments of the present invention will become apparent by reading the following detailed description with reference to the attached drawings which illustrate the following:
In an embodiment, the present invention makes the bending cells compatible with the Industry 4.0 concept, which is not the case of the current cells. In an embodiment, the cell is able to operate, without any operator, on Saturdays and Sundays without discontinuity, i.e. 48 hours of total autonomy without any human assistance but with ad minimum a level of productivity comparable to the level of a latest generation press brake controlled by a competent and motivated operator.
Embodiments of the invention provide the following advantages:
Automatically supplying the cell with parts to be bent, ensuring the availability of the parts;
Reduce assembly and disassembly times for bending tools;
The more attractive the price of the cell, the more the tools will be accessible to a large number of potential users and the higher the number of machines will be (ROI over 5 years, possibility of phasing the investment, less importance of the role of the operator and of the related costs).
In the optimization of the bending cell, the inventors not only thought about solutions which meet their own needs, but also took into account the expectations of other user profiles.
Type of activity: sheet metal outsourcing, own production, activity with strong
Production Organization:
The footprint of a robotic bending cell is not negligible. A compact cell architecture would expand the possibilities of integration into workshops where space is limited, without however compromising productivity and autonomy objectives. Solutions which offer more freedom should thus be preferred.
Advantages Related to the Cell's Interactions with the Other Stations in the Workshop
As described hereinabove, the automated magazine is the real backbone of the 4.0 sheet metal shop. Same should also represent an important part of the solution if it is desired to bring the robotic bending cells to a level equivalent to the level of the cutting machines.
In summary, advantages of the invention are:
An autonomy of operation of 48 hours or more.
Such level of autonomy can under no circumstances be conditioned by the presence of an operator, even intermittently.
The advantages of increasing the autonomy should go hand-in-hand with an improvement in the flexibility of the cell, in particular in the case of small recurring series requiring a great diversity of bending tools and of grippers.
4. All the elements needed for the cell to achieve the target goals should be present in the cell or it should be possible to bring them into the cell, or removed from the cell, in a fully automatic and programmable way, the elements in particular comprising, but not being limited to:
A first aspect of the present invention relates to an industrial installation comprising an automated sheet metal bending cell as well as an automated magazine, having a spatial and functional organization intended for automating the flows of materials entering and leaving said cell (1), aimed at increasing very significantly, in a reduced enclosure, the autonomy of operation of the cell without human assistance, as well as the flexibility and productivity of the cell, said installation comprising at least, so as to perform various functions of said cell: a press brake, a bending robot, a rail, generally called “track”, on which a carriage supporting the robot moves, a system for dropping off and retrieving the parts during operation, a mechanical or optical system for controlling indexing of the parts to be bent, a magazine or a set of racks with bending tools, in particular punches and dies, at least one attachment device for grippers, a programing and monitoring system for the press brake, a control console, an automated magazine, a supply area for parts to be bent and an area for dropping off the parts after bending, the robot being capable of performing the successive operations of placing one or several bending tools in the press brake, connecting to one of the grippers arranged on one of the attachment devices, conveying a flat part into the press brake from the supply area, performing all the manipulations necessary for carrying out various bending operations, including drop off/retrieval operations and indexing control operations, said industrial installation being characterized in that the bending cell, if applicable with its supply area and its drop off area, is in communication with the automated magazine, owing, in full or in part and within a restricted perimeter, to a set of resources needed for ensuring a very long-lasting autonomy without human assistance, namely:
The fully automated means for conveying, in and out of the cell, the aforementioned parts or pallets can comprise e.g. stacker cranes, horizontal or vertical chain or toothed belt conveyors, or further AGV robots.
The invention also relates to embodiments, the scope of which is limited by one of the features described herein or further by an appropriate combination of a plurality of these features.
Another aspect of the invention relates to a method for implementing an industrial installation comprising an automated sheet metal bending cell and an automated magazine, intended for increasing the autonomy of operation of the cell without human assistance, as well as the flexibility and the productivity thereof.
The combination of the automatic conveying and removal, in relation to a linear automated magazine, is one of the indispensable conditions, but not the only one, for increasing, over a very long period of time, the autonomy of operation without assistance of a robotic bending cell.
The technical solutions to be implemented should take into account the various needs of sheet metal workshops, the great diversity of shapes and dimensions of the parts to be manufactured, as well as the size of the series which always tends to further decrease in order to respond in a just-in-time flow to the orders of the customers.
The dimensions of the bent parts depend on the characteristics of the machine and in particular on the length and tonnage thereof. A 3 m press brake is potentially suitable for bending parts up to 3 m in length, which implies that, to ensure an automatic removal of parts of such length, the system can handle long pallets both to convey the parts inside the cell and to remove the parts therefrom. On the other hand, a 1 m press brake will necessarily be dedicated to the production of smaller parts.
In particular, it is known that once bent, the part becomes more bulky and, if their shape is in addition, asymmetrical, the superposition of a plurality of layers of parts can cause a problem, in particular when the part is long and narrow. It is very common in bending workshops to use interlayer plates which, once same are laid on a first layer formed of juxtaposed parts, can be used for obtaining a second layer of parts, or even a plurality of layers. In a cell where all incoming and outgoing flows are automated so as to significantly increase the autonomy of operation without assistance, it is hence important that a certain number of supplementary equipment, such as interlayers, can be automatically conveyed inside the cell so that the robot has what is needed to fulfill its role.
Furthermore, the technical solutions to be implemented should allow the various functions of the bending cell to interact with the automated magazine so that all the tools or equipment needed for a long-lasting autonomy of operation are available. The above implies, in particular, that the automated magazine should be able to bring to the cell, in an automated way, all the equipment and tools required for producing a great diversity of parts.
In the technical solutions described according to the invention, the position of supplementary equipment brought into the cell can be configured to allow the robot's movements to be programmed.
Such technical solutions can be further used for sharing, in an automated way, equipment or tools between a plurality of bending cells connected to the same automated magazine and thus to reduce the cost incurred by the equipment if it were to be present in each bending cell. Such solutions can be used, in particular, for restocking the bent parts in a large-capacity automated magazine.
These solutions can be further used for dispatching between the different production tools of the workshop, both upstream and downstream of the bending cell, without generating any flow crossing within the workshop and with a footprint that is smaller than other known automated system.
Any other solution, belonging to the prior art, which could allow supplementary equipment to be brought into the enclosure of the cell, in an automated way, would generate more handling and would complicate the management of flows inside the workshop.
In addition to the sharing of tools between a plurality of cells, the proposed solutions also solve the delicate problem posed by the effective provision to the cell of all the bending tools (punches and dies) or gripping tools required for ensuring a very long autonomy of operation without assistance. Thereby, the grippers used for handling large parts or the grippers with a low frequency of use could advantageously be stored in the towers of the automated magazine.
The preceding points show that the raw-in, raw-out and sharing functions cooperate to obtain a common result consisting in the full automation, over a very long period of time, of all the flows. Together, the three functions form a fully-fledged, totally new functional entity.
Still according to the invention, depending on the size of the cell and of the press brake, the raw in, raw out and sharing functions will be either separate and each associated with a connection of the cell to the magazine, or grouped together on a one and only connection of the cell to the magazine.
This advantage corresponds to what many users of bending cells eagerly expect and who find in the current state of the art only partial solutions to this problem, some flows being automated and others not, or further for a period of work which is, in the end, too short.
A full automation of the incoming and outgoing flows of the cell would solve in particular the delicate problem of night shifts and the even more delicate problem of weekend shifts (on Saturdays and Sundays).
Most of the robotic bending cells 1 are similar and include the same functions or similar functions, as shown in
In a scenario in which the cell produces hundreds of identical parts per day, only one gripper is theoretically required. This scenario, however, is not compatible with the mode of operation that is currently being adopted by most production workshops and contractors, which rely more and more on just-in-time production or even on QRM (Quick Response Manufacturing) production where the products are manufactured according to the flow of orders and sometimes one by one. Under such conditions, it is not uncommon for the robot to have to use up to 10 different grippers during a single 8-hour work shift, or even more if the workshop is operating in QRM mode.
The evolution towards the Industry 4.0 led to requesting productions in fully automated and virtually uninterrupted mode, including during weekends, with 6 shifts of 8 consecutive hours. Such strong tendency implies, for a bending cell wherein all the incoming and outgoing flows of the cell are automated, that the robot can have access, within the enclosure of the cell, to a minimum of 30 to 40 grippers;
The preferred embodiments of the invention are based on the improvement of a current standard solution and of the functions thereof, such as e.g. the robotic bending cell designed by Bystronic (4922, Thunstetten, Switzerland), but in no way limited or thus constrained, insofar as most manufacturers offer the same functions for this type of cell. Thereafter, the cell will be referred to as being a “standard cell”. This type of cell is shown in
Achieving the 4 main objectives mentioned above presupposes having identified and solved the multiple problems which today undermine the overall efficiency of a bending cell.
To such overall problem, there can only be an overall answer. If only one of the requirements guaranteeing the desired level of autonomy is absent, it will inevitably undermine the main objective as a whole.
This overall answer results from an all-new combination according to the invention of known technical functions, used by all the manufacturers of sheet metal machines in general and of robotic bending cells in particular.
These known technical functions concerned by the invention, include in particular: press brakes, robots, tracks, automated magazines and the different servo-control systems same consist of, AGVs (Automatic Guided Vehicles, meaning robots which move autonomously without human intervention, by means of any guiding technique), optical or mechanical recognition systems, systems for turning over or regripping parts during the process, magazines with bending tools, whether automated or not, systems for gripping parts handled by the robot, thickness control systems, etc.
From the analysis, by the inventors, of such multiple functions and the interactions thereof, it appears that only certain links have been exploited in the prior art while other major function synergies have been neglected.
The solutions proposed in the present application are related to new principles of spatial organization of the cell functions made possible by the design of a program of all-new servo-control elements exclusively dedicated to achieving the objectives pursued.
As regard to the autonomy of operation of a bending cell without human assistance, the first technical objective is to ensure the availability of the tools needed for ensuring a very long autonomy of the cell (see “Conceptual objectives” hereinabove).
According to a first preferred embodiment shown in
The advantages of the solution are the following:
In a variant, according to a second preferred embodiment shown in
The advantages of the second solution are:
According to a third preferred embodiment shown in
The tool rack 7 is mounted on a rolling track 70 placed on the ground and is guided by a guide track 71 in the upper part thereof. The rack 7 is mobile and can be moved by any mechanical means (either with or without motorization) so as to be positioned opposite the press brake 2, parallel to the aprons of the machine. The rack 7 is provided with a window 72 giving access to the grooves for attaching the punches and dies on the press brake 2.
The advantages of the third solution are the following:
In a variant of the third preferred embodiment, according to a fourth preferred embodiment shown in
The advantages of the fourth solution are the following:
In a variant of the third preferred embodiment, according to a fifth preferred embodiment shown in
The racks 7C are surrounded by a supporting structure provided with a device for positioning each rack opposite a track 70 parallel to the lower apron 25 of the press brake 2.
The advantages of the fifth solution are the following:
According to a sixth preferred embodiment shown in
The advantages of the sixth solution are the following:
In a variant of the sixth preferred embodiment, according to a seventh preferred embodiment shown in
In a variant of the sixth preferred embodiment, according to an eighth preferred embodiment shown in
In yet particularly advantageous variants, the rotating double racks of
The advantage of the eighth solution is in particular the possibility of coupling different functions on the same rack, such as bending tools on one side, grippers on the other or a “regrip” system on one side and a thickness control on the other, etc.
Still regarding the autonomy of operation of a bending cell without human assistance, a second technical objective is the maximization of the number of grippers available in the cell. In this respect, all of the above considerations as regard to magazines with bending tools are of course valid for the storage of grippers.
To achieve the two-fold objective of making the cell fully autonomous for 6 consecutive work shifts, while at the same time allowing small series of parts to be handled and thus more frequent gripper changes, the inventors estimated that the number of grippers to be provided should be between 30 and 40 items.
Still regarding the autonomy of operation without human assistance, a third technical objective is finally the automated connection of the cell to the automated magazine.
An automated (linear) magazine refers to an automated storage system comprising storage spaces arranged along aisles on the ground and/or at height. The automated magazine is in fact composed of storage towers (see e.g.
More generally, the inputs and outputs of equipment from the automated magazine are carried out by any machine, the movement coordination of which and the guiding of which are carried out by a management software. Such machines can be e.g. not only stacker cranes, but also conveyors, gantries, carousels, etc. which can move parts, pallets, trays, crates, etc. In the present case, the stored material might consist of lengths of flat sheets, bent parts, pallets comprising grippers, bending tools or interlayers, storage boxes for small finished parts, etc.
According to a first preferred embodiment, shown in
Although the direct connection of cutting machines to the automated magazine has been proposed for a long time by a large number of machine manufacturers, the connection of a bending cell to the magazine has only appeared very recently at the manufacturer TRUMPF.
According to a second preferred embodiment, shown in
Such solution is advantageous insofar as the automatic removal of the bent parts is one of the essential features for achieving the initial general objective, namely of maximizing the autonomy of operation without assistance from an operator.
According to a third preferred embodiment, shown in
The direct connection of the bending cell 1 to the automated magazine 14 could potentially have a particularly interesting technical advantage since same allows the bending tools and grippers to be shared between a plurality of cells 1 connected to the magazine 14.
In this case, at least three storage towers 141 equipped with a transfer system would be necessary.
The advantages of this solution are:
The above remark applies both to bending tools and to grippers and other accessories related to stacking or “dropping” of bent parts.
According to a fourth preferred embodiment, shown in
If the previous solution consisted in separately managing the flows between cell 1 and the automated magazine 14, the present solution consists in grouping on one and the same pallet 15, 16, the different elements to be brought into the cell and to be removed from the cell.
In the example illustrated hereinabove, a chain conveyor brings to the cell everything the cells need for carrying out a given task: the parts to be bent 20, a drop off “surface” for the bent parts 21 or “drop box” containers 19, the specific tools 17 required for bending or gripping parts, interlayers 18 for stacking bent parts in layers, etc.
Advantageously, the grippers will be arranged flat in the automated magazine and vertically on the racks of the cell.
The technical contributions of the solution are the following:
Finally, various preferred embodiments of the invention are described hereinafter for an overall and general spatial organization of an automated and autonomous bending cell, these embodiments taking up the different principles stated so far. The first two solutions, shown in
According to the first preferred overall embodiment illustrated in
According to the second preferred overall embodiment shown in
According to the third overall preferred embodiment shown in
Similarly, according to the fourth preferred overall embodiment shown in
Alternatively, in the case of small cells (such as the “Mini Cell” designed by Safan Darley), the supply can be done via a connection to the automated magazine by a small automated kart which can support a pallet, e.g. by means of a pantograph, moving by means of a GPS (or any other guiding system) under the racks of the automated magazine. The track in such case is miniaturized and the robot has much faster movements and is very close to all the functions/areas (taking the parts to be bent, retrieving the bent parts, etc.).
Variant: Compact Cell
Finally,
In the small cell or micro-cell (
Contrary to the situation encountered in the prior art with several manufacturers, the amplitude of the movements of the robot is strongly reduced. Moreover, given the close proximity of the robot to the automated magazine, the external face of the latter could advantageously be provided with supports for grippers or bending tools.
This configuration is particularly suitable for cells equipped with press brakes of 1-1.5 m, without being excluded in the case of cells equipped with press brakes of larger size.
The possibility of bringing all the needed tools into the small perimeter of the cell increases the total autonomy of the cell in a practically unlimited way, the only limit being the programming capacity of the operations.
The same configuration is applicable to medium or large cells (
Unlike the case of
While the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. It will be understood that changes and modifications may be made by those of ordinary skill within the scope of the following claims. In particular, the present invention covers further embodiments with any combination of features from different embodiments described above and below. Additionally, statements made herein characterizing the invention refer to an embodiment of the invention and not necessarily all embodiments.
The terms used in the claims should be construed to have the broadest reasonable interpretation consistent with the foregoing description. For example, the use of the article “a” or “the” in introducing an element should not be interpreted as being exclusive of a plurality of elements. Likewise, the recitation of “or” should be interpreted as being inclusive, such that the recitation of “A or B” is not exclusive of “A and B,” unless it is clear from the context or the foregoing description that only one of A and B is intended. Further, the recitation of “at least one of A, B and C” should be interpreted as one or more of a group of elements consisting of A, B and C, and should not be interpreted as requiring at least one of each of the listed elements A, B and C, regardless of whether A, B and C are related as categories or otherwise. Moreover, the recitation of “A, B and/or C” or “at least one of A, B or C” should be interpreted as including any singular entity from the listed elements, e.g., A, any subset from the listed elements, e.g., A and B, or the entire list of elements A, B and C.
| Number | Date | Country | Kind |
|---|---|---|---|
| 20204355.0 | Oct 2020 | EP | regional |
| 21156189.9 | Feb 2021 | EP | regional |
| 21160343.6 | Mar 2021 | EP | regional |
This application is a U.S. National Phase application under 35 U.S.C. § 371 of International Application No. PCT/EP2021/079727, filed on Oct. 26, 2021, and claims benefit to European Patent Application No. EP 20204355.0, filed on Oct. 28, 2020, European Patent Application No. EP 21156189.9, filed on Feb. 10, 2021, and European Patent Application No. EP 21160343.6, filed on Mar. 2, 2021. The International Application was published in French on May 5, 2022 as WO/2022/090258 under PCT Article 21(2).
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2021/079727 | 10/26/2021 | WO |
