EP2436925A1 - Verfahren, Vorrichtung und Antriebsmittel einer doppelt wirkenden Pumpe und abwechselnder linearer Bewegung - Google Patents

Verfahren, Vorrichtung und Antriebsmittel einer doppelt wirkenden Pumpe und abwechselnder linearer Bewegung Download PDF

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Publication number
EP2436925A1
EP2436925A1 EP11183217A EP11183217A EP2436925A1 EP 2436925 A1 EP2436925 A1 EP 2436925A1 EP 11183217 A EP11183217 A EP 11183217A EP 11183217 A EP11183217 A EP 11183217A EP 2436925 A1 EP2436925 A1 EP 2436925A1
Authority
EP
European Patent Office
Prior art keywords
torque
pump
double
movement
drive means
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
Application number
EP11183217A
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English (en)
French (fr)
Other versions
EP2436925B1 (de
Inventor
Mathieu Romain
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Exel Industries SA
Original Assignee
Exel Industries SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Exel Industries SA filed Critical Exel Industries SA
Priority to PL11183217T priority Critical patent/PL2436925T3/pl
Publication of EP2436925A1 publication Critical patent/EP2436925A1/de
Application granted granted Critical
Publication of EP2436925B1 publication Critical patent/EP2436925B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B5/00—Machines or pumps with differential-surface pistons
    • F04B5/02—Machines or pumps with differential-surface pistons with double-acting pistons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B15/00—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts
    • F04B15/02—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts the fluids being viscous or non-homogeneous
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2201/00—Pump parameters
    • F04B2201/12—Parameters of driving or driven means
    • F04B2201/1201—Rotational speed of the axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2201/00—Pump parameters
    • F04B2201/12—Parameters of driving or driven means
    • F04B2201/1202—Torque on the axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2201/00—Pump parameters
    • F04B2201/12—Parameters of driving or driven means
    • F04B2201/1203—Power on the axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0207—Torque
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0209—Rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2205/00—Fluid parameters
    • F04B2205/04—Pressure in the outlet chamber

Definitions

  • the invention relates to a method for controlling a drive means mechanically connected to a double-acting linear reciprocating pump.
  • the invention also relates to a device for controlling a drive means mechanically connected to a double-acting linear reciprocating pump.
  • the invention finally relates to a drive means mechanically connected to a double-acting pump with linear reciprocating movement.
  • Liquid pumps or pasty products with linear reciprocating movement mechanically connected to electric motor control systems are known. Such a linear pump is driven over a predetermined stroke, after which the direction of movement is reversed, and is driven in the opposite direction on the same predetermined stroke.
  • the displacement of the piston of the pump can be reversed from one direction of expulsion of the component to a direction of aspiration and expulsion of the component and vice versa.
  • the pump circuit includes a suction valve and a discharge valve associated with the pump.
  • Electric drive systems for linear reciprocating pump motors having electric controls for regulating the motor drive speed as a function of the pressure or the flow of liquid or pasty product, with electrical means of breaking are known. to disconnect the electrical energy from the engine when encountering conditions of blocked pressure.
  • the inversion effect is, however, amplified by the inertia of an electric motor drive device mechanically connected to a reciprocating AC double-acting pump, generating a longer pressure drop and a higher pressure peak. elevated during inversion.
  • a first object of the invention is to improve the known state of the art, by proposing a new method for controlling a drive means mechanically connected to a double-acting linear reciprocating pump.
  • a second object of the invention is to propose a new device for controlling a drive means mechanically connected to a double-acting linear reciprocating pump.
  • a third object of the invention is to propose a new drive means mechanically connected to a double-acting linear reciprocating pump.
  • the invention also relates to a device for controlling a drive means mechanically connected to a double-acting linear reciprocating pump, comprising means for using a speed-controlled control during the rise or fall phases. of the piston, means for using to control a torque control immediately after the reversal of direction of movement, means for measuring a physical parameter representative of a torque value or for recording the torque during the phases of climb or descending the piston, and means for accelerating the drive means after reversing the direction of movement.
  • the means for measuring a physical parameter representative of a torque value comprise a liquid pressure sensor or pasty product output by the double-acting pump and reciprocating linear motion.
  • the invention finally relates to a drive means mechanically connected to a reciprocating linear motion double-acting pump comprising a geared motor with encoder connected to a mechanical transmission means coupled to a double-acting linear reciprocating pump, and a liquid pressure sensor or pasty product dispensed by the double-acting linear reciprocating pump.
  • a method of controlling a drive means mechanically connected to a reciprocating AC double action pump includes steps 100 to 119 and 201 to 203.
  • step 100 the method begins with a step of starting an operating cycle.
  • step 101 the method continues with a step 102 of acquisition of a flow rate reference value entered by an operator in a man / machine interface and converted into an absolute speed reference to regulate in speed regulation the phases of moving in one direction of an electric drive motor.
  • step 102 the rotation of the electric motor is carried out in one-way speed regulation, by being converted into linear displacement, for example in piston downward displacement of a double-acting pump mechanically connected to the electric motor.
  • step 102 the torque of the electric motor is recorded in a masked step 202 in a man / machine interface or other storage means.
  • step 103 a test is performed to detect the approach of a low position or a travel end position.
  • the method loops in step 102 after verification in step 118 of maintaining the flow or speed setpoint.
  • step 118 If a change of flow or speed setpoint is detected in step 118, this new flow rate or speed set point is acquired and an adaptation of the corresponding torque is performed in step 119 by a control controller of the electric motor. The process then loops with these new setpoint and torque values in step 102.
  • step 104 is carried out at a step of decelerating the rotation of the electric motor, then at step 105 at a reversal of the direction of rotation of the motor. corresponding to a reversal of the direction of linear movement of the double-acting linear reciprocating pump.
  • step 106 immediately after the inversion of the direction of movement of the pump and the rotation of the electric motor, acceleration is effected by torque regulation to compensate for the pressure drop of the liquid or pasty product produced by the inversion. meaningless.
  • This reversing torque control thus makes it possible to obtain a constant flow rate and to perform a better recompression, for example in the upward movement of the piston of the double-acting pump mechanically connected to the electric motor.
  • the torque regulation is performed in a closed loop, advantageously using as a return parameter the pressure of the liquid or pasty product, because a correlation between the engine torque and the pressure of the liquid or of the pasty product discharged makes it possible to use the pressure of the liquid. or pasty product produced as a physical parameter representative of the engine torque.
  • step 108 when the pressure at the outlet of the pump becomes equal to or greater than the pressure measured during the one-way movement of the preceding step, or when the engine torque exceeds the measured torque in the displacement in a only one direction in a step 203 of moving the previous cycle in a single direction, for example upward movement, we go to step 109 and switch to speed control.
  • step 108 loops in step 107 until the corresponding value (s) are reached.
  • step 109 the displacement of the pump is effected in a single direction of movement, for example upward movement, until a high position or end position is detected in step 110.
  • step 110 the method is looped at step 109 through a test phase 116 for changing the liquid or pasty product flow set point value. , and possibly by a step 117 of acquisition of a new setpoint converted into engine speed with adaptation of the corresponding torque.
  • step 110 When this high position or end position is not detected in step 110, the process continues in step 111 decelerating and stopping the engine.
  • step 112 by a reversal of direction, passing immediately after reversing torque regulation of the engine, and at step 113 by an acceleration of compensation of the pressure drop in engine torque regulation .
  • step 114 the torque regulation is performed using the recorded command during the one-way movement during a previous step 202 of moving the previous cycle in one direction, for example in descent travel, this instruction can be a direct value of motor torque or a motor torque value obtained by transformation of a representative physical parameter such as the pressure of liquid or pasty product delivered by the pump.
  • a test is performed in step 115 to detect the exceeding of the value of engine torque relative to the value recorded during a previous step 202 of moving the previous cycle in one direction, for example in descent travel.
  • step 102 the process loops to step 102, to start a new cycle.
  • the recording steps 202 and 203 make it possible to memorize the rising torque or descent torque values, while checking whether their variations from one cycle to the next are abnormal.
  • the step 201 performed by the operator and the steps 202 and 203 that can be consulted by the operator take place on a man / machine interface forming part of a device according to the invention for implementing a method according to the invention. 'invention.
  • the representative cycle of a method according to the invention can be stopped at any time by action of the operator.
  • the speed regulations are effective, as soon as the operator enters the flow setpoint on the man / machine interface, converted to an absolute speed reference at a step 101.
  • Accelerations and decelerations can be set within certain safety limits by the operator directly on the man / machine interface.
  • the invention it is possible to reduce the pressure pulsations generated by the reversal of direction by using a single pressure sensor to adapt the engine torque by performing acceleration and deceleration directly after the reversal of direction, to compensate for the pressure pulsations and to obtain a flow of liquid or pasty product substantially constant.
  • the direct correlation between engine torque and measured pressure provides a constant product throughput in a wide range of products and flow rates.
  • the invention thus makes it possible to obtain a "self-adaptive" process, which makes it possible to adapt to changes in matter, viscosity, temperature, and changes in rhythm, frequency, flow rate and other physical parameters or mechanical.
  • the timing diagram corresponds to a cycle beginning with a time interval d 1 , continuing with a time interval d 2 , then with a time interval d 3 , then with a time interval d 4 , and finally with a time interval d 5 corresponding to the beginning of the time interval d 1 of a following cycle.
  • the time interval d 1 corresponds to the discharge of the product in the direction of descent and the operating steps 102 and 103, during which the drive motor is controlled in speed regulation.
  • the time interval d 2 corresponds to a torque control command and to steps 106 and 107 of the method described with reference to FIG. figure 1 .
  • the time interval d 3 corresponds to a displacement in the opposite direction, of the rise, that is to say the feeding and the delivery of liquid or pasty product and the steps 108 and 109 corresponding to a control in regulation of speed.
  • the time interval d 4 corresponds to a deceleration, a stop of the motor with a reversal of direction, and a control in torque regulation, during the steps 111 to 114 of the method described with reference to the figure 1 .
  • the time interval corresponds to the operation of steps 102 and 103 of a next cycle of the method described with reference to figure 1 .
  • the torque variations of the drive motor allow the compensation of the pressure pulsations due to the reversal of the direction of movement of the double-acting pump and thus make it possible to obtain a substantially constant flow, the negligible variations, if any, are not perceptible in the tests carried out.
  • the use of the pressure of liquid or pasty product as a physical parameter representative of a torque value is particularly advantageous by simplifying the control devices according to the invention and by allowing a continuous real-time control of the liquid or pasty product. delivered by the double-acting pump and reciprocating linear movement driven by the drive means controlled by the invention.
  • a single liquid or pasty product pressure sensor delivered by the pump permanently controls the correlation between the torque of the electric motor and the value of the liquid pressure or pasty product produced.
  • a functional diagram of a device according to the invention comprises a drive means included in a device shown schematically by the frame (1) in broken lines, a pump (2) connected to a tray (3) of product by a pipe and an extrusion gun (4) connected by a pipe (5) to the pump (2).
  • the pump (2) is driven mechanically by a motor or geared motor (10), via a ball screw, a roller screw or any other transmission means adapted to transform a rotary movement into a movement linear.
  • the motor or geared motor (10) preferably incorporates an encoder (11) defining at each instant the position of the rotor of the electric motor, and thus making it possible to program the running cycles in a direction, in another direction or reversal of direction or else stopping the operation of the electric motor and consequently of the pump (2) with double effect with linear reciprocating displacement.
  • the encoder (11) transmits to a controller (12) the information relating to the engine (10), so as to control the operation during all the steps of a method according to the invention.
  • the controller (12) is connected to a man / machine interface (13) for assigning start and stop commands of the operating cycles, transmitting instructions and parameters defined by an operator and recording or memorizing the information relating to the operation of the engine, in particular to record the torque of the electric motor (10) during cycle operations.
  • the electric motor (10) is preferably connected to the controller (12) for transmitting information relating to speed, torque, intensity, and other operating variables of the motor.
  • a sensor (14) for pressure of the liquid or pasty product discharged by the pump (2) is advantageously connected to the controller (12) for permanently applying the correlation between the torque of the electric motor (10) and the value of the liquid pressure. or pasty product debited.
  • the piston of the pump (2) moves in a linear movement produced by the mechanical transmission means, for pumping the liquid or pasty product from the tank (3) to the extrusion gun (4).
  • the operator can enter and monitor permanently on the screen of the man / machine interface (13) the operating cycle start and stop commands, the instructions and the parameters. predefined or integrated into the operating cycles, while checking the correct motor operation and visualizing the type of control: speed regulation, or torque control, performed instantly by the controller (12).
  • This controller (12) carries out the round-trip cycle of the piston of the double-acting pump according to the rotational movements of the engine.
  • the controller (12) is programmed to perform speed control during the one-way linear movement phases and to perform the torque control immediately after the reversals of direction of rotation.
  • the controller (12) automatically adjusts the necessary torque to obtain a constant flow of liquid or slurry product.
  • Inputs and outputs of known type make it possible to ensure the continuity of the control, to monitor the operation of the motor and to ensure safety by limiting the operation of the motor to an authorized range of parameters.
  • controller (12) can be replaced by a simplified controller for performing speed control and torque regulation using only the liquid pressure or pasty product output, as measured by a only pressure sensor (14).
  • the closed-loop torque regulation is in fact considerably improved by using the liquid pressure or pasty product as a return parameter.
  • the measurement accuracy of the liquid pressure or pasty product is indeed more reliable than the measurement accuracy of the engine torque and provides a parameter representative of the engine torque, regardless of the material to be pumped by the pump, its viscosity, its temperature or its other physical parameters.
  • the pressure used as a return parameter thus makes it possible to obtain, thanks to the invention, a self-adaptation of the operation in order to guarantee a constant average flow rate of liquid or pasty product produced.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Reciprocating Pumps (AREA)
  • Transmission Devices (AREA)
EP11183217.6A 2010-09-29 2011-09-29 Verfahren, Vorrichtung und Antriebsmittel einer doppelt wirkenden Pumpe und abwechselnder linearer Bewegung Active EP2436925B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL11183217T PL2436925T3 (pl) 2010-09-29 2011-09-29 Sposób, urządzenie i środek napędowy pompy dwustronnego działania o ruchu liniowym naprzemiennym

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1057862A FR2965313B1 (fr) 2010-09-29 2010-09-29 Procede, dispositif et moyen d'entrainement de pompe a double effet a mouvement lineaire alternatif

Publications (2)

Publication Number Publication Date
EP2436925A1 true EP2436925A1 (de) 2012-04-04
EP2436925B1 EP2436925B1 (de) 2013-09-04

Family

ID=44227787

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11183217.6A Active EP2436925B1 (de) 2010-09-29 2011-09-29 Verfahren, Vorrichtung und Antriebsmittel einer doppelt wirkenden Pumpe und abwechselnder linearer Bewegung

Country Status (9)

Country Link
US (1) US9200623B2 (de)
EP (1) EP2436925B1 (de)
JP (1) JP5930642B2 (de)
CN (1) CN102619735B (de)
BR (1) BRPI1106271B1 (de)
ES (1) ES2438171T3 (de)
FR (1) FR2965313B1 (de)
PL (1) PL2436925T3 (de)
RU (1) RU2554703C2 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130039778A1 (en) * 2009-12-08 2013-02-14 Graco Minnesota Inc. System and method for controlling linear pump system
US9181943B2 (en) 2010-08-20 2015-11-10 Graco Minnesota Inc. Method for synchronizing linear pump system

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US9107986B2 (en) * 2013-03-11 2015-08-18 Boston Scientific Limited Double action infusion pump
US9925331B2 (en) * 2013-03-11 2018-03-27 Boston Scientific Limited Double action infusion system
DE102013104494B4 (de) 2013-05-02 2023-11-30 MPS-Matter Pumpsysteme GmbH Dickstoffpumpe
JP5788560B1 (ja) * 2014-04-24 2015-09-30 ファナック株式会社 回転方向反転時に補正処理を行うモータ制御装置
US11025188B2 (en) * 2015-06-18 2021-06-01 Baker Hughes, A Ge Company, Llc Systems and methods for determining proper phase rotation in downhole linear motors
US10330049B2 (en) * 2016-08-29 2019-06-25 Acd, Llc High pressure fuel gas pump
US10822944B1 (en) * 2019-04-12 2020-11-03 Schlumberger Technology Corporation Active drilling mud pressure pulsation dampening
US11635071B2 (en) 2020-01-21 2023-04-25 Schaeffler Technologies AG & Co. KG Co-axial inverted piston linear actuator pumping system
US11454226B2 (en) 2020-01-21 2022-09-27 Schaeffler Technologies AG & Co. KG Electric off-axis opposing piston linear actuator pumping system
US11396868B2 (en) 2020-03-09 2022-07-26 Schaeffler Technologies AG & Co. KG Linear actuator pumping system

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DE19736337A1 (de) * 1997-08-21 1999-02-25 Industrieanlagen Betriebsges Verfahren und Anordnung für die elektronisch geregelte Förderung und Zumessung kryogener Medien bei Flugtriebwerken
DE10020453A1 (de) * 1999-04-27 2000-12-21 Komatsu Mfg Co Ltd Axialkolbenpumpe/-motor mit Antriebschaltung
WO2002046612A1 (fr) * 2000-12-04 2002-06-13 Exel Industries (Societe Anonyme) Dispositif de pompage pour produits liquides pateux ou sensibles a la turbulence
US20060153700A1 (en) * 2001-10-16 2006-07-13 Hartmut Benckert Thick matter pump comprising a transport capacity control system

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US20130039778A1 (en) * 2009-12-08 2013-02-14 Graco Minnesota Inc. System and method for controlling linear pump system

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
DE19736337A1 (de) * 1997-08-21 1999-02-25 Industrieanlagen Betriebsges Verfahren und Anordnung für die elektronisch geregelte Förderung und Zumessung kryogener Medien bei Flugtriebwerken
DE10020453A1 (de) * 1999-04-27 2000-12-21 Komatsu Mfg Co Ltd Axialkolbenpumpe/-motor mit Antriebschaltung
WO2002046612A1 (fr) * 2000-12-04 2002-06-13 Exel Industries (Societe Anonyme) Dispositif de pompage pour produits liquides pateux ou sensibles a la turbulence
US20060153700A1 (en) * 2001-10-16 2006-07-13 Hartmut Benckert Thick matter pump comprising a transport capacity control system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130039778A1 (en) * 2009-12-08 2013-02-14 Graco Minnesota Inc. System and method for controlling linear pump system
US9181943B2 (en) 2010-08-20 2015-11-10 Graco Minnesota Inc. Method for synchronizing linear pump system

Also Published As

Publication number Publication date
JP2012072770A (ja) 2012-04-12
CN102619735B (zh) 2016-01-20
CN102619735A (zh) 2012-08-01
BRPI1106271B1 (pt) 2020-05-19
US20120076666A1 (en) 2012-03-29
EP2436925B1 (de) 2013-09-04
FR2965313A1 (fr) 2012-03-30
ES2438171T3 (es) 2014-01-16
BRPI1106271A2 (pt) 2015-05-12
US9200623B2 (en) 2015-12-01
PL2436925T3 (pl) 2014-03-31
FR2965313B1 (fr) 2012-09-07
JP5930642B2 (ja) 2016-06-08
RU2554703C2 (ru) 2015-06-27
RU2011139196A (ru) 2013-04-10

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