WO2011032890A1 - Procédé et dispositif pour le dressage par traction et flexion continu de bandes métalliques - Google Patents

Procédé et dispositif pour le dressage par traction et flexion continu de bandes métalliques Download PDF

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Publication number
WO2011032890A1
WO2011032890A1 PCT/EP2010/063284 EP2010063284W WO2011032890A1 WO 2011032890 A1 WO2011032890 A1 WO 2011032890A1 EP 2010063284 W EP2010063284 W EP 2010063284W WO 2011032890 A1 WO2011032890 A1 WO 2011032890A1
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WO
WIPO (PCT)
Prior art keywords
straightening
rollers
straightening rollers
roller
band
Prior art date
Application number
PCT/EP2010/063284
Other languages
German (de)
English (en)
Inventor
Andreas Noé
Original Assignee
Bwg Bergwerk- Und Walzwerk-Maschinenbau Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Bwg Bergwerk- Und Walzwerk-Maschinenbau Gmbh filed Critical Bwg Bergwerk- Und Walzwerk-Maschinenbau Gmbh
Priority to RU2012115467/02A priority Critical patent/RU2540286C2/ru
Priority to CN201080041260.3A priority patent/CN102548681B/zh
Priority to EP10752802.8A priority patent/EP2477764B1/fr
Priority to ES10752802.8T priority patent/ES2574616T3/es
Priority to US13/389,841 priority patent/US20120174643A1/en
Publication of WO2011032890A1 publication Critical patent/WO2011032890A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D1/00—Straightening, restoring form or removing local distortions of sheet metal or specific articles made therefrom; Stretching sheet metal combined with rolling
    • B21D1/05—Stretching combined with rolling

Definitions

  • the invention relates to a method and a device for stretch bending of metal strips, wherein a standing under a tensile stress below the elastic limit or yield strength band is mutually bent by at least four straightening rollers in the plastic or elastic-plastic region and thereby undergoes a plastic stretching.
  • the plastically or elastically plastic straightening rollers are also referred to as stretch rollers.
  • the extent to which the tape is stretched plastically (in total) and thus elongated is called the degree of stretching.
  • Unplanarity means, for example, waviness and / or banding due to length differences of the band fibers in the band plane.
  • unevenness also means strip curvatures in the longitudinal and / or transverse direction, which arise as a result of bending moments in the strip, for example if the strip has been elastically plastically bent around deflection rollers or by elastic-plastic deformations during winding of the strip.
  • Longitudinal curves are also referred to as coil set, Querkrüm rules as Crossbow.
  • the unplane band is bent under a tensile stress which is below the elastic limit RE or the technical elastic limit R p o, oi of the band material around rollers of sufficiently small diameter (mutually), so that the superposition of the tensile stress with the bend an elastic / plastic deformation is produced in the band.
  • the strip is elongated plastically, the height of the plastic elongation being called the degree of stretching.
  • the originally short ribbon fibers are elongated relatively more strongly.
  • multiroll levelers which are also referred to as multi-roll straightening devices.
  • multi-roll straightening the belt is subjected to a variety of bends around small diameter rollers. By using many rolls, the tape can be produced with little residual curvature.
  • the disadvantage here is the fact that the large number of roles associated with a high maintenance and spare parts.
  • the lower and upper rollers are each frictionally connected to each other via the support rollers or intermediate rollers and support rollers such as a 1: 1 gear. Since the belt is elongated plastically during the passage through the multi-roller stand, the belt speed also increases to the same extent. Thus, the tape is synchronized only in one roll, slip occurs between the other rolls and the tape.
  • DE 27 50 752 describes a method for straightening and improving the quality properties of metal strips, in particular electrical strips, in which the metal strip to be treated is bent counter pressure-free and subjected to a plastic alternating bending.
  • the metal band is bent while maintaining its plastic bending state in plan position, which are made to the last bend deflections of the metal strip exclusively in the elastic or nearly elastic range.
  • Preferably, only two counter-pressure roller-free bending rollers are realized with the interposition or downstream of one or more deflection rollers. It can also be provided several bending rollers. It is always important that the last bend is carried out with the highest possible plastic bending deformation and that the metal strip is subsequently bent only elastically or predominantly elastically.
  • the technical problem underlying the invention is to provide a stretch bending method which provides optimum flatness results with low equipment costs and, in particular, is insensitive to fluctuations in the process parameters (tensile stress, strip strength and strip thickness).
  • a device is to be specified, which is characterized by a simple and inexpensive construction and yet provides the desired results.
  • the invention teaches in a generic method for continuous stretch bending of metal bands of the type described input that the bending radii are set individually and independently of each other on all four straightening rollers.
  • the invention proposes that all four bending rollers are employed position-controlled. If the band is bent alternately by more than four straightening rollers, the invention proposes that the bending radii of each of the last four rollers are adjusted individually and independently relative to the band running direction, preferably by at least the last four rollers being adjusted individually in a position-controlled manner.
  • the positions of the straightening rollers are then adjusted with an accuracy and control accuracy which corresponds to an accuracy in relation to the wrap angle of the belt around the straightening rollers of ⁇ 0.05 ° or less, preferably ⁇ 0.02 ° or less.
  • the wrap angle of the band around one or more straightening rollers, preferably around all straightening rollers can be 0.5 ° to 60 °, preferably 1 ° to 35 °.
  • the (total) degree of stretching is, for example, 0.1% to 1.5%, preferably 0.2% to 0.6%.
  • the band tension is preferably from 10% to 90%, preferably from 30% to 60%, of the elastic limit of the band or band material.
  • the invention proposes that the distance between at least two (immediately) successively arranged straightening rollers (based on the strip running direction) at least 15% of the (maximum) bandwidth, for example at least 30% of the (maximum) bandwidth, particularly preferably at least 50% of (maximum) bandwidth is. It may be expedient if the above distances in all four straightening rollers between two pairs (immediately) arranged successively straightening rollers. For example, the distances between two such straightening rollers may be at least 150 mm, preferably at least 300 mm.
  • the model-based investigations have here led to the surprising result that can be minimized or eliminated by the favorable choice of the distances between the elastically-plastically acting straightening rollers, the process-related degree of stretch differences over the bandwidth. It has been found that generally larger horizontal distances have a favorable effect. Given the maximum length of the stretch bending stand, it is favorable to carry out at least a distance between elastically-plastically acting rolls with at least 30% of the maximum width, but at least 500 mm. The decisive factor is the distance between the straightening rollers along the direction of belt travel. This corresponds to a stretch bending Scaffolding in horizontal construction the horizontal distance. In principle, however, a distance in an oblique or vertical direction may be meant, depending on the direction in which the tape is guided.
  • roller spacings are optimal, so that a further improvement of the straightening results with respect to ripple can be achieved if these distances are variable or adjustable. Consequently, it is provided according to a further proposal of the invention, the independent significance, provided that the distance in the direction of tape travel between at least two straightening rollers is set variably or can be. The optimum distances can then be specified model-based for a specific band.
  • the invention further proposes that the setpoint values for the position of the straightening rolls and / or the setpoint values for the wrap angles of the strip around the straightening rolls be determined with a mathematical model which takes into account at least stresses in the longitudinal and transverse direction, as the calculation parameter the strip thickness.
  • the modulus of elasticity, the transverse contraction number, the cyclic strength behavior of the belt, the belt tension, the roller radii and the geometry of the belt run are processed around the rollers, for the target values of the strip thickness and the strength, for example the yield strength, are calculated such that the residual longitudinal and lateral curvature Becomes zero or at least negligible. Ideally, therefore, bands are produced with vanishingly small residual curvatures.
  • the calculation model determines the setpoint values with the proviso that, although a negligible or negligible residual cross-curvature value is achieved, the residual longitudinal curvatures assume a defined value.
  • the invention is based on the recognition that there are definitely applications in which residual curvatures must be completely avoided, but in which certain Restldicaskurümmungen are tolerable, provided that they are exclusively in a certain direction and consequently have only a specific sign.
  • the invention optionally proposes that after or behind one or more straightening rollers, for example after the last straightening roller, particularly preferably after each straightening roller, the transverse curvature of the belt is measured across the belt width. These measured transverse curvatures can then be incorporated into a regulation which, on the basis of the measured values, corrects the wrap angles or roll positions such that a strip with sufficiently small residual longitudinal and residual transverse curvature is produced.
  • the invention thus comprises, first of all, such embodiments in which the set values for the bending radii and consequently for the roll position and / or the wrap angles are determined by means of a mathematical model, the system then being operated with these values. Simulations have shown that such a procedure leads to excellent results even with certain variations of the process parameters.
  • This regulation can also be based on a mathematical model which takes into account at least stresses in longitudinal and transverse directions, as calculation parameters the strip thickness, the modulus of elasticity, the transverse contraction number, the cyclic strength behavior of the strip, the strip tension, the roller radii and the geometry of the strip run around the Rolls processed, and a certain transverse curvature Bandrestlhacks- or -verkrümmung is assigned.
  • the computational models described can be based on a finite element method, which is able to take into account stresses and strains across the bandwidth.
  • the optimum degree of stretching and / or the optimal horizontal distances of the elastically-plastically acting rollers can be calculated by the finite element method, which give the minimum residual unevenness, in particular ripples and band saber ,
  • the invention also relates to an apparatus for continuous stretch bending of metal strips with a method of the type described.
  • a device has at least four bending rollers around which a standing under a tensile stress below the elastic limit band in the plastic or elastic-plastic region is mutually bent.
  • a device has at least one control and / or regulating device.
  • the invention proposes that the bending radii are individually and independently adjustable on all four straightening rollers.
  • the invention preferably proposes that all four straightening rollers are connected to the control device and can be adjusted in a position-controlled manner.
  • the individual straightening rollers are each provided with one or more finely adjustable actuators, preferably Spindelhubettin.
  • the diameter of one or more or preferably all four straightening rollers is for example 15 mm to 150 mm, preferably 25 mm to 80 mm. It has already been explained that it is particularly preferred to work with relatively large distances between the individual straightening rollers. Particularly preferably, the device is designed so that these distances adjustable are, for example, by the position of at least one straightening roller along the strip running direction is variably adjustable.
  • the insertion depths of the rollers are angle relatively large.
  • the stretch bender To pass through a joint of two coils, such as a punched connection or weld, usually the stretch bender must be opened, that is, the roles are turned off. If the paths to be covered are large, this process takes a long time. As a consequence, if the tape continues to run in the event of a conti line, then the undirected tape lengths around the joint become large. This is basically undesirable.
  • the invention therefore proposes in an optional further development that at least one elastically-plastically acting straightening roller is preceded by an adjacent deflection roller and / or an adjacent deflection roller is disposed downstream, such an adjacent deflection roller preferably having at least three times the diameter, more preferably at least ten times the diameter of the straightening roller , In this way, the Anstellwege and thus the non-directional tape sections are considerably shortened.
  • the deflection rollers have such a large diameter that only a purely elastic band deformation occurs for at least part of the band thickness spectrum to be straightened.
  • at least the last two rollers should be executed without intermediate deflection rollers in order to achieve as high a geno as possible in the resetting of the wrap angle.
  • At least one of the adjacent deflection rollers has a concave or convex roller contour.
  • one of the two adjacent pulleys or both adjacent pulleys can be equipped with a Rollenverbiegung in the horizontal and / or vertical direction.
  • the first elastic-plastic straightening roller may be preceded by a contour variable tension roller or deflection roller wound around at least 120 °.
  • the elastically-plastically acting straightening rollers can be supported against deflection by support rollers.
  • segmented support rollers can be used.
  • the elastically-plastically acting rollers can be supported against deflections by two rows of segmented support rollers or two intermediate rollers and three rows of segmented support rollers.
  • FIG. 1 shows a device according to the invention for stretch bending straightening in a simplified, schematic representation
  • FIG. 2 shows the object according to FIG. 1 in a modified embodiment
  • FIG. 3 calculated residual longitudinal curvatures for a metal strip which has been directed with a device according to FIG. 1 and FIG
  • an apparatus for continuous stretch bending of metal strips 1 is shown.
  • the device has four straightening rollers 2 around which a band 1 under a tensile stress below the elastic limit is bent alternately in the plastic or elastic-plastic region.
  • Each of the straightening rollers 2 is in supported by known manner of at least two support rollers 3.
  • the band 1 is under a tensile stress below the elastic limit.
  • tension rollers not shown, for example, a brake roller set on the inlet side and a Switzerlandrollensatz provided on the outlet side.
  • the bending radii are adjustable individually or independently of each other on all four straightening rollers.
  • all four straightening rollers 2 with a control device, not shown, and, for example, Spindelhubelmenten, positionally adjustable adjustable, in a direction of tape R vertical direction V.
  • This is indicated in the figures by the dot-dashed functional positions of the rollers 2.
  • the parameters and in particular the roller radii and the belt tension are matched to one another in such a way that the belt does not (yet) follow the roller radius on all four straightening rollers. Consequently, by controlling the setting depth and consequently by regulating the position and the associated setting of the wrap angle, the respective bending radius can be varied.
  • no further rollers are arranged between the four straightening rollers 2. Only before and behind the entire straightening roller arrangement pulleys 4 are provided.
  • FIG. 2 shows a modified embodiment in which each straightening roller 2 upstream of a respective deflection roller 4a and a deflection roller 4b are arranged downstream. Also in this embodiment, however, all four straightening rollers 2 are positionally variable in their position perpendicular to the strip running direction R.
  • FIG. 1 is to be preferred in principle, as they roll out of the inlet and outlet side elastically acting passport Without further (purely elastically acting) roles, the embodiment according to FIG. 2 can optionally be advantageous. Combinations of the two versions are possible.
  • the purely elastic deflection pulleys it should be noted that they only have a purely elastic effect on thin and / or higher-strength belts, for example in the case of aluminum in the band thickness range below one millimeter. In addition, they also have a slight elastic-plastic effect and can influence the straightening result with regard to residual curvatures. If a stretch bending scaffold is to cover a larger band thickness range, it is particularly preferable to dispense with the deflection rollers.
  • the exact nominal positions of all four straightening rollers 2 are now determined using a mathematical model.
  • a mathematical model which takes into account at least stresses in longitudinal and transverse directions, as calculation parameters the strip thickness, the modulus of elasticity, the transverse contraction number, the cyclic strength behavior of the strip, the strip tensile stress, the roller radii and the geometry of the strip
  • the strip is processed around the rolls for which the setpoint values of the strip thickness and the strength, for example the yield strength, are calculated such that the residual longitudinal and residual transverse curvatures become zero or virtually zero.
  • the positions of the straightening rollers 2 can be set exactly. It is then possible, depending on experimental results "off-line" make a correction of these positions.
  • the once exactly specified setting ensures that the residual curvature behavior are extremely insensitive to fluctuations in the process parameters such as in particular the tensile stress and the strength values and the strip thickness of the strip.
  • the process parameters such as in particular the tensile stress and the strength values and the strip thickness of the strip.
  • a band of a coil usually certain Subject to changes in strength and thickness and also the tensile stress can not always be maintained exactly constant, the residual curvatures obtained were also subject to considerable fluctuations with the hitherto known methods. This is avoided in the invention.
  • the inventive method shows a particularly good-natured residual curvature behavior. Reference is made to a comparative consideration of Figs. 3 and 4.
  • FIG. 3 shows the residual longitudinal curvature k L (in 1 / m) for an aluminum strip as a function of the degree of stretching S (in%), which was directed by a device according to FIG.
  • k L in 1 / m
  • S degree of stretching
  • the figure also shows the limits of the residual longitudinal curvature of ⁇ 0.5 m "1 , which are considered permissible, and it can be seen that the residual longitudinal curvature in the given tolerance window lies within a fairly large degree of stretching of 0.31 to 0.59% moreover, the fact that the residual longitudinal curvature in a draft window of ⁇ 0.05% is only ⁇ 0.15 m "1 . T heights of rest are always lower than the remaining longitudinal curvatures.
  • the residual longitudinal curvatures are also within a draft window of 0.36 to 0.52% defined in the negative range with very little variation.
  • Fig. 4 shows a corresponding simulation with a three-roller scaffold, the individual roles also position-controlled are adjustable. It can be seen that the residual longitudinal curvature varies with variations in the degree of stretching in a considerably larger range. The limit value is maintained only in a range for the degree of stretching of 0.33 to 0.36%. This can hardly be guaranteed in practice, for example in acceleration and deceleration phases.
  • the residual transverse curvature of the amount is significantly smaller than the residual longitudinal curvature for suitably selected angles of wrap.
  • the residual longitudinal curvature of a panel cut out after straightening then corresponds approximately to a transverse curvature of the band measured in the stretch-bending machine under strip tension.
  • a simple method is to vary the angle of wrap in the last elastic-plastic roller and thereby to shift the residual curvature curve shown in FIG. 3 upwards or downwards.
  • a closed loop conceivable.
  • corresponding measuring devices can be provided, which are connected to a control and regulating device. In the figures, this is not shown.
  • theoretically optimum transverse curvature can be predicted after each roll. Then the rollers can be set so that the measured and the calculated match as well as possible. Then one can assume that the actual straightening process differs only slightly from the theoretically calculated and therefore also the straightening result agrees well.
  • the position-controlled adjustment of the straightening rollers preferably takes place by means of finely adjustable spindle lifting elements.
  • fine adjustment usually works with a setting speed of 2 to 3 mm / sec
  • the upstream deflection rollers 4a and the downstream deflection rollers 4b are provided in the embodiment shown in FIG. In this way, the Anstellwege be shortened considerably.
  • the straightening rollers are then additionally provided with a quick adjustment, for example with hydraulic or pneumatic cylinder actuators. It may be appropriate to provide a common Schnellangnagna for several straightening rollers. Thus, it may be useful, for example, in the embodiment of FIG. 1, to arrange the first straightening roller and the third straightening roller on a common upper frame, which can be adjusted with one or more cylinder actuators.
  • the second straightening roller and the fourth straightening roller can be arranged on a subframe, which is likewise adjustable with one or more cylinder actuators.
  • the quick setting can be done, for example, between two end stops for driving on and driving the Streckbie subgerüstes. These possibilities are not shown in the figures.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Straightening Metal Sheet-Like Bodies (AREA)
  • Registering, Tensioning, Guiding Webs, And Rollers Therefor (AREA)
  • Wire Processing (AREA)
  • Shaping Of Tube Ends By Bending Or Straightening (AREA)

Abstract

L'invention concerne un procédé et un dispositif pour le dressage continu par traction et flexion de bandes métalliques, une bande exposée à une tension de traction au-dessous de la limite d'élasticité étant pliée alternativement autour d'au moins quatre rouleaux à dresser dans la zone plastique ou la zone élasto-plastique et subissant alors un étirement plastique. Dans le cas présent, les rayons de courbure sur l'ensemble des quatre rouleaux de dressage sont réglés à chaque fois individuellement et indépendamment les uns des autres du fait que les rouleaux de dressage sont mis en place individuellement de façon réglée en position.
PCT/EP2010/063284 2009-09-18 2010-09-10 Procédé et dispositif pour le dressage par traction et flexion continu de bandes métalliques WO2011032890A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
RU2012115467/02A RU2540286C2 (ru) 2009-09-18 2010-09-10 Способ непрерывной правки металлических лент и устройство для непрерывной правки металлических лент
CN201080041260.3A CN102548681B (zh) 2009-09-18 2010-09-10 用于连续拉伸-弯曲-校平金属带的方法和装置
EP10752802.8A EP2477764B1 (fr) 2009-09-18 2010-09-10 Procédé et dispositif pour le dressage par traction et flexion continu de bandes métalliques
ES10752802.8T ES2574616T3 (es) 2009-09-18 2010-09-10 Procedimiento y dispositivo de enderezamiento continuo por estiramiento y flexión de bandas metálicas
US13/389,841 US20120174643A1 (en) 2009-09-18 2010-09-10 Method and device for continuously stretch-bend-leveling metal strips

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009041852.0 2009-09-18
DE102009041852A DE102009041852A1 (de) 2009-09-18 2009-09-18 Verfahren und Vorrichtung zum kontinuierlichen Streckbiegerichten von Metallbändern

Publications (1)

Publication Number Publication Date
WO2011032890A1 true WO2011032890A1 (fr) 2011-03-24

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2010/063284 WO2011032890A1 (fr) 2009-09-18 2010-09-10 Procédé et dispositif pour le dressage par traction et flexion continu de bandes métalliques

Country Status (8)

Country Link
US (1) US20120174643A1 (fr)
EP (1) EP2477764B1 (fr)
KR (1) KR101651313B1 (fr)
CN (1) CN102548681B (fr)
DE (1) DE102009041852A1 (fr)
ES (1) ES2574616T3 (fr)
RU (1) RU2540286C2 (fr)
WO (1) WO2011032890A1 (fr)

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CN103316964A (zh) * 2013-06-26 2013-09-25 江苏亨特宏业重工有限公司 铝带加工设备的拉弯矫直机组控制系统
DE102013106243B3 (de) * 2013-06-14 2014-09-18 Bwg Bergwerk- Und Walzwerk-Maschinenbau Gmbh Verfahren und Vorrichtung zum Streckbiegerichten von Metallbändern
CN105880315A (zh) * 2016-06-14 2016-08-24 佛山市荣星数控设备制造有限公司 一种拉矫机用电路结构
DE102016106208A1 (de) 2016-04-05 2017-10-05 Bwg Bergwerk- Und Walzwerk-Maschinenbau Gmbh Verfahren zum Streckbiegerichten eines Bandes
CN109513795A (zh) * 2018-12-29 2019-03-26 西南铝业（集团）有限责任公司 一种航天用超大规格型材拉伸矫直设备及填充件
EP2841615B1 (fr) 2012-04-25 2020-06-24 ArcelorMittal Procédé de réalisation d'une tôle à revêtements znalmg huilés et tôle correspondante
USD1001927S1 (en) 2020-04-21 2023-10-17 Ekaterina Dominguez Set of resistance bands with handles

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DE102012020444B4 (de) * 2012-10-18 2015-01-22 Vdeh-Betriebsforschungsinstitut Gmbh Verfahren zur Ermittlung der Zugfestigkeit eines Bandes in einer Richtmaschine und Zugfestigkeits-Softsensor
EP3168570A1 (fr) * 2015-11-10 2017-05-17 Primetals Technologies France SAS Méthode de mesure de planéité d'un produit métallique et dispositif associé
CN108885159B (zh) * 2015-12-08 2021-07-06 开罗美国大学 剪切强化轧制(ser)、改进轧制合金坯料中粒度均匀性的方法
DE102016121448B4 (de) * 2016-11-09 2018-08-30 Bwg Bergwerk- Und Walzwerk-Maschinenbau Gmbh Verfahren und Vorrichtung zum Streckbiegerichten eines Metallbandes
EP3437749A1 (fr) * 2017-08-04 2019-02-06 Primetals Technologies France SAS Planeuse multi-rouleaux de bande métallique
CN109991163B (zh) * 2019-04-22 2021-12-21 湖南继兴科技有限公司 一种胶黏剂的检测设备
EP4255650A1 (fr) * 2020-12-01 2023-10-11 Magna International Inc Ensemble matrice de laminage ondulé
CN113699341B (zh) * 2021-10-29 2021-12-31 宁波德洲精密电子有限公司 一种引线框架材料内应力调整及校平设备
CN116910944B (zh) * 2023-09-13 2023-12-26 中基科技(武汉)有限公司 船用型材矫直机的工艺参数确定方法、装置及电子设备
CN118395830A (zh) * 2024-03-13 2024-07-26 北京科技大学 基于代理模型的矫直机生产过程可视化分析方法及装置

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CN109513795B (zh) * 2018-12-29 2024-03-15 西南铝业（集团）有限责任公司 一种航天用超大规格型材拉伸矫直设备及填充件
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ES2574616T3 (es) 2016-06-21
RU2012115467A (ru) 2013-10-27
EP2477764A1 (fr) 2012-07-25
CN102548681A (zh) 2012-07-04
US20120174643A1 (en) 2012-07-12
DE102009041852A1 (de) 2011-04-07
EP2477764B1 (fr) 2016-04-20
KR101651313B1 (ko) 2016-08-25
KR20120069692A (ko) 2012-06-28
RU2540286C2 (ru) 2015-02-10

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