EP2640973A1 - Verfahren und regelvorrichtung zur drehzahlvariablen regelung eines verdrängerpumpenaggregates sowie verdrängerpumpenanordnung - Google Patents
Verfahren und regelvorrichtung zur drehzahlvariablen regelung eines verdrängerpumpenaggregates sowie verdrängerpumpenanordnungInfo
- Publication number
- EP2640973A1 EP2640973A1 EP11782643.8A EP11782643A EP2640973A1 EP 2640973 A1 EP2640973 A1 EP 2640973A1 EP 11782643 A EP11782643 A EP 11782643A EP 2640973 A1 EP2640973 A1 EP 2640973A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- displacement pump
- control device
- positive displacement
- drive
- pump unit
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 239000012530 fluid Substances 0.000 claims abstract description 39
- 238000006073 displacement reaction Methods 0.000 claims description 91
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000001953 sensory effect Effects 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004907 flux Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/12—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by varying the length of stroke of the working members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems
- F04D15/0088—Testing machines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2201/00—Pump parameters
- F04B2201/12—Parameters of driving or driven means
- F04B2201/1202—Torque on the axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2201/00—Pump parameters
- F04B2201/12—Parameters of driving or driven means
- F04B2201/1208—Angular position of the shaft
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/02—Motor parameters of rotating electric motors
- F04B2203/0207—Torque
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/02—Motor parameters of rotating electric motors
- F04B2203/0209—Rotational speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems
- F04D15/0066—Control, e.g. regulation, of pumps, pumping installations or systems by changing the speed, e.g. of the driving engine
Definitions
- the invention relates to a method for navzahivariablen control of Verdrängerpumpenaggregates for conveying a fluid consisting of a positive displacement pump and a drive, wherein the drive consists of a provided with a stator and rotor electric drive motor and a frequency converter, by means of a control device, wherein a controlled variable of the positive displacement pump the crizvorrichiung is controlled to a desired value and a suitable control device for carrying out the method and a corresponding positive displacement pump assembly.
- Displacement pumps are often used to convey fluids, ie liquids or gases, at medium to high pressures and small flow rates.
- the drive is usually an electric asynchronous motor with upstream frequency converter used in combination with a designed as a process controller control device for variable-speed operation of the induction motor. Due to the variable-speed operation can be achieved with a measurement of the final pressure as a controlled variable of the positive displacement pump, a regulation of the pressure with changing flow rate.
- the control device is usually also provided in addition to the actual control for control, monitoring and / or diagnostic tasks. Frequency converter and control device are usually designed separately. To avoid overpressures and for rapid pressure reduction separate pressure relief valves are used in a conventional positive displacement pump assembly pressure side.
- position a method for sensorless control of rotor angle position or rotor position, hereinafter referred to simply as position, and speed of a synchronous reluctance known.
- the state values are speed and position of the synchronous reluctance motor and, via the torque-forming current component, its torque.
- the object of the invention is to provide a method for variable-speed control of a positive displacement pump unit, which increases the dynamics of the control and requires fewer individual components of the arrangement, and to provide a suitable control device for carrying out the method and a corresponding positive displacement pump arrangement.
- This object is achieved by a method in which at least one state provided by the drive state value, in particular torque and / or position of the drive motor is detected by the control device and from the control device, the controlled variable of the positive displacement pump is determined to the positive displacement pump unit without Use of sensors to control the setpoint.
- controlled variables of the displacement pump in particular the final pressure and the delivered fluid volume are provided.
- torque and position of the drive motor are detected as the state values of the drive.
- control device is also provided for control, monitoring and / or diagnostic tasks.
- the total functionality of the device simplifies the term control device used.
- Frequency converter and control device according to the invention can also be designed integrated.
- An embodiment of the method provides that the final pressure ais controlled variable of the positive displacement pump is determined by the control device to regulate the positive displacement pump unit without the use of sensors on the Endpecializingsoilwert. As a result, a control to a final pressure setpoint is created, which manages without a sensory detection of the final pressure.
- the final pressure of the positive displacement pump is regulated by means of a stored in the control device Motormoment- final pressure dependence of the positive displacement pump unit.
- the control device and / or the drive integrated with the control device is parameterized or adjusted by such a pressure model to the respective positive displacement pump.
- the engine torque-final pressure dependency stored in the control device is provided in the form of a characteristic curve, a value table, or the like.
- a formulaic relationship is also provided and can be stored in a storage device provided in the control device.
- a rotor with a synchronous reluctance motor can be sensor-less with respect to its rotor angle, hereinafter also referred to position, and its speed controlled.
- the torque of the motor is also available with the torque component that forms the moment.
- the nominal torque of the sensorless synchronous reluctance motor is already available when the engine is stopped, so that even with a flow rate of zero, the pressure can be maintained at the required level.
- the inventive method allows in connection with the sensorless synchronous reluctance motor starting a
- a predetermined volume of fluid is conveyed by the determined actual fluid volume is compared with the predetermined volume of fluid by the control device and a delivery operation of the positive displacement pump unit is stopped upon reaching the predetermined volume of fluid.
- the delivery volume per piston stroke of the positive displacement pump is added up.
- a valve arranged on the pressure side can be actuated by the control device and this can be closed.
- control device for carrying out the method according to the invention, wherein a controlled variable of a positive displacement pump is controlled by the control device to a desired value
- the control device means for detecting at least one provided by the drive state value, in particular torque and / or position of the drive motor, and a memory device, that the control device determines the controlled variable from the state value to regulate the positive displacement pump assembly without the use of sensors and on the basis of the state values supplied by the drive to the predetermined desired value.
- torque and position of the drive motor are expediently detected as state values of the drive.
- the final pressure of the positive displacement pump is used as a controlled variable. This allows the regulation of the final pressure to the final pressure setpoint without pressure sensors. From the position information of the drive motor can be controlled to the control variable funded fluid volume.
- an engine torque-end pressure dependency of the positive displacement pump unit is stored and the control device, the final pressure of
- Positive displacement pump by means of the motor torque-end pressure dependence of the positive displacement pump unit controls.
- the storage device serves to store the characteristic parameters or parameters characteristic of the respective positive-displacement pump. This takes place in the form of a characteristic curve, a value table, a formulaic relationship or the like. Conveniently, a linear relationship between engine torque and final pressure according to the above equation 1 is stored in the storage device.
- control device is able to determine from the position information of the drive motor, more precisely the angular position of the drive rotor, and the value of the closed displacement pump volume, the stroke volume, the conveyed fluid idvolumen and / or to regulate a predetermined fluid flow.
- a positive displacement pump assembly with a positive displacement pump unit for conveying a fluid
- the positive displacement pump unit consists of a positive displacement pump and a variable speed drive
- the drive consists of an electric drive motor and a frequency converter
- a controlled variable in particular end pressure and / or delivered fluid volume
- the positive displacement regulated is, and optionally with a pressure side arranged valve, in particular shut-off valve is characterized by a control device according to the invention.
- the valve, in particular the shut-off valve is controlled and / or regulated by the regulating device.
- the drive motor of the positive-displacement pump assembly is a sensor-synchronous synchronous reluctance motor with flux barriers.
- a flux reluctant synchronous reluctance motor can be controlled sensorless with regard to its rotor angle position, and its speed.
- state values of the control device speed, position and torque of the synchronous reluctance motor are available.
- the rated torque of the sensorless synchronous reluctance motor is already at a standstill Motor available, so that even at a flow rate of zero, the pressure can be maintained at the required level.
- With the sensorless synchronous reluctance motor it is also possible to start the positive displacement pump assembly against a closed slide valve. The desired final pressure is available immediately.
- the drive has means for sensory determination of the position and the rotational speed of the drive motor.
- the drive has for this purpose means for measuring electrical voltages and / or electric currents of the drive motor.
- Fig. 1 is a Verdrängerpumpenanix extract according to the prior art
- Fig. 2 shows a Verdrängerpumpenan extract invention
- Fig. 3 is a control technical representation of a pressure control according to the invention.
- 4b is a control technical representation of a process sequence according to the invention with regard to Fiuidvolumenbetician and valve closure.
- FIG. 1 shows a schematic view of a displacement pump arrangement 1 'according to the prior art.
- a positive displacement pump 2 is connected on its pressure side 3 and on its suction side 4 to a piping system of a system not shown and by means of a shaft 5 by an existing rotor and stator electric motor 6 ', here a conventional induction motor, driven.
- Electric motor 6 ' is variable speed operable and is supplied via a frequency converter 7' multi-phase, here three-phase, with a multi-phase, here three-phase, AC electrical network 9.
- the frequency converter 7 ' By means of a predetermined frequency setpoint fsoii the frequency converter 7 'operates the electric motor 6' at a certain but variable speed.
- Electric motor 6 'and frequency converter T form the drive for the positive displacement pump 2.
- a signal according to the final pressure p is the arrangement V detected and forwarded to a control device 1 1'.
- the control device 1 ' is used to control the final pressure p is the positive displacement pump 2 to a predetermined final pressure setpoint p so n by means of a frequency setpoint f so n.
- pressure relief valves necessary. Providing a required pressure at a flow rate equal to zero, the so-called zero flow rate, is not possible with this arrangement. The time to adjust the pressure when opening a pressure side arranged, not shown here, slider is increased.
- FIG. 2 shows a schematic representation of a positive-displacement pump arrangement 1 according to the invention with a positive-displacement pump unit for conveying a fluid, which consists of a positive-displacement pump 2 and a variable-speed drive.
- the drive is formed by a provided with a stator and rotor electric drive motor 6 and a frequency converter 7.
- the electric motor 6 is polyphase via the frequency converter 7, here three-phase, connected to a Wegphasigien, here three-phase, AC electrical network 9.
- a control device 1 1 controls the positive displacement pump 2 to a predetermined Enddrucksoliwert.
- On the pressure side 3 of the positive displacement pump 2 designed as a shut-off valve 13 is arranged for closing the pressure-side pipe.
- the control device 1 1 has means for detecting the motor state values Winkeliage (p ist , rotational speed w ist and torque M ist of the drive motor 6.
- the control device 1 has a memory device for storing parameters, dependencies and / or characteristic curves determines the final pressure pi St from the torque Mj St to the positive displacement pump unit without the use of sensors to the predetermined final pressure p soN regulate.
- the control device 11 has the pressure regulator 15, which is shown in detail in FIG. 3, and generates a required frequency setpoint f so n.
- neither a sensor signal of a pressure of the positive displacement pump nor of another sensor is required.
- the control device uses rather a stored in the memory device of the control device 11 engine torque-end pressure dependency of the positive displacement pump unit to control the final pressure p is the positive displacement pump by means of the motor torque-end pressure dependency of the positive displacement pump unit.
- the control device 11 is able to determine from the position information c is the drive motor 6 and a value of the closed displacement pump volume, the displacement, the volume of fluid delivered and / or to regulate a predetermined fluid delivery.
- the accuracy of the pressure determination can be improved by taking into account the dynamic torque component in the starting state.
- FIG. 4 a shows a control procedure according to the invention for determining a conveyed fluid volume in relation to initialization and valve opening.
- FIG. 4b shows the process sequence in relation to the actual volume determination and a final valve closure.
- start 1
- a valve 13 arranged on the pressure side 3 of the positive displacement pump 2 is opened for starting a delivery with a defined fluid delivery volume V so n and
- the condition whereby the control difference e is to be below a certain threshold ensures that a desired pressure level is built up before the pumping and, taking into account this starting condition, the determination of the determination of the volume is made on condition that the Positive displacement pump is completely filled.
- the initial angular position (p is t 10) is set to the actual value of the motor angular position (p is .)
- the delivered volume V is given by k 2 as the factor according to FIG. 4b corresponding to the closed delivery volume of the positive displacement pump (stroke volume):
- the volume determination is carried out cyclically in successive, marked with index k, iteration steps, where ⁇ represents the value for the entire swept angle distance of the rotor.
- ⁇ represents the value for the entire swept angle distance of the rotor.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010044053 | 2010-11-17 | ||
PCT/EP2011/070378 WO2012066090A1 (de) | 2010-11-17 | 2011-11-17 | Verfahren und regelvorrichtung zur drehzahlvariablen regelung eines verdrängerpumpenaggregates sowie verdrängerpumpenanordnung |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2640973A1 true EP2640973A1 (de) | 2013-09-25 |
EP2640973B1 EP2640973B1 (de) | 2018-10-03 |
Family
ID=44983558
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP11782643.8A Active EP2640973B1 (de) | 2010-11-17 | 2011-11-17 | Verfahren und regelvorrichtung zur drehzahlvariablen regelung eines verdrängerpumpenaggregates sowie verdrängerpumpenanordnung |
Country Status (6)
Country | Link |
---|---|
US (1) | US10690129B2 (de) |
EP (1) | EP2640973B1 (de) |
CN (1) | CN103328822B (de) |
BR (1) | BR112013012171B1 (de) |
DE (1) | DE102011086572B4 (de) |
WO (1) | WO2012066090A1 (de) |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102011010218B4 (de) * | 2011-02-03 | 2019-09-12 | Robert Bosch Gmbh | Verfahren zum Regeln des Drucks eines mittels einer drehzahlgeregelten Pumpe geförderten Fluids |
DE102013217698A1 (de) | 2012-09-05 | 2014-03-06 | Continental Teves Ag & Co. Ohg | Verfahren zum Betrieb eines Pumpenaggregats in einer elektrohydraulischen Fahrzeugbremsanlage und elektrohydraulische Fahrzeugbremsanlage |
CN103062027B (zh) * | 2012-12-24 | 2013-12-25 | 北汽福田汽车股份有限公司 | 一种用于混凝土泵送机械的控制方法和控制器 |
DE102013109410A1 (de) * | 2013-08-29 | 2015-03-19 | Prominent Gmbh | Verfahren zur Bestimmung einer physikalischen Größe in einer Verdrängerpumpe |
DE102013109411A1 (de) * | 2013-08-29 | 2015-03-05 | Prominent Gmbh | Verfahren zur Bestimmung von hydraulischen Parametern |
DE102013109412A1 (de) * | 2013-08-29 | 2015-03-05 | Prominent Gmbh | Verfahren zur Verbesserung von Dosierprofilen von Verdrängerpumpen |
DE102013113576A1 (de) * | 2013-12-05 | 2015-06-11 | Prominent Gmbh | Sensorlose Störungserkennung bei Dosierpumpen mit Schrittmotor |
CN103671060A (zh) * | 2013-12-06 | 2014-03-26 | 杭州哲达节能科技有限公司 | 无传感恒流泵阀集成装置 |
CN103615380B (zh) * | 2013-12-06 | 2016-08-17 | 杭州哲达节能科技有限公司 | 无传感恒压泵阀集成装置 |
DE102014102591A1 (de) * | 2014-02-27 | 2015-08-27 | Rausch & Pausch Gmbh | Verfahren zum Fördern von Hydraulikfluid und elektrohydraulische Motor-Pumpen-Einheit dafür |
DE102014214952A1 (de) * | 2014-07-30 | 2016-02-04 | Ksb Aktiengesellschaft | Verfahren zur Motorsteuerung eines Synchron-Reluktanzmotors für eine Pumpe und Pumpe mit Synchron-Reluktanzmotor |
BR112017020715A2 (pt) * | 2015-04-01 | 2018-06-26 | Koninklijke Philips Nv | unidade de bomba, método para controlar uma pressão gerada por uma unidade de bomba, e programa de computador |
DE102015208680A1 (de) * | 2015-05-11 | 2016-11-17 | Continental Automotive Gmbh | Verfahren zum Betrieb des Fluidfördersystems |
DE102015210244A1 (de) * | 2015-06-03 | 2016-12-08 | Continental Automotive Gmbh | Vorrichtung und Verfahren zum Ansteuern eines hydraulischen Systems für ein Kraftfahrzeug |
DE102015214019A1 (de) * | 2015-07-24 | 2017-02-23 | Continental Reifen Deutschland Gmbh | Verfahren zur Druckmessung |
DE102015214006A1 (de) * | 2015-07-24 | 2017-01-26 | Continental Reifen Deutschland Gmbh | Verfahren zur Druckmessung |
DE202015105177U1 (de) | 2015-09-30 | 2017-01-02 | Ebm-Papst St. Georgen Gmbh & Co. Kg | Anordnung zum Bestimmen eines Drucks |
NO340793B1 (en) * | 2015-11-05 | 2017-06-19 | Fmc Kongsberg Subsea As | Pump protection method and system |
DE102016216765A1 (de) | 2016-09-05 | 2017-06-14 | Brose Fahrzeugteile GmbH & Co. Kommanditgesellschaft, Würzburg | Verfahren und Fluidpumpe zum Fördern eines Fluids in einem Fluidkreislauf eines Kraftfahrzeugs |
CN110785562B (zh) * | 2017-08-28 | 2021-10-22 | 爱信艾达株式会社 | 控制装置 |
DE102018102153A1 (de) * | 2018-01-31 | 2019-08-01 | Hammelmann GmbH | Einrichtung zum Bearbeiten eines Werkstücks |
DE102018207207A1 (de) * | 2018-05-09 | 2019-11-14 | Robert Bosch Gmbh | Verfahren zum Steuern einer Fahrdynamikregelungsvorrichtung und Fahrdynamikregelungsvorrichtung |
DE102019112792A1 (de) * | 2019-05-15 | 2020-11-19 | Leistritz Pumpen Gmbh | Verfahren zur Ermittlung eines Durchflussvolumens eines durch eine Pumpe geförderten Fluids |
DE102019214650B3 (de) * | 2019-09-25 | 2020-12-10 | Hanon Systems Efp Deutschland Gmbh | Steuereinheit zur Druckregelung |
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AU2001281851A1 (en) * | 2000-07-17 | 2002-01-30 | Abm Greiffenberger Antriebstechnik Gmbh | Method for sensorless drive control of an electric vehicle and drive control operating according to said method |
JP2002335699A (ja) | 2001-05-09 | 2002-11-22 | Hitachi Ltd | 交流モータの制御装置 |
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-
2011
- 2011-11-17 DE DE102011086572.1A patent/DE102011086572B4/de not_active Expired - Fee Related
- 2011-11-17 EP EP11782643.8A patent/EP2640973B1/de active Active
- 2011-11-17 WO PCT/EP2011/070378 patent/WO2012066090A1/de active Application Filing
- 2011-11-17 BR BR112013012171-8A patent/BR112013012171B1/pt active IP Right Grant
- 2011-11-17 CN CN201180055143.7A patent/CN103328822B/zh active Active
-
2013
- 2013-05-15 US US13/894,976 patent/US10690129B2/en active Active
Non-Patent Citations (1)
Title |
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See references of WO2012066090A1 * |
Also Published As
Publication number | Publication date |
---|---|
BR112013012171A2 (pt) | 2021-07-27 |
US20130251540A1 (en) | 2013-09-26 |
BR112013012171B1 (pt) | 2022-03-29 |
EP2640973B1 (de) | 2018-10-03 |
US10690129B2 (en) | 2020-06-23 |
WO2012066090A1 (de) | 2012-05-24 |
DE102011086572B4 (de) | 2019-08-14 |
DE102011086572A1 (de) | 2012-05-24 |
CN103328822A (zh) | 2013-09-25 |
CN103328822B (zh) | 2016-08-10 |
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