EP2789863B1 - Vérin hydraulique et machine de construction ou engin de levage - Google Patents

Vérin hydraulique et machine de construction ou engin de levage Download PDF

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Publication number
EP2789863B1
EP2789863B1 EP14000197.5A EP14000197A EP2789863B1 EP 2789863 B1 EP2789863 B1 EP 2789863B1 EP 14000197 A EP14000197 A EP 14000197A EP 2789863 B1 EP2789863 B1 EP 2789863B1
Authority
EP
European Patent Office
Prior art keywords
cylinder
control
power cylinder
accordance
regulation
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.)
Active
Application number
EP14000197.5A
Other languages
German (de)
English (en)
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EP2789863A2 (fr
EP2789863A3 (fr
Inventor
Roman Hofmann
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.)
Liebherr Components Kirchdorf GmbH
Original Assignee
Liebherr Components Kirchdorf GmbH
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 Liebherr Components Kirchdorf GmbH filed Critical Liebherr Components Kirchdorf GmbH
Publication of EP2789863A2 publication Critical patent/EP2789863A2/fr
Publication of EP2789863A3 publication Critical patent/EP2789863A3/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2271—Actuators and supports therefor and protection therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/085—Servomotor systems incorporating electrically operated control means using a data bus, e.g. "CANBUS"
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/202—Externally-operated valves mounted in or on the actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means

Definitions

  • the invention relates to a working cylinder consisting of a piston-cylinder unit.
  • the invention further comprises a construction machine or a hoist with such a working cylinder.
  • Known working cylinders serve as a drive unit for the execution of linear movements (see, for example, the document DE4422528 ).
  • the volume flow or pressure required for the linear movement is provided and regulated by an external control circuit.
  • the volume flow or pressure adjustment takes place hydraulically via hydraulic components of the external control loop.
  • the known from the prior art cylinder thus provide one or more pressure ports, via which the via the external control loop generated volume flow of the respective effective area of the cylinder is provided.
  • the object of the present invention is to develop generic working cylinder to adapt to the necessary conditions of automation technology.
  • a working cylinder which consists of a piston-cylinder unit in the usual way.
  • the working cylinder comprises at least one pressure port for providing a volume flow or pressure energy for the operation of the working cylinder.
  • the working cylinder comprises an integral valve arrangement for the regulation / control of the supply line of the pressure volume flow provided via the at least one pressure connection into the cylinder space.
  • an integrated control and / or regulating unit is provided, which is in communication with the valve assembly and performs a corresponding control of the valve assembly.
  • a kind of intelligent working cylinder which controls its position and its kinematic behavior automatically.
  • no external components are needed, but the cylinder only uses its own components.
  • the cylinder is provided only with pressure energy, for example in the form of a constant pressure volume flow. The necessary pressurization of one or more effective surfaces of the piston-cylinder unit is independently determined and made.
  • the type of cylinder and the structural design of the working principle are less relevant to the essential core idea of the invention.
  • the working cylinder can be designed for example as a hydraulic or pneumatic cylinder.
  • the working cylinder can be constructed as a single-acting or double-acting hydraulic cylinder.
  • the presented idea according to the invention can be ported without restriction to telescopic cylinders.
  • the valve arrangement comprises at least one controllable valve per effective area, which can be addressed correspondingly via the control and / or regulating unit in order to apply the desired effective pressure to the assigned effective area.
  • the one or more controllable valves are on the input side with the at least one pressure port in connection and the output side with at least one opening to the cylinder chamber, in particular an opening to the cylinder chamber with the valve associated effective area.
  • a valve communicates directly with the pressure port while one or more other valves communicate with the pressure port via a pressure line of the working cylinder.
  • the pressure line may extend at least partially channel-like through the cylinder jacket.
  • At least one data interface is preferably provided.
  • the control and / or regulating unit can be supplied with suitable control parameters or other commands or information for the position control of the cylinder or for influencing the working / movement behavior of the cylinder.
  • the data interface may be suitable for data retrieval.
  • certain control and / or regulation parameters of the working cylinder or other operating information of the working cylinder can be read by an external higher-level control.
  • control and / or position and / or dynamic measurement data can be provided by the control and / or regulating unit via the integrated data interface. Based on these measurement data, it is not only possible to draw conclusions about the current position of the piston rod, but additional information such as the current energy requirement can be called up.
  • an integral position measuring system is expediently arranged on or in the cylinder, which is communicatively connected to the control and / or regulating unit.
  • the position measuring system may preferably be arranged on the frontal cylindrical surface in the region of the piston rod outlet.
  • the integrated measuring system allows the current position of the piston rod relative to the cylinder housing to be recorded. It is also possible to record the current movement speed of the piston.
  • the working cylinder has a storage means for storing operation-relevant control or control parameters, which can be used by the control unit during cylinder operation.
  • one or more control profiles can be stored in the memory means. Such profiles describe different control or regulating behavior of the working cylinder, for example for different purposes. Depending on the application, the desired cylinder behavior can be configured by selecting the appropriate profile. The types of profiles may be preferred in terms of the resulting operating speed of the linear motion differ. Furthermore, it can be determined in the profile whether a load damping should be realized by targeted control of the valve arrangement. In this context, it should be noted that the implementation of a load damping without additional components by modification of the executed control algorithm of the control and / or regulating unit is feasible.
  • the use of profiles allows a simple implementation and implementation of different types of cylinders, each with different working behavior, which can therefore be flexibly adapted for various applications.
  • the invention therefore provides a universal cylinder for an enormously wide portfolio.
  • the storage means is accessible via the data interface.
  • existing control or control parameters or control profiles can be created, changed, deleted or read out.
  • the control or regulation unit can be addressed directly via the data interface and receives the necessary profiles or parameters directly via the interface.
  • control and / or regulating unit may be suitable for the execution of one or more monitoring functions.
  • the control and / or regulating unit comprises, for example, an implemented logic for carrying out a test run for checking the basic cylinder functionality. Additionally or alternatively, specific test routines for detecting damage, in particular leaks within the working cylinder may be available.
  • a program for determining the quality of the used pressure medium for example for detecting the fluid quality of the hydraulic medium used, may be ready for execution.
  • the invention also relates to a construction machine, in particular an earthmoving machine, or a hoist with at least one working cylinder according to the present invention or an advantageous embodiment of the invention.
  • the construction machine or the hoist obviously have the same advantages and properties as the working cylinder according to the invention, which is why at this point a further description is omitted.
  • the at least one working cylinder is connected via its pressure connection to a pressure circuit of the construction machine or hoist according to the invention.
  • a central control unit of the construction machine or the hoist is connected via the data interface of the working cylinder according to the invention with the control unit in combination.
  • the operation of the working cylinder can be influenced and checked by the higher-level control via the data interface.
  • the interface offers the possibility of retrieving current state information concerning the working cylinder and to evaluate it centrally.
  • the control and / or regulation of the piston movement is incumbent on each cylinder itself.
  • FIG. 1 shows a working cylinder 10 with a cylinder jacket 11 and a linearly displaceably mounted therein piston rod 12 at the lying within the cylinder chamber end of the piston rod 12, the piston 13 is arranged.
  • the other piston rod end passes through the end face of the cylinder jacket 11 out of the cylinder chamber.
  • the cylinder space is divided into two mutually sealed cylinder chambers, namely the piston-side cylinder chamber 14 and the rod-side cylinder chamber 15 by targeted pressure regulation of the pressure level within the cylinder chambers 14, 15 can be a linear movement of the piston rod 12 produce.
  • a valve arrangement of two controllable proportional valves 20, 30 is embedded in the cylinder jacket 11.
  • the control valve 20 controls the prevailing in the cylinder chamber 14 pressure level, while the proportional valve 30 determines the pressure level within the cylinder chamber 15.
  • the cylinder 10 is operated with a hydraulic medium.
  • the valves 20, 30 are in communication with a central hydraulic pressure port 40, wherein the valve 30 is in fluid communication with the pressure port 40 via a channel 23 provided in the cylinder jacket 11.
  • the actuation of the proportional valves 20, 30 takes place electrically. Suitable control signals are generated by a control unit 70, which is also an integral part of the working cylinder 10, and applied to the respective control input of the valves 20, 30.
  • the unit 70 is disposed at the piston rod side end of the cylinder jacket 11.
  • a measuring device 60 likewise fastened in the region of the piston rod outlet on the cylinder jacket 11 measures, in addition to the current position of the piston rod 12 relative to the cylinder housing 11, the speed of movement of the piston and shares both values of the control and / or regulating unit With.
  • the measuring unit 60 is based on the developed positioning sensor system for hydraulic cylinders PMHZ.
  • a data interface 50 is available, which is used for communication of the control and / or regulating unit with a higher-level central control.
  • the basic programming or maintenance of the working cylinder 10, in particular the control and regulating unit 70, can take place via the data interface.
  • the controller 71 receives as a target size 72 a possible position request or a movement profile.
  • the setpoint quantity 72 is compared with the actual size 61 and from this a corresponding setpoint value 73 for the hydraulic valves 20, 30 is generated.
  • the actual variable 61 is provided by the measuring system 60 and characterizes the current position of the piston rod 12. Additionally or alternatively, further variables provided via the measuring system, such as the speed of the piston movement, can be used and used as the actual variable 61.
  • the current position request of the working cylinder 10 as well as a possible movement profile can be stored in an unillustrated storage unit with access by the control or regulation unit 70 or alternatively provided at runtime via the data interface 50.
  • About the movement profile can be a desirable working behavior of the working cylinder 10 configure. This includes on the one hand the desired speed of movement of the piston rod 12 as well as the realization of a cushioning, etc.
  • the manipulated variable 73 generated by the controller 71 is applied as an electrical control signal to the valves 20, 30 in order to set the desired passage quantity and the required pressure level in the cylinder chambers 14, 15.
  • information 51 can be transmitted to a higher-level system via the data interface 50. This includes, for example, the current cylinder position and the energy required for the operation of the working cylinder 10th
  • the control unit 70 may also include logic for possible monitoring functions of the power cylinder 10. This includes, for example, a monitoring function for checking the basic functions of the working cylinder 10 as well as for detecting possible damage or leaks within the cylinder system. However, the control unit 70 may include logic to check the current fluid quality of the hydraulic oil used.
  • the invention describes an integrated intelligent cylinder which receives the position and the kinematic behavior in the form of digital data. Hydraulic energy is available to the cylinder, but this regulates the necessary energy requirement and its movement independently depending on the control parameters or given profiles. In addition, it can provide control, position and dynamic measurement data to higher-level systems, which can be used to display process automation or partial automation and monitoring functions.
  • the behavior of the hydraulic cylinder can be understood analogously to electronically controlled or regulated actuators and be interpreted as a closed system to which only energy must be supplied and via the data interface communication with a higher-level control system can take place.
  • the working cylinder creates competitive conditions for the automation of work processes or assistance systems.
  • the cylinder provides the necessary conditions for the realization of a tilting moment control, for example, to protect during lifting work, or for a stroke limitation, in which case different working cylinders can be used for different equipment.
  • Due to the electric control it is particularly easy to introduce a speed control, which is particularly useful in the danger zone, i. Position dependent, lower speeds allowed.
  • a load damping for example, for damping the equipment against rocking, can be realized without additional design effort.
  • This electronic end position damping eliminates the otherwise necessary mechanics.
  • the adaptation of the working behavior to certain areas of application is just as electronic and not hydraulically as before.
  • the invention thus provides a universal hydraulic cylinder, which can achieve a reduction of the entire portfolio of cylinders.
  • it is particularly easy to implement a necessary customer adaptation via the electronic control.
  • the electronics provide numerous self-monitoring and diagnostic functions within the cylinder.

Claims (9)

  1. Vérin de travail (10) comprenant une unité piston-vérin dotée d'au moins un raccord de pression (40), d'un agencement de valves intégral pour contrôler le débit volumétrique de pression entre le raccord de pression (40) et la chambre du vérin (14, 15) et d'une unité de commande et de réglage intégrée (70) pour actionner l'agencement de valves, ledit agencement de valves comportant par surface active au moins une valve réglable, en particulier une valve proportionnelle à commande électrique,
    caractérisé en ce que deux ou plusieurs valves (20, 30) sont disposées, au moins en partie, à l'intérieur de la chemise du vérin (11), celles-ci étant reliées entre elles via au moins un canal de pression (23) passant dans la chemise du vérin (11).
  2. Vérin de travail (10) selon l'une quelconque des revendications précédentes, caractérisé en que l'unité de commande et/ou de réglage (70) comporte une connexion de données (50).
  3. Vérin de travail (10) selon la revendication 2, caractérisé en ce que des données de réglage et/ou de position et/ou de mesure dynamiques peuvent être fournies par l'unité de commande et/ou de réglage (70) via l'interface de données (50).
  4. Vérin de travail (10) selon l'une quelconque des revendications précédentes, caractérisé en ce qu'un système de mesure de position intégral est prévu sur le vérin (10) et relié de manière à communiquer avec l'unité de commande et/de réglage (70).
  5. Vérin de travail (10) selon l'une quelconque des revendications précédentes, caractérisé en ce que l'agencement de valves peut être commandé/réglé par l'unité de commande et/ou de réglage (70) en fonction d'un profil de déplacement et/ou d'un ou plusieurs paramètres de réglage, ledit profil de déplacement et/ou lesdits paramètres de réglage pouvant être mis à disposition par un support de stockage intégré du vérin de travail (10) et/ou par l'intermédiaire de l'interface de données (50).
  6. Vérin de travail (10) selon l'une quelconque des revendications précédentes, caractérisé en ce que l'unité de commande et/ou de réglage (70) permet d'exécuter une ou plusieurs fonctions de surveillance, en particulier la surveillance du bon fonctionnement du vérin et/ou la détection de dégradations voire de fuites dans le vérin de travail (10) et/ou l'enregistrement de la qualité du fluide sous pression utilisé, en particulier du fluide hydraulique.
  7. Vérin de travail (10) selon l'une quelconque des revendications précédentes, caractérisé en ce que le vérin de travail (10) est un cylindre pneumatique ou hydraulique.
  8. Vérin de travail (10) selon l'une quelconque des revendications précédentes, caractérisé en ce que le vérin de travail (10) est un vérin à simple ou double effet (10) ou un cylindre télescopique.
  9. Machine de construction, en particulier engin de terrassement, ou engin de levage avec au moins un vérin de travail (10) selon l'une quelconque des revendications précédentes.
EP14000197.5A 2013-04-11 2014-01-20 Vérin hydraulique et machine de construction ou engin de levage Active EP2789863B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102013006231.4A DE102013006231A1 (de) 2013-04-11 2013-04-11 Arbeitszylinder und Baumaschine bzw. Hebezeug

Publications (3)

Publication Number Publication Date
EP2789863A2 EP2789863A2 (fr) 2014-10-15
EP2789863A3 EP2789863A3 (fr) 2015-06-10
EP2789863B1 true EP2789863B1 (fr) 2018-10-17

Family

ID=50002462

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14000197.5A Active EP2789863B1 (fr) 2013-04-11 2014-01-20 Vérin hydraulique et machine de construction ou engin de levage

Country Status (5)

Country Link
US (1) US20140305117A1 (fr)
EP (1) EP2789863B1 (fr)
CN (1) CN104100607A (fr)
DE (1) DE102013006231A1 (fr)
TR (1) TR201900477T4 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110524856A (zh) * 2019-09-28 2019-12-03 江西德新达智能机械有限公司 一种应用冷水调间距的吹膜机冷水槽夹辊及间隙调节方法

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US3956973A (en) * 1972-07-11 1976-05-18 Basic Aluminum Castings Company Die casting machine with piston positioning control
DE3436946C2 (de) * 1984-10-09 1994-06-09 Mannesmann Ag Linearantrieb
US4811561A (en) * 1986-04-08 1989-03-14 Vickers, Incorporated Power transmission
DE3720266A1 (de) * 1987-06-19 1988-12-29 Bw Hydraulik Gmbh Elektrohydraulisches regelsystem
DE9305980U1 (fr) * 1993-04-20 1993-08-05 Leibfried Maschinenbau Gmbh, 71083 Herrenberg, De
DE4422528C2 (de) * 1994-06-28 1997-05-28 Festo Kg Fluidbetätigte Antriebseinheit
DE29505698U1 (de) * 1995-04-01 1995-06-08 Peters Indu Produkt Elektrotec Steuerzylinder
DE10048049A1 (de) * 2000-09-28 2002-05-02 Festo Ag & Co Fluidtechnische Einrichtung mit einer Diagnoseeinrichtung
DE102007015111B4 (de) * 2007-03-29 2010-01-07 Festo Ag & Co. Kg Sensorvorrichtung für ein fluidtechnisches Gerät
DE102007018405B4 (de) * 2007-04-17 2022-09-15 Alpha Fluid Hydrauliksysteme Müller GmbH Elektrohydraulische Ansteuerung
DE102007023412A1 (de) * 2007-05-18 2008-11-20 Rehau Ag + Co. Hydraulik-Antriebseinheit
DE102007061078A1 (de) * 2007-12-18 2009-06-25 Alpha Fluid Hydrauliksysteme Müller GmbH Proportionalzylinder
DE102008012143A1 (de) * 2008-03-01 2009-09-03 Alpha Fluid Hydrauliksysteme Müller GmbH Proportionalzylinder sowie zugehöriges Baukastensystem
DE102009040347A1 (de) * 2009-09-05 2011-03-10 Alpha Fluid Hydrauliksysteme Müller GmbH Schaltungs-,Ansteuerungs- und Regelkonzeption für autarke, weggeregelte elektrohydraulische Aktoren
CN102648354B (zh) * 2009-10-29 2015-05-27 诺格伦有限责任公司 流体操作致动器
DE102012010726B4 (de) * 2011-10-31 2023-10-19 Alpha Fluid Hydrauliksysteme Müller GmbH Proportionalhydraulischer Linearantrieb

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Also Published As

Publication number Publication date
DE102013006231A1 (de) 2014-10-16
EP2789863A2 (fr) 2014-10-15
EP2789863A3 (fr) 2015-06-10
TR201900477T4 (tr) 2019-02-21
CN104100607A (zh) 2014-10-15
US20140305117A1 (en) 2014-10-16

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