WO2011053308A1 - Twist beam suspension with y-beam control arm - Google Patents
Twist beam suspension with y-beam control arm Download PDFInfo
- Publication number
- WO2011053308A1 WO2011053308A1 PCT/US2009/062726 US2009062726W WO2011053308A1 WO 2011053308 A1 WO2011053308 A1 WO 2011053308A1 US 2009062726 W US2009062726 W US 2009062726W WO 2011053308 A1 WO2011053308 A1 WO 2011053308A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- bushing
- axle
- arrangement
- arm
- suspension arrangement
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G9/00—Resilient suspensions of a rigid axle or axle housing for two or more wheels
- B60G9/003—Resilient suspensions of a rigid axle or axle housing for two or more wheels the axle being rigidly connected to a trailing guiding device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/001—Suspension arms, e.g. constructional features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/30—Rigid axle suspensions
- B60G2200/31—Rigid axle suspensions with two trailing arms rigidly connected to the axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/14—Mounting of suspension arms
- B60G2204/148—Mounting of suspension arms on the unsprung part of the vehicle, e.g. wheel knuckle or rigid axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/14—Mounting of suspension arms
- B60G2204/148—Mounting of suspension arms on the unsprung part of the vehicle, e.g. wheel knuckle or rigid axle
- B60G2204/1482—Mounting of suspension arms on the unsprung part of the vehicle, e.g. wheel knuckle or rigid axle on rigid axle by elastic mount
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
- B60G2204/41—Elastic mounts, e.g. bushings
- B60G2204/4104—Bushings having modified rigidity in particular directions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
- B60G2204/43—Fittings, brackets or knuckles
- B60G2204/4306—Bracket or knuckle for rigid axles, e.g. for clamping
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
Definitions
- the invention is directed to vehicle suspensions, in particular heavy vehicle suspensions. More pai'ticularly, the invention is directed to a rear suspension arrangement interconnecting a frame and axle in a vehicle.
- Merkle shows a vehicle axle attachment having a control arm having two parallel plates shaped to form horizontally spaced lugs at one to attach to the vehicle hangar bracket and vertically spaced lugs at the opposite end to attach to the axle.
- the vertically spaced lugs are rigidly connected to the axle by way of a flange. With a rigid connection, the roll rate of this arrangement is fixed.
- a suspension arrangement in accordance with the invention includes a control arm provided as a beam having a first end with a single arm and a second end with an upper arm and a lower arm diverging to define a Y-shape, the first end being connectable to a vehicle frame, and the second end being connectable to a vehicle axle disposed between the upper and lower arms.
- a bushing arrangement mounts the arms to the vehicle axle, the bushing arrangement having an upper portion connecting to the upper arm and a lower portion connecting to the lower arm, the bushing having a selected rate.
- the suspension according to the invention improves the transfer of twisting forces to the axle by constraining the axle between two arms of the control arm.
- the axle is twisted about the center of torsion, allowing increased twist to the axle without the introduction of an extra bending moment in the axle.
- the invention advantageously adds adjustment of the response of the suspension by way of the axle bushings.
- the control arm is formed of a first beam and a second beam in parallel, spaced relation, the first beam and second beam being interconnected to the axle by the bushing arrangement.
- the spacing may be varied, according to the invention, to provide the desired mechanical advantage for twisting the axle.
- the first beam and second beam are relatively thin plate members that provide a weight advantage in the assembly while providing sufficient strength and stiffness in the vertical direction.
- forming the first beam and second beam as thin plates provides some lateral flexibility to the suspension assembly for accommodating lateral suspension events.
- the invention thus provides an improvement in roll rate by a control arm that is much stiffer in the vertical direction than in the lateral direction.
- the first beam and second beam are interconnected only by the axle bushing arrangement and a second bushing arrangement mounting the beams to the vehicle frame.
- the first beam and second beam are connected to form the control arm with the axle end bushing arrangement disposed between the respective upper arms and lower arms.
- the bushing arrangement includes two upper bushings and two lower bushings.
- the rate of the bushings that attach the beam to the axle may be varied to influence certain suspension characteristics. For example, making the two top bushings stiffer in the fore/aft direction and relatively softer in the vertical direction and making the bottom bushings softer in the fore aft direction and relatively stiffer in the vertical direction can improve roll steer, lateral stiffness, roll rate, toe stiffness and camber stiffness.
- the first beam and second beam each include a plate section and flanges extending perpendicularly from edges of the plate section, wherein the first beam and second beam are mutually disposed with the respective flanges extending in opposite directions.
- the suspension arrangement further includes a hanger mountable to the frame, the first end of the control arm being pivotally mounted to the hanger.
- the suspension arrangement further includes a spring mountable between the axle and the frame.
- the spring may be disposed between a seat on an arm mountable to and extending from the axle and a bracket mountable to the frame.
- Figure 1 is a side view of a suspension arrangement in accord with the invention
- Figure 2 is a perspective view of the suspension arrangement of Figure 1 ;
- Figure 3 is a perspective view of an embodiment of a top bushing device for connecting control arms to an axle;
- Figure 4 is a perspective view of one embodiment of a bottom bushing device and spring arm for connecting a control arm to the axle and supporting a spring;
- Figure 5 is an example of a tuned bushing which may be used in the suspension arrangement of the invention.
- Figure 6 is another example of a tuned bushing.
- Figure 1 is a side view of a suspension arrangement in accordance with the invention.
- Figure 2 shows a perspective view of the suspension arrangement of Figure 1.
- the suspension arrangement connects a vehicle frame rail 10 and vehicle axle 12.
- a vehicle frame rail 1 1 of the opposite side of the frame is shown, while the frame rail in the foreground of the drawing has been removed for clarity.
- An assembly of the suspension arrangement of the invention would be mounted on each end of the axle to connect each end of the axle to the respective frame rail.
- Figure 2 illustrates in detail one such assembly; only parts of the opposite side are shown to avoid over-complicating the figure.
- the suspension interconnects a vehicle axle 12 to the vehicle frame 10.
- the axle 12 in the illustration is a driven axle and includes a gear housing 14 which connects to an output shaft of a transmission (not illustrated).
- the axle 12 also includes a spindle 16 for mounting a wheel or wheels to the axle.
- the gear arrangement in the gear housing 14 transmits driving force to the spindle to turn the wheels.
- the suspension includes a control arm 20 extending between the vehicle frame 10 and the axle 12.
- the control arm 20 is formed by two, parallel beams 22, 24.
- the embodiment of two parallel beams 22, 24 is preferred because it provides relatively light weight control arm with sufficient strength and vertical stiffness and provides a redundancy in the event one beam is disabled.
- the invention contemplates a single beam forming the control arm 20, and the following description should be understood in that context.
- the beams 22, 24, are each shaped in a Y configuration, having a first end 30 with a single arm and a second end with two diverging arms, an upper arm 32 and a lower arm 34.
- each beam 22, 24 is a substantially planar sheet or plate member and the outer edges 28 are bent or formed perpendicularly to form flanges for stiffening the beam. If weight is not an important consideration, the beam may be formed as a plate member of sufficient thickness to provide needed stiffness.
- the beam may be formed as a box member, having side walls and a perimeter wall enclosing a space.
- the spacing between beam 22 and beam 24 forming the control arm 20 may be selected to provide a desired mechanical advantage in transferring force to the axle 12.
- the depth of the outer edges 28 of the beams 22, 24 may be selected to provide a desired amount of lateral stiffness in the beams.
- the first end 30 of the control arm 20 is mounted for vertical pivoting movement to a hanger bracket 40 that is attached to the vehicle frame.
- a hangar bushing arrangement 42 may be used.
- the axle 12 is mounted to the control arm 20 between the divergent upper arm 32 and lower arm 34.
- An upper bushing assembly 50 shown in the perspective view in Figure 3, connects the upper arms 32 of the control arm 20 to the axle 12.
- a lower bushing assembly 60 shown in perspective view in Figure 4, connects the lower arms 34 of the control arm 20 to the axle 12.
- the upper bushing assembly 50 and lower bushing assembly 60 are connected to the axle and clamp the axle between them by U-bolts 44 (only one is visible in Figure 2).
- the upper bushing assembly 50 includes a plate 52 that engages the axle 12, and has two shoulder and trough formations 54 formed in the plate to engage the U-bolt 44 for securing the upper bushing to the axle.
- Two bushing mounts 56 are formed in parallel and upstanding on the plate 52.
- the bushing mounts 56 have holes 58 that are substantially parallel to the axle.
- the bushing mounts 56 carry a selected bushing (not illustrated) in the respective holes 58.
- the upper arms 32 of the control arm 20 are mounted to the upper bushing assembly 50 by way of fasteners inserted through the bushings in the bushing mounts 56.
- the beams 22, 24 are interconnected at the first end 30 of the control arm 20 and at the diverging upper arm 32 and lower arm 34, but not therebetween. This provides a degree of lateral flexibility, as discussed below.
- the lower bushing assembly 60 includes a seat 62 to engage the bottom of the axle 12.
- the seat 62 is between bars 64 having mounting holes which accept the U-bolt 44 for securing the lower bushing assembly 60 to the axle 12 as described above.
- the lower bushing assembly 60 also includes two bushing mounts 66 disposed below the seat 62.
- the bushing mounts 66 are formed with holes pai'allel to the axle, as in the upper bushing assembly 50, and carry a selected bushing (not shown).
- the lower arms 34 of the control arm 20 are mounted to the lower bushing assembly 60 by way of fasteners inserted through the bushings in the bushing mounts 66.
- bushings are preferably formed as cylindrical members of resilient material sized and shaped to fit the bushing mounts 56, 66, and the material may be selected for rate or stiffness.
- the control arm 20 is attached to the axle with a selected amount of resilience.
- the bushings in each of the bushing mounts 56, 66 may be individually selected, allowing, for example, the upper bushing assembly 50 to have the same or a different bushing rate than the lower bushing assembly 60, or allowing the two bushings in the each bushing assembly 50, 60 to have the same or different rates.
- each bushing may have a variable rate to effect changes in the suspension characteristics, that is, a bushing may be made to have a different rate in one direction than in another.
- one known variable rate bushing 80 employs voids 82 placed in the bushing in a selected portion or portions to soften that portion relative to the rest of the bushing.
- the voids 82 result in the bushing 80 being softer in a direction of the voids, in the figure along axis A.
- Figure 6 shows a cross section of a bushing 90 formed of different materials, a relatively stiffer material 92 and a relatively softer material 94.
- the bushing 90 is relatively stiffer along the axis marked A than along the axis marked B.
- a variable rate bushing 80, 90 in the bushing mount 56, 66, the directional rate of the bushing assembly may be tuned.
- Other arrangements are possible, for example, a bushing may be made with a stiffer material on one half and a softer material on the other half to provide different rates in opposite directions along the same axis.
- Tuning the rate of the bushing assembly can affect the suspension characteristics. For example, making the two top bushings relatively stiffer in the fore/aft direction and relatively softer in the vertical direction and the bottom bushings relatively softer only in the fore aft direction and relatively stiffer in the vertical direction, which may be done with the variable bushings 80 or 90, can improve roll steer, lateral stiffness, roll rate, toe stiffness and camber stiffness.
- 66 on the respective bushing assembly may be selected to orient the axle at a particular angle to set the pinion angle.
- the lower bushing assembly 60 includes a beam 70 extending from the seat 62 in a direction that, when mounted, is opposite the control arm 20.
- the beam 70 includes mounting flanges 72 for a damper 74 (shown in Figures 1 and 2), which connects between the beam and the vehicle frame.
- a spring seat 76 At the end of the beam 70 is a spring seat 76 to support a spring member, illustrated in Figures 1 and 2 as an air spring 78.
- the air spring 78 is mounted between the beam 70 and the vehicle frame.
- the vertical stiffness makes the control arm 20 effective in transferring load into the frame during a roll event. By being less stiff in the lateral direction, the control arm decreases the amount of preload going into the lateral torque rod.
- the lateral torque rod 80 may be attached between the torque rod bracket 18 seen in Figure 1 and the frame rail 1 1.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Vibration Prevention Devices (AREA)
Abstract
Description
Claims
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012536776A JP2013509325A (en) | 2009-10-30 | 2009-10-30 | Torsion beam suspension with Y-beam control arm |
EP09850975.5A EP2493710B1 (en) | 2009-10-30 | 2009-10-30 | Twist beam suspension with y-beam control arm |
CA2778038A CA2778038C (en) | 2009-10-30 | 2009-10-30 | Twist beam suspension with y-beam control arm |
AU2009354806A AU2009354806B2 (en) | 2009-10-30 | 2009-10-30 | Twist beam suspension with Y-beam control arm |
PCT/US2009/062726 WO2011053308A1 (en) | 2009-10-30 | 2009-10-30 | Twist beam suspension with y-beam control arm |
CN200980162374.0A CN102933406B (en) | 2009-10-30 | 2009-10-30 | Twist beam suspension with y-beam control arm |
BR112012010214A BR112012010214A2 (en) | 2009-10-30 | 2009-10-30 | torsion beam suspension with a y-beam control arm |
US13/504,324 US8480103B2 (en) | 2009-10-30 | 2009-10-30 | Twist beam suspension with Y-beam control arm |
MX2012005008A MX2012005008A (en) | 2009-10-30 | 2009-10-30 | Twist beam suspension with y-beam control arm. |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/US2009/062726 WO2011053308A1 (en) | 2009-10-30 | 2009-10-30 | Twist beam suspension with y-beam control arm |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011053308A1 true WO2011053308A1 (en) | 2011-05-05 |
Family
ID=43922400
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2009/062726 WO2011053308A1 (en) | 2009-10-30 | 2009-10-30 | Twist beam suspension with y-beam control arm |
Country Status (9)
Country | Link |
---|---|
US (1) | US8480103B2 (en) |
EP (1) | EP2493710B1 (en) |
JP (1) | JP2013509325A (en) |
CN (1) | CN102933406B (en) |
AU (1) | AU2009354806B2 (en) |
BR (1) | BR112012010214A2 (en) |
CA (1) | CA2778038C (en) |
MX (1) | MX2012005008A (en) |
WO (1) | WO2011053308A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110435374A (en) * | 2019-07-31 | 2019-11-12 | 山东锣响汽车制造有限公司 | A kind of novel air suspension guiding arm and the automobile containing the leading arm |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8910960B2 (en) * | 2009-10-30 | 2014-12-16 | Volvo Truck Corporation | Twist beam suspension with dual beam control arm |
KR101239786B1 (en) * | 2011-03-23 | 2013-03-06 | 대호 (주) | Tractor having a reinforced function of shock absorbing |
DE102013203848A1 (en) * | 2013-03-07 | 2014-09-11 | Zf Friedrichshafen Ag | Drive axle for an industrial truck |
US20160031483A1 (en) * | 2013-03-15 | 2016-02-04 | Oliver KUTTNER | Axle mounting system and vehicle |
JP5868930B2 (en) | 2013-11-28 | 2016-02-24 | 三菱重工業株式会社 | Vehicle suspension device, traveling cart, and vehicle |
JP6136956B2 (en) * | 2014-01-30 | 2017-05-31 | トヨタ自動車株式会社 | Suspension device |
US9840121B2 (en) * | 2014-10-23 | 2017-12-12 | Unverferth Manufacturing Company, Inc. | Suspension axle |
DE112015006335T5 (en) * | 2015-03-19 | 2017-11-30 | Honda Motor Co., Ltd. | suspension device |
EP3429872A4 (en) * | 2016-03-17 | 2019-11-13 | SAF-Holland, Inc. | Powered vehicle suspension assembly |
US10850583B2 (en) * | 2016-12-30 | 2020-12-01 | Ingersoll-Rand Company | Suspension perch bracket for a utility vehicle |
US10293875B2 (en) * | 2017-01-25 | 2019-05-21 | Consolidated Metco, Inc. | Axel lift mechanism |
DE102017206032B4 (en) * | 2017-04-07 | 2023-05-11 | Ford Global Technologies, Llc | torsion beam axle |
CN110730844B (en) * | 2017-06-12 | 2021-12-24 | 沃尔沃建筑设备公司 | Articulated construction machine |
CN109406028B (en) * | 2018-10-29 | 2020-07-14 | 安徽大学 | Humanoid pole torsional moment testing arrangement |
US11572114B2 (en) | 2020-03-10 | 2023-02-07 | Caterpillar Inc. | Track assembly bushing having a wear member |
US20230018844A1 (en) * | 2021-07-15 | 2023-01-19 | R. Royce Henry | Lateral Trailer Suspension Support Device |
US12011963B2 (en) * | 2022-04-12 | 2024-06-18 | Direct Cursus Technology L.L.C | Robotic vehicle and a support assembly for a wheel thereof |
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US4310171A (en) | 1980-06-11 | 1982-01-12 | General Motors Corporation | Vehicle axle attachment |
US6883813B2 (en) * | 2003-02-26 | 2005-04-26 | The Boler Company | Independent paddle lift axle suspension system |
US20060033298A1 (en) | 2004-08-13 | 2006-02-16 | Paul Longworth | Vehicle suspension with improved radius arm to axle attachment |
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US4497504A (en) * | 1983-05-16 | 1985-02-05 | Duff James M | Axle alignment bushing |
JPS61278408A (en) * | 1985-06-03 | 1986-12-09 | Honda Motor Co Ltd | Independent suspension type rear suspension |
US4690426A (en) * | 1984-09-06 | 1987-09-01 | Honda Giken Kogyo Kabushiki Kaisha | Trailing arm joint structure |
AU666572B2 (en) | 1992-10-19 | 1996-02-15 | Hendrickson International Corporation | Axle suspension systems |
JPH08156551A (en) * | 1994-12-09 | 1996-06-18 | Mitsubishi Motors Corp | Suspension arm mounting structure in suspension device |
JP3196011B2 (en) * | 1996-06-10 | 2001-08-06 | ダイハツ工業株式会社 | Trailing arm rear suspension |
JPH1016526A (en) * | 1996-07-04 | 1998-01-20 | Mitsubishi Motors Corp | Torque arm type rear suspension |
JP2000234649A (en) * | 1999-02-17 | 2000-08-29 | Deruta Tsuuringu:Kk | Suspension unit |
JP3645447B2 (en) * | 1999-05-26 | 2005-05-11 | ダイハツ工業株式会社 | Trailing arm suspension |
JP3816729B2 (en) * | 2000-07-04 | 2006-08-30 | ダイハツ工業株式会社 | Rear suspension |
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JP4647279B2 (en) * | 2004-10-19 | 2011-03-09 | ダイハツ工業株式会社 | Rear suspension |
US7494142B2 (en) * | 2005-07-01 | 2009-02-24 | Lehman Trikes U.S.A., Inc. | Swing arm with impact dampener |
JP2009096320A (en) * | 2007-10-17 | 2009-05-07 | Suzuki Motor Corp | Suspension structure |
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-
2009
- 2009-10-30 WO PCT/US2009/062726 patent/WO2011053308A1/en active Application Filing
- 2009-10-30 JP JP2012536776A patent/JP2013509325A/en active Pending
- 2009-10-30 EP EP09850975.5A patent/EP2493710B1/en not_active Not-in-force
- 2009-10-30 BR BR112012010214A patent/BR112012010214A2/en not_active IP Right Cessation
- 2009-10-30 CA CA2778038A patent/CA2778038C/en not_active Expired - Fee Related
- 2009-10-30 MX MX2012005008A patent/MX2012005008A/en active IP Right Grant
- 2009-10-30 US US13/504,324 patent/US8480103B2/en active Active
- 2009-10-30 AU AU2009354806A patent/AU2009354806B2/en not_active Ceased
- 2009-10-30 CN CN200980162374.0A patent/CN102933406B/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4310171A (en) | 1980-06-11 | 1982-01-12 | General Motors Corporation | Vehicle axle attachment |
US6883813B2 (en) * | 2003-02-26 | 2005-04-26 | The Boler Company | Independent paddle lift axle suspension system |
US20060033298A1 (en) | 2004-08-13 | 2006-02-16 | Paul Longworth | Vehicle suspension with improved radius arm to axle attachment |
Non-Patent Citations (1)
Title |
---|
See also references of EP2493710A4 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110435374A (en) * | 2019-07-31 | 2019-11-12 | 山东锣响汽车制造有限公司 | A kind of novel air suspension guiding arm and the automobile containing the leading arm |
Also Published As
Publication number | Publication date |
---|---|
AU2009354806B2 (en) | 2015-04-30 |
CA2778038C (en) | 2016-11-22 |
EP2493710A1 (en) | 2012-09-05 |
EP2493710B1 (en) | 2016-06-01 |
CA2778038A1 (en) | 2011-05-05 |
EP2493710A4 (en) | 2013-09-11 |
US20120217714A1 (en) | 2012-08-30 |
AU2009354806A1 (en) | 2012-05-24 |
CN102933406B (en) | 2015-07-01 |
MX2012005008A (en) | 2012-06-19 |
BR112012010214A2 (en) | 2016-04-26 |
CN102933406A (en) | 2013-02-13 |
JP2013509325A (en) | 2013-03-14 |
US8480103B2 (en) | 2013-07-09 |
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