EP2485857B1 - Machine de formage pour le forgeage, en particulier le forgeage par étirage, de pièces - Google Patents

Machine de formage pour le forgeage, en particulier le forgeage par étirage, de pièces Download PDF

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Publication number
EP2485857B1
EP2485857B1 EP10768893.9A EP10768893A EP2485857B1 EP 2485857 B1 EP2485857 B1 EP 2485857B1 EP 10768893 A EP10768893 A EP 10768893A EP 2485857 B1 EP2485857 B1 EP 2485857B1
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EP
European Patent Office
Prior art keywords
hydraulic
forming
motion
forming machine
eccentric
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
EP10768893.9A
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German (de)
English (en)
Other versions
EP2485857A1 (fr
Inventor
Ernst Schardt
Herbert Rüger
Franz Suttan
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.)
Langenstein and Schemann GmbH
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Langenstein and Schemann 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.)
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Publication date
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Publication of EP2485857A1 publication Critical patent/EP2485857A1/fr
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Publication of EP2485857B1 publication Critical patent/EP2485857B1/fr
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J9/00—Forging presses
    • B21J9/10—Drives for forging presses
    • B21J9/12—Drives for forging presses operated by hydraulic or liquid pressure
    • 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
    • B21J13/02—Dies or mountings therefor
    • B21J13/03—Die mountings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J7/00—Hammers; Forging machines with hammers or die jaws acting by impact
    • B21J7/02—Special design or construction
    • B21J7/14—Forging machines working with several hammers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J9/00—Forging presses
    • B21J9/10—Drives for forging presses
    • B21J9/12—Drives for forging presses operated by hydraulic or liquid pressure
    • B21J9/14—Drives for forging presses operated by hydraulic or liquid pressure in conjunction with electric power

Definitions

  • the invention relates to a forming machine for forging, in particular stretch forging, of workpieces.
  • the material of the workpiece flows parallel to the stretching direction, so the workpiece is in the cross section perpendicular to the stretching direction thinner and parallel to the stretching direction longer.
  • the stretching tools tend to have crowned or convex curved surfaces and are also referred to as stretch or saddle saddles, the upper saddle being called the upper saddle and the lower saddle the lower saddle.
  • stretch or saddle saddles the upper saddle being called the upper saddle and the lower saddle the lower saddle.
  • smoothing tools which usually have a larger dimension than the stretching tools.
  • the plunger coil controller corrects the desired stroke position independently of the working cylinder by adding or removing hydraulic fluid in the working cylinders.
  • the exactly to be given stroke position of the front The reversal point to the imaginary center line of the press corresponding to half the thickness of the forging piece is monitored and corrected from hub to hub via the two independent path control loops.
  • the reversal points are compared with the default and all errors due to leakage, different flow rates, scattering of the switching points, unevenness in the forging or the like compensated.
  • the path-dependent measurement is carried out by the inductive or digital encoder for the entire stroke of each side, the encoder is connected via a control loop with the position control and the voice coil controller, so that a continuous change in the stroke size from 0 to the maximum stroke and the continuous employment of each any stroke position is possible.
  • This can be generated by pre-programming the front reversal points of each page in conjunction with the longitudinal feed rotationally symmetric as well as asymmetrically stepped forgings.
  • the position control so a continuously not position-controlled operating pump is used, while the delivery volume of the hydraulic fluid is adjusted by the plunger coil controller.
  • the return chambers of the cylinders can be placed under constant pressure by means of another pump.
  • the invention has for its object to provide a new hydraulic forming machine with which in particular short cycle times can be realized. This object is achieved according to the invention by a forming machine with the features of claim 1. Advantageous embodiments and further developments will become apparent from the dependent of claim 1 claims.
  • the front part chamber of the hydraulic chamber is now assigned a restoring device for resetting the drive element, wherein the restoring device may in particular be a hydraulic return device, in particular with a hydraulic pump, which adjusts the hydraulic pressure in the front partial chamber to at least one specific return pressure value. But it is also a mechanical reset device with mechanical springs or the like possible.
  • the hydraulic pump is expediently also used for filling the rear partial chamber with the hydraulic medium.
  • the or each eccentric drives in its eccentric movement hydraulically coupled to the hydraulic drive element transmission element in a transfer movement.
  • the transfer element moves during the transfer movement, in particular in the hydraulic chamber or in a hydraulically connected to the hydraulic chamber, also filled with the hydraulic medium stroke chamber, preferably substantially linearly back and forth, in particular the transmission element or the lifting chamber with the rear part chamber of the hydraulic chamber hydraulically coupled or connected.
  • an associated tool carrier is provided for each forming tool, to which the forming tool, preferably releasably, is attached and which is coupled for driving with the associated hydraulic drive element.
  • This coupling is realized in particular by detachable connection of the tool carrier with a mounting flange, which is secured to the end of a push rod, in turn, preferably axially guided and supported by a thrust bearing, at a remote from this mounting flange end another mounting flange has, in turn, releasably connected to an associated mounting flange at the front end of the drive element.
  • the forming tool is displaceably mounted and guided on the associated tool carrier, in particular vertically and / or perpendicular to the feed movement, or the tool carrier is correspondingly designed such that two parts are displaceable relative to one another and one of these parts carries the forming tool.
  • the forming tool has a, preferably upper, stretching surface and a, preferably lower, finishing surface and is then displaceably mounted and fixable in two positions to the stretching surface or the finishing surface in the for the feed movement order relevant situation.
  • an adjusting device for adjusting (and fixing) the forming tools in different displacement positions, in particular in the vertical direction and / or perpendicular to the feed movement, is provided for the automation of this displacement.
  • the adjusting device comprises, for example, a guide rod which connects the two tool carriers with each other and which is movable by means of a drive unit.
  • the forming machine according to the invention is or generally comprises a work-bound or bound forming machine, preferably a forging hammer, in particular an upper hammer or counter-hammer, or a forging press, ie its forming tools operate either press-bound or tied away on the one hand or striking or work-bound on the other hand.
  • a work-bound or bound forming machine preferably a forging hammer, in particular an upper hammer or counter-hammer, or a forging press, ie its forming tools operate either press-bound or tied away on the one hand or striking or work-bound on the other hand.
  • the blank or the workpiece 2 after being heated in a furnace for hot working and thereby brought into a flowable state, gripped by one or two gripping device (s), not shown, in each case located at one end of the workpiece 2 gripping area and in a held aligned along an axis A position, which is a substantially horizontal position in the illustrated embodiments.
  • the axis A extends longitudinally and, preferably centrally, through the workpiece 2.
  • Both stretching tools 4A and 4B are movable. However, it is also possible to move only one of the two stretching tools 4A and 4B. Furthermore, more than two stretching tools can be provided.
  • the feed motion R does not have to be horizontal, but can also be done, for example, vertically or in an oblique direction.
  • the forming machine 4 comprises for each stretching tool 4A and 4B an associated tool carrier 5A and 5B, respectively, to which the stretching tool 4A or 4B is releasably secured, and a drive for driving the tool carrier 5A or 5B with the tool 4A or 4B in the stretching movement R, respectively and the opposite return movement.
  • an adjusting device 47 which comprises a guide rod 48 which connects the two tool carriers 5A and 5B with each other.
  • the stretching tools 4A and 4B are fixed to the tool carriers 5A and 5B having a linear guide in the vertical direction.
  • the drive unit 47 which operates pneumatically, hydraulically or electromechanically, the tool carriers are moved upwards or downwards, depending on the desired operation of the system (stretching or finishing).
  • the introduction of the vertical movement takes place by means of the guide rod 48.
  • the use of the guide rod 48 allows the feed movement R.
  • the two tool carriers 5A and 5B can be locked in each of the two end positions. This lock can be driven hydraulically or pneumatically.
  • the adjusting device 47 is fixed to a transverse plate 43, which in turn is laterally attached to two vertically extending holding plates 42A and 42B.
  • the structure of the holding plates 42A and 42B and the transverse plate 43 is stiffened and stabilized by four rod-shaped fastening elements 46 and limits the actual working range of the forming machine.
  • the four fasteners 46 are attached to vertical frame bases 52A and 52B of a surrounding frame 51, which stand on the ground above frame feet.
  • Above the transverse plate 43 and the adjusting device 47 extends a transverse horizontal frame plate 53 of the frame 51st
  • Each tool carrier 5A and 5B is detachably connected, for example by means of screws, to a mounting flange 6A or 6B fixed to the end of a push bar 7A or 7B, which in turn is axially guided and supported by a thrust bearing 8A or 8B on the support plate 42A or 42B ,
  • a further mounting flange 9A and 9B is provided which in turn is releasably connected to an associated mounting flange 10A or 10B at the front end of a hydraulic drive piston 11A or 11B, for example by means of screws.
  • the tool carrier 5A and 5B are screwed directly to the mounting flanges 10A and 10B and the guide system with the holding plates 42A and 42B can be completely dispensed with.
  • the hydraulic drive piston 11A or 11B is movable and guided axially in an associated hydraulic chamber 13A or 13B to the axis B.
  • a piston member 12A or 12B separates a front sub-chamber 15A or 15B from a rear sub-chamber 14A or 14B of the hydraulic chamber 13A or 13B, and is sealingly guided on the inner wall of the hydraulic chamber 13A or 13B.
  • the position of the drive piston 11A or 11B within the hydraulic chamber 13A or 13B is measurable by means of an associated position measuring device 21A or 21B and thus can be used as a parameter for monitoring or regulating the forming process.
  • the front sub-chamber 15A or 15B is sealed by a seal 28A or 28B against the outer surface of the drive piston 11A or 11B, and the seal 28A or 28B may additionally function as a bearing for the drive piston 11A or 11B.
  • the seal does not take over the bearing function. This is either an additional guide band made of plastic or a guide bush, z. B. bronze, used, which z. B. can also accommodate the seal.
  • the rear sub-chamber 14A or 14B is in fluid communication with an associated lift chamber 17A or 17B via a rear communication passage 24A or 24B.
  • the front sub-chamber 15A or 15B of the hydraulic chamber 13A or 13B is in fluid communication with an intermediate chamber 26A or 26B via a front connecting passage 25A or 25B, which in turn communicates with a surge tank or accumulator 75A or 75B.
  • the sub-chambers 14A and 14B, and 15A and 15B of the hydraulic chambers 13A and 13B, and the lift chambers 17A and 17B and intermediate chambers 26A and 26B and the connection channels 24A and 24B, and 25A and 25B are all filled with a hydraulic medium, in particular, a hydraulic oil or others well-suited pressure-resistant and almost incompressible hydraulic medium.
  • the axes of rotation of the two rotary shafts 23A and 23B fall together on a common axis of rotation E, although this need not necessarily be so.
  • the two rotary shafts 23A and 23B are driven by a common central rotating shaft 30 via respective clutches 33A and 33B, preferably synchronously.
  • the rotary shaft 30 also rotates about the common axis of rotation E and is driven by a central rotary drive 50, which is arranged on and / or in a housing 32, which in turn is supported and arranged on the frame plate 53.
  • the rotary shaft 30 is mounted in a trained as a hollow gear shaft pivot bearing 31 within the housing 32.
  • the rotary drive 50 comprises an electric drive motor 58, which may in particular be a servomotor or permanent magnet motor and / or torque motor, or asynchronous motor, and a transmission arranged in the housing 32, with which the drive motor 58 drives the rotary shaft 30.
  • the two rotary shafts 23A and 23B, and hence the eccentric members 22A and 22B, and finally the reciprocating pistons 18A and 18B move in synchronism with each other, which in turn results in both drive pistons 11A and 11B being hydraulically coupled to the reciprocating pistons 18A and 18B at the same time move forward in the feed R or backward in the return movement, so the two tools 4A and 4B so simultaneously delivered to the workpiece 2 or simultaneously withdrawn from the workpiece 2.
  • the complete rotary drive 50 with the drive motor 58 and the transmission 32 as "underfloor drive” and to arrange these units together with the eccentric elements 22A and 22B below the axis B.
  • a further hydraulic pump 65 is provided, which is connected to a hydraulic connection 45 in which a pressure measuring device 56 is arranged and which divides into two parallel branches 45A and 45B, wherein one of the two branches 45A or 45B with one of the Intermediate chambers 26 A or 26 B is connected.
  • the hydraulic pump 65 is thus also hydraulically coupled to the front sub-chamber 15A or 15B of the hydraulic chamber 13A or 13B, and preferably serves as a return means for applying a restoring force to the associated driving piston (11A, 11B) due to the hydraulic pressure in the front sub-chamber 15A or 15B
  • a hydraulic reset device could also provide a purely mechanical restoring device, such as a spring or the like.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Press Drives And Press Lines (AREA)
  • Forging (AREA)

Claims (10)

  1. Machine de formage pour le forgeage, en particulier le forgeage par étirage, de pièces chauffées et/ou étant dans un état apte à s'écouler, comprenant
    a) au moins deux outils de formage (4A, 4B),
    b) au moins un dispositif d'entraînement pour entraîner au moins un des outils de formage lors d'un mouvement de rapprochement (R) des outils de formage vers l'avant l'un vers l'autre ou lors d'un mouvement de rappel des outils de formage vers l'arrière éloignant l'un de l'autre,
    c) le dispositif d'entraînement comprenant au moins un élément d'excentrique (22A, 22B) et au moins un élément d'entraînement hydraulique (11A, 11B),
    d) ledit au moins un élément d'entraînement hydraulique (11A, 11B) étant accouplé hydrauliquement, directement ou indirectement, à l'élément d'excentrique (22A, 22B) de façon qu'un mouvement d'excentrique de l'élément d'excentrique produise, via un médium hydraulique, un mouvement de travail de l'élément d'entraînement hydraulique, et
    e) le ou chaque élément d'entraînement hydraulique (11A, 11B) étant accouplé à au moins un des outils de formage (4A, 4B) et entraînant cet outil de formage dans son mouvement d'entraînement,
    f) au moins une partie de l'élément d'entraînement hydraulique (11A, 11B) étant disposée dans une chambre d'hydraulique (13A, 13B) remplie d'un médium hydraulique et divisant la chambre d'hydraulique (13A, 13B) en une chambre partielle avant (15A, 15B) et une chambre partielle arrière (14A, 14B),
    g) un dispositif de réglage hydraulique (64A, 64B, 54A, 54B, 34A, 34B) étant associé à la chambre partielle arrière de chaque chambre d'hydraulique, pour le réglage de la position finale de l'élément d'entraînement (11A, 11B) lors d'un mouvement de travail, par réglage du volume acheminé ou de la pression du médium hydraulique dans la chambre partielle arrière (14A, 14B), le dispositif de réglage hydraulique comprenant une pompe hydraulique (64A, 64B) et un raccord (34A, 34B) à la chambre partielle arrière (14A, 14B) et une liaison hydraulique associée (44A, 44B) de la pompe hydraulique (64A, 64B) au raccord (34A, 34B),
    caractérisée en ce que
    h) la pompe hydraulique (64A, 64B) est une servopompe hydraulique et comporte un servomoteur à régulation de position (54A, 54B) qui tient le rotor ou le piston de la pompe, et
    i) en ce que la position finale de l'élément d'entraînement ((11A ou 11B) se déplace vers l'avant lorsque la pompe hydraulique (64A ou 64B) retient, par génération d'une pression hydraulique correspondante, davantage de médium hydraulique dans la chambre partielle arrière (14A ou 14B) associée.
  2. Machine de formage selon la revendication 1, dans laquelle un dispositif de rappel (65, 75A, 75B) pour le rappel de l'élément d'entraînement (11A, 11B) est associé à la chambre partielle avant (15A, 15B), le dispositif de rappel étant notamment un dispositif de rappel hydraulique, notamment avec une pompe hydraulique qui règle la pression hydraulique dans la chambre partielle (15A, 15B) à au moins une valeur de pression de rappel déterminée.
  3. Machine de formage selon la revendication 1 ou la revendication 2, dans laquelle la pompe hydraulique (64A, 64B) sert à remplir la chambre partielle arrière (14A, 14B) avec le médium hydraulique.
  4. Machine de formage selon l'une des revendications précédentes, dans laquelle le ou chaque élément d'excentrique ((22A, 22B) entraîne, lors de son mouvement d'excentrique, un élément de transmission (18A, 18B) accouplé à l'élément d'entraînement hydraulique dans un mouvement de transmission, notamment l'élément de transmission mouvant en aller-retour, pendant le mouvement de transmission, dans la chambre d'hydraulique ou dans une chambre de relevage (17A, 17B) hydrauliquement reliée à la chambre d'hydraulique et également remplie du médium hydraulique, de préférence essentiellement de manière linéaire, et où notamment l'élément de transmission (18A, 18B) ou la chambre de relevage (17A, 17B) est hydrauliquement accouplée ou reliée à la chambre partielle arrière (14A, 14B) de la chambre d'hydraulique.
  5. Machine de formage selon l'une quelconque des revendications précédentes, dans laquelle le dispositif d'entraînement comprend au moins un moteur d'entraînement électrique (58), ledit au moins un élément d'excentrique étant apte à être entraîné ou est entraîné par ledit au moins un moteur d'entraînement via au moins un arbre d'entraînement (30, 23A, 23B) et tourne, en un mouvement d'excentrique, excentriquement par rapport à l'axe de rotation (E) de l'arbre d'entraînement, avec l'arbre d'entraînement.
  6. Machine de formage selon l'une quelconque des revendications précédentes, dans laquelle il est prévu, pour chaque outil de formage (4A, 4B), un porte-outil (5A, 5B) associé sur lequel l'outil de formage (4A, 4B) est fixé de préférence de manière amovible et qui est accouplé, pour l'entraînement, au dispositif d'entraînement hydraulique (11 A, 11 B) associé, l'accouplement étant réalisé notamment par une liaison détachable entre le porte-outil (5A, 5B) et une bride de fixation (6A, 6B) qui est fixée à l'extrémité d'une tige poussoir (7A, 7B) laquelle comporte, de son côté, de préférence guidée et supportée axialement par un palier axial (8A, 8B), une autre bride de fixation (9A, 9B) laquelle bride est reliée, de manière amovible, à une bride de fixation (10A, 10B) associée à l'extrémité frontale de l'élément d'entraînement (11A, 11B).
  7. Machine de formage selon la revendication 6, dans laquelle l'outil de formage (4A, 4B) est guidé et supporté au porte-outil (5A, 5B) associé de manière coulissante, notamment verticalement et/ou perpendiculairement par rapport au mouvement de rapprochement (R) ou que le porte-outil (5A, 5B) est conformé de façon que deux parties soient déplaçables l'une par rapport à l'autre et que l'une de ces parties porte l'outil de formage (4A, 4B), un dispositif d'ajustement (47) pour l'ajustage des outils de formage (4A, 4B) dans différentes positions de coulissement, notamment verticalement et/ou perpendiculairement par rapport au mouvement de rapprochement (R), étant prévu qui comporte par exemple une tige de guidage (48) qui relie les deux porte-outil (5A, 5B) l'un à l'autre et qui est déplaçable à l'aide d'une unité d'entraînement (47).
  8. Machine de formage selon l'une quelconque des revendications précédentes, dans laquelle l'outil de formage (4A, 4B) comporte une surface d'étirage (40), de préférence supérieure, et une surface de lissage (41), de préférence inférieure, et est supporté de façon à être déplaçable et est apte à être fixé dans deux positions afin de placer la surface d'étirage (40) ou la surface de lissage (41) dans la position (B) essentielle pour le mouvement de rapprochement (R).
  9. Machine de formage selon l'une quelconque des revendications précédentes, avec au moins un dispositif de mesurage de position (21A, 21B) pour mesurer la position de l'élément d'entraînement (11A, 11 B), la position mesurée étant utilisée de préférence comme paramètre pour une surveillance ou un réglage du procédé de formage.
  10. Machine de formage selon l'une quelconque des revendications précédentes, qui est une machine de formage liée à un travail ou liée à un chemin, de préférence un marteau-pilon ou une presse de forgeage.
EP10768893.9A 2009-10-06 2010-10-05 Machine de formage pour le forgeage, en particulier le forgeage par étirage, de pièces Active EP2485857B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009048428.0A DE102009048428B4 (de) 2009-10-06 2009-10-06 Umformmaschine zum Schmieden, insbesondere Streckschmieden, von Werkstücken
PCT/EP2010/064785 WO2011042408A1 (fr) 2009-10-06 2010-10-05 Machine de formage pour le forgeage, en particulier le forgeage par étirage, de pièces

Publications (2)

Publication Number Publication Date
EP2485857A1 EP2485857A1 (fr) 2012-08-15
EP2485857B1 true EP2485857B1 (fr) 2016-04-20

Family

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EP10768893.9A Active EP2485857B1 (fr) 2009-10-06 2010-10-05 Machine de formage pour le forgeage, en particulier le forgeage par étirage, de pièces

Country Status (5)

Country Link
US (1) US9457393B2 (fr)
EP (1) EP2485857B1 (fr)
JP (1) JP5654604B2 (fr)
DE (1) DE102009048428B4 (fr)
WO (1) WO2011042408A1 (fr)

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2666292A (en) * 1948-03-18 1954-01-19 United Eng Foundry Co Control system for hydraulic presses
US3339397A (en) * 1964-07-23 1967-09-05 Ges Fertigungstechnik & Maschb Forging machine
AT289513B (de) * 1969-06-27 1971-04-26 Ges Fertigungstechnik & Maschb Schmiedemaschine
AT290255B (de) * 1969-12-30 1971-05-25 Ges Fertigungstechnik & Maschb Schmiedemaschine
AT311768B (de) * 1972-06-09 1973-12-10 Gfm Fertigungstechnik Schnellhubschmiedepresse
DE2301537A1 (de) * 1973-01-12 1974-07-18 Bernd Ribback Haemmermaschine
DE2345528A1 (de) * 1973-09-10 1975-03-20 Schirmer & Plate Hydraulischer horizontaler schmiedeautomat
DE2345527A1 (de) * 1973-09-10 1975-03-20 Schirmer & Plate Horizontale schnellschmiedepresse
SU820975A1 (ru) 1979-02-12 1981-04-15 Экспериментальный Научно-Исследователь-Ский Институт Кузнечно-Прессовогомашиностроения Привод кузнечно-прессовой машины
JPS60177925A (ja) 1984-02-21 1985-09-11 Sumitomo Heavy Ind Ltd 複動プレス駆動用パワ−ジエネレ−タ
JPH0790315B2 (ja) * 1987-02-03 1995-10-04 住友重機械工業株式会社 長尺素材の鍛造プレス
DE4210504A1 (de) * 1992-03-31 1993-10-07 Pahnke Eng Gmbh & Co Kg Antrieb zur Hubverlagerung für Umformmaschinen
DE4232728C2 (de) * 1992-09-30 1998-01-29 Pahnke Eng Gmbh & Co Kg Umformmaschine mit Presszylinder mit zwei zugeordneten Kolbenpumpen

Also Published As

Publication number Publication date
JP2013506561A (ja) 2013-02-28
DE102009048428B4 (de) 2017-11-02
WO2011042408A1 (fr) 2011-04-14
JP5654604B2 (ja) 2015-01-14
DE102009048428A1 (de) 2011-04-07
US9457393B2 (en) 2016-10-04
US20120266642A1 (en) 2012-10-25
EP2485857A1 (fr) 2012-08-15

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