CA2833999A1 - Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator - Google Patents
Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator Download PDFInfo
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- CA2833999A1 CA2833999A1 CA2833999A CA2833999A CA2833999A1 CA 2833999 A1 CA2833999 A1 CA 2833999A1 CA 2833999 A CA2833999 A CA 2833999A CA 2833999 A CA2833999 A CA 2833999A CA 2833999 A1 CA2833999 A1 CA 2833999A1
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000000463 material Substances 0.000 claims abstract description 26
- 238000000605 extraction Methods 0.000 claims abstract description 10
- 238000012544 monitoring process Methods 0.000 claims abstract description 3
- 238000001514 detection method Methods 0.000 claims description 7
- 238000007599 discharging Methods 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 description 10
- 239000003245 coal Substances 0.000 description 3
- 238000005065 mining Methods 0.000 description 3
- 238000010025 steaming Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
- E02F3/22—Component parts
- E02F3/26—Safety or control devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F7/00—Equipment for conveying or separating excavated material
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F7/00—Equipment for conveying or separating excavated material
- E02F7/02—Conveying equipment mounted on a dredger
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
- E21C47/02—Machines for obtaining or the removal of materials in open-pit mines for coal, brown coal, or the like
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Control Of Conveyors (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Jib Cranes (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to a method for detecting and tracking the position of a mobile transferring device/loading device of a bucket-wheel excavator or bucket chain excavator (1), which bucket-wheel excavator or bucket chain excavator comprises an extraction device (2) having a pivotable superstructure having an inclinable cantilever (4), a track-drivable substructure (9), and a transferring device (12) having a loading cantilever (13) and renders conveyed material by means of a bench conveyor (17) with/without an intermediately arranged mobile transfer conveyor (37). An open-loop/closed-loop control device (20) specifies the pivot angle and the inclination of the loading cantilever of the transferring device according to the signals of the following sensors: a sensor (21) for detecting the current spatial coordinates (xB/vB/zB) of the bucket-wheel excavator or bucket chain excavator (1), a sensor (22) for detecting the current spatial coordinates (xS/yS/zS) of the discharging conveyor, a sensor (23) for detecting the current longitudinal inclination and transverse inclination of the loading cantilever (13), a sensor (24) for detecting the current pivot angle of the loading cantilever (13), a sensor (26) for detecting the current distance of the loading cantilever (13) above the discharging conveyor, a sensor (27) for detecting the current vertical positioning of the loading cantilever (13) above the discharging conveyor, and a sensor for monitoring cover filling in/at the transfer point of the loading cantilever (13).
Description
*
Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator Description The invention relates to a method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator, which excavator comprises an extraction apparatus having a pivotable superstructure with inclinable boom, a track-mobile substructure, and a transferring device with loading boom and delivers conveyed material by means of a bench conveyor with/without an interposed mobile transfer conveyor or a similar transfer point.
A bucket-wheel excavator comprises in standard designs a pivotable superstructure having an inclinable boom with a bucket wheel fastened thereto, a track-mobile substructure, and a transferring device or loading device with loading boom inclusive of loading belt.
During operation the superstructure pivots to and fro on the track-mobile substructure within its working range. The bucket-wheel excavator transfers the masses which it has extracted in block operation (bench block or side block operation, or the conveyed material) for example coal or spoils, to a shiftable bench conveyor.
Track-mounted bucket chain excavators are equipped with a pivot mechanism for the superstructure. They can operate in upward cutting or downward cutting mode. The excavator superstructure receives perpendicular to the direction of travel the bucket ladder, the lower, movable part of which is suspended articulately from the superstructure and from a boom by means of one or more bucket ladder winches. On the bucket ladder runs an endless bucket chain. The bucket chain excavator is equipped with a transferring device.
Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator Description The invention relates to a method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator, which excavator comprises an extraction apparatus having a pivotable superstructure with inclinable boom, a track-mobile substructure, and a transferring device with loading boom and delivers conveyed material by means of a bench conveyor with/without an interposed mobile transfer conveyor or a similar transfer point.
A bucket-wheel excavator comprises in standard designs a pivotable superstructure having an inclinable boom with a bucket wheel fastened thereto, a track-mobile substructure, and a transferring device or loading device with loading boom inclusive of loading belt.
During operation the superstructure pivots to and fro on the track-mobile substructure within its working range. The bucket-wheel excavator transfers the masses which it has extracted in block operation (bench block or side block operation, or the conveyed material) for example coal or spoils, to a shiftable bench conveyor.
Track-mounted bucket chain excavators are equipped with a pivot mechanism for the superstructure. They can operate in upward cutting or downward cutting mode. The excavator superstructure receives perpendicular to the direction of travel the bucket ladder, the lower, movable part of which is suspended articulately from the superstructure and from a boom by means of one or more bucket ladder winches. On the bucket ladder runs an endless bucket chain. The bucket chain excavator is equipped with a transferring device.
The design of the transferring device takes into account that the angle between the loading belt of the transferring device and the bench conveyor belt axis in ground plan is adjustable. The pivot motion of the transferring device enables the unloading of the transferring device to be adapted to the distance of the shiftable bench conveyor from the excavator axis (center axis of the tracked substructure). The shiftable bench conveyor lies parallel to the direction of travel of the track-mobile substructure of the excavator (bucket chain excavator or bucket-wheel excavator) and is shifted in dependence on the rate of advance.
An interposed mobile transfer conveyor can be used, in particular, to enlarge the radius of action of the bucket-wheel excavator or bucket chain excavator during mining.
A fundamental object in respect of the loading consists in the operation of a pivot mechanism/lifting gear of the loading boom inclusive of loading belt of the transferring device, including operation of a loading chute for the correct belt loading of the bench conveyor or of a mobile transfer conveyor and control of the mass stream or of the conveyed material stream.
This object is fulfilled by a loading attendant.
The loading attendant conducts the operation of the pivot mechanism/lifting gear for the loading boom and the operation of the loading chute for the correct belt loading and control of the mass stream.
The object of the invention is to specify an optimized method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator.
An interposed mobile transfer conveyor can be used, in particular, to enlarge the radius of action of the bucket-wheel excavator or bucket chain excavator during mining.
A fundamental object in respect of the loading consists in the operation of a pivot mechanism/lifting gear of the loading boom inclusive of loading belt of the transferring device, including operation of a loading chute for the correct belt loading of the bench conveyor or of a mobile transfer conveyor and control of the mass stream or of the conveyed material stream.
This object is fulfilled by a loading attendant.
The loading attendant conducts the operation of the pivot mechanism/lifting gear for the loading boom and the operation of the loading chute for the correct belt loading and control of the mass stream.
The object of the invention is to specify an optimized method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator.
This object is achieved according to the invention, in conjunction with the preamble to claim 1, by virtue of the fact that an open-loop/closed-loop control device defines the pivot angle and the inclination of the loading boom of the transferring device in dependence on the signals of the following sensors:
= a sensor for detecting the current spatial coordinates of the bucket-wheel excavator or bucket chain excavator, = a sensor for detecting the current spatial coordinates of the bench conveyor or of the take-up belt of the mobile transfer conveyor, = a sensor for detecting the current longitudinal inclination and transverse inclination of the loading boom, = a sensor for detecting the current pivot angle of the loading boom, = a sensor for detecting the current distance of the loading boom above the bench conveyor or above the take-up belt of the mobile transfer conveyor, = a sensor for detecting the current vertical positioning of the loading boom above the bench conveyor or above the take-up belt of the mobile transfer conveyor, inclusive of detection of the belt middle, = a sensor for monitoring overfilling in/at the transfer point of the loading boom.
The advantages obtainable with the invention consist, in particular, in the fact that an additional loading attendant is no longer necessary, since the operation of a pivot mechanism/lifting gear of the loading boom inclusive of the loading belt of the transferring device, including operation of a loading chute for the correct belt loading of the bench conveyor or of the take-up belt of a mobile transfer conveyor and the control of the mass stream and of the conveyed material stream, is now fulfilled by the proposed open-loop/closed-loop control device. In other words, the manual positioning is replaced by an automatic positioning (manless operation) of the loading boom for the transfer of conveyed material to the discharging conveyor - bench conveyor or mobile transfer conveyor with take-up belt.
The open-loop/closed-loop control device exerts a direct influence on the belt running of the bench conveyor belt or of the take-up belt of a mobile transfer conveyor, with due regard to the dirt contamination of the conveyor. The conveyed material is loaded with due regard to the belt transfers. In case of risk of a material jam in/at the transfer point (transfer chute), a signal is delivered to the bucket-wheel excavator or bucket chain excavator to adjust the conveyance.
Further applications of the invention are:
= bucket-wheel excavators having a loading boom for transfer to the bench conveyor, = bucket chain excavators having a loading boom for transfer to the bench conveyor, = bucket-wheel excavators having a loading boom for transfer to an interposed mobile transfer conveyor, = bucket chain excavators having a loading apparatus for transfer to the bench conveyor.
Expedient embodiments of the invention are characterized in the subclaims.
The invention is explained below with reference to the illustrative embodiment represented in the drawing, in which:
= a sensor for detecting the current spatial coordinates of the bucket-wheel excavator or bucket chain excavator, = a sensor for detecting the current spatial coordinates of the bench conveyor or of the take-up belt of the mobile transfer conveyor, = a sensor for detecting the current longitudinal inclination and transverse inclination of the loading boom, = a sensor for detecting the current pivot angle of the loading boom, = a sensor for detecting the current distance of the loading boom above the bench conveyor or above the take-up belt of the mobile transfer conveyor, = a sensor for detecting the current vertical positioning of the loading boom above the bench conveyor or above the take-up belt of the mobile transfer conveyor, inclusive of detection of the belt middle, = a sensor for monitoring overfilling in/at the transfer point of the loading boom.
The advantages obtainable with the invention consist, in particular, in the fact that an additional loading attendant is no longer necessary, since the operation of a pivot mechanism/lifting gear of the loading boom inclusive of the loading belt of the transferring device, including operation of a loading chute for the correct belt loading of the bench conveyor or of the take-up belt of a mobile transfer conveyor and the control of the mass stream and of the conveyed material stream, is now fulfilled by the proposed open-loop/closed-loop control device. In other words, the manual positioning is replaced by an automatic positioning (manless operation) of the loading boom for the transfer of conveyed material to the discharging conveyor - bench conveyor or mobile transfer conveyor with take-up belt.
The open-loop/closed-loop control device exerts a direct influence on the belt running of the bench conveyor belt or of the take-up belt of a mobile transfer conveyor, with due regard to the dirt contamination of the conveyor. The conveyed material is loaded with due regard to the belt transfers. In case of risk of a material jam in/at the transfer point (transfer chute), a signal is delivered to the bucket-wheel excavator or bucket chain excavator to adjust the conveyance.
Further applications of the invention are:
= bucket-wheel excavators having a loading boom for transfer to the bench conveyor, = bucket chain excavators having a loading boom for transfer to the bench conveyor, = bucket-wheel excavators having a loading boom for transfer to an interposed mobile transfer conveyor, = bucket chain excavators having a loading apparatus for transfer to the bench conveyor.
Expedient embodiments of the invention are characterized in the subclaims.
The invention is explained below with reference to the illustrative embodiment represented in the drawing, in which:
fig. 1 shows a schematic view of an underground mining operation comprising as the main components a bucket-wheel excavator or bucket chain excavator inclusive of a movable transferring device/loading device and a bench conveyor inclusive of bench conveyor belt, wherein the movable transferring device is realized with a pivot mechanism/lifting gear, fig. 2 shows an alternative embodiment in which a mobile transfer conveyor is additionally provided between the bucket-wheel excavator or bucket chain excavator and the bench conveyor.
In fig. 1, a schematic view of an underground mining operation comprising as the main components a bucket wheel conveyor or bucket chain conveyor inclusive of a movable transferring device and a bench conveyor (face conveyor) inclusive of bench conveyor belt (discharging belt) is shown, wherein the movable transferring device is constructed with a pivot mechanism/lifting gear.
The bucket-wheel excavator or bucket chain excavator 1 has as the main components an extraction apparatus 2 for the conveyed material, for example coal or spoils, and a movable transferring device 12 for the conveyed material.
The extraction apparatus 2 comprises, for example in a bucket-wheel excavator:
= a pivotable superstructure 3, with inclinable boom 4 fastened thereon, inclusive of take-up belt, = a bucket wheel 5, fastened to the end face of the boom 4, for the conveyance of the conveyed material, inclusive of chute 6 (conveyed material transferring device) for transfer of the conveyed material from the bucket wheel 5 to the take-up belt, = a crawler-mounted mobile substructure 9.
In fig. 1, both the direction of travel 10 of the substructure 9 and the pivot direction/pivot angle 8 of the boom 4 are shown over the block width, wherein the block width or the pivot angle determines the working range, i.e. the removal of the conveyed material.
The transferring device 12 comprises:
= a loading boom 13 (discharge conveyor) inclusive of loading belt and loading chute 14 (transfer chute), = a pivot mechanism/lifting gear 15 for the loading boom 13 (fastened to the extraction apparatus 2), = a take-up chute 7 (conveyed material transferring device) for transfer of the conveyed material from the take-up belt of the boom 4 to the transferring device 12.
The loading device 12 has - as already mentioned - a loading chute 14 (rotating chute, conveyed material transferring device, transfer chute) for transfer of the conveyed material from the loading boom 13 to the bench conveyor 17. Furthermore, the bench conveyor axis 18 is shown, which forms the belt middle of the discharging conveyor or bench conveyor 17.
In fig. 2 is shown an alternative embodiment in which a mobile transfer conveyor is additionally provided between the bucket-wheel excavator or bucket chain excavator and the bench conveyor. A bucket-wheel excavator or bucket chain excavator 1 having a loading boom 13 fastened above the pivot mechanism/lifting gear 15 can be identified, wherein the loading chute 14 transfers the conveyed material to the take-up belt 39 of the mobile transfer conveyor 37. The mobile transfer conveyor 37 is moved by means of its crawler-mounted substructure 38 preferably parallel to the bench conveyor 17 and transfers the conveyed material via a transfer chute 40 to the bench conveyor belt of the bench conveyor 17.
For the automatic detection and tracking of the position of the movable transferring device 12 or positioning of the loading boom 13 for the transfer of conveyed material to the bench conveyor 17 or to the take-up belt 39 of the mobile transfer conveyor 37, the following sensors are of importance:
= a sensor 21 for detecting the current spatial coordinates xs/ys/zs of the bucket-wheel excavator or bucket chain excavator 1, = a sensor 22 for detecting the current spatial coordinates xs/ys/zs of the bench conveyor axis 18 of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = a sensor 23 for detecting the current longitudinal inclination and transverse inclination of the loading boom 13, = a sensor 24 for detecting the current pivot angle of the loading boom 13, = a sensor 25 for detecting the current load upon the loading belt of the loading boom 13, = a sensor 26 for detecting the current distance of the loading boom 13 to the track level or above the bench conveyor or above the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or above the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = a sensor 27 for detecting the current vertical positioning of the loading boom 13 above the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or above the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), inclusive of detection of the belt middle, = a sensor 28 for detecting the current load state of the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = a sensor 29 for detecting any current skewing of the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig.
1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = a sensor 30 for detecting the current angular position of the loading chute 14, = a sensor 31 for detecting the current inclination of the loading chute 14, = a sensor 32 for detecting objects within the range of pivot of the loading boom 13 (impact protection), = a sensor 33 for detecting the current belt pass-over point between the take-up belt of the boom 4 and the loading belt of the loading boom 13 (collision protection), = a sensor 34 for detecting the current belt pass-over point between the loading belt of the loading boom 13 and the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2) (collision protection).
In fig. 1, a schematic view of an underground mining operation comprising as the main components a bucket wheel conveyor or bucket chain conveyor inclusive of a movable transferring device and a bench conveyor (face conveyor) inclusive of bench conveyor belt (discharging belt) is shown, wherein the movable transferring device is constructed with a pivot mechanism/lifting gear.
The bucket-wheel excavator or bucket chain excavator 1 has as the main components an extraction apparatus 2 for the conveyed material, for example coal or spoils, and a movable transferring device 12 for the conveyed material.
The extraction apparatus 2 comprises, for example in a bucket-wheel excavator:
= a pivotable superstructure 3, with inclinable boom 4 fastened thereon, inclusive of take-up belt, = a bucket wheel 5, fastened to the end face of the boom 4, for the conveyance of the conveyed material, inclusive of chute 6 (conveyed material transferring device) for transfer of the conveyed material from the bucket wheel 5 to the take-up belt, = a crawler-mounted mobile substructure 9.
In fig. 1, both the direction of travel 10 of the substructure 9 and the pivot direction/pivot angle 8 of the boom 4 are shown over the block width, wherein the block width or the pivot angle determines the working range, i.e. the removal of the conveyed material.
The transferring device 12 comprises:
= a loading boom 13 (discharge conveyor) inclusive of loading belt and loading chute 14 (transfer chute), = a pivot mechanism/lifting gear 15 for the loading boom 13 (fastened to the extraction apparatus 2), = a take-up chute 7 (conveyed material transferring device) for transfer of the conveyed material from the take-up belt of the boom 4 to the transferring device 12.
The loading device 12 has - as already mentioned - a loading chute 14 (rotating chute, conveyed material transferring device, transfer chute) for transfer of the conveyed material from the loading boom 13 to the bench conveyor 17. Furthermore, the bench conveyor axis 18 is shown, which forms the belt middle of the discharging conveyor or bench conveyor 17.
In fig. 2 is shown an alternative embodiment in which a mobile transfer conveyor is additionally provided between the bucket-wheel excavator or bucket chain excavator and the bench conveyor. A bucket-wheel excavator or bucket chain excavator 1 having a loading boom 13 fastened above the pivot mechanism/lifting gear 15 can be identified, wherein the loading chute 14 transfers the conveyed material to the take-up belt 39 of the mobile transfer conveyor 37. The mobile transfer conveyor 37 is moved by means of its crawler-mounted substructure 38 preferably parallel to the bench conveyor 17 and transfers the conveyed material via a transfer chute 40 to the bench conveyor belt of the bench conveyor 17.
For the automatic detection and tracking of the position of the movable transferring device 12 or positioning of the loading boom 13 for the transfer of conveyed material to the bench conveyor 17 or to the take-up belt 39 of the mobile transfer conveyor 37, the following sensors are of importance:
= a sensor 21 for detecting the current spatial coordinates xs/ys/zs of the bucket-wheel excavator or bucket chain excavator 1, = a sensor 22 for detecting the current spatial coordinates xs/ys/zs of the bench conveyor axis 18 of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = a sensor 23 for detecting the current longitudinal inclination and transverse inclination of the loading boom 13, = a sensor 24 for detecting the current pivot angle of the loading boom 13, = a sensor 25 for detecting the current load upon the loading belt of the loading boom 13, = a sensor 26 for detecting the current distance of the loading boom 13 to the track level or above the bench conveyor or above the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or above the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = a sensor 27 for detecting the current vertical positioning of the loading boom 13 above the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or above the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), inclusive of detection of the belt middle, = a sensor 28 for detecting the current load state of the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = a sensor 29 for detecting any current skewing of the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig.
1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = a sensor 30 for detecting the current angular position of the loading chute 14, = a sensor 31 for detecting the current inclination of the loading chute 14, = a sensor 32 for detecting objects within the range of pivot of the loading boom 13 (impact protection), = a sensor 33 for detecting the current belt pass-over point between the take-up belt of the boom 4 and the loading belt of the loading boom 13 (collision protection), = a sensor 34 for detecting the current belt pass-over point between the loading belt of the loading boom 13 and the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2) (collision protection).
To an open-loop/closed-loop control device 20 are relayed:
= the signal A of the sensor 21, = the signal B of the sensor 22, = the signal C of the sensor 23, = the signal D of the sensor 24, = the signal E of the sensor 25, = the signal F of the sensor 26, = the signal G of the sensor 27, = the signal H of the sensor 28, = the signal I of the sensor 29, = the signal K of the sensor 30, = the signal L of the sensor 31, = the signal M of the sensor 32, = the signal N of the sensor 33, and = the signal 0 of the sensor 34.
The open-loop/closed-loop control device 20 processes these supplied signals, links them together in a predefined manner and, in dependence on these signals and in dependence on target value presets/parameter presets 35 for the above-cited sensors, drives the pivot mechanism/lifting gear 15, the loading chute 14 and, if need be, the extraction apparatus 2, see = the drive signal Q for the transferring device 12, = the drive signal R for the loading chute 14, and = the drive signal S for the extraction apparatus 2.
The open-loop/closed-loop control device 20 hereupon defines the pivot angle and the inclination of the loading boom 13 of the transferring device 12 in the form of the drive signal Q in dependence on the signals of the following sensors:
= the signal A of the sensor 21 for detecting the current spatial coordinates xs/yEdzs of the bucket-wheel excavator or bucket chain excavator 1, = the signal B of the sensor 22 for detecting the current spatial coordinates xs/ys/zs of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = the signal C of the sensor 23 for detecting the current longitudinal and transverse inclination of the loading boom 13, = the signal D of the sensor 24 for detecting the current pivot angle of the loading boom 13, = the signal F of the sensor 26 for detecting the current distance of the loading boom 13 above the bench conveyor 17 (in the case of the embodiment according to fig. 1) or above the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = the signal G of the sensor 27 for detecting the current vertical positioning of the loading boom 13 above the bench conveyor 17 (in the case of the embodiment according to fig. 1) or above the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), inclusive of detection of the belt middle.
Furthermore, the open-loop/closed-loop control device 20 defines the pivot angle and the inclination of the loading chute 14 in the form of the signal R in dependence on the signals of the following sensors:
= the signal H of the sensor 28 for detecting the current load state of the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = the signal I of the sensor 29 for detecting any current skewing of the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = the signal K of the sensor 30 for detecting the current angular position of the loading chute 14, = the signal L of the sensor 31 for detecting the current inclination of the loading chute 14.
For further improvement of the open-loop/closed-loop control system, the open-loop/closed-loop control device 20 is additionally fed the signal E of the sensor 25 for detecting the current load upon the loading belt of the loading boom 13. As a result, a possible material jam in the loading chute 14 - caused, for example, by wet masses or conveyed material - is detected and, where necessary, an appropriate output signal S is transmitted to the extraction apparatus 2 in order to stop the bucket-wheel excavator or bucket chain excavator and avoid overfilling of the loading chute 14.
For the purpose of avoiding a collision between the loading boom 13 and the bench conveyor 17 (collision protection), the open-loop/closed-loop control device 20 is additionally fed the signals 0 of the sensor 34 for detecting the current belt pass-over point between the loading belt of the loading boom 13 and the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2).
For the purpose of avoiding a collision between the loading boom 13 and an object, such as an apparatus or a person, the open-loop/closed-loop control device 20 is additionally fed the signals M of the sensor 32 for detecting objects within the range of pivot of the loading boom 13 (collision protection).
= the signal A of the sensor 21, = the signal B of the sensor 22, = the signal C of the sensor 23, = the signal D of the sensor 24, = the signal E of the sensor 25, = the signal F of the sensor 26, = the signal G of the sensor 27, = the signal H of the sensor 28, = the signal I of the sensor 29, = the signal K of the sensor 30, = the signal L of the sensor 31, = the signal M of the sensor 32, = the signal N of the sensor 33, and = the signal 0 of the sensor 34.
The open-loop/closed-loop control device 20 processes these supplied signals, links them together in a predefined manner and, in dependence on these signals and in dependence on target value presets/parameter presets 35 for the above-cited sensors, drives the pivot mechanism/lifting gear 15, the loading chute 14 and, if need be, the extraction apparatus 2, see = the drive signal Q for the transferring device 12, = the drive signal R for the loading chute 14, and = the drive signal S for the extraction apparatus 2.
The open-loop/closed-loop control device 20 hereupon defines the pivot angle and the inclination of the loading boom 13 of the transferring device 12 in the form of the drive signal Q in dependence on the signals of the following sensors:
= the signal A of the sensor 21 for detecting the current spatial coordinates xs/yEdzs of the bucket-wheel excavator or bucket chain excavator 1, = the signal B of the sensor 22 for detecting the current spatial coordinates xs/ys/zs of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = the signal C of the sensor 23 for detecting the current longitudinal and transverse inclination of the loading boom 13, = the signal D of the sensor 24 for detecting the current pivot angle of the loading boom 13, = the signal F of the sensor 26 for detecting the current distance of the loading boom 13 above the bench conveyor 17 (in the case of the embodiment according to fig. 1) or above the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = the signal G of the sensor 27 for detecting the current vertical positioning of the loading boom 13 above the bench conveyor 17 (in the case of the embodiment according to fig. 1) or above the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), inclusive of detection of the belt middle.
Furthermore, the open-loop/closed-loop control device 20 defines the pivot angle and the inclination of the loading chute 14 in the form of the signal R in dependence on the signals of the following sensors:
= the signal H of the sensor 28 for detecting the current load state of the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = the signal I of the sensor 29 for detecting any current skewing of the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), = the signal K of the sensor 30 for detecting the current angular position of the loading chute 14, = the signal L of the sensor 31 for detecting the current inclination of the loading chute 14.
For further improvement of the open-loop/closed-loop control system, the open-loop/closed-loop control device 20 is additionally fed the signal E of the sensor 25 for detecting the current load upon the loading belt of the loading boom 13. As a result, a possible material jam in the loading chute 14 - caused, for example, by wet masses or conveyed material - is detected and, where necessary, an appropriate output signal S is transmitted to the extraction apparatus 2 in order to stop the bucket-wheel excavator or bucket chain excavator and avoid overfilling of the loading chute 14.
For the purpose of avoiding a collision between the loading boom 13 and the bench conveyor 17 (collision protection), the open-loop/closed-loop control device 20 is additionally fed the signals 0 of the sensor 34 for detecting the current belt pass-over point between the loading belt of the loading boom 13 and the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2).
For the purpose of avoiding a collision between the loading boom 13 and an object, such as an apparatus or a person, the open-loop/closed-loop control device 20 is additionally fed the signals M of the sensor 32 for detecting objects within the range of pivot of the loading boom 13 (collision protection).
These signals 0, M are taken into account in the generation of the drive signals R and Q, where necessary also with respect to S.
All in all, the proposed open-loop/closed-loop control system produces high availability of the components to be used and, in particular, high availability of the desired "manless operation" function. As a result of the proposed open-loop/closed-loop control system, an independence from environmental influences, such as strong solar radiation, heavy rain, snowfall, fog, frost, is obtained. Furthermore, an insensitivity to steaming coal or steaming conveyed material is obtained. High accuracy with respect to the positioning and surveying of the belt edges, as well as with respect to belt running detection, is obtained. In addition, both equipment protection and personal protection are ensured under all operating conditions.
-Reference symbol list 1 bucket-wheel excavator or bucket chain excavator 2 extraction apparatus of the bucket-wheel excavator or bucket chain excavator 3 pivotable superstructure 4 inclinable boom inclusive of take-up belt 5 bucket wheel 6 chute 7 take-up chute of the loading boom 13 8 pivot direction/pivot angle of the boom 4 across the block width 9 crawler-mounted substructure 10 direction of travel of the substructure 9 12 movable transferring device of the bucket-wheel excavator or bucket chain excavator 13 loading excavator (discharge conveyor) inclusive of loading belt 14 loading chute (rotating chute, transfer chute) of the transferring device 15 pivot mechanism/lifting gear for loading boom 17 bench conveyor (face conveyor) inclusive of bench conveyor 18 bench conveyor axis = belt middle of the bench conveyor 17 20 open-loop/closed-loop control device 21 sensor for detecting the current spatial coordinates x13/y13/z13 of the bucket-wheel excavator or bucket chain excavator 1 , signal A
All in all, the proposed open-loop/closed-loop control system produces high availability of the components to be used and, in particular, high availability of the desired "manless operation" function. As a result of the proposed open-loop/closed-loop control system, an independence from environmental influences, such as strong solar radiation, heavy rain, snowfall, fog, frost, is obtained. Furthermore, an insensitivity to steaming coal or steaming conveyed material is obtained. High accuracy with respect to the positioning and surveying of the belt edges, as well as with respect to belt running detection, is obtained. In addition, both equipment protection and personal protection are ensured under all operating conditions.
-Reference symbol list 1 bucket-wheel excavator or bucket chain excavator 2 extraction apparatus of the bucket-wheel excavator or bucket chain excavator 3 pivotable superstructure 4 inclinable boom inclusive of take-up belt 5 bucket wheel 6 chute 7 take-up chute of the loading boom 13 8 pivot direction/pivot angle of the boom 4 across the block width 9 crawler-mounted substructure 10 direction of travel of the substructure 9 12 movable transferring device of the bucket-wheel excavator or bucket chain excavator 13 loading excavator (discharge conveyor) inclusive of loading belt 14 loading chute (rotating chute, transfer chute) of the transferring device 15 pivot mechanism/lifting gear for loading boom 17 bench conveyor (face conveyor) inclusive of bench conveyor 18 bench conveyor axis = belt middle of the bench conveyor 17 20 open-loop/closed-loop control device 21 sensor for detecting the current spatial coordinates x13/y13/z13 of the bucket-wheel excavator or bucket chain excavator 1 , signal A
22 sensor for detecting the current spatial coordinates xs/ys/zs of the bench conveyor axis 18 or of the take-up belt 39 of the mobile transfer conveyor 37 , signal B
23 sensor for detecting the current longitudinal and transverse inclination of the loading boom 13 .
signal C
signal C
24 sensor for detecting the current pivot angle of the loading boom 13 . signal D
25 sensor for detecting the current load upon the loading belt of the loading boom 13 , signal E
26 sensor for detecting the current distance of the loading boom 13 to the track level or above the bench conveyor belt of the bench conveyor 17 or above the take-up belt 39 of the mobile transfer conveyor 37 , signal F
27 sensor for detecting the current vertical positioning of the loading boom 13 above the bench conveyor belt of the bench conveyor 17 or above the take-up belt 39 of the mobile transfer conveyor 37 inclusive of detection of the belt middle . signal G
28 sensor for detecting the current load state of the bench conveyor belt of the bench conveyor 17 or of the take-up belt 39 of the mobile transfer conveyor 37, . signal H
29 sensor for detecting any current skewing of the bench conveyor belt of the bench conveyor 17 or of the take-up belt 39 of the mobile transfer conveyor 37 . signal I
sensor for detecting the current angular position of the loading chute 14 . signal K
31 sensor for detecting the current inclination of 30 the loading chute 14 . signal L
32 sensor for detecting objects within the range of pivot of the loading boom 13 (collision protection) . signal M
33 sensor for detecting the current belt pass-over point between the take-up belt of the boom 4 and the loading belt of the loading boom 13 (collision protection) . signal N
34 sensor for detecting the current belt pass-over point between the loading belt of the loading boom 13 and the bench conveyor belt of the bench conveyor 17 or the take-up belt 39 of the mobile transfer conveyor 37 (collision protection) --, signal 0.
35 target value presets/parameter presets 37 mobile transfer conveyor 38 crawler-mounted substructure 39 take-up belt 40 transfer chute
sensor for detecting the current angular position of the loading chute 14 . signal K
31 sensor for detecting the current inclination of 30 the loading chute 14 . signal L
32 sensor for detecting objects within the range of pivot of the loading boom 13 (collision protection) . signal M
33 sensor for detecting the current belt pass-over point between the take-up belt of the boom 4 and the loading belt of the loading boom 13 (collision protection) . signal N
34 sensor for detecting the current belt pass-over point between the loading belt of the loading boom 13 and the bench conveyor belt of the bench conveyor 17 or the take-up belt 39 of the mobile transfer conveyor 37 (collision protection) --, signal 0.
35 target value presets/parameter presets 37 mobile transfer conveyor 38 crawler-mounted substructure 39 take-up belt 40 transfer chute
Claims (6)
1. A method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator (1), which excavator comprises an extraction apparatus (2) having a pivotable superstructure with inclinable boom (4), a track-mobile substructure (9) , and a transferring device (12) with loading boom (13) and delivers conveyed material by means of a bench conveyor (17) with/without an interposed mobile transfer conveyor (37) or a similar transfer point, characterized in that an open-loop/closed-loop control device (20) defines the pivot angle and the inclination of the loading boom (13) of the transferring device (12) in dependence on the signals of the following sensors:
.cndot. a sensor (21) for detecting the current spatial coordinates (x B/y B/z B) of the bucket-wheel excavator or bucket chain excavator (1), .cndot. a sensor (22) for detecting the current spatial coordinates (x S/y S/z S) of the bench conveyor (17) or of the take-up belt (39) of the mobile transfer conveyor (37), .cndot. a sensor (23) for detecting the current longitudinal inclination and transverse inclination of the loading boom (13), .cndot. a sensor (24) for detecting the current pivot angle of the loading boom (13), .cndot. a sensor (26) for detecting the current distance of the loading boom (13) above the bench conveyor (17) or above the take-up belt (39) of the mobile transfer conveyor (37), .cndot. a sensor (27) for detecting the current vertical positioning of the loading boom (13) above the bench conveyor (17) or above the take-up belt (39) of the mobile transfer conveyor (37), inclusive of detection of the belt middle, .cndot. a sensor for monitoring overfilling in/at the transfer point of the loading boom (13).
.cndot. a sensor (21) for detecting the current spatial coordinates (x B/y B/z B) of the bucket-wheel excavator or bucket chain excavator (1), .cndot. a sensor (22) for detecting the current spatial coordinates (x S/y S/z S) of the bench conveyor (17) or of the take-up belt (39) of the mobile transfer conveyor (37), .cndot. a sensor (23) for detecting the current longitudinal inclination and transverse inclination of the loading boom (13), .cndot. a sensor (24) for detecting the current pivot angle of the loading boom (13), .cndot. a sensor (26) for detecting the current distance of the loading boom (13) above the bench conveyor (17) or above the take-up belt (39) of the mobile transfer conveyor (37), .cndot. a sensor (27) for detecting the current vertical positioning of the loading boom (13) above the bench conveyor (17) or above the take-up belt (39) of the mobile transfer conveyor (37), inclusive of detection of the belt middle, .cndot. a sensor for monitoring overfilling in/at the transfer point of the loading boom (13).
2. The method as claimed in claim 1, wherein the loading boom (13) of the bench conveyor (17) or the take-up belt (39) of the mobile transfer conveyor (37) is supplied with conveyed material via a loading chute (14), characterized in that the open-loop/closed-loop control device (20) defines the pivot angle and the inclination of the loading chute (14) in dependence on the signals of the following sensors:
.cndot. a sensor (28) for detecting the current load state of the bench conveyor belt of the bench conveyor (17) or of the take-up belt (39) of the mobile transfer conveyor (37), .cndot. a sensor (29) for detecting any current skewing of the bench conveyor belt of the bench conveyor (17) or of the take-up belt (39) of the mobile transfer conveyor (37), .cndot. a sensor (30) for detecting the current angular position of the loading chute (14), .cndot. a sensor for detecting the current inclination of the loading chute (14).
.cndot. a sensor (28) for detecting the current load state of the bench conveyor belt of the bench conveyor (17) or of the take-up belt (39) of the mobile transfer conveyor (37), .cndot. a sensor (29) for detecting any current skewing of the bench conveyor belt of the bench conveyor (17) or of the take-up belt (39) of the mobile transfer conveyor (37), .cndot. a sensor (30) for detecting the current angular position of the loading chute (14), .cndot. a sensor for detecting the current inclination of the loading chute (14).
3. The method as claimed in claim 1 or 2, characterized in that the open-loop/closed-loop control device (20) is additionally fed the signals of a sensor (25) for detecting the current load upon the loading belt of the loading boom (13).
4. The method as claimed in one of the preceding claims, characterized in that the open-loop/closed-loop control device (20) is additionally fed the signals of a sensor (33) for detecting the current belt pass-over point between the take-up belt of the boom (4) and the loading belt of the loading boom (13).
5. The method as claimed in one of the preceding claims, characterized in that the open-loop/closed-loop control device (20) is additionally fed the signals of a sensor (34) for detecting the current belt pass-over point between the loading belt of the loading boom (13) and the bench conveyor belt of the bench conveyor (17) or the take-up belt (39) of the mobile transfer conveyor (37).
6. The method as claimed in one of the preceding claims, characterized in that the open-loop/closed-loop control device (20) is additionally fed the signals of a sensor (32) for detecting objects within the range of pivot of the loading boom (13).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011100890.3 | 2011-05-07 | ||
| DE102011100890A DE102011100890A1 (en) | 2011-05-07 | 2011-05-07 | Method for detecting and tracking the position of a portable transfer device / loading device of a bucket wheel excavator or bucket dredger |
| PCT/EP2012/058202 WO2012152674A1 (en) | 2011-05-07 | 2012-05-04 | Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2833999A1 true CA2833999A1 (en) | 2012-11-15 |
Family
ID=46027972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2833999A Abandoned CA2833999A1 (en) | 2011-05-07 | 2012-05-04 | Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator |
Country Status (15)
| Country | Link |
|---|---|
| US (1) | US20140067194A1 (en) |
| EP (1) | EP2707547B1 (en) |
| CN (1) | CN103732831B (en) |
| AU (1) | AU2012252544B2 (en) |
| BR (1) | BR112013028622A2 (en) |
| CA (1) | CA2833999A1 (en) |
| CL (1) | CL2013003170A1 (en) |
| DE (1) | DE102011100890A1 (en) |
| HR (1) | HRP20150753T1 (en) |
| HU (1) | HUE026594T2 (en) |
| PE (1) | PE20141751A1 (en) |
| PL (1) | PL2707547T3 (en) |
| RS (1) | RS54115B1 (en) |
| RU (1) | RU2556095C1 (en) |
| WO (1) | WO2012152674A1 (en) |
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| BR102017002299B1 (en) * | 2017-02-03 | 2020-11-10 | Vale S/A | control system and method for fireplaces |
| US10504760B2 (en) * | 2017-06-28 | 2019-12-10 | Taiwan Semiconductor Manufacturing Company Ltd. | System for a semiconductor fabrication facility and method for operating the same |
| DE102018109498A1 (en) * | 2018-02-23 | 2019-08-29 | Liebherr-Components Biberach Gmbh | Bucket wheel excavator and method for controlling a bucket wheel excavator |
| DE102019004529A1 (en) | 2019-01-14 | 2020-07-16 | Joy Global Underground Mining Llc | SYSTEMS AND METHODS FOR AUTOMATICALLY CONTROLLING A LINE CONVEYOR BOAT |
| DE102019200773A1 (en) | 2019-01-23 | 2020-07-23 | Thyssenkrupp Ag | Open pit arrangement and method for operating an open pit arrangement |
| BE1027170B1 (en) * | 2019-04-03 | 2020-11-05 | Thyssenkrupp Ind Solutions Ag | Method and device for the automatable operation of a belt conveyor system used in particular in opencast mining |
| CN112785644B (en) * | 2019-11-08 | 2022-03-18 | 大唐环境产业集团股份有限公司 | Bucket wheel machine cart walking positioning method based on image processing |
| CN113003149B (en) * | 2021-02-24 | 2022-08-05 | 中冶南方工程技术有限公司 | Control method for automatic material taking of cantilever type bucket-wheel stacker-reclaimer |
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2011
- 2011-05-07 DE DE102011100890A patent/DE102011100890A1/en not_active Withdrawn
-
2012
- 2012-05-04 EP EP12718993.4A patent/EP2707547B1/en active Active
- 2012-05-04 RU RU2013154104/03A patent/RU2556095C1/en not_active IP Right Cessation
- 2012-05-04 CA CA2833999A patent/CA2833999A1/en not_active Abandoned
- 2012-05-04 PE PE2013002465A patent/PE20141751A1/en not_active Application Discontinuation
- 2012-05-04 AU AU2012252544A patent/AU2012252544B2/en not_active Ceased
- 2012-05-04 BR BR112013028622A patent/BR112013028622A2/en not_active IP Right Cessation
- 2012-05-04 CN CN201280022138.0A patent/CN103732831B/en not_active Expired - Fee Related
- 2012-05-04 RS RS20150447A patent/RS54115B1/en unknown
- 2012-05-04 PL PL12718993T patent/PL2707547T3/en unknown
- 2012-05-04 WO PCT/EP2012/058202 patent/WO2012152674A1/en active Application Filing
- 2012-05-04 HU HUE12718993A patent/HUE026594T2/en unknown
-
2013
- 2013-11-05 CL CL2013003170A patent/CL2013003170A1/en unknown
- 2013-11-06 US US14/073,496 patent/US20140067194A1/en not_active Abandoned
-
2015
- 2015-07-08 HR HRP20150753TT patent/HRP20150753T1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| PL2707547T3 (en) | 2015-09-30 |
| EP2707547A1 (en) | 2014-03-19 |
| RU2556095C1 (en) | 2015-07-10 |
| HUE026594T2 (en) | 2016-06-28 |
| PE20141751A1 (en) | 2014-11-19 |
| RU2013154104A (en) | 2015-06-20 |
| AU2012252544B2 (en) | 2015-09-03 |
| RS54115B1 (en) | 2015-12-31 |
| US20140067194A1 (en) | 2014-03-06 |
| WO2012152674A1 (en) | 2012-11-15 |
| BR112013028622A2 (en) | 2017-01-24 |
| CL2013003170A1 (en) | 2014-05-16 |
| HRP20150753T1 (en) | 2015-09-11 |
| DE102011100890A1 (en) | 2012-11-08 |
| CN103732831B (en) | 2015-12-02 |
| AU2012252544A1 (en) | 2013-11-28 |
| EP2707547B1 (en) | 2015-04-08 |
| CN103732831A (en) | 2014-04-16 |
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