EP2066451B1 - Dispositif de pulvérisation électrostatique - Google Patents

Dispositif de pulvérisation électrostatique Download PDF

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Publication number
EP2066451B1
EP2066451B1 EP07818465A EP07818465A EP2066451B1 EP 2066451 B1 EP2066451 B1 EP 2066451B1 EP 07818465 A EP07818465 A EP 07818465A EP 07818465 A EP07818465 A EP 07818465A EP 2066451 B1 EP2066451 B1 EP 2066451B1
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EP
European Patent Office
Prior art keywords
sprayer
arrangement
transformer
arrangement according
signals
Prior art date
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Active
Application number
EP07818465A
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German (de)
English (en)
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EP2066451A1 (fr
Inventor
Michael Baumann
Frank Herre
Jürgen Haas
Harry Krumma
Hans-Jürgen Nolte
Marcus Frey
Bernhard Seiz
Herbert Martin
Erwin Bieber
Torsten Block
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Duerr Systems AG
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Duerr Systems AG
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Priority claimed from DE200610045631 external-priority patent/DE102006045631A1/de
Priority claimed from DE102007004819A external-priority patent/DE102007004819A1/de
Application filed by Duerr Systems AG filed Critical Duerr Systems AG
Priority to PL07818465T priority Critical patent/PL2066451T3/pl
Publication of EP2066451A1 publication Critical patent/EP2066451A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/053—Arrangements for supplying power, e.g. charging power
    • B05B5/0531—Power generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/053—Arrangements for supplying power, e.g. charging power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/08—Plant for applying liquids or other fluent materials to objects
    • B05B5/10—Arrangements for supplying power, e.g. charging power

Definitions

  • the invention relates to an atomizer arrangement for a coating machine for serial electrostatic coating of workpieces such as motor vehicle bodies or parts thereof according to the preamble of claim 1.
  • the atomizer assembly may consist in particular of an electrostatic atomizer and the forearm (arm 2) of a coating robot to which the atomizer is arranged over the usual wrist.
  • Electrostatic atomizers are known.
  • rotary atomizers in addition to a turbine (ie a pneumatic or hydraulic drive) or an electric motor for driving the atomising bell, they contain various components such as e.g. Valves, valve terminals, bus connection modules for fieldbus systems, valve controllers, drive control circuits and other controllers of all kinds, inductive, optical and / or capacitive sensors, high voltage generators, etc.
  • atomizers working with direct charging of the coating material, usually the entire atomizer is placed under high voltage so that the coating material is charged by an electrode device containing all the electrically conductive parts such as atomizer, paint tube, fittings, etc., with which it comes into contact.
  • an electrode device containing all the electrically conductive parts such as atomizer, paint tube, fittings, etc., with which it comes into contact.
  • external charging of the coating material with external electrodes is also possible.
  • An electrostatic rotary atomizer containing an electric motor controlled by a safety transformer is known from US Pat WO 2005/110613 known. Additional Information about electrostatic atomizers and their components are made for example EP 0 219 409 . EP 1 245 291 . EP 1 293 308 and EP 1 394 757 refer to.
  • EP 1 232 799 describes an air atomizer with easily separable and interconnectable components, at the separation points correspondingly easily detachable and connectable electrical line connections are required.
  • the line connections consist in this air atomizer from inductive couplers with two flat coils in particular Topfkernbauweise, which should be so small that virtually no structural changes of instead connectable by plug separable parts of the atomizer are required.
  • US 2006/0175439 A1 discloses an electrostatic rotary atomizer of a painting robot with a high voltage generator, which sets the rotating bell cup of the atomizer and its driven by compressed air power turbine to high voltage. Further, the nebulizer includes an optical transceiver that measures the bell speed with optical fibers, which is located in a grounded housing that is insulated from the high voltage and is powered by an isolated low voltage line.
  • the use of the high voltage during the application requires high insulation distances between the components lying at high voltage or low potential, which can also be partially in the arm of a robot serving as a coating machine.
  • the space available in the atomizer assembly often does not permit separation between high voltage components and grounded or low potential components. As a result, complete charging of the components in the atomizer assembly may be required.
  • An electrostatic sprayer includes various components that are to be supplied with electrical power and / or receive and / or transmit electrical signals. All actuators and sensors and other electronic components of the atomizer require electrical supply, and all actuators provided there require signals coming from the outside, while all sensors and other electronic components deliver, for example, diagnostic data and other signals to the outside, in particular also actual values of externally controlled parameters of the atomizer ,
  • the aim of the invention is in particular an expedient and trouble-free supply of components of a high-voltage nebulizer arrangement with electrical power at potential separation between an external supply line arrangement and the consumers of the nebulizer.
  • the invention is based on the recognition that a transformer arrangement provided at least partly in the atomizer or in an adjacent moving member of the coating machine, namely in the front of a coating robot or possibly outside the coating machine, as for example for supplying and controlling an electric drive motor of the atomizer per se can already be present, useful for dining other components of the atomizer can be used.
  • the transformer can bring about a galvanic separation between the line arrangement provided for the power supply of the atomizer arrangement and consumers located in the atomizer or possibly in the robot arm at high voltage. This separation is best done with an isolating transformer, which has a sufficient isolation distance or other isolation device between having the primary and secondary circuits.
  • different components require different supply voltages.
  • a frequency controlled drive of the atomizer requires different voltages and frequencies than a consumer requiring only a constant DC voltage (eg, 24V).
  • the invention makes it possible to easily transmit signals transmitted or received by sensors, actuators, controls and / or other electrical components of the atomizer assembly into or out of the atomizer assembly, although in operation these components are at high voltage.
  • This problem is solved by transmitting the signals with galvanic isolation.
  • the electrical isolation can be realized in different ways, in particular by preferably digital information or data transmission via optical fibers or radio links or as sound signals or by amplitude or frequency modulation of e.g. from a transformer arrangement with high-voltage insulation in the high voltage region of the atomizer arrangement led supply voltages.
  • Fig. 1 located in the area 1 lying in operation at high voltage potential components of an electrostatic Rotationszerstäuberan extract, namely the actual atomizer or an arrangement of the atomizer, a wrist and in this case with essential elements also lying on high voltage forearm of a coating robot.
  • the forearm can be made in a conventional manner of insulating material.
  • all of the components considered in region 1 can be at the high-voltage potential.
  • this area 1 leads a two- or multi-pole external supply line arrangement 2, as shown, the parallel primary coils of the three in a conventional manner as an isolation transformer with high voltage insulation paths (for more than 100 or 150 kV) formed transformers T1, T2 and T3 feeds.
  • the parallel primary coils of the three in a conventional manner as an isolation transformer with high voltage insulation paths (for more than 100 or 150 kV) formed transformers T1, T2 and T3 feeds.
  • the AC voltage of the line assembly 2 feeds the primary coil of the first transformer T1 via a converter 3 with voltage pulses on the secondary side of the working with frequency control drive 4 of an in the high voltage range 1 electric motor M feeds, which in the example considered instead of in Rotationszerstäubern otherwise conventional air turbine is provided for driving the Zerstäuberglocke and may be located in the atomizer itself or in other cases outside, for example, in or on the forearm of the robot.
  • the engine M may, for example, the aforementioned WO 2005/110613 A1 correspond.
  • the AC voltage generated on the secondary side of the transformer T1 can be converted into an optionally controlled variable DC voltage of, for example, 40 V, which can be superimposed on an AC voltage with the speed control or - control of the motor controllable frequency.
  • This DC voltage can then be converted into an AC voltage supplying the motor M with a frequency corresponding to the superimposed frequency.
  • the speed can be controlled for example in a known manner by changing the synchronous frequency and wherein the power supply can also be separated from a example digital speed control.
  • the electric motor M could also be provided a pneumatic or hydraulic drive for the Zestäuberglocke.
  • an electric motor it may be appropriate to dimension it so that it can be easily replaced in existing atomizers against their conventional air turbine.
  • the secondary coil of the second transformer T2 is used for power supply of the components including actuators 6, sensors 7 and electronic elements of the atomizer, which are located in the high-voltage region 1.
  • the AC voltage generated by the transformer T2 can be converted by a converter 5 into a DC supply voltage.
  • Typical examples of the only schematically indicated at 6 and 7 components are actuators such as control and drive circuits for valves and flow, speed and other -Regelnike and sensors such as the switching position of valves, speed, flow rate, temperature, pressure of the coating material etc.
  • the actuators considered here may, for example, also include other electric or other motors, for example as a metering pump drive.
  • the power supply of the sensors and actuators in other embodiments, one could also be used in the motor control, e.g. the drive 4 generated DC voltage can be used.
  • the power supply of individual sensors and / or actuators in a conventional manner to use electric batteries or possibly other own power sources such as fuel cells.
  • the power supply of the components of the atomizer by a for other purposes such as in particular an electric drive motor anyway existing transformer arrangement has the advantage that the power consumption is reduced to a minimum.
  • the secondary coil of the third transformer T3 feeds a converter 9, which generates the high voltage required for the electrostatic charging of the coating material from the input AC voltage or supplies a high voltage generator, not shown, of the atomizer.
  • the high voltage is applied to the internal or external electrode arrangements (not shown) customary for electrostatic sprayers for direct or external charging of the coating material.
  • the transformer assembly In addition to the sensors and actuators of the atomizer can be fed from the transformer assembly according to the invention located outside of the atomizer other components of the application technology, including actuators and sensors of the application technique, which are located at other locations of the coating machine and there high voltage potential or low or ground potential can lie. This also includes components that, depending on the system, can be at high voltage or earth potential, such as color changers. Eventually, the transformer arrangement can supply all of the application-related components present on a robot, for example, with the electrical power they require in each case.
  • the transformer assembly By mounting relatively heavy standard constructions for the transformer assembly as separate components in the atomizer or in the robotic arm of, for example, a paint robot, they could affect its motion dynamics. It may therefore be more convenient to constructively integrate the transformer or a transformer coil into the body of the robotic arm so that it serves as a supporting element of the robotic arm and effects or at least contributes to its necessary rigidity. As a result, the transformer does not significantly increase the overall weight of the atomizer assembly, including the robotic arm.
  • FIG. 2 An implementation possibility for this is schematically in Fig. 2 represented in which a pivotally mounted robot arm 10 can be seen, is mounted at one (left) end via a wrist of the indicated at 11 atomizer, while at its opposite end of the usual axle housing 12 is required for the atomizer movements with manual axis motors.
  • the housing 12 may be low or grounded.
  • the outer housing of the robot arm 10 is formed or supported on its inside by a matched to the geometric shape of the robot arm transformer coil 14, which thus causes the required mechanical strength of the robot arm 10.
  • the robot arm 10, including the secondary coil used in this example may be used Transformer coil 14 are at high voltage potential.
  • the high-voltage insulated, to the external supply line arrangement 2 ( Fig. 1 ) connected primary coil of the transformer may be located in inductive range appropriate in the housing 12 or in its vicinity at a low or ground potential point in the arm 10.
  • control and sensor signals to and from the high voltage area 1 ( Fig. 1 ) located actuators and sensors must be galvanically isolated to exclude influences by the high voltage.
  • the possibilities of optical transmission or a radio link are considered below, which may also be useful independently of the power supply with a transformer described above.
  • an electrical / optical converter arrangement 20 which converts, for example, digital sensor signals generated by the sensors into optical signals and incoming optical control signals into, for example, digital control signals.
  • the optical sensor and control signals are bidirectionally via an optical fiber array LWL between the transducer assembly 20 and one outside the high voltage range located external transducer assembly 21 transmitted.
  • the transducer assembly 21 can convert the optical signals back into electrical, eg digital signals.
  • the optical transmission is known to be potential-free.
  • the signal conversion at the respective end of the fiber optic cable forming the optical waveguide arrangement from optical into electrical signals or vice versa can be carried out with commercially available components. Both individual signals can be transmitted as well as complex bus signals, which allows the use of known fieldbus systems and their components.
  • the data in and out of the high voltage area 1 can also be transmitted over a radio link, as in Fig. 4 is shown.
  • a radio link 25 between a located in the high voltage range 1 transducer assembly 26, which converts the aforementioned sensor or control signals into radio signals, and an external transducer assembly 27, which converts the radio signals back into electrical signals.
  • Commercially available systems can be used which establish radio links, for example via Bluetooth or with the wireless networks known as WLAN. This is especially the transmission of large amounts of data possible.
  • WLAN wireless networks
  • the signal conversion at the respective end of the radio link 25 into electrical signals or radio signals can be carried out in a conventional manner with conventional transmitting or receiving components.
  • individual signals can be transmitted as well as complex bus signals, so that the use of known fieldbus systems and their components is possible.
  • the signal transmission By radio is bidirectional, ie on the considered transmission medium signals are transmitted in both directions.
  • Bluetooth is a well-known industry standard according to IEEE 802.15.1 for the wireless radio networking of devices over a relatively short distance up to about 100 m.
  • the networked devices can transmit in the ISM band (Industrial, Scientific and Medical Band) between 2.402 GHz and 2.480 GHz.
  • ISM band International, Scientific and Medical Band
  • a frequency hopping method is used, in which the frequency band is divided into a plurality (79) of frequency stages, for example, in the 1 MHz distance, which changes up to 1600 times a second become.
  • At the lower and upper end there is a respective frequency band as a guard band to adjacent frequency ranges.
  • EDR Enhanced Data Rate
  • WLAN Wireless Local Area Network
  • IEEE 802.11 can be operated in infrastructure mode or in ad hoc mode.
  • infrastructure mode the individual network nodes are coordinated by a base station, which can easily be used to connect to wired networks.
  • ad hoc mode is not a station especially excellent, but all are equal.
  • Ad hoc networks can be set up quickly and easily. For WLAN also methods for increasing the security of data transmission are known.
  • the known as frequency spreading known method are used in which a narrow-band signal is converted into a broadband signal.
  • the transmission energy which was previously concentrated in a small frequency range, is distributed over a wider frequency range.
  • a resulting advantage is greater robustness over narrowband interference.
  • frequency spreading in digital technology is used to reduce the spectral density of the clock signals and thus to achieve a better electromagnetic compatibility.
  • the method can be carried out in different ways. In the DSSS (Direct Sequence Spread Spectrum) method, the user data is XORed with a code and then modulated to the bandwidth.
  • DSSS Direct Sequence Spread Spectrum
  • This method is generally used in combination with the CDMA technique and can be used in particular for WLAN according to the standard IEEE 802.11 and the mobile radio standard UMTS.
  • Frequency hopping-based frequency spreading techniques divide the available bandwidth among many smaller bandwidth channels in terms of frequency division multiplexing. This method can i.a. be used with Bluetooth.
  • the optical waveguide arrangement LWL or the radio link 25 it is expedient to electronically monitor the described signal transmission via the optical waveguide arrangement LWL or the radio link 25 with a system to which a security software program belongs that monitors the transmission path and the transmitted information checked for plausibility.
  • the given data packet for example, frequency-modulated multiple times, eg 5-fold to transmit and check on the other side, if at least two identical data packets arrive, the radio or other transmission path is so fine.
  • safety-related components of the atomizer assembly and / or the transmission path can be switched off in order to protect objects and persons.
  • An error message informs the operator of the detected condition.
  • the following monitors can be constantly active: control of the optical transmission path or the radio connection; Plausibility of the transmission information (protocols); as well as shutdown function of the entire system in case of error and informing the operating personnel.
  • Another possibility of the floating transmission of control signals in the high voltage range of a nebulizer is to superimpose the input voltage of the above-described transformer assembly components containing the control information, which are filtered out again on the secondary side and used as control signals for located in the high voltage region components can.
  • the superimposed components may, for example, be an optionally digital frequency or amplitude modulation of the input voltage.
  • the rotational speed of the possibly electric drive motor of the atomizer can be controlled and / or regulated in the closed loop. Similar to the described transfer of control signals to the nebulizer assembly, sensor signals from the nebulizer assembly can also be transferred to a low or earth potential region in or outside the coating machine.
  • the transformer arrangement provided for the electrical supply of the atomizer arrangement outside the painting robot, e.g. even in a cupboard outside the paint booth. This could be useful, for example, to avoid explosion protection problems.
  • the then required high-voltage insulation between the transformer and the atomizer can be realized in a manner known to those skilled in the art within leading to the painting robot or atomizer line arrangement.

Landscapes

  • Electrostatic Spraying Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Treatments For Attaching Organic Compounds To Fibrous Goods (AREA)
  • Developing Agents For Electrophotography (AREA)
  • Spray Control Apparatus (AREA)

Claims (15)

  1. Dispositif pulvérisateur pour une machine d'enduction pour l'enduction électrostatique en série de pièces, comprenant
    a) un pulvérisateur (11) électrostatique,
    a1) qui présente un dispositif pour le rechargement du matériau d'enduction à un potentiel de haute tension et
    a2) qui contient des composants, y compris des actionneurs (6) et des capteurs (7),
    a3) au moins l'un des composants étant en service sur le potentiel de haute tension et
    b) un dispositif transformateur (T1-T3),
    b1) qui est raccordé à une ligne d'alimentation externe (2) et
    b2) qui se trouve au moins en partie
    - à l'intérieur du pulvérisateur (11) ou
    - à l'intérieur du dispositif pulvérisateur et/ou
    - dans un composant (10) de la machine d'enduction ou
    - à l'extérieur de la machine d'enduction,
    caractérisé en ce que
    c) le dispositif transformateur (T1-T3) a un système d'isolation à haute tension entre ses circuits primaires et secondaires ou
    d) en ce qu'un système d'isolation à haute tension est prévu dans un dispositif de ligne allant du dispositif transformateur au dispositif pulvérisateur,
    et
    e) en ce que le dispositif transformateur est raccordé à des capteurs (7) et/ou actionneurs (6), y compris des commandes de vanne, se trouvant dans le dispositif pulvérisateur et situés sur le potentiel de haute tension et les alimente avec la puissance électrique dont ils ont besoin.
  2. Dispositif pulvérisateur selon la revendication 1 avec un pulvérisateur à rotation, qui contient un moteur d'entraînement (M) électrique alimenté et/ou commandé par un dispositif transformateur (T1) pour l'élément d'épandage rotatif du pulvérisateur (11).
  3. Dispositif pulvérisateur selon la revendication 1 ou 2, caractérisé en ce que le pulvérisateur (11) ou l'élément de déplacement (10) de la machine d'enduction contient un générateur de haute tension (9) alimenté par le dispositif transformateur (T3) du dispositif pulvérisateur.
  4. Dispositif pulvérisateur selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif transformateur (T1-T3) se trouve au moins en partie dans un bras, formant l'élément de déplacement, d'un (10) robot d'enduction.
  5. Dispositif pulvérisateur selon la revendication 4, caractérisé en ce qu'une partie (14), se trouvant dans le bras du robot (10), du dispositif transformateur est située sur le potentiel de haute tension pendant le service.
  6. Dispositif pulvérisateur selon la revendication 4 ou 5, caractérisé en ce qu'une partie (14) du dispositif transformateur est intégrée au niveau de la construction dans le corps du bras de robot (10), de sorte qu'il contribue à sa résistance mécanique.
  7. Dispositif pulvérisateur selon l'une quelconque des revendications 1 à 6, caractérisé en ce que des signaux émis par des capteurs (7), des actionneurs (6), des commandes et/ou d'autres composants électriques du dispositif pulvérisateur et/ou reçus de ceux-ci sont transmis séparés galvaniquement dans la zone (1) située sur le potentiel de haute tension ou à partir de cette zone du dispositif pulvérisateur.
  8. Dispositif pulvérisateur selon la revendication 7, caractérisé en ce que les signaux de tous les actionneurs (6) et capteurs (7) se trouvant dans le pulvérisateur (11) sont transmis séparés galvaniquement dans la zone (1) située sur le potentiel de haute tension ou à partir de cette zone.
  9. Dispositif pulvérisateur selon la revendication 7 ou 8, caractérisé en ce que des guides d'ondes optiques (LWL) sont prévus pour la transmission sans potentiel des signaux.
  10. Dispositif pulvérisateur selon l'une quelconque des revendications 7 à 9, caractérisé en ce qu'une liaison radio (25) est prévue pour la transmission des signaux.
  11. Dispositif pulvérisateur selon la revendication 10, caractérisé en ce qu'un système Bluetooth ou un système WLAN est utilisé comme liaison radio (25).
  12. Dispositif pulvérisateur selon l'une quelconque des revendications 7 à 11, caractérisé en ce qu'une transmission de signal bidirectionnelle s'effectue sur le même tronçon de transmission (LWL, 25).
  13. Dispositif pulvérisateur selon l'une quelconque des revendications 7 à 12, caractérisé en ce que les signaux transmis au dispositif pulvérisateur et/ou à partir de celui-ci sont superposés aux tensions d'un dispositif transformateur.
  14. Dispositif pulvérisateur selon l'une quelconque des revendications 7 à 13, caractérisé en ce qu'un système est prévu pour le contrôle de l'exactitude des signaux reçus.
  15. Dispositif pulvérisateur selon l'une quelconque des revendications 7 à 14, caractérisé en ce qu'un dispositif de contrôle électronique avec un logiciel de contrôle est prévu pour le contrôle du tronçon de transmission (LWL, 25) et pour le contrôle des informations transmises, qui génère un message d'erreur dans le cas d'erreurs constatées par le logiciel de contrôle.
EP07818465A 2006-09-27 2007-09-26 Dispositif de pulvérisation électrostatique Active EP2066451B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL07818465T PL2066451T3 (pl) 2006-09-27 2007-09-26 Układ rozpylacza elektrostatycznego

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE200610045631 DE102006045631A1 (de) 2006-09-27 2006-09-27 Elektrostatische Zerstäuberanordnung
DE102007004819A DE102007004819A1 (de) 2007-01-31 2007-01-31 Elektrostatische Zerstäuberanordnung
PCT/EP2007/008382 WO2008037456A1 (fr) 2006-09-27 2007-09-26 Dispositif de pulvérisation électrostatique

Publications (2)

Publication Number Publication Date
EP2066451A1 EP2066451A1 (fr) 2009-06-10
EP2066451B1 true EP2066451B1 (fr) 2011-05-11

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EP07818465A Active EP2066451B1 (fr) 2006-09-27 2007-09-26 Dispositif de pulvérisation électrostatique

Country Status (11)

Country Link
US (1) US8485125B2 (fr)
EP (1) EP2066451B1 (fr)
JP (1) JP5312331B2 (fr)
KR (1) KR101452349B1 (fr)
AT (1) ATE508804T1 (fr)
BR (1) BRPI0717421B1 (fr)
CA (1) CA2663245C (fr)
MX (1) MX2009002988A (fr)
PL (1) PL2066451T3 (fr)
RU (1) RU2441709C2 (fr)
WO (1) WO2008037456A1 (fr)

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US11450469B2 (en) 2019-08-28 2022-09-20 Analog Devices Global Unlimited Company Insulation jacket for top coil of an isolated transformer
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BRPI0717421B1 (pt) 2020-01-28
WO2008037456A1 (fr) 2008-04-03
RU2009115657A (ru) 2010-11-10
CA2663245A1 (fr) 2008-04-03
KR20090057020A (ko) 2009-06-03
US8485125B2 (en) 2013-07-16
JP2010504850A (ja) 2010-02-18
JP5312331B2 (ja) 2013-10-09
EP2066451A1 (fr) 2009-06-10
RU2441709C2 (ru) 2012-02-10
CA2663245C (fr) 2015-12-08
ATE508804T1 (de) 2011-05-15
BRPI0717421A2 (pt) 2013-11-26
KR101452349B1 (ko) 2014-10-21
MX2009002988A (es) 2009-04-01
PL2066451T3 (pl) 2011-10-31
US20100147215A1 (en) 2010-06-17

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