EP2598429B1 - Machine de remplissage - Google Patents

Machine de remplissage Download PDF

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Publication number
EP2598429B1
EP2598429B1 EP11720401.6A EP11720401A EP2598429B1 EP 2598429 B1 EP2598429 B1 EP 2598429B1 EP 11720401 A EP11720401 A EP 11720401A EP 2598429 B1 EP2598429 B1 EP 2598429B1
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EP
European Patent Office
Prior art keywords
filling
elements
container
process unit
gas
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
EP11720401.6A
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German (de)
English (en)
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EP2598429A1 (fr
Inventor
Ludwig Clüsserath
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KHS GmbH
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KHS GmbH
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Publication date
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Publication of EP2598429A1 publication Critical patent/EP2598429A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
    • B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
    • B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
    • B67C3/22—Details
    • B67C3/225—Means for filling simultaneously, e.g. in a rotary filling apparatus or multiple rows of containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B3/00—Packaging plastic material, semiliquids, liquids or mixed solids and liquids, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B3/04—Methods of, or means for, filling the material into the containers or receptacles
    • B65B3/10—Methods of, or means for, filling the material into the containers or receptacles by application of pressure to material
    • B65B3/14—Methods of, or means for, filling the material into the containers or receptacles by application of pressure to material pneumatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
    • B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
    • B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
    • B67C3/22—Details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
    • B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
    • B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
    • B67C3/22—Details
    • B67C3/26—Filling-heads; Means for engaging filling-heads with bottle necks
    • B67C3/2614—Filling-heads; Means for engaging filling-heads with bottle necks specially adapted for counter-pressure filling

Definitions

  • the invention relates to a filling machine according to the preamble of patent claim 1, and as shown in US 2,813,555 known.
  • Filling machines for filling bottles or similar containers in particular for pressure filling and / or for pressureless filling of bottles or similar containers when arranged in sealing position with the respective filling element containers are known in various designs.
  • pressure filling is generally to be understood as meaning a filling process in which the container to be filled in each case rests in a sealing position against the filling element and, as a rule, before the actual filling phase, i. is biased before opening the liquid valve via at least one controlled, formed in the filling gas path with a pressurized gas clamping gas (inert gas or CO2 gas), which is then displaced during filling of the inflowing the container contents increasingly as return gas from the container interior , also via at least one controlled gas path formed in the filling element.
  • This biasing phase may be preceded by further treatment phases, for example, evacuation and / or flushing of the container interior with an inert gas, e.g. CO2 gas, etc., also via the gas paths formed in the filling element.
  • non-pressurized filling is generally to be understood as meaning a filling process in which the container to be filled is preferably in sealing position against the respective filling element with its container mouth and the container interior is controlled before the actual filling phase, ie before the liquid valve is opened , formed in the filling element gas paths is pretreated, for example evacuated and / or with an inert gas, For example, CO2 gas is purged, in which case the gas which is increasingly displaced during the filling of the product flowing into the container is removed as a return gas via at least one controlled gas path formed in the filling element from the container interior.
  • In sealing position with the filling element befindaji container means in the context of the invention that each container to be filled in the manner known to the expert with its container mouth tightly against the filling element or to a local there, the at least one discharge opening of the filling element surrounding gasket pressed ,
  • Container in the context of the invention, in particular cans and bottles made of metal, glass and / or plastic, but also other packaging, which are suitable for filling of liquid or viscous products for pressure filling or for pressureless filling.
  • the filling elements each have a plurality of controllable gas paths, each with at least one control valve per gas path, for example, three Such control valves in order to achieve high flexibility for the filling machine, ie in particular to the respective product optimally adapted different filling methods, such as pressure filling, pressureless filling, etc.
  • the plurality the control valves means a significant design, assembly and control engineering effort. From the US 2,813,555 already a simple twin or double valve is known, by means of which synchronously two containers can be filled at the same time.
  • the object of the invention is to show a filling machine which, without sacrificing its flexibility with respect to different filling methods and without any losses in terms the quality of the filling process allows a significant reduction of the design, assembly and control technical effort.
  • a filling machine according to claim 1 is formed
  • the filling machine comprises in each case at least two filler points having a filling element, which are combined to form a functional or processing unit, wherein the at least one controlled gas path or the at least one control valve of this gas path are provided together for the filling elements of each functional and processing unit and through the machine control of the filling machine are controlled together.
  • each filling station or each filling element is equipped with an independent measuring system, in particular for detecting the filling level in the respective container and / or introduced into the respective container contents and / or the weight of the respective container and for controlling the filling element or its Liquid valve as a function of the measuring signal of the measuring system.
  • the measuring system is, for example, a probe or a return gas pipe for detecting and adjusting the filling level, a volume or flow measuring device for detecting the contents of the product and / or a weighing cell for detecting the weight.
  • the filling machine according to the invention is characterized by the characterizing features of claim 1.
  • the inventive construction not only reduces the number of necessary control valves compared to conventional filling machines by at least 50%, but it is also a significant reduction of the control engineering effort and the installation and maintenance effort is achieved, especially taking into account the fact that at has the today usual filling machines each filling element at least three controlled gas paths with three control valves.
  • a container carrier and, for example, cam-controlled lifting device are provided, with a controlled relative movement between the container carrier and the filling element, preferably a movement of the container carrier is generated relative to the filling element, namely for pressing the respective container in sealing position against the Filling elements and for releasing the filled container from the respective filling element.
  • the Lifting devices are provided separately, for example, for all filling elements or filling points of the filling machine or preferably together for the filling elements or filling points of each functional and processing unit, which is also the case for container carriers for a suspended support of the container (eg PET bottles) at one below the container opening provided container flange (neck ring) leads to a further simplification of the filling machine especially in terms of design and control technology.
  • the in the FIGS. 1 and 2 Generally designated 1 filling machine is used to fill containers in the form of bottles 2 with a liquid product and is designed as a filling machine of rotating design with a about a vertical machine axis in the direction of arrow A rotatably driven rotor 3.
  • This has at its peripheral region a plurality of filling points 4 and 4a, which are provided there distributed at equal angular and pitch intervals around the machine axis, in such a way that in the rotor rotational direction A in each case to a filling station 4, a filling station 4a and each filling station 4a again a filling station 4 follows.
  • one filling station 4 and one filling station 4a form a functional and processing unit 5 in the manner described in more detail below.
  • the filling station 4 is in front of the filling station 4a in each functional and processing unit 5 in relation to the rotor rotation direction A.
  • the empty bottles to be filled are the filling points 4 and 4a respectively individually on a container inlet formed for example by a transport star 3.1 fed.
  • the filled bottles 2 are taken from the filling stations 4 and 4b via a container outlet formed, for example, by a transport star, as indicated by the arrows B and C in FIG FIG. 1 is indicated.
  • FIG. 2 two filling stations 4 and 4a forming such a functional and process unit 5 are shown, of which the filling station 4 consists essentially of a filling element 6 and a container carrier 7 and the filling station 4a consists essentially of a filling element 6a and a container carrier 7a.
  • the container carrier 7 and 7a are designed in the illustrated embodiment so that the respective bottle 2 is held with a bottle or mouth flange hanging on the container carrier 7 and 7a, with its axis of the bottle coaxially with a vertical Greelementachse FA.
  • the two container carriers 7 and 7a are each cam-controlled in the illustrated embodiment in the direction of Greelementachse FA up and down, between a lowered state at the container inlet 3.1 for receiving the respective bottle to be filled 2 and the container outlet 3.2 for dispensing each filled Bottle 2 and a raised state movable, in which the respective bottle 2 is raised during the filling process with its bottle mouth in sealing position against the filling element 6 and 6a.
  • the lifting movement of all container carrier 7 and 7a and thus the container carrier 7 and 7a each functional and process unit 5 is controlled individually by cam rollers 8, which cooperate with a non-rotating, not shown, with the rotor 3 control cam.
  • the filling elements 6 and 6a are identical except for differences described below.
  • the filling element 6 has a formed in a Greelementgephaseuse 9 liquid channel 10, which at its upper Region is connected via a product line 11 with a common for all filling elements 6 and 6a of the filling machine 1 boiler 12.
  • a gas chamber 12.1 and below a liquid chamber 12.2 are formed in the boiler 12 on the local Gregutspiegel, in which the product line 11 opens.
  • the signal controls the volume or volume exact filling of the bottle 2.
  • the liquid channel 10 forms a discharge opening 14 for dispensing the liquid filling material in the respective bottle 2, which is arranged via a not shown, the discharge opening 14 annularly enclosing seal with its bottle opening in sealing position on the filling element 6.
  • a liquid valve 15 is provided in the flow direction of the contents before the discharge opening with a cooperating with a valve surface on the inner surface of the liquid channel 10 valve body 16 which is provided on a valve stem acting as a return gas pipe 17 and with this return gas pipe 17 by an actuator 18 for Opening and closing of the liquid valve 15 in the direction of the Standelementachse FA controlled up and down is movable.
  • each filling element 6 three controlled gas paths, each with a respective gas path controlling and preferably pneumatically actuated control valve (gas cylinder) 20, 21 and 22.
  • the return gas pipe 17 Via the gas valve containing the control valve 20, the return gas pipe 17 is connected with open control valve 20 with a rotor 3 for all filling elements 6 and 6a common annular channel 23 which is connected via at least one line 24 to the gas chamber 12.1 of the boiler 12.
  • the return gas pipe 17 is connected with the control valve 22 open to a ring channel 25 common to the rotor 3 for all the filling elements 6 and 6a, e.g.
  • control valve 21 containing gas path is open control valve 21, the return gas pipe 17, for example, for a slow unloading the filled bottle 2 or for a slow residual filling or brake filling the respective bottle 2 throttled connected to the annular channel 25.
  • the number of controlled gas paths and thus the number of control valves 20 - 22 may be greater than three.
  • the filling elements 6a are identical to the filling elements 6, but in such a way that the controllable gas paths formed in the filling element housing 9 of the filling elements 6a are part of the controllable gas paths of the respective associated filling element 6 of the functional and processing unit 5, ie the control valves 20-22 are for the two filling elements 6 and 6a of each functional and processing unit 5 are provided only once, in the illustrated embodiment on the respective filling element 6. Accordingly, the gas paths of both filling elements 6 and 6a of each functional and processing unit 5 are controlled together. However, each filling element 6a is connected to the boiler 12 via its own product line 11 with its own flow meter 13.
  • the closing of the liquid valve 15 takes place on both filling elements 6 and 6a of each functional and process unit 5, individually controlled by the flow meter 13 or by another measuring or sensor element detecting the filling level in the bottles 2 and / or the quantity of product introduced into the bottles 2. for example, by a filling height determining probe, by an extended return gas pipe, by a weighing device, etc.
  • control valves 20 - 22 results in a significant reduction in design effort, manufacturing costs and control effort by reducing the number of required control valves 20 - 22 of the filling machine to at least 50%.
  • the inventive construction also makes it possible to reduce the angular or pitch between the filling points 4 and 4a and thus increase the number of filling stations at the same rotor diameter. For example, in a filling machine for filling products containing CO2, e.g. for bottling beer, at the usual diameter of the rotor, the number of filling points are increased by at least 10%.
  • the filling elements 6 and 6a are suitable for different filling methods, for example for a pressure filling of the bottles 2 with the liquid product under biasing the bottles 2 before opening the liquid valve 15 with a lower Pressurized clamping gas from the annular channel 23 and from the gas space 12.1 of the boiler 12, but also for pressureless filling, in which then also filled with an inert gas chamber 12 is subjected to ambient pressure or a pressure slightly above the ambient pressure.
  • the common control is effected, for example, by means of the controlled gas paths having the control valves 20, 21 and 22.
  • the evacuation, tempering, calming and relieving phase of the filling process at the two filling elements 6 and 6a of each functional and processing unit 5, with process times stored in the machine control or in the local computer, for all filling elements 6 and 6a of all functions - And process units 5 apply.
  • FIGS. 3 and 4 show a schematic representation of a filling machine 1a, which differs from the filling machine 1 essentially only in that the filling points 4 and 4a are provided on the rotor 3a in two in the vertical machine axis offset from each other Golfebenen FE1 and FE2, in each Gearebene FE1 and FE2 again the filling points 4 and 4a, for example, such that under each filling element 6 of the upper filling level FE1 a filling element 6 of the lower filling level FE2 and under each filling element 6a of the upper filling level FE1 a filling element 6a of the lower filling level FE2 is provided.
  • the bottles 2 to be filled are fed to the filling machine 1a or the filling stations 4 and 4a in two planes via local container inlets 3a.1.
  • the filled bottles 2 are also taken in two levels at the Be Daveerausguen 3a.2 the filling points 4 and 4a.
  • the respective filling stations 4 and 4a in each filling level FE1 and FE2 are provided successively in the direction of rotation A of the rotor 3a, at least the liquid valves of the filling elements 6 and 6a of each functional and processing unit being individual are controllable, while the control valves 20, 21 and 22 are provided together again for the filling elements of each functional and processing unit.
  • the container carriers 7 and 7a of each functional and processing unit are movable either individually or together relative to the associated filling element 6 or 6a.
  • a filling element 6 or 6a of the filling level FE1 and a filling element 6 or 6a of the filling level FE2 are connected via their product line 11 to a common, leading to the liquid space 12.2 of the boiler 12 product line 26, in which in this embodiment for the filling elements 6 and 6a of both filling levels FE1 and FE2 a common flow meter 13 is provided.
  • adjustable throttle 27 is achieved that despite the difference in level of the filling levels FE1 and FE2 per unit time the lower filling element 6 or 6a with open liquid valve 15 inflowing amount of product is equal to the amount of product that the upper filling element 6 and 6a with open liquid valve 15 flows.
  • each product line 11 for each filling element 6 or 6a to provide its own flow meter 13 or to detect with other measuring or sensor means reached in the respective bottle level and / or introduced in the respective bottle contents individually and thus the liquid valves of each other arranged filling elements 6 and 6a individually to control, ie to close individually upon reaching the desired Artgut Escape or Medgutmenge.
  • control valves which control the gas paths of the filling elements 6, 6a of the respective functional and process unit 5 or 5a not on one of the filling elements or on the local filling element housing 9, but on a separate control block.
  • the filling elements 6, 6a assigned to each other or each forming a functional and process unit 5 also in the case of the filling elements 6, 6a Figures 3 and 4 illustrated embodiment are each arranged in a common filling plane FE1 and FE2.
  • the filling elements 6, 6a assigned to one another in different filling planes, for example the filling elements 6 in the upper filling plane FE1 and the filling elements 6a in the lower filling plane FE2 and, for example, such that under each filling element 6 the associated one Filling element 6a is provided, in which case again the upper filling elements 6 and the lower filling element 6a form a functional and process unit 5, in which the control valves 20-22 are jointly provided for the gas paths.

Claims (8)

  1. Machine de remplissage servant à remplir des contenants (2) d'un produit de remplissage liquide, comprenant une pluralité d'éléments de remplissage (6, 6a), formant respectivement un poste de remplissage (4, 4a), servant à remplir les contenants (2) disposés respectivement au niveau d'un poste de remplissage (4, 4a), sachant que les éléments de remplissage (6, 6a) prévus au niveau d'un élément de transport, par exemple au niveau d'un rotor (3, 3a), présentent respectivement au moins un canal pour liquide (10) raccordé à une ligne de produit servant à amener le produit de remplissage et réalisé dans un boîtier d'élément de remplissage (9), lequel forme au moins une ouverture de distribution pour le produit de remplissage et dans lequel est disposé au moins une soupape de liquide (15), ainsi qu'au moins un système de mesure (13) déterminant le niveau de remplissage et/ou la quantité de produit de remplissage et/ou le volume de produit de remplissage dans le contenant (2) respectif et prévu séparément pour chaque élément de remplissage (6, 6a), et comprenant au moins une voie de gaz commandée réalisée dans ou au niveau de chaque élément de remplissage (6, 6a) et pourvue d'au moins une soupape de commande (20, 21, 22), sachant que respectivement au moins deux postes de remplissage (4, 4a) et leurs éléments de remplissage (6, 6a) forment une unité fonctionnelle et opérationnelle (5), sachant que la au moins une soupape de commande (20, 21, 22) est prévue en commun pour la au moins une voie de gaz de tous les éléments de remplissage (6, 6a) de l'unité fonctionnelle et opérationnelle (5) respective,
    caractérisée en ce
    que les éléments de remplissage (6, 6a) présentent au moins trois voies de gaz commandées par respectivement une soupape de commande (20, 21, 22), sachant que les soupapes de commande (20, 21, 22) sont prévues en commun pour tous les éléments de remplissage (6, 6a) de chaque unité fonctionnelle et opérationnelle (5), sachant que les soupapes de commande (20, 21, 22) ou leurs voies de gaz sont réalisées par exemple en vue d'une mise sous vide du contenant respectif et/ou en vue d'une précontrainte du contenant (2) respectif à l'aide d'un gaz de précontrainte et/ou en vue d'une stabilisation du contenant disposé en position étanche avec l'élément de remplissage (6, 6a) après le remplissage et/ou en vue d'une décharge du contenant rempli à une pression environnante.
  2. Machine de remplissage selon la revendication 1, caractérisée en ce que respectivement au moins deux éléments de remplissage (6, 6a) adjacents au niveau de l'élément de transport (3, 3a), de préférence se suivant l'un l'autre dans le sens de transport (A) de l'élément de transport (3) forment l'unité fonctionnelle et opérationnelle (5) respective.
  3. Machine de remplissage selon la revendication 1 ou 2, caractérisée en ce que chaque poste de remplissage (4, 4a) présente un support de contenant (7, 7a), en ce que des moyens de levage (8) servant à produire un mouvement relatif commandé entre l'élément de remplissage (6, 6a) respectif et le support de contenant (7, 7a) respectif, de préférence servant à produire un mouvement de levage commandé du support de contenant (7, 7a) par rapport à l'élément de remplissage (6, 6a) associé sont prévus, et en ce que les moyens de levage (8) sont prévus séparément pour tous les éléments de remplissage (4, 4a) et sont prévus en commun pour les supports de contenants (7, 7a) de chaque unité fonctionnelle et opérationnelle (5).
  4. Machine de remplissage selon l'une quelconque des revendications précédentes, caractérisée en ce que les au moins trois voies de gaz commandées commandées par au moins respectivement une soupape de commande (20, 21, 22) relient un tube de reflux de gaz (17), qui débouche dans l'espace intérieur du contenant (2) respectif se trouvant en position étanche avec l'élément de remplissage (6, 6a), à un canal pour gaz (23, 25) commun à tous les éléments de remplissage de la machine de remplissage ou à un groupe d'éléments de remplissage (6, 6a) de la machine de remplissage (23, 25), lequel est relié pour sa part par exemple à un espace de gaz d'une chaudière (12) fournissant le produit de remplissage ou à une source de vide ou évacue l'air dans l'atmosphère.
  5. Machine de remplissage selon l'une quelconque des revendications précédentes, caractérisée en ce qu'elle est réalisée en vue d'un remplissage sous pression et/ou d'un remplissage sans pression des contenants (2) disposés en position étanche au niveau des éléments de remplissage (6, 6a).
  6. Machine de remplissage selon l'une quelconque des revendications précédentes, caractérisée en ce que les unités fonctionnelles et opérationnelles (5) formées par respectivement au moins deux éléments de remplissage (6, 6a) sont prévues au niveau de l'élément de transport (3, 3a) dans un unique plan de remplissage ou dans au moins deux plans de remplissage (FE1, FE2) décalés l'un par rapport à l'autre dans la direction verticale.
  7. Machine de remplissage selon l'une quelconque des revendications 1 à 5, caractérisée en ce que les éléments de remplissage (6, 6a) formant l'unité fonctionnelle et opérationnelle (5) respective sont prévus dans au moins deux plans de remplissage différents.
  8. Machine de remplissage selon l'une quelconque des revendications précédentes, caractérisée par des moyens de commande servant à ouvrir en même temps les soupapes de liquide (15) des éléments de remplissage (6, 6a) de chaque unité fonctionnelle et opérationnelle (5) et/ou servant à ouvrir les soupapes de liquide (15) de telle manière que dans chaque unité fonctionnelle et opérationnelle (5) la soupape de liquide (15) au moins d'un élément de remplissage (6, 6a), qui suit dans un sens de transport (A) de l'élément de transport (3, 3a) un élément de remplissage (6) de la même unité fonctionnelle et opérationnelle (5), est ouverte avec un décalage temporel, par exemple avec un décalage temporel allant de 60 à 140 millisecondes, de manière préférée avec un décalage temporel de 100 millisecondes.
EP11720401.6A 2010-07-28 2011-05-19 Machine de remplissage Active EP2598429B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010032573A DE102010032573A1 (de) 2010-07-28 2010-07-28 Füllmaschine
PCT/EP2011/002501 WO2012013255A1 (fr) 2010-07-28 2011-05-19 Machine de remplissage

Publications (2)

Publication Number Publication Date
EP2598429A1 EP2598429A1 (fr) 2013-06-05
EP2598429B1 true EP2598429B1 (fr) 2015-09-30

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Application Number Title Priority Date Filing Date
EP11720401.6A Active EP2598429B1 (fr) 2010-07-28 2011-05-19 Machine de remplissage

Country Status (7)

Country Link
US (1) US9302895B2 (fr)
EP (1) EP2598429B1 (fr)
JP (1) JP5992412B2 (fr)
CN (1) CN103025642B (fr)
BR (1) BR112013001786A2 (fr)
DE (1) DE102010032573A1 (fr)
WO (1) WO2012013255A1 (fr)

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US9790074B2 (en) 2013-02-25 2017-10-17 Khs Gmbh Filling system
DE102013101812A1 (de) * 2013-02-25 2014-08-28 Khs Gmbh Füllsystem sowie Füllmaschine
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EP2598429A1 (fr) 2013-06-05
WO2012013255A1 (fr) 2012-02-02
BR112013001786A2 (pt) 2020-08-04
CN103025642B (zh) 2014-09-24
US20130112315A1 (en) 2013-05-09
US9302895B2 (en) 2016-04-05
CN103025642A (zh) 2013-04-03
JP2013532618A (ja) 2013-08-19
JP5992412B2 (ja) 2016-09-14
DE102010032573A1 (de) 2012-02-02

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