EP2463195B1 - Unterseeboot - Google Patents

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Publication number
EP2463195B1
EP2463195B1 EP11192581A EP11192581A EP2463195B1 EP 2463195 B1 EP2463195 B1 EP 2463195B1 EP 11192581 A EP11192581 A EP 11192581A EP 11192581 A EP11192581 A EP 11192581A EP 2463195 B1 EP2463195 B1 EP 2463195B1
Authority
EP
European Patent Office
Prior art keywords
thruster
inline
drive
submarine
inline thruster
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.)
Active
Application number
EP11192581A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2463195A1 (de
Inventor
Andreas Malletschek
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.)
ThyssenKrupp Marine Systems GmbH
Original Assignee
Howaldtswerke Deutsche Werft GmbH
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 Howaldtswerke Deutsche Werft GmbH filed Critical Howaldtswerke Deutsche Werft GmbH
Publication of EP2463195A1 publication Critical patent/EP2463195A1/de
Application granted granted Critical
Publication of EP2463195B1 publication Critical patent/EP2463195B1/de
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/18—Arrangements on vessels of propulsion elements directly acting on water of propellers of emergency propellers, e.g. arranged at the side of the vessel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/08—Propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/02—Propulsive elements directly acting on water of rotary type
    • B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
    • B63H1/14—Propellers
    • B63H1/16—Propellers having a shrouding ring attached to blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H23/00—Transmitting power from propulsion power plant to propulsive elements
    • B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B63H5/1252—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters the ability to move being conferred by gearing in transmission between prime mover and propeller and the propulsion unit being other than in a "Z" configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/18—Arrangements on vessels of propulsion elements directly acting on water of propellers of emergency propellers, e.g. arranged at the side of the vessel
    • B63H5/20—Arrangements on vessels of propulsion elements directly acting on water of propellers of emergency propellers, e.g. arranged at the side of the vessel movable from a working position to a non-working position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/02—Propulsive elements directly acting on water of rotary type
    • B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
    • B63H1/14—Propellers
    • B63H1/16—Propellers having a shrouding ring attached to blades
    • B63H2001/165—Hubless propellers, e.g. peripherally driven shrouds with blades projecting from the shrouds' inside surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B63H2005/1254—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis
    • B63H2005/1258—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis with electric power transmission to propellers, i.e. with integrated electric propeller motors

Definitions

  • the invention relates to a submarine with the features specified in the preamble of claim 1.
  • Out DE 10 2009 019 539 is a submarine known in addition to a propeller main drive additionally has an auxiliary drive with an inline thruster.
  • the auxiliary drive is used to maneuver the submarine in non-operating or very low speeds of the propeller main drive in the smallest possible space. If the auxiliary drive is not needed, it is located in a space between the pressure hull of the submarine and an outer skin spaced therefrom. If the auxiliary drive is to be used, its inline thruster is moved from there by means of a pivoting mechanism into an operating position on the outside of the outer skin.
  • the in-line thruster is arranged in a frame which is pivotable through an angle of about 90 ° from a storage position of the inline thruster between the pressure hull and the outer skin of the submarine to a working position outside the outer skin.
  • the axial direction of the in-line thruster rotatably mounted in the frame and, consequently, its thrust direction can be set with a rotary drive in a plane parallel to a longitudinal axis of the submarine in an angular range of 180 °.
  • the auxiliary drive has a relatively complicated structural design and occupies a comparatively large space between the pressure body and outer skin in the storage position. Furthermore, the opening through which the in-line thruster is moved from the storage position to the working position is relatively large. Accordingly, a comparatively long gap is formed on the outer skin of the submarine between a fairing, with which the opening is closed when the auxiliary drive is not operating, and the outer skin surrounding this fairing. This gap is unfavorable in that it can lead to unwanted flow noise in military submarines.
  • the object of the invention is to provide a submarine which has an auxiliary drive with an inline thruster, which occupies less space in a storage position between the pressure hull and the outer skin of the submarine than previously used in submarines auxiliary drives, the inline Thruster should be spent on a small opening on the outer skin in its working position outside the outer skin.
  • the submarine according to the invention which is typically but not necessarily a manned submarine and preferably a military submarine, has an in-line thruster.
  • This inline thruster forms a drive device and preferably an auxiliary drive, for example, for maneuvering the submarine is used or can be used to calm the submarine when suspended by special forces in the flow to keep.
  • the main drive can be provided in the submarine according to the invention, a propeller drive, which is arranged in the usual manner at the rear of the submarine.
  • the inline thruster is stored when not in use in a space between a pressure body and a spaced on the outside of the pressure body of the pressure body outer skin of the submarine. Preferably, this space is formed on an underside or in the area of the keel on the foredeck of the submarine.
  • the inline thruster is rotatable with a arranged outside the pressure body linear drive from a storage position in the space between the pressure body and the outer skin in a linear end position and rotatable in the end position in a plane normal to its linear travel direction with a rotary drive. That is, in the storage position, the inline thruster is already aligned so that the orientation of a rotor axis of rotation of the inline thruster coincides with that in the final position, ie the working position of the inline thruster outside the outer skin of the submarine. From the storage position of the inline thruster is translationally or straight into its defined, ie previously fixed end position movable in which he has a distance from the hull of the submarine.
  • the axial direction and, concomitantly, the thrust direction of the inline thruster can be adjusted by means of the rotary drive in a plane normal to its translational extension direction.
  • the linear thruster is linearly movable from its storage position to its end position, its maximum space across its extension direction in the storage position is essentially determined solely by its maximum cross section in a plane normal to the extension direction.
  • the inline thruster of the submarine according to the invention requires a significantly smaller space in the space between the pressure hull and the outer skin of the submarine than the hitherto known swing-out inline thruster.
  • an opening on the outer skin, via which the in-line thruster is moved from the storage position into the end position and vice versa, and concomitantly a lining closing the opening can be designed to be significantly smaller than previously required.
  • the inline thruster can be rotated with the rotary drive in an angular range of 360 °. That is, the in-line thruster is in a plane normal to its linear extension at least once completely rotatable about its axis of rotation and thus can be rotated in any angular position and so without a thrust reversal thrust in each direction parallel, transverse or oblique to the longitudinal axis of the invention Create submarines.
  • the linear drive is motion-coupled with the rotary drive.
  • This means that the linear drive of the inline thruster is also rotated in a plane normal to the linear extension direction of the inline thruster by the same angle as the inline thruster when the inline thruster is rotated.
  • the motion coupling of rotary drive and linear drive of the rotary drive is preferably arranged stationarily in the space between the pressure hull and the outer skin of the submarine.
  • an electrically operated spindle drive forms the linear drive of the in-line thruster
  • the entire linear drive ie, the threaded spindle and the spindle nut of the spindle drive and a motion-coupled with the threaded spindle electric motor in the space between the pressure hull and outer skin of the submarine is suitably rotatable stored.
  • the linear drive for the inline thruster can basically be a hydraulic or pneumatic linear drive.
  • the inline thruster can directly or indirectly with such a linear actuator be coupled via a transmission.
  • hydraulic and pneumatic drives have the disadvantage that seawater can leak into the drives and from there into the hydraulic or pneumatic system of the submarine. Therefore, the linear drive for the inline thruster is preferably formed electrically actuated. Consequently, the linear drive is preferably an electromechanical drive, which has the further advantage over pneumatic and hydraulic drives that only electrical lines through the wall of the pressure hull of the submarine must be performed, which is much easier than by the Druck Economicswandung guided compressed air or Hydraulic lines can be sealed pressure-tight.
  • the inline thruster can be directly coupled with motion.
  • an electrically operated linear motor can be provided with which the in-line thruster can be moved from its storage position to its end position outside the outer skin and vice versa.
  • the linear drive ⁇ -over is formed by an electric motor and a gear coupled thereto. This has the advantage that also rotary drive motors can be used, wherein the rotational movement of the rotor of the drive motor is converted by the transmission into a linear movement.
  • the inline thruster is motion-coupled with a spindle nut of an electrically operated spindle drive.
  • spindle drive With the spindle drive, a particularly space-saving, narrow linear drive for the inline thruster can be realized.
  • the threaded spindle of the spindle drive is directly coupled to the rotor of an electric motor, ie rotatably connected.
  • the longitudinal axis of the threaded spindle is typically aligned in the extension direction of the inline thruster.
  • the on the threaded spindle screwed spindle nut with which the inline thruster is connected is suitably secured against rotation, so that it moves in rotation of the threaded spindle in the direction of the longitudinal axis of the threaded spindle, ie in the extension or retraction of the inline thruster.
  • the rotary drive with which the in-line thruster is rotatable in the end position outside the outer skin of the submarine in a plane normal to the linear extension direction, pneumatically or hydraulically actuated
  • an embodiment of the rotary drive is preferred, in which this is electrically operated .
  • a component forming the axis of rotation of the in-line thruster can be connected rotatably directly to the rotor of an electric motor or, if necessary, can itself form the rotor of the electric motor.
  • the rotation angle of the Inline-Thrusters is infinitely adjustable.
  • the use of an electrically operated rotary drive for the inline thruster is particularly advantageous if its linear drive is designed to be electrically operated, since in this case only one guided through the Druckieriwandung common electrical supply line for the linear drive and the rotary drive is required.
  • an extension mast motion-coupled to the linear drive of the inline thruster forms the axis of rotation about which the inline thruster is rotatable in a plane normal to its linear extension direction.
  • the extension mast can then form the rotor of the rotary drive required for this purpose or be rigidly connected to the rotor of the rotary drive.
  • both the linear drive and the rotary drive are formed electrically actuated, it is preferably further provided that the linear drive with the rotary drive or vice versa, the rotary drive with the linear drive is voltage-connected.
  • the Liund the rotary drive be connected to each other via an electrical supply line.
  • this supply line must be designed to be very long in order to enable a rotation angle range of 360 °. Therefore, in this case, an embodiment is preferred in which the linear drive via sliding contacts, for example via a slip ring system, is voltage-connected with an electrical power supply of the rotary drive. In this way, even with any rotation of the linear drive relative to the fixed rotary drive, the power supply of the linear drive via the rotary drive is ensured.
  • a plug-in connection for supplying voltage to the in-line thruster from a line-connected fixed plug-in connection element to the inline thruster and a plug-in connection element coupled to the spindle nut of the linear drive.
  • the plugged-in with the inline thruster plug connection element is fixedly arranged such that it is then contacted by the motion-coupled with the spindle nut plug connection element when the inline thruster is in its final or working position outside the outer skin of the submarine.
  • the motion-coupled with the spindle nut plug connection element is conductively connected via sliding contacts with the power supply of the rotary drive.
  • the space between the pressure hull and the outer skin of the submarine, in which the inline thruster is stored, is flooded with water.
  • the in-line thruster is preferably in its storage position in one arranged pressure-tight lockable housing. Consequently, a housing is arranged in the intermediate space between the pressure body and the outer skin, which receives the in-line thruster together with its linear and rotary drive and encapsulates pressure-tight from the water environment.
  • the housing has an opening through which the in-line thruster is moved to its end or working position outside the outer skin. This opening is then, when the in-line thruster in its storage position in the housing is advantageously sealed pressure-tight by a lid.
  • a cladding element is arranged on an outer side of a stator housing of the inline thruster, which in the storage position of the inline thruster, the housing in which the inline thruster is arranged in the storage position, pressure-tight manner.
  • this cladding element is arranged on the inline thruster in such a way that it closes off an extension opening for the inline thruster formed on the outer skin and thus also forms part of the outer skin of the submarine.
  • foreign bodies are advantageously also arranged on the outside of the stator housing of the inline thruster in the extended position of the in-line thruster, the housing in which the in-line thruster is located in the storage position closes.
  • This in Fig. 1 illustrated submarine has a pressure body 2, which is partially surrounded by an outer skin 4.
  • the space between the pressure body 2 and the outer skin 4 is flooded with water.
  • a propeller drive 6 is arranged, which drives the submarine during normal driving.
  • In the foredeck 8 of the submarine is directly on the bow side of the pressure hull 2 an auxiliary drive in the form of an inline thruster 10 is arranged.
  • the inline thruster 10 is mounted in the intermediate space between the pressure body 2 and outer skin 4 in a pressure-tight housing 12 and from there on the keel of the submarine in a working position outside the outer skin 4 movable.
  • the housing 12 has a cuboid base body 14 which receives the in-line thruster 10 in the storage position. On the outside of the base body 14 stiffening ribs 16 are arranged.
  • the inline thruster 10 can be extended by means of a linear drive from the main body 14 of the housing 12. This linear drive is essentially arranged in a housing part 18, which adjoins the main body 14 on a side remote from an extension opening formed on the main body 14 for the inline thruster 10.
  • the extension opening of the housing 12 is pressure-tightly sealed by a cladding element 20 when the in-line thruster 10 is extended from the base body 14 at an outer region of a stator housing 22 of the in-line thruster 10 facing away from the extension opening is.
  • the cladding element 20 forms part of the outer skin 4 of the submarine.
  • a second cladding element 24 is provided which is arranged directly diametrically opposite the cladding element 20 on the outside of the stator housing 22 ( 8 and 9 ).
  • a spindle drive forms the linear drive of the inline thruster 10.
  • This spindle drive has a threaded spindle 26 which is driven by an electric motor 28 rotating.
  • the electric motor 28 is arranged in a foundation 30, which is arranged in an end region of the housing part 18 facing away from the main body 14.
  • the housing 12 is attached to the inline thruster 10 on the boat structure of the submarine.
  • a spindle nut 32 is screwed.
  • the spindle nut 32 is secured against rotation and can thus move depending on the direction of rotation of the rotor of the electric motor 28 on the threaded spindle 26 of the electric motor 28 away or in the direction of the electric motor 28.
  • an extension mast 34 connected to the inline thruster 10 is attached to the spindle nut 32.
  • the spindle nut 32 on the threaded spindle 26 is moved away from the electric motor 28, the in-line thruster 10 is extended from the housing 12 in its end or working position outside the outer skin of the submarine.
  • a second electric motor 36 is provided in order to be able to rotate the in-line thruster 10 in the end or working position in a plane normal to its linear extension direction or normal to the longitudinal axis of the threaded spindle 26, a second electric motor 36 is provided.
  • This electric motor 36 is arranged in the housing part 18 in an end region facing away from the electric motor 28.
  • the electric motor 36 has a stator 38, in which a rotor 40 is rotatably mounted.
  • the rotor 40 is motion coupled to the extension mast 34 of the in-line thruster 10.
  • the inline thruster 10 is rotatable about an axis of rotation formed by the longitudinal axis of the extension mast 34 in an angular range of 360 ° and larger.
  • the linear drive is arranged in the housing part 18 in an inner housing 42.
  • the inner housing 42 is substantially tubular and rotatable about its central axis.
  • the inner housing 42 closed by a bearing bush 44.
  • the bushing 44 engages with some play in an opening of the foundation 30 a.
  • the electric motor 28 is arranged to drive the threaded spindle 26.
  • the electric motor 36 is connected to a line arranged in the pressure hull 2 of the submarine, also not shown in the drawing voltage source.
  • a slip ring 46 is disposed in the housing part 18. From the Fig. 10 and 11 not apparent, the slip ring 46 is divided into two in the radial direction and thus forms a tubular outer sliding contact, which is fixedly arranged in the housing part 48 and disposed in the outer sliding contact tubular inner sliding contact, which is fixed to the inner housing 42 and with the Inner housing 42 is rotatable relative to the outer sliding contact. With the inner sliding contact is, not shown in the drawing, the also rotatable electric motor 28 connected by wires.
  • a connector element 48 is disposed adjacent to the electric motor 36.
  • the inline thruster 10 is connected via an unillustrated electrical supply line to the connector element 48.
  • a second plug connection element 50 is arranged on the side facing the electric motor 36 side.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transmission Devices (AREA)
  • Electric Cable Installation (AREA)
  • Prevention Of Electric Corrosion (AREA)
  • Connector Housings Or Holding Contact Members (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Drilling And Exploitation, And Mining Machines And Methods (AREA)
EP11192581A 2010-12-10 2011-12-08 Unterseeboot Active EP2463195B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010054124A DE102010054124B4 (de) 2010-12-10 2010-12-10 Unterseeboot

Publications (2)

Publication Number Publication Date
EP2463195A1 EP2463195A1 (de) 2012-06-13
EP2463195B1 true EP2463195B1 (de) 2013-02-20

Family

ID=45218423

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11192581A Active EP2463195B1 (de) 2010-12-10 2011-12-08 Unterseeboot

Country Status (5)

Country Link
EP (1) EP2463195B1 (pt)
KR (1) KR101388480B1 (pt)
DE (1) DE102010054124B4 (pt)
ES (1) ES2408807T3 (pt)
PT (1) PT2463195E (pt)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103448890A (zh) * 2013-04-19 2013-12-18 天津深之蓝海洋设备科技有限公司 小型自主运动海洋观测平台壳体
CN107985536A (zh) * 2017-11-30 2018-05-04 吉林大学 一种配备空间并联机构矢量推进器的潜航器

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITRE20120075A1 (it) * 2012-10-30 2014-05-01 Lombardini Srl Dispositivo per la propulsione di imbarcazioni
EP2781449B1 (de) * 2013-03-22 2022-07-13 Technische Universität Hamburg-Harburg Mechanisch angetriebener nabenloser Schiffspropulsor
JP6097705B2 (ja) * 2014-01-10 2017-03-15 信吉 森元 主プロペラ及び追加プロペラを装備する船の運航方法
FR3119833A1 (fr) * 2021-02-18 2022-08-19 Bluenav Système de propulsion destiné à être intégré à un bateau

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3030910A (en) * 1960-06-29 1962-04-24 Leslie E Alsager Emergency ship propulsion equipment
FR2741854B1 (fr) * 1995-12-01 1998-02-20 Fontanille Guy Propulseur retractable pour bateau ou navire muni de moyens de blocage en rotation
JP2000272590A (ja) * 1999-03-29 2000-10-03 Hitachi Zosen Corp 船舶用スラスタ装置
US6458004B2 (en) * 2000-02-15 2002-10-01 Van Breems Martinus Electric propulsion systems
DE10353566A1 (de) * 2003-11-14 2005-06-23 Reinhard Gabriel Strahlantrieb
GB0702791D0 (en) * 2007-02-14 2007-03-28 Rolls Royce Plc Linear actuator
DE102009019539B3 (de) * 2009-04-30 2010-11-25 Howaldtswerke-Deutsche Werft Gmbh Unterseeboot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103448890A (zh) * 2013-04-19 2013-12-18 天津深之蓝海洋设备科技有限公司 小型自主运动海洋观测平台壳体
CN103448890B (zh) * 2013-04-19 2015-11-25 天津深之蓝海洋设备科技有限公司 小型自主运动海洋观测平台壳体
CN107985536A (zh) * 2017-11-30 2018-05-04 吉林大学 一种配备空间并联机构矢量推进器的潜航器

Also Published As

Publication number Publication date
ES2408807T3 (es) 2013-06-21
KR20120065259A (ko) 2012-06-20
KR101388480B1 (ko) 2014-04-29
DE102010054124B4 (de) 2012-07-26
DE102010054124A1 (de) 2012-06-14
EP2463195A1 (de) 2012-06-13
PT2463195E (pt) 2013-05-24

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