EP3262235B1 - Tamping unit for tamping sleepers of a track - Google Patents
Tamping unit for tamping sleepers of a track Download PDFInfo
- Publication number
- EP3262235B1 EP3262235B1 EP16702661.6A EP16702661A EP3262235B1 EP 3262235 B1 EP3262235 B1 EP 3262235B1 EP 16702661 A EP16702661 A EP 16702661A EP 3262235 B1 EP3262235 B1 EP 3262235B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- tamping
- unit according
- fluid channels
- tamping unit
- vibration
- 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
Links
- 239000012530 fluid Substances 0.000 claims description 16
- 125000006850 spacer group Chemical group 0.000 claims description 5
- 230000005284 excitation Effects 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims 1
- 206010000496 acne Diseases 0.000 description 3
- 238000005056 compaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 235000021110 pickles Nutrition 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/18—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency wherein the vibrator is actuated by pressure fluid
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
- E01B27/12—Packing sleepers, with or without concurrent work on the track; Compacting track-carrying ballast
- E01B27/13—Packing sleepers, with or without concurrent work on the track
- E01B27/16—Sleeper-tamping machines
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B2203/00—Devices for working the railway-superstructure
- E01B2203/12—Tamping devices
Definitions
- the invention relates to a Stopfaggregat for Unterstopfen thresholds of a track, with a height adjustable mounted on an aggregate frame pimple carrier, on each of which by a hydraulic, a cylinder axis and connected to a vibrating feeder Beistellantrieb are mounted to each other pivotable tamping.
- the object of the present invention is now to provide a tamping unit of the type mentioned, with which an improved vibration of the tamping pick is possible.
- Such a vibration generator on a hydraulic basis has the advantage that functionally a clear separation between the vibration generation on the one hand and the Beistellterrorism for stuffing tamping on the other hand achievable is. In addition, a simplified control effort for vibration generation is possible.
- Fig. 1 a side view of a Beistellantriebe and vibration exciter tamping unit
- Fig. 2 to 4 Simplified representations of a vibration exciter with hydraulic circuit diagram
- Fig. 5 another variant of a Beistellantriebes.
- Stopfaggregat 1 for Unterstopfen thresholds of a track has two tamping pickles 2, which are each movable with the aid of a Beistellantriebes 3 for a ballast compaction to each other.
- Each tamping pick 2 is mounted pivotably about a pivot axis 4 on a pommel carrier 6, which is height-adjustable relative to an aggregate frame 5.
- Each a cylinder axis 7 having Beistellantrieb 3 is assigned a hydraulically based vibration exciter 8 for generating a Beistell canyon the tamping 2 superimposed vibrations.
- the Beistellantrieb 3 is pivotally mounted about a bearing axis 9 on the pimple carrier 6.
- FIG. 2 illustrated cross section of the Beistellantriebes 3 shows a cylinder axis 7 to the coaxially arranged inner cylinder 10 of the vibration exciter 8, which also serves in this particular embodiment of the invention as - composed of hydraulic cylinder and cylinder piston - Beistellantrieb 3.
- the inner cylinder 10 (or the auxiliary drive 3) is slidably mounted in an outer cylinder 12 via sliding surfaces 11 in the axial direction 7.
- annular recess 13 in the outer cylinder 12 is provided between two in the direction of the cylinder axis 7 (axial direction) spaced sliding surfaces 11 .
- the two fluid channels 14 are alternately hydraulically actuated by supply lines 16 for vibratory excitation of the inner cylinder 10 (i.e., the auxiliary drive 3) (the supply lines required for the auxiliary movement of the auxiliary drive 3 are not shown for the sake of simplicity).
- a vibration amplitude of the tamping pick 2 is defined by a stroke volume H of the double-piston pump 17 and the volume of the two fluid channels 14.
- a change in the stroke volume H is possible by adjusting the Exzenterweges on the double piston pump 17.
- the vibration frequency of Stopfpickel 2 corresponds to the stroke frequency of the double piston pump 17 (or speed n of an eccentric shaft).
- the vibration frequency can be adjusted by changing the eccentric shaft speed from 0 to 60 Hz.
- Stroke and return stroke of the inner cylinder 10 (or Beistellantriebes 3) is effected by the 180 ° phase-shifted double piston pump 17.
- the oscillation amplitude of the tamping 2 as a function of impact force is adjustable by a proportional pressure relief valve 18. By this optionally also the stuffing picking vibration can be interrupted without having to switch off the drive of the double piston pump 17.
- the outer cylinder 12 of the vibration exciter 8 has in the region of the sliding surface 11 of the spacer ring 15 an outlet opening 19 for emerging from the two fluid channels 14 leak oil, which is supplemented via a feed line 20.
- the intensively heating oil can be continuously renewed by the vibrations.
- the two mutually facing fluid channels 14 of the two vibration exciter 8 on the one hand and the two fluid channels 14 facing away from each other on the other hand each acted upon by a common supply line 16.
- the vibration amplitude is proportional to the load pressure (vibration resistance).
- a so-called asynchronous plugging is produced (with the effect that a higher amplitude is established on the side with lower vibration resistance).
- a in Fig. 4 apparent variant of the two supply lines 16 of the vibration exciter 8 by the double piston pump 17 and the other each acted upon by a hydraulic accumulator 21.
- This designed as a diaphragm or piston accumulator hydraulic spring is defined by the gas filling and preload pressure.
- any known type of generation of a pulsating fluid flow for the vibration exciter 8 can be used. It could e.g. Instead of the piston pump, a preferably directly attached to the vibration exciter 8 Proportional valve are provided.
- the spacer ring 15 is connected to the outer cylinder 12, while the fluid channel 14 is provided in the inner cylinder 10 or Beistellantrieb 3.
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Apparatuses For Generation Of Mechanical Vibrations (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Description
Die Erfindung betrifft ein Stopfaggregat zum Unterstopfen von Schwellen eines Gleises, mit einem höhenverstellbar auf einem Aggregatrahmen gelagerten Pickelträger, auf dem jeweils durch einen hydraulischen, eine Zylinderachse aufweisenden und mit einem Vibrationserreger verbundenen Beistellantrieb zueinander verschwenkbare Stopfpickel gelagert sind.The invention relates to a Stopfaggregat for Unterstopfen thresholds of a track, with a height adjustable mounted on an aggregate frame pimple carrier, on each of which by a hydraulic, a cylinder axis and connected to a vibrating feeder Beistellantrieb are mounted to each other pivotable tamping.
Stopfaggregate zum Unterstopfen von Schwellen eines Gleises sind bereits vielfach bekannt, wie z. B. durch
Die Aufgabe der vorliegenden Erfindung liegt nun in der Schaffung eines Stopfaggregates der eingangs genannten Art, mit dem eine verbesserte Vibration der Stopfpickel möglich ist.The object of the present invention is now to provide a tamping unit of the type mentioned, with which an improved vibration of the tamping pick is possible.
Diese Aufgabe wird erfindungsgemäß mit einem Stopfaggregat der gattungsgemäßen Art durch die im Kennzeichen des Hauptanspruches angeführten Merkmale gelöst.This object is achieved with a tamping unit of the generic type by the features cited in the characterizing part of the main claim.
Ein derartiger Vibrationserreger auf hydraulischer Basis hat den Vorteil, dass funktionell eine klare Trennung zwischen der Vibrationserzeugung einerseits und der Beistellbewegung für die Stopfpickel andererseits erzielbar ist. Außerdem ist ein vereinfachter Steuerungsaufwand für die Vibrationserzeugung möglich.Such a vibration generator on a hydraulic basis has the advantage that functionally a clear separation between the vibration generation on the one hand and the Beistellbewegung for stuffing tamping on the other hand achievable is. In addition, a simplified control effort for vibration generation is possible.
Weitere Vorteile der Erfindung ergeben sich aus den Unteransprüchen und der Zeichnungsbeschreibung.Further advantages of the invention will become apparent from the dependent claims and the drawing description.
Im Folgenden wird die Erfindung anhand von in der Zeichnung dargestellten Ausführungsbeispielen näher beschrieben. Es zeigen:
Ein in
Ein in
Zwischen zwei in Richtung der Zylinderachse 7 (Achsrichtung) voneinander distanzierten Gleitflächen 11 ist eine ringförmige Vertiefung 13 im Außenzylinder 12 vorgesehen. Ein diese ringförmige Vertiefung 13 in zwei - bezüglich der Achsrichtung 7 voneinander distanzierte - Fluidkanäle 14 unterteilender Distanzring 15 ist mit dem Innenzylinder 10 verbunden. Die beiden Fluidkanäle 14 sind für eine Vibrationserregung des Innenzylinders 10 (d.h. des Beistellantriebes 3) durch Versorgungsleitungen 16 abwechselnd hydraulisch beaufschlagbar (die für die Beistellbewegung des Beistellantriebes 3 erforderlichen Versorgungsleitungen sind der Einfachheit halber nicht dargestellt).Between two in the direction of the cylinder axis 7 (axial direction) spaced
Mit der angedeuteten Lagerachse 9 ist der Außenzylinder 12 des Vibrationserregers 8 direkt (und damit der Beistellantrieb 3 indirekt) am Pickelträger 6 angelenkt. Die abwechselnde Beaufschlagung der beiden je mit den Versorgungsleitungen 16 verbundenen Fluidkanäle 14 erfolgt durch eine um 180° phasenverschobene Doppelkolbenpumpe 17.With the indicated
Eine Schwingungsamplitude der Stopfpickel 2 ist durch ein Hubvolumen H der Doppelkolbenpumpe 17 und das Volumen der beiden Fluidkanäle 14 definiert. Eine Änderung des Hubvolumens H ist durch eine Verstellung des Exzenterweges an der Doppelkolbenpumpe 17 möglich. Die Vibrations-Frequenz der Stopfpickel 2 entspricht der Hubfrequenz der Doppelkolbenpumpe 17 (bzw. Drehzahl n einer Exzenterwelle). Die VibrationsFrequenz ist durch Ändern der Exzenterwellen-Drehzahl von 0 bis 60 Hz einstellbar. Hub und Rückhub des Innenzylinders 10 (bzw. Beistellantriebes 3) erfolgt durch die 180° phasenverschobene Doppelkolbenpumpe 17. Die Schwingungsamplitude der Stopfpickel 2 als Funktion der Schlagkraft ist durch ein Proportional-Druckbegrenzungsventil 18 einstellbar. Durch dieses kann wahlweise auch die Stopfpickelvibration unterbrochen werden, ohne dafür den Antrieb der Doppelkolbenpumpe 17 abschalten zu müssen.A vibration amplitude of the
In der hier dargestellten Ausführungsvariante eines "Kombinationszylinders" lassen sich die Funktionen "Stopfpickelbeistellung" und "Stopfpickelvibration" in kompakter Bauweise sowie unter Einhaltung branchenüblicher Einbaumaße von Beistellzylindern in Stopfaggregaten problemlos vereinen.In the embodiment variant of a "combination cylinder" shown here, the functions "stuffing tip provision" and "stuffing pitch vibration" can be combined in a compact design as well as in compliance with industry standard installation dimensions of auxiliary cylinders in tamping units.
Der Außenzylinder 12 des Vibrationserregers 8 weist im Bereich der Gleitfläche 11 des Distanzringes 15 eine Auslaßöffnung 19 für aus den beiden Fluidkanälen 14 austretendes Lecköl auf, das über eine Speiseleitung 20 ergänzt wird. Damit kann das sich durch die Vibrationen intensiv erwärmende Öl laufend erneuert werden.The
Wie in einer durch
Gemäß einer in
Prinzipiell kann natürlich jede bekannte Art der Erzeugung eines pulsierenden Fluidstromes für den Vibrationserreger 8 verwendet werden. Es könnte z.B. anstelle der Kolbenpumpe ein vorzugsweise direkt am Vibrationserreger 8 befestigtes Proportionalventil vorgesehen werden.In principle, of course, any known type of generation of a pulsating fluid flow for the
Gemäß der in
Claims (10)
- A tamping unit (1) for tamping sleepers of a track, including a tine carrier (6) which is mounted for vertical adjustment on an assembly frame (5) and on which are supported tamping tines (2) which are pivotable towards one another by means of a respective hydraulic squeezing drive (3) which has a cylinder axis (7) and is connected to a vibration exciter (8), characterized by the following features:a) an inner cylinder (10), arranged coaxially to the cylinder axis (7), of the vibration exciter (8) is mounted for displacement in an axial direction (7) via gliding surfaces (11) in an outer cylinder (12),b) a ring-shaped recess (13) is provided between two gliding surfaces (11) spaced from one another in the axial direction (7),c) a spacer ring (15) subdividing the ring-shaped recess (13) into two fluid channels (14) - spaced from one another with regard to the axial direction (7) - is connected selectively to the inner- or the outer cylinder (10, 12),d) the two fluid channels (14) can be hydraulically actuated alternatingly by feed lines (16) for vibration excitation.
- A tamping unit according to claim 1, characterized in that the inner cylinder (10) of the vibration exciter (8) is formed by the squeezing drive (3) provided for the pivoting of the tamping tines (2).
- A tamping unit according to claim 1 or 2, characterized in that, in the region of a gliding surface (11) of the spacer ring (15), the outer cylinder (12) has an outlet opening (19) for leaking oil escaping from the fluid channels (14).
- A tamping unit according to one of claims 1, 2 or 3, characterized in that the outer cylinder (12) of the vibration exciter (8) is fastened to the tine carrier (6) for pivoting about a bearing axis (9) extending parallel to a pivot axis (4) of the tamping tine (2).
- A tamping unit according to claim 1, characterized in that the alternating actuation of the two fluid channels (14) connected in each case to a hydraulic feed line (16) is carried out by means of a hydraulic pump in the shape of a double-piston pump (17) which is phase-shifted by 180°.
- A tamping unit according to claim 5, characterized in that a proportional pressure control valve (18) is associated with each feed line (16).
- A tamping unit according to one of claims 1 to 5, characterized in that - with regard to a tamping tine pair formed by two tamping tines (2) squeezable towards one another - a separate vibration exciter (8) is associated with each tamping tine (2).
- A tamping unit according to claim 7, characterized in that the fluid channels (14) of both vibration exciters (8) can be actuated by a common double-piston pump (17).
- A tamping unit according to claim 7 or 8, characterized in that the two fluid channels (14) of the two vibration exciters (8) which are facing towards one another, on the one hand, and the two fluid channels (14) facing away from one another, on the other hand, can be actuated in each case by a common feed line (16).
- A tamping unit according to one of claims 1 to 8, characterized in that one of the two feed lines (16) of a vibration exciter (8) can be actuated by the double-piston pump (17) and the other one by a hydraulic accumulator (21).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ATA106/2015A AT516547B1 (en) | 2015-02-27 | 2015-02-27 | Stopfaggregat for clogging thresholds of a track |
PCT/EP2016/000157 WO2016134817A1 (en) | 2015-02-27 | 2016-01-30 | Tamping unit for tamping sleepers of a track |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3262235A1 EP3262235A1 (en) | 2018-01-03 |
EP3262235B1 true EP3262235B1 (en) | 2018-12-05 |
Family
ID=55299425
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16702661.6A Active EP3262235B1 (en) | 2015-02-27 | 2016-01-30 | Tamping unit for tamping sleepers of a track |
Country Status (7)
Country | Link |
---|---|
US (1) | US10421101B2 (en) |
EP (1) | EP3262235B1 (en) |
JP (1) | JP6751403B2 (en) |
CN (1) | CN107407060B (en) |
AT (1) | AT516547B1 (en) |
ES (1) | ES2714829T3 (en) |
WO (1) | WO2016134817A1 (en) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT516547B1 (en) * | 2015-02-27 | 2016-06-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Stopfaggregat for clogging thresholds of a track |
AT517357B1 (en) * | 2015-08-21 | 2017-01-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | tamping |
AT517480B1 (en) * | 2015-11-18 | 2017-02-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Tamping unit and method for submerging a track |
FR3047016B1 (en) * | 2016-01-21 | 2019-09-06 | Matisa Materiel Industriel S.A. | SYNCHRONIZED HYDRAULIC MOTOR JAM MACHINE |
AT519195B1 (en) * | 2016-10-04 | 2019-05-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Stopfaggregat and method for clogging of sleepers of a track |
ES2644352B1 (en) * | 2017-01-25 | 2018-08-09 | Jose Antonio Ibañez Latorre | Batting group for railway maintenance machines capable of batting the ballast under the sleepers of the track, both single and double |
AT519738B1 (en) * | 2017-07-04 | 2018-10-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Method and device for compacting a ballast bed |
AT520796B1 (en) * | 2017-12-21 | 2020-07-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Darning unit for tamping sleepers on a track |
AT16251U1 (en) * | 2018-01-22 | 2019-05-15 | Hp3 Real Gmbh | Tamping unit for a tamping machine |
US11314375B2 (en) | 2018-10-01 | 2022-04-26 | Precigenome, LLC | Multichannel pressure control system with user friendly interface |
AT16891U1 (en) | 2018-11-15 | 2020-11-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Method and tamping unit for tamping a track |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT303106B (en) * | 1970-04-17 | 1972-11-10 | Plasser Bahnbaumasch Franz | Track construction machine |
DE2400554C2 (en) * | 1974-01-07 | 1986-10-16 | Helmut Dipl.-Ing. 6200 Wiesbaden Sieke | Method and hydraulic device for the vibratory processing of materials |
AT339358B (en) | 1974-05-09 | 1977-10-10 | Plasser Bahnbaumasch Franz | DRIVE AND CONTROL DEVICE FOR VIBRATING AND ADJUSTABLE TOOLS OF A TRACK MACHINE, IN PARTICULAR MOBILE TRACK PAD MACHINE |
US4068595A (en) | 1975-11-17 | 1978-01-17 | Graystone Corporation | Track tamper |
CA1051268A (en) * | 1975-11-17 | 1979-03-27 | Graystone Corporation | Track tamper and vibratory drive mechanism |
AT350097B (en) | 1977-02-04 | 1979-05-10 | Plasser Bahnbaumasch Franz | MACHINE FOR PLUGGING THE SLEEPERS OF A TRACK |
JPS5716209A (en) * | 1980-06-30 | 1982-01-27 | Mitsubishi Motors Corp | Oil hydraulic tappet device |
AT369455B (en) * | 1981-02-02 | 1983-01-10 | Plasser Bahnbaumasch Franz | LEVELING PLUG MACHINE WITH AUTOMATIC STOP PRESSURE CONTROL |
UA12805A (en) * | 1988-03-09 | 1997-02-28 | Со.Ре.Ма. Оператрічі Ферровіарі С.Н.К. Ді Чєзарє Россаніго І К., | Tie-tamping machine |
JP2771619B2 (en) * | 1989-08-24 | 1998-07-02 | 株式会社アマダ | Simulated punch load generator for punching equipment |
AT500972B1 (en) * | 2004-10-29 | 2006-05-15 | Plasser Bahnbaumasch Franz | METHOD FOR SUBSTITUTING THRESHOLD |
CN101775765B (en) * | 2010-01-29 | 2012-01-25 | 浙江大学 | Tamping device with independent hydraulic shock excitation and clamping movement |
CN201901822U (en) * | 2010-05-26 | 2011-07-20 | 李家林 | Vibrating frame of tamping machine and hydraulic tamping machine using vibrating frame |
CN102061646B (en) * | 2010-10-26 | 2012-04-18 | 浙江大学 | Hydraulic excitation system of tamping device |
AT513277B1 (en) * | 2012-10-24 | 2014-03-15 | Plasser Bahnbaumasch Franz | Machine for submerging a track |
HUE040166T2 (en) * | 2014-11-27 | 2019-02-28 | Srt Soc A Responsabilita Limitata Con Unico Socio | Tamping machine for railway ballast |
AT516547B1 (en) * | 2015-02-27 | 2016-06-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Stopfaggregat for clogging thresholds of a track |
AT517480B1 (en) * | 2015-11-18 | 2017-02-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Tamping unit and method for submerging a track |
AT517843B1 (en) * | 2015-11-24 | 2017-05-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Method and tamping unit for submerging a track |
US10975526B2 (en) * | 2017-04-18 | 2021-04-13 | Harsco Technologies LLC | Linear actuator for rail applications |
-
2015
- 2015-02-27 AT ATA106/2015A patent/AT516547B1/en not_active IP Right Cessation
-
2016
- 2016-01-30 JP JP2017545399A patent/JP6751403B2/en active Active
- 2016-01-30 US US15/543,128 patent/US10421101B2/en active Active
- 2016-01-30 EP EP16702661.6A patent/EP3262235B1/en active Active
- 2016-01-30 WO PCT/EP2016/000157 patent/WO2016134817A1/en active Application Filing
- 2016-01-30 ES ES16702661T patent/ES2714829T3/en active Active
- 2016-01-30 CN CN201680012519.9A patent/CN107407060B/en active Active
Non-Patent Citations (1)
Title |
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None * |
Also Published As
Publication number | Publication date |
---|---|
CN107407060A (en) | 2017-11-28 |
US20170348731A1 (en) | 2017-12-07 |
ES2714829T3 (en) | 2019-05-30 |
AT516547A4 (en) | 2016-06-15 |
CN107407060B (en) | 2019-09-24 |
AT516547B1 (en) | 2016-06-15 |
US10421101B2 (en) | 2019-09-24 |
JP2018506666A (en) | 2018-03-08 |
EP3262235A1 (en) | 2018-01-03 |
JP6751403B2 (en) | 2020-09-02 |
WO2016134817A1 (en) | 2016-09-01 |
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