EP1735099B1 - Method, control device and drive device for detaching a charge stuck to the inner wall of a grinding pipe - Google Patents

Method, control device and drive device for detaching a charge stuck to the inner wall of a grinding pipe Download PDF

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Publication number
EP1735099B1
EP1735099B1 EP05729763A EP05729763A EP1735099B1 EP 1735099 B1 EP1735099 B1 EP 1735099B1 EP 05729763 A EP05729763 A EP 05729763A EP 05729763 A EP05729763 A EP 05729763A EP 1735099 B1 EP1735099 B1 EP 1735099B1
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EP
European Patent Office
Prior art keywords
grinding
rotation
charge
grinding pipe
drive device
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EP05729763A
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German (de)
French (fr)
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EP1735099A1 (en
Inventor
Norbert Becker
Stefan Smits
Kurt Tischler
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Siemens AG
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Siemens AG
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Priority to EP11003370.1A priority Critical patent/EP2353724B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
    • B02C17/18—Details
    • B02C17/24—Driving mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
    • B02C17/18—Details
    • B02C17/1805—Monitoring devices for tumbling mills
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
    • B02C23/04—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C25/00—Control arrangements specially adapted for crushing or disintegrating
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49815—Disassembling
    • Y10T29/49817—Disassembling with other than ancillary treating or assembling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53687—Means to assemble or disassemble by rotation of work part

Definitions

  • the invention relates to a method for releasing a glued charge from the inner wall of a grinding tube, in particular a tube mill, a control device for the drive device of a grinding tube and a drive device of a grinding tube. Furthermore, the invention also relates to a tube mill.
  • the object of the invention is to enable the removal of a stuck charge in a simple and efficient manner. This object is achieved by a method according to claim 1, by a control device according to claim 11, by a drive device according to claim 14 and by a tube mill according to claim 18.
  • the driving device of the grinding tube is used for loosening and loosening the stuck charge.
  • the grinding tube By driving or regulating the drive device of the grinding tube for targeted release of the stuck charge the grinding tube is rotated in an angular range by falling material causes no damage to the grinding tube or other components of the tube mill. Time-consuming manual intervention can be avoided in most cases.
  • the angle of rotation and rotational speed of the grinding tube are changed by the drive device. For example, by deliberately changing the rotational movement, ie change of acceleration and direction of rotation of the grinding tube, the adhered charge is loosened and released from the inner wall of the grinding tube, without causing damage to the tube mill.
  • the angle of rotation is oscillated by at least one predetermined angle of rotation, that is, for example, oscillating.
  • a maximum amount of the rotation angle smaller than 180 ° is not exceeded. It is excluded that the grinding tube performs a complete revolution.
  • the maximum amount of the rotation angle depends on the material properties of the adhered charge. Often, the maximum amount of angle of rotation, up to which crashes of the adhered charge are likely to have no damaging effects on the tube mill, or even excluded, is well below 90 °. In some cases, the maximum amount of the rotation angle will have to be restricted even to a relatively close to 0 °. In order to enable the targeted release of the adhered charge on the one hand in the shortest possible time and on the other hand with the least possible risk, the maximum amount of the rotation angle is determined depending on the material properties of the adhered charge.
  • the rotation angle is set in succession by several predetermined rotation angles with the same sign.
  • the rotation angle is adjusted in succession by several predetermined rotation angles with different signs.
  • the adhered charge dissolves relatively quickly from the inner wall of the grinding tube, while a damage-causing crash is avoided.
  • the grinding tube is abruptly braked at least once at a predetermined angle of rotation. Due to the sudden reduction of the speed of rotation of the grinding tube, inertia-causing, strongly releasing forces act on the stuck-on Charge. After one or more decelerations of the grinding tube, in particular during a downward movement phase of the adhered charge caused by the rotation of the grinding tube, the adhered charge and / or parts of the adhered charge will detach from the grinding tube and ideally continue to slide downwards.
  • the grinding tube is abruptly braked to a standstill.
  • a sudden, discontinuous change in the speed of the grinding tube to zero particularly strong inertial forces act on the adhered charge.
  • the same motor is used to release the glued charge as to rotate the grinding tube in the grinding operation.
  • the fact that the same motor is used to drive the grinding tube both in the grinding operation as well as to release the glued charge accounts for costly Umrüst- or switching operations.
  • the adhered charge is moistened.
  • the dissolving of the adhered charge is facilitated, for example, by spraying with water.
  • the consistency and adhesiveness of the adhered charge is suitably affected by moistening.
  • control device comprises means for specifying a driving cycle for the grinding tube.
  • a targeted release of the glued charge is made possible substantially as far as possible automatically and without damaging the grinding tube.
  • control device has a field-oriented control device.
  • the control or regulation of the drive device for targeted release of the stuck charge is so much easier.
  • the drive device has a motor which drives the grinding tube both in the grinding operation and for releasing the glued charge.
  • the structure of the drive device and the tube mill as a whole is so simpler, more robust, more compact and cheaper
  • the motor of the drive device is coupled to a converter.
  • the motor is a ring motor.
  • a gearless drive designed as a ring motor the tube mill becomes more robust and requires less maintenance, and the described system for selectively releasing the adhered charge is easy to implement.
  • FIG. 1 shows the schematic structure of a tube mill as used for example for grinding ores.
  • the tube mill has a grinding tube 1, which is coupled to a drive device 2. Furthermore, a control device 3 is provided which supplies control or regulating signals to the drive device 2. The control device 3 can also receive and process signals, for example measuring signals from the drive device 2 or other components of the tube mill.
  • the grinding tube 1 is preferably drum-shaped.
  • the tube mill has storage devices for the grinding tube 1, which are not shown in detail in the drawing.
  • the drive device 2 of the tube mill has at least one motor, which is designed, for example, as a ring motor.
  • the motor is coupled to a converter, not shown.
  • the design of the motor as a ring motor allows a gearless drive of the grinding tube 1 and thus a particularly robust operation of the tube mill.
  • the drive device 2 is preferably designed as a field-oriented induction machine, wherein in the control device 3, a field-oriented control device is provided.
  • the field-oriented control device is designed, for example, as a flow computer.
  • the tube mill normally operates in the grinding operation, that is, the drive device 2 drives the grinding tube such that the material in the grinding tube 1 is comminuted by the movement of the grinding tube 1.
  • the material is loose in the grinding operation and not glued to the grinding tube 1. If the grinding operation is interrupted for a long time, it can, as described above, come to the problem of the occurrence of stuck charges, so-called "frozen charges".
  • FIG. 2 shows a section through the grinding tube 1 a tube mill, wherein the grinding tube 1 is surrounded by a drive device 2 here a ring motor shown schematically with a bearing device.
  • the grinding tube 1 is rotatably mounted about the rotation axis 4 by means of the drive device 2.
  • the hatched area inside the grinding tube 1 schematically represents a glued charge 5.
  • the adhered charge 5 is formed of material which, during prolonged standstill of the tube mill, is practically solidified into a rigid body, caked together, frozen together, glued, pressed or sintered.
  • FIG. 3 shows a glued charge 5, the center of gravity was deflected by the rotation angle marked by ⁇ 2 .
  • direction of rotation is the direction of rotation FIG. 2 opposed.
  • control device 3 of the drive device 2 of the tube mill is preferably configured in such a way that adhesively bonded charges 5 are detected so early that their crashes are prevented by stopping the tube mill. Glued charges can also be detected visually, eg by a tube mill operator.
  • the glued charge 5 is released before resuming the grinding operation by controlling the drive device 2 of the grinding tube such that the adhered charge is selectively removed by changing the rotation angle ⁇ and the rotational speed of the grinding tube 1.
  • the same motor is used, which drives the grinding tube 1 in the grinding operation.
  • the control device 3 When releasing the stuck charge, the control device 3 ensures that the amount of the rotation angle ⁇ does not exceed a certain maximum amount. This prevents the stuck-on load 5 from falling too high and causing damage to the tube mill.
  • the maximum amount of the rotation angle ⁇ is in the interval 0 ° ⁇
  • the maximum amount of the rotation angle ⁇ can also be in the interval 0 ° ⁇
  • ⁇ 90 ° are determined.
  • FIG. 4 and FIG. 5 schematically show the deflection of the grinding tube 1 by the rotation angle ⁇ for targeted release of a stuck charge over the time t plotted.
  • the grinding tube 1 is selectively deflected from an initial position and then oscillates sinusoidally about the rotation angle ⁇ 1 or ⁇ 2 .
  • FIG. 5 several periods T 1 to T 4 are marked.
  • the grinding tube oscillates by a specific angle of rotation ⁇ 1 or ⁇ 2 .
  • the amplitude of the oscillation of the rotation angle ⁇ by the rotation angle ⁇ 1 or ⁇ 2 can also be changed or changed.
  • the amplitude can be variable within the time intervals T 1 to T 4 and / or in the comparison of the time periods T 1 to T 4 to each other.
  • the grinding tube 1 oscillates by one or more positive rotation angle ⁇ 1 . It is also possible that the grinding tube 1 oscillates by one or more negative angles of rotation ⁇ 2 .
  • the grinding tube 1 can also be adjusted by one or more positive and by one or more negative rotation angle ⁇ 1 or ⁇ 2 swinging.
  • the release of the adhered charge 5 can be assisted by the supply of water. If the adhered charge 5 is moistened, so it dissolves more easily from the inner wall of the grinding tube. 1
  • FIG. 6 shows schematically how the grinding tube 1 is first set in motion and then abruptly braked several times from the movement.
  • the braking can, as shown in the figure, be such that the grinding tube 1 comes to a standstill for a limited time, or even so that it slows its rotational speed abruptly significantly. It can also be done a change of direction.
  • the inertia of the adhered charge 5 acts on it in a releasing manner.
  • the invention also relates to a drive device 2 for a grinding tube 1 and a control device 3 for such a drive device 2.

Abstract

The invention relates to a method for detaching a charge (5) which is stuck to the inner wall of a grinding pipe (1), wherein the drive device (2) of the grinding pipe (1) is controlled by a control device (3) for targeted removal of the charge (5) that is stuck. The grinding pipe (1) is rotated in a targeted manner such that the charge (5) that is stuck is removed from the inner wall of the grinding pipe (1) as a result of multiple modification of the rotational speed of the grinding pipe (1) and, optionally, as a result of abrupt braking of the grinding pipe (1). Generally speaking, the material-dependent maximum angle of rotation F of the grinding pipe is not exceeded in order to avoid the charge that is stuck from falling in an uncontrolled manner. The invention supercedes labour-intensive and protracted methods for detaching such charges (5) since the tasks can be carried out by the same motor of the drive device (2) which is used to drive the grinding pipe (1) during the grinding process.

Description

Beschreibungdescription

Verfahren, Steuervorrichtung und Antriebsvorrichtung zum Lösen einer festgeklebten Ladung von der Innenwand eines MahlrohrsMethod, control device and drive device for releasing a glued charge from the inner wall of a grinding tube

Die Erfindung betrifft ein Verfahren zum Lösen einer festgeklebten Ladung von der Innenwand eines Mahlrohrs, insbesondere einer Rohrmühle, eine Steuervorrichtung für die Antriebsvorrichtung eines Mahlrohrs sowie eine Antriebsvorrichtung eines Mahlrohrs. Des Weiteren betrifft die Erfindung auch eine Rohrmühle.The invention relates to a method for releasing a glued charge from the inner wall of a grinding tube, in particular a tube mill, a control device for the drive device of a grinding tube and a drive device of a grinding tube. Furthermore, the invention also relates to a tube mill.

Rohrmühlen werden vorzugsweise zum Mahlen von Materialien wie Erz eingesetzt. Es ist nicht unüblich, dass der Betrieb einer Rohrmühle für eine längere Zeitdauer unterbrochen wird und die Rohrmühle stillsteht. Dies geschieht beispielsweise aus Wartungsgründen. Während des Stillstands der Rohrmühle kann sich das im Mahlrohr der Rohrmühle befindliche Material festigen und an der Innenwand des Mahlrohrs festkleben. Derartig festgeklebtes, verfestigtes, an der Innenwand des Mahlrohrs haftendes Material wird als festgeklebte Ladung oder auch als "frozen charge" bezeichnet. Wird die Rohrmühle nach längerem Stillstand wieder in Betrieb genommen besteht die Gefahr, dass sich die festgeklebte Ladung in großer Höhe vom Mahlrohr ablöst, abstürzt und beim anschließenden Aufschlagen auf das Mahlrohr erhebliche Schäden an der Rohrmühle bewirkt.Tube mills are preferably used for grinding materials such as ore. It is not uncommon for the operation of a tube mill to be interrupted for an extended period of time and the tube mill to stand still. This happens, for example, for maintenance reasons. During standstill of the tube mill, the material located in the mill tube of the tube mill can consolidate and stick to the inner wall of the mill tube. Such adhered, solidified, adhering to the inner wall of the milling tube material is referred to as a stuck charge or as a "frozen charge". If the tube mill is put back into operation after a long standstill, there is a risk that the adhered charge will detach from the grinding tube at a great height, crash and cause considerable damage to the tube mill when it is subsequently impacted on the grinding tube.

Deshalb existieren Einrichtungen, die das Vorhandensein festgeklebter Ladungen erkennen und die, wenn das Vorhandensein einer festgeklebten Ladung erkannt wird, die Rohrmühle abschalten. Eine derartige Einrichtung ist beispielsweise in der deutschen Offenlegungsschrift DE 35 28 409 A1 beschrieben.Therefore, there are devices which detect the presence of stuck charges and which, when the presence of a stuck charge is detected, shut off the tube mill. Such a device is for example in the German patent application DE 35 28 409 A1 described.

Wird eine festgeklebte Ladung erkannt und die Rohrmühle abgeschaltet, muss anschließend die festgeklebte Ladung in aufwendiger Weise entfernt werden. Dies geschieht z.B. durch Aufweichen indem Wasser auf die festgeklebte Ladung gesprüht wird und/oder unter Einsatz von Presslufthämmern. Das Entfernen einer festgeklebten Ladung bedingt einen äußerst hohen größtenteils manuellen Arbeitsaufwand und ist sehr zeitintensiv.If a stuck charge is detected and the tube mill switched off, then the glued charge must be removed in a complex manner. This happens, for example, by Softening by spraying water onto the adhered cargo and / or using jackhammers. The removal of a stuck charge requires a very high amount of manual labor and is very time consuming.

Aus der US 2003/0052205 A1 ist ein Verfahren zum Schutz einer Rohrmühle vor möglichen Schäden durch herabfallendes Material bekannt, wobei das Vorhandensein von an der inneren Oberfläche der Rohrmühle haftendem Material festgestellt werden kann, und bei Vorhandensein von derartigem Material ein Anhalten der Drehbewegung des Mahlrohrs der Rohrmühle veranlasst wird.From the US 2003/0052205 A1 For example, a method of protecting a tube mill from possible damage by falling material is known, wherein the presence of material adhering to the inner surface of the tube mill can be detected and, in the presence of such material, stopping the rotation of the mill tube grinding tube.

Aufgabe der Erfindung ist es, das Entfernen einer festgeklebten Ladung auf einfache und effiziente Weise zu ermöglichen. Diese Aufgabe wird gelöst durch ein Verfahren gemäß Patentanspruch 1, durch eine Steuervorrichtung gemäß Patentanspruch 11, durch eine Antriebsvorrichtung gemäß Patentanspruch 14 und durch eine Rohrmühle gemäß Patentanspruch 18.The object of the invention is to enable the removal of a stuck charge in a simple and efficient manner. This object is achieved by a method according to claim 1, by a control device according to claim 11, by a drive device according to claim 14 and by a tube mill according to claim 18.

Gemäß der Erfindung wird die Antriebsvorrichtung des Mahlrohrs zum Lockern und Lösen der festgeklebten Ladung benutzt. Durch Ansteuerung bzw. Regelung der Antriebsvorrichtung des Mahlrohrs zum gezielten Lösen der festgeklebten Ladung wird das Mahlrohr in einem Winkelbereich gedreht, indem fallendes Material keine Schäden am Mahlrohr oder anderen Bestandteilen der Rohrmühle hervorruft. Zeitaufwendige manuelle Eingriffe können so in den meisten Fällen unterbleiben. Dabei werden Drehwinkel und Drehgeschwindigkeit des Mahlrohrs durch die Antriebsvorrichtung geändert. Durch z.B. gezielte Änderung der Drehbewegung, d.h. Änderung von Beschleunigung und Drehrichtung des Mahlrohrs, wird die festgeklebte Ladung gelockert und von der Innenwand des Mahlrohrs gelöst, ohne Beschädigungen an der Rohrmühle zu verursachen. Erfindungsgemäß wird der Drehwinkel um mindestens einen vorgegebenen Drehwinkel schwingend, also z.B. oszillierend, eingestellt.According to the invention, the driving device of the grinding tube is used for loosening and loosening the stuck charge. By driving or regulating the drive device of the grinding tube for targeted release of the stuck charge the grinding tube is rotated in an angular range by falling material causes no damage to the grinding tube or other components of the tube mill. Time-consuming manual intervention can be avoided in most cases. In this case, the angle of rotation and rotational speed of the grinding tube are changed by the drive device. For example, by deliberately changing the rotational movement, ie change of acceleration and direction of rotation of the grinding tube, the adhered charge is loosened and released from the inner wall of the grinding tube, without causing damage to the tube mill. According to the invention, the angle of rotation is oscillated by at least one predetermined angle of rotation, that is, for example, oscillating.

Mit Vorteil wird ein maximaler Betrag des Drehwinkels kleiner 180° nicht überschritten. Es wird ausgeschlossen, dass das Mahlrohr eine vollständige Umdrehung durchführt.Advantageously, a maximum amount of the rotation angle smaller than 180 ° is not exceeded. It is excluded that the grinding tube performs a complete revolution.

Mit Vorteil wird ein maximaler Betrag des Drehwinkels kleiner gleich 90° nicht überschritten. Ist der Betrag des Drehwinkels nicht größer als 90°, ist ein Absturz der festgeklebter Ladung deutlich weniger wahrscheinlich als bei größeren Beträgen des Drehwinkels.Advantageously, a maximum amount of the rotation angle less than or equal to 90 ° is not exceeded. If the amount of the rotation angle is not more than 90 °, a crash of the stuck charge is much less likely than larger amounts of the rotation angle.

Mit Vorteil ist der maximale Betrag des Drehwinkels von der Materialbeschaffenheit der festgeklebten Ladung abhängig. Oft liegt der maximale Betrag des Drehwinkels, bis zu dem Abstürze der festgeklebten Ladung mit hoher Wahrscheinlichkeit keine beschädigende Auswirkungen auf die Rohrmühle haben oder sogar ausgeschlossen sind, deutlich unter 90°. Teilweise wird der maximale Betrag des Drehwinkels sogar auf verhältnismäßig nahe 0° eingeschränkt werden müssen. Um das gezielte Lösen der festgeklebten Ladung zum einen in möglichst kurzer Zeit und zum anderen bei möglichst geringem Risiko zu ermöglichen, wird der maximale Betrag des Drehwinkels in Abhängigkeit von der Materialbeschaffenheit der festgeklebten Ladung bestimmt.Advantageously, the maximum amount of the rotation angle depends on the material properties of the adhered charge. Often, the maximum amount of angle of rotation, up to which crashes of the adhered charge are likely to have no damaging effects on the tube mill, or even excluded, is well below 90 °. In some cases, the maximum amount of the rotation angle will have to be restricted even to a relatively close to 0 °. In order to enable the targeted release of the adhered charge on the one hand in the shortest possible time and on the other hand with the least possible risk, the maximum amount of the rotation angle is determined depending on the material properties of the adhered charge.

Mit Vorteil wird der Drehwinkel nacheinander um mehrere vorgegebene Drehwinkel mit gleichem Vorzeichen schwingend eingestellt wird.Advantageously, the rotation angle is set in succession by several predetermined rotation angles with the same sign.

Mit Vorteil wird der Drehwinkel nacheinander um mehrere vorgegebene Drehwinkel mit unterschiedlichem Vorzeichen schwingend eingestellt.Advantageously, the rotation angle is adjusted in succession by several predetermined rotation angles with different signs.

Durch die Hin- und Herbewegung des Mahlrohrs gemäß den vorangehenden Ausprägungen der Erfindung löst sich die festgeklebte Ladung verhältnismäßig rasch von der Innenwand des Mahlrohrs, wobei gleichzeitig ein Schäden verursachender Absturz vermieden wird.By the reciprocating movement of the grinding tube according to the preceding embodiments of the invention, the adhered charge dissolves relatively quickly from the inner wall of the grinding tube, while a damage-causing crash is avoided.

Mit Vorteil wird das Mahlrohr mindestens einmal bei einem vorgegebenen Drehwinkel abrupt gebremst. Durch das plötzliche Verringern der Drehgeschwindigkeit des Mahlrohrs wirken durch die Trägheit bedingte, stark lösende Kräfte auf die festgeklebte Ladung. Nach ein- oder mehrmaligem Abbremsen des Mahlrohrs, insbesondere während einer durch die Drehung des Mahlrohrs bedingten abwärts gerichteten Bewegungsphase der festgeklebten Ladung, werden sich die festgeklebte Ladung und/oder Teile der festgeklebten Ladung vom Mahlrohr lösen und idealerweise rutschend nach unten weiterbewegen.Advantageously, the grinding tube is abruptly braked at least once at a predetermined angle of rotation. Due to the sudden reduction of the speed of rotation of the grinding tube, inertia-causing, strongly releasing forces act on the stuck-on Charge. After one or more decelerations of the grinding tube, in particular during a downward movement phase of the adhered charge caused by the rotation of the grinding tube, the adhered charge and / or parts of the adhered charge will detach from the grinding tube and ideally continue to slide downwards.

Mit Vorteil wird das Mahlrohr abrupt bis zum Stillstand gebremst. Bei plötzlicher, diskontinuierlicher Änderung der Geschwindigkeit des Mahlrohrs auf Null, wirken besonders starke durch die Trägheit bedingte, lösende Kräfte auf die festgeklebte Ladung.Advantageously, the grinding tube is abruptly braked to a standstill. In the event of a sudden, discontinuous change in the speed of the grinding tube to zero, particularly strong inertial forces act on the adhered charge.

Mit Vorteil wird zum Lösen der festgeklebten Ladung derselbe Motor verwendet wie zur Drehung des Mahlrohrs im Mahlbetrieb. Dadurch dass derselbe Motor zum Antrieb des Mahlrohr sowohl im Mahlbetrieb als auch zum Lösen der festgeklebten Ladung verwendet wird entfallen aufwendige Umrüst- bzw. Umschaltvorgänge.Advantageously, the same motor is used to release the glued charge as to rotate the grinding tube in the grinding operation. The fact that the same motor is used to drive the grinding tube both in the grinding operation as well as to release the glued charge accounts for costly Umrüst- or switching operations.

Mit Vorteil wird die festgeklebte Ladung befeuchtet. Das Lösen der festgeklebten Ladung wird beispielsweise durch Besprühen mit Wasser erleichtert. Die Konsistenz und die Haftfähigkeit der festgeklebten Ladung wird durch Befeuchten zweckdienlich beeinflusst.Advantageously, the adhered charge is moistened. The dissolving of the adhered charge is facilitated, for example, by spraying with water. The consistency and adhesiveness of the adhered charge is suitably affected by moistening.

Mit Vorteil weist die erfindungsgemäße Steuervorrichtung Mittel zur Vorgabe eines Fahrzyklus für das Mahlrohr auf. Derart wird ein gezieltes Lösen der festgeklebten Ladung im wesentlichen weitestgehend automatisch und ohne Beschädigung des Mahlrohrs ermöglicht.Advantageously, the control device according to the invention comprises means for specifying a driving cycle for the grinding tube. In this way, a targeted release of the glued charge is made possible substantially as far as possible automatically and without damaging the grinding tube.

Mit Vorteil weist die Steuervorrichtung eine feldorientierte Regeleinrichtung auf. Die Ansteuerung bzw. Regelung der Antriebsvorrichtung zum gezielten Lösen der festgeklebten Ladung wird so wesentlich vereinfacht.Advantageously, the control device has a field-oriented control device. The control or regulation of the drive device for targeted release of the stuck charge is so much easier.

Mit Vorteil weist die erfindungsgemäße Antriebsvorrichtung einen Motor auf, der das Mahlrohr sowohl im Mahlbetrieb als auch zum Lösen der festgeklebten Ladung antreibt. Der Aufbau der Antriebsvorrichtung und der Rohrmühle insgesamt wird so einfacher, robuster, kompakter und kostengünstigerAdvantageously, the drive device according to the invention has a motor which drives the grinding tube both in the grinding operation and for releasing the glued charge. The structure of the drive device and the tube mill as a whole is so simpler, more robust, more compact and cheaper

Mit Vorteil ist der Motor der Antriebsvorrichtung mit einem Umrichter gekoppelt.Advantageously, the motor of the drive device is coupled to a converter.

Mit Vorteil ist der Motor ein Ringmotor. Durch die Verwendung eines getriebelosen als Ringmotor ausgebildeten Antriebs wird die Rohrmühle robuster und wartungsärmer, und das beschriebene System zum gezielten Lösen der festgeklebten Ladung ist leicht implementierbar.Advantageously, the motor is a ring motor. By using a gearless drive designed as a ring motor, the tube mill becomes more robust and requires less maintenance, and the described system for selectively releasing the adhered charge is easy to implement.

Weitere Einzelheiten der Erfindung werden nachfolgend unter Bezugnahme auf die Zeichnungen beispielhaft beschrieben. Es zeigen:

FIG 1
den schematischen Aufbau einer Rohrmühle,
FIG 2 und FIG 3
einen Schnitt durch das Mahlrohr einer Rohrmühle,
FIG 4 bis FIG 6
mögliche Drehbewegungen des Mahlrohrs zum gezielten Lösen einer festgeklebten Ladung.
Further details of the invention will be described below by way of example with reference to the drawings. Show it:
FIG. 1
the schematic structure of a tube mill,
2 and FIG. 3
a section through the grinding tube of a tube mill,
4 to FIG. 6
possible rotational movements of the grinding tube for targeted release of a stuck charge.

FIG 1 zeigt den schematischen Aufbau einer Rohrmühle wie sie beispielsweise zum Mahlen von Erzen verwendet wird. Die Rohrmühle weist ein Mahlrohr 1 auf, das mit einer Antriebsvorrichtung 2 gekoppelt ist. Des weiteren ist eine Steuervorrichtung 3 vorgesehen, die Steuer- bzw. Regelsignale an die Antriebsvorrichtung 2 gibt. Die Steuervorrichtung 3 kann auch Signale, beispielsweise Messsignale von der Antriebsvorrichtung 2 oder anderen Bestandteilen der Rohrmühle entgegennehmen und verarbeiten. Das Mahlrohr 1 ist vorzugsweise trommelförmig ausgebildet. Die Rohrmühle weist Lagervorrichtungen für das Mahlrohr 1 auf, die in der Zeichnung nicht näher dargestellt sind. FIG. 1 shows the schematic structure of a tube mill as used for example for grinding ores. The tube mill has a grinding tube 1, which is coupled to a drive device 2. Furthermore, a control device 3 is provided which supplies control or regulating signals to the drive device 2. The control device 3 can also receive and process signals, for example measuring signals from the drive device 2 or other components of the tube mill. The grinding tube 1 is preferably drum-shaped. The tube mill has storage devices for the grinding tube 1, which are not shown in detail in the drawing.

Die Antriebsvorrichtung 2 der Rohrmühle weist zumindest einen Motor auf, der beispielsweise als Ringmotor ausgebildet ist. Der Motor ist mit einem nicht näher dargestellten Umrichter gekoppelt. Die Ausprägung des Motors als Ringmotor ermöglicht einen getriebelosen Antrieb des Mahlrohrs 1 und somit einen besonders robusten Betrieb der Rohrmühle.The drive device 2 of the tube mill has at least one motor, which is designed, for example, as a ring motor. The motor is coupled to a converter, not shown. The design of the motor as a ring motor allows a gearless drive of the grinding tube 1 and thus a particularly robust operation of the tube mill.

Die Antriebsvorrichtung 2 ist vorzugsweise als feldorientierte Drehfeldmaschine ausgebildet, wobei in der Steuervorrichtung 3 eine feldorientierte Regeleinrichtung vorgesehen ist. Die feldorientierte Regeleinrichtung ist beispielsweise als Flussrechner ausgebildet.The drive device 2 is preferably designed as a field-oriented induction machine, wherein in the control device 3, a field-oriented control device is provided. The field-oriented control device is designed, for example, as a flow computer.

Die Rohrmühle arbeitet normalerweise im Mahlbetrieb, d.h., die Antriebsvorrichtung 2 treibt das Mahlrohr derart an, dass das im Mahlrohr 1 befindliche Material durch die Bewegung des Mahlrohrs 1 zerkleinert wird. Das Material ist im Mahlbetrieb locker und nicht mit dem Mahlrohr 1 verklebt. Wird der Mahlbetrieb für längere Zeit unterbrochen, kann es wie eingangs beschrieben, zu dem Problem des Auftretens von festgeklebten Ladungen, sogenannten "frozen charges", kommen.The tube mill normally operates in the grinding operation, that is, the drive device 2 drives the grinding tube such that the material in the grinding tube 1 is comminuted by the movement of the grinding tube 1. The material is loose in the grinding operation and not glued to the grinding tube 1. If the grinding operation is interrupted for a long time, it can, as described above, come to the problem of the occurrence of stuck charges, so-called "frozen charges".

FIG 2 zeigt einen Schnitt durch das Mahlrohr 1 einer Rohrmühle, wobei das Mahlrohr 1 von einer Antriebsvorrichtung 2 hier einem schematisch dargestellten Ringmotor mit einer Lagervorrichtung umgeben ist. Das Mahlrohr 1 ist um die Drehachse 4 mittels der Antriebsvorrichtung 2 drehbar gelagert. Der schraffiert dargestellte Bereich im Inneren des Mahlrohrs 1 stellt schematisch eine festgeklebte Ladung 5 dar. Die festgeklebte Ladung 5 entsteht aus Material, das während längeren Stillstands der Rohrmühle praktisch zu einem starren Körper verfestigt, zusammengebacken, zusammengefroren, verklebt, verpresst oder versintert ist. In FIG 2 wurde der Schwerpunkt der festgeklebten Ladung 5 gegenüber einer durch ϕ0 = 0° gekennzeichneten Anfangslage um den Drehwinkel ϕ bis zu einem durch ϕ1 gekennzeichneten Drehwinkel ausgelenkt. FIG. 2 shows a section through the grinding tube 1 a tube mill, wherein the grinding tube 1 is surrounded by a drive device 2 here a ring motor shown schematically with a bearing device. The grinding tube 1 is rotatably mounted about the rotation axis 4 by means of the drive device 2. The hatched area inside the grinding tube 1 schematically represents a glued charge 5. The adhered charge 5 is formed of material which, during prolonged standstill of the tube mill, is practically solidified into a rigid body, caked together, frozen together, glued, pressed or sintered. In FIG. 2 the center of gravity of the glued charge 5 was deflected by the angle of rotation φ relative to an initial position characterized by φ 0 = 0 ° up to a rotation angle marked by φ 1 .

FIG 3 zeigt eine festgeklebte Ladung 5, deren Schwerpunkt um den durch ϕ2 gekennzeichneten Drehwinkel ausgelenkt wurde. Die in FIG 3 dargestellte Drehrichtung ist der Drehrichtung aus FIG 2 entgegengesetzt. FIG. 3 shows a glued charge 5, the center of gravity was deflected by the rotation angle marked by φ 2 . In the FIG. 3 shown direction of rotation is the direction of rotation FIG. 2 opposed.

Im folgenden werden Auslenkungen in einem positiven Drehwinkelbereich ϕ0 < ϕ <= 180° und Auslenkungen in einem negativen Drehwinkelbereich -180° < ϕ < ϕ0 betrachtet. Dementsprechend ist ϕ1 in FIG 2 ein positiver, ϕ2 in FIG 3 ein negativer Drehwinkel ϕ.In the following, deflections in a positive rotation angle range φ 0 <φ <= 180 ° and deflections in a negative rotation angle range -180 ° <φ <φ 0 are considered. Accordingly, φ 1 is in FIG. 2 a positive, φ 2 in FIG. 3 a negative angle of rotation φ.

Die in FIG 1 gezeigte Steuervorrichtung 3 der Antriebsvorrichtung 2 der Rohrmühle ist wie eingangs beschrieben vorzugsweise derart ausgestaltet, dass festgeklebte Ladungen 5 derart früh erkannt werden, dass ihr Abstürzen durch Anhalten der Rohrmühle vermieden wird. Festgeklebte Ladungen können auch visuell, z.B. durch einen Bediener der Rohrmühle entdeckt werden.In the FIG. 1 As shown at the beginning, the control device 3 of the drive device 2 of the tube mill is preferably configured in such a way that adhesively bonded charges 5 are detected so early that their crashes are prevented by stopping the tube mill. Glued charges can also be detected visually, eg by a tube mill operator.

Wird eine festgeklebte Ladung 5 entdeckt, so wird die festgeklebte Ladung 5 vor Wiederaufnahme des Mahlbetriebs dadurch gelöst, dass die Antriebsvorrichtung 2 des Mahlrohrs derart angesteuert wird, dass durch Änderung des Drehwinkels ϕ und der Drehgeschwindigkeit des Mahlrohrs 1 die festgeklebte Ladung gezielt abgelöst wird. Dabei wird vorzugsweise derselbe Motor verwendet, der auch im Mahlbetrieb das Mahlrohr 1 antreibt.If a glued charge 5 is detected, the glued charge 5 is released before resuming the grinding operation by controlling the drive device 2 of the grinding tube such that the adhered charge is selectively removed by changing the rotation angle φ and the rotational speed of the grinding tube 1. In this case, preferably the same motor is used, which drives the grinding tube 1 in the grinding operation.

Beim Lösen der festgeklebten Ladung stellt die Steuervorrichtung 3 sicher, dass der Betrag des Drehwinkels ϕ einen bestimmten Maximalbetrag nicht überschreitet. Derart wird vermieden, dass die festgeklebte Ladung 5 aus zu großer Höhe abstürzt und Schäden an der Rohrmühle verursacht. Der maximale Betrag des Drehwinkels ϕ liegt im Intervall 0°< |ϕ| < 180° und wird mit Vorteil in Abhängigkeit der Zusammensetzung und der Beschaffenheit des Materials der festgeklebten Ladung 5 bestimmt. Der maximale Betrag des Drehwinkels ϕ kann auch im Intervall 0°< |ϕ| <= 90° bestimmt werden.When releasing the stuck charge, the control device 3 ensures that the amount of the rotation angle φ does not exceed a certain maximum amount. This prevents the stuck-on load 5 from falling too high and causing damage to the tube mill. The maximum amount of the rotation angle φ is in the interval 0 ° <| φ | <180 °, and advantageously becomes dependent on the composition and the nature of the material of the adhered charge 5 certainly. The maximum amount of the rotation angle φ can also be in the interval 0 ° <| φ | <= 90 ° are determined.

FIG 4 und FIG 5 zeigen schematisch die Auslenkung des Mahlrohrs 1 um den Drehwinkel ϕ zum gezielten Lösen einer festgeklebten Ladung über die Zeit t aufgetragen. Um die festgeklebte Ladung 5 von der Innenwand des Mahlrohrs 1 abzulösen, wird das Mahlrohr 1 gezielt von einer Ausgangsposition ausgelenkt und schwingt dann sinusförmig um die Drehwinkel ϕ1 bzw. ϕ2. Die Ausgangsposition im gezeigten Beispiel liegt bei ϕ0 =0°, kann aber auch anders vorgegeben sein. 4 and FIG. 5 schematically show the deflection of the grinding tube 1 by the rotation angle φ for targeted release of a stuck charge over the time t plotted. In order to detach the adhered charge 5 from the inner wall of the grinding tube 1, the grinding tube 1 is selectively deflected from an initial position and then oscillates sinusoidally about the rotation angle φ 1 or φ 2 . The starting position in the example shown is φ 0 = 0 °, but can also be specified differently.

In FIG 5 sind mehrere Zeitabschnitte T1 bis T4 gekennzeichnet. In jedem dieser Zeitabschnitte T1 bis T4 schwingt das Mahlrohr um einen bestimmten Drehwinkel ϕ1 bzw. ϕ2. Anders als beispielhaft in den Figuren 4 und 5 dargestellt, kann sich die Amplitude der Schwingung des Drehwinkels ϕ um die Drehwinkel ϕ1 bzw. ϕ2 auch ändern bzw. geändert werden. Die Amplitude kann dabei innerhalb der Zeitabschnitte T1 bis T4 und/oder im Vergleich der Zeitabschnitte T1 bis T4 zueinander veränderlich sein.In FIG. 5 several periods T 1 to T 4 are marked. In each of these time segments T 1 to T 4, the grinding tube oscillates by a specific angle of rotation φ 1 or φ 2 . Other than exemplary in the FIGS. 4 and 5 shown, the amplitude of the oscillation of the rotation angle φ by the rotation angle φ 1 or φ 2 can also be changed or changed. The amplitude can be variable within the time intervals T 1 to T 4 and / or in the comparison of the time periods T 1 to T 4 to each other.

Es ist möglich, dass das Mahlrohr 1 um einen oder mehrere positive Drehwinkel ϕ1 schwingt. Es ist auch möglich, dass das Mahlrohr 1 um einen oder mehrere negative Drehwinkel ϕ2 schwingt. Das Mahlrohr 1 kann auch um einen oder mehrere positive und um einen oder mehrere negative Drehwinkel ϕ1 bzw. ϕ2 schwingend eingestellt werden.It is possible that the grinding tube 1 oscillates by one or more positive rotation angle φ 1 . It is also possible that the grinding tube 1 oscillates by one or more negative angles of rotation φ 2 . The grinding tube 1 can also be adjusted by one or more positive and by one or more negative rotation angle φ 1 or φ 2 swinging.

Die in FIG 1 gezeigte Steuervorrichtung 3 für die Antriebsvorrichtung 2 weist vorzugsweise Mittel zur Vorgabe eines Fahrzyklus für das Mahlrohr 1 auf, um die Bewegung des Mahlrohrs 1 wie vorangehend beschrieben zu steuern bzw. zu regeln.In the FIG. 1 control device 3 shown for the drive device 2 preferably has means for specifying a driving cycle for the grinding tube 1 in order to control the movement of the grinding tube 1 as described above.

Das Lösen der festgeklebten Ladung 5 kann durch Zufuhr von Wasser unterstützt werden. Wird die festgeklebte Ladung 5 befeuchtet, so löst sie sich leichter von der Innenwand des Mahlrohrs 1.The release of the adhered charge 5 can be assisted by the supply of water. If the adhered charge 5 is moistened, so it dissolves more easily from the inner wall of the grinding tube. 1

FIG 6 zeigt schematisch wie das Mahlrohr 1 zunächst in Bewegung versetzt wird und dann mehrmals aus der Bewegung abrupt abgebremst wird. Das Abbremsen kann, wie in der Figur gezeigt, derart erfolgen, dass das Mahlrohr 1 für begrenzte Zeit zum Stillstand kommt, oder auch derart dass es seine Drehgeschwindigkeit abrupt deutlich verlangsamt. Es kann auch ein Wechsel der Drehrichtung erfolgen. Beim abrupte Abbremsen des Mahlrohrs 1 wirkt die Trägheit der festgeklebten Ladung 5 lösend auf diese ein. FIG. 6 shows schematically how the grinding tube 1 is first set in motion and then abruptly braked several times from the movement. The braking can, as shown in the figure, be such that the grinding tube 1 comes to a standstill for a limited time, or even so that it slows its rotational speed abruptly significantly. It can also be done a change of direction. During abrupt deceleration of the grinding tube 1, the inertia of the adhered charge 5 acts on it in a releasing manner.

Der Grundgedanke der Erfindung lässt sich im wesentlichen wie folgt zusammenfassen:

  • Die Erfindung betrifft ein Verfahren zum Lösen einer festgeklebten Ladung 5 von der Innenwand eines Mahlrohrs 1, wobei die Antriebsvorrichtung 2 des Mahlrohrs 1 zum gezielten Lösen der festgeklebten Ladung 5 von einer Steuervorrichtung 3 angesteuert wird. Das Mahlrohr 1 wird dabei derart gezielt gedreht, dass sich durch die mehrmalige Änderung der Drehgeschwindigkeit des Mahlrohrs 1 und gegebenenfalls durch das abrupte Abbremsen des Mahlrohrs 1 die festgeklebte Ladung 5 von der Innenwand des Mahlrohrs 1 löst. Dabei wird ein in der Regel materialabhängig bestimmter maximaler Drehwinkel ϕ des Mahlrohrs 1 nicht überschritten um ein unkontrolliertes Abstürzen der festgeklebten Ladung 5 zu vermeiden. Durch die Erfindung werden arbeitsintensive und zeitaufwendige Verfahren zum Lösen der festgeklebten Ladung 5 überflüssig, da diese durch den selben Motor der Antriebsvorrichtung 2 gelöst werden kann, der auch während des Mahlbetriebs zum Antrieb des Mahlrohrs 1 verwendet wird.
The basic idea of the invention can essentially be summarized as follows:
  • The invention relates to a method for releasing a glued charge 5 from the inner wall of a grinding tube 1, wherein the drive device 2 of the grinding tube 1 for targeted release of the glued charge 5 is controlled by a control device 3. The grinding tube 1 is thereby selectively rotated so that the adhered charge 5 is released from the inner wall of the grinding tube 1 by the repeated change in the rotational speed of the grinding tube 1 and optionally by the abrupt braking of the grinding tube 1. In this case, a generally determined depending on the material maximum rotational angle φ of the grinding tube 1 is not exceeded in order to avoid an uncontrolled crashes of the stuck charge 5. The invention eliminates labor-intensive and time-consuming procedures for releasing the adhered charge 5, since this can be achieved by the same motor of the drive device 2 which is also used to drive the grinding tube 1 during the grinding operation.

Die Erfindung betrifft auch eine Antriebsvorrichtung 2 für ein Mahlrohr 1 und eine Steuervorrichtung 3 für eine derartige Antriebsvorrichtung 2.The invention also relates to a drive device 2 for a grinding tube 1 and a control device 3 for such a drive device 2.

Claims (18)

  1. Method for detaching a frozen charge (5) from the inner wall of a grinding pipe (1), the drive device (2) of the grinding pipe (1) being controlled for targeted detachment of the frozen charge (5), angle of rotation (ϕ) and speed of rotation of the grinding pipe (1) being varied by the drive device (2), characterized in that the angle of rotation (ϕ) is set to oscillate about at least one predetermined angle of rotation (ϕ1, ϕ2).
  2. Method according to Claim 1, characterized in that a maximum value of the angle of rotation (ϕ) smaller than 180° is not exceeded.
  3. Method according to Claim 1, characterized in that a maximum value of the angle of rotation (ϕ) smaller than or equal to 90° is not exceeded.
  4. Method according to one of Claims 1 to 3, characterized in that the maximum value of the angle of rotation (ϕ) is dependent on the material nature of the frozen charge (5).
  5. Method according to one of Claims 1 to 4, characterized in that the angle of rotation (ϕ) is set to oscillate about a number of predetermined angles of rotation (ϕ1 or ϕ2) with the same algebraic sign one after another.
  6. Method according to Claim 5, characterized in that the angle of rotation (ϕ) is set to oscillate about a number of predetermined angles of rotation (ϕ1, (ϕ2) with different algebraic signs one after another.
  7. Method according to one of the preceding claims, characterized in that the grinding pipe (1) is braked abruptly at least once at a predetermined angle of rotation (ϕ).
  8. Method according to Claim 9, characterized in that the grinding pipe (1) is braked abruptly to a standstill.
  9. Method according to one of the preceding claims, characterized in that the same motor is used for detaching the frozen charge (5) as for rotating the grinding pipe (1) during grinding operation.
  10. Method according to one of the preceding claims, characterized in that the frozen charge (5) is wetted.
  11. Control device (3) for the drive device (2) of a grinding pipe (1) for carrying out a method according to one of the preceding claims.
  12. Control device (3) according to Claim 11, characterized in that it has means for defining an operating cycle for the grinding pipe (1).
  13. Control device (3) according to Claim 11 or 12, characterized in that it has a field-oriented regulating arrangement.
  14. Drive device (2) for a grinding pipe (1) with a control device (3) according to one of Claims 11 to 13.
  15. Drive device (2) according to Claim 14, characterized in that it has a motor which drives the grinding pipe (1) both during grinding operation and for detaching the frozen charge (5).
  16. Drive device (2) according to Claim 15, characterized in that the motor is coupled to a converter.
  17. Drive device (2) according to Claim 15 or 16, characterized in that the motor is a ring motor.
  18. Tube mill with a grinding pipe (1) and with a drive device (2) according to one of Claims 14 to 17.
EP05729763A 2004-03-25 2005-03-08 Method, control device and drive device for detaching a charge stuck to the inner wall of a grinding pipe Active EP1735099B1 (en)

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DE102004015057A DE102004015057A1 (en) 2004-03-25 2004-03-25 Method, control device and drive device for releasing a glued charge from the inner wall of a grinding tube
PCT/EP2005/051029 WO2005092508A1 (en) 2004-03-25 2005-03-08 Method, control device and drive device for detaching a charge stuck to the inner wall of a grinding pipe

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US20110283504A1 (en) 2011-11-24
DE102004015057A1 (en) 2005-10-20
US8079536B2 (en) 2011-12-20
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RU2006137571A (en) 2008-04-27
US20080169368A1 (en) 2008-07-17
RU2350392C2 (en) 2009-03-27
US8276837B2 (en) 2012-10-02
CA2560875C (en) 2012-10-09
BRPI0520878B1 (en) 2018-11-21
AU2005227083B9 (en) 2009-12-17
ES2435665T3 (en) 2013-12-20
DE502005011302D1 (en) 2011-06-09
CN100522368C (en) 2009-08-05
CA2560875A1 (en) 2005-10-06
ES2363088T3 (en) 2011-07-20
EP1735099A1 (en) 2006-12-27
AU2005227083B2 (en) 2009-07-16
AU2005227083A1 (en) 2005-10-06
WO2005092508A1 (en) 2005-10-06
AR085938A2 (en) 2013-11-06
EP2353724A2 (en) 2011-08-10
BRPI0509198A (en) 2007-09-18
CN1993182A (en) 2007-07-04
EP2353724B1 (en) 2013-10-30
ZA200607665B (en) 2008-03-26
BRPI0509198B1 (en) 2018-05-08
PE20051026A1 (en) 2006-02-08

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