Patent Application
20220168907
The present invention relates to a gripping group for tools comprising magnetizable material, in particular cutting blades housed on projecting shafts of a storage. The present invention also relates to a gripping method for those tools.
In the description and in the following claims explicit reference will be made to tools such as circular or annular cutting blades, separators, etc. that can be used for the processing of sheets of metallic material wound in coils, but the person skilled in the art will have no difficulty in understanding that the present invention can be easily implemented also in other technical fields, in particular in all those fields wherein it is necessary to pick up objects that comprise magnetizable material, optionally placed on projecting shafts of a storage, comprising projecting arms.
In the field of processing of sheets of metallic material, it is known that the employed tools, when not in use, are stored in a storage, hung to one or more tool-holder shafts projecting from a wall or from an upright which is rotatably mounted on a base. These tools are often in contact with other tools hanging from the same tool-holder shaft of the storage (usually comprising one or more projecting arms) or anyway they are at a close distance therebetween.
When the tools are to be used, they are picked up one by one by means of a robot having a gripping end traditionally comprising: a circular shaped electromagnet, wherein a central hole is formed, and a mechanical gripping device, linearly displaceable within the central hole delimited by the electromagnet (for example as taught in EP 2193890). The electromagnet of the robot gripping end is configured to be current controlled so that it can attract and retain one tool, positioned at the free end of the storage tool-holder shaft, at one face of the tool directed toward the gripping end, and to allow demagnetization of the same tool, which could also be carried out once the gripping device, linearly translating inside the central hole of the electromagnet, has picked the tool up. Once the tool is picked up, it will be moved by the robot on a temporary parking arm. The robot, then, if necessary, will move inside the storage at one new tool to be picked up and will proceed according to the method described above.
The above mentioned traditional method for gripping the tool suffers from a number of drawbacks.
Firstly, it is necessary to consider that the weight of the tools used for this type of applications tends to bend downwards, albeit slightly, the free end of the tool-holder shaft, whereby the tool closer to the free end of the storage tool-holder shaft (which hereinafter will be referred to only as the “tool” or the “tool to be picked up”) and the tools adjacent thereto show their face directed toward the free end of the tool-holder shaft, hereinafter called the “gripping face”, inclined with respect to one vertical plane P (see
When it is necessary to pick up one tool from the respective tool-holder shaft, the electromagnet of the traditional gripping end is placed at the tool itself, so as to delimit one gripping plane directed toward the tool, which lies (the gripping plane) on the substantially vertical plane P (see
It will also be noted that the collisions described above between adjacent tools can occur even in the case wherein the tool-holder shaft is not bent downwards at the free end thereof, whereby the gripping face of the tool to be picked up lies on the vertical plane P or a plane parallel thereto, but the electromagnet of the gripping end has its gripping plane facing the tool that is not perfectly parallel to said vertical plane P. In other words, the problem highlighted above is found in any case wherein there is not a perfect parallelism between the gripping face of the tool to be picked up and the gripping plane of the electromagnet of the robot gripping end.
There is therefore the need to overcome the aforesaid drawback and the main object of the present invention is to provide a gripping group for tools and a corresponding gripping method, allowing to pick up the tools supported by a storage projecting shaft in an effective, accurate, easy to implement and economical way, avoiding that they might touch and, thus, avoiding frequent and costly interventions of replacement or maintenance of the tools themselves.
It is therefore a specific object of the present invention a gripping group for at least one tool comprising at least one magnetizable material, said tool being configured to be supported by at least one projecting shaft of a storage and having one respective gripping face, facing one free end of said at least one projecting shaft, the gripping face delimiting at least one plurality of regions, the gripping group comprising:
According to another aspect of the invention, said magnetization signal can be one signal having a waveform and/or a duration and/or an intensity that depend on a distance of each electromagnet from the respective region of the gripping face of said tool and/or the weight of said tool.
According to a further aspect of the invention, said at least one data control and processing unit can be configured to selectively activate said at least two electromagnets by sending respective demagnetization alternating signals having optionally linearly decreasing intensity, starting from a maximum intensity, optionally up to zero, having duration and/or maximum intensity and/or frequency depending on a distance of each electromagnet from the respective region of the gripping face of said tool and/or the weight of said tool.
According to an additional aspect of the invention, said support element can comprise at least one lateral surface and each electromagnet can comprise at least two portions of ferromagnetic material, configured to be magnetized with opposite sign, arranged parallel to each other orthogonally with respect to said at least one lateral surface of said support element.
According to another aspect of the invention, said support element can comprise at least one plurality of portions configured to be coupled with each other in a removable manner and/or at an adjustable mutual distance, said support element being configured to have a first operating configuration, wherein the portions of the plurality of portions are brought close to each other and form a single body, optionally delimiting one through opening, and at least one second working configuration, wherein the portions of the plurality of portions are spaced apart.
According to a further aspect of the invention, said gripping group can comprise at least one contact sensor, mounted on said support element and operatively connected to said at least one data control and processing unit and configured to emit at least one signal toward said at least one data control and processing unit, correlated to one contact which has occurred or otherwise, between said at least one tool and said at least one respective electromagnet.
According to an additional aspect of the invention, said gripping group can comprise at least one proximity sensor, optionally of the laser type, supported by said support element and operatively connected to said at least one data control and processing unit and configured to emit at least one signal toward said at least one data control and processing unit, related to one distance from said at least one tool.
According to another aspect of the invention, said gripping group can comprise at least one flow delivery device, supported by said support element in proximity of said at least one gripping plane, in such a way that one delivery end thereof is directed radially away from one axis of symmetry x-x of said at least one support element, toward one space region, surrounding the said at least one gripping plane, the space region being opposite to said at least one support element, said at least one delivery device being operatively connected to said at least one data control and processing unit and configured to deliver at least one air flow of the laminar type so that, when said at least one tool is at said at least one gripping plane, close to or in contact with at least one other tool on said at least one projecting shaft, the delivered air flow can contribute to increase the distance between said at least one tool and said at least one other tool close thereto or can contribute to separate said at least one tool and said at least one other tool attached thereto, also eliminating from said at least one other tool any impurity present on its gripping face toward said gripping plane.
According to a further aspect of the invention, said gripping group can comprise at least one mechanical gripping device for said tool configured to be moved along a moving axis between a rest position, wherein it is at a distance from said gripping plane of said gripping head, and one working position, wherein it is located at said gripping plane of said gripping head.
It is also a further specific object of the invention a gripping method for at least one tool comprising at least one magnetisable material through one gripping group as mentioned above, said tool being supported by at least one projecting shaft of a storage and having one respective gripping face delimiting at least one plurality of regions, the gripping method comprising the following operational steps:
According to another aspect of the invention, said step B can comprise selectively activating said at least two electromagnets alternatively or simultaneously.
According to one further aspect of the invention, said step B can comprise selectively activating said at least two electromagnets alternatively based on their distance from the respective regions of said gripping face of said tool.
According to an additional aspect of the invention, said step B can comprise selectively activating said at least two electromagnets simultaneously by applying to each one, by means of said data control unit and processing unit, a respective distinct magnetization signal, whereby the magnetic attraction force applied to the respective regions of said gripping face of said tool causes said tool to translate on said projecting shaft without varying its attitude.
According to another aspect of the invention, said method can comprise a subsequent step D of selective activation of said electromagnets, when said tool has travelled on said projecting shaft at least one predefined safety distance, said selective activation of said electromagnets causing the change of said attitude of said tool, whereby it moves on the gripping plane into contact with each one of said electromagnets of said gripping head.
According to a further aspect of the invention, said method can comprise one step A1, prior to step B, of measuring the distance of each electromagnet with respect to the corresponding region of said gripping face of said tool to be gripped, said step optionally comprising the activation of said at least one proximity sensor.
According to an additional aspect of the invention, said method can comprise one step C1 of cleaning said tool to be gripped and spacing it with respect to another tool near or into contact thereto, preliminary to or in conjunction with said step D, comprising the activation of said flow delivery device.
According to another aspect of the invention, said method can comprise one step E of demagnetization of said tool, when into contact with said electromagnets of said gripping head, comprising the selective activation of said electromagnets by sending respective demagnetisation signals.
The present invention will be now described, for illustrative but not limiting purposes, according to its preferred embodiments, with particular reference to the Figures of the accompanying drawings, wherein:
In the enclosed Figures the same reference numerals will be used for similar elements.
With particular reference to the accompanying drawings, it will be noted that a gripping group according to the present invention is generally indicated by the reference number 1 (see in particular
The gripping group 1 according to the invention advantageously comprises at least one gripping head 4 including at least one support element 40, having a first face 41 configured to face, in use, the gripping face 21 of the tool 2 to be picked up and at least two electromagnets (generally indicated in the Figures with reference 42 and individually in
In the illustrated figures, the support element 40, which can be made of metallic material, optionally not ferromagnetic, in order to advantageously disperse the heat during the use of the gripping group of the invention, or can be made of another material suitable for the purpose, for example plastic, composite or other material not subject to magnetisation, has a substantially circular configuration in plan view and delimits a central through opening 401, but depending on the applications, in other embodiments of the gripping group according to the invention, the supporting element 40 can also have other configurations, for example it can be a full body (i.e., not delimiting a through opening) and/or can have a polygonal plan view configuration, for example a square one, as shown in
The electromagnets are advantageously mounted on the first face 41 of the support element 40, at optionally projecting portions thereof (see in particular
In this respect it should be noted that each electromagnet 42, as can be seen in particular in
In any case, the person skilled in the art will have no difficulty in understanding how other embodiments can be conceived for the electromagnets 42, as long as they are configured to generate a magnetic field located at the aforesaid gripping plane 5. For example, in place of the electromagnets described above, magnetic tubes of the traditional type could be used.
Advantageously, in the electromagnets 42 the two portions of ferromagnetic material 41b and 41c, configured to be magnetized with opposite sign, are arranged parallel to each other and orthogonally with respect to a lateral surface 44 of the support element 40, in the specific case of circular plan section. In the case wherein the support element 40 had a plan configuration different from that shown in the Figures, the two portions of ferromagnetic material 41b and 41c, configured to be magnetized with opposite sign, will be arranged orthogonally with respect to a lateral surface of the solid which defines the envelope of the support element. As will be seen, this aspect of the arrangement of the portions of ferromagnetic material 41b and 41c, is particularly advantageous when the gripping head 4 is used for picking up tools 2 having reduced outer diameters. In fact, with the orthogonal arrangement (with respect to the lateral surface 44) of the portions of ferromagnetic material 41b and 41c, the lines of the corresponding magnetic field that can be generated are always able to cross the tool to be picked up at both poles and generate, then, on the tool 2, an attraction magnetic force.
Each electromagnet 42 is, in fact, advantageously configured to be placed at a respective region 211, 212, 213 or 214 of a tool 2 to be picked up, when such a tool is supported by a projecting shaft 3 and directed toward the gripping plane 5 with its gripping face 21.
In the enclosed figures, it will be appreciated that the gripping group 1 comprises, according to a particularly advantageous embodiment of the invention illustrated in FIGS. from 5 to 7, 9 and 14, five electromagnets 42 angularly displaced therebetween on the support element 40 around a symmetry axis x-x of the same support element. In any case, it is quite clear that in further embodiments of the gripping group according to the invention, the support element 40, besides having a different configuration depending on the type of application, as already mentioned above, can also support a different number of electromagnets 42 also arranged according to another arrangement (see
In the specific case, as can be seen from the comparison of
The gripping group 1 of the present invention further comprises at least one data control and processing unit, not shown in the Figures, operatively connected to each of the electromagnets 42 and the electromagnets 42, when activated, can generate magnetic fields independent from each other, based on a respective signal of magnetization that such a data control and processing unit can send them.
As will be appreciated, this aspect is particularly advantageous in the case wherein the gripping group 1 is at a close distance, directed toward one tool 2, with the activated electromagnets 42, each directed toward a respective region of the gripping face 21 of the tool. In this case, it is evident that each region of the gripping face 21 can undergo one magnetic field and therefore be subject to an attraction magnetic force mainly depending on the intensity of the magnetic field generated by the respective electromagnet 42.
The distance between the gripping group 1 (in particular, between its gripping plane 5) and the gripping face 21 of the tool 2 that ensures that the tool 2 undergoes a magnetic force of attraction, clearly depends on the weight, the size and shape of the tool 2 to be picked up, the configuration of the grip head (the number of electromagnets 42 mounted thereon) and the intensity of the generated magnetic field. For standard applications, such a distance is typically comprised between 0.5 to 1.5 mm, optionally substantially equal to 1 mm.
Going back to the data control and processing unit and to the magnetization signal transmitted to the electromagnets 42, it should be noted that according to a first variant of the invention, the data control and processing unit is configured to transmit one single magnetization signal to all the electromagnets 42 of the gripping head 4, which selectively reaches one or more electromagnets 42 or none, depending on the location of corresponding switches, which are comprised between the data control and processing unit and each electromagnet 42 of the gripping head 4. The connection line which operatively connects the data control and processing unit to each magnet can comprise, then, as many switches as the electromagnets 42 are, each mounted upstream of the respective electromagnet 42, or a single switch having a single input and multiple outputs (as many as the electromagnets 42 are) which controls the selective transmission of the single signal transmitted by the data control and processing unit to those electromagnets 42. Between each switch or between the single switch and each electromagnet 42, the gripping group can also comprise a respective signal attenuator (not visible in the Figures), configured to adjust the intensity of the magnetization signal transmitted to the respective electromagnet 42.
Alternatively, the data control and processing unit is configured, instead, to transmit one independent magnetization signal to each electromagnet, for example through activation of the corresponding driver cards.
In any case, the data control and processing unit is configured to check each electromagnet 42 independently from one another, through one magnetization signal, whose waveform and/or duration and/or intensity o also depend on the distance of each electromagnet 42 from the tool 2 (from the respective face of the tool 2) and/or by the weight of the tool.
According to a preferred variant of the invention, the magnetization signal of each electromagnet 42 is a voltage signal, optionally a step signal which generates a constant magnetization current and a corresponding constant magnetic field. In the example shown in
The data control and processing unit is also configured to control each electromagnet 42 independently from one another (in the sense described above, with reference to the transmission of the magnetization signal) by means of a demagnetization alternating voltage signal, having decreasing intensity (i.e., modulated in amplitude with a decreasing intensity, optionally linearly) starting from a maximum intensity, optionally up to zero, having duration, maximum intensity and frequency that depend on the distance of each electromagnet 42 from the tool 2 and/or its weight. The demagnetization signal, which generates an alternating current and a corresponding alternating magnetic field for electromagnet 42, can have an even different waveform, for example this could be pulsed with alternated positive and negative pulses, with pwm or pam modulation, decreasing time duration and decreasing amplitude of the alternating pulses.
According to a preferred variant of the invention, the alternating demagnetization signal optionally comprises a waveform including an integer number of periods and has a time duration that is optionally less than the time (typically of the order of a few seconds) taken by a robot which comprised the gripping group 1, to move the picked up tool 2, in a respective releasing seat. The maximum intensity of the demagnetization signal is optionally greater than the intensity of the magnetization signal. Clearly, the alternating demagnetization signal can be applied to one tool 2, in contact with one or more electromagnets 42, in order to demagnetize it before its release in a subsequent work station.
According to an advantageous aspect of the invention, the support element 40 can be formed in a single piece or can comprise a plurality of portions 45, as shown for example for the third embodiment of the gripping group in
This aspect of the invention is particularly advantageous in the case wherein the gripping face 21 of the tool 2 to be picked up from the shaft 3 of the magazine has a greater extension than the front extension of the supporting element 40, whereby the electromagnets 42 could not be placed at any region of the gripping face 21 of the tool 2 to be picked up. The possibility for the support element 40 to change from the first to the second operating configuration, allows to adapt the extension based on the size of the gripping face 21 of the tool 2 to be picked up, avoiding the need to possibly replace the gripping group 1 each time it is necessary to pick up tools from the tool storage, having gripping faces of different size.
The gripping group 1 according to the present invention can also comprise one or more contact sensors 6, for example of the inductive or capacitive type, or comprising a pneumatic cylinder with connected pressure switch, etc., mounted on the support element 40, for example with their sensing end 61 at the gripping plane 5, delimited by the electromagnets 42. Those contact sensors 6 can for example be in a number corresponding to the number of electromagnets 42 or can be fewer. In any case, they are operatively connected to the data control and processing unit and configured to emit thereto at least one signal correlated to the occurred or not occurred contact between the tool 2 to be picked up from the shaft 3 and at least one electromagnet 42.
The gripping group 1 according to the present invention can also comprise one or more proximity sensors 7, optionally of the laser type, of the kind available on the market by SICK S.p.A., model n. OD1000-6001R15 or of another kind, optionally with direct reflection, provided that they are capable of determining a distance to one object supported by the support element 40, so as to place one sensing end 71 thereof toward the gripping plane 5. Such proximity sensors are operatively connected to the data control and processing unit and configured to emit thereto at least one signal correlated to the distance with respect to a tool 2 within their field of action.
The gripping group 1 according to the present invention can advantageously also comprise one or more air flow dispensing devices 8 supported by the support element 40 close to the gripping plane 5, so that one dispensing end 81 thereof is directed radially away from the symmetry axis x-x of the support element 40 toward a space region surrounding the gripping plane 5 and opposite to the supporting element 40. Those dispensing devices 8 are operatively connected to a respective source of flow (not shown in the drawings) and to the data control and processing unit, from which they receive corresponding activation-deactivation signals, and are configured to deliver at least one substantially radial air flow, optionally of the pressurised laminar type, so that when a tool 2 is located on the gripping plane 5, in close proximity to or in contact with another tool 2′ on the storage projecting shaft 3 (see for example
In any case, the person of skill in the art will have no difficulty in understanding how the one or more air flow dispensing devices 8 described above can be included in a separating device completely independent from the gripping group 1 described above, which can be used in conjunction with a gripping system for tools of any type, for example of the mechanical or conventional magnetic type, such as that illustrated in the introduction.
Such a separating device, which also forms the subject of the present invention, is configured to promote the spacing between tools (2 and 2′ in
The separating device of the present invention (reference be made in particular to
According to a particularly preferred embodiment of the invention, the support element of the separating device is a support element of a gripping system, for example the support element 40 of the gripping group 1 described above. According to another embodiment of the invention, the support element of the separating device is a support element of a traditional mechanical gripping system, for example comprising a self-centering expander configured to expand radially at the opening 215 of the tool 2. In this case, the one or more air flow dispensing devices 8 can be directly supported by the jaws of the self-centering expander. According to yet another embodiment of the invention, the support element of the separating device is a support element of a traditional magnetic gripping system as described in the introduction.
According to a further embodiment of the invention, the support element of the separating device is an element completely separate from the gripping system for tools, but configured to be moved, in a use configuration, in the vicinity of the gripping system and of the flat gripping face 21 of the tool 2 that is closer to the free end 32 of storage projecting shaft 3 as described above.
The gripping group 1 of the present invention can advantageously also comprise one mechanical gripping device 9 for one tool 2 (see in particular
The gripping group 1 described above can in fact be easily employed for the implementation of a gripping method for one tool 2, and namely to pick up one tool 2 that, as indicated above, comprises at least one magnetizable material, has a respective gripping face 21 defining at least one plurality of regions (211, 212, 213, 214) and is supported by a shaft 3 projecting from a storage.
That method, in a first operating step A, comprises advancing along one movement direction y-y at least the gripping head 4 of the gripping group 1 as described above, toward the tool 2 supported by the shaft 3, with the gripping plane 5 directed toward the gripping face 21 of the tool, so that each electromagnet 42 is located at a respective region of the gripping face 21.
The method also provides (step B) to selectively activate, through the data control and processing unit of the gripping group 1, the electromagnets 42 so as to generate at each of them a respective magnetic field, in response to which each region of the gripping face 21 of the tool 2 undergoes a corresponding attraction magnetic force.
The intensity of the magnetic field generated at each region of the gripping face 21 depends on the type of magnetization signal transmitted, by the data control and processing unit, to each electromagnet 42 and can be determined in such a way that the corresponding produced attraction magnetic forces can move the tool 2 along the shaft 3 toward the gripping plane 5, substantially without changing the attitude of the tool on the shaft 3.
The method thus provides one step C of retraction of the gripping head 4 along the same movement direction y-y, whereby the tool 2 attracted by the gripping head 4 can be moved along the shaft 3 toward the free end 32 thereof, maintaining its original attitude, and can be brought to a predefined safety distance from other tools possibly supported on the same shaft 3, even if originally located at close distance.
The method also provides for one optional subsequent step D wherein, exceeded the predefined safety distance of tool 2 from any tools adjacent thereto on the shaft 3, selective activation of the electromagnets 42 is adjusted, so that the magnetic fields produced at each region of the gripping face 21 and the respective attraction magnetic forces make the attitude of the tool 2 to be picked up change, whereby this is positioned on the gripping plane 5 in contact with all the electromagnets 42 of the gripping head 4.
After step D, the method of the present invention comprises one step D1 of movement of the gripping head 4 along a substantially vertical direction, whereby the tool 2 attracted by the electromagnets 42 is raised substantially vertically with respect to the projecting shaft 3 and can be removed therefrom to be for example uploaded by a mechanical gripping device 9 and placed in a respective releasing seat.
As can be imagined, steps A and B described above can be carried out simultaneously or in sequence. According to a particularly advantageous aspect of the invention, step B of selective activation of the electromagnets 42 comprises activating the electromagnet alternatively or simultaneously therebetween, possibly with a (constant or variable) intensity of the magnetic field respectively generated by each electromagnet 42 equal or different to the (constant or variable) intensity of the magnetic field generated by one or more of the other electromagnets 42.
The electromagnets 42 can advantageously be activated alternatively in the case wherein the tool 2 is supported by the shaft 3, which is flexed downward, whereby the tool 2 as indicated in
In this case, the simultaneous activation of the electromagnets 42 of the gripping group 2, whose gripping plane 5 is substantially vertical could cause a variation in the attitude of the tool 2 on the shaft and a likely collision with any tools adjacent thereto, located at a close distance therefrom (as shown in
By activating, instead, according to the method of the present invention, the top electromagnet or electromagnets (421, 422) directed toward the top region 211 of the tool 2 (step B) first, and by retracting (step C) the gripping head 4 in such a way as to drag toward the free end 32 of the shaft 3 of the tool 2 without changing its attitude, it is possible to space the tool 2 on the shaft 3 by other tools adjacent thereto to a safety distance, avoiding that collisions will occur between them and it is therefore possible to move the tool 2 on the gripping plane 5 of the gripping head 4 through the subsequent activation of other electromagnets (423, 424 and 425) of the gripping group 1 (step D).
Alternatively, the method of the present invention also provides for the simultaneous activation of all the electromagnets 42, but through application of different magnetization signals by the data control and processing unit, whereby the attraction magnetization force that is applied in the different regions of the gripping face 21 of the tool 2 is such that the tool can translate without varying its attitude and therefore it is possible to prevent it from colliding with other tools 2 adjacent thereto.
The mode of selective activation of the electromagnets 42 by the data control and processing unit can depend on the distance of each electromagnet 42 with respect to the corresponding region on the gripping face 21 of the tool 2 to be picked up. For this reason, the method also provides for one step A1, comprised between step A and B, or prior to step A, for measuring the distance of each electromagnet 42 with respect to the corresponding region of the gripping face 21 of the tool 2 to be picked up. This step can require the activation of one or more proximity sensors 7 mounted on the support element 40 and a corresponding processing of the signal sent by them by the data control and processing unit.
The method of the present invention can also comprise one step C1 for cleaning the tool 2 to be picked up, as well as separating other tools that can be attached to the tool 2 to be picked up, by the corresponding activation of the air flow dispensing device 8, before step D or in conjunction therewith.
The mode of selective activation of the electromagnets 42 by the data control and processing unit also allows to greatly reduce the effect of undesired magnetization of the tools that are adjacent to the tool to be picked up.
The method according to the present invention can also comprise one step E of demagnetization of the tool 2 in contact with the electromagnets 42 of the group 1, when this tool has for example, been uploaded by the mechanical gripping device 9. In this case, step E comprises the selective activation of the electromagnets 42 by sending respective demagnetization signals as described above.
In view of the above it is quite evident that the gripping group and the respective gripping method, according to the present invention, overcome the drawbacks described in the introduction. In fact, they provide for the possibility to selectively activate the electromagnets 42 of the gripping head 4 and then to implement a first translation of one tool 2 to be picked up along the respective shaft 3, without the tool changing its attitude, so that the tool can be brought to a safety distance with respect to any other tools supported by the same shaft, thus avoiding that it can collide with them during the pick up operations from the shaft.
In the foregoing the preferred embodiments were described and some modifications of the present invention have been suggested, but it should be understood that those skilled in the art can make modifications and changes without departing from the relative scope of protection, as defined by the appended claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 102019000002901 | Feb 2019 | IT | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IB2020/051710 | 2/28/2020 | WO | 00 |
