Patent Application
20240149320
The invention relates to a coil-transporting carriage with adjustable retaining arms and a method for the reliable handling of metal coils of small external diameter or of sleeves on a coiler mandrel.
Horizontally displaceable coil-transporting carriages with a vertically displaceable coil saddle are known from the prior art. A plurality of bearing rollers, which in each case are rotatable axially about a horizontal direction, can be arranged on the upper face of the coil saddle for receiving a coil. Such coil-transporting carriages are suitable for the reliable handling (for example the transport from an initial position to a target position, pushing onto or pulling off from a coiler mandrel, etc.) of such coils which have a sufficient dead weight that they do not tend to spring open without further shearing procedures being carried out.
Depending on production specifications, however, metal strips to be wound off from a coiler mandrel are sometimes not wound off fully (for example in the case of a reversible coiler) but a residual piece of the relevant metal strip remains on the coiler mandrel and has to be transported away thereby. Such residual pieces, when their external diameter does not exceed a specific value do, for example 750 mm, are also denoted as so-called “residual coils” and generally also have a correspondingly low dead weight. The value do is also denoted as the “limit diameter”.
For transporting such a residual piece away from a coiler mandrel, after uncoiling a large part of the original strip which is still connected to the residual piece, the coil saddle of a coil-transporting carriage is adjusted against the lower face of the residual piece. Subsequently, a cutting step takes place, the uncoiled strip part being cut off thereby from the residual piece remaining on the coiler mandrel. The residual piece remaining on the coiler mandrel is then wound back thereby (i.e. rotated counter to the unwinding direction) sufficiently far that the free strip end on the peripheral side comes to rest in the vicinity of the coil saddle (so-called 5 o'clock or 7 o'clock position).
If the external diameter of the residual piece is below the maximum limit diameter d0, such a residual coil can be mechanically unstable—in particular in the case of a high inherent strength of the strip material—and can tend to spring open due to the residual elastic tension present in the metal strip, which naturally represents a high risk to safety during the transport and handling thereof. Various solutions for transporting unstable coils are known from the prior art.
Thus for pulling off high-strength coils from a coiler mandrel by means of a coil-delivery carriage, EP 2 648 860 B1 proposes to stabilize one respective coil by means of two retaining arms, wherein the retaining arms in each case exert a retaining force on the external peripheral surface or in the coil eye of the coil. Such a solution requires a high degree of structural complexity and only has a limited transport range since the retaining arms in each case are designed as separately displaceable facilities and have to be synchronized with the movements of the coil-delivery carriage.
A coil-transporting carriage with a clamping facility is disclosed in EP 3 366 381 A1, the clamping facility being able to be lowered in the coil saddle and in the activated state, by exerting a retaining force in the coil eye of a metal coil deposited on the coil-transporting carriage, being able to press this metal coil against the coil saddle and thus stabilize it in terms of its position. In principle, a rotation of a coil on such a coil-transporting carriage is possible even when the clamping facility is activated but it is not possible to transfer a coil still fully located on a coiler mandrel directly onto the coil-transporting carriage when the clamping facility is extended at the same time, since this would collide with the coiler mandrel.
EP 2 544 835 B1 discloses the monitoring of a high-strength coil as to whether it is located in an unstable equilibrium position after being deposited on two fixed bearing points, and in this case to place a further movable bearing point below the central plane of the metal coil against the outer peripheral surface thereof. Since the coil is held only below its central plane and thus is not held over more than half of its external periphery, there is no positive connection with the bearing points so that even for a deposited coil which is already stabilized, automatic opening due to a high residual tension, for example triggered by a high level of vibrations or thermal shrinkage of the coil itself, cannot be ruled out with certainty.
There is also occasionally the need to wind coils with a greater internal diameter than an existing coiler mandrel might permit. To this end, a so-called “sleeve” is pushed onto the relevant coiler mandrel before the coiling process as such. Since sleeves have only a low dead weight, similar to residual coils, during the handling thereof by means of a coil-transporting carriage there is the risk of the sleeves falling down or rolling down to the side, which is why the sleeves according to the prior art are pushed onto a coiler mandrel by means of a dedicated facility in the form of a sleeve manipulator.
None of the solutions proposed in the documents EP 2 648 860 B1, EP 3 366 381 A1 and EP 2 544 835 B1, however, can be used both for the mechanical stabilization of a residual coil after the cutting step has been carried out, when already wound back onto the coiler mandrel, and for pushing a sleeve onto a coiler mandrel.
Thus it is the object of the present invention to develop a coil-transporting carriage which is known from the prior art such that a reliable handling of coils is made possible thereby, in particular of coils of an external diameter which is smaller than a limit diameter d0, and of sleeves on a coiler mandrel.
A coil-transporting carriage according to the invention for the reliable handling of coils, in particular of coils of an external diameter which is smaller than a limit diameter d0, or sleeves on a coiler mandrel, has a coil saddle which is vertically displaceable by means of a first drive unit. A plurality of bearing rollers are arranged on the upper face of the coil saddle for receiving a coil or a sleeve, wherein the bearing rollers are in each case axially rotatable about a first horizontal direction X1. Preferably, the first horizontal direction X1 coincides with the longitudinal axis of the coiler mandrel.
The coil-transporting carriage also has retaining arms for stabilizing the coil, in the event that the external diameter thereof is not greater than a limit diameter d0, or the sleeve. The retaining arms are arranged in pairs in a second horizontal direction X2 opposing one another on the coil saddle, wherein the second horizontal direction X2 is oriented perpendicularly to the first horizontal direction X1. The retaining arms are pivotable about the first horizontal direction X1 by means of rotary drives and thus can be pivoted onto a coil or sleeve located on the coil saddle and thus prevent the coil undesirably springing open or the coil or the sleeve rolling down to the side. Preferably, the coil-transporting carriage has two or four retaining arms. If the external diameter of the coil exceeds a maximum limit diameter d0, the retaining arms are not required.
The coil-transporting carriage according to the invention also has a second drive unit, the coil-transporting carriage being able to be displaced horizontally thereby. As a result, the coil-transporting carriage can be moved toward the coiler mandrel and moved away from the coiler mandrel, for example in order to pull off a coil from the coiler mandrel or to push a sleeve onto the coiler mandrel. Preferably, the horizontal direction in which the coil-transporting carriage can be moved by means of the second drive unit coincides with the first horizontal direction X1 in the region of the coiler mandrel or in the receiving region for a sleeve.
The coil-transporting carriage according to the invention also has a control unit for actuating the first and second drive unit and the rotary drives and a data interface for communication with a higher-level control unit. The data interface enables the control unit of the coil-transporting carriage to receive data, relating to a transport process to be carried out, from the higher-level control unit which, for example, can be a system automation.
The data received from the higher-level control unit can be present merely in the form of key data of the upcoming transport process, the data comprising, for example, the state m of the coiler mandrel (collapsed or spread apart), the dimensions a and/or weight g of the coil, a target position Z to which the coil is to be transported or a receiving position A on which a sleeve is to be transferred from the coil-transporting carriage. In this case, the control unit is designed to determine and to implement automatically the chronological sequence and the control signals for the actuation of the first and second drive unit and the rotary drives. The parameters include, for example, the travel paths or the adjusting forces of the individual facilities.
The control unit can also be designed to determine automatically on the basis of the status signal for the coiler mandrel whether a coil can be pulled off from the coiler mandrel or a sleeve can be pushed onto the coiler mandrel. For example, the control unit can automatically identify an impermissible operating state (for example when a coil is intended to be pulled off from the coiler mandrel or a sleeve is intended to be pushed onto the coiler mandrel, but the coiler mandrel is still spread apart) and report this via the data interface to the higher-level control unit and wait for further control commands.
Further sensor signals (for example light barriers for identifying obstacles) can also be supplied to the control unit and this control unit can be designed such that it is able to establish automatically on the basis of these further sensor signals whether a transport process can be carried out without a collision. In turn, the control unit can automatically identify an imminent collision of the coil-transporting carriage or a part thereof with an obstacle as an impermissible operating state and via the data interface report back to the higher-level control unit and interrupt or not start any transport process.
In one embodiment of the coil-transporting carriage according to the invention, the rotary drives are designed as geared motors. Since the retaining arms of the coil-transporting carriage have to perform a rotary movement for fixing a coil or a sleeve, by combining a motor with a rotating output shaft and a corresponding reduction gear advantageously a small design can be achieved for the respective rotary drives, whereby the risk of collisions when handling a coil or a sleeve is minimized.
In a further embodiment of the coil-transporting carriage according to the invention, the retaining arms can be pivoted into a park position P, so that the greatest extent dmax between the retaining arms in the second horizontal direction X2 is smaller than or equal to the greatest dimension dbtw of the coil-transporting carriage in the second horizontal direction X2. The “greatest extent” dmax between the retaining arms in the second horizontal direction X2 is understood to mean the greatest possible distance which is spanned by two points respectively located on one of the two retaining arms in the second horizontal direction X2, when the retaining arms are in the park position P. Equally the “greatest dimension” dbtw of the coil-transporting carriage in the second horizontal direction X2 is understood to mean the greatest possible distance which two points respectively located on opposing sides of the coil-transporting carriage span in the second horizontal direction X2.
In simplified terms, the pivoting of the retaining arms into the park position has the result that the retaining arms in the park position P are not “wider” than the coil-transporting carriage itself, when the width direction of the coil-transporting carriage is equated with the second horizontal direction X2. As a result, it is advantageously achieved that when transporting coils which require no stabilization due to their dimensions, the retaining arms can be pivoted into the park position in a space-saving manner and no additional space is required in comparison with coil-transporting carriages known from the prior art. Thus the coil-transporting carriage according to the invention is suitable as a replacement or retrofitted solution for existing transport devices, since no structural changes are required for the corresponding distance traveled.
Preferably, the retaining arms are designed such that coils or sleeves of an external diameter which ranges between 500 mm and a limit diameter do are stabilized in a form-locking manner. The limit diameter do can be, for example, 750 mm. This is achieved by a corresponding shaping of the retaining arms. “Stabilized in a form-locking manner” is understood to mean that each of the retaining arms of the coil-transporting carriage, when correspondingly adjusted by the rotary drives against the coil or sleeve located on the coil saddle, comes into contact with the coil or the sleeve on the peripheral side on at least one point above a horizontal central plane through a longitudinal axis M of the coil or the sleeve.
To avoid scratches or dents on the peripheral surface of the coil or the sleeve during the adjustment process of the retaining arms and during the transport by the coil-transporting carriage, the retaining arms on their inner faces are preferably provided with a friction-reducing coating or slide rollers.
In the method according to the invention for pulling off a coil from a coiler mandrel by means of a coil-transporting carriage, the external diameter of the coil being smaller than a limit diameter d0, according to the invention in a first step S1 the coil saddle of the coil-transporting carriage is displaced vertically by means of the first drive unit and adjusted against the coil located on the coiler mandrel, which at this point in time is still connected to an uncoiled strip portion, so that the bearing rollers of the coil saddle come into contact with the coil on its lower face.
The adjustment of the coil saddle onto the coil located on the coiler mandrel can take place, for example, in a force-controlled or position-controlled manner A position-controlled adjustment can take place either on the basis of the corresponding coil diameter or on the basis of a sensor signal (for example from a distance sensor or touch sensor). A force-controlled adjustment can take place by the assistance of a force measuring device for the coil saddle, on the basis of the corresponding coil weight g or on the basis of a predetermined maximum adjusting force. A combination of force-controlled and position-controlled adjustment is also possible. To this end, the relevant coil diameter or the relevant coil weight g can have been transmitted via the data interface to the control unit of the coil-transporting carriage.
Particularly preferably, the coil saddle is adjusted against the coil located on the coiler mandrel with a force which corresponds to the weight force of the coil after the uncoiled strip portion has been cut off: as a result, the coiler mandrel is relieved of the weight force of the coil so that in a following step this coil can be easily pulled off from the coiler mandrel since, with a collapse of the coiler mandrel required therefor, it is no longer necessary to compensate for elastic distortion—caused by the weight force of the coil or by too great an adjusting force of the coil saddle.
In a second step S2 of the method according to the invention, the retaining arms are pivoted onto the coil by means of the rotary drives. The pivoting of the retaining arms onto the coil can take place, for example, by applying a specific torque so that it is ensured that the retaining arms actually come into contact with the external peripheral surface of the coil. As a result, the free strip end, which in a following third step S3 is produced by cutting off the uncoiled strip portion from the coil, is pushed against the external peripheral surface of the coil and mechanically secured against falling down or springing open in an uncontrolled manner. The uncoiled strip portion is cut off from the coil in the third step S3 by means of a cutting device which is arranged to the side of the coiler mandrel—i.e. in a direction transversely to the longitudinal axis thereof.
In a fourth step S4 of the method according to the invention, the coil is rotated by means of the coiler mandrel counter to an unwinding direction U of the coil until the free strip end of the coil is positioned on the peripheral side within a predetermined angular range αmax relative to the vertical through a longitudinal axis M of the coil. The angular range αmax can be determined by the geometric arrangement of the bearing rollers of the coil saddle so that the free strip end is positioned, for example, at a maximum of 20 cm from one of the bearing rollers (so-called 5 o'clock or 7 o'clock position). Preferably, when the coil is rotated counter to an unwinding direction U the free strip end is not rotated across one of the bearing rollers, in order to avoid impressions of the strip edge in the layers of the coil located below. The unwinding direction U of the coil is to be understood to mean the rotational direction in which the coil is rotated when unwound from the coiler mandrel. In the spread-apart state of the coiler mandrel, there is no mechanical contact between the coiler mandrel and the coil in the coil eye thereof. Thus subsequently, i.e. after rotation has taken place counter to the unwinding direction U, the previously spread-apart coiler mandrel is collapsed (i.e. the external diameter thereof is reduced so that there is no longer any mechanical contact between the coiler mandrel and the coil).
In a subsequent fifth step S5 of the method according to the invention, the coil-transporting carriage is moved by means of the second drive unit away from the coiler mandrel until the coil is fully pulled off from the coiler mandrel so that no part of the coiler mandrel still protrudes into the coil eye of the coil. At the same time, while moving away the coil-transporting carriage, the coiler mandrel is rotated counter to the unwinding direction U in order to avoid the internal winding of the coil remaining suspended on the coiler mandrel. In a subsequent sixth step S6, by activating the second drive unit the coil is transported by the coil-transporting carriage to a target position, for example a binding station.
According to one embodiment of the method according to the invention, in a step S5′ which is carried out between the fifth and the sixth step S5 and S6, the coil saddle is lowered vertically by means of the first drive unit. This increases the mechanical stability of the coil-transporting carriage in the second horizontal direction X2 during the transport process.
According to a further embodiment of the method according to the invention, the control unit of the coil-transporting carriage receives data via the data interface from a higher-level control unit, the control unit actuating the first and second drive unit and the rotary drives on the basis thereof, so that the sequence of the steps S1 to S6 is carried out.
According to one embodiment of the method according to the invention, the data received from the higher-level control unit can be present merely in the form of the above-described key data of the upcoming transport process. The data can comprise the state m of the coiler mandrel, the dimensions a of the coil on the coiler mandrel, a coil weight g or a target position Z to which the coil has to be transported after being pulled off from the coiler mandrel.
In this case, the control unit is designed to determine and implement automatically the chronological sequence and the control signals for the actuation of the first and second drive unit and the rotary drives, so that the sequence of steps S1 to S6 is carried out autonomously by the coil-transporting carriage or the control unit thereof, which is denoted as the so-called fully automatic operating mode of the coil-transporting carriage. Advantageously, the control and monitoring effort for the respective coil transport is minimized on the part of the higher-level control unit.
Alternatively, for the individual sub-steps of the transport process to be carried out, for example for each of the aforementioned steps S1 to S6, the control unit of the coil-transporting carriage can also receive via the data interface corresponding data packets from the higher-level control unit, wherein the control signals for the actuation of the first and second drive unit and the rotary drives are determined by the control unit of the coil-transporting carriage, but the chronological sequence of the individual sub-steps is predetermined by the higher-level control unit. This corresponds to a semi-automatic operating mode of the coil-transporting carriage and provides a greater chronological flexibility relative to the chronological sequence of a transport process.
According to a further alternative, for carrying out the aforementioned sequence of steps S1 to S6, the control unit of the coil-transporting carriage can also receive the control signals for the actuation of the individual facilities, such as for example the first and second drive unit and the rotary drives, directly via the data interface from a higher-level control unit or an operator (for example by actuating corresponding buttons or switches). This corresponds to a manual operating mode (also denoted as jog mode) of the coil-transporting carriage.
In the method according to the invention for pushing a sleeve onto a coiler mandrel by means of a coil-transporting carriage according to the invention, in a first step S11 the coil-transporting carriage is displaced by means of the second drive unit to a receiving position A in front of a delivery station 30 and the coil saddle is displaced by means of the first drive unit into a vertical transfer height h0 in order to transfer the sleeve. The retaining arms are pivoted by means of the rotary drives into a securing position S while the coil-transporting carriage is in a receiving position A. The receiving position A is located relative to the first horizontal direction X1 at the same position as the delivery station so that the center of the coil saddle relative to the direction X1 coincides with the center of the sleeve along its longitudinal axis M.
The transfer height h0 is dependent on the sleeve diameter and on the structural dimensions of the delivery station from which the sleeve is transferred to the coil-transporting carriage. For example, the transfer height h0 can be 500 to 1000 mm below an initial height h1 of the sleeve at the delivery station, wherein the transfer height h0 and the initial height h1 in each case refer to the same reference height (for example a bottom level of the delivery station).
In the securing position S the retaining arms are pivoted into such a position that they are located to a large extent above the bearing rollers of the coil saddle, wherein the inner faces of the retaining arms are spaced sufficiently far apart from one another in the second horizontal direction X2 that the sleeve to be delivered onto the coil-transporting carriage can be lowered between the retaining arms onto the coil saddle without coming into contact with the retaining arms themselves. As a result, the sleeve is prevented from inadvertently falling down or rolling down during the delivery process.
The structural dimensions of the delivery station and the relevant sleeve diameter can have been transmitted via the data interface to the control unit of the coil-transporting carriage, so that the control unit automatically determines therefrom the transfer height h0 of the coil saddle and the securing position S of the retaining arms. Alternatively, the transfer height h0 and the securing position S can also be stored as fixed values in the control unit.
In a second step S12, the sleeve is deposited from the delivery station by means of a delivery device onto the coil saddle of the coil-transporting carriage. For example, the delivery device can be designed as a pivoting device, the sleeve being delivered thereby from the initial height h1 onto the coil saddle which at this time is at the transfer height h0.
In a third step S13, the retaining arms are pivoted by means of the rotary drives onto the sleeve, so that the inner faces of the retaining arms positively come into contact with the sleeve on their outer peripheral side, whereupon in a fourth step S14 the coil-transporting carriage is displaced by means of the second drive unit to a position directly in front of the coiler mandrel and in a fifth step S15 the coil saddle is displaced vertically by means of the first drive unit until a longitudinal axis M of the sleeve is located level with the coiler mandrel.
Subsequently, in a sixth step S16 the coil-transporting carriage is moved by means of the second drive unit toward the collapsed coiler mandrel along the longitudinal axis thereof until the sleeve is pushed fully onto the coiler mandrel but does not yet come into contact therewith, since the internal diameter of the sleeve is greater than the diameter of the coiler mandrel in the collapsed state. Then in a seventh step S17 the coiler mandrel is expanded so that the sleeve is held in a force-locking mannerby the coiler mandrel.
In an eighth step S18, the retaining arms are pivoted away from the sleeve by means of the rotary drives and the coil saddle is lowered vertically by means of the first drive unit. As a result, there is no longer any mechanical contact between the coil saddle and the retaining arms, on the one hand, and the sleeve, on the other hand, so that for example the coil-transporting carriage can be subsequently moved by means of the second drive unit away from the coiler mandrel. As a result, the working space can be released in the region of the coiler mandrel for winding devices assigned thereto (for example so-called basket rollers), so that a metal strip can be wound onto the sleeve.
In one embodiment of the method according to the invention, for pushing a sleeve onto a coiler mandrel, during the second step S12 the coil saddle is displaced by means of the first drive unit in the vertical direction so that the coil-transporting carriage does not collide with any part of the delivery device of the delivery station.
For example, a delivery device in the form of a pivoting device can comprise two support arms which are spaced apart from one another in the first horizontal direction X1 and by which the sleeve during the delivery to the coil-transporting carriage is retained. Since, when the sleeve is deposited onto the coil saddle, parts of the support arms in the vertical direction have to be pivoted below the bearing rollers and can collide with parts of the coil-transporting carriage, for example with the rotary drives for the pivoting arms, in such a case the movement of the coil saddle has to be synchronized with the movement of the pivoting device or the support arms in order to avoid a collision.
According to a further embodiment of the method according to the invention, for pushing a sleeve onto a coiler mandrel the control unit receives data via the data interface from the higher-level control unit, the control unit actuating the first and second drive unit and the rotary drives on the basis thereof, so that the sequence of the steps S11 to S18 is carried out. Similar to the above-described method for pulling off a coil from a coiler mandrel—once again the data can comprise the dimensions a of the sleeve, the state m of the coiler mandrel and/or the receiving position A, in which case the control unit is designed to determine and to implement the chronological sequence and the control signals for the actuation of the first and second drive unit and the rotary drives automatically, so that the sequence of the steps S11 to S18 is carried out autonomously by the coil-transporting carriage or the control unit thereof (fully automatic operating mode). Once again, advantageously the control and monitoring effort for the respective sleeve transport is minimized on the part of the higher-level control unit.
Equally, as already described above, however, a sleeve can also be transported in a semi-automatic or manual operating mode.
The above-described properties, features and advantages of this invention and the manner in which they are achieved will become clearer and more easily comprehensible in connection with the following description of exemplary embodiments which are explained in more detail in combination with the drawings, in which:
Parts which correspond to one another are provided in the figures with the same reference numerals.
The coil-transporting carriage 1 also has four retaining arms 11 for stabilizing a residual coil 20 or a sleeve 21, respectively two arms thereof being visible in
In
In
A data interface 17 which is connected to a control unit 16 of the coil-transporting carriage 1 enables the control unit 16 to exchange data with a higher-level control unit 19. According to a first exemplary embodiment of the coil-transporting carriage according to the invention, the communication path to the higher-level control unit 19 is designed as a wireless radio link, for example in the form of a WLAN connection or a data laser connection. Alternatively, however, a wired transmission path between the data interface 17 and the higher-level control unit 19 is also possible, for example in the form of a trailing cable or as a signal modulated to a power supply of the coil-transporting carriage 1.
In
For illustrating the process of delivering the sleeve 21 to the coil-transporting carriage 1, in
Equally the coil saddle 5 of the coil-transporting carriage 1 is shown in a lower vertical position in which the retaining arms 11 are in the park position P, and in a vertical position located thereabove at the transfer height h0 at which the delivery takes place by a displacement of the weight of the sleeve 21 from the pivoting device 32 to the coil saddle 5. During the delivery, the retaining arms 11 are pivoted into a securing position S in order to secure the sleeve 21 against falling out to the side in the direction of the second horizontal direction X2, when the pivoting device 32 is lowered. The initial height h1 and the transfer height h0 refer in each case to the first step of the base 31. If required, the lowering of the pivoting device 32 and the coil saddle 5 can take place in a coordinated manner with the delivery of the sleeve 21, so that a collision is avoided between the parts of the pivoting device 32 and the parts of the coil-transporting carriage 1.
In
In the third and fourth step S3 or S4, the cutting step carried out by a cutting device 24 or the rotation of the coil 20 by the coiler mandrel 22 counter to the unwinding direction U and the subsequent collapse of the coiler mandrel 22, which in
Similar to
In the second step S12, it is reported to the control unit 16 that the sleeve 21 has been deposited by means of the delivery device 32, which again can take place for example by transmitting a corresponding confirmation signal via the external control unit 19 and the interface 17. While the sleeve 21 is being deposited, further signals (for example current position signals of the delivery device 32) for the above-described synchronization of the movement of the coil saddle 5 and the delivery device 32 can be reported to the control unit 16. In the seventh step S17, it is reported to the control unit 16 that the coiler mandrel 22 has been spread apart, which means that from this point in time the sleeve 21 is held in a force-locking manner by the coiler mandrel 22, whereupon the control unit 16 proceeds to the final step S18.
| Number | Date | Country | Kind |
|---|---|---|---|
| 21166357.0 | Mar 2021 | EP | regional |
The present application is a national phase application of PCT Application No. PCT/EP2022/057424, filed Mar. 22, 2022, entitled “RELIABLE HANDLING OF SLEEVES OR METAL COILS OF SMALL EXTERNAL DIAMETER ON A COILER MANDREL”, which claims the benefit of European Patent Application No. 21166357.0, filed Mar. 31, 2021, each of which is incorporated by reference in its entirety.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2022/057424 | 3/22/2022 | WO |
