EP2634132B1 - Machine de traitement de récipient et procédé de calibrage - Google Patents

Machine de traitement de récipient et procédé de calibrage Download PDF

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Publication number
EP2634132B1
EP2634132B1 EP13150808.7A EP13150808A EP2634132B1 EP 2634132 B1 EP2634132 B1 EP 2634132B1 EP 13150808 A EP13150808 A EP 13150808A EP 2634132 B1 EP2634132 B1 EP 2634132B1
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European Patent Office
Prior art keywords
motor
calibration
container
zero point
filling
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EP13150808.7A
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German (de)
English (en)
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EP2634132A1 (fr
Inventor
Christian Goldbrunner
Florian Angerer
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Krones AG
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Krones AG
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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
    • B67C3/007—Applications of control, warning or safety devices in filling machinery
    • 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
    • B67C3/2617—Filling-heads; Means for engaging filling-heads with bottle necks specially adapted for counter-pressure filling the liquid valve being opened by mechanical or electrical actuation
    • B67C3/262—Filling-heads; Means for engaging filling-heads with bottle necks specially adapted for counter-pressure filling the liquid valve being opened by mechanical or electrical actuation and the filling operation stopping when the liquid rises to a level at which it closes a vent opening
    • 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
    • B67C3/2625—Filling-heads; Means for engaging filling-heads with bottle necks specially adapted for counter-pressure filling the liquid valve being opened automatically when a given counter-pressure is obtained in the container to be filled
    • B67C3/2628—Filling-heads; Means for engaging filling-heads with bottle necks specially adapted for counter-pressure filling the liquid valve being opened automatically when a given counter-pressure is obtained in the container to be filled and the filling operation stopping when the liquid rises to a level at which it closes a vent opening

Definitions

  • the invention relates to a container treatment machine according to the preamble of claim 1 and a method for calibrating according to the preamble of patent claim 6, and as from DE 10 2007 035 872 A known.
  • a known filling device as a filler container treatment machine has as a motor for positioning the return gas pipe to an electric servo linear motor, the rotor is coupled to the return gas pipe and this adjusted linearly with its lower end of the tube relative to a centering cone for an upper end of a container container positioned on Brownorgan is to set the target fill level.
  • An electronic control of the motor may be mounted with a program section included on the stator of the linear motor. This control is incorporated in the electronic control system of the container treatment machine to centrally control at least the function of positioning the return gas tube of each filling member of the container treatment machine.
  • the target filling level depends on the type of container and / or the liquid to be filled, and is usually programmed from a zero point of a container coordinate system.
  • the zero point of the container coordinate system coincides with the position of the upper container end when the container is properly positioned in the receptacle of the filling device for a filling cycle (e.g., the mouth edge of the mouthpiece of a bottle).
  • the lower pipe end of the return gas pipe should ideally be at the zero point. Due to the mechanical structure of the filling member and the engine is due to unavoidable manufacturing and assembly tolerances, however, the lower end of the tube with retracted into the reference position motor usually not exactly at the height of the zero point.
  • the invention has for its object to provide a container treatment machine of the type mentioned above and a method for calibrating, which make it possible to fill each container exactly to the Ziel collliere.
  • an optional deviation between the lower tube end of the return gas tube in the reference position of the engine and the zero point of the container coordinate system is determined by the calibration program routine included in the program section of the control.
  • the predetermined distance of the mechanical stop from the zero point is known. If the calibration travel is longer than this distance, the lower end of the pipe is above the zero point. If, however, the calibration travel is determined to be shorter than the predetermined distance, the lower end of the pipe is below the zero point, in each case in the reference position of the engine.
  • a new zero position corrected for the deviation of the lower pipe end in the container coordinate system can be determined in accordance with the reference position of the engine.
  • the travel path of the return gas pipe is internally lengthened or shortened to the target filling level in accordance with the deviation and related to the zero point. It could be programmed, for example, displaying the deviation and / or a shortened or extended travel to the Ziel Scholliere the shortened or extended travel. The deviation resulting from manufacturing and / or assembly tolerances can thus no longer lead to a falsification of the target filling level.
  • the engines of all filling devices provided in the container treatment machine are expediently calibrated sequentially in the same way before starting operation.
  • the adjusted zero position is equal to the zero point, i.e. no calibration of the engine is required.
  • the calibration tool is first positioned on the filling member instead of a container such that the mechanical stop provided for the lower pipe end maintains a predetermined and known distance from the zero point. Thereafter, a calibration program routine is executed via the controller, in which the motor is initially driven, for example, at least once from its reference position until the lower end of the tube of the return gas pipe rests against the mechanical stop of the calibration tool. The traversed travel of the motor is measured. From the predetermined distance and the determined or measured travel is automatically calculated in the reference position of the engine deviation between the lower end of the pipe and the zero point calculated.
  • each filling member is calibrated on the container treatment machine in this way to ensure the same and correctly related to the upper end of the container target filling height with continuous filling of a plurality of containers despite manufacturing and / or assembly-related tolerances.
  • the calibration tool is a insert detachably fixable in the receptacle, preferably instead of a centering cone for the upper container end.
  • the insert is positioned, for example, by means of a clip lock which precludes relative movements of the insert relative to the receptacle or the filling member.
  • the same calibration tool is expediently used for calibration for all filling elements of the container treatment machine.
  • the calibration tool is a pot piston, the one in the receptacle at a provided above the zero point stop surface, preferably for the then removed centering cone, applicable pot edge and one with the predetermined distance below the zero point lying, the mechanical stop for the lower Having tube end forming pot bottom.
  • the pot piston can be stably housed with a slight snug fit in the receptacle and fixed for example by the clamp lock for each calibration cycle.
  • the calibration program routine for activating the zero position of the lower tube end comprises a program step with a traversing movement of the motor back into the reference position to be carried out after determining the calibration traversing path.
  • the adjusted zero position is thus initially determined by calculation, but activated or released for later consideration only after re-referencing the engine. This increases the reliability when e.g. a calibration cycle should not have expired properly and must be repeated.
  • the engine of the return gas pipe is an electric servo linear motor with a rotor coupled to the return gas pipe.
  • the reference position of the motor can be defined by a mechanical reference stop with which the rotor or the return gas tube interacts.
  • the reference position is otherwise recognized by the controller in that the motor current is monitored with regard to exceeding a predetermined reference travel current threshold after or when the reference position is reached. This principle is useful even when planting the lower end of the pipe on the mechanical Stop taken into account.
  • the calculated deviation is set as the zero position of the motor adjusted by the deviation in the reference position in relation to the zero point of the container coordinate system.
  • This can be done, for example, such that the control-dependent set on the control path from the zero point for adjusting the Ziel collliere with the extent of the deviation is shortened or extended, for example, depending on whether the lower end of the pipe is in the reference position below or above the zero point.
  • the programming could also be such that the deviation is automatically subtracted or added when setting the travel distance to the Ziel collliere in the container coordinate system, or displayed when entering the path to the Ziel collliere the corrected by the deviation travel and this is then programmed.
  • the controller includes an input and display section with an operator for starting and executing the calibration program routine.
  • a touchscreen for requesting at least one calibration program step may be provided, preferably at least one homing drive of the motor to the reference position which releases or confirms the adjusted zero position.
  • a computing section for calculating the deviation by subtracting the calibration travel from the predetermined distance between the zero point and the stopper of the calibration tool may be provided.
  • the engine in the calibration program routine with respect to the Traversing speed is operated at filling cycles of reduced travel speed, ie the mechanical stop of the calibration tool moves very slowly.
  • Fig. 1 shows a part of a container treatment machine M, for example, a filler for filling containers 2 (here, for example bottles) in a continuous process and over several filling elements 1A, 1B, 1C on a rotor, not shown, and with, for example, a liquid to one of the container type and / or liquid grade dependent Ziel Schul Berg Z.
  • Each filling member has not shown components for controlling the supply in a filling cycle on a return gas pipe 6, which ends with its lower end of the tube 7 the filling cycle by the supply interrupted when immersing the lower pipe end 7 in the drink becomes.
  • the target filling level Z is realized via the positioning of the lower end 7 of the return gas pipe 6 immersed in the container 2.
  • the filling member 1A, 1 B, 1C has a lower-side receptacle 17, in which during a filling cycle, for example, a centering cone 5 is arranged, against which the container 2 is pressed with its mouthpiece 4 from below, so that the mouth edge (upper end of the container) of the Mouthpiece 4 in the receptacle 17 occupies a predetermined filling position 3, the example defines a zero point P1 of a container coordinate system within which the Ziel Scholliere Z is set as a distance from the zero point P1.
  • the return gas pipe 6 is by means of a arranged in or on the filling member motor 8 in the direction of arrow 14 between a reference position P2, for example defined by a reference stop 13, and at least one, not shown, lowered filling position (the lower pipe end 7 is at the height of Ziel Scholliere Z ) linearly movable.
  • the return gas pipe 6 can optionally be lowered even further down, for example, for a rinsing process or the like. (Not shown).
  • the motor 8 is for example an electric servo linear motor with a rotor 12, which is coupled to the return gas pipe 6 and is intercepted, for example, at the reference stop 13 in the reference position P2.
  • a reference travel current threshold To turn away from damage from the engine 8 is, for example, by Monitoring the motor current when reaching or exceeding a reference travel current threshold, the motor 8 automatically reversed and in the opposite direction over a small predetermined stroke, for example, 1.0 mm moved and stopped in this reference position P2 (mechanical software limit).
  • the receptacle 17 is contained in the illustrated embodiment of the filling member 1C in an accessible on one side, for example, the clip lock 29 annular flange 19.
  • a linear motor as the motor 8 and an adjustable magnetic coupling or screw, operated via a rotary servo motor can be used.
  • the motor 8 is connected to an electronic control CU, which may comprise a program section 9 and a calculating section 129, as well as an input and display section 10 with at least one actuator 11 (eg a push button) for starting and executing a calibration cycle for the motor, and optionally also a touch screen 28 for arranging and / or entering further parameters or method steps.
  • the controller CU can be connected to a central control of the container treatment machine M, which could optionally comprise the components 9, 129, 10, 11, 28 centrally for all filling elements.
  • the illustrated filling members 1A, 1B, 1C are subject to unavoidable manufacturing and / or assembly tolerances of the plurality of components accommodated in the filling member, in particular as regards the positioning of the return gas pipe 6 in the reference position P2. From such tolerances 6 different states can result in the reference positions of the motors of the return gas pipes, which in Fig. 1 are suggested as non-limiting examples.
  • Fig. 2 shows in an axial section of the filling member 1C of Fig. 1 a in the receptacle 17, for example, a circular cylindrical countersink 18 of the filling member 1C projecting liquid inlet 15, which cooperates with an inner, height-adjustable valve member 16 which is penetrated by the return gas pipe 6.
  • the return gas pipe 6 is coupled at the upper, not shown end, for example, with the rotor 12 of the motor 8, the reference stop 13 (eg minus 1.0 mm) is assigned to define the reference position P2.
  • the engine 8 and the return gas pipe 6 are not in the reference position P2, but has the return gas pipe 6 via the motor 8 just carried out a calibration path 26 in the downward direction.
  • a predetermined and known distance 24 Between the zero point P1 and a mechanical stop S for the lower tube end 7 forming pot bottom 23 is a predetermined and known distance 24 before.
  • the mouthpiece 4 of the container 2, which is not present when using the calibration tool W, is indicated by dashed lines in order to emphasize the zero point P1 of the container coordinate system more clearly.
  • the mechanical stop S is located, for example, 10 mm below the zero point P1.
  • the lower tube end 7 of the return gas tube 6 bears against the mechanical stop S, so that the lower tube end 7 also has the distance 24 from the zero point P1.
  • the lower pipe end 7, starting from the in Fig. 1 shown position P5 via the calibration path 26 down.
  • the calibration travel path 26 can be precisely measured and evaluated especially in the case of a linear motor, for example in the controller CU or the computing section 129.
  • the detected position P5 stored as the deviation 25 new zero position P1 'and taken into account for subsequent filling cycles in setting the Ziel collliere Z, for example, in the input from the traversing path between the zero point P1 (mouth edge of Mouthpiece 4 in the filling position 3) and the Ziel collliere Z, the deviation 25 is subtracted, so that the motor 8 after setting the Ziel collliere Z later executes only one path corresponding to the distance 27.
  • the adjusted zero position is calculated by the deviation X above the zero point P1, and the travel distance to the target filling height Z would then be longer by the deviation X than the travel path set or programmed in the container coordinate system.
  • the calibration tool W is removed from the receptacle 17 and, for example, the centering cone 5 of Fig. 1 used again.
  • the new zero position P1 'adjusted by the deviation 25 is then taken into account during the filling cycles.
  • Calibration cycles are suitably performed on the filling members 1A, 1B, 1C prior to the first start of operation, but need not necessarily be repeated if there is a change in the Ziel Scholliere Z in a grade change.

Landscapes

  • Filling Or Discharging Of Gas Storage Vessels (AREA)
  • Manufacture Of Motors, Generators (AREA)
  • Basic Packing Technique (AREA)

Claims (11)

  1. Machine de traitement de récipients ou contenants (M), notamment remplisseur, pour le remplissage en continu de récipients ou contenants (2) jusqu'à un niveau de remplissage cible (Z), comprenant au moins un organe de remplissage (1A, 1B, 1C), qui présente, du côté inférieur, un logement d'accueil de contenant (17) dans lequel peut être positionnée une extrémité supérieure de contenant dans une position de remplissage (3) correspondant à un point origine ou nul (P1) d'un système de coordonnées de contenant, et comprenant un tube de gaz de retour (6), qui, par rapport à la position de remplissage (3), peut être abaissé au moyen d'un moteur (8) à partir d'une position soulevée de référence (P2) définie, et dont l'extrémité de tube inférieure (7) peut être engagée dans l'extrémité supérieure du contenant pour régler le niveau de remplissage cible (Z), machine dans laquelle est prévue pour le moteur (8), une commande électronique (CU) pouvant être programmée par l'intermédiaire d'une section de programme (9) au moins avec la course de déplacement respective du point origine (P2) jusqu'au niveau de remplissage cible (Z),
    caractérisée en ce que la machine de traitement comporte un outillage de calibrage, et en ce que sur l'organe de remplissage (1A, 1B, 1C), à la place d'un contenant (2), est positionné l'outillage de calibrage (W), qui forme, pour l'extrémité inférieure de tube (7), une buté mécanique (S) située à une distance prédéterminée (24) en-dessous du point origine (P1), et en ce que la section de programme (9) de la commande (CU) comprend une routine de programme pour le calibrage du moteur (8) par calcul, en mesurant une course de déplacement de calibrage (26) du moteur (8) à partir de la position de référence (P2) jusqu'à l'appui de l'extrémité inférieure de tube (7) contre la butée (S) de l'outillage de calibrage (W), et pour déterminer un écart entre l'extrémité inférieure de tube (7) dans la position de référence (P2) du moteur (8) et le point origine (P1).
  2. Machine de traitement de contenants selon la revendication 1, caractérisée en ce que l'outillage de calibrage (W) est un insert (21) pouvant être fixé de manière amovible, de préférence à la place d'un cône de centrage (5) pour l'extrémité supérieure de contenant, dans le logement d'accueil (17), de préférence à l'aide d'un verrouillage à bague ou agrafe (29).
  3. Machine de traitement de contenants selon la revendication 2, caractérisée en ce que l'outillage de calibrage (W) est un insert de piston en coupelle (21), qui présente un bord de coupelle (22) pouvant s'appuyer dans le logement d'accueil (17) sur une surface de butée (20) prévue au-dessus du point origine (P1), de préférence pour le cône de centrage (5), et un fond de coupelle (23) situé à ladite distance prédéterminée (24) en-dessous du point origine (P1) et formant la butée (S) pour ladite extrémité inférieure de tube (7).
  4. Machine de traitement de contenants selon la revendication 1, caractérisée en ce que la routine de programme de calibrage comprend, pour l'activation d'une position d'origine (P1') corrigée avec l'écart calculé, une étape de programme d'un mouvement de déplacement du moteur (8) à nouveau jusqu'à la position de référence (P2), à effectuer après détermination de la course de déplacement (26).
  5. Machine de traitement de contenants selon la revendication 1, caractérisée en ce que le moteur (8) est un servomoteur électrique, linéaire, avec un induit (12) couplé au tube de gaz de retour (6), et en ce que la position de référence (P2) est de préférence définie par une butée de référence (13) mécanique pour l'induit (12) ou le tube de gaz de retour (6), de préférence par surveillance du courant de moteur lors du dépassement d'un seuil de courant de déplacement de référence prédéterminé, après avoir atteint la position de référence (P2).
  6. Procédé de calibrage d'un moteur (8) commandé par programme pour positionner un tube de gaz de retour (6), qui est agencé dans un organe de remplissage (1A, 1B, 1C) d'une machine de traitement de récipients ou contenants (M), notamment d'un remplisseur, et qui pour définir un niveau de remplissage cible (Z), peut être engagé, avec son extrémité inférieure de tube (7), dans l'extrémité supérieure d'un contenant (2) positionné dans l'organe de remplissage, par déplacement à partir d'une position de référence (P2) soulevée du moteur (8) par rapport à un point origine (P1) prédéterminé d'un système de coordonnées de contenant, le moteur (8) étant raccordé à une commande électronique (CU) pouvant être programmée au moins pour régler le niveau de remplissage cible (Z) fonction du contenant dans le système de coordonnées de contenant, caractérisé par les étapes suivantes :
    on place un outillage de calibrage (W) sur l'organe de remplissage (1A, 1B, 1C) et on le positionne de manière à ce qu'une butée (S) de l'outillage de calibrage (W) prévue pour l'extrémité inférieure de tube (7), se situe à une distance prédéterminée (24) sous le point origine (P1),
    on produit le déplacement du moteur (8) au moins une fois dans le cadre d'une routine de programme de calibrage, entre la position de référence (P2) et une position abaissée avec appui de l'extrémité inférieure de tube (7) contre la butée (S), en déterminant la course de déplacement de calibrage (26),
    à partir de ladite distance prédéterminée (24) et de la course de déplacement de calibrage (26) déterminée, on calcule automatiquement un écart (25) entre l'extrémité inférieure de tube (7) dans la position de référence (P2) du moteur (8) et le point origine (P1), et
    on tient compte de l'écart calculé, de manière compensatoire, lors du réglage du niveau de remplissage cible (Z).
  7. Procédé selon la revendication 6, caractérisé en ce que l'écart déterminé par rapport au point origine (P1) est pris en compte comme une position origine corrigée (P1') du moteur dans la position de référence (P2), de manière telle que la course de déplacement réglée en fonction du contenant dans la commande (CU) à partir du point origine (P1), est raccourcie ou rallongée de la valeur de l'écart pour régler le niveau de remplissage cible (Z), et est ainsi effectuée à partir de la position origine corrigée (P1'), suivant que l'extrémité inférieure de tube (7) dans la position de référence (P2) se situe en-dessous ou au-dessus du point origine (P1).
  8. Procédé selon la revendication 6, caractérisé en ce que la commande (CU) comporte une section de saisie (10) avec un actionneur (11) pour démarrer et exécuter la routine de programme de calibrage, et de préférence, un écran tactile (28) pour l'appel d'au moins une étape de programme de calibrage sélectionnée, de préférence d'au moins un déplacement de référencement du moteur (8) validant la position origine (P1') corrigée, dans la position de référence (P2).
  9. Procédé selon la revendication 6, caractérisé en ce que la commande (CU) comporte une section de calcul pour calculer l'écart par soustraction de la course de déplacement de calibrage (26) de la distance prédéterminée (24) entre le point origine (P1) et la butée (S) de l'outillage de calibrage (W).
  10. Procédé selon l'une au moins des revendications 6 à 9, caractérisé en ce que par surveillance du courant de moteur, le moteur (8) est déplacé automatiquement, respectivement lors du dépassement d'un seuil de courant de déplacement de référence et/ou d'un seuil de courant lors de l'appui de l'extrémité inférieure de tube (7) contre la butée (S), d'une course prédéterminée, de préférence d'environ 1 mm, dans la direction de déplacement respectivement opposée, et est ensuite arrêté.
  11. Procédé selon la revendication 6, caractérisé en ce que l'on fait fonctionner le moteur (8) pendant la routine de programme de calibrage, avec une vitesse de déplacement réduite par rapport à la vitesse de déplacement lors des cycles de remplissage.
EP13150808.7A 2012-02-28 2013-01-10 Machine de traitement de récipient et procédé de calibrage Active EP2634132B1 (fr)

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DE102012203008A DE102012203008A1 (de) 2012-02-28 2012-02-28 Behälterbehandlungsmaschine und Verfahren zum Kalibrieren

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EP2634132A1 EP2634132A1 (fr) 2013-09-04
EP2634132B1 true EP2634132B1 (fr) 2015-07-15

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CN105084277B (zh) * 2014-05-19 2018-01-16 上海诚兴机械电子有限公司 一种用于化妆品灌装机的伺服下潜装置
IT201800004468A1 (it) 2018-04-13 2019-10-13 Macchina riempitrice.

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DE19603604C1 (de) * 1996-02-01 1997-09-18 Nocado Getraenketechnik Gmbh & Getränkefüllorgan mit höhenverstellbarem Rückgasrohr
EP1195880B1 (fr) * 2000-10-04 2003-09-17 Nti Ag Procédé pour augmenter la précision de positionnement d'un élément mobile par rapport à un stator
DE102005031319B4 (de) * 2005-07-05 2017-02-16 Krones Aktiengesellschaft Vorrichtung zur Höhenverstellung eines Rückgasrohrs einer Füllmaschine
DE102006028266A1 (de) * 2006-06-20 2007-12-27 Khs Ag Verfahren zum Behandeln von Behältern sowie Behälterbehandlungsmaschine
DE102007035872A1 (de) 2007-07-31 2009-02-05 Krones Ag Vorrichtung für Behälter
JP5221275B2 (ja) * 2008-10-16 2013-06-26 アサヒビール株式会社 フィリングバルブの調整装置
IT1395607B1 (it) * 2009-09-14 2012-10-16 Ft System Srl Impianto di riempimento di bottiglie o contenitori a taratura continua e metodo di taratura in continuo di un tale impianto

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CN103288025A (zh) 2013-09-11
EP2634132A1 (fr) 2013-09-04
CN103288025B (zh) 2015-06-17
DE102012203008A1 (de) 2013-08-29

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