WO2010092020A1 - RÜCKSTOßIMPULSERZEUGER FÜR EINEN WAFFENSIMULATOR - Google Patents
RÜCKSTOßIMPULSERZEUGER FÜR EINEN WAFFENSIMULATOR Download PDFInfo
- Publication number
- WO2010092020A1 WO2010092020A1 PCT/EP2010/051502 EP2010051502W WO2010092020A1 WO 2010092020 A1 WO2010092020 A1 WO 2010092020A1 EP 2010051502 W EP2010051502 W EP 2010051502W WO 2010092020 A1 WO2010092020 A1 WO 2010092020A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pulse generator
- spindle
- recoil
- generator according
- clutch
- Prior art date
Links
- 238000010168 coupling process Methods 0.000 claims abstract description 30
- 230000008878 coupling Effects 0.000 claims abstract description 29
- 238000005859 coupling reaction Methods 0.000 claims abstract description 29
- 238000010304 firing Methods 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 238000004088 simulation Methods 0.000 description 9
- 230000008901 benefit Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 239000003380 propellant Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A33/00—Adaptations for training; Gun simulators
- F41A33/06—Recoil simulators
Definitions
- the present invention relates to a recoil pulse generator for a weapon simulator having a force storage element and a displaceable pulse mass that is displaced from a biased to a relaxed position upon actuation of a trigger element by the force storage element to generate a recoil pulse.
- the recoil impulse generator can be used to simulate the recoil of a wide variety of weapons.
- the recoil pulse generator involved here is suitable for handgun simulators.
- US 2008/0155875 A1 describes a mechanism for recoil pulse generation in a toy weapon.
- An electric motor drives there via a multi-part reduction gear on a piston of a pneumatic cylinder.
- the retrieval of a pulse mass is effected in a pneumatic manner.
- a device for simulating the recoil force of a weapon is known.
- recoil generating device which transmits an adjustable recoil force on the barrel of the weapon. Due to the size of this device is stationary set up at a shooting range and particularly suitable for coupling to rifles. By acting on the outside of the rifle lever mechanism, the handling properties of the weapon change significantly, so that the shooting simulation only partially corresponds to the actual conditions when using the weapon.
- DE 103 50 307 A1 shows a simulation device for imitating the semi-automatic and fully automatic function of a firearm.
- An example arranged in the weapon lock propellant gas tank is connected to a cylinder and drives a valve via a movable piston. Again, the actually achievable recoil forces are much lower than a real firing, as limited propellant gas quantities can not be applied as large forces, such as those resulting from the ignition of a cartridge.
- EP 1 043 561 A2 describes a weapon simulator which can be used in particular in a main battle tank.
- a carriage serves to transport a training projectile.
- the carriage is driven by two parallel spindles.
- the US 2,472,002 describes a screw and self-holding mechanism that can be used for example in an aircraft machine gun and the re-tensioning of the weapon is used when it comes to a jamming.
- Mechanism uses a driven by an electric motor spindle, a pulse mass and a coil spring as a force storage element.
- a coupling is formed by a housing, which introduces running balls in the spindle to experience an axial displacement.
- the clutch is disengaged when the pulse mass has been moved to the cocked position and engaged when the pulse mass has returned to the relaxed position. Since jamming occur only occasionally, the described mechanism is only the occasional cocking of the weapon, so that the engine is not designed for a permanent operation.
- the object of the present invention is therefore to provide an improved recoil pulse generator for a weapons simulator, which generates realistic recoil forces while avoiding the disadvantages of the prior art.
- the frequent change of propellant cartridges should be avoided.
- unwanted strong electromagnetic fields are to be avoided, as they are generated by strong electromagnets.
- Weapon simulator not exceed the dimensions, the weight, balance and shape of a real weapon, in particular a handgun and provide sufficient space for the installation of a target finding or target detection unit despite attachment of the recoil pulse generator.
- the recoil pulse generator to be universally adaptable to various firearm simulators, so that both pistols, long guns as - A -
- the recoil pulse generator uses a drive, for example an electric motor, which continuously drives a spindle during a sequence of shots simulating a shot, via which a clutch and a connected pulse mass are moved from the relaxed position to the cocked position, with simultaneous voltage of the energy storage element, which for example can be designed as a trigger spring, pneumatic element, flywheel or the like.
- a drive for example an electric motor, which continuously drives a spindle during a sequence of shots simulating a shot, via which a clutch and a connected pulse mass are moved from the relaxed position to the cocked position, with simultaneous voltage of the energy storage element, which for example can be designed as a trigger spring, pneumatic element, flywheel or the like.
- a drive for example an electric motor, which continuously drives a spindle during a sequence of shots simulating a shot, via which a clutch and a connected pulse mass are moved from the relaxed position to the cocked position, with simultaneous voltage of the energy storage element, which for example can be designed
- the clutch For the displacement of the carriage in the cocked position, the clutch preferably engages rotatably in the coupled state in the spindle, so that it is displaced along the spindle during rotation of the spindle, as is generally known from a linear transmission.
- the clutch is switched by a disengaging means in a disengaged state.
- the trigger element which is formed for example by a trigger
- the force storage element accelerates the carriage and attached thereto, disengaged coupling (together with the pulse mass) preferably against the weft direction. This acceleration and especially the striking of the carriage in the relaxed position, the recoil force simulates realistically.
- an engagement means is provided which switches the clutch back into the engaged state once the carriage has reached the relaxed position to bring it back into the cocked position in preparation for another shot simulation.
- the electric motor is preferably a brushless synchronous motor which implements high rotational speeds (approximately 20,000 min "1 to 80,000 min " 1 ).
- the electric motor may be coupled in a preferred embodiment via a gear to the spindle or act as a gearless direct drive.
- the transmission is designed for example with a reduction ratio of 2: 1 to 5: 1 and can cause a reversal of the direction of rotation.
- a relatively high speed of the spindle or a high torque at low speed
- This time equals the duration of automatic reloading on semi-automatic small arms and should preferably take less than a second.
- the electric motor is permanently driven according to the invention during a firing sequence, so that the driving forces act on the carriage immediately when the clutch is engaged.
- This also has the advantage that the starting torque acting inevitably on the handgun simulator, which arises during startup and deceleration of the electric motor, does not occur during the firing sequence or is at least reduced, as a result of which target errors can be avoided or reduced.
- the same purpose is used in a modified embodiment, a symmetrically constructed coupling, the opposite of two engages the sides in the spindle, so that the resulting moments largely compensate.
- the speed of the electric motor can be reduced in a particularly preferred embodiment, while the clutch does not engage in the spindle. In this way, the forces occurring and thus the wear can be significantly reduced when engaging under load.
- an embodiment is expedient which uses two counter-rotating spindles, which simultaneously engage in the coupling. By appropriate threading the axial displacement of the coupling is caused by two threaded spindles, while compensate for the moments occurring.
- the recoil pulse generator comprises one or more sensors which serve to detect the current position of the carriage or the pulse mass, the clutch and the trigger or the triggering element. By evaluating the sensor signals, the sequence in the recoil pulse generator can be controlled and certain specific firing situations can be simulated, such as, for example, an empty magazine or a loading inhibition.
- FIG. 1 is a sectional side view of a handgun simulator with a recoil pulse generator according to the invention in a relaxed position;
- FIG. 2 is a sectional detail view of the recoil pulse generator;
- FIG. 1 is a sectional side view of a handgun simulator with a recoil pulse generator according to the invention in a relaxed position;
- FIG. 2 is a sectional detail view of the recoil pulse generator;
- FIG. 1 is a sectional side view of a handgun simulator with a recoil pulse generator according to the invention in a relaxed position;
- FIG. 2 is a sectional detail view of the recoil pulse generator;
- FIG. 1 is a sectional side view of a handgun simulator with a recoil pulse generator according to the invention in a relaxed position;
- FIG. 2 is a sectional detail view of the recoil pulse generator;
- FIG. 1 is a sectional side view of a handgun simulator with a recoil pulse generator according to the invention in
- Fig. 3 is a sectional side view of the handgun simulator with the recoil pulse generator in the cocked position and a perspective detail view of a release angle at the moment of release of the clutch upon actuation of the trigger;
- Fig. 5 is a sectional view of the coupling.
- the simulator comprises a pistol housing with a handle 01, in which a magazine shaft is provided. Instead of a conventional cartridge magazine, a simulation magazine 02 is used in the magazine shaft, which contains, for example, an electric accumulator 03 as an energy source. Furthermore, a carriage 04 is provided, which slides on a carriage guide 05 in the weft direction and is part of an impulse mass.
- the handgun simulator also includes a trigger 06 and a barrel 07. A recoil pulse generator is arranged in the axial direction of the barrel 07.
- Fig. 2 shows a detailed view of the most important elements of the recoil pulse generator in a sectional view.
- One as Drive operating electric motor 08 which is operated for example at 50,000 revolutions per minute, is coupled via a gear 09 to a spindle 10, to cause them to rotate.
- the gear 09 can, for example, realize a sub-reduction ratio of 3: 1, so that the spindle 10 is still operated at high speeds of about 10,000 "1 , but at the same time can apply the required forces in order to tension a release spring 11 acting as a force storage element.
- the gear 09 realizes a reversal of rotation, which is the
- An advantage is that the angular momentum generated by the electric motor 08 is largely compensated by the counter-rotational momentum of the gearbox 09 and the spindle 10 relative to the axial orientation of the handgun simulator. On an angular momentum compensation can be omitted if the moving masses are small relative to the total mass of the simulation weapon.
- the release spring 11 is designed in the illustrated embodiment as a helical spring which extends around the spindle 10 and extends between the gear 09 and a clutch 12.
- Other power storage elements can also be used.
- modified combinations of drive and storage element can be used, such as a direct drive, a pneumatic
- the carriage 04 is fixed, so that it is moved with an axial displacement of the clutch 12 with.
- the end facing away from the gear 09 of the spindle 10 is mounted in a housing-fixed spindle bearing 13. 1 and 2, the clutch 12 and the attached carriage 04 is in a relaxed position I, in which the clutch 12 is removed from the gear 09 and the trigger spring 11 is largely relaxed.
- Fig. 2 shows the coupling 12 in the engaged state in which a plurality of balls 14 engage in the spindle 10.
- modified engagement elements such as e.g. Cone or pins are used.
- the spindle 10 is rotated, this leads to an axial movement of the clutch 12 in the direction of the gear 09.
- the release spring 11 is compressed and the carriage 04 moved to a cocked position II (Fig. 3).
- a first sensor 15 is determined whether the clutch 12 has moved away from the cocked position. If this can be determined, the electric motor 08 is put into operation to drive the spindle 10 and to move the clutch 12 with the coupled pulse mass again in the cocked position.
- the electric motor for this can be activated from an idle state or an idle state and put into a full load state.
- a high firing frequency (cadence)
- the full load condition is then reached faster by increasing the speed, especially during the period in which the carriage is thrown back from the cocked position to the relaxed position becomes.
- the engine speed can be further throttled or the engine is completely switched off.
- the clutch 12 is designed so that it automatically engages as soon as the relaxed position I is reached. The easiest way to do this via mechanical coupling means which act on the stop of the clutch in the relaxed position on this, to cause the engagement of the balls 14 in the spindle 10. The coupling will be described in detail below with reference to FIG. 5.
- a second sensor 16 generates a second sensor signal as soon as the carriage 04 has arrived in the cocked position II and thus the release spring 11 is tensioned.
- the clutch 12 is disengaged, so that the engine and the spindle can continue to rotate at idle, without any further axial displacement of the clutch and the attached carriage takes place.
- the disengagement can be achieved by reaching the tensioned position by a mechanical action of a disengaging means on the clutch or caused by an actuator in response to the second sensor signal.
- By disengaging the taut state of the weapon simulator can be maintained until the next triggering (firing).
- the drive can continue to run (possibly at a reduced speed) to allow a renewed cocking after firing very quickly. As a result, both single-fire and continuous fire with extremely high cadence can be simulated.
- Fig. 3 shows the handgun simulator with the recoil pulse generator in the cocked position II at the moment of actuation of the trigger 06 (Fig. A).
- the operation of the trigger two arranged laterally of the clutch release angle 17 is pivoted to release the previously blocked by this trigger angle clutch 12 (instead of the trigger angle can also be a pawl or a similar element can be used).
- the release spring 11 can relax and the clutch is axially accelerated with the carriage 04 against the firing direction until the carriage strikes in the relaxed position I.
- the release of the trigger spring 11, the pulse triggered by the striking of the moving masses and the acceleration of the carriage forward by immediate re-tensioning of the trigger spring 11 simulate the recoil during the firing.
- a carriage-catching lever 19 is shown in an activated position in which the adjustment of the trigger angle 17 to release the clutch 12 is prevented.
- the sensor signal signals the delivery of the simulated shot.
- a control unit (not shown) can evaluate the third sensor signal, for example to count the number of shots fired and to activate a catch lever actuator 21 when the magazine is "emptied."
- the catch lever actuator 21 pivots the slide catch lever 19, which engages in the slide that the latter remains in the relaxed position I with respect to the coupling position
- the release spring is tensioned, even if the carriage remains in the relaxed position
- the force-storing element itself is in a tensioned position
- the carriage catch lever 19 can only be actuated by manual actuation bring back to its rest position.
- a fourth sensor (not shown) can be arranged, which is already the start phase of a Shot triggering detected, for example, by the deflection of the trigger is detected, even before the pressure point of the trigger is exceeded and the shot is fired.
- the fourth sensor signal indicates that the firing is imminent.
- the electric motor can thus be brought early into the full load state in order to realize even higher cadences.
- the embodiment shown in Fig. 1 further has a barrier, in particular a pawl actuator 22, which can be activated by a supervisor during use of the handgun simulator.
- the pawl actuator 22 actuates a pawl which prevents the trip angles 17 from releasing the clutch 12 in the cocked position II. In this way, a jam can simulate.
- the control signal for the pawl actuator 22 may, for example, be transmitted via a wireless communication link from an external control unit to the handheld weapon simulator.
- a modified mechanism can be used as a lock.
- a modified locking mechanism is detected for example by a sensor which controls an actuator. This also allows the behavior of the trigger to be adapted to different simulators or states. Such a mechanical decoupling of the trigger also prevents unwanted self-release, which may otherwise occur in shock.
- Fig. 5 shows an embodiment of the coupling 12 in a sectional view in detail.
- the coupling 12 has a coupling housing 25 in which an axially displaceable coupling group 26 is inserted.
- the clutch engages in the engaged state with balls 14 in the spindle 10 a.
- the relaxed position I directed side 27 of the dome group proposes a stop
- the coupling for this purpose preferably comprises a plurality of groups of balls 14, as shown in Fig. 5.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Toys (AREA)
- Portable Nailing Machines And Staplers (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/148,972 US8608474B2 (en) | 2009-02-11 | 2010-02-08 | Recoil impulse generator for a weapon simulator |
CN2010800075690A CN102317734A (zh) | 2009-02-11 | 2010-02-08 | 用于武器模拟器的后座力冲击发生器 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP09152527A EP2219005B1 (de) | 2009-02-11 | 2009-02-11 | Rückstoßimpulserzeuger für einen Waffensimulator |
EP09152527.9 | 2009-02-11 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010092020A1 true WO2010092020A1 (de) | 2010-08-19 |
Family
ID=40874860
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2010/051502 WO2010092020A1 (de) | 2009-02-11 | 2010-02-08 | RÜCKSTOßIMPULSERZEUGER FÜR EINEN WAFFENSIMULATOR |
Country Status (5)
Country | Link |
---|---|
US (1) | US8608474B2 (de) |
EP (1) | EP2219005B1 (de) |
CN (1) | CN102317734A (de) |
AT (1) | ATE516475T1 (de) |
WO (1) | WO2010092020A1 (de) |
Families Citing this family (18)
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US8894412B1 (en) * | 2012-09-17 | 2014-11-25 | Virtra Systems Inc. | System and method for mechanically activated laser |
TWM395149U (en) * | 2010-05-21 | 2010-12-21 | Yih Kai Entpr Co Ltd | Recoil shock device in toy gun |
CN102478372A (zh) * | 2010-11-30 | 2012-05-30 | 廖彦婷 | 一种玩具枪及其液态高压气体储气室安全气化系统 |
US8449346B2 (en) * | 2010-12-07 | 2013-05-28 | Tsung-Ming Lee | Backward momentum transferring mechanism for toy gun |
TW201239309A (en) * | 2011-03-21 | 2012-10-01 | Yih Kai Entpr Co Ltd | Videogame gun structure improvement |
US9146069B2 (en) * | 2012-05-22 | 2015-09-29 | Haptech, Inc. | Method and apparatus for firearm recoil simulation |
US10852093B2 (en) | 2012-05-22 | 2020-12-01 | Haptech, Inc. | Methods and apparatuses for haptic systems |
CN103550931B (zh) * | 2013-09-18 | 2016-08-17 | 领航数位国际股份有限公司 | 一种后座力模拟机构及使用这种后座力模拟机构的气动式机枪 |
NO337460B1 (no) * | 2014-05-14 | 2016-04-18 | Eblanks As | Elektronisk simuleringsanordning for våpen |
US9599422B2 (en) | 2014-07-22 | 2017-03-21 | Clinton Gregory Mundy | Automatic simulation recoiler for converting a firearm into a simulator |
US9803948B2 (en) * | 2014-12-29 | 2017-10-31 | Guay Guay Trading Co., Ltd. | Trigger emulation mechanism of electric gun |
CN105466282B (zh) * | 2015-12-30 | 2017-06-27 | 南京理工大学 | 一种用于人机工效评价的抵肩射击武器模拟装置 |
KR101761507B1 (ko) * | 2016-03-04 | 2017-07-25 | 김광석 | 완구총 |
CN105783585B (zh) * | 2016-03-16 | 2017-05-10 | 华中科技大学 | 一种火炮发射后坐力效应模拟装置 |
CN105758256B (zh) * | 2016-04-27 | 2017-09-05 | 广东裕利智能科技股份有限公司 | 后座力模拟装置及具有该后座力模拟装置的玩具枪 |
CN106959044A (zh) * | 2017-05-02 | 2017-07-18 | 昆山雅力康电子科技有限公司 | 带有射击模拟系统的训练枪械 |
US10890392B1 (en) * | 2020-02-11 | 2021-01-12 | Rolland & Hamann Innovations, LLC | Guide rod for auto reloading firearm |
CN112781439A (zh) * | 2021-02-03 | 2021-05-11 | 北京易玖模拟科技有限公司 | 一种92式自动激光模拟训练枪 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB466870A (en) * | 1934-09-03 | 1937-06-03 | Eric Von Latscher Latka | Arrangement on practising devices for firing projectiles from machine guns |
US2472002A (en) | 1946-05-15 | 1949-05-31 | Gen Motors Corp | Automatic screw and nut release |
US3427925A (en) * | 1965-07-15 | 1969-02-18 | Heckler & Koch Gmbh | Actuating device for automatic firearms |
DE2726396C2 (de) | 1976-06-11 | 1986-12-11 | Spartanics Ltd., Palatine, Ill. | Vorrichtung zur Simulierung der Rückstoßkraft einer Waffe |
USH186H (en) * | 1986-05-16 | 1987-01-06 | The United States Of America As Represented By The Secretary Of The Navy | Recoil simulator for weapons |
DE3631262A1 (de) | 1986-09-13 | 1988-03-24 | Walther Carl Gmbh | Vorrichtung zur schuss-simulation fuer eine handfeuerwaffe |
EP1043561A2 (de) | 1999-03-31 | 2000-10-11 | Krauss-Maffei Wegmann GmbH & Co. KG | Waffensimulator für ein Kampffahrzeug, insbesondere einen Kampfpanzer |
DE10350307A1 (de) | 2003-10-28 | 2005-05-25 | Joniskeit, Detlef | Simulationsgerät zur Nachahmung der halb- und vollautomatischen Funktion einer Schusswaffe |
US20080155875A1 (en) | 2006-12-27 | 2008-07-03 | Tatsuo Iwasawa | Recoil shock device in toy gun |
-
2009
- 2009-02-11 AT AT09152527T patent/ATE516475T1/de active
- 2009-02-11 EP EP09152527A patent/EP2219005B1/de not_active Not-in-force
-
2010
- 2010-02-08 CN CN2010800075690A patent/CN102317734A/zh active Pending
- 2010-02-08 US US13/148,972 patent/US8608474B2/en not_active Expired - Fee Related
- 2010-02-08 WO PCT/EP2010/051502 patent/WO2010092020A1/de active Application Filing
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB466870A (en) * | 1934-09-03 | 1937-06-03 | Eric Von Latscher Latka | Arrangement on practising devices for firing projectiles from machine guns |
US2472002A (en) | 1946-05-15 | 1949-05-31 | Gen Motors Corp | Automatic screw and nut release |
US3427925A (en) * | 1965-07-15 | 1969-02-18 | Heckler & Koch Gmbh | Actuating device for automatic firearms |
DE2726396C2 (de) | 1976-06-11 | 1986-12-11 | Spartanics Ltd., Palatine, Ill. | Vorrichtung zur Simulierung der Rückstoßkraft einer Waffe |
USH186H (en) * | 1986-05-16 | 1987-01-06 | The United States Of America As Represented By The Secretary Of The Navy | Recoil simulator for weapons |
DE3631262A1 (de) | 1986-09-13 | 1988-03-24 | Walther Carl Gmbh | Vorrichtung zur schuss-simulation fuer eine handfeuerwaffe |
EP1043561A2 (de) | 1999-03-31 | 2000-10-11 | Krauss-Maffei Wegmann GmbH & Co. KG | Waffensimulator für ein Kampffahrzeug, insbesondere einen Kampfpanzer |
DE10350307A1 (de) | 2003-10-28 | 2005-05-25 | Joniskeit, Detlef | Simulationsgerät zur Nachahmung der halb- und vollautomatischen Funktion einer Schusswaffe |
US20080155875A1 (en) | 2006-12-27 | 2008-07-03 | Tatsuo Iwasawa | Recoil shock device in toy gun |
Also Published As
Publication number | Publication date |
---|---|
EP2219005B1 (de) | 2011-07-13 |
CN102317734A (zh) | 2012-01-11 |
ATE516475T1 (de) | 2011-07-15 |
US8608474B2 (en) | 2013-12-17 |
US20110318715A1 (en) | 2011-12-29 |
EP2219005A1 (de) | 2010-08-18 |
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