CN105347129B - A kind of wound form roller volume puts steel wire rope moving state identification System and method for - Google Patents

A kind of wound form roller volume puts steel wire rope moving state identification System and method for Download PDF

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Publication number
CN105347129B
CN105347129B CN201510873347.1A CN201510873347A CN105347129B CN 105347129 B CN105347129 B CN 105347129B CN 201510873347 A CN201510873347 A CN 201510873347A CN 105347129 B CN105347129 B CN 105347129B
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CN
China
Prior art keywords
steel wire
wire rope
roller
velocity
industrial camera
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CN201510873347.1A
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Chinese (zh)
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CN105347129A (en
Inventor
曹国华
朱真才
黄宇宏
牛岩军
彭维红
沈刚
周公博
刘善增
吴仁愿
张磊
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中国矿业大学
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Application filed by 中国矿业大学 filed Critical 中国矿业大学
Priority to CN201510873347.1A priority Critical patent/CN105347129B/en
Publication of CN105347129A publication Critical patent/CN105347129A/en
Application granted granted Critical
Publication of CN105347129B publication Critical patent/CN105347129B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00Applications of checking, fault-correcting, or safety devices in elevators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66BELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00Other common features of elevators
    • B66B7/12Checking, lubricating, or cleaning means for ropes, cables or guides

Abstract

A kind of wound form roller volume puts steel wire rope moving state identification System and method for, suitable for mine hoisting system, the steel wire rope motion state detection of elevator traction system.System includes industrial camera, wirerope axis to velocity measuring device and industrial computer.The wirerope axis that industrial computer receives the picture signal that shoot to roller rope stretching point of industrial camera and shaft encoder gathers is to motion rate signals, the motion state of comprehensive monitoring steel wire rope.Realize the comprehensive monitoring of roller circularity, roller steel wire rope disorder cable state and hoisting container real-time speed.Realize visualization, automation, intellectuality that wound form roller volume puts the monitoring of steel wire rope motion state.Its is simple in construction, easy to operate, and using effect is good.

Description

A kind of wound form roller volume puts steel wire rope moving state identification System and method for
Technical field
The present invention relates to a kind of wound form roller volume to put steel wire rope moving state identification System and method for, and be particularly suitable for use in ore deposit The steel wire rope motion state detection of well lifting system, elevator traction system, it is also applied for all kinds of steel wire rope motion state detections.
Background technology
Cylindrical drum hoist is in mine hoisting system with very extensive, the running status of steel wire rope on wound form roller The safe and highly efficient operation tool of mine hoisting system is of great significance.But effective way Real time identification there is no to wind at present Formula roller rolls up the motion state for putting steel wire rope, makes roller roundness measurement, the monitoring of roller steel wire rope disorder cable and hoisting container fast in real time Degree can not know that hidden danger has been buried in the safe and efficient production to colliery.
The content of the invention
Technical problem:The purpose of the present invention is to be directed to problems of the prior art, there is provided a kind of wound form roller volume Steel wire rope moving state identification System and method for is put, to solve that shape can not be moved to steel wire rope in wound form roller running The problem of state identifies, realize that wound form roller volume puts the real time implementation of steel wire rope motion state monitoring, visualization.
Technical scheme:The wound form roller volume of the present invention puts steel wire rope moving state identification system, including installed in roller Posterior vertical in the industrial camera one of cylinder axis and on the right side of the roller parallel to the industrial camera two of cylinder axis, industry Camera one and industrial camera two are connected by communication cable with industrial computer respectively, in winding roller and bypass head sheave straight down Steel wire rope be connected with data to velocity measuring device, wirerope axis provided with wirerope axis through wire to velocity measuring device and adopt Collect box;
Described wirerope axis includes suit U-shaped bottom seat on a steel cord to velocity measuring device, symmetrical on U-shaped bottom seat Provided with the velocity package at left and right sides of steel wire rope and holding down assembly, described velocity package and hold down assembly and include setting respectively Base on U-shaped bottom seat, the front and rear sides of the base are arranged with support arm, and bottom passes through between symmetrically arranged support arm Bearing pin is provided with adjusting part, and the friction pulley of steel wire rope is embraced on top through supporting rotating shaft to be provided with, and support rotating shaft both sides have been arranged symmetrically The bearing and axle sleeve being located on support arm;Also include compiling through the axle that shaft coupling is connected in support rotating shaft on described velocity package Code device.
Described shaft encoder is provided with the encoder support for being fixed on support arm side.
The base being located on U-shaped bottom seat is affixed by T-bolt component.
Described support arm top both sides are equipped with bearing (ball) cover.
Described friction pulley is provided with abrasive rubber set.
Steel wire rope moving state identification method is put using the wound form roller volume of said system, is comprised the following steps:
(1) roller volume puts the laterally and longitudinally motion state detection of steel wire rope:
1. the developed width D of measurement cylinder respectively1The figure on image obtained with the industrial camera one for being located at roller rear Image width degree d1, calculate the transformation ratio Z of industrial camera one1=D1/d1;The developed width D of measuring steel wire rope2It is right with roller is located at Picture traverse d of the steel wire rope of side on the image that industrial camera two obtains2, calculate the transformation ratio Z of industrial camera two2= D2/d2
2. by being located at industrial camera one and industrial phase perpendicular to cylinder axis and parallel to cylinder axis both direction Machine two, continuously acquire the motion diagram of both direction of the steel wire rope with exposing roller outward flange measuring point B above the tangent rope stretching point A of roller Picture;
3. the image gathered respectively to industrial camera one and industrial camera two by industrial computer is handled, steel wire rope is obtained Horizontal stroke when perpendicular to the rope stretching of steel wire rope direction of lateral movement velocity and steel wire rope, longitudinal velocity during rope stretching;
(2) the axial velocity detection of steel wire rope:
1. stopping lifting system operation, U-shaped bottom cover for seat is fallen rope by installation wirerope axis to velocity measuring device mounted in head sheave On the steel wire rope of lower section, steel wire rope is set to be arranged among U-shaped bottom seat;By velocity package and hold down assembly and be symmetrically mounted on steel wire rope Both sides, two friction pulleys is abutted steel wire rope, velocity package and holding down assembly be fixed on U-shaped bottom seat, adjust regulation group Part makes two friction pulleys reach predetermined thrust with steel wire rope;
2. opening lifting system operation, the rope belt dynamic friction wheel rotation of motion, friction pulley is driven by flat key and supported Rotating shaft, support rotating shaft drive shaft encoder by shaft coupling, and shaft encoder, which transmits motor message to data acquisition box, data, to be adopted Collection box transmits signals to industrial computer by wireless communication module, and industrial computer reception signal calculates steel wire by upper computer software The real-time axial velocity of rope.
When horizontal stroke when obtaining Steel wire rope discharge, longitudinal velocity, first Steel wire rope discharge image is carried out gray processing and Thresholding processing, the steel wire rope image and background image collected with different colours mark, separates both;In thresholding processing A horizontal line perpendicular to steel wire rope 4 is chosen at position B above the roller of Steel wire rope discharge image afterwards as reference line, On the reference line, it is horizontal, lengthwise movement for steel wire rope to choose the horizontal stroke for all pixels for representing steel wire rope, the average value of ordinate Coordinate position (x, y);Steel wire rope horizontal stroke, longitudinal direction are obtained by setting time a t differential to the steel wire rope positional information being continuously available Move relative velocity vx=dx/dt, vy=dy/dt;And it is horizontal, longitudinal direction true that the parameter and transformation ratio are calculated into steel wire rope Real movement velocity VX=vx·Z1, VY=vy·Z2
Beneficial effect:By adopting the above-described technical solution, the present invention can Real time identification wound form roller volume put steel wire rope Motion state, roller roundness measurement, the monitoring of roller steel wire rope disorder cable and the speed of hoisting container are monitored in real time, solution In wound form roller running can not be to steel wire rope moving state identification the problem of, realize wound form roller volume and put steel The real time implementation of cord motion state monitoring, visualization is intelligent, and for safety of coal mines, efficiently production provides important leverage.Especially Suitable for mine hoisting system, the steel wire rope motion state detection of elevator traction system, all kinds of steel wire rope motion shapes are also applied for State detects.Its is simple in construction, easy to operate, and using effect is good.Major advantage has:
(1) system monitors the motion state of steel wire rope in real time, realizes wound form roller volume and puts steel wire rope motion state prison Visualization, automation, the intellectuality of survey;
(2) the laterally and longitudinally motion state detection of steel wire rope is put using machine vision technique monitoring roller volume, realizes nothing Contact, high-precision, inexpensive signal acquisition;
(3) wirerope axis monitors the movement velocity of boom hoist cable to velocity measuring device in real time, reflects hoisting container Real time kinematics speed, realize the monitoring to hoisting container state;
(4) system is transmitted to same industry control to the signal of industrial camera and shaft encoder by communication cable and wireless WiFi Machine, the motion state of comprehensive monitoring steel wire rope, realize that roller roundness measurement, the monitoring of roller steel wire rope disorder cable and hoisting container are real-time The monitoring of speed.
Brief description of the drawings
Fig. 1 is the layout drawing of total system of the present invention;
Fig. 2 is that the roller volume of the present invention puts the industrial camera layout drawing of steel wire rope motion state detection;
Fig. 3 is the front view of wirerope axis of the invention to velocity measuring device;
Fig. 4 is the top view of wirerope axis of the invention to velocity measuring device;
Fig. 5 is that the present invention removes the wirerope axis of outer support arm to the front view of velocity measuring device;
Fig. 6 is the wirerope axis of velocity package broken section of the present invention to the left view of velocity measuring device;
Fig. 7 be the present invention hold down assembly broken section right view from wirerope axis to velocity measuring device.
In figure:1- rollers;2- industrial cameras one;3- industrial cameras two;4- steel wire ropes;5- head sheaves;6- wirerope axis is to speed Spend measurement apparatus;7- data acquisition boxs;8- industrial computers;9- communication cables;6-1- velocity packages;6-2- holds down assembly;6-3-U types Base;6-4- bases;6-5- adjusting parts;6-6- bearing pins;6-7- friction pulleys;6-8- support arms;6-9- axle sleeves;6-10- is supported Rotating shaft;6-11- bearings;6-12- bearing (ball) covers;6-13- shaft encoders;6-14- shaft couplings;6-15- encoder supports;6-16-T Type bolt assembly;6-17- abrasive rubber sets;6-18- spokes;6-19- adjusting nuts;6-20- compression springs;6-21- double end spiral shells Post;6-22- regulating blocks.
Embodiment:
One embodiment of the present of invention is further described below in conjunction with the accompanying drawings:
As shown in Figure 1-2, wound form roller of the invention volume puts steel wire rope moving state identification system, including installed in rolling Industrial camera of 1 back upper place of cylinder perpendicular to the industrial camera 1 of cylinder axis and installed in the right side of roller 1 parallel to cylinder axis 23.Because the structure of roller causes industrial camera 23 can not photograph the preferable steel wire positioned at steel wire rope 4 and the tangent of roller 1 The global lengthwise movement state of fathom point location A, because preferable steel wire rope measuring point A above measuring point A with exposing the outside of roller 1 The actual steel wire rope measuring point B of edge spacing is minimum compared with the spacing of roller 1 and head sheave, the motion of actual steel wire rope measuring point B points State and preferable steel wire rope measuring point A motion state are basically identical, therefore choose and go out at rope stretching point A measuring point B as roller The monitoring point of rope form state.Industrial camera 1 and industrial camera 23 are connected by communication cable 9 with industrial computer 8 respectively, are being wound Roller and steel wire rope 4 straight down around head sheave is provided with wirerope axis to velocity measuring device 6, data acquisition box 7 with Wirerope axis is connected to the shaft encoder 6-13 of velocity measuring device 6.
As shown in fig. 3 to 7, the U-shaped bottom seat that described wirerope axis includes being sleeved on steel wire rope 4 to velocity measuring device 6 The velocity package 6-1 and the 6-2 that holds down assembly positioned at the left and right sides of steel wire rope 4 are arranged with 6-3, U-shaped bottom seat 6-3, it is described The velocity package 6-1 and 6-2 that holds down assembly includes the base 6-4 being located on U-shaped bottom seat 6-3 respectively, and front and rear the two of the base 6-4 Side is arranged with bottom between support arm 6-8, symmetrically arranged support arm 6-8 and is connected through bearing pin 6-6 with adjusting part 6-5, on The friction pulley 6-7 of steel wire rope 4 is embraced in portion through supporting rotating shaft 6-10 to be provided with, and support rotating shaft 6-10 both sides, which have been arranged symmetrically, is located at support Bearing 6-11 and axle sleeve 6-9 on arm;Also include being connected to support rotating shaft 6- through shaft coupling 6-14 on described velocity package 6-1 Shaft encoder 6-13 on 10.
Described adjusting part 6-5 includes being located at regulating block 6-22 between two support arm 6-8, among regulating block 6-22 Provided with studs 6-21 is adjusted, compression spring 6-20 and adjusting nut 6-19 are equipped with studs 6-21.Pass through adjustment Adjusting nut 6-19's is elastic, changes compression spring 6-20 pretightning force, moves up and down studs 6-21, studs 6- 21 drive regulating block 6-22 movements, and regulating block 6-22 drives support arm 6-8 to be rotated around bearing pin 6-6, so as to realize velocity package 6-1 With regulations of the 6-2 to the thrust of steel wire rope 4 that hold down assembly, avoid between steel wire rope 4 and velocity package 6-1 friction pulley 6-7 Generation is skidded or folder is dead, is ensured that friction pulley 6-7 is synchronized with the movement with steel wire rope 4, is made testing result more accurate;Described axle coding Device 6-13 is provided with the encoder support 6-15 for being fixed on support arm 6-8 sides;The base 6-4 being located on U-shaped bottom seat 6-3 Adjust to appropriate location, it is affixed by T-bolt component 6-16;Described support arm 6-8 tops both sides are equipped with bearing (ball) cover 6-12, dust and debris is avoided to enter bearing 6-11;Described friction pulley 6-7 is provided with abrasive rubber set 6-17, increase friction The frictional force between 6-7 and steel wire rope 4 is taken turns, avoids skidding therebetween, makes testing result more accurate.
The method that the wound form roller volume of the present invention puts steel wire rope moving state identification system, is comprised the following steps that:
(1) roller volume puts the laterally and longitudinally motion state detection of steel wire rope:
1. the developed width D of measurement cylinder 1 respectively1With picture traverse of the roller 1 on the image that industrial camera 1 obtains d1, calculate the transformation ratio Z of industrial camera 11=D1/d1.The developed width D of measuring steel wire rope 4 respectively2Exist with steel wire rope 4 The picture traverse d on image that industrial camera 23 obtains2, calculate the transformation ratio Z of industrial camera 232=D2/d2
2. steel wire rope 4 steel wire rope 4 and roller 1 on roller 1 are continuously acquired by industrial camera 1 and industrial camera 23 Expose the outer peripheral measuring point B of the roller 1 horizontal and vertical image in the both direction of steel wire rope 4 above tangent rope stretching point A;
3. the image gathered respectively to industrial camera 1 and industrial camera 23 on industrial computer 8 is handled, steel is obtained Lateral movement velocity and steel wire rope 4 are in the movement velocity perpendicular to steel wire rope direction during 4 rope stretching of cord;When obtaining Steel wire rope discharge Horizontal stroke, the specific method of longitudinal velocity:
First carry out gray processing and thresholding to the rope stretching image of steel wire rope 4 to handle, so as to by steel wire rope 4 and background separation.Will Steel wire rope 4 is arranged to a kind of color one, such as black, and background is arranged into another color two, such as white.At thresholding A horizontal line is chosen at the position B of the top of roller 1 of the rope stretching image of steel wire rope 4 after reason in the straight line of steel wire rope 4 to make For reference line, on the reference line, the abscissa of all pixels, the average value of ordinate of choosing expression steel wire rope 4 are steel wire Rope 4 is horizontal, the coordinate position (x, y) of lengthwise movement.By setting time a t differential to the positional information of steel wire rope 4 being continuously available Obtain the horizontal stroke of steel wire rope 4, lengthwise movement relative velocity vx=dx/dt, vy=dy/dt.And the parameter and transformation ratio are calculated Steel wire rope 4 is horizontal, the real motion speed V of longitudinal directionX=vx·Z1, VY=vy·Z2
(2) the axial velocity detection of steel wire rope:
1. stopping lifting system operation, U-shaped bottom seat 6-3 is fixed on head sheave by installation wirerope axis to velocity measuring device 6 5 lower right, steel wire rope 4 is set to be arranged among U-shaped bottom seat 6-3.By the velocity package 6-1 and 6-2 that holds down assembly placements and steel wire Restrict 4 both sides, two friction pulley 6-7 abrasive rubber set 6-17 is abutted steel wire rope 4, tightening T-bolt component 6-16 makes to test the speed Component 6-1 and the 6-2 that holds down assembly are fixed on U-shaped bottom seat 6-3, and the adjusting nut 6-19 on adjustment adjusting part 6-5 makes two Friction pulley 6-7 reaches predetermined thrust with steel wire rope 4.
2. opening lifting system operation, the steel wire rope 6 of motion drives friction pulley 6-7 rotations, and friction pulley 6-7 passes through flat key band Dynamic support rotating shaft 6-10, support rotating shaft 6-10 drive shaft encoder 6-13, shaft encoder 6-13 to move by shaft coupling 6-14 Signal transmits to data acquisition box 7, data acquisition box 7 and transmits signals to industrial computer 8, industrial computer 8 by wireless communication module Reception signal calculates the real-time axial velocity of steel wire rope 4 by upper computer software.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair The equivalent structure or equivalent flow conversion that bright content is made, or other related technical fields are directly or indirectly used in, Similarly include within the scope of the present invention.

Claims (2)

1. a kind of wound form roller volume puts steel wire rope moving state identification method, including using steel wire rope moving state identification system System, steel wire rope moving state identification system include being arranged on roller(1)Posterior vertical is in the industrial camera one of cylinder axis(2)With Installed in roller(1)Industrial camera two of the right side parallel to cylinder axis(3), industrial camera one(2)With industrial camera two(3)Point Communication cable is not passed through(9)With industrial computer(8)It is connected, in winding roller(1)And bypass head sheave(5)Steel wire rope straight down Wirerope axis is provided with to velocity measuring device(6), wirerope axis is to velocity measuring device(6)Data acquisition is connected with through wire Box(7);
Described wirerope axis is to velocity measuring device(6)Including being sleeved on steel wire rope(4)On U-shaped bottom seat(6-3), U-shaped bottom Seat(6-3)On be arranged with positioned at steel wire rope(4)The velocity package of the left and right sides(6-1)With hold down assembly(6-2), described survey Fast component(6-1)With hold down assembly(6-2)Include being located at U-shaped bottom seat respectively(6-3)On base(6-4), the base(6-4) Front and rear sides be arranged with support arm(6-8), symmetrically arranged support arm(6-8)Between bottom through bearing pin(6-6)Provided with tune Save component(6-5), top is through supporting rotating shaft(6-10)Provided with embracing steel wire rope(4)Friction pulley(6-7), support rotating shaft(6-10) Both sides, which have been arranged symmetrically, is located at support arm(6-8)On bearing(6-11)And axle sleeve(6-9);Described velocity package(6-1)On Also include through shaft coupling(6-14)It is connected to support rotating shaft(6-10)On shaft encoder(6-13);Described shaft encoder(6- 13)It is provided with and is fixed on support arm(6-8)The encoder support of side(6-15);It is described to be located at U-shaped bottom seat(6-3)On base (6-4)By T-bolt component(6-16)It is affixed;Described support arm(6-8)Top both sides are equipped with bearing (ball) cover(6-12);Institute The friction pulley stated(6-7)It is provided with abrasive rubber set(6-17);Characterized in that, steel wire rope moving state identification method is included such as Lower step:
(1)Roller rolls up the laterally and longitudinally motion state detection for putting steel wire rope:
1. measurement cylinder respectively(1)Developed width D1Be located at roller(1)The industrial camera one at rear(2)On the image of acquisition Picture traverse d1, calculate industrial camera one(2)Transformation ratio Z1=D1/d1;Measuring steel wire rope(4)Developed width D2With It is located at roller(1)The steel wire rope on right side(4)In industrial camera two(3)Picture traverse d on the image of acquisition2, calculate industry Camera two(3)Transformation ratio Z2=D2/d2
2. by being located at the industrial camera one perpendicular to cylinder axis and parallel to cylinder axis both direction(2)And industrial camera Two(3), continuously acquire steel wire rope(4)With roller(1)Expose roller outward flange measuring point B both direction above tangent rope stretching point A Moving image;
3. pass through industrial computer(8)Respectively to industrial camera one(2)With industrial camera two(3)The image of collection is handled, and is obtained Steel wire rope(4)Lateral movement velocity and steel wire rope during rope stretching(4)Longitudinal velocity when perpendicular to the rope stretching of steel wire rope direction;
(2)The axial velocity detection of steel wire rope:
1. stopping lifting system operation, wirerope axis is installed to velocity measuring device(6), by U-shaped bottom seat(6-3)It is sleeved on head sheave (5)Fall the steel wire rope of rope lower section(4)On, make steel wire rope(4)It is arranged in U-shaped bottom seat(6-3)It is middle;By velocity package(6-1)With Hold down assembly(6-2)It is symmetrically mounted on steel wire rope(4)Both sides, make two friction pulleys(6-7)Against steel wire rope(4), will test the speed Component(6-1)With hold down assembly(6-2)It is fixed on U-shaped bottom seat(6-3)On, adjust adjusting part(6-5)Make two friction pulleys(6- 7)With steel wire rope(4)Reach predetermined thrust;
2. open lifting system operation, the steel wire rope of motion(6)Drive friction pulley(6-7)Rotation, friction pulley(6-7)Pass through flat key Drive support rotating shaft(6-10), support rotating shaft(6-10)Pass through shaft coupling(6-14)Drive shaft encoder(6-13), shaft encoder (6-13)Motor message is transmitted to data acquisition box(7), data acquisition box(7)Transmitted signals to by wireless communication module Industrial computer(8), industrial computer(8)Reception signal calculates steel wire rope by upper computer software(4)Real-time axial velocity.
2. wound form roller volume according to claim 1 puts steel wire rope moving state identification method, it is characterised in that:Obtaining When horizontal stroke when taking Steel wire rope discharge, longitudinal velocity, first to steel wire rope(4)Rope stretching image is carried out at gray processing and thresholding Reason, the steel wire rope collected with different colours mark(4)Image and background image, separate both;After thresholding processing Steel wire rope(4)The roller of rope stretching image(1)A horizontal line perpendicular to steel wire rope (4) is chosen at the position B of top as ginseng Line is examined, on the reference line, chooses and represents steel wire rope(4)The horizontal stroke of all pixels, the average value of ordinate be steel wire rope(4) The horizontal, coordinate position of lengthwise movement(X, y);Pass through the steel wire rope to being continuously available(4)Positional information sets time a t differential and obtained To steel wire rope(4)Horizontal, lengthwise movement relative velocity vx=dx/dt, vy=dy/dt;And it is calculated using the parameter and transformation ratio Steel wire rope(4)Horizontal, longitudinal direction real motion speed VX=vx••••••••Z1, VY=vy•Z2
CN201510873347.1A 2015-12-03 2015-12-03 A kind of wound form roller volume puts steel wire rope moving state identification System and method for CN105347129B (en)

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CN201510873347.1A CN105347129B (en) 2015-12-03 2015-12-03 A kind of wound form roller volume puts steel wire rope moving state identification System and method for

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
CN201510873347.1A CN105347129B (en) 2015-12-03 2015-12-03 A kind of wound form roller volume puts steel wire rope moving state identification System and method for
AU2015416444A AU2015416444B2 (en) 2015-12-03 2015-12-29 System and method for recognizing motion state of twisting type roller winding or unwinding steel wire rope
RU2017132200A RU2670741C9 (en) 2015-12-03 2015-12-29 System and method for recognizing motion of torsion roller, winding or unwinding steel wire rope
PCT/CN2015/099321 WO2017092119A1 (en) 2015-12-03 2015-12-29 System and method for recognizing motion state of twisting type roller winding or unwinding steel wire rope
ZA2017/06203A ZA201706203B (en) 2015-12-03 2017-09-12 System and method for recognizing motion state of twisting type roller winding or unwinding steel wire rope

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CN105347129A CN105347129A (en) 2016-02-24
CN105347129B true CN105347129B (en) 2018-01-19

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AU (1) AU2015416444B2 (en)
RU (1) RU2670741C9 (en)
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AU2015416444B2 (en) 2018-11-15
ZA201706203B (en) 2019-02-27
AU2015416444A1 (en) 2017-10-12
RU2670741C9 (en) 2018-11-30
WO2017092119A1 (en) 2017-06-08
RU2670741C1 (en) 2018-10-24
CN105347129A (en) 2016-02-24

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