EP2229537A1 - Hydraulische antriebsvorrichtung mit zwei druckräumen und verfahren zum betreiben einer hydraulischen antriebsvorrichtung mit zwei druckräumen - Google Patents
Hydraulische antriebsvorrichtung mit zwei druckräumen und verfahren zum betreiben einer hydraulischen antriebsvorrichtung mit zwei druckräumenInfo
- Publication number
- EP2229537A1 EP2229537A1 EP10701488A EP10701488A EP2229537A1 EP 2229537 A1 EP2229537 A1 EP 2229537A1 EP 10701488 A EP10701488 A EP 10701488A EP 10701488 A EP10701488 A EP 10701488A EP 2229537 A1 EP2229537 A1 EP 2229537A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- piston
- working
- pressure
- pressure chamber
- drive device
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000012530 fluid Substances 0.000 claims abstract description 46
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000004080 punching Methods 0.000 description 6
- 238000005452 bending Methods 0.000 description 3
- 238000004049 embossing Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 2
- 229910019250 POS3 Inorganic materials 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/204—Control means for piston speed or actuating force without external control, e.g. control valve inside the piston
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0401—Valve members; Fluid interconnections therefor
- F15B13/0402—Valve members; Fluid interconnections therefor for linearly sliding valves, e.g. spool valves
- F15B13/0403—Valve members; Fluid interconnections therefor for linearly sliding valves, e.g. spool valves a secondary valve member sliding within the main spool, e.g. for regeneration flow
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
- F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
- F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
- F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
Definitions
- the invention relates to a hydraulic working device having a piston displaceably guided in a cylinder space along a working axis, which limits a working pressure chamber which can be pressurized with hydraulic fluid, furthermore with at least one partially guided in the piston between different control states control means for controlling the flow of hydraulic fluid from a high pressure supply in the working pressure chamber for moving the piston in the working direction and the working pressure chamber to a return space.
- the invention also relates to a method for operating a hydraulic drive device, with a displaceably guided in a cylinder chamber piston which limits a working pressure chamber, wherein the working pressure chamber for moving the piston is pressurized in the working direction with hydraulic fluid.
- Hydraulic drive devices and methods of the type mentioned are known in various designs.
- a common feature in the prior art is that retraction and extension movements of the piston are effected by means of hydraulic fluid from a high-pressure supply.
- Such devices are used in particular in stamping, embossing, nibbling, bending or forming machines. In this typically highly dynamic working operation, inherently high volume flows of the hydraulic fluid from the high-pressure supply occur, and sufficient energy must be provided. From DE 37 20 266 C2 and EP 0 296 104 B1 further hydraulic drive have become known.
- the invention has for its object to enable an energy-saving hydraulic working operation, especially for use in stamping, embossing, nibbling, bending or forming machines.
- This object is solved by a hydraulic drive device according to claim 1. It is therefore provided according to the invention that the working pressure chamber remote from the region of the piston defines a low pressure chamber which is pressurized during operation of the device by a low pressure supply for hydraulic fluid such that the piston is moved back against the working direction when the control means connects the working pressure chamber with the return chamber ,
- the piston advantageously not only limits the working pressure chamber and the return chamber, but also a high-pressure chamber and a low-pressure chamber.
- a pressurization of the working pressure chamber with hydraulic fluid causes a force on the piston in the working direction, while pressurization of the low-pressure chamber causes a force on the piston against the working direction.
- the return chamber is connected in particular via a tank connection with a tank and serves to discharge the hydraulic fluid from the working pressure chamber.
- the high-pressure chamber is connected in particular via a high-pressure connection to the high-pressure supply and serves to supply the working pressure chamber with hydraulic fluid.
- the low-pressure space is connected in particular via a low-pressure connection to the low-pressure supply.
- the high pressure chamber and the low pressure chamber are in particular so designed that when pressurized no resulting forces on the piston in or against the working direction
- a further development of the invention provides that the low-pressure chamber is separated from the high-pressure supply independently of the control state of the control means.
- the high-pressure supply is thus removed only during the working step (i.e., during the pre-driving) hydraulic fluid in which the piston is moved in the working direction by filling the working pressure chamber with hydraulic fluid. When the piston is moved back, no hydraulic fluid flows from the high pressure supply.
- adjusting means are provided, by means of which the pressure of the high-pressure supply is adjustable depending on the travel of the piston and / or the workload of the piston.
- the adjusting means are designed such that the
- Pressure of the high-pressure supply for moving the piston from its retracted end position in the working direction until or until shortly before receiving a workload a value p1 and then, in particular during the workload, a value p2.
- p1 is smaller than p2.
- the adjusting means are advantageously designed such that upon further movement of the piston in the working direction after overcoming the workload, the pressure of the high pressure supply has a value p3, p3 is less than p2 and / or p3 is equal to p1.
- High pressure source occurs only in the range of workload, for example, during the forming of a workpiece by the piston movement.
- the ancestor of the piston to the onset of the workload is done with less energy.
- a displacement measuring system for determining the travel path (i.e., the position) of the piston and / or a load measuring system for determining the working load of the piston is provided.
- these measuring systems enable optimized high-pressure connection for further energy savings.
- Control means in the region in which it is guided in the piston, limited along the working direction of a pressure chamber, which is pressure-connected to the low-pressure space.
- control means is designed as a guided along the working axis spool, which is guided at least partially inside the piston, and which has control edges, which are designed to cooperate with further control edges on the piston to control the flow of hydraulic fluid into or out of the working pressure space.
- control edges which are designed to cooperate with further control edges on the piston to control the flow of hydraulic fluid into or out of the working pressure space.
- the spool may be formed integrally or in several parts, with individual parts of the spool can be connected to each other in particular via joints. As a result, in particular alignment errors can be compensated.
- the spool can also on the one hand in the adjacent to the low-pressure chamber region of the piston in a cylindrical guide opening and on the other hand in the cylinder housing in a further cylindrical guide opening are guided, wherein the guide openings have the same diameter.
- a coupling rod for actuating the spool is provided such that the spool can be pushed by means of the coupling rod in the direction of the piston. If the spool as described above defines a pressure chamber in the piston, which is pressure-connected to the low-pressure chamber, thus acting on the spool uninterrupted a force counter to the working direction. The coupling rod therefore has to push this to actuate the spool this only in the working direction, but not pull the spool. It is therefore not necessary that control rod and spool are firmly connected. In particular, the coupling rod can rest only loosely on the spool.
- the coupling rod is connected to an electromechanical transducer.
- the electromechanical transducer is designed as a linear direct motor and its longitudinal axis movable along the working rotor is firmly connected to the coupling rod.
- a method with the features of claim 12 is also provided.
- the working pressure chamber for moving the piston in the working direction with hydraulic fluid with a high pressure PH is applied.
- a low-pressure space which is delimited by a region of the piston facing away from the working pressure chamber, is acted upon by a low-pressure PN to move the piston back against the working direction.
- PN ⁇ PH.
- the method can be further configured that the pressure of the working pressure chamber pressurizing hydraulic fluid is adjusted depending on the travel of the piston and / or the workload of the piston.
- the low-pressure chamber is continuously applied with low pressure.
- the high pressure of the working pressure chamber pressurizing hydraulic fluid for moving the piston from its retracted end position in the working direction until or shortly before receiving a workload a value p1 and then, in particular during the workload, a value p2 where p1 is less than p2.
- the high pressure has a value p3, where p3 is less than p2 and / or p3 is equal to p1.
- FIG. 1 shows a longitudinal section through a hydraulic drive device according to the invention in the rest position
- FIG. 2 shows a part of the drive device according to FIG. 1 in the state for extending the piston as a longitudinal section
- FIG. 3 shows a part of the drive device according to FIG. 1 in the state for returning the piston as a longitudinal section
- Figure 4 shows the time course of the travel of the piston and the set pressure of the high pressure supply.
- the hydraulic working device illustrated in FIGS. 1-3 has a cylinder 3 and a piston 5.
- the piston 5 is displaceable and sealing in a cylinder chamber 8 along a working axis 10 guided.
- the piston 5 is integrally connected to a piston rod 6, which projects beyond the cylinder 3 in a working direction 11.
- the piston rod 6 may be connected to a punching tool (not shown) for forming a workpiece (not shown).
- the piston 5 defines a working pressure chamber 13, a return chamber 15, a high pressure chamber 17 and a low pressure chamber 19, which are filled with hydraulic fluid for operating the device in the manner described below.
- Pressurization of the working pressure chamber 13 with hydraulic fluid causes a force on the piston 5 in the working direction 11, while pressurization of the low-pressure chamber 19 causes a force on the piston 5 against the working direction 11.
- the return chamber 15 is connected via a tank connection 16 with a tank 22 and serves to discharge the hydraulic fluid.
- the high pressure chamber 17 is connected via a high pressure port 18 to a high pressure supply 24 for hydraulic fluid and serves to supply the working pressure chamber 13 with hydraulic fluid.
- the low-pressure space 19 is connected via a low-pressure connection 20 to a low-pressure supply 26 for hydraulic fluid.
- the piston 5 has a coaxial cylindrical bore 28 in which a control means 29 in the form of a spool 30 along the working axis 10 is guided longitudinally displaceable and sealing.
- the axial end portions 32 and 34 of the spool 30 are formed like a piston.
- the piston-side end portion 32 is sealingly guided in a cylindrical guide bore 36 in the piston 5 and limited in the piston 5 a pressure chamber 38 which is pressure-connected to the low-pressure chamber 19.
- the piston 5 facing away from the end portion 34 of the spool 30 is sealingly guided in a cylindrical guide bore 40 in the cylinder 3.
- the diameters of the guide bores 36 and 40 are the same size.
- the spool 30 has through windows 48 with control edges 42 and 43. These are designed to cooperate with control edges 45 and 46 on the piston to a hydraulic follow-up control for piston. 5 and spool 30 to provide.
- the return chamber 15 and the high-pressure chamber 17 have flow openings 41 and 44, which connect the return chamber 15 and the high-pressure chamber with the axial bore 28 for the spool 30.
- the piston-side control edges 45 are in communication with the flow opening 41 and thus with the return chamber 15, the piston-side control edges 46 with the flow opening 44 and thus with the high pressure chamber 17.
- the control edges 42 and 43 on the spool 30 have the same or a slightly smaller distance from each other By shifting the spool 30 along the working axis 10, consequently, the working pressure space 13 can be pressure-connected either to the return space 15 or to the high-pressure space 17.
- the low-pressure chamber 19, regardless of the position of the spool 30 has no pressure connection to the high-pressure chamber 17 or to the return chamber 15.
- a coupling rod 50 is provided, by means of which the spool 30 can be pushed in the direction of work 11.
- the coupling rod 50 is only loosely on the piston-like end portion 34 of the spool 30 at.
- the coupling rod 50 is firmly connected to the rotor 52 of an electromechanical converter 54, which is designed in particular as a linear direct motor.
- adjustment means 60 are provided. These set the pressure of the high pressure supply 24 dependent on the travel, i. the position of the piston 5 along the working direction 11 a. The position of the piston 5 along the working axis 10 is determined via a displacement measuring system 62. Furthermore, it can be provided that the adjusting means 60 adjust the pressure of the high pressure supply 24 as a function of the working load of the piston 5, which are determined by means of a load measuring system (not shown).
- the hydraulic drive device 1 operates in the manner described below.
- the spool 30 is held by the coupling rod 50 in the rest position.
- the force acting on the spool 30 by the low pressure in the pressure chamber 38 is counteracted counter to the working direction 11 by the control rod 50.
- a flow of hydraulic fluid from the high pressure chamber 17 in the working pressure chamber 13 or the working pressure chamber 13 in the return chamber 15 is prevented, since the flow openings 41 and 44 are sealingly covered by the spool 30.
- the coupling rod 50 pushes the spool 30 also in the working direction. As shown in Figure 2, thereby opening a gap between the control edges 43 on the spool 30 and the control edges 46 on the piston 5.
- the high-pressure chamber 17 is pressure-connected to the working pressure chamber 13 and hydraulic fluid flows from the high-pressure supply 24 via the high-pressure chamber 17 through the passage window 48 in the working pressure chamber 13.
- a force in the working direction 11 acts on the piston 5 and the piston 5 is moved in the working direction 11.
- the piston 5 follows the movement of the spool 30 until the control edges 43 and 46 close again as shown in Figure 1, so that a flow of hydraulic fluid from the high-pressure chamber 17 is prevented in the working pressure chamber 13 or the working pressure chamber 13 in the return chamber 15. As a result, a rest position similar to the situation illustrated in FIG. 1 occurs again.
- the high-pressure chamber 17 which is designed essentially as an annular space, extends so far in the axial direction that the high-pressure port 18 communicates with the flow opening 44 over the entire stroke. In operation, we also closed off by the spool 30 Flow opening 44 of the high-pressure chamber 17 is subjected to high pressure; however, a resultant force that moves the piston 5 in one direction does not result.
- a hose connection between the high-pressure connection 18 and the flow-through opening 44 could also be provided.
- the coupling rod 50 is moved by the linear direct motor 54 against the working direction of the end portion 34 of the spool 30 away. Due to the pressure prevailing in the pressure chamber 38 low pressure of the spool 30 is moved counter to the working direction 11. As shown in Figure 3, thereby opens a gap between the control edges 42 on the spool 30 and the control edges 45 on the piston 5, so that the working pressure chamber 13 is pressure-connected to the return chamber 15. Due to the low pressure prevailing in the low pressure chamber 19, a force counteracts the working direction 11 on the piston 5. The piston 5 can now move counter to the working direction 11, wherein the hydraulic fluid located in the working pressure chamber 13 through the passage window 48 in the return chamber 15 and there is displaced into the tank 22.
- the piston 5 and the spool 30 move so long against the working direction 11 until further movement of the spool 30 is prevented by abutment of the end portion 34 of the spool 30 to the coupling rod 50. Then, the spool shifts back into a position in which the gap between the control edges 42 and 45 is closed. It turns then again a rest position similar to the figure 1 shown rest position.
- the full working force of the piston 5 in the working direction 11 is not during the entire working cycle from forward and backward travel of the piston 5 is required. Rather, the full working force is only required when striking a piston rod 6 connected to the punching tool (not shown) on a workpiece (not shown) and during the penetration of the workpiece.
- the adjusting means 60 adjust the pressure of the high pressure supply 24 depending on the travel path, ie from the position of the piston 5.
- FIG. 4 shows the time characteristic of the position of the piston 5 together with the time course of the pressure of the high-pressure supply 24 set by the adjusting means 60.
- the piston 5 is moved in the working direction 11 up to the position POS1, in which the punching tool connected to the piston rod strikes the workpiece to be deformed.
- the pressure of the high pressure supply 24 is set to a low value p1, which may be selected to be equal to that of the low pressure supply 26 in particular.
- the travel is detected by the displacement measuring system 62 and compared with a preset value, which corresponds for example to the distance of the punching tool in retracted end position of the piston 5 to the workpiece. If the piston has moved over the specified distance, then the punch meets the workpiece to be deformed. This takes place at the position of the piston indicated by POS1 in FIG.
- the adjusting means 60 increase the pressure of the high-pressure supply 24 to a value p2, which is significantly higher than p1 and typically corresponds to the maximum pressure of the high-pressure supply 24. This high pressure is maintained for the further movement of the piston 5 in the working direction 11 until the punching tool attached to the piston rod 6 has penetrated the workpiece (position POS2 of the piston 5 in FIG. 4). Thus, the workload on the piston 5 decreases. If further movement of the piston 5 in working direction 11 to the position POS3 is provided, the adjusting means 60 reduce the pressure of the high-pressure supply 24 to a value p3 which is smaller than the pressure p2 and in particular equal to the pressure of the low-pressure supply 26.
- the described embodiment of the invention reduces the energy consumption in typical use with repeated extension and retraction of the piston 5 considerably. This is done on the one hand in that the return movement of the piston 5 against the working direction 11 is basically caused by hydraulic fluid from an energy-saving low-pressure supply 26. On the other hand, the energy requirement is further reduced by the described, depending on the travel and / or the workload of the piston 5 high-pressure connection of the high-pressure supply 24.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Actuator (AREA)
- Fluid-Pressure Circuits (AREA)
- Control Of Presses (AREA)
- Press Drives And Press Lines (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200910005998 DE102009005998B4 (de) | 2009-01-23 | 2009-01-23 | Hydraulische Antriebsvorrichtung mit zwei Druckräumen und Verfahren zum Betreiben einer hydraulischen Antriebsvorrichtung mit zwei Druckräumen |
PCT/EP2010/050199 WO2010084043A1 (de) | 2009-01-23 | 2010-01-11 | Hydraulische antriebsvorrichtung mit zwei druckräumen und verfahren zum betreiben einer hydraulischen antriebsvorrichtung mit zwei druckräumen |
Publications (3)
Publication Number | Publication Date |
---|---|
EP2229537A1 true EP2229537A1 (de) | 2010-09-22 |
EP2229537B1 EP2229537B1 (de) | 2013-07-24 |
EP2229537B8 EP2229537B8 (de) | 2013-10-30 |
Family
ID=42110210
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10701488.8A Active EP2229537B8 (de) | 2009-01-23 | 2010-01-11 | Hydraulische antriebsvorrichtung mit zwei druckräumen und verfahren zum betreiben einer hydraulischen antriebsvorrichtung mit zwei druckräumen |
Country Status (5)
Country | Link |
---|---|
US (1) | US9121419B2 (de) |
EP (1) | EP2229537B8 (de) |
CN (1) | CN102292554B (de) |
DE (1) | DE102009005998B4 (de) |
WO (1) | WO2010084043A1 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5538096B2 (ja) * | 2010-06-30 | 2014-07-02 | 三菱アルミニウム株式会社 | 油圧装置の制御方法と油圧装置 |
DE102013104717B4 (de) | 2013-05-07 | 2022-02-17 | Ewo Fluid Power Gmbh | Hydraulikzylinder mit integriertem Wegaufnehmer |
CN105020190A (zh) * | 2014-04-30 | 2015-11-04 | 张凯 | 阀芯内直动导控机构及流体控制阀 |
CN108331801A (zh) * | 2018-04-13 | 2018-07-27 | 王志海 | 一种液压缸及含有该液压缸的液压设备 |
CN110285109B (zh) * | 2019-05-24 | 2020-09-04 | 南京蒙福液压机械有限公司 | 一种气动控制阀及气液压力转换控制装置 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR1574501A (de) * | 1967-07-20 | 1969-07-11 | ||
US3664234A (en) * | 1970-04-27 | 1972-05-23 | Sperry Rand Corp | Digital electrohydraulic servo actuator |
US3961561A (en) * | 1971-11-08 | 1976-06-08 | Applied Power Inc. | Proportional force amplifier |
DE3246738C2 (de) | 1982-09-28 | 1987-02-05 | Dr. H. Tiefenbach Gmbh & Co, 4300 Essen | Mit Eigenmedium gesteuertes Hydraulikventil mit einstellbarem Durchlaßquerschnitt |
US4907492A (en) * | 1987-06-16 | 1990-03-13 | Sig Schweizerische Industrie-Gesellschaft | Apertured valve disposed in hollow piston rod of follower-type motor |
DE3720266A1 (de) * | 1987-06-19 | 1988-12-29 | Bw Hydraulik Gmbh | Elektrohydraulisches regelsystem |
DE19632368A1 (de) | 1996-08-10 | 1998-02-12 | Bosch Gmbh Robert | Elektrohydraulisches Regelwegeventil |
DE10255454A1 (de) | 2002-11-28 | 2004-06-09 | Tries Gmbh + Co. Kg | Steuerventil |
DE102004024126A1 (de) * | 2003-05-16 | 2004-12-02 | Bosch Rexroth Ag | Hydraulischer Antrieb |
-
2009
- 2009-01-23 DE DE200910005998 patent/DE102009005998B4/de not_active Expired - Fee Related
-
2010
- 2010-01-11 WO PCT/EP2010/050199 patent/WO2010084043A1/de active Application Filing
- 2010-01-11 CN CN201080005327.8A patent/CN102292554B/zh active Active
- 2010-01-11 US US13/145,930 patent/US9121419B2/en not_active Expired - Fee Related
- 2010-01-11 EP EP10701488.8A patent/EP2229537B8/de active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2010084043A1 * |
Also Published As
Publication number | Publication date |
---|---|
US9121419B2 (en) | 2015-09-01 |
CN102292554B (zh) | 2014-07-09 |
DE102009005998B4 (de) | 2012-12-27 |
DE102009005998A1 (de) | 2010-08-05 |
EP2229537B1 (de) | 2013-07-24 |
CN102292554A (zh) | 2011-12-21 |
US20110271667A1 (en) | 2011-11-10 |
EP2229537B8 (de) | 2013-10-30 |
WO2010084043A1 (de) | 2010-07-29 |
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