EP2746215B1 - Befüllungsmaschine insbesondere zum Befüllen eines Behälters mit einer pasteurisierten Flüssigkeit - Google Patents

Befüllungsmaschine insbesondere zum Befüllen eines Behälters mit einer pasteurisierten Flüssigkeit Download PDF

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Publication number
EP2746215B1
EP2746215B1 EP12425204.0A EP12425204A EP2746215B1 EP 2746215 B1 EP2746215 B1 EP 2746215B1 EP 12425204 A EP12425204 A EP 12425204A EP 2746215 B1 EP2746215 B1 EP 2746215B1
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EP
European Patent Office
Prior art keywords
gas
filling
liquid
tank
line
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Not-in-force
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EP12425204.0A
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English (en)
French (fr)
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EP2746215A1 (de
Inventor
Stefano d'Errico
Enrico Cocchi
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Sidel SpA
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Sidel SpA
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Priority to EP12425204.0A priority Critical patent/EP2746215B1/de
Priority to US14/136,537 priority patent/US20140174597A1/en
Priority to JP2013263745A priority patent/JP2014129143A/ja
Priority to CN201310713962.7A priority patent/CN103879941A/zh
Publication of EP2746215A1 publication Critical patent/EP2746215A1/de
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Publication of EP2746215B1 publication Critical patent/EP2746215B1/de
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Classifications

    • 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
    • B65B31/00—Packaging articles or materials under special atmospheric or gaseous conditions; Adding propellants to aerosol containers
    • B65B31/04—Evacuating, pressurising or gasifying filled containers or wrappers by means of nozzles through which air or other gas, e.g. an inert gas, is withdrawn or supplied
    • B65B31/044—Evacuating, pressurising or gasifying filled containers or wrappers by means of nozzles through which air or other gas, e.g. an inert gas, is withdrawn or supplied the nozzles being combined with a filling device
    • 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
    • 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
    • B67C3/06—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus using counterpressure, i.e. filling while the container is under pressure
    • 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
    • B67C3/28—Flow-control devices, e.g. using valves
    • B67C3/287—Flow-control devices, e.g. using valves related to flow control using predetermined or real-time calculated parameters

Definitions

  • the present invention relates to a filling machine, in particular for filling a container with a pasteurized liquid, according to the preamble of claim 1 and as known from WO 2012/137317 A1 .
  • filling machines typically comprise a filling station, to which empty containers are fed and which supplies, at its output, containers filled with a liquid.
  • the filling station essentially has a carousel conveyor, rotating about a vertical rotation axis and carrying a plurality of filling devices, which are radially spaced apart from the rotation axis of the conveyor. More specifically, the conveyor comprises a plurality of container supports for positioning the mouths of the containers beneath the respective filling devices, and for moving the containers along with the respective filling devices along an arc-shaped path about the rotation axis.
  • Each filling device substantially comprises a filling chamber and a filling head movable along a direction parallel to the rotation axis of the conveyor, so as to move from and towards the respective container mouth.
  • Each filling device further comprises a stopper movable inside the filling chamber between a closed position, to cut off the liquid flow to the mouth of the respective container, and an open position, to put the filling chamber in communication with such a mouth, thereby enabling the liquid to flow into the container.
  • the filling machine further comprises a supply system connecting the filling chambers to a main tank, in which liquid for filling the containers is stored and pressurized.
  • the supply system comprises: a supply line, connecting the filling station to the main tank; a buffer tank, having a bottom portion communicating with the supply line and a top portion which contains a gas, i.e. carbon dioxide, and communicates with a gas line to pressurize the liquid of the bottom portion; and a pump arranged along the supply line between the buffer tank and the filling station and controlled to supply the liquid from the bottom portion of the buffer tank to the filling station, without recirculation of the liquid to the main tank.
  • a supply line connecting the filling station to the main tank
  • a buffer tank having a bottom portion communicating with the supply line and a top portion which contains a gas, i.e. carbon dioxide, and communicates with a gas line to pressurize the liquid of the bottom portion
  • a pump arranged along the supply line between the buffer tank and the filling station and controlled
  • each container Before being filled with a carbonated liquid, each container is subjected to some preliminary steps, in particular to a first evacuation step, in which air is sucked from the container by means of a vacuum system; to a flushing step, in which carbon dioxide is supplied into the container and mixed with the remaining air; to a second evacuation step, in which the mix of residual air and carbon dioxide is sucked by means of the vacuum system; and a pressurization step, in which carbon dioxide is supplied from the above mentioned gas line into the container to pressurize the container to a given pressure.
  • a first evacuation step in which air is sucked from the container by means of a vacuum system
  • a flushing step in which carbon dioxide is supplied into the container and mixed with the remaining air
  • to a second evacuation step in which the mix of residual air and carbon dioxide is sucked by means of the vacuum system
  • a pressurization step in which carbon dioxide is supplied from the above mentioned gas line into the container to pressurize the container to a given pressure.
  • each filling device further comprises a sensing device, in particular a probe, for detecting the level of the liquid inside the container.
  • the carbon dioxide at the container neck is depressurized, so that the pressure above the liquid level equals atmospheric pressure.
  • the gas used for pressurizing the containers before filling is not pure, as it comes from a storing space, i.e. the upper portion of the buffer tank, where the gas is in contact with the liquid.
  • the control of the filling process should be carried out promptly in response to changes of the static head of the main tank.
  • reference number 1 indicates, as a whole, a machine (partially and schematically shown) for filling containers 2 with liquid.
  • each container 2 is defined, by way of example, by a glass or plastic bottle, has a substantially vertical axis 3, is bounded at the bottom by a bottom wall 4 substantially perpendicular to axis 3, and has a top neck 5 substantially coaxial with axis 3.
  • filling machine 1 comprises a filling station or filling assembly 6; and a liquid supply line 7, which puts the filling station 6 into communication with a liquid tank 8, without any buffer tank and without any pump between liquid tank 8 and filling station 6.
  • Liquid tank 8 contains the liquid the containers 2 have to be filled with, and comprises an upper portion 9 connected to a pressurized gas source 10, in particular a carbon dioxide source, to pressurize the liquid.
  • a pressurized gas source in particular a carbon dioxide source
  • the liquid is defined by beer obtained by means of a pasteurization process.
  • liquid tank 8 is not part of the machine 1 and is connected to the supply line 7 by means of pipe fittings (not shown).
  • Supply line 7 may be provided with a shut-off valve to possibly close the liquid flow passage towards the filling station 6.
  • Filling station 6 has at least one supporting and filling unit 14, which comprises a filling device 15 and a support 16, located beneath device 15 and designed to support the bottom wall 4 of a respective container 2.
  • Unit 14 further comprises an actuator (not shown) to move one of device 15 and support 16 along a vertical axis, in relation to the other one of device 15 and support 16, in order to couple/uncouple device 15 to the upper mouth of the container 2 that has been received on the support 16.
  • filling station 6 has a plurality of the above-mentioned units 14, which are carried by a conveyor 19 (partially shown), forming part of the filling machine 1, and are transferred along a path, while the containers 2 are being filled with the liquid supplied by the respective devices 15.
  • Conveyor 19 is preferably defined by a carousel conveyor, mounted on a base structure to rotate continuously about a substantially vertical axis 20.
  • Conveyor 19 receives a succession of empty containers 2 from an input wheel 21, which cooperates with the conveyor 19 at a transfer station 22 and is mounted to rotate about an axis parallel to axis 20.
  • Conveyor 19 releases a succession of filled containers 2 to an output wheel 24, which cooperates with the conveyor 19 at a transfer station 25 and is mounted to rotate about an axis also parallel to axis 20.
  • the rotations of the input wheel 21 and the output wheel 24 are continuous and synchronized with the rotation of the carousel conveyor 19.
  • units 14 are equally spaced from each other about axis 20 and are equally spaced from axis 20. Therefore, units 14 are moved by conveyor 19 along a circular path, through stations 22 and 25, and transfer the respective containers 2 from station 22 to station 25 along an arc-shaped path.
  • filling station 6 has an annular chamber 28, which is arranged around axis 20 and is connected to an end of the supply line 7 and to all the devices 15.
  • Each device 15 comprises a fastening body (not shown), coupled to conveyor 19; an inner chamber (not shown) having a lower outlet 30; and an inlet 31, which is in communication with the annular chamber 28 to receive liquid that has to be supplied into the mouth of the respective container 2 through outlet 30.
  • Each device 15 further comprises a stopper device (not shown) controlled for opening/closing the outlet 30 so as to allow/shut-off liquid flow to the respective container mouth.
  • Devices 15 preferably comprise respective suction ports 33, which are connected to a vacuum source 34 by means of a pneumatic line 35, to remove air from the containers 2 before filling the latter.
  • devices 15 comprise respective gas ports 36, which permanently communicate with a gas line 37.
  • Each gas port 36 defines either a gas inlet, to pressurize the respective container 2 with a gas, in particular with carbon dioxide, supplied by gas line 37 before filling the container 2 with the liquid; or a gas outlet, to let the gas flow out of the container 2 into gas line 37 when the container 2 is being filled. Therefore, line 37 is the only gas conduit for supplying gas to, and receiving gas from, the devices 15.
  • filling machine 1 comprises a known cleaning system 39 connected to the liquid tank 8 and to the filling station 6.
  • Gas line 37 may be provided with a shut-off valve (not shown) and defines part of a gas system 40, further comprising a gas tank or gas accumulator 41, which is connected to an end of gas line 37 and is external to the filling station 6.
  • Gas system 40 is separate and independent from the upper portion 9 of the liquid tank 8, i.e. there is no fluid communication between upper portion 9 and gas system 40.
  • Gas tank 41 can be provided with a pressure sensor, level sensors, a water drainage device, a safety valve, filters, etc., which are not shown in detail.
  • Gas tank 41 is connected to a pressurized gas source 42, similar to source 10, by means of an adjustment valve 44, which is automatically controlled by an electronic control unit 45 to open/close gas flow passage between source 42 and line 37.
  • valve 44 When valve 44 is opened to allow gas flow, source 42 supplies gas into the gas tank 41 and therefore pressure in the whole gas system 40 increases.
  • Gas tank 41 is also connected to a discharge opening 46 by means of an adjustment valve 48, which is also automatically controlled by unit 45 to open/close gas flow passage between line 37 and the external environment.
  • valve 48 When valve 48 is opened to allow gas flow, gas is discharged from gas tank 41 into the atmosphere and therefore pressure in the whole gas system 40 decreases.
  • opening 46 is provided with a silencer (not shown), to reduce noise of gas flowing out of gas tank 41.
  • valves 44,48 are connected to the gas tank 41 by means of pipes which are distinct from the gas line 37, or they are directly mounted on the gas tank 41.
  • each container 2 Before being filled with the liquid, each container 2 is subjected to some preliminary steps, in particular to a first evacuation step, in which air is sucked from the container 2 by means of the vacuum source 34; to a flushing step, in which gas is supplied into the container 2 from the gas port 36 and mixed with the remaining air; to a second evacuation step, in which the mix of residual air and gas is sucked by means of the vacuum source 34; and a pressurization step, in which gas is supplied from the gas port 36 into the container 2 to pressurize the container 2.
  • a first evacuation step in which air is sucked from the container 2 by means of the vacuum source 34
  • a flushing step in which gas is supplied into the container 2 from the gas port 36 and mixed with the remaining air
  • second evacuation step in which the mix of residual air and gas is sucked by means of the vacuum source 34
  • a pressurization step in which gas is supplied from the gas port 36 into the container 2 to pressurize the container 2.
  • each filling device After pressurization, the stopper device opens and the container 2 is filled.
  • filling may comprise a fast-rate first filling step and, afterwards, a slow-rate second filling step.
  • each filling device further comprises a sensing device, in particular a probe, for detecting the level of the liquid inside the container 2.
  • the gas still present at the neck 5 is depressurized, so that the pressure above the liquid equals atmospheric pressure.
  • Unit 45 has a controller that controls opening and closing of valves 44 and 48 as a function of a feedback value defined by the difference in pressure between the supply line 7 and the gas line 37.
  • this feedback value is detected by a differential pressure sensor 51, which receives pressure fluid signals from both lines 7 and 37 and transmits an electric signal, correspondent to the detected pressure difference, to unit 45.
  • the feedback value can be calculated as difference between two pressure values detected by respective pressure sensors arranged along lines 7 and 37.
  • Unit 45 compares the feedback value with a set-point S, defined by a single value or a range, and controls valves 44 and 48 to bring the pressure difference between lines 7 and 37 to the set-point S.
  • Set-point S can result from data stored in a memory of unit 45 or can be set by means of a remote interface.
  • set-point S is variable as a function of the kind of filling process and/or as a function of the kind of liquid.
  • the controller of unit 45 is a PID controller.
  • the pressure in gas system 40 is adjusted by means of the valves 44,48 and the control carried out by unit 45, in order to keep the pressure difference between lines 7 and 37 at a level defined by the set-point S.
  • the static head progressively decreases, as the liquid level lowers in the liquid tank 8, but the control carried out by unit 45 on valve 48 lowers in corresponding manner the pressure in gas tank 41 and, therefore, in line 37.
  • unit 45 controls the opening of valve 48 so as to discharge gas from the gas tank 41 when the feedback value becomes lower than the set-point S.
  • unit 45 can control the opening of valve 44 to restore pressure in gas system 40 if the feedback value becomes higher that the set-point S.
  • the static head of the liquid tank 8 does not influence the filling process, as the pressure difference between the pressure of the supplied liquid and the counterpressure in containers 2 is always kept at the desired level to satisfy the requirements of the filling process.
  • line 7 is connected directly to the liquid tank 8 without any buffer tank and without any pump between the filling station 6 and the liquid tank 8.
  • the filling head i.e. the pressure difference between lines 7 and 37, is no more controlled by the pressure set by a supply pump, but it is controlled by the pressure of the relatively small gas tank 41, in turn controlled by the two valves 44,48.
  • gas tank 41 has a volume between about 50 and 100 dm3, i.e. a volume which is smaller and therefore less bulky than the usual buffer tanks provided in the prior art. Below a volume of about 50 dm3 the process would not be controllable in stable manner, because of limits in the response time of instruments and valves currently available on the market (in the future, it would be probably possible to reduce such minimum volume, by using more responsive sensors and valves). Above a volume of about 100 dm3, the control of the filling head would have too high response time in relation to the changes of the static head in the liquid tank 8.
  • Line 37 comprises a pipe that connects the filling station 6 to the gas tank 41 and should have a length of less than about 10 meters. Furthermore, it is advisable to sense the gas pressure in a point near to the devices 15.
  • control of the system maintains the correct filling head with a response time of about 300 ms in relation to changes of the static head of the liquid tank 8.
  • the bottled liquid is more stable, because it is not shaken by pumps before arriving at the devices 15.
  • gas stored in gas tank 41 is not contaminated, as it is completely separated from air and from the liquid that is stored in liquid tank 8 and is supplied by line 7.
  • valves 44 and 48 could be integrated in a single valve controlled by unit 45 to seal gas tank 41 or to put gas tank 41 selectively in communication with the external environment or with a pressurized gas source; and/or valves 44,48 could be connected to gas line 37 near gas tank 41, instead of being connected directly to gas tank 41; and/or pressure of line 37 could be sensed in a different point between the device 15 and the gas tank 41 (by instance, it could be sensed at the conveyor 19 or at the gas tank 41).
  • filling machine 1 can be advantageously used also for carbonated soft drinks, and not only for beer.

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  • Chemical & Material Sciences (AREA)
  • Dispersion Chemistry (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Filling Of Jars Or Cans And Processes For Cleaning And Sealing Jars (AREA)
  • Basic Packing Technique (AREA)

Claims (7)

  1. Befüllungsmaschine (1), insbesondere zum Befüllen eines Behälters mit einer pasteurisierten Flüssigkeit, die umfasst:
    • eine Gasleitung (37);
    • eine Flüssigkeitszufuhrleitung (7), die dafür ausgelegt ist, um mit einem Flüssigkeitstank (8) verbunden zu werden;
    • mindestens eine Befüllungsvorrichtung (15), die umfasst:
    a) einen Einlass, der mit der Flüssigkeitszufuhrleitung (7) kommuniziert, um eine Flüssigkeit, die in dem Flüssigkeitstank gespeichert ist, aufzunehmen;
    b) einen unteren Auslass, um die Flüssigkeit in den Behälter (2) während der Befüllung zuzuführen;
    c) einen Gasanschluss, der mit der Gasleitung (37) kommuniziert und einen Gasauslass definiert, um den Gasstrom während der Befüllung aus dem Behälter (2) zu der Gasleitung (37) herauszulassen;
    • Drucksensormittel (51), die mit der Gasleitung (37) und mit der Flüssigkeitszufuhrleitung (7) verbunden sind, um einen Rückmeldewert zu bestimmen, der durch die Druckdifferenz zwischen der Flüssigkeitszufuhrleitung (7) und der Gasleitung (37) definiert ist;
    • eine elektronische Regeleinheit, die konfiguriert ist, um die Druckdifferenz zwischen der Flüssigkeitszufuhrleitung (7) und der Gasleitung (37), als Reaktion auf den Rückmeldewert, auf einen Sollwert (S) zu bringen;
    wobei die Maschine ferner umfasst:
    • einen Gastank (41), der dauerhaft mit der Gasleitung (37) kommuniziert und von der Flüssigkeitszufuhrleitung (7) getrennt ist;
    • erste Ventilmittel (44), um den Gastank (41) in eine Kommunikation mit einer unter Druck stehenden Gasquelle zu bringen;
    • zweite Ventilmittel (48), die zwischen dem Gastank (41) und einer Entladeöffnung angeordnet sind;
    dadurch gekennzeichnet, dass:
    die Öffnung der ersten Ventilmittel (44) von der elektronischen Steuereinheit gesteuert wird, um den Druck innerhalb des Gastanks (41) zu erhöhen;
    und dass die elektronische Regeleinheit konfiguriert ist, um die zweiten Ventilmittel (48) zu öffnen, um Gas aus dem Gastank (41) zu entladen, wenn der Rückmeldewert niedriger als der Sollwert (S) wird.
  2. Befüllungsmaschine nach Anspruch 1, dadurch gekennzeichnet, dass die elektronische Regeleinheit konfiguriert ist, um die ersten Ventilmittel (44) zu öffnen, um den Gastank (41) unter Druck zu setzen, wenn der Rückmeldewert höher als der Sollwert (S) wird.
  3. Befüllungsmaschine nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Gastank (41) außerhalb und beabstandet von der Befüllungsvorrichtung (15) angeordnet ist.
  4. Befüllungsmaschine nach Anspruch 3, dadurch gekennzeichnet, dass sie eine Befüllungsstation (6) umfasst, die eine Förderanlage (19) und mehrere Befüllungsvorrichtungen (15), die von der Förderanlage (19) getragen werden, aufweist; wobei der Gastank (41) außerhalb und beabstandet von der Befüllungsstation (6) angeordnet ist.
  5. Befüllungsmaschine nach Anspruch 4, dadurch gekennzeichnet, dass die Gasleitung (37) ein Rohr umfasst, das den Gastank (41) mit der Befüllungsstation (6) verbindet und eine Länge von weniger als etwa 10 Meter aufweist.
  6. Befüllungsmaschine nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Drucksensormittel (51) mit der Gasleitung (37) an einem Punkt verbunden sind, der zwischen dem Gastank (41) und der Befüllungsvorrichtung (15) angeordnet ist.
  7. Befüllungsmaschine nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Gasanschluss auch einen Gaseinlass definiert, um den Behälter (2) mit Gas von der Gasleitung (37) vor der Befüllung unter Druck zu setzen.
EP12425204.0A 2012-12-20 2012-12-20 Befüllungsmaschine insbesondere zum Befüllen eines Behälters mit einer pasteurisierten Flüssigkeit Not-in-force EP2746215B1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP12425204.0A EP2746215B1 (de) 2012-12-20 2012-12-20 Befüllungsmaschine insbesondere zum Befüllen eines Behälters mit einer pasteurisierten Flüssigkeit
US14/136,537 US20140174597A1 (en) 2012-12-20 2013-12-20 Filling machine, in particular for filling a container with a pasteurized liquid
JP2013263745A JP2014129143A (ja) 2012-12-20 2013-12-20 特に低温殺菌された液体で容器を充填するための充填機
CN201310713962.7A CN103879941A (zh) 2012-12-20 2013-12-20 尤其用于使用巴氏灭菌液体填充容器的填充机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP12425204.0A EP2746215B1 (de) 2012-12-20 2012-12-20 Befüllungsmaschine insbesondere zum Befüllen eines Behälters mit einer pasteurisierten Flüssigkeit

Publications (2)

Publication Number Publication Date
EP2746215A1 EP2746215A1 (de) 2014-06-25
EP2746215B1 true EP2746215B1 (de) 2015-10-28

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EP12425204.0A Not-in-force EP2746215B1 (de) 2012-12-20 2012-12-20 Befüllungsmaschine insbesondere zum Befüllen eines Behälters mit einer pasteurisierten Flüssigkeit

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US (1) US20140174597A1 (de)
EP (1) EP2746215B1 (de)
JP (1) JP2014129143A (de)
CN (1) CN103879941A (de)

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DE10008426B4 (de) * 2000-02-23 2011-07-28 KHS GmbH, 44143 System sowie Verfahren zum Füllen von Behältern mit einem flüssigen Füllgut
CN101941664B (zh) * 2009-07-10 2013-05-15 南京乐惠轻工装备制造有限公司 电子式液体灌装装置
CN101850940B (zh) * 2010-02-04 2012-02-29 广州达意隆包装机械股份有限公司 分段泄压式灌装阀及其灌装方法
KR101569603B1 (ko) * 2011-04-06 2015-11-16 미쯔비시 쥬우꼬오 쇼구힌호오소오기까이 가부시키가이샤 회전식 충전기 및 회전식 충전기의 충전량 연산 방법

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EP2746215A1 (de) 2014-06-25
JP2014129143A (ja) 2014-07-10
CN103879941A (zh) 2014-06-25

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