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(11)

EP 4 090 502 A1

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(43) Date of publication: 23.11.2022 Bulletin 2022/47 (21) Application number: 21707633.0 (22) Date of filing: 18.02.2021

(51) International Patent Classification (IPC):  B25J 19/02(2006.01) B25J 11/00(2006.01) B25J 5/00(2006.01) (52) Cooperative Patent Classification (CPC): A61L 2202/16; A61L 2/22; A61L 2/24; A61L 2202/11; A61L 2202/15; A61L 2202/25; G05D 1/0038; G05D 2201/0203; B05B 13/005; B05B 15/652 (86) International application number: PCT/EP2021/053983 (87) International publication number: WO 2021/165376 (26.08.2021 Gazette 2021/34)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME Designated Validation States: KH MA MD TN (30) Priority: 21.02.2020 CN 202010109015 (71) Applicant: Siemens Aktiengesellschaft 80333 München (DE)	(72) Inventors: WANG, Kai Shenyang 110000 (CN) YU, Qi Nanjing 211100 (CN) SUN, Zhao Jun Beijing 102400 (CN) CHEN, Ru Long Qingdao 266500 (CN) LIU, Jiang Bo Qingdao 266109 (CN) (74) Representative: Isarpatent  Patent- und Rechtsanwälte Barth Charles Hassa Peckmann & Partner mbB Friedrichstrasse 31 80801 München 80801 München (DE)