EP2766289B1 - Verfahren und vorrichtung zum kontinuierlichen aufwickeln eines strangförmigen spulgutes - Google Patents

Verfahren und vorrichtung zum kontinuierlichen aufwickeln eines strangförmigen spulgutes Download PDF

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Publication number
EP2766289B1
EP2766289B1 EP12768832.3A EP12768832A EP2766289B1 EP 2766289 B1 EP2766289 B1 EP 2766289B1 EP 12768832 A EP12768832 A EP 12768832A EP 2766289 B1 EP2766289 B1 EP 2766289B1
Authority
EP
European Patent Office
Prior art keywords
winding
spindle
rotational speed
turret
spindles
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.)
Not-in-force
Application number
EP12768832.3A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2766289A1 (de
Inventor
Jochen GRÖTZSCHEL
Peter Kroll
Peter Steinke
Jürgen Seifert
Andreas Rust
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Oerlikon Textile GmbH and Co KG
Original Assignee
Oerlikon Textile GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Oerlikon Textile GmbH and Co KG filed Critical Oerlikon Textile GmbH and Co KG
Publication of EP2766289A1 publication Critical patent/EP2766289A1/de
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Publication of EP2766289B1 publication Critical patent/EP2766289B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
    • B65H67/044—Continuous winding apparatus for winding on two or more winding heads in succession
    • B65H67/048—Continuous winding apparatus for winding on two or more winding heads in succession having winding heads arranged on rotary capstan head
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H51/00—Forwarding filamentary material
    • B65H51/20—Devices for temporarily storing filamentary material during forwarding, e.g. for buffer storage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
    • B65H59/38—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
    • B65H59/384—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means
    • B65H59/385—Regulating winding speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments
    • B65H2701/313—Synthetic polymer threads
    • B65H2701/3132—Synthetic polymer threads extruded from spinnerets

Definitions

  • the invention relates to a method for the continuous winding of a strand-like winding material into coils according to the preamble of claim 1 and to an apparatus for carrying out the method according to the preamble of claim 5.
  • a generic method and a generic device are from the WO 2003/033386 A1 known.
  • a strand-shaped winding material for example, from a manufacturing process of a thread, wound continuously without interruption to form coils.
  • the coils are alternately wound on two winding spindles projecting on a spool turret.
  • the winding spindles are guided by the winding turret alternately in an operating position for winding the Spulgutes and in a change position for removing the full bobbins.
  • the winding spindles in the operating position is assigned a dancer arm device which forms a loop of the material to be spooled with a slack by means of a dancer arm.
  • the dancer arm is designed to be movable, so that the size of the slack of the loop directly determines the position of the dancer arm.
  • the dancer arm cooperates with a speed control unit to regulate the speed of the winding spindles when winding the Spulgutes such that a constant take-up speed prevails irrespective of Naturalgangszuwachs the coil.
  • the size of the slack of the thread loop is used to achieve a uniform absorption of the winding material during winding.
  • the Tänzerarm noisy is coupled in each case with the guided in the operating position winding spindle and the spindle drive.
  • the problem arises that the slack of the loop of the material to be spooled on the dancer arm in addition to the respective spindle speed and bobbin diameter is additionally influenced by an evasive movement of the winding spindle.
  • the wound during the movement of the winding spindle layers of Spulgutes be wound with too low winding speed, resulting in undesirable loose layers of Spulgutes the circumference of the coils.
  • Another object of the invention is to be able to record the winding material during the change phase with the fastest possible uniform speed from the upstream process.
  • the invention is characterized in that in addition to the spindle drive and the turret drive is included in the speed control of Tänzerarm friendship.
  • a rotational movement and / or a rotational speed of the winding turret can be controlled as a function of the slack of the loop of the material to be wound.
  • a change in the sag resulting from the rotational movement and / or the rotational speed of the winding turret can be effectively compensated for without having to set too high or too low a spindle speed.
  • the device according to the invention therefore provides that the turret drive for controlling the rotational movement and / or a rotational speed of the winding turret is connected to the speed control unit of the dancer arm device.
  • Another advantage of the invention lies in the fact that advantageously also the deflection movement required during the formation of a coil can advantageously be carried out by the winding turret due to the increase in the coil.
  • the invention is thus not limited only to the fact that the connection between the turret drive and the speed control unit of the dancer arm device acts during a spindle change.
  • the control of the spindle speed of the winding material winding winding spindle is canceled to initiate a spindle change.
  • the slack of the loop on the dancer arm is compensated exclusively by the rotational movement and / or the rotational speed of the winding turret.
  • the changes in the sag result directly in a change the rotational movement and / or the rotational speed of the winding turret.
  • the method variant is preferably used, in which the spindle speed of the winding winding spindle is set to a fixed alternating speed, which is below a set at termination control speed of the winding spindle.
  • the alternating rotational speed is preferably set such that in addition to the continuous winding of the material to be spooled a sufficient excess of material supply of the Spulgutes is given to allow the evasive movement of the winding spindle by the rotation of the winding turret.
  • the alternating speed of the winding spindle is preferably set in relation to the control speed to a value in the range of 50% to 95% of the control speed.
  • the method variant for the changeover phase is particularly preferably carried out, in which the rotational speed of the winding turret is controlled during a continuous rotary movement of the winding turret in the range from 160 ° to 200 °. This makes it possible to carry out a continuous movement sequence with essentially unchanged dancer arming during the changeover phase. The absorption of the winding material from the upstream process remains essentially unchanged.
  • the device according to the invention is advantageously developed such that the speed control unit of the dancer arm device is connected to a machine control, by which all winding operations for winding the coils and changing operations for changing the winding spindle can be controlled.
  • This makes it possible to change the speed control of the spindle drives and the turret drive, which are different in the operating position and when changing, quickly and adapted to the respective operating state.
  • the speed control unit preferably has a microprocessor through which a plurality of stored control programs are selectively executable. So for example, by one of the control programs, the setting of the alternating speed of the winding spindle can be determined, which determines the winding of the winding material in the change phase.
  • a control program could be stored, in which the partial values of the slack of the loop for controlling the spindle drive and for controlling the turret drive are stored.
  • the development of the invention is preferably carried out in which the Tänzerarm originated and the Spulrevolver are held with the winding spindles on a frame wall, wherein between the Dancer and the winding turret a traversing device and a pressure roller are held on the frame wall.
  • a traversing device and a pressure roller are held on the frame wall.
  • the method according to the invention is also suitable for devices in which a plurality of coils are wound simultaneously on the winding spindles.
  • the device according to the invention can preferably be carried out in such a way that the dancer arm has a plurality of dancer arm rollers which are each held between two deflection points and which are each assigned to one of a plurality of winding stations on the winding spindles.
  • a dancer arm can be used to form a slack in each winding unit. Unevenness between the individual winding units are compensated by a superimposed control of the spindle speed and / or the rotational movement of the winding turret.
  • FIG. 1 to 3 an embodiment of the device according to the invention for continuously winding a Spulgutes to a coil is shown in several views.
  • Fig. 1 and Fig. 3 represent the embodiment in a front view in different operating situations and Fig. 2
  • Fig. 1 and Fig. 3 represent the embodiment in a front view in different operating situations and Fig. 2
  • the embodiment of the device for continuous winding according to the invention has a winding turret 2, which is rotatably mounted in a frame wall 1 and is rotatable counterclockwise via a turret drive 21.
  • the turret drive 21 is associated with a turret control unit 29, by which the turret drive 21 for executing a rotary movement of the winding turret 2 is controllable.
  • the winding turret 2 carries two rotatably mounted winding spindles 3.1 and 3.2, which are held projecting, each with a free end.
  • the winding spindles 3.1 and 3.2 are held on the Spulrevolver 2 offset by 180 to each other.
  • Each of the winding spindles 3.1 and 3.2 is coupled to a spindle drive 19.1 and 19.2, which are each controllable via a spindle control unit 20.1 and 20.2.
  • the spindle control units 20.1 and 20.2 and the turret control unit 29 are connected to a central machine control unit 31 and can be controlled individually or separately depending on the respective operating state.
  • the drives 19.1, 19.2 and 21 and the control devices 20.1, 20.2 and 29 are arranged on a rear side of the frame wall 1.
  • the winding spindles 3.1 and 3.2 protrude projectingly on the winding turret 2 and each have on the circumference a winding tube 5.1 and 5.2, on the circumference of which a spool 6 can be wound.
  • Each of the winding spindles 3.1 and 3.2 has a catching device 4.1 and 4.2, which are arranged laterally next to the winding tube 5.1 and 5.2 on the circumference of the winding spindles 3.1 and 3.2 in the region of the bearing end of the winding spindles 3.1 and 3.2, as in Fig. 2 shown.
  • the capturing devices 4.1 and 4.2 on the winding spindles 3.1 and 3.2 are identical, so that only the capturing device 4.2 of the winding spindle 3.2 is described at this point.
  • the fishing device 4.2 has a plurality of catch hooks designed as catching elements 33, which are distributed uniformly on the circumference of the winding spindle 3.2.
  • the fishing hook 33 is associated with a catch groove 32 on the circumference of the winding spindle, which has a width which is greater than the catch hooks 33 projecting into the catch groove 32.
  • each winding spindle 3.1 and 3.2 are each assigned a separating device 7.1 and 7.2, a guide rod 23.1 and 23.2 and a holding rod 22.1 and 22.2.
  • the separating devices 7.1 and 7.2, the guide rods 23.1 and 23.2 and the support rods 22.1 and 22.2 are arranged distributed between the winding spindles 3.1 and 3.2 and firmly connected to the winding turret 2.
  • FIG. 2 shows the separators 7.1 and 7.2 are held by a respective carrier 28.1 and 28.2 in a fishing plane, which is spanned by the capturing devices 4.1 and 4.2.
  • the separators 7.1 and 7.2 are identically constructed and each have a movable locking means 26 and cooperating with the locking means 26 knife 27.
  • the support rods 22.1 and 22.2 and the guide rods 23.1 and 23.2 are different lengths projecting on the Spulrevolver 2 arranged.
  • the longer support bar 22.1 and 22.2 protrude with a free end over a coil center of the winding tubes 5.1 and 5.2, which is determined essentially by half the length of the winding tubes 5.1 and 5.2.
  • the holding bars 22.1 and 22.2 each have a yarn guide 24.1 and 24.2, which serves to position a sliding on the support rod 22.1 or 22.2 Spulgutes.
  • the shorter guide rods 23.1 and 23.2 protrude with their free end into the winding area of the winding tube 5.1 and 5.2 and cover the capturing devices 4.1 and 4.2.
  • a traversing device 8 projecting held on the frame wall.
  • the traversing device 8 has a traversing yarn guide 9 which can be moved back and forth parallel to the winding spindles 3.1 and 2.2 by means of a traversing drive 18.
  • the traversing yarn guide 9 can be positioned by means of belts, threaded shafts or by splines through the drive.
  • To guide the traversing yarn guide 9 of the traversing drive 18 is coupled to a traction control unit 30 which is connected to the machine control unit 31. In this case, the traversing yarn guide 9 can be guided back and forth for winding a material to be taken up within the winding area.
  • the traversing yarn guide 9 can also be positioned outside a traversing stroke range for positioning the material to be winder during a changeover phase of the winding spindle.
  • the traverse stroke, in which the traversing yarn guide 9 is moved back and forth for winding the Spulgutes, is preferably slightly smaller than the width of the winding tubes 5.1 and 5.2 on the circumference of the winding spindles 3.1 and 3.2.
  • the traversing device 8 is arranged downstream of a rotatably mounted pressure roller 10 which rests on the circumference of the coil 6 formed on the winding tube 5.
  • the pressure roller 10 is held by a fork-shaped rocker 11, which is pivotally mounted on a cantilevered pivot axis 12.
  • the rocker 11 is associated with a distance sensor 25 which detects a deflection movement of the pressure roller 10 during winding of a coil.
  • the evasive movement of the pressure roller 10 is used in order to be able to carry out further indexing of the reel turret for winding a reel in a substantially unchanged position of the pressure roller 10.
  • the distance sensor 25 is connected to the machine control device 31 for this purpose.
  • a pivotable dancer arm 14 has.
  • the dancer arm 14 is L-shaped and has a dancer arm roller 15 at a free end of a leg.
  • the dancer arm roller 15 is held in a plane between two pulleys 16.1 and 16.2, which lead a tapered Spulgut 34.
  • the pulleys 16.1 and 16.2 are held by a plurality of rods 37 on the frame wall 1.
  • a slack 35 of the Spulgutes between the deflection points is generated by the dancer arm 14 held on the dancer arm 15 between the guide rollers 16.1 and 16.2.
  • the free end of the dancer arm 14 acts with a force of gravity on the sag 35 of the Spulgutes 34, so that a change in the sag 35 is directly due to an increase or decrease of a take-up tension.
  • the dancer arm 14 is rotatably mounted with the second leg and connected to a rotary encoder 36.
  • the rotary encoder 36 detects the respective position of the dancer arm 14 or the dancer arm roller 15 on the front side of the frame wall 1.
  • the dancer arm 14 or the rotary encoder 36 is coupled to a speed control unit 17 of the dancer arm 14, so that depending on the position of the dancer arm 14 directly control signals for correcting the sag 35 can be generated.
  • the speed control unit 17 is coupled to the engine controller 31. Alternatively, however, it is also possible to connect the speed control unit 17 directly to the spindle control units 20.1 and 20.2 and the turret control unit 29.
  • Fig. 1 and 2 illustrated apparatus for continuous winding is thus suitable to continuously wind a band-shaped winding material with substantially uniform winding tension.
  • the rotational speed of the winding spindle 3.1 or 3.2 is controlled in response to the sag 35 formed by the dancer 14 of the Spulgutes 34.
  • an excessive winding speed occurs, which leads to a reduction of the sag 35 and thus to changing the position of the dancer arm 14.
  • the change in the slack 35 of the Spulgutes 34 is detected directly by the change in position of the dancer arm 14 and converted in the speed control unit 17 to a control signal which is fed directly to the spindle control unit 20.1 or the machine control device 31 to obtain a correction of the spindle speed by the spindle drive 19.1 ,
  • the transfer of the winding material 34 between the winding spindles 3.1 and 3.2 is performed by the rotational movement of the winding turret 2.
  • the incoming Spulgut 34 is added in addition to the winding on the spool 6 in addition by the change in position of the winding spindle 3.1, so that at constant feed rate of Spulgutes a change in the sag 35 on dancer arm 14 occurs.
  • the device according to the invention can in principle be operated with two different process variants.
  • the spindle speed of the winding winding spindle is set to a fixed alternating speed before initiating a spindle change.
  • the alternating speed of the winding winding spindle is set lower in relation to a control speed by the dancer arm device.
  • the alternating speed of the winding spindle is preferably set to a value in the range of 50% to 95% of the control speed set.
  • the Tänzerarm worn is coupled to the turret control unit to control the rotational movement of the Spulrevolvers or the rotational speed of the Spulrevolvers when changing the winding spindles such that the dancer arm is a uniform slack of the Spulgutes.
  • the winding spindle 3.1 is driven by the spindle drive 19.1 with a predetermined by the spindle control unit 20.1 alternating speed to initiate a Spulcics after finished wound coil 6.
  • the turret drive 21 is activated by the turret control unit 29 in order to guide the winding spindle 3.1 into the change region and the winding spindle 3.2 into the operating region.
  • the speed control unit 17 of the Tänzerarm dressed 13 is coupled to the turret control unit 29. The coupling can be done indirectly via the machine control 31 or directly via a signal line.
  • control programs required for changing the spindle may be assigned directly to a microprocessor of the speed control unit 17 or, alternatively, to the machine control device 31.
  • the control programs may include a plurality of control algorithms to establish the relationships between the speed control unit 17 and the winders of the winding spindle and the revolver, depending on the operating operation and depending on the process variant.
  • the speed control unit 17 remains connected to the revolver control unit 29 during the rotational movement of the winding turret 2.
  • the rotational movement which, for example, can also be carried out continuously or discontinuously as a function of the slack 35 on the dancer arm 14, can be controlled.
  • the rotational speed of the winding turret 2 can advantageously be adjusted such that the sag 35 on the dancer arm 14 is kept within a permissible tolerance range.
  • FIG. 1 and 3 illustrated embodiment Another alternative to the execution of the spindle change in the in Fig. 1 and 3 illustrated embodiment can be carried out by the process variant in which the speed control unit 17 is coupled during the spindle change with the spindle control unit 20.1 of the spindle drive 19.1 and the turret control unit 29 of the turret drive 21.
  • a partial value of the slack 35 of the loop 35 is used to control the spindle speed of the winding material winding spindle 3.1 and a second part of the slack of the thread loop used to control the rotational movement and / or the rotational speed of the winding turret 2.
  • the division of the partial values of the slack of the loop are preferably in the range of 50% to 95%, so that for controlling the rotational movement or the rotational speed of the winding turret 2 with a proportion of 5% to 50% of the slack of the loop on dancer arm 14th is controllable.
  • the remaining portion of the change in the sag of the loop, which is at 50% - 95%, is used to control the spindle speed of the winding spindle winding the winding spindle.
  • This method variant in which the Tänzerarm worn 13 is used both for controlling the spindle speed of the winding spindle 3.1 and for controlling the rotational movement of the winding turret 2, could also be used advantageously during the winding of a coil 6.
  • the deflection movement between the pressure roller 10 and the winding spindle 3.1 or 3.2 required by the rotational movement of the winding turret 2 takes place when the coil is growing.
  • the winding spindle 3.1 changed by a rotational movement of the winding turret 2 continuously or discontinuously in its operating position.
  • the slack 35 of the loop on the dancer arm 14 is split into partial values in this phase, so that one of the partial values for regulating the winding spindle speed and the other partial value for controlling the rotary movement of the winding turret 2 can be used.
  • the transfer of Spulgutes when changing the spindle is done automatically.
  • the revolver drive 21 is activated via the machine control device 20 in order to guide the winding spindle with a full bobbin to a change position and to guide the winding spindle with an empty bobbin tube into a catching position.
  • the situation of the spindle change is in Fig. 3 shown, wherein the winding spindle 3.1 is performed with a full bobbin 6 in the change position and the winding spindle 3.2 with an empty winding tube 5.2 in the fishing position.
  • the guide rods 22.2 and 23.2 and the separator 7.2 are guided in the course of the winding material 34.
  • the traversing yarn guide 9 is positioned outside a traverse stroke laterally next to the winding area in order to initiate the transfer of the winding material 34.
  • the Spulgut 34 is still wound up by the coil 6 by means of the winding winding spindle 3.1.
  • the yarn guide prevents 24.2 on the guide rod 22.2 that the Spulgut 9 does not fall off the circumference of the coil 6 in the positioning of the traversing yarn guide.
  • the traversing yarn guide 9 Upon reaching the catch position of the winding spindle 3.2 with empty winding tube 5.2, the traversing yarn guide 9 is moved in the axial direction parallel to the winding spindle 3.2 to the Spulgut 34 in the fishing 4.2 respectively.
  • the Spulgut 34 falls into a catch groove 32 on the circumference of the winding spindle 3.2, in which the fishing hooks 33 of the fishing device 4.2 are positioned.
  • the winding material 34 passes below a positioned catch hook 33 of the catching device 4.2.
  • the winding spindle 3.2 is accelerated by the spindle drive 19.2 to a winding speed.
  • the dancer arm device 14 can be used to control the rotational movement and / or the rotational speed of the winding turret 2 during the changeover phase.
  • FIG. 1 to 3 illustrated embodiment of the device according to the invention shows the winding spindles 3.1 and 3.2 each only one winding unit.
  • the in Fig. 2 shown Winding machine on the winding spindles 3.1 and 3.2 two winding tubes are kept parallel to each other, where two coils are wound simultaneously.
  • two parallel arranged Dancer arm rollers would be arranged on the dancer arm, which are arranged upstream of the winding units and lead the respective Spulgut in the winding unit.
  • the dancer arm rollers of the dancer arm become analogous to the spool as shown in Fig. 1 each guided between two deflection points.
  • both winding units can be controlled by a common dancer arm and a speed control unit in their Spulspindelburniere.

Landscapes

  • Replacement Of Web Rolls (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
  • Tension Adjustment In Filamentary Materials (AREA)
  • Winding Filamentary Materials (AREA)
EP12768832.3A 2011-10-14 2012-10-04 Verfahren und vorrichtung zum kontinuierlichen aufwickeln eines strangförmigen spulgutes Not-in-force EP2766289B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201110116156 DE102011116156A1 (de) 2011-10-14 2011-10-14 Verfahren und Vorrichtung zum kontinuierlichen Aufwickeln eines strangförmigen Spulgutes
PCT/EP2012/069650 WO2013053634A1 (de) 2011-10-14 2012-10-04 Verfahren und vorrichtung zum kontinuierlichen aufwickeln eines strangförmigen spulgutes

Publications (2)

Publication Number Publication Date
EP2766289A1 EP2766289A1 (de) 2014-08-20
EP2766289B1 true EP2766289B1 (de) 2016-06-01

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EP12768832.3A Not-in-force EP2766289B1 (de) 2011-10-14 2012-10-04 Verfahren und vorrichtung zum kontinuierlichen aufwickeln eines strangförmigen spulgutes

Country Status (6)

Country Link
EP (1) EP2766289B1 (enrdf_load_stackoverflow)
JP (1) JP6143758B2 (enrdf_load_stackoverflow)
CN (1) CN103874644B (enrdf_load_stackoverflow)
DE (1) DE102011116156A1 (enrdf_load_stackoverflow)
IN (1) IN2014CN03521A (enrdf_load_stackoverflow)
WO (1) WO2013053634A1 (enrdf_load_stackoverflow)

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CN103874644B (zh) 2016-05-04
IN2014CN03521A (enrdf_load_stackoverflow) 2015-10-09
JP6143758B2 (ja) 2017-06-07
CN103874644A (zh) 2014-06-18
JP2014532021A (ja) 2014-12-04
DE102011116156A1 (de) 2013-04-18
WO2013053634A1 (de) 2013-04-18
EP2766289A1 (de) 2014-08-20

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