WO2011077529A1 - ラック走行式コイル搬送装置 - Google Patents

ラック走行式コイル搬送装置 Download PDF

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Publication number
WO2011077529A1
WO2011077529A1 PCT/JP2009/071435 JP2009071435W WO2011077529A1 WO 2011077529 A1 WO2011077529 A1 WO 2011077529A1 JP 2009071435 W JP2009071435 W JP 2009071435W WO 2011077529 A1 WO2011077529 A1 WO 2011077529A1
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WO
WIPO (PCT)
Prior art keywords
coil
rack
rail
carriage
pinion
Prior art date
Application number
PCT/JP2009/071435
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
浩之 谷口
理 中川
Original Assignee
三菱日立製鉄機械株式会社
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 三菱日立製鉄機械株式会社 filed Critical 三菱日立製鉄機械株式会社
Priority to DE112009005474.9T priority Critical patent/DE112009005474B4/de
Priority to PCT/JP2009/071435 priority patent/WO2011077529A1/ja
Priority to JP2011547144A priority patent/JP5406312B2/ja
Priority to CN200980163044.3A priority patent/CN102712418B/zh
Publication of WO2011077529A1 publication Critical patent/WO2011077529A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/02—Rack railways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path

Definitions

  • the present invention relates to a coil transfer device for driving a coil transfer carriage capable of loading wound coils by a rack and pinion method.
  • a coil transfer device for transferring the coil wound with the rolled material to the next step.
  • a device that transports a coil by loading the coil on a coil transport cart and running the coil transport cart.
  • Patent Document 1 discloses a transport apparatus that travels a transport carriage capable of transporting (loading) a load using a rack and pinion system.
  • a rack is provided on the cart side, and a pinion is provided on the fixed side, and the rack is configured to be engaged from above the pinion.
  • the rack is moved along with the sinking downward of the transport carriage. It will be displaced downward. As a result, the backlash between the rack and the pinion is eliminated, which may adversely affect the travel of the transport carriage.
  • An object of the present invention is to provide a coil transfer device.
  • a rack travel type coil conveying device for solving the above-mentioned problems is as follows.
  • a rail provided in the fixed part;
  • a coil carriage that can run on the rail and that can be loaded with a coil;
  • a rack that can travel on the rail and is detachably connected to the coil transport carriage;
  • a pinion disposed above the rack and meshing with the rack; It is provided with the pinion rotation drive means which is provided in the above-mentioned fixed part, and rotates the above-mentioned pinion.
  • a rack traveling type coil conveying device for solving the above-mentioned problems is as follows.
  • the rail is arranged to face the rolling material winding means of the rolling line,
  • the coil conveying carriage receives a coil of the rolled material wound by the rolled material winding means at a receiving position on the rail that intersects the central axis of the rolled material winding means.
  • a rack travel type coil conveying device for solving the above problems is as follows.
  • a lower rail provided in a lower fixing portion located below the fixing portion;
  • a lower coil transport carriage capable of traveling on the rails and capable of transferring coils to and from the coil transport carriage;
  • a lower rack that can travel on the lower rail and is detachably connected to the lower coil carriage,
  • a lower pinion disposed above the lower rack and meshing with the lower rack; It is provided with the lower stage pinion rotation drive means provided in the said lower stage fixing
  • a rack travel type coil conveying device for solving the above-mentioned problems is as follows.
  • a rail for a carriage group that can travel a group of coil conveyance carriages connected in series by a connecting portion provided between adjacent coil carriages;
  • a bogie group intermittent running means for making the coil carrying bogie group run intermittently in a direction opposite to the running direction of the coil carrying bogie in the rail;
  • a first moving means for moving the coil transport carriage disposed on the carriage group rail on the rail;
  • And a second moving means for moving the coil transport carriage disposed on the rail onto the carriage group rail.
  • a rack travel type coil conveying device for solving the above-mentioned problems is
  • the connection portion is characterized in that adjacent coil transport carts can be connected in the width direction.
  • a rack travel type coil conveying device for solving the above-mentioned problems is as follows.
  • the rack and the pinion module are set based on the limit wear amount of the cart travel wheel of the coil transport cart and the rack travel wheel of the rack.
  • the rack that is detachably connected to the coil conveyance carriage and the pinion that is fixed to the fixed portion side so as to be disposed above the rack are meshed.
  • the meshing state between the rack and the pinion can be satisfactorily maintained regardless of the coil loading state, so that the coil can be stably conveyed at a high speed.
  • FIG. 3 is a cross-sectional view taken along line AA in FIG. 2.
  • FIG. 5 is a cross-sectional view taken along line BB in FIG. 4.
  • the coil conveyance device 1 includes a pair of left and right rails 11 provided on a floor surface (fixed portion) F, and a coil conveyance carriage 21 that can travel on the rails 11.
  • the pair of left and right rails 11 are formed in a straight line, and stoppers 12 for fixing the wheels are provided at both ends thereof.
  • the coil conveying carriage 21 includes a pallet part 22, a pair of left and right carriage traveling wheels 23 that are rotatably supported on the side surface of the pallet part 22, and a connecting part 24 provided at a lower end of the pallet part 22.
  • the pallet portion 22 can be loaded with a coil C obtained by winding a rolled material (not shown) in a coil shape, and can hold the coil C so that its axis is horizontal. Further, the carriage traveling wheel 23 rolls on the rail 11, and the contact with the stopper 12 of the rail 11 prevents the deviation from the rail 11.
  • one end of the rack 31 is detachably connected to the tip of the connecting portion 24 via a connecting pin 33.
  • the rack 31 is arranged at the center in the width direction between the rails 11 so that the tooth surface (tooth profile) faces upward.
  • a pair of left and right rack running wheels 32 are rotatably supported on the side surface of the rack 31.
  • the rack traveling wheel 32 also rolls on the rail 11, and the contact with the stopper 12 of the rail 11 prevents the deviation from the rail 11.
  • a motor (pinion rotation drive means) 41 is provided on the floor surface F on the side of the rail 11.
  • a drive shaft 43 is connected to the motor 41 via a speed reducer 42, and the drive shaft 43 is rotatably supported by a pair of left and right bearing boxes 45 disposed so as to straddle the rail 11.
  • a pinion 44 is fitted on the drive shaft 43 between the bearing housings 45, and the pinion 44 is engaged with the rack 31. That is, the pinion 44 is disposed above the rack 31 and is engaged with the rack 31 from above.
  • the motor 41 is driven and the pinion 44 is rotated.
  • the rack 31 that meshes with the rotating pinion 44 travels on the rail 11, and therefore the coil transport carriage 21 connected to the rack 31 also travels on the rail.
  • the loaded coil C can be transported to a predetermined place.
  • the modules of the rack 31 and the pinion 44 have predetermined Is set to a value. That is, a limit wear amount that is a use limit of the cart traveling wheel 23 and the rack traveling wheel 32 is set in advance, and even when the cart traveling wheel 23 and the rack traveling wheel 32 reach the limit wear amount, The values of these modules are set so that the engagement rate between the rack 31 and the pinion 44 is always 1 or more.
  • the hot rolling line 61 constitutes a production line for hot rolled material, and on the downstream side of the hot rolling line 61 in the conveying direction of the rolled material, the rolled material is rolled.
  • a first down coiler 62a, a second down coiler 62b, and a third down coiler 62c, which serve as rolling material winding means for winding in a coil shape, are provided in series.
  • the 1st coil car 63a, the 2nd coil car 63b, and the 3rd coil car 63c can be stopped in front of each downcoiler 62a, 62b, 62c, respectively.
  • the coil cars 63a, 63b, and 63c are stopped in front of the downcoilers 62a, 62b, and 62c, so that the coils C that have been wound up by the downcoilers 62a, 62b, and 62c are delivered.
  • 62b, 62c can run on the central axis.
  • the coil conveyance apparatus 1 is provided in front of the downcoilers 62a, 62b, and 62c. At this time, the coil conveyance device 1 is arranged so that the rail 11 is parallel to the rolling material conveyance direction in the hot rolling line 61.
  • the rolled material rolled into the coil C by winding the rolled material rolled by the hot rolling line 61 into a coil shape by any of the downcoilers 62a, 62b, 62c. Let it form.
  • the coil C is delivered from one of the down coilers 62a, 62b, and 62c that has been wound to the coil car 63a, 63b, and 63c that is stopped in front of the coiler.
  • the coil cars 63a, 63b, and 63c loaded with the coil C are caused to travel on the central axis of the downcoilers 62a, 62b, and 62c toward the coil transfer device 1 and then stopped on the side of the rail 11.
  • the empty coil transport carriage 21 crosses the central axis of the first downcoiler 62 a on the rail 11 in advance. Is waiting at the receiving position P1.
  • the empty coil transport carriage 21 is waiting in advance at the receiving position P2 on the rail 11 that intersects the central axis of the second downcoiler 62b.
  • the empty coil transport carriage 21 is waiting in advance at the receiving position P3 on the rail 11 that intersects the central axis of the third downcoiler 62c.
  • the coil C is transferred to a predetermined position from the coil transport carriage 21 stopped at the delivery position P4. Thereby, the conveyance of the coil C immediately after winding is completed.
  • the empty coil transport carriage 21 is caused to travel to any one of the receiving positions P1, P2 and P3 and is set in a standby state.
  • the rack 31 is detachably connected to the coil conveyance carriage 21, and the pinion 44 fixed on the floor surface F side so as to be disposed above the rack 31. Since the meshing state between the rack 31 and the pinion 44 can be satisfactorily maintained regardless of the weight of the coil C, the coil C can be transported stably at high speed. Can do.
  • the coil conveyance carriage 21 can be simplified and reduced in weight, the coil conveyance carriage 21 can be further increased in speed, and the equipment cost can be reduced. Can be achieved.
  • the truck running wheel 23 and the rack running wheel 32 are worn.
  • the meshing state between the rack 31 and the pinion 44 can be well maintained.
  • the coil conveying device 1 As described above so as to face the downcoilers 62a, 62b, 62c of the hot rolling line 61, the coil C immediately after winding can be immediately conveyed.
  • the productivity of the rolled material can be improved.
  • the coil conveyance apparatus 1 was applied in front of the down coilers 62a, 62b, and 62c of the hot rolling line 61, it can also be applied in front of the down coiler of the cold rolling line.
  • the rolling mill building 71 of the hot rolling line 61 mentioned above and the coil yard building 72 spaced apart from this rolling mill building 71 are provided in the premises of the steelworks. It has been.
  • the coil transfer device 1 is provided in two upper and lower stages. That is, in order to convey the coil C taken up by the downcoilers 62a, 62b, 62c of the hot rolling line 61 from the rolling factory building 71 of the hot rolling line 61 to the coil yard building 72, two upper and lower coils.
  • a conveying device 1 is provided.
  • the same members as those described in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.
  • the subscript “a” is attached to the reference numerals of the coil transfer apparatus 1 and the members constituting the coil transfer apparatus 1
  • the subscript “b” is attached to the reference numerals of the coil transport device 1 and each member constituting the coil transport device 1.
  • the upper coil conveying device 1a is provided on the floor (fixed portion) Fa, and the lower coil conveying device 1b is provided on the floor (lower fixed portion) Fb located below the floor surface Fa. Yes.
  • the coil conveyance carriage (lower coil conveyance carriage) 21b of the lower coil conveyance apparatus 1b can run on the rail 11a of the upper coil conveyance apparatus 1a.
  • the coil transport carriage 21b is disposed on the rail 11a on the downstream side of the coil transport carriage 21a in the coil transport direction.
  • a connecting member 24b is provided on the lower surface of the pallet portion 22b of the coil transport carriage 21b, and the connecting member 24b extends in the vertical direction so as to penetrate between the rails 11a.
  • a pair of left and right rails (lower rails) 11b is provided on the floor surface Fb, and a rack (lower rack) 31b can travel on the rails 11b.
  • One end of the rack 31b is detachably coupled to the lower end of the coupling member 24b via a coupling pin 33b.
  • a motor (lower pinion rotation driving means) 41b is provided on the floor surface Fb on the side of the rail 11b.
  • a drive shaft 43b is connected to the motor 41b via a speed reducer 42b, and the drive shaft 43b is rotatably supported by a pair of left and right bearing boxes 45b arranged to straddle the rail 11b.
  • a pinion (lower pinion) 44b is fitted to the drive shaft 43b between the bearing housings 45b, and the pinion 44b is engaged with the rack 31b. That is, the pinion 44b is disposed above the rack 31b and is engaged with the rack 31b from above.
  • the limit wear amount that is the use limit of the carriage traveling wheels 23a and 23b and the rack traveling wheels 32a and 32b is set in advance, and the carriage traveling wheels 23a and 23b and The values of these modules are set so that the meshing rate between the racks 31a and 31b and the pinions 44a and 44b is always 1 or more even when the rack running wheels 32a and 32b reach the limit wear amount. Yes.
  • the coil C manufactured in the rolling mill building 71 is loaded on the coil transport carriage 21a stopped at the receiving position Pa1 on the upstream end side of the rail 11a.
  • the coil transport carriage 21a on which the coil C is loaded travels toward the downstream side of the rail 11a
  • the coil transport carriage 21a is stopped at the delivery position Pa2 located in the middle of the rail 11a.
  • the empty coil transport carriage 21b is waiting in advance at the receiving position Pb1 on the rail 11a downstream of the delivery position Pa2 in the coil transport direction.
  • the coil C is delivered from the coil conveyance carriage 21a stopped at the delivery position Pa2 to the coil conveyance carriage 21b stopped at the reception position Pb1.
  • the empty coil conveyance carriage 21a is caused to travel to the reception position Pa1 to be in a standby state.
  • the coil C is transferred from the coil transport carriage 21b stopped at the delivery position Pb2 to a predetermined position in the coil yard building 72. Thereby, the conveyance of the coil C from the rolling mill building 71 to the coil yard building 72 is completed.
  • the empty coil transport carriage 21b is caused to travel to the receiving position Pb1 to be in a standby state.
  • the coil conveying devices 1a and 1b in two upper and lower stages, even if the coil conveying distance between the rolling mill building 71 and the coil yard building 72 becomes long, the coil C can be stabilized at high speed. Can be transported.
  • a cart circulation type coil conveyance facility 80 is provided for conveying the loaded coil C to the coil yard (not shown).
  • This bogie circulation type coil conveying facility 80 includes an intermittent coil conveying device (bogie group intermittent traveling means, coil intermittent conveying means) 81, an empty bogie pulling device (first moving means, bogie pulling means) 82, an empty bogie pushing device (first 2 moving means, carriage pushing means) 83, and a coil conveying apparatus 1 (hereinafter referred to as an empty carriage conveying apparatus 1c) used for running an empty coil conveying carriage 21 on which no coil C is loaded. .
  • a convex portion 25 a protruding upward is formed at the tip of the cart side connecting portion 25, and a hook portion 26 a bent downward is formed at the tip of the cart side connecting portion 26.
  • the convex part 25a and the hook part 26a can be connected in the width direction.
  • a rack side connecting portion 34 is provided at one end of the rack 31.
  • the rack side connecting portion 34 has the same shape as the cart side connecting portion 26, and a hook portion 34a is formed at the tip thereof. That is, the convex part 25a and the hook part 34a can be connected in the width direction, and thereby the coil transport carriage 21 and the rack 31 can be connected.
  • a coil intermittent transfer device 81 is provided on the coil carry-in side of the coil yard building 72.
  • the coil intermittent conveyance device 81 is configured to intermittently travel the coil conveyance carriage group 20, that is, intermittently conveys the coil C, and is a pair of left and right rails (rails for the carriage group) provided on the floor surface F. ) 91 and a bogie group intermittent travel cylinder 92 provided at the upstream end of the rail 91.
  • the coil transport carriage group 20 in which the coil C is loaded on each pallet portion 22 is stopped from the upstream end to the downstream end.
  • a push carriage 93 is connected to the tip of the carriage group intermittent travel cylinder 92, and the push carriage 93 can travel on the rail 91.
  • a connecting portion 94 is provided on the front surface of the pressing carriage 93.
  • the connecting portion 94 has the same shape as the cart-side connecting portion 25, and a convex portion 94a is formed at the tip thereof.
  • bogie 94 can be connected with the hook part 26a of the coil conveyance trolley
  • the empty cart conveying apparatus 1c is provided in the side of the coil intermittent conveying apparatus 81, As for this empty cart conveying apparatus 1c, the rail 11 has a coil intermittent conveying apparatus. It is arranged so as to be parallel to 81 rails 91. At this time, the travel direction of the empty coil transport carriage 21 in the empty cart transport apparatus 1 c is opposite to the travel direction of the coil transport carriage group 20 in the coil intermittent transport apparatus 81.
  • an empty cart pulling device 82 is provided between the downstream end of the rail 91 in the intermittent coil transfer device 81 and the upstream end of the rail 11 in the empty cart transfer device 1c. It is provided to be orthogonal. Moreover, between the upstream end of the rail 91 in the coil intermittent conveyance apparatus 81 and the downstream end of the rail 11 in the empty carriage conveyance apparatus 1c, an empty carriage pushing apparatus 83 is provided so as to be orthogonal thereto.
  • the empty carriage pulling device 82 is for pulling out the leading empty coil transfer carriage 21 in the coil transfer carriage group 20 from the downstream end of the rail 91 and delivering it to the upstream end of the rail 11.
  • a carriage pulling cylinder 102 provided at one end of the rail 101, and a laterally moving carriage 103 connected to the tip of the carriage pulling cylinder 102. Note that the coil transport carriage 21 can be mounted on the upper surface of the lateral movement carriage 103.
  • the rail 101 extends from a position corresponding to the downstream end of the rail 91 to a position corresponding to the upstream end of the rail 11 on the floor surface fa positioned below the floor surface F.
  • the vehicle can travel on the rail 101.
  • the carriage pulling cylinder 102 When the carriage pulling cylinder 102 is extended, the lateral movement carriage 103 travels to the downstream end of the rail 91, while when the carriage withdrawal cylinder 102 is shortened, the lateral movement carriage 103 travels to the upstream end of the rail 11. It is like that.
  • the empty cart pushing device 83 pushes the empty coil conveying cart 21 from the downstream end of the rail 11 and delivers it to the upstream end of the rail 91.
  • a cart pushing cylinder 112 provided at one end and a laterally moving cart 113 connected to the tip of the cart pushing cylinder 112 are provided. Note that the coil transport carriage 21 can be mounted on the upper surface of the lateral movement carriage 113.
  • the rail 111 extends from a position corresponding to the downstream end of the rail 11 to a position corresponding to the upstream end of the rail 91 on the floor surface fb having the same height as the floor surface fa.
  • the vehicle can travel on the rail 111.
  • the laterally moving carriage 113 travels to the downstream end of the rail 11, while when the carriage pushing cylinder 112 is extended, the laterally moving carriage 113 travels to the upstream end of the rail 91. It is like that.
  • the coil C transported from the coil transport inlet is loaded on the coil transport carriage 21 stopped at the upstream end of the rail 91.
  • the bogie group intermittent running cylinder 92 is extended, and the coil transport bogie group 20 is made to run for one bogie.
  • the coil C is transferred from the coil transport carriage 21 stopped at the downstream end of the rail 91 to the coil yard. Thereby, the conveyance of the coil C to the coil yard is completed.
  • the carriage extrusion cylinder 112 is driven to push out the lateral movement carriage 113.
  • the empty coil transport carriage 21 stopped at the downstream end of the rail 11 moves to the upstream end of the rail 91 while the connection of the carriage-side connecting portion 25 is released, and the empty coil transport carriage 21.
  • the trolley side connecting portion 25 and the trolley side connecting portion 26 of the last coil transfer cart 21 are connected, and the trolley side connecting portion 26 of the empty coil transfer cart 21 and the connecting portion of the bogie group intermittent travel cylinder 92 are connected. 94 is connected.
  • the coil C is intermittently conveyed and the coil conveyance carriage 21 is circulated.
  • the coil conveying device 1 as the empty cart conveying device 1c for conveying the empty coil conveying cart 21 to the cart circulating coil conveying device 80, the loaded coil C is conveyed to the coil yard.
  • the empty coil conveyance carriage 21 after coil conveyance can be returned to the coil carry-in side at high speed and stably. Thereby, the storage operation
  • the present invention can be applied to a coil transfer device for the purpose of automating coil transfer.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Intermediate Stations On Conveyors (AREA)
  • Winding, Rewinding, Material Storage Devices (AREA)
  • Warehouses Or Storage Devices (AREA)
PCT/JP2009/071435 2009-12-24 2009-12-24 ラック走行式コイル搬送装置 WO2011077529A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112009005474.9T DE112009005474B4 (de) 2009-12-24 2009-12-24 Bundtransportvorrichtung vom Zahnstangenantriebstyp
PCT/JP2009/071435 WO2011077529A1 (ja) 2009-12-24 2009-12-24 ラック走行式コイル搬送装置
JP2011547144A JP5406312B2 (ja) 2009-12-24 2009-12-24 ラック走行式コイル搬送装置
CN200980163044.3A CN102712418B (zh) 2009-12-24 2009-12-24 齿条移动式卷材搬运装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2009/071435 WO2011077529A1 (ja) 2009-12-24 2009-12-24 ラック走行式コイル搬送装置

Publications (1)

Publication Number Publication Date
WO2011077529A1 true WO2011077529A1 (ja) 2011-06-30

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Application Number Title Priority Date Filing Date
PCT/JP2009/071435 WO2011077529A1 (ja) 2009-12-24 2009-12-24 ラック走行式コイル搬送装置

Country Status (4)

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JP (1) JP5406312B2 (zh)
CN (1) CN102712418B (zh)
DE (1) DE112009005474B4 (zh)
WO (1) WO2011077529A1 (zh)

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CN104743331A (zh) * 2013-12-30 2015-07-01 上海沃迪自动化装备股份有限公司 一种自动化生产线用移动平台车
CN104909110A (zh) * 2015-06-11 2015-09-16 安徽华菱汽车有限公司 一种流水线产品识别码读写定位装置

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CN105059407B (zh) * 2015-08-14 2018-01-02 中国矿业大学 利用齿轮齿条调宽的移动平台及具有其的机器人
CN105197052A (zh) * 2015-09-30 2015-12-30 无锡惠发特精密机械有限公司 矿用运输车的轮轨结构
CN105383884B (zh) * 2015-12-02 2017-06-16 中冶焦耐工程技术有限公司 一种齿条式牵引装置
CN105523361B (zh) * 2016-02-03 2018-09-11 山东阳谷电缆集团有限公司 一种电动轨道式双排运输车
CN106946006B (zh) * 2017-03-30 2018-02-09 郑州航空工业管理学院 车间产品模块系统用转运装置
WO2021073843A1 (de) 2019-10-17 2021-04-22 Interroll Holding Ag Antriebsvorrichtung für einen förderwagen einer fördereinrichtung
CN111301711B (zh) * 2020-03-18 2021-09-24 北华航天工业学院 一种机翼无损检测系统

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Publication number Priority date Publication date Assignee Title
CN104743331A (zh) * 2013-12-30 2015-07-01 上海沃迪自动化装备股份有限公司 一种自动化生产线用移动平台车
CN104909110A (zh) * 2015-06-11 2015-09-16 安徽华菱汽车有限公司 一种流水线产品识别码读写定位装置

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Publication number Publication date
DE112009005474T5 (de) 2012-10-04
CN102712418B (zh) 2015-11-25
JP5406312B2 (ja) 2014-02-05
CN102712418A (zh) 2012-10-03
JPWO2011077529A1 (ja) 2013-05-02
DE112009005474B4 (de) 2018-02-22

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