EP2218526B1 - Procédé et dispositif de fabrication de pièces usinées tubulaires à partir d'un bloc creux pré-percé - Google Patents
Procédé et dispositif de fabrication de pièces usinées tubulaires à partir d'un bloc creux pré-percé Download PDFInfo
- Publication number
- EP2218526B1 EP2218526B1 EP09015793A EP09015793A EP2218526B1 EP 2218526 B1 EP2218526 B1 EP 2218526B1 EP 09015793 A EP09015793 A EP 09015793A EP 09015793 A EP09015793 A EP 09015793A EP 2218526 B1 EP2218526 B1 EP 2218526B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- mandrel
- manipulator
- billet
- centring element
- borehole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Not-in-force
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000005242 forging Methods 0.000 claims abstract description 33
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 230000001050 lubricating effect Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 description 5
- 230000037431 insertion Effects 0.000 description 5
- 239000003795 chemical substances by application Substances 0.000 description 2
- 239000000314 lubricant Substances 0.000 description 2
- 240000006829 Ficus sundaica Species 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D9/00—Bending tubes using mandrels or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D51/00—Making hollow objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J1/00—Preparing metal stock or similar ancillary operations prior, during or post forging, e.g. heating or cooling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
Definitions
- the invention relates to a method for producing tubular, long workpieces from a pre-punched hollow block, wherein the hollow block is taken by a block manipulator and spent in the work area of a forging machine, wherein prior to forging the hollow block in the forging machine arranged on a mandrel mandrel a central bore in the block manipulator axially therethrough and further inserted into an inner bore of the hollow block. Furthermore, the invention relates to an apparatus for producing tubular, long workpieces from a pre-punched hollow block.
- a tubular workpiece can be made by forging from a hollow block by placing the pre-punched hollow block in a forging machine by means of a block manipulator, wherein the hollow block in the forging machine is forged over a mandrel located at the axial end of a mandrel bar.
- the forging machine has a plurality of radially acting on the hollow block tools or forging jaws.
- the on the loading side ie before the forging machine, for example, by swiveling supplied or loaded hollow block is gripped and held by the block manipulator, e.g. B. by means of pliers, as is known from the DE 40 16 534 A1 is known.
- the block manipulator e.g. B. by means of pliers, as is known from the DE 40 16 534 A1 is known.
- the mandrel rod with the mandrel arranged at the end is driven axially by an actuator and driven through a hollow shaft (central bore) of the block manipulator.
- the invention is therefore an object of the invention to provide a method and apparatus that allow in a simple manner a centric insertion of the mandrel in the hollow block and thereby exclude deflections of the mandrel as far as possible.
- the mandrel has at least one centering, wherein the outer diameter of the centering slightly smaller than the inner diameter of the central bore of the block manipulator and wherein the outer diameter of the mandrel bar is smaller than the outer diameter of the centering, and that Mandrel so through the central bore of the Block manipulator is passed through that contact between the outer circumference of the centering and the central bore of the block manipulator is present and that there is no contact between the mandrel and the central bore of the block manipulator.
- the centering is preferably held during the entire forging in the forging machine axially outside of the hollow block and within the central bore.
- the inner bore of the hollow block and / or the mandrel are preferably provided prior to insertion of the mandrel into the inner bore of the hollow block with a lubricant or release agent.
- the inner bore of the hollow block and the mandrel are so designed in terms of their diameter that there is no contact between the mandrel and the inner bore of the hollow block during axial insertion of the mandrel into the inner bore of the hollow block and before the forging process.
- the apparatus for producing tubular, long workpieces from a pilot-perforated hollow block comprises: a block manipulator having a central bore adapted to grip and axially displace the hollow block, a forging machine and a mandrel having a mandrel disposed thereon for axial passage through the central bore in the Block manipulator and for axial insertion into an inner bore of the hollow block.
- the device is inventively characterized in that the mandrel bar has at least one centering, wherein the outer diameter of the centering is slightly smaller than the inner diameter of the central bore of the block manipulator and wherein the outer diameter of the mandrel bar is smaller than the outer diameter of the centering.
- the centering piece is formed according to a preferred embodiment, at least two parts, wherein the at least two parts are arranged concentrically with each other.
- an inner part in the radial section has a convex outer circumference, which rests against an outer part, which has a corresponding concave inner circumference in the radial section.
- the centering piece may be provided on its outer circumference with at least one chamfer.
- the centering piece can be fixed on both sides of the mandrel axially by clamping elements.
- the diameter of the inner bore of the hollow block is preferably larger than the outer diameter of the mandrel prior to its forging.
- the mandrel bar with the mandrel is advantageously centered in the hollow shaft of the block manipulator and thus directly at the scene of action with the proposed solution and guided therein during the axial positioning movements of the manipulator and / or the mandrel rod actuator centrically supported over the entire length of the hollow shaft ,
- the mandrel bar is provided with a centering or centering ring, the outer diameter of which corresponds approximately to the inner diameter of the hollow shaft of the block manipulator.
- the proposed method and apparatus are advantageously used.
- the deflection of the relatively long mandrel can be efficiently prevented by the use of the centering or at least considerably minimized.
- the mandrel can be inserted centrally into the hollow block.
- FIGS. 1 to 6 is an apparatus for producing tubular workpieces to see, with different stages of the process are shown in chronological order.
- the device comprises a block manipulator 2 which has two or four tongs 13, 14 for gripping and clamping a hollow block 1 (see FIG. FIGS. 5 and 6 ) having.
- the block manipulator 2 faces with its loading side of a forging machine 3, in which the hollow block 1 can be forged by radially from outside acting on him forging tools 18.
- the forging with the forging tools 18 takes place only when in an inner bore 7 (s. Fig. 7 ) of the hollow block 1, a mandrel 5 is placed.
- the mandrel 5 is arranged at the axial end of a mandrel bar 4.
- the mandrel rod 4 together with the mandrel 5 is guided through a central bore 6 (hollow shaft) in the block manipulator 2 and inserted into the inner bore 7 when the hollow block 1 is held by the tongs 13, 14.
- a mandrel manipulator 16 is arranged laterally next to the mandrel rod 4, on which a carriage 17 is arranged for a rotary drive of the mandrel rod 4. According to Fig. 1 the mandrel 5 together with mandrel bar 4 is placed on the supports 15.
- Fig. 3 then moves the block manipulator 2 back, ie to the mandrel manipulator 16 and threading the mandrel 5 together with mandrel 4 in the central bore 6 of the block manipulator 2 (the central bore 6 is incorporated in a hollow shaft, which is part of the block manipulator 2).
- the mandrel manipulator 16 itself may have a drive and make the threading.
- Fig. 5 closes the pivoting of the hollow block 1 at.
- the hollow block 1 is gripped and clamped by the tongs 13, 14, ie the block manipulator 2 clamps the hollow block 1 in preparation for forging.
- the forging itself is done according to Fig. 6 , ie the block and mandrel manipulators 2 and 16 move to the forging position.
- the mandrel 5 is arranged axially in the hollow block 1 so that the forging process with the forging tools 18 can take place above it.
- FIGS. 1 to 6 So show the sequence sequence of producing a tubular workpiece from the hollow block 1 in time sequence of placing the mandrel 4, preferably on block supports and an additional support with which the machine bed 19 is formed, until threading the mandrel 4 with a subsequently explained centering 8 in the central bore (hollow shaft) of the block manipulator 2 and ultimately the center-based guiding the mandrel bar via its centering in axial movements of the manipulator and / or the mandrel rod actuator, designed as a mandrel manipulator slide.
- the mandrel bar 4 has at least one centering piece 8 (in the embodiment, it is exactly one centering piece 8). Details are in Fig. 7 represented in which the most important parts of the device can be seen.
- the outer diameter D Z of the centering piece 8 is slightly smaller than the inner diameter D I of the central bore 6 of the block manipulator 2.
- the outer diameter D A of the mandrel 4, however, is smaller than the outer diameter D Z of the centering. 8
- the centering piece 8 consists essentially of two parts, namely a radially inner part 8 'and a concentrically arranged radially outer part 8 "(it should be noted that for assembly-technical reasons, the outer part 8" must be again divided to above the inner part 8 'can be mounted).
- the inner part 8 ' has a convex outer periphery 9, as in the radial section according to Fig. 7 shows.
- the dome-like design has the advantage that there is always a centric load in the central bore 6 (hollow shaft) of the block manipulator 2.
- the inner part 8 ' is clamped in both axial directions by means of clamping elements 11 and 12 Mandrel bar 4.
- the shifting and in particular threading the Mandrel 4 and thus the centering 8 in or in the central bore 6 is facilitated by a chamfer 10, which is incorporated into the outer part 8 ".
- the inner wall of the inner bore 7 touches.
- the wall of the inner bore 7 is usually coated or provided with a lubricant or release agent. Accordingly, when inserting the mandrel 5 into the inner bore 7, an air gap remains between the mandrel and the inner bore, as shown in FIG Fig. 7 is indicated.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Forging (AREA)
Claims (8)
- Procédé de fabrication de pièces à usiner tubulaires longues dans un bloc creux (1) pré-perforé, lors duquel le bloc creux (1) est saisi par un manipulateur de blocs (2) et amené dans la zone de travail d'une machine à forger (3), avant le forgeage du bloc creux (1) dans la machine à forger (3), un poinçon (5) placé sur une tige à poinçon (4) étant poussé en direction axiale à travers un perçage central (6) dans le manipulateur de blocs (2) et ensuite dans un perçage central (7) du bloc creux (1),
caractérisé en ce que
la tige de poinçon (4) comporte au moins une pièce de centrage (8), le diamètre extérieur (DZ) de la pièce de centrage (8) étant légèrement inférieur au diamètre intérieur (DI) du perçage central (6) du manipulateur de blocs (2) et le diamètre extérieur (DA) de la tige de poinçon (4) étant inférieur au diamètre extérieur (Dz) de la pièce de centrage (8), et en ce que la tige de poinçon (4) est guidée à travers le perçage central (6) du manipulateur de blocs (2) de sorte à créer un contact entre la périphérie extérieure de la pièce de centrage (8) et le perçage central (6) du manipulateur de blocs (2) et en ce qu'aucun contact n'a lieu entre la tige de poinçon (4) et le perçage central (6) du manipulateur de blocs (2). - Procédé selon la revendication 1, caractérisé en ce que pendant tout le processus de forgeage, la pièce de centrage (8) est maintenue dans la machine à forger (3) en direction axiale à l'extérieur du bloc creux (1) et à l'intérieur du perçage central (6).
- Procédé selon la revendication 1 ou 2, caractérisé en ce qu'avant l'introduction du poinçon (5) dans le perçage intérieur (7) du bloc creux (1), on munit le perçage intérieur (7) du bloc creux (1) et/ou le poinçon (5) d'un agent lubrifiant ou d'un agent de séparation.
- Dispositif pour la fabrication de pièces d'oeuvre tubulaires longues à partir d'un bloc creux (1) pré-perforé, comprenant :un manipulateur de blocs (2) avec un perçage central (6), qui est conçu pour saisir et pour déplacer le bloc creux (1) en direction axiale etune machine à forger (3) etune tige de poinçon (4) sur laquelle est placé un poinçon (5) à pousser en direction axiale à travers le perçage central (6) dans le manipulateur de blocs (2) et à introduire en direction axiale dans un perçage central (7) du bloc creux (1), notamment pour la réalisation du procédé selon l'une quelconque des revendications 1 à 3,caractérisé en ce que
la tige de poinçon (4) comporte au moins une pièce de centrage (8), le diamètre extérieur (DZ) de la pièce de centrage (8) étant légèrement inférieur au diamètre intérieur (DI) du perçage central (6) du manipulateur de blocs (2) et le diamètre extérieur (DA) de la tige de poinçon (4) étant inférieur au diamètre extérieur (Dz) de la pièce de centrage (8). - Dispositif selon la revendication 4, caractérisé en ce que la pièce de centrage (8) est conçue au moins en deux éléments, les au moins deux éléments étant placés de façon concentrique l'un par rapport à l'autre.
- Dispositif selon la revendication 5, caractérisé en ce qu'une partie intérieure (8') de la pièce de centrage (8) présente une périphérie extérieure (9) conçue sous forme convexe, en coupe radiale, qui est adjacente à une partie extérieure (8") qui en coupe transversale présente une périphérie intérieure conçue en conséquence sous forme concave.
- Dispositif selon l'une quelconque des revendications 4 à 6, caractérisé en ce que la pièce de centrage (8) est munie sur sa périphérie extérieure d'au moins un chanfrein (10).
- Dispositif selon l'une quelconque des revendications 4 à 7, caractérisé en ce que la pièce de centrage (8) est immobilisée de part et d'autre en direction axiale sur la tige de poinçon (4) par des éléments de serrage (11, 12).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009008396 | 2009-02-11 | ||
DE102009052482A DE102009052482A1 (de) | 2009-02-11 | 2009-11-09 | Verfahren und Vorrichtung zur Herstellung von rohrförmigen Werkstücken aus einen vorgelochten Hohlblock |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2218526A1 EP2218526A1 (fr) | 2010-08-18 |
EP2218526B1 true EP2218526B1 (fr) | 2012-02-08 |
Family
ID=42173483
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09015793A Not-in-force EP2218526B1 (fr) | 2009-02-11 | 2009-12-21 | Procédé et dispositif de fabrication de pièces usinées tubulaires à partir d'un bloc creux pré-percé |
Country Status (9)
Country | Link |
---|---|
US (1) | US8459085B2 (fr) |
EP (1) | EP2218526B1 (fr) |
JP (1) | JP5270587B2 (fr) |
KR (1) | KR101195384B1 (fr) |
CN (1) | CN101797624B (fr) |
AT (1) | ATE544544T1 (fr) |
DE (1) | DE102009052482A1 (fr) |
RU (1) | RU2429933C1 (fr) |
TW (1) | TWI409113B (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2853319A1 (fr) | 2013-09-25 | 2015-04-01 | GFM GmbH | Dispositif destiné au forgeage d'un bloc creux pré-percé |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011109071A1 (de) * | 2011-07-30 | 2013-01-31 | Sms Meer Gmbh | Rohrschmiedeverfahren mit urgeformten Hohlblock |
AT511745B1 (de) * | 2011-08-12 | 2014-09-15 | Gfm Gmbh | Vorrichtung zum schmieden eines hohlkörpers |
CN104014706B (zh) * | 2014-06-05 | 2015-11-18 | 燕山大学 | 一种大吨位无轨锻造操作机提升机构 |
US9638357B1 (en) * | 2015-06-24 | 2017-05-02 | Omax Corporation | Mechanical processing of high aspect ratio metallic tubing and related technology |
DE102016204209B4 (de) * | 2016-03-15 | 2017-10-05 | Schuler Pressen Gmbh | Einsetzvorrichtung und Verfahren zum Einsetzen eines Rondenrings in einen Außenring einer Ronde |
CN115698559A (zh) | 2020-03-24 | 2023-02-03 | 海别得公司 | 用于液体喷射切割系统的高压密封件 |
US11719354B2 (en) | 2020-03-26 | 2023-08-08 | Hypertherm, Inc. | Freely clocking check valve |
WO2021202390A1 (fr) | 2020-03-30 | 2021-10-07 | Hypertherm, Inc. | Cylindre pour pompe à jet de liquide à extrémités longitudinales d'interface multifonctionnelles |
CN114833296B (zh) * | 2022-05-25 | 2023-07-25 | 江苏明越精密高温合金有限公司 | 一种管坯的制坯设备 |
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US3281170A (en) * | 1963-10-29 | 1966-10-25 | Kaplan Joseph | Shaft clamp |
AT289514B (de) * | 1969-07-02 | 1971-04-26 | Ges Fertigungstechnik & Maschb | Zusatzvorrichtung zum Bearbeiten rohrförmiger Werkstücke in Schmiedemaschinen |
AT305734B (de) * | 1971-05-06 | 1973-03-12 | Gfm Gesselschaft Fuer Fertigun | Schmiedemaschine zum Innenprofilieren rohrförmiger Werkstücke |
DE2328372C2 (de) * | 1973-06-04 | 1975-05-28 | Cross Europa-Werk Gmbh, 7317 Wendlingen | Fräsverfahren und Vorrichtung zur Herstellung genau maßhaltiger schmaler, insbesondere parallelflankiger Nuten |
AT322329B (de) * | 1973-12-04 | 1975-05-12 | Gfm Fertigungstechnik | Schmiedemaschinen zum herstellen insbesondere von schrotläufen |
US3921665A (en) * | 1974-12-17 | 1975-11-25 | Us Army | Limit valve with overtravel detector |
DE2757392A1 (de) * | 1977-12-22 | 1979-07-05 | Teves Gmbh Alfred | Teilbelagscheibenbremse |
US4592616A (en) * | 1984-03-15 | 1986-06-03 | Armex Cable Corporation | Connector for coaxial television cable |
JPS63160738A (ja) * | 1986-12-24 | 1988-07-04 | Mitsubishi Nagasaki Kiko Kk | 自由鍛造プレスによる薄肉パイプの鍛造方法及び鍛造装置 |
GB2210426B (en) * | 1987-09-30 | 1991-08-21 | Shell Int Research | Method and apparatus for installing a flowline near the waterbottom |
DE3942942C1 (fr) * | 1989-12-23 | 1991-06-20 | Eumuco Aktiengesellschaft Fuer Maschinenbau, 5090 Leverkusen, De | |
DE9005834U1 (de) | 1990-05-23 | 1991-09-19 | Eumuco Aktiengesellschaft für Maschinenbau, 5090 Leverkusen | Manipulator fuer schmiedemaschinen, insbesondere mehr-stoessel-schmiedemaschinen |
US5163706A (en) * | 1991-04-24 | 1992-11-17 | General Motors Corporation | Electro-hydraulic pressure regulating valve assembly for a hydraulic damper |
DE19523280C2 (de) * | 1995-06-27 | 2002-12-05 | Gfm Gmbh Steyr | Schmiedemaschine zum Innenprofilieren von rohrförmigen Werkstücken |
CN1042305C (zh) * | 1995-07-11 | 1999-03-03 | 华中理工大学 | 空心抽油杆成形工艺及其模具 |
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CA2346705A1 (fr) | 1998-10-09 | 2000-04-20 | Donald P. Sahlem | Dispositif et procede de fabrication d'un tuyau avec surepaisseur des parois aux extremites |
FI108997B (fi) * | 1999-11-12 | 2002-05-15 | T Drill Oy | Automaattinen kaulustusporalaite |
DE20007682U1 (de) | 2000-04-28 | 2000-08-10 | Gfm Gmbh, Steyr | Spannkopf für eine Schmiedemaschine zum Innenprofilieren rohrförmiger Werkstücke |
US6428017B1 (en) * | 2000-05-31 | 2002-08-06 | Arrow Paper Products Company | Deformable plug for use with reduced diameter end shafts |
US6705147B2 (en) * | 2001-06-21 | 2004-03-16 | Black & Decker Inc. | Method and apparatus for fastening steel framing by crimping |
WO2005023454A1 (fr) * | 2003-09-05 | 2005-03-17 | Ernst Grob Ag | Procede et dispositif pour realiser des tubes au moins partiellement profiles |
US7116497B2 (en) | 2004-04-28 | 2006-10-03 | Canon Kabushiki Kaisha | Retrofocus type optical system |
US20080310930A1 (en) * | 2004-06-03 | 2008-12-18 | Marc Schaeffer | Method, Anchor and Drill for Anchoring the Anchor in an Anchoring Substrate |
GB2417297B (en) * | 2004-08-20 | 2006-06-28 | Minebea Co Ltd | A spherical bearing arrangement |
ITMI20062349A1 (it) * | 2006-12-06 | 2008-06-07 | Sacma Limbiate S P A | Dispositivo di supporto di un pezzo per una pressa di stampaggio orizzontale a piu'matrici |
-
2009
- 2009-11-09 DE DE102009052482A patent/DE102009052482A1/de not_active Withdrawn
- 2009-12-16 TW TW098143039A patent/TWI409113B/zh not_active IP Right Cessation
- 2009-12-21 AT AT09015793T patent/ATE544544T1/de active
- 2009-12-21 EP EP09015793A patent/EP2218526B1/fr not_active Not-in-force
- 2009-12-23 KR KR1020090129808A patent/KR101195384B1/ko not_active IP Right Cessation
-
2010
- 2010-01-06 JP JP2010000863A patent/JP5270587B2/ja not_active Expired - Fee Related
- 2010-02-01 US US12/697,358 patent/US8459085B2/en not_active Expired - Fee Related
- 2010-02-10 RU RU2010104682/02A patent/RU2429933C1/ru not_active IP Right Cessation
- 2010-02-11 CN CN2010101210795A patent/CN101797624B/zh not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2853319A1 (fr) | 2013-09-25 | 2015-04-01 | GFM GmbH | Dispositif destiné au forgeage d'un bloc creux pré-percé |
Also Published As
Publication number | Publication date |
---|---|
US20100199740A1 (en) | 2010-08-12 |
TW201029768A (en) | 2010-08-16 |
CN101797624A (zh) | 2010-08-11 |
CN101797624B (zh) | 2012-10-10 |
DE102009052482A1 (de) | 2010-08-19 |
US8459085B2 (en) | 2013-06-11 |
TWI409113B (zh) | 2013-09-21 |
RU2010104682A (ru) | 2011-08-20 |
ATE544544T1 (de) | 2012-02-15 |
JP2010184296A (ja) | 2010-08-26 |
RU2429933C1 (ru) | 2011-09-27 |
EP2218526A1 (fr) | 2010-08-18 |
KR101195384B1 (ko) | 2012-10-29 |
KR20100091882A (ko) | 2010-08-19 |
JP5270587B2 (ja) | 2013-08-21 |
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