Patent Grant
11572256
The invention relates to a mounting system for carrying out an installation operation in an elevator shaft of an elevator system.
WO 2017/016783 A1 describes a mounting system for carrying out an installation operation in an elevator shaft of an elevator system. The mounting system has: a mounting device comprising a carrier component and a mechatronic installation component in the form of an industrial robot; a displacement component arranged above the mounting device in the elevator shaft; and a support means, designed for example as a rope or chain, which is at least indirectly fixed to the carrier component. The displacement component can displace the carrier component and thus the mounting device in the elevator shaft by means of the support means, it being possible for the carrier component to be supported by means of an upper support roller on a support wall of the elevator shaft at least during a displacement in the elevator shaft. In the mounting system described in WO 2017/016783 A1, it is not ensured that the carrier component is in fact always supported by means of the upper support roller on the support wall during a displacement in the elevator shaft. This can thus lead to the mounting device swinging and, in extreme cases, striking the elevator shaft during a displacement.
WO 2015/102525 A1 describes a device for lining a mine shaft with concrete, which device can be lowered into the mine shaft while being retained by a support means. The mine shaft is mainly vertical, but has portions which are inclined with respect to the vertical. The device has variable support elements by means of which it can be supported against shaft walls of the mine shaft. The support is such that the support means always extends vertically.
In contrast, it is in particular an object of the invention to propose a mounting system which can be displaced without risk of damage to the mounting system or to shaft walls in an elevator shaft. This object is achieved according to the invention by a mounting system having the features described below.
The mounting system according to the invention has: a mounting device comprising a carrier component and a mechatronic installation component; a displacement component arranged above the mounting device in the elevator shaft; and a support means or support member which is at least indirectly fixed to the carrier component. The displacement component can displace the carrier component and thus the mounting device in the elevator shaft by means of the support means, it being possible for the carrier component to be supported by means of an upper support roller on a support wall of the elevator shaft at least during a displacement in the elevator shaft.
According to the invention, the support means of the mounting system has a diagonal pull with respect to the vertical in the direction of the support wall of the elevator shaft. The carrier component is supported only on the support wall and not also on a wall opposite the support wall.
A diagonal pull of the support means is understood in this context to mean that the support means does not extend exactly vertically downward, but extends so as to be inclined with respect to the vertical, and a diagonal pull in the direction of the support wall of the elevator shaft is understood to mean here that the support means extends so as to be inclined in the direction of the support wall such that it is at a shorter distance from the support wall in the region of the displacement component than in the region of the connection to the carrier component. A distance of the support means in the region of the displacement component with respect to a vertical line through the connection of the support means to the carrier component is for example between 20 and 60 cm, in particular between 35 and 52 cm. In a vertical distance between the displacement component and the carrier component of 100 m, this results in a diagonal pull of between approximately 0.115° and 0.344°, in particular between approximately 0.2° and 0.3°, for example. The support means may also have a diagonal pull in a different direction. Here, the angle with respect to the vertical is a measure of the diagonal pull, and the diagonal pull is thus greater the greater said angle is. Said angle is at most 15°, for example. A retaining force which acts on the carrier component via the support means and is introduced into the carrier component at a force introduction point thus has not only a vertical component, but also a horizontal component in the direction of the support wall. The carrier component is thus not only retained by the support means in the vertical direction, but also pulled in the direction of the support wall such that the upper support roller is always in contact with the support wall.
Providing said diagonal pull of the support means makes it possible to reliably prevent the upper support roller lifting off from the support wall, and thus to prevent free hanging and swinging of the carrier component and thus the mounting device. The mounting device striking a shaft wall and the mounting device and/or the shaft walls thus being damaged is therefore also prevented. The mounting system according to the invention thus ensures safe and damage-free displacement of the mounting device in the elevator shaft.
In addition, the mounting system according to the invention has a compensating element which is designed and arranged such that, during a displacement of the carrier component in the elevator shaft, it counteracts tilting of the carrier component about the upper support roller in the direction of the support wall.
Said horizontal component of the retaining force in the direction of the support wall causes a torque about the upper support roller. If this torque is too great, the carrier component can tilt about the upper support roller in the direction of the support wall, the upper part of the carrier component rotating in the direction of the support wall and a distance between the lower region and the support wall thus becoming greater. In the case of such tilting of the carrier component, there is in turn the risk of the mounting device striking a shaft wall and thus the risk of the mounting device and/or the elevator shaft being damaged.
Said horizontal component of the retaining force and thus the torque about the upper support roller is mainly dependent on the diagonal pull in the direction of the support wall and becomes greater in particular as the diagonal pull becomes greater. Without a suitable countermeasure, the diagonal pull of the support means in the direction of the shaft wall changes during a displacement of the carrier component. Without a suitable countermeasure, the pull and thus the horizontal component of the retaining force in the direction of the support wall, as well as the torque about the upper support roller, become greater, i.e. increase, as a first distance between the displacement component and the carrier component or mounting device reduces. The compensating element of the mounting system can counteract the tilting of the carrier component about the upper support roller in various ways, which will be described in connection with the further embodiments of the invention.
Thus, the combination of the diagonal pull of the support means with respect to the vertical in the direction of the support wall and the compensating element during a displacement of the mounting device in the elevator shaft prevents both the upper support roller and thus the carrier component lifting off from the support wall, as well as the carrier component tilting about the upper support roller in the direction of the support wall, both of which can lead to the mounting device striking a shaft wall of the elevator shaft.
The installation component of the mounting device is retained on the carrier component and is designed to perform a mounting step as part of the installation operation at least partly automatically, preferably fully automatically. Said component is intended to be mechatronic, i.e. it is intended to have interacting mechanical, electronic and information-technology elements or modules.
The mounting device can in particular be designed in accordance with a mounting device described in WO 2017/016783 A1.
The feature whereby the displacement component is arranged above the mounting device in the elevator shaft relates to a functional state of the mounting system. In this state, the mounting system is mounted in an elevator shaft such that the carrier component and thus the mounting device can be displaced in the elevator shaft. The displacement component can be arranged in the elevator shaft or above the elevator shaft.
The displacement component may for example be designed as a kind of cable winch, whereby the support means can be wound, for example in the form of a flexible cable or chain, on a winch driven for example by an electric motor.
In particular, the carrier component has a pair of upper support rollers which are arranged next to one another in the horizontal direction in the functional state of the mounting system. In addition to the upper support roller(s), the carrier component also has in particular one lower or a pair of lower support rollers by means of which the carrier component is additionally supported in the elevator shaft on the support wall of the elevator shaft at least during a displacement. In the above-mentioned functional state of the mounting system, the lower support rollers are arranged below the upper support rollers. When the carrier component tilts about the upper support roller in the direction of the support wall, the lower support rollers lift off from the support wall.
The support wall on which the carrier component is supported during a displacement in the elevator shaft is one of the usually four existing shaft walls of the elevator shaft. An additional support wall is therefore not required. In particular the shaft wall opposite the door openings for shaft doors of the elevator system is selected as the support wall. The mounting system can therefore also be used when a plurality of elevator shafts that are not separated by shaft walls are arranged next to one another.
In particular, a device for measuring the elevator shaft, for example based on a laser scanner or one or more 3D cameras, can also be arranged on the carrier component. Said device can be displaced together with the carrier component in the elevator shaft and can measure the elevator shaft. Based on said measurements, for example a digital model of the elevator shaft can be created.
In one embodiment of the invention, the compensating element is designed and arranged such that it counteracts an increase in the diagonal pull of the support means when a first distance between the displacement component and the mounting device reduces. Since, as described above, the transverse force acting on the carrier component increases in the direction of the support wall as the diagonal pull becomes greater, an at least less pronounced increase in the diagonal pull counteracts an increase in the transverse force and thus an increase in the torque about the upper support roller. Tilting of the carrier component and thus of the mounting device when the first distance between the displacement component and the mounting device reduces, i.e. when the mounting device is pulled up in the elevator shaft, is thus effectively prevented. Said less pronounced increase in the diagonal pull refers to a course of the diagonal pull which would result in a mounting system without a compensating element. Compared with a pull at the beginning of a pull-up, the diagonal pull can remain the same during the pull-up, increasing only slightly or even becoming smaller.
In one embodiment of the invention, the compensating element is arranged with the displacement component and designed such that it increases a second distance between the support means in the region of the displacement component and the support wall when the first distance between the displacement component and the mounting device reduces. The increase in the second distance counteracts the increase in the diagonal pull, which, as described above, leads at least to a less pronounced increase in the transverse force in the direction of the support wall. The arrangement of the compensating element with the displacement component is advantageous in that it does not have to be arranged on the carrier component and thus does not take up any space on the carrier component, and in particular does not increase the weight of the mounting device.
The displacement component is in particular arranged in or directly above the elevator shaft such that it can be moved in a direction perpendicular to the support wall. For this purpose, it may be guided on one or two rails, for example. Alternatively, it is also possible that the position of the displacement component is not changed and only the course of the support means in the region of the displacement component is changed, i.e. is diverted to a greater or lesser extent, for example. A deflection roller of which the distance from the support wall can be changed, for example, can be used to deflect or guide the support means.
In one embodiment of the invention, the compensating element is arranged on the carrier component and designed such that it reduces a third distance between a suspension element of the carrier component, by means of which the carrier component is connected to the support means, and the support wall when the first distance between the displacement component and the mounting device reduces. The suspension element is arranged so as to be movable relative to the carrier component, in particular in a direction perpendicular to the support wall. The reduction in the third distance counteracts the increase in the diagonal pull of the support means in the direction of the support wall, which, as described above, leads at least to a less pronounced increase in the transverse force in the direction of the support wall. Said suspension element is part of the carrier component and designed as an eyelet or a hook, for example. The carrier component has only exactly one suspension element. The support means is thus fixed directly to the carrier component. It is very easy to move the suspension element, meaning a simple and cost-effective implementation of a compensating element is possible.
In one embodiment of the invention, a suspension means is arranged between the support means and the carrier component. The support means and the suspension means are connected by means of a connecting element. The support means is thus fixed to the carrier component by means of the suspension means such that the support means is indirectly fixed to the carrier component. The compensating element is designed and arranged such that it reduces a fourth distance between the connecting element and the support wall when the first distance between the displacement component and the mounting device reduces. The position of the connecting element with respect to the suspension means is therefore changed. The reduction in the fourth distance counteracts the increase in the diagonal pull of the support means in the direction of the support wall, which, as described above, leads at least to a less pronounced increase in the transverse force in the direction of the support wall. The suspension means is designed for example as a cable loop which is fixed at both ends to the carrier component. Such a cable loop can also be referred to as a “hanger”. The connecting element of the suspension means is designed for example as an eyelet which can be moved along the cable loop, and thus the distance between the eyelet and the support wall can be changed.
In one embodiment of the invention, the compensating element has at least one energy accumulator which acts on the displacement component, the deflection element or the suspension element with a force in a direction perpendicular to the support wall of the elevator shaft. The above-described horizontal component of the retaining force on the carrier component has to be supported by the displacement component or the deflection element or acts on the suspension element. The energy accumulator is arranged and designed such that a change in the horizontal component of the retaining force leads to a movement of the displacement component, the deflection element or the suspension element, which, as described above, counteracts an increase in the diagonal pull of the retaining means in the direction of the support wall. By a corresponding design of the energy accumulator, which can be implemented by means of calculations or simple experiments, a desired diagonal pull of the retaining means in the direction of the support wall can be achieved. The compensating element is thus very simple and can be implemented without actuatable actuators. It is thus very cost-effective and hardly prone to error.
The energy accumulator can be designed for example as a spring which acts on the displacement component, the deflection element or the suspension element in said direction. The energy accumulator may also be designed as an air or hydraulic accumulator, for example. It is also possible for an energy accumulator to be arranged in each case on opposite sides of the displacement component, the deflection element or the suspension element, and to apply a force from both sides.
In one embodiment of the invention, the compensating element has at least one actuator which is designed and arranged such that it can displace the displacement component, the deflection element, the suspension element or the connecting element in a direction perpendicular to the support wall of the elevator shaft. This allows precise setting of the distance between said components and the support wall, and thus precise setting of the diagonal pull of the support means relative to the support wall and thus the horizontal component of the transverse force in the direction of the support wall. Tilting of the carrier component about the upper support roller in the direction of the support wall can thus be reliably prevented.
The actuator can be designed for example electrically, hydraulically or pneumatically, and can have a movable actuating cylinder which is coupled to the displacement component, the deflection element, the suspension element or the connecting element. The mounting system in particular has a controller for actuating the actuator accordingly. In particular, said controller also actuates further actuators of the mounting system, such as the displacement component.
In particular, the mounting device has a fixing component by means of which the carrier component can be fixed inside the elevator shaft in the lateral direction, that is to say in the horizontal direction. Fixing in the lateral direction should be understood to mean that the carrier component together with the installation component attached thereto can not only be vertically moved to a position at a desired height inside the elevator shaft by means of the displacement component and the support means, but that the carrier component can be also be fixed in this position in the horizontal direction by means of the fixing component.
For this purpose, the fixing component may for example be designed to be laterally supported or press-fit against walls of the elevator shaft such that the carrier component can no longer move relative to the walls in the horizontal direction. For this purpose, the fixing component may for example have suitable supports, props, levers or similar.
If the mounting device is fixed in the elevator shaft by means of the fixing component, it no longer has to be retained by the support means. The support means is no longer loaded in this case and can additionally be relieved of load by the displacement component. In this state, the displacement component, the deflection element, the suspension element or the connecting element is not loaded either, and therefore they can be moved with little effort. The controller actuating said actuator is therefore in particular provided for actuating the actuator in order to displace the displacement component, the deflection element, the suspension element or the connecting element when the mounting device is fixed in the elevator shaft by means of the fixing component. A less powerful, and thus cost-effective, actuator is therefore sufficient.
The second, third or fourth distance is set in particular on the basis of the first distance between the displacement component and the mounting device or on the basis of an inclination of the carrier component. This always allows suitable setting of said distances, and thus suitable setting of the diagonal pull of the support means relative to the support wall and thus the horizontal component of the transverse force in the direction of the support wall. Tilting of the carrier component about the upper support roller in the direction of the support wall can thus be particularly reliably prevented.
The first distance and the inclination are measured directly or indirectly for this purpose. The first distance can be measured directly by means of a distance sensor, for example. It may also be measured indirectly by measuring the distance from a bottom of the elevator shaft or on the basis of a measured initial distance between the displacement component and the mounting device and the distance traveled by the mounting device. The distance traveled can be determined for example on the basis of a measurement of the rotation of a drive roller of the displacement component. The inclination can be measured for example directly by means of an inclination sensor on the carrier component. By measuring the distance between the carrier component, for example in a lower region of the carrier component, and the support wall, the inclination of the carrier component can also be indirectly measured.
In addition, for example a table in which the second, third or fourth distance to be set is stored on the basis of the current first distance or the current inclination of the carrier component is stored in the controller actuating the actuator. Said table can be determined by means of calculations or simple experiments. The second, third or fourth distance is thus set by means of open-loop control. It is also possible for the second, third or fourth distance to be set by means of closed-loop control. For example, a desired inclination of the carrier component can be set by a manipulated variable realized as a second, third or fourth distance.
In one embodiment of the invention, the compensating element is designed and arranged such that it increases a fifth distance between a center of gravity of the mounting device and the support wall when a first distance between the displacement component and the mounting device reduces. For this purpose, the compensating element in particular has an actuator which can move a compensating weight. By increasing the fifth distance between the center of gravity of the mounting device and the support wall, tilting of the carrier component about the upper support roller in the direction of the support wall can be prevented even when the horizontal component of the retaining force in the direction of the support wall becomes greater. Owing to said increase in the fifth distance, the torque generated by the weight of the mounting device about the upper support roller increases, which counteracts the torque acting counter thereto generated by the horizontal component of the retaining force in the direction of the support wall. The increase in the horizontal component of the retaining force in the direction of the support wall caused by a greater diagonal pull of the retaining means in the direction of the support wall can thus be compensated for.
In this embodiment of the mounting system, a small, lightweight and cost-effective actuator can be used for the compensating element since the compensating weight is not under load during a movement, and therefore can be moved with a very small actuating force.
The mounting system in particular has a controller for actuating the actuator accordingly. In particular, said controller also actuates further actuators of the mounting system, such as the displacement component.
In one embodiment of the invention, the mechatronic installation component is part of the compensating element, and the fifth distance is increased by means of a change in the position of the mechatronic installation component. Therefore, an additional compensating weight and additional actuator are not required, which allows for a particularly lightweight and cost-effective mounting device.
The mechatronic installation component can be designed for example as an industrial robot comprising a robot arm. Prior to a displacement of the mounting device, the robot arm is brought as close as possible to the support wall. During the displacement of the mounting device, i.e. during the reduction of said first distance, the robot arm is then moved further and further away from the support wall, thus also moving the center of gravity away from the support wall, and thereby increasing said fifth distance. In order to achieve the greatest possible displacement of the center of gravity of the mounting device, the industrial robot can incorporate additional parts, such as components to be mounted, before the displacement, and thus increase the weight moved during the displacement. The mounting system also has a controller which is provided for actuating the mechatronic installation component accordingly.
The fifth distance is set in particular on the basis of the first distance between the displacement component and the mounting device or on the basis of the inclination of the carrier component. Thus, suitable setting of the fifth distance is always possible along with suitable setting of the distance between the center of gravity of the mounting device and the support wall. Tilting of the carrier component about the upper support roller in the direction of the support wall can thus be particularly reliably prevented. The above statements apply accordingly with regard to the detection of the first distance and/or said inclination, as well as to the evaluation of the sizes.
In one embodiment of the invention, the compensating element has a force introduction point at which the retaining force applied by the displacement component on the support means is introduced into the carrier component, and has the upper support roller, the force introduction point being arranged at the same level as or below the upper support roller, in particular a rotational axis of the upper support roller. For this purpose, the upper support roller can be arranged for example on a spacer element that projects upward from the carrier component.
The compensating element is in this case not a separate component, but is composed of a combination of components of the carrier component which are arranged with respect to one another in a specific manner. The compensating element can thus be realized in a particularly cost-effective manner. The force introduction point is in particular the point at which a suspension element, for example in the form of a hook or an eyelet, on which the support means is suspended is fixed to the carrier component. The suspension element may also be part of or formed by the carrier component; for example, the suspension element can be designed as a through-opening in the carrier component, into which opening the support means can be suspended. In this case, the force introduction point is the point at which contact between the support means and the carrier component occurs. The suspension element can in particular also be considered to be part of the compensating element.
In the described arrangement of the force introduction point with respect to the upper support roller, the horizontal component of the retaining force in the direction of the support wall cannot lead to a torque about the upper support roller which is oriented such that the carrier component could tip in the direction of the support wall. In this way, tilting of the carrier device in the direction of the support wall can be avoided in a particularly simple and cost-effective manner. The arrangement of the force introduction point with respect to the upper support roller again relates to the above-mentioned functional state of the mounting system. The force introduction point is located at the above-mentioned suspension element when the support means and the carrier component are directly connected. If a suspension means is arranged between the support means and the carrier component, this results in at least two force introduction points, specifically at the connection points between the suspension element and the carrier component. These multiple force introduction points are usually on a level. If this is not the case, then all the force introduction points should be arranged at the same level as or below the upper support roller.
The compensating element having said arrangement of the force introduction point(s) with respect to the upper support roller can be combined with all other described embodiments of the compensating element.
The object set out above is also achieved by a method for carrying out an installation operation in an elevator shaft of an elevator system comprising a mounting system. The mounting system used has
The displacement component displaces the mounting device in the elevator shaft by means of the support means. The carrier component is supported by means of an upper support roller on a support wall of the elevator shaft at least during a displacement in the elevator shaft. According to the invention, the support means has a diagonal pull with respect to the vertical in the direction of the support wall of the elevator shaft. In addition, the mounting system has a compensating element which, during a displacement of the carrier component in the elevator shaft, counteracts tilting of the carrier component about the upper support roller in the direction of the support wall.
The statements regarding the embodiments of the mounting system according to the invention can be transferred to said method accordingly.
Further advantages, features and details of the invention can be found in the following description of embodiments and with reference to the drawings, in which like or functionally like elements are provided with identical reference signs.
In the drawings:
The carrier component 3 is connected, by means of a steel cable acting as a support member or support means 17, to a displacement component 15 in the form of a motor-driven cable winch that is attached at the top of the elevator shaft 103 to a stopping point 107 on the ceiling of the elevator shaft 103. By means of the displacement component 15, the mounting device 5 can be vertically displaced inside the elevator shaft 103 over an entire length of the elevator shaft 103.
The mounting device 5 further comprises a fixing component 19 by means of which the carrier component 3 can be fixed inside the elevator shaft 103 in the lateral direction, i.e. in the horizontal direction. The fixing component 19 on the front side of the carrier component 3 and/or the prop (not shown) on a rear side of the carrier component 3 can be displaced outward to the front or the rear for this purpose, and thus press-fit the carrier component 3 between walls 105 of the elevator shaft 103.
The industrial robot can be coupled at its unsupported end to various mounting tools (not shown). The mounting tools can differ with regard to their design and their intended use. Said mounting tools allow mounting steps to be carried out semi-automatically or fully automatically in a fixed state of the mounting device.
A magazine component (not shown in more detail) may also be provided on the carrier component 3. The magazine component can be used to store components to be installed and to provide the industrial robot 7. The magazine component can accommodate for example various components, in particular in the form of different profiles, which are to be mounted on shaft walls 105 inside the elevator shaft 103, in order, for example, to be able to fasten guide rails for the elevator system thereto. The magazine component may also be used to store and provide screws, which can be screwed into prefabricated holes in the shaft wall 105 by means of the industrial robot 7.
Support rollers (not shown in
According to
Compared with
The mounting system 1 according to
If the mounting device 5 is now displaced upward, the horizontal component of the retaining force on the carrier component 3 increases, and thus the force that has to be supported by the displacement component 15 against the spring 25 also increases. This leads to compression of the spring 25 and thus to a movement of the displacement component 15 away from the support wall 108. This movement of the displacement component 15 in turn counteracts the increase in the pull α of the support means 17 in the direction of the support wall 108. In the process, an equilibrium is constantly set which is determined mainly by the characteristic of the spring 25. By calculations or simple experiments, the spring 25 can be designed such that tilting of the mounting device 5 can be reliably avoided.
In the mounting system 1 according to
If the mounting device 5 is now displaced upward, the horizontal component of the retaining force on the carrier component 3 increases and the suspension element 127 is pressed in the direction of the support wall 108 and displaced against the force of the springs 125 in the direction of the support wall 108. This movement of the suspension element 127 in turn counteracts the increase in the diagonal pull α of the support means 17 in the direction of the support wall 108. In the process, an equilibrium is constantly set which is determined mainly by the characteristic of the springs 125. By calculations or simple experiments, the springs 125 can be designed such that tilting of the mounting device 5 can be reliably avoided.
In the mounting system 1 according to
The actuator 230 is actuated by a controller 237. The controller 237 sets said fourth distance on the basis of an inclination of the carrier component 3. An inclination sensor 233 is arranged at the bottom of the carrier component 3 in order to measure the inclination. The controller 237 measures the inclination and sets the fourth distance by means of closed-loop control such that the carrier component 3 is always oriented vertically, i.e. is not inclined. It is also possible for the controller 237 to set said fourth distance on the basis of the first distance between the displacement component 15 and the mounting device 5. For this purpose, the controller 237 can directly measure the first distance by means of a distance sensor (not shown). It is also possible for the controller to measure a distance from a bottom of the elevator shaft 103 and to determine the first distance therefrom. Moreover, it is possible for the controller 237 to detect how far the displacement component 15 displaces the mounting device 5 in the elevator shaft 103 and to determine the current first distance proceeding from a first distance prior to the displacement. To determine the currently required fourth distance, a table is stored in the controller 237, in which table the fourth distance is stored on the basis of the first distance. When the controller 237 has determined the current first distance, it can read out the currently required fourth distance from said table, and then set this using the actuator 230.
In
The deflection element in the form of a deflection roller could also be acted on, analogously to the displacement component in
The described controllers 237, 337, 437, 537 which actuate the actuators 230, 330, 430, 530 are designed in particular such that they actuate said actuators 230, 330, 430, 530 when the mounting device 5 is fixed in the elevator shaft 103 by means of the fixing component 19.
The mounting system 1 according to
The mounting system 1 according to
In the mounting system 1 according to
As can be seen in
Finally, it should be noted that terms such as “comprising”, “having”, etc. do not preclude other elements or steps, and terms such as “a” or “an” do not preclude a plurality. Furthermore, it should be noted that features or steps that have been described with reference to one of the above embodiments may also be used in combination with other features or steps of other embodiments described above.
In accordance with the provisions of the patent statutes, the present invention has been described in what is considered to represent its preferred embodiment. However, it should be noted that the invention can be practiced otherwise than as specifically illustrated and described without departing from its spirit or scope.
| Number | Date | Country | Kind |
|---|---|---|---|
| 17159435 | Mar 2017 | EP | regional |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2018/055189 | 3/2/2018 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2018/162350 | 9/13/2018 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 20100018811 | Vaudo et al. | Jan 2010 | A1 |
| 20110272215 | Ach | Nov 2011 | A1 |
| Number | Date | Country |
|---|---|---|
| 2987484 | Feb 2017 | CA |
| 101528582 | Sep 2009 | CN |
| 102264624 | Nov 2011 | CN |
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| 2002187680 | Jul 2002 | JP |
| 2004331268 | Nov 2004 | JP |
| 2002187680 | Jul 2007 | JP |
| 2009196790 | Sep 2009 | JP |
| WO-2007027172 | Mar 2007 | WO |
| 2015102525 | Jul 2015 | WO |
| 2017016783 | Feb 2017 | WO |
| Number | Date | Country | |
|---|---|---|---|
| 20210130136 A1 | May 2021 | US |
