EP2834826B1 - Dispositif de commutation de sécurite comprenant élément de commutation combiné intégré dans une voie de courant comprenant contacts auxiliaires - Google Patents

Dispositif de commutation de sécurite comprenant élément de commutation combiné intégré dans une voie de courant comprenant contacts auxiliaires Download PDF

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Publication number
EP2834826B1
EP2834826B1 EP13715636.0A EP13715636A EP2834826B1 EP 2834826 B1 EP2834826 B1 EP 2834826B1 EP 13715636 A EP13715636 A EP 13715636A EP 2834826 B1 EP2834826 B1 EP 2834826B1
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EP
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Prior art keywords
switching
signal
output signal
safety
auxiliary contact
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EP13715636.0A
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German (de)
English (en)
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EP2834826A1 (fr
Inventor
Kim Le
Sebastian Richter
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Pilz GmbH and Co KG
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Pilz GmbH and Co KG
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H9/00—Details of switching devices, not covered by groups H01H1/00 - H01H7/00
    • H01H9/54—Circuit arrangements not adapted to a particular application of the switching device and for which no provision exists elsewhere
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
    • H01H47/002—Monitoring or fail-safe circuits
    • H01H47/004—Monitoring or fail-safe circuits using plural redundant serial connected relay operated contacts in controlled circuit
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H9/00—Details of switching devices, not covered by groups H01H1/00 - H01H7/00
    • H01H9/02—Bases, casings, or covers
    • H01H9/0271—Bases, casings, or covers structurally combining a switch and an electronic component
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2300/00—Orthogonal indexing scheme relating to electric switches, relays, selectors or emergency protective devices covered by H01H
    • H01H2300/026—Application dead man switch: power must be interrupted on release of operating member

Definitions

  • this object is achieved by a method for operating a control / evaluation unit of a safety switching device of the type mentioned, comprising the steps of: generating a switching signal at a switching signal time with a time interval to the output signal time, and at a second output of the control / evaluation unit
  • the fail-safe control / evaluation unit is designed, when it generates the output signal in the form of a switch-on signal for switching on the technical system at a first output signal time, the switching signal in the form of a switch-on signal for switching on the switching element a first switching signal timing, which is before the first output signal time to produce.
  • a current through the auxiliary contact current path can flow only briefly to or before switching on the technical system.
  • the current flows only when it is needed, as for checking the switching position of the normally open contact or switching on the technical system or dangerous machine. Only a used power consumption and / or heat generation when switching on the technical system is achieved.
  • the switching element is in particular designed to switch on the current through the auxiliary contact current path upon receiving the switching signal.
  • the switching element is turned on again before it is needed again, so it is provided a further reduced power consumption and / or heat development, especially if other elements are controlled by the switching element, such as multiple auxiliary contact current paths of the plurality of electromechanical switches.
  • the safety switching device has a read-back logic with an input connected to the auxiliary contact current path for receiving a read-back signal for checking the switching position of the normally open contact.
  • the read-back logic can be implemented in the control / evaluation unit or in a separate processing unit. Before the read-back logic, a read-back circuit may be connected, which has a voltage adjustment and / or a filter.
  • the second readback time may in particular be between the second output signal time and the second switch signal time. It is used as the period in which the switching element is turned on and the auxiliary contact is opened again.
  • a defined current can be provided in the auxiliary contact current path, in particular corresponding to or exceeding a minimum current or a minimum power. Only when this minimum current or minimum power is present or exceeded can a low-resistance contact resistance of the auxiliary contact be guaranteed. There is therefore provided improved contact security.
  • the minimum current or the minimum power is a property of the respective auxiliary contact, which can be specified by the manufacturer of the electromechanical switch, for example.
  • the load element can in particular be dimensioned such that the minimum current and / or the minimum power is guaranteed. The power consumption and / or the thermal efficiency of the loading element is dependent on the selected load element.
  • the loading element may in particular be a load resistance. It provides a simple and inexpensive way to define the defined current. Alternatively, however, can any other suitable loading element may be used, such as a current sink (eg electronic load).
  • the switching element is an electronic switching element, in particular a transistor.
  • the safety switching device has the electromechanical switch.
  • the electromechanical switch is part of the safety switching device.
  • the electromechanical switch can be arranged within the housing of the safety switching device.
  • the safety switching device can be connected directly to the load circuit.
  • a protective door switch with a door part 16 and a frame part 18 is attached to the protective door 14.
  • the frame part 18 generates on a line 20 a protective door signal which is supplied via the line 19 of the new safety switching device 1.
  • the safety switching device 1 has a fail-safe control / evaluation unit 28.
  • the safety switching device 1 has in this embodiment, two redundant signal processing channels.
  • two processing units or microcontrollers 28a, 28b are shown here, which are each connected to the I / O part 24 or the connections 25a, 25b.
  • the microcontroller 28a, 28b process here redundant to each other at the inputs 34a, 34 b applied input signals that receives the safety switching device 1 to the device terminals 25a, 25b and inputs of the I / O portion 24, and they compare their results, which an arrow 29 is shown.
  • microcontrollers 28a, 28b microprocessors, ASICs, FPGAs, and / or other signal processing circuitry may be used.
  • the safety switching device 1 has two redundant switching elements 30a, 30b, here electronic switching elements 30a, 30b in the form of a transistor.
  • Each of these two switching elements is capable of switching on a high voltage potential V to a device connection 38a, 38b of the safety switching device 1 in order to enable a current flow to an electromechanical switch 40a, 40b or to interrupt this current flow.
  • each of the switching elements 30 can switch off an electromechanical switch 40, such as a contactor.
  • the electromechanical switches 40a, 40b each have a normally open contact 42a, 42b.
  • the normally open contacts 42a, 42b are arranged here in series with one another in a power supply path or load circuit 49 from a power supply 48 to the robot 12.
  • the electromechanical switches 40a, 40b also each have an auxiliary contact 44a, 44b, which is forcibly guided to the corresponding normally open contact 42a, 42b.
  • the auxiliary contacts 44a, 44b are arranged here in series with each other in an auxiliary contact current path 45 with an applied voltage V1.
  • the voltage V1 of the auxiliary circuit may be 24 V, for example.
  • the voltage of the load circuit can be higher.
  • the safety switching device 1 generates output signals that are supplied to the individual signaling devices.
  • an output signal is led via a line 33 to the frame part 18 of the safety door switch.
  • the frame member 18 grinds the output signal of the safety switching device 1 from the line 33 to the line 19 when the door part 16 is in the vicinity of the frame part 18, that is, when the protective door 14 is closed. Therefore, the safety switching device 1 can monitor the safety door switch with the aid of the output signal on the line 33 and with the aid of the input signal on the line 19. In a comparable manner, the safety switching device 1 monitors the emergency stop button 32 here.
  • the switching element 50 is an electronic switching element in the form of a transistor.
  • the transistor 50 can switch much faster than the electromechanical switch 40.
  • the time interval between the switching signal timing and the output signal timing can thus be much smaller than the maximum switching frequency of the electromechanical switch 40. It will be understood by those skilled in the art Also, another suitable type of switching element can be used.
  • the safety switching device 1 has a loading element 54 arranged in the auxiliary contact current path 45 for defining a defined current through the auxiliary contact current path 45 when the defined voltage V1 is applied. It is thus possible to provide or guarantee a minimum current or a minimum power of the auxiliary contact 44 in the auxiliary contact current path 45. Only when the minimum current or the minimum power is present or exceeded can a low-resistance contact resistance of the auxiliary contact 44 be guaranteed.
  • the loading element 54 can in particular be dimensioned such that the minimum current and / or the minimum power is ensured.
  • the loading element 54 is a load resistance.
  • any other suitable loading element may be used, such as a current sink (eg, electronic load).
  • the loading element can also be realized in a read-back circuit. In this case, the read-back circuit would be designed to set the defined current or the minimum current or minimum power.
  • Fig. 3 shows a simplified illustration of a second embodiment of the new safety switching device.
  • the second embodiment of the Fig. 3 is based on the first embodiment of Fig. 2 so that the comments on the embodiment of Fig. 2 also for the embodiment of Fig. 3 hold true.
  • transistor 50 is located in auxiliary contact current path 45 above or before auxiliary contact 44, and not below or after, as in FIG Fig. 2 , Those skilled in the art will appreciate that these arrangements of the switching element or transistor in the auxiliary contact current path are interchangeable.
  • Fig. 4 shows diagrams of the time history of states of various elements of the safety switching device 1 according to a circuit diagram, in particular the previously with reference to Fig. 2 or Fig. 3 described safety switching device 1.
  • Fig. 4a the course over the time t of the switching state ST42 of the normally open contact 42 and the output signal A is shown.
  • the term output signal A is to be understood here in particular as a change or an edge in the switching state ST42.
  • Fig. 4b the course over the time t of the switching state ST44 of the positively driven auxiliary contact 44 is shown.
  • Fig. 4c the course over the time t of the switching state ST50 of the switching element 50 or the switching signal S is shown.
  • switching signal S is to be understood here in particular as meaning a change or an edge in the switching state ST50.
  • the state 0 indicates the open state of the contact or switching element, respectively, and the state 1 respectively indicates the closed state of the contact or switching element.
  • Fig. 4d the course over the time t of the power loss P V54 over the loading element 54 is shown.
  • the method for operating the control / evaluation unit 28 based on the Fig. 4 explained.
  • the method includes first receiving the input signal at the input 34 of the fail-safe control / evaluation unit 28, processing the input signal to produce the output signal A for turning on or off the technical equipment 10 in response to an output signal time t1, t2, and, at the first output 36 of the fail-safe control / evaluation unit 28, transmitting the output signal A to an electromechanical switch 40.
  • the output signal A in the form of a turn-on signal A1 for switching on the technical system is generated at a first output signal time t1.
  • the switch-on signal is shown here in the form of a positive edge or a change from state 0 (open) to state 1 (closed).
  • the normally open contact 42 is thus closed, as a result of which the positively driven auxiliary contact 44 is opened, as in the switching state ST44 Fig. 4b to see.
  • the technical system is now turned on due to the closed by the contact 42 load circuit.
  • the output signal A is then generated at a second output signal time t2 in the form of a switch-off signal A2 for switching off the technical system.
  • the switch-off signal is shown here in the form of a negative edge or a change from state 1 (closed) to state 0 (open).
  • the switching signal S is turned off in the form of a turn-off signal S2 to turn off the switching element 50 at a second switching signal timing t4 after the second output timing t3 is generated.
  • the switching element 50 turns on receiving the turn-on signal S2, the current through the auxiliary contact current path 45 a.
  • the time interval between the second output signal time t2 and the second switching signal time t4 is designated ⁇ t4.
  • the switching position ST42 can additionally be checked by the readback logic at a further readback time t RL3 , as in FIG Fig. 5c shown. It can thus be ensured that the switching position ST42 has actually changed or a positive edge is present.
  • the switching position of the normally open contact 42 is checked by the read-back logic at a second readback time t RL2 , which lies after the second output signal time t2. It is possible to check the electromechanical switch 40 or the normally open contact 42 after switching off the technical system. It can be checked so that the normally open contact 42 has risen or turned off and, for example, not welded.
  • the second readback time t RL2 is also before the second switching signal time t4. In other words, the second readback time t RL2 is between the second output signal time t2 and the second switching signal time t4. The period in which the switching element 50 is turned on and the auxiliary contact 44 is opened again, is used for read-back.
  • Fig. 6 shows a simplified representation of a third embodiment of the new safety switching device 1
  • Fig. 7 shows a simplified representation of an alternative, fourth embodiment of the new safety switching device 1.
  • the comments on the aforementioned figures also apply to the embodiments of Fig. 6 or Fig. 7 to.
  • the embodiment of Fig. 6 includes the safety switching device 1, the electromechanical switch 40.
  • the electromechanical switch 40 with its normally open contact 42 and auxiliary contact 44 is thus part of the safety switching device.
  • the electromechanical switch 40 is, as in Fig. 6 to be seen, disposed within the housing 27 of the safety switching device 1.
  • the safety switching device 1 can be connected directly to the load circuit 49.

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  • Electronic Switches (AREA)
  • Safety Devices In Control Systems (AREA)
  • Keying Circuit Devices (AREA)

Claims (15)

  1. Dispositif de commutation de sécurité (1) destiné à la mise en circuit ou hors circuit à sécurité intégrée d'un équipement technique (10)
    comprenant une unité de commande/interprétation (28) à sécurité intégrée munie d'une entrée (34) destinée à recevoir un signai d'entrée, l'unité de commande/interprétation (28) à sécurité intégrée étant configurée pour traiter le signal d'entrée afin de générer en fonction de celui-ci, à un instant de signal de sortie (t1, t2), un signal de sortie (A) destiné à la mise en circuit ou hors circuit de l'équipement technique (10),
    l'unité de commande/interprétation (28) à sécurité intégrée possédant une première sortie (36) destinée à communiquer le signal de sortie (A) à un commutateur électromécanique (40),
    le commutateur électromécanique (40) possédant un contact de travail (42) destiné à commuter un circuit de courant de charge (49) de l'équipement technique (10) et un contact auxiliaire (44) à guidage forcé dans un trajet de courant de contact auxiliaire (45) par le biais duquel, en présence d'une tension (V1) définie appliquée, peut être mis en circulation un courant en vue de vérifier la position de commutation du contact de travail (42),
    le dispositif de commutation de sécurité (1) possédant un élément de commutation (50) disposé dans le trajet de courant de contact auxiliaire (45),
    l'unité de commande/interprétation (28) à sécurité intégrée étant configurée pour générer un signal de commutation (S) à un instant de signal de commutation (t3, t4) avec un écart dans le temps (Δt3, Δt4) à l'instant de signal de sortie (t1, t2), caractérisé en ce que l'unité de commande/interprétation (28) à sécurité intégrée possède une deuxième sortie (52) destinée à communiquer le signal de commutation (S) à l'élément de commutation (50) qui est configuré pour, lors de la réception du signal de commutation (S), commuter le courant à travers le trajet de courant de contact auxiliaire (45).
  2. Dispositif de commutation de sécurité selon la revendication 1, avec lequel l'unité de commande/interprétation (28) à sécurité intégrée est configurée pour, lorsqu'elle génère le signal de sortie (A) à un premier instant de signal de sortie (t1) sous la forme d'un signal de mise en circuit (A1) en vue de mettre en circuit l'équipement technique (10), générer le signal de commutation (S) sous la forme d'un signal de mise en circuit (S1) en vue de mettre en circuit l'élément de commutation (50) à un premier instant de signal de commutation (t3), lequel est antérieur au premier instant de signal de sortie (t1).
  3. Dispositif de commutation de sécurité selon la revendication 2, avec lequel l'unité de commande/interprétation (28) à sécurité intégrée est configurée pour générer un signal de commutation (S) supplémentaire sous la forme d'un signal de mise hors circuit (S2) en vue de mettre hors circuit l'élément de commutation (50) à un instant de signal de commutation supplémentaire (t5), lequel est postérieur au premier instant de signal de sortie (t1).
  4. Dispositif de commutation de sécurité selon l'une des revendications 1 à 3, avec lequel l'unité de commande/interprétation (28) à sécurité intégrée est configurée pour, lorsqu'elle génère le signal de sortie (A) à un deuxième instant de signal de sortie (t2) sous la forme d'un signal de mise hors circuit (A2) en vue de mettre hors circuit l'équipement technique (10), générer le signal de commutation (S) sous la forme d'un signal de mise hors circuit (S2) en vue de mettre hors circuit l'élément de commutation (50) à un deuxième instant de signal de commutation (t4), lequel est postérieur au deuxième instant de signal de sortie (t2).
  5. Dispositif de commutation de sécurité selon la revendication 4, avec lequel l'unité de commande/interprétation (28) à sécurité intégrée est configurée pour générer un signal de commutation (S) supplémentaire sous la forme d'un signal de mise en circuit (S1) en vue de mettre en circuit l'élément de commutation (50) à un instant de signal de commutation supplémentaire (t6), lequel est antérieur au deuxième instant de signal de sortie (t2).
  6. Dispositif de commutation de sécurité selon l'une des revendications 1 à 5, avec lequel l'unité de commande/interprétation (28) à sécurité intégrée possède au moins deux premières sorties (36a, 36b) destinées à communiquer chacune un signal de sortie (Aa, Ab) respectivement à un commutateur électromécanique (40a, 40b), l'élément de commutation (50) étant disposé dans chacun des trajets de courant de contact auxiliaire (45a, 45b) des contacts auxiliaires (44a, 44b) des commutateurs électromécaniques (40a, 40b).
  7. Dispositif de commutation de sécurité selon l'une des revendications 1 à 5, avec lequel l'unité de commande/interprétation (28) à sécurité intégrée possède au moins deux premières sorties (36a, 36b) destinées à communiquer chacune un signal de sortie (Aa, Ab) respectivement à un commutateur électromécanique (40a, 40b), le dispositif de commutation de sécurité possédant au moins deux éléments de commutation (50a, 50b) qui sont respectivement disposés dans l'un des trajets de courant de contact auxiliaire (45a, 45b) des contacts auxiliaires (44a, 44b) des commutateurs électromécaniques (40a, 40b).
  8. Dispositif de commutation de sécurité selon l'une des revendications 1 à 7, comprenant une logique de relecture dotée d'une entrée reliée au trajet de courant de contact auxiliaire (45) en vue de recevoir un signal de relecture destiné à vérifier la position de commutation du contact de travail (42).
  9. Dispositif de commutation de sécurité selon la revendication 8, avec lequel la logique de relecture est configurée pour vérifier la position de commutation du contact de travail (42) à un premier instant de relecture (tRL1) qui est antérieur au premier instant de signal de sortie (t1), notamment postérieur au premier instant de signal de commutation (t3).
  10. Dispositif de commutation de sécurité selon l'une des revendications 8 à 9, avec lequel la logique de relecture est configurée pour vérifier la position de commutation du contact de travail (42) à un deuxième instant de relecture (tRL2) qui est postérieur au deuxième instant de signal de sortie (t2), notamment antérieur au deuxième instant de signal de commutation (t4).
  11. Dispositif de commutation de sécurité selon l'une des revendications 1 à 10, comprenant un élément de mise en charge (54) disposé dans le trajet de courant de contact auxiliaire (45) en vue de définir un courant défini à travers le trajet de courant de contact auxiliaire (45) lorsque la tension définie (V1) est appliquée,
  12. Dispositif de commutation de sécurité selon l'une des revendications 1 à 11, avec lequel l'élément de commutation (50) est un élément de commutation électronique, notamment un transistor.
  13. Dispositif de commutation de sécurité selon l'une des revendications 1 à 12, comprenant un commutateur électromécanique (40).
  14. Système de commutation de sécurité équipé d'un dispositif de commutation de sécurité selon l'une des revendications 1 à 13, comprenant un dispositif de commutation (60) monté séparément dans l'espace pourvu du commutateur électromécanique (40).
  15. Procédé pour faire fonctionner une unité de commande/interprétation (28) à sécurité intégrée d'un dispositif de commutation de sécurité (1) destiné à la mise en circuit ou hors circuit à sécurité intégrée d'un équipement technique (10), le procédé comprenant les étapes suivantes :
    - réception d'un signal d'entrée à une entrée (34) de l'unité de commande/interprétation (28) à sécurité intégrée
    - traitement du signal d'entrée afin de générer, en fonction de celui-ci à un instant de signal de sortie (t1, t2), un signal de sortie (A) destiné à la mise en circuit ou hors circuit de l'équipement technique (10), et
    - à une première sortie (36) de l'unité de commande/interprétation (28) à sécurité intégrée, communication du signal de sortie (A) à un commutateur électromécanique (40), le commutateur électromécanique (40) possédant un contact de travail (42) destiné à commuter un circuit de courant de charge (49) de l'équipement technique (10) et un contact auxiliaire (44) à guidage forcé dans un trajet de courant de contact auxiliaire (45) par le biais duquel, en présence d'une tension (V1) définie appliquée, peut être mis en circulation un courant en vue de vérifier la position de commutation du contact de travail (42),
    - génération d'un signa! de commutation (S) à un instant de signal de commutation (t3, t4) avec un écart dans le temps (□t3, □t4) à l'instant de signal de sortie (t1, t2), et
    - à une deuxième sortie (52) de l'unité de commande/interprétation (28) à sécurité intégrée, communication du signal de commutation (S) à un élément de commutation (50) disposé dans le trajet de courant de contact auxiliaire (45), lequel élément de commutation est configuré pour, lors de la réception du signal de commutation (S), commuter le courant à travers le trajet de courant de contact auxiliaire (45).
EP13715636.0A 2012-04-05 2013-03-27 Dispositif de commutation de sécurite comprenant élément de commutation combiné intégré dans une voie de courant comprenant contacts auxiliaires Active EP2834826B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201210103015 DE102012103015B4 (de) 2012-04-05 2012-04-05 Sicherheitsschaltvorrichtung mit Schaltelement im Hilfskontaktstrompfad
PCT/EP2013/056517 WO2013149905A1 (fr) 2012-04-05 2013-03-27 Dispositif de commutation de sécurité doté d'un élément de commutation dans un trajet de courant de contact auxiliaire

Publications (2)

Publication Number Publication Date
EP2834826A1 EP2834826A1 (fr) 2015-02-11
EP2834826B1 true EP2834826B1 (fr) 2016-05-11

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EP13715636.0A Active EP2834826B1 (fr) 2012-04-05 2013-03-27 Dispositif de commutation de sécurite comprenant élément de commutation combiné intégré dans une voie de courant comprenant contacts auxiliaires

Country Status (7)

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US (1) US9852852B2 (fr)
EP (1) EP2834826B1 (fr)
JP (1) JP6316278B2 (fr)
CN (1) CN104272420B (fr)
DE (1) DE102012103015B4 (fr)
HK (1) HK1204141A1 (fr)
WO (1) WO2013149905A1 (fr)

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DE102014117280A1 (de) * 2014-11-25 2016-05-25 Pilz Gmbh & Co. Kg Sicherheitsschaltgerät zum Ein- und sicheren Ausschalten eines elektrischen Verbrauchers
DE102016102150A1 (de) * 2016-02-08 2017-08-10 Phoenix Contact Gmbh & Co. Kg Sicherheitsschaltvorrichtung
US11209789B2 (en) * 2016-02-16 2021-12-28 Siemens Aktiengesellschaft Safety switching device and safety-related device
US10360790B2 (en) 2016-04-22 2019-07-23 Banner Engineering Corp. Safety touch button system having an intercommunications link
DE102016109915A1 (de) * 2016-05-30 2017-11-30 Pilz Gmbh & Co. Kg Vorrichtung zum fehlersicheren Abschalten eines Verbrauchers
EP3410458B1 (fr) * 2017-06-02 2019-05-22 Sick AG Circuit à relais de sécurité modulaire destiné à sécuriser et/ou désactiver au moins une machine
EP3557113A1 (fr) * 2018-04-20 2019-10-23 EUCHNER GmbH + Co. KG Commutateur de sécurité
DE102018114781A1 (de) * 2018-06-20 2019-12-24 Pilz Gmbh & Co. Kg Schaltungsanordnung zum Schalten einer elektrischen Last und Verfahren zur Überprüfung eines Status eines Sicherheitsausgangs einer Schaltungsanordnung
KR102542108B1 (ko) * 2018-08-30 2023-06-13 와트 퓨얼 셀 코퍼레이션 연료 소모 장치용 안전 제어 시스템 및 방법
DE102019110066A1 (de) * 2019-04-16 2020-10-22 Sick Ag Sicherheitsschaltvorrichtung mit einer Vielzahl von Schalterelementen zum Einstellen mindestens eines Betriebsparameters
WO2022107410A1 (fr) 2020-11-20 2022-05-27 三菱自動車工業株式会社 Structure de châssis de véhicule

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EP2834826A1 (fr) 2015-02-11
JP6316278B2 (ja) 2018-04-25
US20150015089A1 (en) 2015-01-15
JP2015519632A (ja) 2015-07-09
US9852852B2 (en) 2017-12-26
WO2013149905A1 (fr) 2013-10-10
CN104272420A (zh) 2015-01-07
DE102012103015A1 (de) 2013-10-10
HK1204141A1 (zh) 2015-11-06
DE102012103015B4 (de) 2013-12-05
CN104272420B (zh) 2017-04-12

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