EP2788274A1 - Filler element and filling system - Google Patents
Filler element and filling systemInfo
- Publication number
- EP2788274A1 EP2788274A1 EP12791106.3A EP12791106A EP2788274A1 EP 2788274 A1 EP2788274 A1 EP 2788274A1 EP 12791106 A EP12791106 A EP 12791106A EP 2788274 A1 EP2788274 A1 EP 2788274A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- filling
- füllelementgehäuse
- determining
- height
- protective space
- 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
- 239000000945 filler Substances 0.000 title abstract description 7
- 239000007788 liquid Substances 0.000 claims abstract description 35
- 239000007789 gas Substances 0.000 claims description 73
- 230000001681 protective effect Effects 0.000 claims description 20
- 238000004659 sterilization and disinfection Methods 0.000 claims description 16
- 238000004140 cleaning Methods 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 14
- 230000001954 sterilising effect Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 13
- 239000011261 inert gas Substances 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims description 8
- 239000012263 liquid product Substances 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims 1
- 238000007599 discharging Methods 0.000 claims 1
- 238000005429 filling process Methods 0.000 description 4
- 230000004323 axial length Effects 0.000 description 3
- 238000011010 flushing procedure Methods 0.000 description 3
- 239000000047 product Substances 0.000 description 3
- 244000052616 bacterial pathogen Species 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 235000013361 beverage Nutrition 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000005022 packaging material Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
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
- B67C3/001—Cleaning of filling devices
-
- 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
- B67C3/2637—Filling-heads; Means for engaging filling-heads with bottle necks comprising a liquid valve opened by relative movement between the container and the filling head
-
- 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
- B67C2003/2685—Details of probes
Definitions
- the invention relates to a Füilelement for filling containers with a liquid product according to the preamble of claim 1 and to a filling system according to the preamble of claim 9.
- Filling elements for filling containers in particular for filling bottles with a liquid product, such as beverage, are in different
- filling height-determining element for example in the form of a rod-shaped probe with at least one electrical probe contact or in the form of a return gas tube
- the filling height-determining element is guided through the filling element housing of the filling element and protrudes with a length remote from the first end at a housing passage region out of the filling element housing.
- This protective space is acted upon during the filling operation, for example with the pressure of an inert gas, separated by at least one seal of process gas and / or filling material leading areas and designed so that it at least in the filling mode of the filling element to the housing passage area
- filling height-determining element enclosing tube that the protective space from the process side separating sealing element is provided in the form of a fixed ring seal.
- the level determining element is under
- the object of the invention is to show a filling element which the
- tainers are in particular cans, bottles, tubes, pouches, each made of metal, glass and / or plastic, but also other packaging materials which are suitable for filling liquid or viscous products.
- FIG. 1 to 3 each show, in a simplified representation, a filling element of a filling system or a filling machine of a rotating design for filling height-controlled filling of containers in the form of bottles with a liquid filling material, specifically in different operating states,
- 1 is a filling element for filling level controlled filling of containers in the form of bottles 2 with a liquid product.
- the filling element 1 which is shown in FIGS. 1 and 2 in each case in a filling mode and in FIG. 3 in a CIP cleaning and / or sterilization mode, is provided with a multiplicity of similar filling elements around the circumference of one
- an inert gas eg CO 2 gas
- the annular channels 5 and 6 may have different functions depending on the filling method, for example, the annular channel 5 for guiding the inert gas under pressure for flushing and / or biasing the respective provided in sealing position on the filling element 1 bottle 2 during pressure filling and the annular channel 6 as a discharge channel, such as this is known in principle to the person skilled in the art.
- the filling element 1 comprises a filling element housing 7, in which u.a. a Gregutoder liquid channel 8 is formed, which is connected in its upper region via a product line 9 with the liquid space 4.1 of the ring vessel 4. At the bottom of the housing 7, the liquid channel 8 forms an annular
- Dispensing opening 10 via which the liquid contents of the bottle 2 flows during filling, which rests tightly against the filling element 1 with its bottle mouth via a seal of a centering cone 1 1 in the region of the discharge opening 10, i. is in sealing position with the filling element 1, namely raised by the filling element 1 associated container carrier or bottle plate 12.
- Liquid channel is in the flow direction of the filling material in front of the discharge opening 10, a liquid valve 13 is provided with a valve body 14 which with a
- Valve surface in the liquid channel 8 cooperates and arranged on a coaxial with a vertical Greelementachse FA and acting as a valve tappet gas pipe 15 which projects through the discharge opening 10 on the underside of the filling element 1 and extends during filling in the relevant bottle 2.
- a pneumatic actuator 16 acting on the gas pipe 15 is provided, which is accommodated in an interior of the housing 7 which is separate from the liquid channel 8 and sealed against the liquid channel 8.
- the filling element 1 further comprises a coaxially arranged with the Greelementachse FA, open at both ends and from the gas pipe 15 at a distance enclosed return gas pipe 17, which also extends as fill level determining element with its end 17.1 during the filling operation in the upper region or headspace of the bottle 2 and projects beyond the lower, open end of the gas pipe 15.
- the return gas pipe 17 is passed through the Medelementgephinuse 7, protrudes with an upper length over the top of this housing and is held with the local, also open end 17.2 on a support arm 18 of an adjusting device 19, with which the return gas pipe is axially movable, namely in the
- an upper output or lower stroke position for setting different fill levels during the filling mode of the filling element 1 in a Einstellhub H1 and for moving the return gas tube 17 in a cleaning and / or sterilization position, i. for converting the filling element 1 into the cleaning and / or sterilization mode in an enlarged opening stroke H2.
- the upper end 17.2 of the return gas pipe is connected via a likewise provided on the support arm 8 control valve 20 and a flexible line 20 to the gas space 4.2 of the ring boiler 4.
- the return gas pipe 17 In order to adjust the axial displacement of the return gas tube 17, i. in the adjustment of the filling level, to which the bottles 2 are filled in each case with the liquid product to prevent ingress of dirt and / or germs in critical areas or in the process side of the filling element 1, the return gas pipe 17 before its exit the top of the housing 7 by a in the housing. 7
- Return gas tube 17 between the setting "maximum level” and the setting “minimum level” is moved.
- the return gas pipe 17 is guided out of the housing 7 or out of the lock chamber 22 by a fixed seal 23.
- Seal 23 forms the upper housing passage region for the return gas pipe 17. Furthermore, a gasket 24 enclosing this tube and with it piston-like moving seal 24 is provided which abuts sealed against the return gas pipe 17 and against the circular cylindrical inner surface of the shelter 22 and the shelter 22nd on its lower side facing away from the seal 23 during the normal filling operation or when filling element 1 is in filling mode, in which (filling mode) the protective space 22 is preferably acted upon by a pressurized inert gas from the annular channel 5.
- the protective space 22, the axial length of which changes with the adjustment stroke H1 is formed in the illustrated embodiment in an upper, circular cylindrical portion 25.1 of a housing recess 25. At one of the section 25.1 in the direction of the bottom of the filling element 1 subsequent section 5.2, the
- Housing recess 25 an expanded cross-section.
- Section 5.2 forms a gas space into which the upper open end of the gas pipe 15 or the annular gas channel formed between the inner surface of the gas pipe 15 and the outer surface of the return gas pipe 17 opens.
- the section 25.1 and thus also the shelter 22 have an axial length which is greater than the maximum
- Inert gas from the annular channel 5 is acted upon and u.a. the section 25.2 or the corresponding gas space via the control valve 26 controlled by the
- Ring channel 5 or via the control valve 27 can be connected to the annular channel 6.
- the liquid product flows with the liquid valve 13 open to the interior of the held in sealing position on the filling element 1 and biased to the inert gas bottle 2.
- the control valve 20 is open, the inert gas displaced by the filling material from the bottle 2 is passed via the return gas pipe 17, the opened control valve 20 and the line 21 into the gas space 4.2 of the ring bowl.
- the liquid valve 13 is still open, the inflow of the filling material into the bottle 2 is ended when the lower, open end 17.1 of the return gas pipe 17 is immersed in the level of contents of the filling material which has reached the bottle 2 and enters
- the respective desired filling level is set at the beginning of the filling operation by axial adjustment of the return gas pipe 17 (setting stroke H1), specifically for all filling elements 1.
- Liquid valve 13 and closed control valve 20 wherein the displaced during filling by the inflowing medium from the interior of the bottle 2 inert gas, e.g. via the gas channel formed between the gas pipe 15 and the return gas pipe 17 in the section 25.2 and from there via the open
- Control valve 26 is displaced into the annular channel 5. After closing the
- Liquid valve 13 is not occupied by the contents occupied headspace of the bottle 2 with pressure, for example, on the still open Control valve 26.
- opening the control valve 20 is returned via the return gas pipe 17, the open control valve 20 and the line 21 contents from the overfilled bottle 2 in the ring vessel 4 until the lower end of the 17.1
- Return gas pipe 17 is outside of the contents in the bottle 2. After closing the control valve 20 and after relieving the headspace of the filled bottle 2, for example via the open control valve 27 is the
- the respective desired filling level is set by the axial adjustment of the return gas pipe 17 (Einstellhub H1), on all the filling elements 1 of
- Return gas tube 17 is in a space traversed by the cleaning and / or sterilization medium during CIP purification and / or sterilization
- the u.a. is formed by the housing recess 25 and the gas pipe 15 and the rinse cap 28, via a continuous
- Protective space 22 is arranged for the adjustment of the return gas pipe 17 above the annular gap formed between the gas pipe 15 and the return gas pipe 17, that this annular gap can be used as gas path or gas channel for the process gas during normal filling operation, and
- Protective space 22 from the process side, i. separated in the illustrated embodiment of the gas space formed by the section 25.2, protected in the interior of the filling element 1 is housed and therefore, for example, not through
Landscapes
- Filling Of Jars Or Cans And Processes For Cleaning And Sealing Jars (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SI201230471T SI2788274T1 (en) | 2011-12-06 | 2012-11-23 | Filler element and filling system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011120164A DE102011120164A1 (en) | 2011-12-06 | 2011-12-06 | Filling element and filling system |
PCT/EP2012/004867 WO2013083239A1 (en) | 2011-12-06 | 2012-11-23 | Filler element and filling system |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2788274A1 true EP2788274A1 (en) | 2014-10-15 |
EP2788274B1 EP2788274B1 (en) | 2016-02-03 |
Family
ID=47226108
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP12791106.3A Active EP2788274B1 (en) | 2011-12-06 | 2012-11-23 | Filler element and filling system |
Country Status (5)
Country | Link |
---|---|
US (1) | US9790072B2 (en) |
EP (1) | EP2788274B1 (en) |
DE (1) | DE102011120164A1 (en) |
SI (1) | SI2788274T1 (en) |
WO (1) | WO2013083239A1 (en) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ITTO20130302A1 (en) * | 2013-04-15 | 2014-10-16 | Gai Macchine Imbottigliatrici S P A | FILLING DEVICE FOR FILLING MACHINES FOR FILLING THE LEVEL OF BOTTLES WITH FOOD LIQUIDS AND FILLING MACHINE INCLUDING SUCH A DEVICE |
US10040582B2 (en) * | 2012-10-05 | 2018-08-07 | Gai Macchine Imbottigliatrici S.P.A. | Filling devices for isobaric filling machines for filling bottles with alimentary liquids |
DE102013101419B4 (en) | 2013-02-13 | 2015-10-29 | Khs Gmbh | Filling element and filling system |
DE102014109589A1 (en) * | 2014-07-09 | 2016-01-14 | Khs Gmbh | Filling system for filling bottles or similar containers |
DE102015116532A1 (en) * | 2015-09-30 | 2017-03-30 | Khs Gmbh | Method and treatment station and treatment head for treating the interiors of KEGs and seal for use in such a treatment station |
DE102015116577A1 (en) * | 2015-09-30 | 2017-03-30 | Krones Ag | Device for filling a container with a carbonated filling product |
JP6999261B2 (en) * | 2016-10-21 | 2022-01-18 | サントリーホールディングス株式会社 | Cleaning method of the filling device that fills the target container with the filling liquid, and the filling device that fills the target container with the filling liquid. |
DE102018127513B4 (en) * | 2018-11-05 | 2020-08-27 | Khs Gmbh | Process and filling system for filling containers |
DE102019123460A1 (en) * | 2019-09-02 | 2021-03-04 | Khs Gmbh | Method for filling and closing containers |
DE102019128153A1 (en) * | 2019-10-18 | 2021-04-22 | Krones Ag | Cleaning validation in a device for filling containers |
Family Cites Families (38)
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DE3446500A1 (en) * | 1984-12-20 | 1986-08-28 | Holstein Und Kappert Gmbh, 4600 Dortmund | FILLING VALVE FOR FILLING LIQUIDS UNDER BACK PRESSURE |
SE449218B (en) * | 1985-02-12 | 1987-04-13 | Suni Kas Oy | DEVICE FOR FILLING CONTAINER FILLING ITEMS, LIKE BOTTLES, WITH LIQUID |
ES2006386A6 (en) | 1988-03-21 | 1989-04-16 | Perrier Iberica | Improvements in filler heads of pressurized bottles. |
DE4010413A1 (en) * | 1990-03-31 | 1991-10-02 | Alfill Getraenketechnik | DEVICE FOR FILLING CONTAINERS WITH A LIQUID |
DE4036290A1 (en) * | 1990-06-06 | 1991-12-12 | Kronseder Maschf Krones | METHOD AND DEVICE FOR STERILY FILLING BEVERAGE LIQUIDS |
DE4126951A1 (en) * | 1991-08-16 | 1993-02-18 | Kronseder Maschf Krones | METHOD AND DEVICE FOR TREATING MULTIPLE-WAY BOTTLES OF PLASTIC |
DE4225476C2 (en) * | 1992-08-01 | 2001-02-22 | Khs Masch & Anlagenbau Ag | Arrangement for filling bottles or similar containers |
DE4231114A1 (en) * | 1992-09-17 | 1994-03-24 | Seitz Enzinger Noll Masch | Device for filling bottles or similar containers |
DE4338669A1 (en) * | 1993-11-12 | 1995-05-18 | Khs Masch & Anlagenbau Ag | Filling element for bottle filling machine |
DE9311427U1 (en) * | 1993-07-31 | 1994-09-08 | Kronseder Maschf Krones | Device for filling vessels with a liquid |
US5445494A (en) * | 1993-11-08 | 1995-08-29 | Bw/Ip International, Inc. | Multi-stage centrifugal pump with canned magnetic bearing |
DE29513031U1 (en) * | 1995-08-17 | 1996-09-12 | Kronseder Maschf Krones | Vessel filling machine |
DE19631079C2 (en) * | 1996-08-01 | 1998-09-24 | Ortmann & Herbst Masch Gmbh | Filling device with height-adjustable return gas pipe |
FR2766473B1 (en) * | 1997-07-22 | 1999-09-17 | Sidel Sa | PROCESS FOR FILLING CONTAINERS, AND INSTALLATION FOR IMPLEMENTING |
US6155314A (en) * | 1999-01-20 | 2000-12-05 | Crown Simplimatic Incorporated | Filling machine assembly having an adjustable vent tube |
DE10008426B4 (en) * | 2000-02-23 | 2011-07-28 | KHS GmbH, 44143 | System and method for filling containers with a liquid product |
JP4701542B2 (en) * | 2001-05-31 | 2011-06-15 | 澁谷工業株式会社 | Filling apparatus and filling method thereof |
JP4411832B2 (en) * | 2002-10-17 | 2010-02-10 | 澁谷工業株式会社 | Filling valve |
ITBO20030411A1 (en) * | 2003-07-03 | 2005-01-04 | Stk Stocchi Progetti S R L | TAP FOR STERILE FILLING OF FOOD LIQUIDS. |
DE10359492B3 (en) * | 2003-12-13 | 2005-09-15 | Khs Maschinen- Und Anlagenbau Ag | Filling element for a filling machine |
DE20319789U1 (en) * | 2003-12-20 | 2004-02-26 | Khs Maschinen- Und Anlagenbau Ag | Filling machine with separate return gas duct |
JP4254568B2 (en) * | 2004-02-16 | 2009-04-15 | 澁谷工業株式会社 | Filling valve |
MXPA05002849A (en) * | 2004-03-12 | 2005-10-18 | Adcor Ind Inc | Filling valve apparatus. |
DE102004017205A1 (en) * | 2004-04-10 | 2005-10-27 | Khs Maschinen- Und Anlagenbau Ag | Filling machine of rotating design |
DE102004022096B3 (en) * | 2004-05-05 | 2006-01-05 | Khs Maschinen- Und Anlagenbau Ag | Filling valve, equipped with a gas barrier with swirl effect |
ATE544724T1 (en) * | 2006-11-29 | 2012-02-15 | Sidel Internat Ag | FILLING VALVE ASSEMBLY |
DE102007022259A1 (en) * | 2007-05-09 | 2009-01-15 | Khs Ag | Filling system and method for controlling a filling system |
DE102009009339A1 (en) | 2009-02-17 | 2010-08-26 | Khs Ag | Filling element for filling bottles or similar containers and filling machine with such filling elements |
DE102009016084A1 (en) * | 2009-04-03 | 2011-05-12 | Khs Gmbh | Filling element for filling containers with a liquid product, filling machine and method for filling containers |
DE102009016322A1 (en) * | 2009-04-06 | 2010-10-07 | Khs Ag | filling system |
DE102010024522A1 (en) * | 2010-06-21 | 2011-12-22 | Khs Gmbh | Method and filling element for pressure filling of containers with a liquid product |
DE102010027511A1 (en) * | 2010-07-16 | 2012-01-19 | Khs Gmbh | Filling element, method and filling system for filling containers |
DE102010027512A1 (en) * | 2010-07-16 | 2012-01-19 | Khs Gmbh | Filling element, method and filling system for filling containers |
DE102011120372A1 (en) * | 2011-12-07 | 2013-06-13 | Khs Gmbh | Filling element and filling system |
DE102011121968A1 (en) * | 2011-12-21 | 2013-06-27 | Khs Gmbh | Filling element and filling system |
DE102012015086A1 (en) * | 2012-08-01 | 2014-02-06 | Khs Corpoplast Gmbh | Method and device for producing filled with a liquid product containers |
US9242848B2 (en) * | 2012-09-20 | 2016-01-26 | Pouch Pac Innovations, Llc | Diving nozzle for filling a product into a package and for gas purging and method for the same |
DE102013101419B4 (en) * | 2013-02-13 | 2015-10-29 | Khs Gmbh | Filling element and filling system |
-
2011
- 2011-12-06 DE DE102011120164A patent/DE102011120164A1/en not_active Withdrawn
-
2012
- 2012-11-23 SI SI201230471T patent/SI2788274T1/en unknown
- 2012-11-23 US US14/363,021 patent/US9790072B2/en active Active
- 2012-11-23 WO PCT/EP2012/004867 patent/WO2013083239A1/en active Application Filing
- 2012-11-23 EP EP12791106.3A patent/EP2788274B1/en active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2013083239A1 * |
Also Published As
Publication number | Publication date |
---|---|
EP2788274B1 (en) | 2016-02-03 |
WO2013083239A1 (en) | 2013-06-13 |
DE102011120164A1 (en) | 2013-06-06 |
SI2788274T1 (en) | 2016-04-29 |
US20140360624A1 (en) | 2014-12-11 |
US9790072B2 (en) | 2017-10-17 |
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