CN102110680B - 具有降低电感的功率模块组件 - Google Patents
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Abstract
本发明涉及一种具有降低电感的功率模块组件。其中,提供一种装置,其包括第一导电基板(102)与第二导电基板(104)。具有第一厚度的第一功率半导体元件(118a)可电连结至第一导电基板。具有第二厚度的第二功率半导体元件(118b)可电连结至第二导电基板。正极端子(142)也可电连结至第一导电基板,而负极端子(144)可电连结至第二功率半导体元件,且输出端子(146)可电连结至第一功率半导体元件与第二导电基板。这些端子、功率半导体元件和导电基板由此可合并到共同的电路环路中,且可一起被配置成使得电路环路在至少一个方向上的宽度由第一厚度或第二厚度中的至少一个限定。
Description
技术领域
本发明的实施例大体而言涉及功率模块(power module),且更特定而言涉及具有降低的寄生电感的功率模块。
背景技术
功率半导体模块或功率模块用于各种功率转换应用。这些应用包括(例如)将直流(DC)电转换成交流(AC)电的反转应用,将交流电转换成直流电的整流应用,将直流电从一个电压转换成另一电压的电压转换应用,以及将交流电从一个振荡频率转换成另一振荡频率的频率转换应用。用于实现上述功率转换中任何转换的一种共同方法是以可变的占空比在导通状态与非导通状态之间切换功率晶体管,可变的占空比的平均值为所需输出电压。
随着模块中的开关结构被重复地切换,由于电路配置所致的电感(“寄生电感”)可导致增加的功率损耗和降低的可靠性,增加的功率损耗是由更大电压与电流振荡引起,降低的可靠性是由于施加到功率半导体(IGBT、MOSFET、二极管等)的更大过电压应力(overvoltage stress)引起。因此,在某些情况下可需要最小化功率模块的寄生电感。
发明内容
在一方面,提供一种诸如功率模块的装置。该装置可包括第一导电基板与第二导电基板。具有第一厚度的第一功率半导体元件可电连结(electrically couple)至第一导电基板(且可能安置于第一导电基板上)。具有第二厚度的第二功率半导体元件可电连结至第二导电基板(且可能安置于第二导电基板上)。举例而言,第一功率半导体元件与第二半导体元件可包括相对的前表面与后表面,且第一功率半导体元件的后表面可电连结至第一导电基板且第二功率半导体元件的后表面电连结至第二导电基板。第一功率半导体元件与第二功率半导体元件可由碳化硅形成,且可分别包括下列中的至少一个:绝缘栅双极晶体管、金属氧化物半导体场效应晶体管、二极管和/或晶闸管。
正极端子也可电连结至第一导电基板,而负极端子可电连结至第二功率半导体元件,且输出端子可电连结至第一功率半导体元件和第二导电基板。正极端子、负极端子和输出端子可(例如)被配置成支持至少大约10A的瞬时电流。负极端子可基本上与正极端子对置,例如其中,正极端子与负极端子邻接电绝缘层的相对侧。正极端子与负极端子可基本上是平面的。输出端子与正极端子邻接输出绝缘层的相对侧,且输出端子与负极端子也可邻接输出绝缘层的相对侧。
该装置也可包括基本上平面的底板。第一导电基板与第二导电基板可分别安置于底板上且正极端子与负极端子可远离底板基本上垂直地延伸。也可包括越过(across)第一功率半导体元件与第二功率半导体元件中每一个以反平行排列连接的相应二极管。
正极引线(例如,丝焊(wire bond))可用于电连结正极端子与第一导电基板。负极引线(例如,丝焊)可电连结负极端子与第二功率半导体元件。第一输出引线(例如,丝焊)可电连结输出端子与第一功率半导体元件。第二输出引线(例如,丝焊)可电连结输出端子与第二导电基板。正极引线中的每一个可基本上沿着相应正极引线的长度接近相应第一输出引线,且第二输出引线中的每一个可基本上沿着相应第二输出引线的长度接近相应负极引线。
正极端子与负极端子、第一功率半导体元件与第二功率半导体元件以及第一导电基板与第二导电基板由此可合并到共同的电路环路中,且可一起被配置成使得电路环路在至少一个方向的宽度由第一厚度或第二厚度中的至少一个限定。在一实施例中,电路环路在至少一个方向上的第一宽度可约等于第一厚度且电路环路在至少一个方向上的第二宽度可约等于第二厚度,且电路环路各处可具有小于或约等于第一厚度与第二厚度中较大者的宽度。在另一实施例中,电路环路在至少一个方向上的第一宽度可由第一厚度限定且电路环路在至少一个方向上的第二宽度可由第二厚度限定。
该装置还可包括连接器,连接器被配置成将正极端子与负极端子连接到相应母线。举例而言,连接器可包括对置的电极,对置的电极被配置成与正极端子与负极端子做出相应电接触。在对置的电极之间的分隔距离可基本上类似于正极端子与负极端子和置于正极端子与负极端子之间的电绝缘层的总厚度。
附图说明
当参考附图来阅读下文的详细描述时,本发明的这些和其它特点、方面和优点将会变得更好理解,在所有附图中相似附图标记表示相似部件,在附图中:
图1是根据实例实施例配置的功率模块的透视图;
图2是图1的功率模块的侧视图;
图3是在图2中标记为3的区域的放大侧视图;
图4是图1的功率模块的示意图,示出由功率模块的元件形成的电路;
图5是图1的功率模块的侧视图,其示出当模块的开关结构处于导通状态时电流所流经的路径;
图6是图1的功率模块的侧视图,其示出当模块的开关结构处于导通状态时电流所流经的路径限定的区域;
图7是图1的功率模块的平面图;
图8是图1的功率模块和相关联的连接器的透视图;
图9是图8的模块与连接器的侧视图;
图10是图9的连结的功率模块与连接器的透视图;
图11是图9的连结的功率模块与连接器的侧视图;
图12是图9的连结的功率模块与连接器的截面图;
图13是根据另一实例实施例配置的功率模块的透视图;
图14是图13的功率模块的截面图;以及
图15是根据又一实例实施例配置的功率模块的透视图。
部件列表:
功率模块 100
第一导电基板 102
第二导电基板 104
瓷砖 106, 108
直接结合铜基板 110, 112
底板 114
功率半导体元件 116
绝缘栅双极晶体管(IGBT) 118
肖特基势垒二极管(SBD) 120
第一组IGBT与SBD 116a
第一组IGBT 118a
第一组SBD 120a
第二组IGBT与SBD 116b
第二组IGBT 118b
第二组SBD 120b
装置接触件 (“下部接触件”) 122, 124
表面 (“后表面”) 126, 128
焊料 130
装置接触件 (“上部接触件”) 132, 134
表面 136, 138
丝焊 140a
丝焊 140b
丝焊 140c
丝焊 140d
正极端子 142
负极端子 144
输出端子 146
法兰 147
电绝缘层 148
法兰 150, 152
输出绝缘层 154
电路 156
“上部”开关结构 158
“下部”开关结构 160
连接器 170
电极 172, 174
弹性结构 176
法兰 178
外壳 179
螺钉 180
金属垫片 182
正极母线 190
负极母线 192
母线绝缘 194
模块 200
正极端子 242
负极端子 244
法兰 247
连接器 270
插座结构 271
电极 272, 274
弹性结构 276
外壳 279
盖板 294
模块 300
导电基板 302, 304
IGBT 318b
SBD 320b
正极端子 342
负极端子 344
输出端子 346
法兰 347
法兰 390
法兰 392。
具体实施方式
在下文中参看附图详细地描述本发明的实例实施例,在所有附图中,相同的附图标记表示相同部件。这些实施例中的某些实施例可解决上述和其它需要。
参看图1和图2,在其中示出根据实例实施例配置的诸如功率模块100的装置。功率模块100可包括第一导电基板102与第二导电基板104。举例而言,第一导电基板102与第二导电基板104中的每一个可包括相应图案化的铜层,这些层可安置于相应瓷砖106、108上以便形成诸如直接结合的铜基板110、112这样的相应功率电子基板的部分。第一导电基板102与第二导电基板104(和通常其中整合了导电基板的直接结合铜基板110、112的任何相关联部分)可安置于底板114上,该底板可基本上是平面的。
模块100也可包括多种功率半导体元件116。举例而言,模块100可包括一个或多个绝缘栅双极晶体管(IGBT)118和一个或多个肖特基势垒二极管(SBD)120。功率半导体元件可由半导材料形成,例如硅和/或碳化硅。第一组116a的IGBT 118a和SBD 120a可电连结至第一导电基板102,而第二组116b的IGBT 118b与SDB 120b可电连结至第二导电基板104。
第一组116a的IGBT 118a和SBD 120a也可安置于第一导电基板102上,且第二组116b的IGBT 118b和SBD 120b可安置于第二导电基板104上。举例而言,参看图2和图3,IGBT118和SBD 120可分别包括在相应元件的一个表面126、128处的装置接触件(“下部接触件”)122、124,这些下部接触件可由焊料130连接到相关联导电基板102、104。表面126、128被称作“后表面”是基于以下事实:当连结到导电基板102、104时,这些表面被遮挡而看不到。IGBT 118和SBD 120也可分别包括在相应元件的相对表面136、138的装置接触件(“上部接触件”)132、134,这些上部接触件可由丝焊140b接触(使用(例如)丝焊的装置的互连在下文中进一步讨论)。
每种类型的功率半导体元件116可具有一定厚度。举例而言,IGBT 118可与特征元件厚度t IGBT 相关联,而SBD 120可与特征元件厚度t SBD 相关联,t SBD 可不同于t IGBT 。或者,每个半导体元件116可与独特的元件厚度相关联。
再次参看图1和图2,模块100也可包括正极端子142与负极端子144,正极端子142与负极端子144可被配置成分别连结到正极母线与负极母线(未图示)。正极端子142与负极端子144连结到相应母线的方式将在下文中进一步讨论。应当指出的是,“正极”端子与“负极”端子和/或母线在操作中预期相对于彼此处于不同电位但并不限制为特定极性。
也可包括输出端子146,该输出端子可被配置成连结到电负载(未图示),电力经由模块100向电负载供电。举例而言,输出端子146可包括法兰147,电负载的端口可物理地栓接到法兰147。在某些实施例中,端子142、144、146可被配置成支持至少大约10A的瞬时电流(例如,在模块100用于向相对较低马力电机供电的情况下),且在其它实施例中,可被配置成支持至少大约100A的瞬时电流(例如,在模块用于向相对较高马力电机供电的情况下)。
正极端子142与负极端子144可基本上彼此对置,使得在基本上全部的端子上,端子相对紧邻。举例而言,正极端子142和负极端子144可邻接电绝缘层148的相对侧,该电绝缘层可具有厚度t+/-。在某些实施例中,正极端子与负极端子142、144可远离底板114基本上垂直地延伸且可包括相应法兰150、152,法兰150、152提供用于结合到底板114的区域。输出端子146可安置于相对紧邻正极端子142和负极端子144处。举例而言,输出端子146和正极端子142可邻接输出绝缘层154的相对侧,输出端子与负极端子144也可邻接输出绝缘层154的相对侧,且输出绝缘层具有厚度tout。
正极端子142可电连结至第一导电基板102,而正极端子144可电连结至IGBT 118b和SBD 120b中的一个或多个。输出端子146可电连结至IGBT 118a和SBD 120a中的一个或多个且也连结至第二导电基板104。举例而言,诸如丝焊140a的引线(“正极引线”)可电连结正极端子142与第一导电基板102,而诸如丝焊140b的其它引线(“负极引线”)可电连结负极端子144与来自第二组功率半导体元件116b的一个或多个元件。诸如丝焊140c的另外的其它引线(“第一输出引线”)可电连结输出端子146与来自第一组功率半导体元件116a的一个或多个元件。诸如丝焊140d的另外的引线(“第二输出引线”)可电连结输出端子146与第二导电基板104。以此方式,IGBT 118a、118b中的每一个可其上以反平行排列连接相应SBD120a、120b。
参看图1、图2和图4至图6,一旦导电基板102、104、功率半导体元件116以及端子142、144、416如上文所述互连,它们倾向于形成电路156,电路156包括“上部”开关结构158和“下部”开关结构160(每个开关结构包括例如IGBT 118与相关联的SBD 120)。在操作中,端子142、144和146可分别连接到正极母线(即,维持在大约120V DC)、负极母线(即,维持在大约 0 V DC)和需要不同于由母线所提供电压的电压(即,120 V,60 Hz AC)的电负载。IGBT 118a、118b可在导电状态与不导电状态之间切换(“调节”)。通过适当地选择IGBT118a、118b的调节速率,向负载供电的适当输出电压可在输出端子146提供。越过(across)相应IGBT 118且与相应IGBT 118反平行地连接的SBD 120可提供峰值感应负载电流的路径,当IGBT从导电状态切换到不导电状态时可产生该峰值感应负载电流。
在开关结构158、160的导通状态(即,在IGBT 118的导通状态),在模块100中的电流(自与正极端子142做出电接触的外部母线)循序流动到正极端子,然后到第一导电基板102(经由正极引线140a),然后到上部开关158的IGBT 118a,然后到输出端子146(经由第一输出引线140c),然后到第二导电基板104(经由第二输出引线140d),然后到下部开关160的IGBT 118b,且然后(经由负极引线140b)到负极端子144(且最终到与负极端子做出电接触的另一外部母线上)。因此,当上部开关结构158与下部开关结构160处于导通状态时,导电基板102、104、IGBT 118和端子142、144、146以及丝焊140a-d可至少部分地形成环路L,电流沿着环路L流动。
环路L包括面积A。通常,随着面积量值A增加,与电路156相关联的寄生电感成比例地增加。因此,可希望使面积A最小。在功率半导体元件116直接结合到下面的导电基板102、104且正极端子142与负极端子144彼此对置且仅由薄电绝缘层148分开且另外输出端子146直接安置于正极端子与负极端子下方且各由薄输出绝缘层154分开的情况下,环路L倾向于收缩(collapse)到由电路156的构成元件的物理尺寸所确立的界限。即,面积A具有沿着面积主方向的宽度w m ,但具有在IGBT 118附近沿着横向的较小宽度w 1 ,该宽度w 1 约等于IGBT的厚度t IGBT ,以及在SBD 120附近沿着横向的相对较小宽度w 2 ,宽度w 2 约等于SBD 120的厚度t SBD 。以此方式,第一宽度w 1 由厚度t IGBT 限定,因为宽度w 1 实质上完全由IGBT的厚度说明,且第二宽度w 2 同样由厚度t SBD 限定。
在IGBT 118与SBD 120是半导体元件的情况下,厚度t IGBT 与t SBD 倾向于相对较小(大约100-1000µm)。另外,高性能的绝缘系统可用作电绝缘层148和输出绝缘层154,该高性能绝缘系统将经由薄绝缘层提供电隔离,从而保持电绝缘层148和输出绝缘层154的相应厚度t +/- 与t out 相对较小。这些高性能绝缘系统的实例包括(例如)聚酰亚胺(例如,由E. I. duPont de Nemours and Company (Wilmington, Delaware)以商标名称KAPTON销售的聚酰亚胺膜)。在某些实施例中,厚度t +/- 与t out 分别预期小于厚度t IGBT 与t SBD 中的任一个且大约为100-1000µm。总之,随着厚度t IGBT 、t SBD 、t +/- 与t out 减小,面积A接近一维结构(或者一维结构的集合),且A相应地接近零。
面积A的量值也由丝焊140a-d的相对间距确定。因此,参看图1、图2和图7,连结正极端子142与第二导电基板102的正极引线140a可被配置成使得每个正极引线基本上沿着相应正极引线长度接近相应第一输出引线140c。举例而言,正极引线140a可具有纵向长度 l 1 的细长形状(如丝焊的预期形状),且第一输出引线140c可分别安置成靠近且基本上平行于正极引线中的每一个,使得在沿着长度 l 1 的每个点,在每个正极引线与相对应第一输出引线之间的距离d p1 较小。同样,第二输出引线140d可具有纵向长度l 2 的细长形状,且负极引线140b可分别安置成靠近且基本上平行于第二输出引线中的每一个使得在沿着长度l 2 的每个点,在每个负极引线与相对应的第二输出引线之间的距离d n2 较小。
通过减小面积A和因此的电路156的寄生电感,某些实施例可用于在切换事件期间(在此期间,电流关于时间的变化预期较高)减小电路所产生的电压过冲量。这种电压过冲的减少可进一步导致所涉及的装置中功率损耗与电压应力的相对应降低。
参看图8至图12,还可包括连接器170。连接器170可被配置成电连结正极端子142和负极端子144中的每一个到相应正极母线190与负极母线192。母线190、192可由母线绝缘194薄层分开。连接器170可包括相对的电极172、174。弹性结构176可用于在电极172、174与端子142、144之间提供物理接触和电接触。连接器170然后可装配到端子142、144上以在电极172、174与端子142、144之间建立电连接(例如,如图10至12所示)。电极172、174可包括法兰178以便于(例如)利用螺钉180将电极172、174连结到相应母线190、192。母线190、192可彼此偏移,且金属垫片182可用于保证两个电极172、174与适当母线进行接触。电极172、174与弹性结构176可封闭于外壳179内。可通过栓接到包括于其中的法兰147对输出端子146做出单独连接。在其它实施例中,与连接器170类似的连接器(未图示)可用于与输出端子146进行接触。
弹性结构176可被配置成仅从其分别连接的相对电极172、174表面略微突出。以此方式,在电极之间的有效分隔距离de基本上类似于正极端子142与负极端子144和它们之间的电绝缘层的总厚度 tagg。在其它实施例中,弹性结构176可完全被排除,且电极172、174可被配置成与端子142、144做出压缩接触。
相对于现有方案,通过连接器170将模块100连接到母线190、192可降低由母线与模块所限定的总电路的环路电感。但是,除了上述连接器170之外,可用到向模块100供电的多种选择。举例而言,参看图13和图14,其中示出根据另一实例实施例配置的模块200。模块可包括插座结构271,插座结构271包括模块200的正极端子242与负极端子244。举例而言,盖板294可包括于模块200中,且插座结构271可包括外壳279,外壳279固结到盖板上且封闭端子242、244。例如,弹性结构276可包括于端子242、244上。包括对置电极272、274的连接器270然后可通过将连接器滑动到插座结构内而与插座结构271选择性地接合,弹性结构276确保在电极与端子242、244之间的压缩接触。同样,可经由连接到输出端子的法兰247提供输出端子的单独连接。
参看图15,其中示出根据又一实例实施例配置的模块300。模块300可包括正极端子342与负极端子344。还可包括输出端子346,该输出端子可包括法兰347,电负载的端口可物理地栓接到法兰347。正极端子342、负极端子344和输出端子346可全都电连结至导电基板302、304和电连结至一个或多个IGBT 318b和SBD 320b,如在上文中结合模块100所述的那样。正极端子342可包括法兰390,外部正极母线(未图示)可物理地栓接到法兰390上。同样,负极端子344可包括法兰392,用于物理连接到外部负极母线(未图示)。如图15所示的连接方法可引入比(例如)图8至图14所示情况更大量寄生电感,但仍在某些应用中可充分地起作用。
虽然仅在本文中说明并描述了本发明的某些特点,但本领域技术人员能想到许多修改和变化。举例而言,虽然上文描述的实施例包括IGBT和SBD,但应当指出的是功率半导体元件(例如,图1中的116)可额外地或替代地包括一个或多个金属氧化物半导体场效应晶体管(MOSFET)和/或晶闸管。举例而言,在某些实施例中,可用IGBT替代MOSFET。或者,也可使用晶闸管,如在相关联的功率模块用于整流应用的情况下。因此,应了解所附权利要求预期涵盖属于本发明的真实精神内的所有这些修改和变化。
Claims (18)
1.一种功率模块,包括:
第一导电基板;
第二导电基板;
第一功率半导体元件,其具有第一厚度且电连结至所述第一导电基板;
第二功率半导体元件,其具有第二厚度且电连结至所述第二导电基板;
正极端子,其电连结至所述第一导电基板;
负极端子,其电连结至所述第二功率半导体元件;
输出端子,其电连结至所述第一功率半导体元件与所述第二导电基板;以及
正极引线、负极引线、第一输出引线和第二输出引线,且所述正极引线电连结所述正极端子与所述第一导电基板,所述负极引线电连结所述负极端子和所述第二功率半导体元件,所述第一输出引线电连结所述输出端子与所述第一功率半导体元件,且所述第二输出引线电连结所述输出端子与所述第二导电基板;
其中,所述正极端子、负极端子与输出端子、所述第一功率半导体元件与第二功率半导体元件、所述正极引线、负极引线、第一输出引线和第二输出引线以及所述第一导电基板与第二导电基板合并到共同的环路中,在所述第一功率半导体元件与第二功率半导体元件的导通状态电流能够沿着所述环路流动,所述共同的环路具有投影在与所述第一厚度和第二厚度的厚度所在的方向相平行的平面上的面积,所述面积具有沿着所述面积的主方向的宽度、在所述第一功率半导体元件附近沿着横向的第一宽度和在所述第二功率半导体元件附近沿着横向的第二宽度,所述第一宽度等于所述第一厚度或所述第二宽度等于所述第二厚度,并且
所述第一功率半导体元件与第二功率半导体元件分别安置在所述正极端子与所述负极端子的相对侧。
2.如权利要求1所述的功率模块,其特征在于还包括越过所述第一功率半导体元件与第二功率半导体元件中每一个以反平行排列连接的相应二极管。
3.如权利要求1所述的功率模块,其特征在于,所述环路各处具有小于或约等于所述第一厚度与所述第二厚度中较大者的宽度。
4.如权利要求1所述的功率模块,其特征在于,所述正极端子与负极端子、所述第一功率半导体元件和所述第二功率半导体以及所述第一导电基板与第二导电基板被配置成使得所述第一宽度等于所述第一厚度且所述第二宽度等于所述第二厚度。
5.如权利要求1所述的功率模块,其特征在于,所述正极端子、负极端子和输出端子被配置成支持至少大约10A的瞬时电流。
6.如权利要求1所述的功率模块,其特征在于,所述负极端子与所述正极端子基本上对置。
7.如权利要求1所述的功率模块,其特征在于,所述正极端子与负极端子邻接电绝缘层的相对侧。
8.如权利要求1所述的功率模块,其特征在于,所述第一功率半导体元件与第二功率半导体元件分别包括至少一个元件,所述至少一个元件选自绝缘栅双极晶体管、金属氧化物半导体场效应晶体管、二极管和晶闸管。
9.如权利要求1所述的功率模块,其特征在于,所述第一功率半导体元件与第二功率半导体元件分别包括由碳化硅形成的元件。
10.如权利要求1所述的功率模块,其特征在于还包括基本上平面的底板,且所述第一导电基板与第二导电基板分别安置于所述底板上且所述正极端子与负极端子远离所述底板基本上垂直地延伸。
11.如权利要求1所述的功率模块,其特征在于还包括输出绝缘层,且所述输出端子和所述正极端子邻接所述输出绝缘层的相对侧,且所述输出端子与所述负极端子邻接所述输出绝缘层的相对侧。
12.如权利要求1所述的功率模块,其特征在于,所述第一功率半导体元件与所述第二功率半导体元件分别安置于所述第一导电基板与第二导电基板上。
13.如权利要求1所述的功率模块,其特征在于,所述第一功率半导体元件与第二功率半导体元件中的每一个包括相对的前表面与后表面,所述第一功率半导体元件的后表面电连结至所述第一导电基板,且所述第二功率半导体元件的后表面电连结至所述第二导电基板。
14.如权利要求1所述的功率模块,其特征在于,所述正极端子与负极端子基本上是平面的。
15.如权利要求1所述的功率模块,其特征在于还包括被配置成将所述正极端子与负极端子连接到相应母线的连接器。
16.如权利要求15所述的功率模块,其特征在于,所述正极端子与负极端子邻接电绝缘层的相对侧,且所述连接器包括对置的电极,所述对置的电极被配置成与所述正极端子与负极端子做出相应电接触,且在所述对置的电极之间的分隔距离基本上类似于所述正极端子与负极端子和所述电绝缘层的总厚度。
17.如权利要求1所述的功率模块,其特征在于,所述正极引线中的每一个基本上沿着所述相应正极引线的长度接近相应第一输出引线,且所述第二输出引线中的每一个基本上沿着所述相应第二输出引线接近相应负极引线。
18.如权利要求1所述的功率模块,其特征在于,所述引线中的每一个包括丝焊。
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US12/609,400 US8076696B2 (en) | 2009-10-30 | 2009-10-30 | Power module assembly with reduced inductance |
US12/609400 | 2009-10-30 |
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CA2719179A1 (en) | 2011-04-30 |
EP2317551B1 (en) | 2020-04-29 |
US8076696B2 (en) | 2011-12-13 |
BRPI1004830A2 (pt) | 2013-02-19 |
CN102110680A (zh) | 2011-06-29 |
JP2011097053A (ja) | 2011-05-12 |
EP2317551A1 (en) | 2011-05-04 |
US20110101515A1 (en) | 2011-05-05 |
CA2719179C (en) | 2013-08-13 |
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