EP2825778B1 - Dispositif avec système hydraulique pour controller au moins un premier et un deuxième consommateur hydraulique. - Google Patents

Dispositif avec système hydraulique pour controller au moins un premier et un deuxième consommateur hydraulique. Download PDF

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Publication number
EP2825778B1
EP2825778B1 EP13709777.0A EP13709777A EP2825778B1 EP 2825778 B1 EP2825778 B1 EP 2825778B1 EP 13709777 A EP13709777 A EP 13709777A EP 2825778 B1 EP2825778 B1 EP 2825778B1
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EP
European Patent Office
Prior art keywords
hydraulic
fluid
flow divider
consumer
hydraulic consumer
Prior art date
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Application number
EP13709777.0A
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German (de)
English (en)
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EP2825778A1 (fr
Inventor
Philipp Hilzendegen
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.)
Hydac Fluidtechnik GmbH
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Hydac Fluidtechnik GmbH
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Publication of EP2825778A1 publication Critical patent/EP2825778A1/fr
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Classifications

    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/22—Synchronisation of the movement of two or more servomotors
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30505—Non-return valves, i.e. check valves
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40523—Flow control characterised by the type of flow control means or valve with flow dividers
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/78—Control of multiple output members
    • F15B2211/782—Concurrent control, e.g. synchronisation of two or more actuators

Definitions

  • the invention relates to a hydraulic system according to the feature configuration of the preamble of claim 1.
  • Such a device is used, for example, in machines such as loaders, for moving loads and serves to control actuators with working cylinders, in which pistons are moved or moved in accordance with a movement of the load to be moved.
  • tilting of the machine may occur in the event of unfavorable center of gravity displacement, which is why it must comply in particular with the safety regulations specified in the safety standard EN 15000. Accordingly, at the risk of tipping a Lastmomentver josrnde movement to prevent and allow a load torque-reducing movement.
  • the machine may also tilt.
  • the flow divider designed for a certain volume range can be leaking, in that a fluid leakage current flows from an actuator assigned to a vertical movement and acted on by a vertical movement to an actuator assigned to a vertical movement and acted upon by a lower pressure, and the position of the further actuator in FIG Form of an irregularity in the movement, such as a "jerk", can affect noticeably.
  • This situation occurs in particular when the horizontally movable actuator is retracted far and the vertically movable actuator is far extended.
  • the known devices for controlling hydraulic consumers, such as the actuators do not reliably prevent the fluid leakage current in this situation.
  • a control line is provided downstream of the Stromteilerpfad that supplies the working cylinder with the lower extension length, after a flow divider that supplies the two sides of the piston with hydraulic fluid a 3/2-way valve controls such that with increasing pressure when breaking the soil of this valve reaches its closed position, so that a further influx of working fluid is suppressed to this hydraulic cylinder and this is held without overload in its shovel closing position.
  • a fluid pressure actuator control system for controlling an adjustment of a predetermined fluid pressure actuator of at least two fluid pressure actuators as hydraulic consumers to which flows of pressurized fluid delivered from a common fluid pressure source may be individually allocated via a flow divider.
  • each hydraulic consumer is assigned an independent locking device which can be actuated by a central control device, operating states at the respective hydraulic consumers being monitored by a comprehensive sensor system and causing the control device to supply fluid quantities via the respective blocking device in the form of valves Consumers supply or from these again preferably in a tank.
  • the JP S58-180898 describes a hydraulic system comprising at least one first hydraulic consumer and at least one second hydraulic consumer and a control device for controlling the hydraulic consumers, wherein the first and the second hydraulic consumer is a fluid-actuated actuator with two separate actuator sides, which are responsible for a movement of a respective piston
  • the control device for controlling at least one first hydraulic consumer and at least one second hydraulic consumer comprises a flow divider, a blocking device and the respectively desired fluid supply of the hydraulic consumers, a first directional control valve and a second directional control valve, wherein the hydraulic consumers at least one of the flow divider for dividing a coming from a pressure fluid supply fluid supply in predetermined, the respective hydraulic Verbryer leading partial flows can be supplied with fluid with specifiable pressure, wherein by means of at least one of the flow divider and at least one hydraulic consumer arranged controllable blocking device, a fluid flow from that hydraulic consumer with higher pressure on the flow divider to that hydraulic consumer with lower pressure is suppressed, and wherein the at least one barrier means is arranged in fluid communication
  • the invention has the object to prevent a fluid leakage flow between two powered by a flow divider with fluid, acted upon by different pressures, double-acting hydraulic consumers in a simple and reliable manner.
  • the hydraulic system according to the invention is characterized in that the second valve is connected between the pressure supply and the two hydraulic consumers such that the second valve is connected directly to an extension side of the second hydraulic consumer and via the flow divider to both retraction sides of the two hydraulic consumers.
  • a control line is guided by the leading from the hydraulic consumer with each higher pressurization to the flow divider fluid connection to the locking device, that the higher pressurization controls the locking device in the direction of its blocking position, so that in any pressure situation of the controlled hydraulic consumers in the fluid connection from the hydraulic consumer with higher pressure to the flow divider pending fluid pressure does not reach the hydraulic consumer with lower pressurization and consequently not operated in an unintentional manner.
  • a fluid pressure present in the corresponding fluid connection maximally reaches the blocking device, which blocks a further fluid path to the respective other hydraulic consumer.
  • the at least one preferably designed as a valve, particularly preferably as a check valve, designed locking device driven by the flow divider fluid pressure and blocked by the originating from the hydraulic consumer with each higher pressurization fluid pressure.
  • the at least one blocking device is blocked on the occurrence of a fluid leakage current at the flow divider.
  • this can be advantageously closed by the control line, wherein the line for controlling the locking device is connected in an advantageous manner fluid leading to the fluid connection from the hydraulic consumer with higher pressure to the flow divider.
  • fluid pressures occur in both fluid directions between the interconnected via the flow divider hydraulic consumers, which are alternately acted upon with higher and lower pressure.
  • the respective fluid direction associated, provided in the fluid connection from the flow divider to the respective hydraulic consumer with lower pressurization locking devices are provided.
  • an effective in both fluid directions corresponding Form fluid flow preventing locking device.
  • control line between a junction of the locking device for locking the same and a branch point extends, opens in both a coming from the output of a current divider path of the flow divider fluid line and the further fluid line, which leads in the direction of the consumer with the higher pressurization or is connected to carry fluid to this consumer.
  • the invention further relates to a hydraulic system comprising at least one first hydraulic consumer and at least one second hydraulic consumer and a device according to the invention for controlling the hydraulic consumers.
  • the device according to the invention can be manufactured as a tradable unit, independent of the hydraulic consumers and a pressure supply, distributed and used in a hydraulic system.
  • the first and / or the second hydraulic load can be fluid-actuated actuators, each with two separate actuator sides, which can be alternately fluid-conductively connected to the pressure supply for movement of the respective actuator.
  • the actuator and the load connected thereto are moved.
  • the Actuators each one in a working cylinder retractable and guided pistons, expediently associated with a retracting movement of the respective piston actuator sides are connected to the flow divider.
  • an extending movement of the respective piston associated actuator sides may be connected to the flow divider. In this way, a synchronization, in other words a coordinated movement, both pistons and actuators guaranteed, either in the respective retraction direction or in the respective extension direction. Also combinations of coupled retraction and extension movements are conceivable.
  • one of the actuators comprises a telescopic cylinder with a piston preferably retractable and extendable in a horizontal direction and a further actuator comprising a lifting cylinder with a further piston which can be retracted and retracted therein in a vertical direction Locking device between the flow divider and the lifting cylinder is arranged.
  • the total movement caused by the actuators is divided into a preferably horizontally directed component of movement and another preferably directed in the vertical direction of movement component and correspondingly changeable via the telescopic cylinder or the lifting cylinder.
  • each shown hydraulic system comprises a first hydraulic consumer 10, which is designed as an actuator with a working cylinder, more precisely a telescopic cylinder, and a second hydraulic consumer 12, which is also designed as an actuator with a working cylinder, more precisely a lifting cylinder.
  • a first piston 14 and a second piston 16 is movably guided, wherein the first piston 14 in a horizontal direction H in the corresponding working cylinder and retractable and the second piston 16 in a vertical direction V in the corresponding working cylinder and retractable.
  • a retraction side 18.1, 18.2 or an extension side 20.1, 20.2 of the corresponding working cylinder is fluid-connected to a pressure supply P and pressurized with fluid with a presettable pressure. Fluid is conveyed by means of an actuatable pump 30 from the pressure supply P to the entry side 18.1, 18.2 or to the extension side 20.1, 20.2 of the respective hydraulic consumer 10, 12.
  • a movement of the respective piston 14, 16 on the retraction side 18.1, 18.2 or the extension side 20.1, 20.2 displaced fluid can be performed via a tank connection T back into the tank or a reservoir.
  • first valve 22 For each desired fluid supply of the hydraulic consumers 10, 12 are designed as electromagnetically actuated 4/3-way valve formed first valve 22 and designed as an actuatable 4/3-way valve second valve 24.
  • the switchable between an ON position (left) for pressurizing the Einfahrseite 18.1 of the first hydraulic consumer 10, a NEUTRAL position (center) to complete all fluid connections and an OFF position (right) for pressurizing the Ausfahrseite 20.1 of the first hydraulic consumer 10 first valve 22 is connected directly between the pressure supply P and the first hydraulic consumer 10.
  • a flow divider 26 For dividing a from the pressure supply P via the second valve 24 to the Einfahrlab 18.1, 18.2 of the hydraulic load 10, 12 guided fluid flow into corresponding partial flows, a flow divider 26 is provided.
  • the flow divider 26 has a first throttle 28. 1 and a second throttle 28. 2 which supply the 100% amount of fluid flow coming from the pressure supply P into a first partial flow leading to the first hydraulic consumer 10, for example 67% and leading to the second hydraulic consumer 12 Example, divides 33% amount of second fluid flow. It is understood that instead this fixed predetermined ratio between the first and second partial flow, the two throttles 28.1, 28.2 can be individually designed differently adjustable.
  • the flow divider 26 is designed for a volume flow range of, for example, 150 l / min.
  • a check valve 36 is provided, which closes at a pressure supply to the Einfahrseite 18.1 of the first hydraulic consumer 10 via the first valve 22 to avoid a pressure drop across the first fluid connection F1 ,
  • a locking device 38 is provided, which is designed as a check valve and via a fluid leading to the first fluid connection F1 connected, designed as a leakage current line control line S is lockable.
  • the fluid and pressure-carrying control line S (drawn in dashed lines) runs between a connection point AS of the blocking device 38 for blocking the same and a branch point AB, into which both one of the output A1 of a current divider path ST1 of the flow divider 26 coming fluid line F1 'opens as well as the other Fluid line F1, which opens in the direction of the consumer 10 with the higher pressurization.
  • the current divider path ST2 of the current divider 26 is connected via the output A2 of the current divider 26 to the fluid line F2 ', which further leads to an input-side connection of the blocking device 38.
  • the junction AS and the leading to the consumer 12 fluid line or Connection F2 are connected to the output side of the check valve 38, the blocking member opens in the direction of said output side at queuing a corresponding fluid pressure and otherwise can remain under inclusion of the differential pressure between input and output side of the check valve 38 in a closed position.
  • the flow divider 26 and the locking device 38 are part of a device 32 for controlling the two hydraulic consumers 10, 12, wherein the device 32 further comprises the check valve 36 and switchable valves 34.1, 34.2, 34.3.
  • a first switchable valve 34.1 is arranged in the first fluid connection F1 from the flow divider 26 to the entry side 18.1 of the first hydraulic consumer 10.
  • a second switchable valve 34.2 is arranged to bypass the flow divider 26 together with the barrier means 38 at an immediate pressurization of the pressure supply P via the second valve 24 to the retraction side 18.2 of the second hydraulic consumer 12.
  • a third switchable valve 34.3 is arranged in a direct return line from the extension side 20.1 of the first hydraulic consumer 10 to the tank port T, that is, parallel to the first valve 22.
  • Fig. 2 differs from Fig. 1 in that the second valve 24 shown on the right is in the ON position and accordingly via the flow divider 26, the Einfahren 18.1, 18.2 of the two hydraulic consumers 10, 12 are pressurized and the respective pistons 14, 16 a horizontal first retraction E1 or perform a vertical second retraction E2.
  • the current divider 26 through the fluid connections F1, F2 to Einfahrseite 18.1, 18.2 of the respective hydraulic consumer 10, 12 partial flows are forcibly coupled and the pistons 14, 16 move according to the flow divider 26, more precisely on the throttles 28.1, 28.2, set partial flows as well as the given on the respective retraction side 18.1, 18.2 Partial volume of the respective working cylinder in a predetermined ratio to each other.
  • Fig. 3 differs from Fig. 1 in that the first valve 22 shown on the left is in the ON position and accordingly the retraction side 18.1 of the first hydraulic consumer 10 is pressurized and the first piston 14 performs a retraction movement E1 pointing to the right in the figure. Due to the NEUTRAL position of the second valve 24 is in the second fluid connection F2 and the flow divider 26 of the prevailing on the retraction side 18.2 of the second piston 16 pressure. In the in Fig. 3 illustrated situation, the second piston 16 is extended far out of the working cylinder of the second hydraulic consumer 12, so that at the corresponding retraction side 18.2 a low pressure is present. This low pressure is also at the power splitter side of the check valve 36 in the first fluid connection F1. The said check valve 36 is closed due to the actuator side, much higher pressure from the pressure supply P.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)

Claims (5)

  1. Système hydraulique comprenant au moins un premier consommateur (10) hydraulique et au moins un deuxième consommateur (12) hydraulique et un dispositif (32) de commande pour commander les consommateurs (10, 12) hydrauliques,
    - dans lequel le premier (10) et le deuxième consommateurs (12) hydraulique est un actionneur à actionnement par du fluide, ayant chacun deux côtés (18.1, 20.1; 18.2, 20.2) d'actionneur séparés l'un de l'autre, qui, pour un déplacement (E1, E2) d'un piston (14, 16) respectif, peuvent être reliés à tour de rôle, de manière à conduire du fluide, à la source (P) de pression,
    - dans lequel le dispositif (32) de commande comprend un diviseur (26) de courant, un dispositif (38) d'arrêt et, pour l'alimentation en fluide souhaitée respectivement des consommateurs (10, 12) hydrauliques, une première soupape (22) à plusieurs voies et une deuxième soupape (24) à plusieurs voies,
    - dans lequel les consommateurs (10, 12) hydrauliques peuvent être alimentés par du fluide à une pression pouvant être donnée à l'avance, au moins par le diviseur (26) de courant, pour la répartition d'un courant de fluide venant d'une source (P) de pression en des courants partiels pouvant être donnés à l'avance et allant aux consommateurs (10, 12) hydrauliques respectifs,
    - dans lequel, au moyen du dispositif (38) d'arrêt, monté entre le diviseur (26) de courant et au moins un consommateur (12) hydraulique et pouvant être commandé, peut être supprimé, un courant de fluide, allant du consommateur (10) hydraulique, ayant l'alimentation en pression la plus haute, au consommateur (12) hydraulique, ayant l'alimentation en pression la plus basse, en passant par le diviseur (26) de courant,
    - dans lequel le au moins un dispositif (38) d'arrêt est monté dans une liaison (F2) fluidique, allant du diviseur (26) de courant au consommateur (12) hydraulique ayant l'alimentation en pression la plus basse,
    - dans lequel une ligne (S) de commande va de la liaison (F1) fluidique, menant du consommateur (10) hydraulique ayant l'alimentation en pression la plus haute au diviseur (26) de courant, au dispositif (38) d'arrêt, de manière à ce que l'alimentation en pression la plus grande commande le dispositif (38) d'arrêt en direction de sa position d'arrêt, de sorte que, quelle que soit la situation de pression des consommateurs (10, 12) hydrauliques commandés, une pression de fluide, régnant dans la liaison (F1) fluidique allant du consommateur (10) hydraulique ayant l'alimentation en pression la plus haute au diviseur (26) de courant, n'atteint pas le consommateur (12) hydraulique ayant l'alimentation en pression la plus basse et, en conséquence, n'actionne pas celui-ci d'une manière qui n'est pas voulue,
    - caractérisé en ce que la deuxième soupape (24) est montée entre la source (P) de pression et les deux consommateurs (10, 12) hydrauliques, de manière à ce que la deuxième soupape (24) soit raccordée directement à un côté (20.2) de sortie du deuxième consommateur (12) hydraulique et, par le diviseur (26) de courant, aux deux côtés (18.1, 18.2) d'entrée des deux consommateurs (10, 12) hydrauliques.
  2. Système hydraulique suivant la revendication 1, caractérisé en ce que, lors de son fonctionnement, le au moins un dispositif (38) d'arrêt, constitué de préférence en soupape, notamment de préférence en clapet anti-retour, est commandé par la pression du fluide passant dans le diviseur (26) de courant, ainsi que peut-être mis en arrêt par la pression de fluide provenant du consommateur (10) hydraulique ayant l'alimentation en pression la plus haute.
  3. Système hydraulique suivant la revendication 1 ou 2, caractérisé en ce que la ligne (S) de commande s'étend entre un point (AS) de raccordement du dispositif (38) d'arrêt pour l'arrêt de celui-ci et un point (AB) de bifurcation, dans lequel débouche tant une ligne (F1') fluidique venant de la sortie (A1) d'un trajet (ST1) du diviseur (26) de courant, que l'autre ligne (F1) de fluide, qui va en direction du consommateur (10) ayant l'alimentation en pression la plus haute.
  4. Système hydraulique suivant l'une des revendications précédentes, caractérisé en ce que les pistons (14, 16) sont guidés en pouvant entrer et sortir respectivement dans un cylindre de travail et en ce que les côtés (18.1, 18.2) d'actionneur, associés à un déplacement (E1, E2) d'entrée du piston (14, 16) respectif, sont reliés au diviseur (26) de courant.
  5. Système hydraulique suivant l'une des revendications précédentes, caractérisé en ce que l'un des pistons (14) est guidé avec possibilité d'entrer et de sortir dans un cylindre télescopique, de préférence dans une direction (H) horizontale, en ce qu'un autre piston (16) est guidé avec possibilité d'entrer et de sortir dans un cylindre de levage, de préférence dans une direction (V) verticale, et en ce que le dispositif (38) d'arrêt est monté entre le diviseur (26) de courant et le cylindre de levage.
EP13709777.0A 2012-03-14 2013-03-13 Dispositif avec système hydraulique pour controller au moins un premier et un deuxième consommateur hydraulique. Active EP2825778B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012005253A DE102012005253A1 (de) 2012-03-14 2012-03-14 Vorrichtung zur Ansteuerung mindestens eines ersten hydraulischen Verbrauchers und mindestens eines zweiten hydraulischen Verbrauchers
PCT/EP2013/000734 WO2013135375A1 (fr) 2012-03-14 2013-03-13 Dispositif avec système hydraulique pour commander au moins une première charge hydraulique et au moins une deuxième charge hydraulique

Publications (2)

Publication Number Publication Date
EP2825778A1 EP2825778A1 (fr) 2015-01-21
EP2825778B1 true EP2825778B1 (fr) 2018-12-26

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EP13709777.0A Active EP2825778B1 (fr) 2012-03-14 2013-03-13 Dispositif avec système hydraulique pour controller au moins un premier et un deuxième consommateur hydraulique.

Country Status (4)

Country Link
US (1) US9631643B2 (fr)
EP (1) EP2825778B1 (fr)
DE (1) DE102012005253A1 (fr)
WO (1) WO2013135375A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107269608B (zh) * 2017-07-25 2018-10-16 广州中船文冲船坞有限公司 Fpso船舶舵叶液压锁止系统
DE102018106846B3 (de) * 2018-03-22 2019-07-04 HAWE Altenstadt Holding GmbH Human-Exoskelett

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Publication number Priority date Publication date Assignee Title
DE1222376B (de) * 1963-03-11 1966-08-04 Westinghouse Bremsen Apparate Gleichlaufregeleinrichtung fuer zwei einfach wirkende hydraulische Arbeitszylinder
DE2356414A1 (de) * 1973-11-12 1975-05-15 Peiner Masch Schrauben Stromteiler
JPS58180898A (ja) 1982-04-14 1983-10-22 Ishikawajima Harima Heavy Ind Co Ltd 低温配管の冷却方法及び装置
JPS58180898U (ja) * 1982-05-25 1983-12-02 株式会社豊田自動織機製作所 荷役車両の油圧装置
JPH07158103A (ja) * 1993-12-10 1995-06-20 Japanic:Kk クラムシェルバケットの構造及びその制御回路
JPH0942212A (ja) * 1995-05-24 1997-02-10 Kobe Steel Ltd 油圧制御装置
US6189432B1 (en) * 1999-03-12 2001-02-20 Hunter Engineering Company Automotive lift hydraulic fluid control circuit
US6581622B2 (en) * 2000-09-28 2003-06-24 Glen Brand Divider-combiner valve
NL1024151C2 (nl) * 2003-08-22 2005-02-23 Actuant Corp Voertuig, in het bijzonder kampeervoertuig, met hydraulisch bedienbaar dakonderdeel.
JP4579249B2 (ja) * 2004-08-02 2010-11-10 株式会社小松製作所 流体圧アクチュエータの制御システムおよび同制御方法ならびに流体圧機械
ITMI20051256A1 (it) * 2005-07-04 2007-01-05 Auramo Oy Gruppo idraulico di controllo dei bracci di una pinza e pinza comprendente tale gruppo idraulico

Non-Patent Citations (1)

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Title
None *

Also Published As

Publication number Publication date
EP2825778A1 (fr) 2015-01-21
US9631643B2 (en) 2017-04-25
US20150007714A1 (en) 2015-01-08
WO2013135375A1 (fr) 2013-09-19
DE102012005253A1 (de) 2013-09-19

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