JP5885308B2 - 液圧制御システム - Google Patents
液圧制御システム Download PDFInfo
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- JP5885308B2 JP5885308B2 JP2013524061A JP2013524061A JP5885308B2 JP 5885308 B2 JP5885308 B2 JP 5885308B2 JP 2013524061 A JP2013524061 A JP 2013524061A JP 2013524061 A JP2013524061 A JP 2013524061A JP 5885308 B2 JP5885308 B2 JP 5885308B2
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B7/00—Piston machines or pumps characterised by having positively-driven valving
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
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- 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
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
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- 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
- E02F9/2267—Valves or distributors
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- 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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/027—Installations or systems with accumulators having accumulator charging devices
- F15B1/033—Installations or systems with accumulators having accumulator charging devices with electrical control means
-
- 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
- F15B13/027—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
- 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
- F15B13/0401—Valve members; Fluid interconnections therefor
- F15B13/0405—Valve members; Fluid interconnections therefor for seat valves, i.e. poppet 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
- 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
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/0426—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with fluid-operated pilot valves, i.e. multiple stage 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
- 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
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
- F15B13/0431—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the electrical control resulting in an on-off function
-
- 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
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
- F15B20/005—Leakage; Spillage; Hose burst
-
- 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
- F15B13/0401—Valve members; Fluid interconnections therefor
- F15B2013/041—Valve members; Fluid interconnections therefor with two positions
-
- 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
- F15B21/008—Reduction of noise or vibration
-
- 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
- F15B21/14—Energy-recuperation means
-
- 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
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20569—Type of pump capable of working as pump and motor
-
- 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
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
- F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
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- 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/635—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements
- F15B2211/6355—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements having valve means
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- 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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/85—Control during special operating conditions
- F15B2211/851—Control during special operating conditions during starting
-
- 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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/86—Control during or prevention of abnormal conditions
- F15B2211/8616—Control during or prevention of abnormal conditions the abnormal condition being noise or vibration
Description
ソレノイド弁を作動させるステップと、
流量制御弁が開く前に消費部を予圧するために、バイパス導管を介して高圧源を消費部に接続するステップと、
高圧源を液圧パイロット弁の第1の端部及び第2の端部に接続するステップと、
液圧パイロット弁の第2の側に作用するばねを用いて液圧パイロット弁を第2の位置に移動させるステップと、
制御チャンバを低圧側に接続して流量制御弁を開くステップとを含む。
流量制御弁(21)の両端間に圧力降下を引き起こす漏洩のステップと、
液圧パイロット弁(31)の第2の側(33)に圧力降下を引き起こす漏洩のステップと、
液圧パイロット弁(31)の第1の側(32)に作用する高圧源(A)からの圧力を用いて液圧パイロット弁(31)を第1の位置に移動させるステップと、
制御チャンバ(28)を高圧源(A)に接続して流量制御弁(21)を閉じるステップとを含む。
Claims (13)
- 高圧源(A)と、流量制御弁(21)を介して前記高圧源(A)に接続可能な消費部(C)と、前記流量制御弁(21)を制御するように構成されているソレノイド弁(22)とを備える液圧システムにおいて、
当該液圧システムが、前記流量制御弁(21)の制御チャンバ(28)を前記高圧源(A)又は低圧側(T)に接続するように前記ソレノイド弁(22)によって選択的に制御可能である液圧パイロット弁(31)をさらに備えること、
前記ソレノイド弁(22)がその第1の位置にあるときに、前記高圧源(A)が、前記液圧パイロット弁(31)の第1の端部(32)に作用するように構成され、前記液圧パイロット弁(31)を第1の位置に保持し、前記制御チャンバ(28)が前記高圧源(A)に接続され、前記流量制御弁(21)が前記高圧源(A)から前記消費部(C)への流れを防止すること、
前記ソレノイド弁(22)がその第2の位置にあるときに、前記流量制御弁(21)が開く前に前記消費部(C)を予圧するために、前記ソレノイド弁(22)が、バイパス導管を介して前記高圧源(A)を前記消費部(C)に接続するように構成されること、並びに、
前記高圧源(A)が、前記液圧パイロット弁(31)の前記第1の端部(32)及び第2の端部(33)に作用するように構成され、前記第2の端部(33)に作用するばね(36)が、前記制御チャンバ(28)が前記低圧側(T)に接続されると共に前記流量制御弁(21)が開かれる第2の位置に、前記液圧パイロット弁(31)を移動させるように構成されることを特徴とする液圧システム。 - 前記消費部(C)から前記ソレノイド弁(22)に向かう流体流を防止するために、逆流防止弁(34)が前記液圧パイロット弁(31)の第2の端部(33)と前記消費部(C)との間のバイパス導管内に設けられることを特徴とする、請求項1に記載の液圧システム。
- スロットル(37)が前記液圧パイロット弁(31)の第1の端部(32)と第2の端部(33)との間に設けられることを特徴とする、請求項1又は2に記載の液圧システム。
- 前記高圧源(A)がアキュムレータの形態をとることを特徴とする、請求項1〜3のいずれか一項に記載の液圧システム。
- 前記消費部(C)が可逆の可変容量型ポンプ/モータであることを特徴とする、請求項1〜4のいずれか一項に記載の液圧システム。
- 可変容量型ポンプ/モータが逆にされているときに、前記ポンプによって加えられる流体圧力が前記高圧源の流体圧力の所定の値を超えた場合、作動液が、前記可変容量型ポンプ/モータから前記流量制御弁(21)を通り越して前記高圧源(A)まで流れるように構成されることを特徴とする、請求項5に記載の液圧システム。
- 消費部(C)を高圧源(A)に接続するために、請求項1〜6のいずれか一項に記載の液圧システムを制御する方法において、
前記ソレノイド弁(22)を作動させるステップと、
前記流量制御弁(21)が開く前に前記消費部(C)を予圧するために、バイパス導管(38)を介して前記高圧源(A)を前記消費部(C)に接続するステップと、
前記高圧源(A)を前記液圧パイロット弁(31)の前記第1の端部(32)及び前記第2の端部(33)に接続するステップと、
前記液圧パイロット弁(31)の前記第2の端部(33)に作用するばね(36)を用いて前記液圧パイロット弁(31)を第2の位置に移動させるステップと、
前記制御チャンバ(28)を前記低圧側(T)に接続して前記流量制御弁(21)を開くステップと
を含むことを特徴とする、方法。 - 前記液圧パイロット弁(31)の前記第1の端部(32)と第2の端部(33)との間に設けられたスロットル(37)を使用して、前記バイパス導管を通る前記流体流を制御することを特徴とする、請求項7に記載の方法。
- 内部漏洩(27)がある消費部(C)の予圧を、前記内部漏洩(27)よりも多い流量を前記スロットル(37)に通して供給することによって制御することを特徴とする、請求項8に記載の方法。
- 前記液圧パイロット弁(31)の第2の端部(33)と前記消費部(C)との間のバイパス導管内に設けられた逆流防止弁(34)を用いて、前記消費部(C)から前記ソレノイド弁(22)に向かう流体流を防止することを特徴とする、請求項7〜9のいずれか一項に記載の方法。
- 前記消費部(C)において圧力低下が発生した場合に前記高圧源(A)から前記消費部(C)への流体流を防止することを特徴とし、前記圧力低下が前記液圧パイロット弁(31)の第2の端部(33)における圧力降下を引き起こし、それによって前記液圧パイロット弁(31)が前記第1の位置に移動されると共に前記流量制御弁(21)が閉じられる、請求項7〜10のいずれか一項に記載の方法。
- 消費部で漏洩が起きた場合に前記消費部(C)を高圧源(A)から切り離すために、請求項1〜6のいずれか一項に記載の液圧システムを制御する方法であって、
前記流量制御弁(21)の両端間に圧力降下を引き起こす漏洩のステップと、
前記液圧パイロット弁(31)の前記第2の端部(33)に圧力降下を引き起こす漏洩のステップと、
前記液圧パイロット弁(31)の前記第1の端部(32)に作用する前記高圧源(A)からの圧力を用いて前記液圧パイロット弁(31)を前記第1の位置に移動させるステップと、
前記制御チャンバ(28)を前記高圧源(A)に接続して前記流量制御弁(21)を閉じるステップと
を含むことを特徴とする方法。 - 前記漏洩が前記バイパス導管において圧力降下を引き起こし、それによって逆流防止弁(34)を開かせ、前記液圧パイロット弁(31)の前記第2の端部(33)における圧力を低減させることを特徴とする、請求項9に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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SE1050845 | 2010-08-09 | ||
SE1050845-5 | 2010-08-09 | ||
PCT/SE2011/050919 WO2012021101A1 (en) | 2010-08-09 | 2011-07-06 | Hydraulic control system |
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JP2013533447A JP2013533447A (ja) | 2013-08-22 |
JP5885308B2 true JP5885308B2 (ja) | 2016-03-15 |
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US (1) | US9115702B2 (ja) |
EP (1) | EP2603705A4 (ja) |
JP (1) | JP5885308B2 (ja) |
CN (1) | CN103119307B (ja) |
CA (1) | CA2800806A1 (ja) |
WO (1) | WO2012021101A1 (ja) |
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DE102018006380A1 (de) * | 2018-08-11 | 2020-02-13 | Hydac Fluidtechnik Gmbh | System zum Laden und Entladen mindestens eines Hydrospeichers |
DE102019110710B3 (de) * | 2019-04-25 | 2020-08-13 | Schaeffler Technologies AG & Co. KG | Ansteuerverfahren für ein Hydrauliksystem mit einer Pumpe und mehreren Ventilen; sowie Hydrauliksystem |
US11891928B2 (en) | 2019-06-19 | 2024-02-06 | The Oilgear Company | Hydraulic valve with linear adjustable throttling gate and a hydraulic velocity fuse throttling gate |
SE2250011A1 (en) | 2022-01-10 | 2023-07-11 | Parker Hannifin Emea Sarl | A counter pressure valve arrangement |
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DE19734658A1 (de) * | 1997-08-11 | 1999-02-18 | Mannesmann Rexroth Ag | Hydraulische Steueranordnung für eine mobile Arbeitsmaschine, insbesondere für einen Radlader |
SE511039C2 (sv) * | 1997-09-30 | 1999-07-26 | Volvo Wheel Loaders Ab | Lastarmsfjädringssystem för dämpning av lastarmarsrörelse |
DE19754828C2 (de) * | 1997-12-10 | 1999-10-07 | Mannesmann Rexroth Ag | Hydraulische Steueranordnung für eine mobile Arbeitsmaschine, insbesondere für einen Radlader, zur Dämpfung von Nickschwingungen |
JP3919399B2 (ja) * | 1998-11-25 | 2007-05-23 | カヤバ工業株式会社 | 油圧制御回路 |
JP2004132411A (ja) * | 2002-10-09 | 2004-04-30 | Kayaba Ind Co Ltd | 油圧制御装置 |
US6971232B2 (en) * | 2003-07-22 | 2005-12-06 | Eaton Corporation | Hydraulic drive system and improved control valve assembly therefor |
JP5319235B2 (ja) * | 2008-10-21 | 2013-10-16 | 東洋機械金属株式会社 | ダイカストマシンにおける射出シリンダの油圧回路 |
US8966892B2 (en) * | 2011-08-31 | 2015-03-03 | Caterpillar Inc. | Meterless hydraulic system having restricted primary makeup |
-
2011
- 2011-07-06 CA CA2800806A patent/CA2800806A1/en not_active Abandoned
- 2011-07-06 JP JP2013524061A patent/JP5885308B2/ja not_active Expired - Fee Related
- 2011-07-06 WO PCT/SE2011/050919 patent/WO2012021101A1/en active Application Filing
- 2011-07-06 EP EP11816691.7A patent/EP2603705A4/en not_active Withdrawn
- 2011-07-06 CN CN201180039422.4A patent/CN103119307B/zh not_active Expired - Fee Related
- 2011-07-06 US US13/700,066 patent/US9115702B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CN103119307A (zh) | 2013-05-22 |
WO2012021101A1 (en) | 2012-02-16 |
US20130209276A1 (en) | 2013-08-15 |
US9115702B2 (en) | 2015-08-25 |
CN103119307B (zh) | 2015-07-01 |
JP2013533447A (ja) | 2013-08-22 |
EP2603705A4 (en) | 2017-04-05 |
EP2603705A1 (en) | 2013-06-19 |
CA2800806A1 (en) | 2012-02-16 |
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