EP2531730A1 - Servomoteur actionné par un fluide dans une robinetterie - Google Patents

Servomoteur actionné par un fluide dans une robinetterie

Info

Publication number
EP2531730A1
EP2531730A1 EP11703397A EP11703397A EP2531730A1 EP 2531730 A1 EP2531730 A1 EP 2531730A1 EP 11703397 A EP11703397 A EP 11703397A EP 11703397 A EP11703397 A EP 11703397A EP 2531730 A1 EP2531730 A1 EP 2531730A1
Authority
EP
European Patent Office
Prior art keywords
actuator
fluid
valve
linear actuators
mechanical
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
EP11703397A
Other languages
German (de)
English (en)
Other versions
EP2531730B1 (fr
Inventor
Jochen Schaible
Marcus Groedl
Stephan Schelp
Norbert Eufinger
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.)
Hoerbiger Automatisierungstechnik Holding GmbH
Original Assignee
Hoerbiger Automatisierungstechnik Holding 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 Hoerbiger Automatisierungstechnik Holding GmbH filed Critical Hoerbiger Automatisierungstechnik Holding GmbH
Publication of EP2531730A1 publication Critical patent/EP2531730A1/fr
Application granted granted Critical
Publication of EP2531730B1 publication Critical patent/EP2531730B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
    • F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
    • F15B15/065—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement the motor being of the rack-and-pinion type
    • 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
    • F15B15/18—Combined units comprising both motor and pump
    • 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
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/022—Installations or systems with accumulators used as an emergency power source, e.g. in case of pump failure
    • 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
    • F15B15/202—Externally-operated valves mounted in or on the actuator
    • 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
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2807—Position switches, i.e. means for sensing of discrete positions only, e.g. limit switches

Definitions

  • the present invention relates to a fluid-operated actuator to a valve, in particular a shut-off, safety or control valve.
  • valve actuators are known and in use.
  • these are in particular also fluid-operated valve actuators (see, for example, EP 0665373 Bl, EP 1418343 Bl, EP 1593893 Bl and EP 2101061 AI).
  • Such fluid-operated valve actuators can in particular in addition to a hydraulically or pneumatically actuated linear actuator whose slide can be coupled directly or optionally via a mechanical transducer to the input of the valve, a control valves and / or other fluidic control comprising base unit.
  • a drive unit for valves especially in shipbuilding.
  • a housing which encloses an electric motor, a driven by this pump, spreader elements and a hydraulic reservoir.
  • the housing is connected to a pivot drive, which comprises a piston with rack and a shaft.
  • US 4647003 A discloses an actuator for the valve of a shut-off valve.
  • the actuating device comprises a housing with a rotatably mounted therein, coupled to the rotary shaft of the valve shaft with an associated pinion, with which meshes the rack of at least one designed as a pneumatic cylinder linear actuator.
  • one or two pneumatic cylinders can be activated
  • CONFIRMATION COPY be attached to the housing.
  • corresponding connections to which the associated lines can be connected are provided on the housing and the cylinders of the linear actuators.
  • the present invention has set itself the task of providing a fluid-operated valve actuator, which is characterized by a particular practicality, especially for a broad user base particularly relevant properties such as high reliability and service life, low maintenance and ease of use, high power density and low Manufacturing and operating costs are combined.
  • the fluid-actuated valve actuator is characterized in particular by the fact that it comprises two opposing linear actuators and a arranged between them, the slide mutually coupling mechanical transducer whose output is coupled to the input of the valve comprises.
  • the valve actuator is constructed as a fluidic drive system in a modular manner from individual, assembled into a functional unit components in the form of the base unit, the two linear actuators and the mechanical transducer.
  • a particularly compact and efficient fluidic drive system is provided on a fitting, which can be designed as a closed system having only one electrical input and a mechanical output acting on the inlet of the fitting, and in this way to such an extent Maintenance and user-friendly, as was previously known only from electric valve actuators ago.
  • the joining of said components to the compact, closed fluidic drive system can be realized in particular by flanging the two linear actuators to the mechanical transducer, which in turn connects to the base unit via a flange connection (or possibly to the base unit itself) Notbetutzsblock) is connected.
  • a flange connection or possibly to the base unit itself
  • the said fluid connections can be equipped with self-closing barriers, especially in the area of the dividing planes through which they pass, between the said components, which prevent the escape of fluid or the unintentional penetration of contaminants along the dividing planes, in particular if individual components have been dismantled for the purpose of maintenance ,
  • filter elements eg in the form of filter pots
  • the valve actuator according to the invention structurally further developing technical aspects prove to be particularly advantageous in hydraulic valve actuators according to the present invention.
  • the Druckfizid- supply is decentralized, i. each associated with only a single valve actuator, organized by the base unit of the fluid-operated valve actuator according to the invention comprises a Druckfizid supply unit.
  • a hydraulically actuated valve actuator according to the present invention comprises such
  • Pressure fluid supply unit particularly preferably a hydraulic unit powered by a tank with a driven by an electric motor pump.
  • said Druckfizid supply unit on the other hand preferably comprises a driven by an electric motor, surrounding medium - preferably via a filter system - sucking pneumatic pump.
  • the fluid-actuated valve actuator according to the invention is designed as a hydraulic actuator in the above sense, it may, according to yet another preferred development, have a filling port suitable for initial filling of the fluid system with hydraulic fluid from a cartridge, in particular on the base unit. This allows the user-side commissioning of a hydraulically operated valve actuator according to the present invention, without the user being in any way in contact with hydraulic fluid.
  • module or modular construction plays a significant role, which allows the provision of individualized, specifically adapted to the particular requirement fittings drives at extremely competitive costs, not only the converter and the two linear actuators in terms of their Dimensioning can be varied individually, but rather the possibility explained further below, to combine functionally different linear actuators and mechanical transducers with each other. So can the said
  • mechanical converters convert the linear movement of the slides of the two linear actuators into a rotational movement, namely if the fitting has a rotatable locking member whose position can be changed by means of the fitting actuator.
  • a mechanical transducer with a linear output can be combined to form a functional unit with the same linear actuators.
  • pneumatic or hydraulic linear actuators can be installed, in turn, different embodiments can be used within the two groups used as
  • the fluidic control typically provided for valve actuators of the type in question here may cooperate with an electro-fluidic signal converter, which in particular may be arranged upstream of the base unit and may have a proportional output behavior.
  • An external electrical control unit which can include input means, a setpoint input, a control electronics, a communication unit, a signal output and / or a signal generator, can furthermore be connected to a signal input connected to the electro-fluidic signal converter. In the sense of a closed control loop, the actual value signal of a sensor assigned to the fitting can be fed back to the electrical control unit.
  • At least one of the two linear actuators in particular both linear actuators, is / is designed as a fluid-actuated actuator on both sides, wherein both working spaces are constantly connected to a pressurized fluid supply are connected.
  • both working spaces of the at least one linear actuator actuated on both sides are connected directly to the pressurized fluid supply and are specifically vented for positioning purposes, ie to change the position of the slide of the linear actuator in question, one of the two working spaces is Slider of the respective linear actuator in each operating position clamped with maximum rigidity, which allows a particularly good controllability.
  • fluid energy can be stored in a (especially external) accumulator to bring in the case of failure of the pressurized fluid supply, the valve at least still in a predetermined safety position can.
  • a mechanical storage spring is integrated into a mechanical storage spring.
  • such a mechanical accumulator spring is biased by fluid pressure and locked in the biased position, so that they are not constantly applied to the slide of the respective linear actuator in the sense that would have to be permanently worked against the force of the mechanical storage spring.
  • the mechanical storage spring acts on the slide of the associated linear actuator only after actuation of an unlocking, by means of which a blockage blocking the storage spring is released.
  • a blockage blocking the storage spring is released only in an emergency by removing the blockage mechanical accumulator combines the advantages of high reliability of the valve actuator with other aspects such as economy, compactness and dynamic response.
  • FIG. 1 is a perspective view from above of a valve actuator according to the present invention
  • FIG. 2 is a perspective view from below of the valve actuator of FIG. 1,
  • FIG 3 shows the valve actuator of FIGS. 1 and 2 in plan view from above
  • FIG. 4 the valve actuator according to FIGS. 1 to 3 in the view according to FIG. 3 with additional mounting parts, the valve actuator of FIG. 4 in side view,
  • a in the valve actuator according to FIGS. 1 to 5 alternatively alternatively usable linear actuator in the form of a spring actuator in longitudinal section.
  • FIGS. 1 to 3 of the drawing for actuating a valve, in particular a shut-off, safety or control valve, serving fluid-operated, namely hydraulic actuator 1 comprises as
  • Main components include a base unit 2 with an integrated pressure fluid supply unit 3, an emergency actuation block 4, a mechanical converter 5 flanged thereto, and a first linear actuator 6 and a second linear actuator 7.
  • the pressurized fluid supply unit 3 is a pump block 8, an electric motor 9 and one Tank 10 comprehensive hydraulic unit 11 executed.
  • the base unit 2 comprises, within the base block 12 connected directly to the pump block 8, the required control valves of the hydraulic control; In this respect, the actuating solenoids 13, which project from the base block 12 of the base unit 2, are shown corresponding solenoid valves.
  • the valve actuator For the explosion-proof design of the valve actuator is a base unit 2 together with the integrated pressure fluid supply unit 3 and the electrical and electronic components 14 enclosing flameproof enclosure provided from the in the drawing (only) the capsule sub-15 shown, the associated capsule Hood is not shown, however.
  • the capsule base 15 is clamped between the base unit 2 and the emergency operating block 4. It has the explosion-proof bushings designed in a known form for the electrical supply, signal and control lines. Furthermore, in the base block 12 with the emergency operating block 4 connecting hydraulic lines flame arresters are arranged.
  • a port 16 for an external hydraulic accumulator 17 (see Figures 4 and 5) provided for emergency actuation of the valve actuator in the event of failure of the regular control is provided on the emergency operating block 4.
  • the other an emergency operation of the valve actuator serving components such as emergency valves are housed.
  • To operate the emergency valves serve two devices, namely on the one hand a switch 18 and on the other hand a lever 19.
  • the switch 18 By means of the switch 18, an electrical actuation of the emergency valves is possible, for example in the event of failure of the regular control. Is the power supply interrupted and thus an actuation of the emergency valves by means of the switch 18 is not possible remains in any case, the purely mechanical actuation of the emergency valves by means of the lever 19th
  • the mechanical converter 5 comprises a designed as a converter block 20 housing, which is flanged directly to the valve to be operated, for which purpose the converter block 20 has threaded holes 21 for fastening screws on its underside. At the bottom of the transducer block is still acting on the shaft of the valve mechanical output 23 of the valve actuator. This includes in this embodiment, a square socket 22.
  • Alternative versions of the output to reliably transmit the necessary torque to the input of the valve are known and in use, for example, a shaft connection means
  • Adjusting spring Within the mechanical transducer 5, the linear movement of the slide 81 of the two oppositely arranged on the mechanical transducer 5 flanged linear actuators 6 and 7 is converted into a rotational movement of the output 23. This is achieved by a linear, parallel to the slides 81 forming piston 24 and 25 of the linear actuators 6 and 7 slidable rack 26 meshes with a pinion 27 which is rotatably connected to the mechanical output 23.
  • the rack 26 is part of a slider 72, which further comprises two connected at one end fixed to the rack cylindrical pressure and guide pieces 73 which are slidably guided in each case an associated guide bush 74 and on which the front side abutting them piston 24th or 25 of the linear actuators 6 and 7 act.
  • a control box 30 covered by a sighting glass 28 having a sighting glass 29 is mounted on its upper side.
  • an optical position indicator 31 connected in a rotationally fixed manner to the output 23 is arranged with a position indicator 32 protruding into the sighting dome 28 and thus readable from all sides.
  • an angle encoder 33 whose signal is returned to the electronic control, as well as two also connected to the controller sensors 34 for Endlagenabfrage, the two end positions can be defined by pins 35 which in a grid 36 in a rotatably connected to the output 23 disc 37 can be inserted.
  • the linear actuator 6 comprises a cylinder 38 in which the piston 24 is sealingly guided;
  • the linear actuator 7 comprises a cylinder 39, in which the piston 25 is sealingly guided.
  • Both cylinders 38 and 39 are each end closed by a cover 40 which defines together with the respective associated cylinder and the guided in this piston 24 and 25, a hydraulic working space 41, in which an associated hydraulic line 42 opens.
  • Each of the two linear actuators is equipped with hydraulic cushioning.
  • located within the respective working space 41 near the associated cover 40 each have a disc 43 with a central bore 44 and overflow 45.
  • a pin 46 is disposed frontally, which, when the piston of the Disk 43 approaches, with a slight clearance (annular gap) dips into the bore 44, thereby further displacement of hydraulic fluid from the working space 41 via the connection tion chamber 47 throttles into the hydraulic line 42 into and dampens in this way the further movement of the piston.
  • the discs 43 are complementary stops for the piston, for which purpose their exact position within the associated working space 41 by means of the adjusting screw 48 is adjustable.
  • the valve actuator 1 is constructed in a modular manner from the above-described individual, assembled into a functional unit components in the form of the base unit 2 including integrated pressure fluid supply unit 3, the Notbetuschistsblocks 4, the mechanical converter 5 and the two linear actuators 6 and 7.
  • said individual components are connected to one another by way of mutually paired flange surfaces.
  • the individual components with each other hydraulically connecting fluid connections are in the area of the interspersed separating planes between the individual components with self-closing barriers 49 aus-. tats. These only open when the two components concerned are fully assembled and, conversely, close automatically if the relevant components are disconnected when the valve actuator is disassembled.
  • the mechanical converter 5 shown has four hydraulic fluid transfers equipped with barriers 49, namely two for the working pressure of the two linear actuators and one each for tank and accumulator.
  • the barriers are structurally associated respectively filter elements 82 in the form of recorded in a pot 83 filters.
  • the valve actuator is prepared for a first filling of the fluid system with hydraulic fluid from (at least) one cartridge.
  • a filling connection 50 is provided on the emergency operating block 4.
  • Part of this filling connection is (see Fig. 9) designed as a hollow needle piercing mandrel 51, which opens the closure seal 52 of a screwed into the filling port 50 cartridge 53.
  • the cartridge 53 or the last cartridge required for complete filling of the fluid system remains at the filling port 50; it closes this and at the same time provides a compensation volume.
  • at least one hydraulic accumulator integrated into one of the two linear actuators 6 and 7 may be provided.
  • a hydraulic accumulator module 54 is flanged to the end face of the linear actuator 6.
  • This comprises a cylinder portion 55, a cover 56 which closes this end face and a mounting and coupling plate 57 closing the cylinder portion 55 at the other end.
  • a guide pin 58 is mounted on the cover 56, on which a stack of disk springs 59 is guided, which on the one hand abuts on the one hand Bearing 60 of the guide pin 58 is supported and on the other hand acts on the displaceably guided in the cylinder portion 55 piston 61.
  • Piston 61, cylinder section 55 and mounting and coupling plate 57 thereby limit a storage space 62, which is connected via a running in the mounting and coupling plate 57 hydraulic line 63 with the memory-side transfer 64 in combination.
  • This is, as well as the corresponding actuator-side transfer 65, again equipped with a self-closing barrier 49.
  • the cylinder 38 of the linear actuator 6 passing through tank hydraulic line 75 and also the cylinder 38 of the linear actuator 6 passing through memory hydraulic line 76, the associated transfers 77 and 78 end, which cooperate with corresponding transfers 79 and 80 of the mechanical transducer 5.
  • the hydraulic fluid clamped in the storage space 62 is switched to one of the two linear actuators 6 or 7 during emergency actuation of the valve actuator via a corresponding actuation of the valves of the emergency actuation block 4, depending on whether the valve is to be opened for the safety position but close is. The same is true for the rest of the use of the external hydraulic accumulator 17 described above.
  • the linear actuators can be made relatively small, which allows a particularly compact design of the valve actuator.
  • one of the linear actuators may be embodied as a pure spring actuator 70, which, as illustrated in FIG. 11, comprises an integrated mechanical storage spring 71 and, moreover, is constructed substantially like the hydraulic storage module explained above.
  • the two linear actuators on the mechanical transducer 5 can be functionally combined arbitrarily and the converter at each of its two connection points a fluidic actuator, a mechanically coupled Federaktua- tor, a mechanically decoupled spring actuator with fluidic actuation or a mechanically decoupled spring actuator with fluidic actuation and one of them receive independent additional mechanically coupled fluidic actuator, wherein the fluidic control is taken over in all cases by the base unit.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Actuator (AREA)
  • Fluid-Driven Valves (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
  • Mechanically-Actuated Valves (AREA)
  • Magnetically Actuated Valves (AREA)

Abstract

L'invention concerne un servomoteur (1) actionné par un fluide, dans une robinetterie, en particulier une robinetterie à robinet d'arrêt, à robinet de sécurité ou à robinet de réglage, comprenant un ensemble de base (2) présentant des soupapes de commande, deux actionneurs linéaires (6, 7) opposés entre eux, commandés par un fluide via les soupapes de commande, et un transducteur mécanique (5), disposé entre les deux actionneurs linéaires, reliant leurs tiroirs entre eux, dont la sortie est accouplée avec l'entrée de la robinetterie. Le servomoteur est de type modulaire, comprenant des composants individuels, assemblés de manière à former un ensemble fonctionnel, sous forme d'ensemble de base comprenant les deux actionneurs linéaires et le transducteur mécanique.
EP11703397.7A 2010-02-05 2011-02-04 Servomoteur de vanne actionné par un fluide Active EP2531730B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010007137A DE102010007137A1 (de) 2010-02-05 2010-02-05 Fluidbetätigter Stellantrieb an einer Armatur
PCT/EP2011/000527 WO2011095350A1 (fr) 2010-02-05 2011-02-04 Servomoteur actionné par un fluide dans une robinetterie

Publications (2)

Publication Number Publication Date
EP2531730A1 true EP2531730A1 (fr) 2012-12-12
EP2531730B1 EP2531730B1 (fr) 2015-06-10

Family

ID=43836890

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11703397.7A Active EP2531730B1 (fr) 2010-02-05 2011-02-04 Servomoteur de vanne actionné par un fluide

Country Status (9)

Country Link
US (1) US8752806B2 (fr)
EP (1) EP2531730B1 (fr)
JP (1) JP5816200B2 (fr)
KR (1) KR101730208B1 (fr)
CN (1) CN102834617B (fr)
BR (1) BR112012019643B1 (fr)
DE (1) DE102010007137A1 (fr)
RU (1) RU2551468C2 (fr)
WO (1) WO2011095350A1 (fr)

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US10655651B2 (en) 2015-06-15 2020-05-19 Festo Se & Co. Kg Rotary actuator with position feedback device and process valve module

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WO2017004479A1 (fr) * 2015-07-01 2017-01-05 Tescom Corporation Dispositif de commande électropneumatique résistant aux explosions
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US10670054B2 (en) 2017-10-25 2020-06-02 Dresser, Llc Constructing valve positioners for hazardous areas
US11306748B2 (en) 2017-10-25 2022-04-19 Dresser, Llc Constructing valve positioners for hazardous areas
DE102018116830A1 (de) 2018-07-11 2020-01-16 Agilent Technologies, Inc. - A Delaware Corporation - Ventilanordnung mit Ventilmodul und Basismodul
CN110514946B (zh) * 2019-07-12 2021-11-23 国网浙江省电力有限公司嘉兴供电公司 一种高安全性的直流接地试验装置
CN110608311B (zh) * 2019-07-23 2024-04-16 太重集团榆次液压工业(济南)有限公司 船用阀门手自一体液压驱动器及驱动方法
CN111396620B (zh) * 2020-04-21 2024-07-26 浙江中孚流体机械有限公司 一种太阳能供电控制矿用高压调节阀
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JP2024097282A (ja) * 2023-01-05 2024-07-18 高松 陳 空圧式アクチュエータ
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Also Published As

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RU2551468C2 (ru) 2015-05-27
WO2011095350A1 (fr) 2011-08-11
EP2531730B1 (fr) 2015-06-10
BR112012019643B1 (pt) 2021-01-12
CN102834617A (zh) 2012-12-19
BR112012019643A2 (pt) 2016-05-03
KR20120120285A (ko) 2012-11-01
US20130015379A1 (en) 2013-01-17
RU2012134334A (ru) 2014-03-10
US8752806B2 (en) 2014-06-17
KR101730208B1 (ko) 2017-05-11
DE102010007137A1 (de) 2011-08-11
CN102834617B (zh) 2016-03-02
JP2013519046A (ja) 2013-05-23
JP5816200B2 (ja) 2015-11-18

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