EP2384833B1 - Réglage du serre-flan dans la fabrication de corps de doses - Google Patents

Réglage du serre-flan dans la fabrication de corps de doses Download PDF

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Publication number
EP2384833B1
EP2384833B1 EP11164655.0A EP11164655A EP2384833B1 EP 2384833 B1 EP2384833 B1 EP 2384833B1 EP 11164655 A EP11164655 A EP 11164655A EP 2384833 B1 EP2384833 B1 EP 2384833B1
Authority
EP
European Patent Office
Prior art keywords
holding
clamping
down means
blank
electric motor
Prior art date
Legal status (The legal status 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 status listed.)
Not-in-force
Application number
EP11164655.0A
Other languages
German (de)
English (en)
Other versions
EP2384833A1 (fr
Inventor
Klaus Blei
Martin Gaebges
Gerhard Pick
Roland Schmid
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
L Schuler GmbH
Original Assignee
L Schuler 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 L Schuler GmbH filed Critical L Schuler GmbH
Publication of EP2384833A1 publication Critical patent/EP2384833A1/fr
Application granted granted Critical
Publication of EP2384833B1 publication Critical patent/EP2384833B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
    • B21D24/10—Devices controlling or operating blank holders independently, or in conjunction with dies
    • 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
    • B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
    • B21D22/20—Deep-drawing
    • B21D22/28—Deep-drawing of cylindrical articles using consecutive dies
    • 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
    • B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
    • B21D24/10—Devices controlling or operating blank holders independently, or in conjunction with dies
    • B21D24/12—Devices controlling or operating blank holders independently, or in conjunction with dies mechanically
    • 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
    • B21D51/00—Making hollow objects
    • B21D51/16—Making hollow objects characterised by the use of the objects
    • B21D51/26—Making hollow objects characterised by the use of the objects cans or tins; Closing same in a permanent manner

Definitions

  • the invention relates to a device and a method for producing can bodies, for example for pressure vessel or beverage cans according to the preamble of claim 1 and 9.
  • a cup-shaped blank is formed by means of a drawing punch in the can body.
  • the can body has a can bottom and a can wall made of the same material without a joint to the bottom of the can.
  • the can body is open.
  • a drawing punch can transform the blank into the can body, in particular by so-called ironing.
  • a device or a method is known, wherein from a flat board, first a cup-shaped blank is formed by pulling the board over a hollow cylindrical projection. Subsequently, the bottom of the pot-shaped blank is pressed by means of a punch in the hollow cylindrical projection inside, wherein the blank is everted, so to speak.
  • US 5,357,779 A is a so-called "body maker” described with a hold-down and a stamp.
  • the hold-down is arranged as a hollow cylinder coaxial with a drawing punch. It has a hold-down drive, which in one embodiment of a magnet assembly and in another embodiment of a linear drive can be formed.
  • a clamping force can be generated when the hold-down has reached the clamping position and thus rests on the bottom of the cup-shaped blank.
  • the clamping force of the blank holder on the blank can be set different sizes. It is kept substantially constant until the hold-down is finally moved back from its clamping position.
  • the clamping force can also be varied, but there are no specific information given.
  • the cup-shaped blank is clamped between a hold-down and a counter element.
  • the hold-down is moved by means of a drive device having an electric motor from a starting position into a clamping position.
  • the drive device controls a position variable characterizing the position or the position change of the hold-down device, such as, for example, the rotational position of an electric motor.
  • the counter element is in particular stationary and may for example be part of a lower tool.
  • the drive device After reaching the clamping position, the drive device automatically switches over and regulates a force characterizing the clamping force. This is done by controlling the torque of an electric motor. In the clamping position, therefore, the desired clamping force for the subsequent forming of the blank in the can body is regulated.
  • Too high clamping force can lead to tearing of the material of the blank. If the clamping force is too low, kinks or wrinkles may form in the can body.
  • the force or torque control during clamping of the blank by the hold-down which preferably follows a freely programmable setpoint course, the quality of the can body produced is improved.
  • a coaxially arranged to hold down draw punch is preferably provided.
  • the drawing punch can pass through a tubular shaped hold-down coaxially.
  • a stamp drive which can be activated separately from the drive device is provided.
  • the position size and / or the force magnitude can be variably specified.
  • the position size and / or the force magnitude may be predetermined depending on a control variable and / or depending on the time.
  • the predetermined variables are preferably freely programmable and stored, for example, in a control unit.
  • a predetermined event is switched between the position or position control and the force or torque control. For example, the beginning and end of the force or torque control based the change of a guide, in particular a virtual guidance angle determined.
  • the control of the force magnitude is terminated, for example, when the virtual guidance angle has reached a predetermined threshold. This can be the case with a sinusoidally changing guide angle if, since the time at which the hold-down has reached the clamping position, a predetermined period of time has elapsed.
  • the predetermined period of time is adapted to the required duration for the forming of the blank to the can body.
  • the guide angle can have a course in accordance with a periodic oscillation with a constant frequency, in particular a sinusoidal profile.
  • several drives of the device can be synchronized with each other, e.g. the drive device for the hold-down and the separately controlled punch drive.
  • the drive device has an electric motor, in particular a synchronous motor.
  • the desired rotational position is set based on the motor voltage.
  • the torque is regulated accordingly, eg based on the motor current.
  • An electric motor can be very easily and accurately adjusted both in terms of its rotational position, as well as in terms of its torque. Extremely high lifting speeds can be achieved via the electric motor.
  • the device operates with a stroke rate in the range of 400 to 500 and preferably 460 min -1 . Of the The entire cycle for the ironing press to produce a can body from the blank takes about 120 to 150 ms.
  • the stroke is in the range of 400 to 800 mm, preferably 600 mm.
  • a fluid cylinder such as a hydraulic cylinder or a pneumatic cylinder as a drive
  • the pressure in the fluid cylinder is then regulated in accordance with a predetermined desired value course.
  • previously available fluidic drives do not reach the number of strokes provided by the electric motor.
  • FIGS. 1 and 2a a first embodiment of an apparatus 20 for the production of can bodies is shown.
  • the device 20 has a frame 21 on which a drive device 22 for applying and moving a hold-down 23 is arranged.
  • the drive device 22 comprises a crank mechanism 24 with a plurality of crankshafts 26, which are rotatably mounted on the frame 21 about a respective crankshaft axis 25 and each one has two eccentric crankshaft axis 25.
  • a connecting rod 28 is mounted in each case.
  • the connecting rod 28 opposite the crankshaft 26 it is articulated to a push rod 31.
  • the according to the embodiment FIG. 1 provided push rods 31 are slidably guided in hollow cylindrical guides 32 on the frame 21.
  • the push rods 31 carry a holding part 33 to which the hold-down 23 is attached.
  • the two push rods 31 are arranged parallel to one another and extend in the clamping direction 30.
  • the hold-down device 23 is arranged centrally on the holding part 33 between the two push rods 31.
  • the hold-down 23 has a hollow cylindrical shape whose axis is aligned in the clamping direction 30.
  • a drawing punch 36 is provided.
  • the drawing punch 36 is actuated via a separate punch drive 56.
  • the drawing punch 36 serves for ironing out a cup-shaped blank 37 (also referred to as "cup") in order to form the can body from the blank 37.
  • the drawing punch is actuated by a punch drive 56.
  • the punch drive 56 is not mechanically coupled to the drive means 22 for the hold-down.
  • the punch drive 56 and the drive device 22 can be controlled independently of each other.
  • crankshaft gear 40 is seated on each of the crankshafts 26.
  • Each crankshaft gear 40 meshes with a driven gear 41 which is mounted on the frame 21.
  • the two driven gears 41 are also engaged with each other.
  • One of the output gears 41 is driven by a drive gear 42 via a motor, for example, an electric motor 43 designed as a synchronous motor.
  • the device 20 further comprises a lower tool 45, which is shown schematically in the drawing as a single part. It is understood that the lower tool 45 may also consist of an arrangement of several separate parts.
  • the lower tool 45 comprises a relative to the frame 21 immovable counter-element 46 which cooperates with the hold-23.
  • the counter element 46 is therefore arranged stationary.
  • the counter-element 46 is executed, for example, as an annular counter-contact surface 47 on the lower tool 45.
  • a cylindrical recess 48 is present in the lower tool 45.
  • the recess 48 is annularly surrounded by the counter-contact surface 47.
  • the axes of the recess 48, the blank holder 23 and the drawing punch 36 coincide and form a common longitudinal axis L.
  • the hold-down device 23 and the drawing punch 36 are first removed from the lower tool 45.
  • a cup-shaped blank 37 is supplied via a feed system not shown in detail.
  • the counter-abutment surface 47 is partially bounded by an abutment arrangement 38, which forms a bearing surface for the blank 37, in order to ensure the correct position of the blank 37 coaxial with Longitudinal axis L set.
  • the hold-down 23 is in its initial position FP, which is so far away from the lower tool 45, that the insertion of the blank 37 is possible.
  • the hold-down device 23 is moved by the drive device 22 into its clamping position EP, in which it engages in the blank 37 and touches the bottom 37 a of the blank 37, so that the blank 37 is clamped between the blank holder 23 and the counter-contact surface 47 ,
  • the hold-down 23 is at least partially enclosed by the cylindrical wall 37 b of the blank 37.
  • the end face of the hold-down 23 presses on an immediately adjacent to the cylindrical wall 37b annular surface of the bottom 37a.
  • the drive device 22 regulates a position variable which determines the position or the position change, for example the speed, of the blank holder 23.
  • the drive device 22 regulates a force variable instead of the position variable, so that the clamping force F (t) assumes a predetermined value or a predetermined course.
  • the drawing punch 36 is moved through the hollow cylindrical holding-down device 23 into the recess 48, the blank 37 being pulled completely into the recess 48.
  • the blank 37 is thereby pulled out by overcoming the clamping force F (t) between the blank holder 23 and the counter-contact surface 47 out. This ironing creates the can body.
  • the drive device 22 may have a control unit 55 for controlling the hold-down 23 or be controlled by a control unit 55.
  • a control unit 55 may for example serve a microprocessor.
  • the hold-down 23 at the beginning of the process in its spaced from the lower tool 45 starting position FP ( FIG. 3 ).
  • the electric motor 43 is then in its initial rotational position ⁇ F.
  • the position variable for adjusting the position of the blank holder 23 is regulated in a first step S1. This is done by the control of the rotational position ⁇ (t) and ⁇ (W (t)) of the electric motor 43.
  • the electric motor 43 is operated until it has reached a clamping position EP corresponding rotational position ⁇ E.
  • the sign of the voltage U indicates the direction of rotation of the electric motor 43.
  • the reaching of the clamping position EP is evaluated in a second step S2.
  • the angle of rotation ⁇ (t) of the electric motor 43 may vary according to a predetermined curve, as shown in FIG. 7 is exemplified.
  • the first derivative (slope) of the rotation angle indicates the angular velocity of the electric motor 43.
  • the second time derivative of the angle of rotation represents the angular acceleration
  • the angle of rotation ⁇ (t) is dependent on the guide angle W (t) predetermined such that a jerk or shock-free stopping of the blank holder 23 takes place in the region of the starting position FP and in particular in the clamping position EP.
  • the course of the rotation angle ⁇ (t) is defined such that the angular acceleration has no jumps.
  • the method is continued in a third step S3. This is the case when the lead angle W (t) has reached a first predetermined lead angle value W1. Achieving the clamping position EP can alternatively or additionally to the evaluation of the guide angle W (t) also be carried out by rotary position switch on the electric motor 43.
  • the control unit 55 switches the drive device 22 from a position control to a force or torque control.
  • the drive device 22 then controls the motor current I to a current setpoint I E (t) depending on the conductance W or depending on the time t, whereby the torque M of the electric motor 43 assumes the desired torque setpoint M E (t).
  • An exemplary curve for the torque setpoint M E (t) is shown in FIG.
  • the torque setpoint M E (t) after reaching the Einspannposition EP at the first Leitwinkelwert W1 has an amount that is greater than the amount of an upper threshold MO.
  • the torque setpoint value M E (t) falls below the upper threshold value MO only after the drawing punch 36 has reached the bottom of the blank 37.
  • the holding force F of the hold-down 23 is sufficiently large in a period of time, after the toe-stamp 36 reaches the bottom 37a, so that the drawing punch 36 can start the drawing process.
  • the torque setpoint M E (t) is lowered to an amount which is below a lower threshold value.
  • the amount of the torque setpoint M E (t) is increased again until it exceeds the lower threshold MU, preferably a value between the lower Threshold MU and the upper threshold MO.
  • the control of the motor current I E (t) forming the force magnitude is ended.
  • the hold-down device 23 is moved back out of the clamping position EP into its starting position FP.
  • a query is made in a fourth step S4 as to whether the second predefined master angle value W2 has already been reached. If this is not yet the case, in the third step S3, the motor current I of the electric motor 43 is further regulated to the current setpoint I E (t) in order to obtain the setpoint torque M E (t).
  • the method is continued in a fifth step S5 and the rotational position ⁇ (t) of the electric motor 43 changed in the opposite direction to the first step S1 direction.
  • the electric motor 43 is thereby moved back from its rotational position ⁇ E corresponding to the clamping position EP into the output rotational position ⁇ F corresponding to the starting position.
  • the rotational angular velocity and / or the rotational angular acceleration of the electric motor 43 in moving the blank holder 23 from the clamping position EP to the starting position FP in amount is smaller than when moving the blank holder 23 from the starting position FP in the clamping position EP.
  • FIG. 7 is the curve for values of the guide angle W greater than the second guide angle value W2 shallower than for values of the guide angle W smaller than the first guide angle value W1.
  • a sixth step S6 it is checked whether the output rotational position corresponding to the starting position FP ⁇ F of the electric motor 43 has been reached. For this purpose, it is queried whether the guide angle W (t) has reached a third predetermined guide angle value W3. Also, alternatively or additionally, a rotary position switch can be used on the electric motor 43. As long as this is not the case, the rotational position ⁇ (t) of the electric motor 43 is further changed in the fifth step S5. When the electric motor 43 has reached the output rotational position ⁇ F desired from the home position FP of the blank holder 23, the motor voltage is cut off and the process is terminated. This in FIG. 6 The method described is carried out cyclically for each processing of a blank 37.
  • the operation of the drawing punch 36, which draws the blank 37 into the recess 48 takes place.
  • the blank 37 is pulled out while maintaining the course of the clamping force F (t) between the blank holder 23 and the counter-contact surface 47. It is essential that the clamping force F (t) has the desired course. In this way it can be ensured that the blank 37 does not rupture (which would be the case if the clamping force F is too great) and there is no wrinkling in the can body produced (which would be the case if the clamping force F were too low).
  • the crank gear 24 can then be omitted.
  • the force p then the pressure p used in the fluid cylinder.
  • the position variable used may be the fluid volume V supplied to the fluid cylinder or the volume flow into or out of the fluid cylinder.
  • control unit 55 can be used simultaneously to control the punch drive 56 for the movement of the drawing punch 36. In this way, a particularly simple coordination of the punch drive 56 for the drawing punch 36 and the drive means 22 for the hold-down 23 is possible.
  • the two drives 22, 56 can be controlled or regulated with respect to one another in a predetermined relationship - which, for example, is given by the guide angle W (t).
  • the invention relates to a device 20 and a method for producing can bodies from pot-shaped blanks 37.
  • the blank 37 is inserted into a lower tool 45.
  • the blank 37 is clamped by means of a hold-down 23 between this and a counter-surface 47 of the lower tool 45.
  • a drive device 22 serves to control a position variable ⁇ determining the position and / or the position change of the hold-down device 23. This regulates the position variable according to a predetermined course in order to move the hold-down device 23 into the clamping position EP or out of the clamping position EP.
  • the drive unit 22 regulates a force magnitude according to a predetermined course, which determines the clamping force F (t), which is exerted by the hold-down 23 on the blank 37. This is preferably done by setting the motor current I to a predetermined curve of the setpoint I E (t).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Shaping Metal By Deep-Drawing, Or The Like (AREA)
  • Press Drives And Press Lines (AREA)

Claims (9)

  1. Dispositif de fabrication de corps de boîtes métalliques, en particulier pour des boîtes de récipients sous pression ou des canettes à boissons,
    comprenant un serre-flan (23) pour le serrage d'un flan (37) en forme de pot entre le serre-flan (23) et un élément antagoniste (46, 47),
    comprenant un dispositif d'entraînement (22) présentant un moteur électrique (43) et destiné à déplacer le serre-flan (23) dans une direction de serrage (30) entre une position initiale (FP) et une position de serrage (EP),
    dans lequel le dispositif d'entraînement (22) règle le couple (M(t)) du moteur électrique (43) pour atteindre une force de serrage F(t) prédéterminée, dès que le serre-flan (23) atteint la position de serrage (EP), la valeur de consigne du couple (ME(t)), une fois la position de serrage (EP) atteinte, présentant une valeur qui est supérieure à une valeur seuil supérieure (MO), et la valeur de consigne du couple (ME(t)) passant sous la valeur seuil supérieure (MO), après que le poinçon d'emboutissage (36) a atteint le fond du flan (37),
    et dans lequel le dispositif d'entraînement (22) règle une grandeur de position (α(t)) déterminant la position et/ou le changement de position du serre-flan (23), lorsque le serre-flan (23) se trouve en dehors de sa position de serrage (EP).
  2. Dispositif selon la revendication 1, caractérisé en ce qu'un poinçon d'emboutissage (36), disposé de façon coaxiale avec le serre-flan (23), est prévu pour l'emboutissage-étirage du flan (37) en vue de former le corps de boîte métallique.
  3. Dispositif selon la revendication 1, caractérisé en ce que l'élément antagoniste (46, 47) est disposé de manière fixe.
  4. Dispositif selon la revendication 1, caractérisé en ce que, dès lors qu'un événement (W2) prédéterminé s'est produit, le dispositif d'entraînement (22) commute du réglage du couple (M(t)) au réglage de la grandeur de position (α(t)) du serre-flan (23).
  5. Dispositif selon la revendication 1, caractérisé en ce que pour le réglage du couple (M(t)) du moteur électrique (43), le dispositif d'entraînement (22) règle une grandeur électrique, en particulier le courant de moteur (T(t)).
  6. Dispositif selon la revendication 1, caractérisé en ce que le dispositif d'entraînement (22) règle en tant que grandeur de position la position angulaire (α(t)) du moteur électrique (43).
  7. Dispositif selon la revendication 6, caractérisé en ce que la position angulaire (α(t)) du moteur électrique (43) est prédéterminée de manière telle qu'il n'y ait pas de sauts d'accélération angulaire.
  8. Dispositif selon la revendication 1, caractérisé en ce que le dispositif d'entraînement (22) règle l'intensité de la force (I(t)) selon une variation prédéterminée, pendant que le serre-flan (23) se trouve dans la position de serrage (EP).
  9. Procédé de fabrication de corps de boîtes métalliques, en particulier pour des boîtes de récipients sous pression ou des canettes à boisson, comprenant les étapes suivantes :
    - préparation d'un flan (37) en forme de pot,
    - déplacement d'un serre-flan (23) en vue du serrage du flan (37) en forme de pot entre le serre-flan (23) et un élément antagoniste (46, 47), à partir d'une position initiale (FP) dans une position de serrage (EP),
    - réglage d'un couple (M(t)) d'un moteur électrique (43) pour atteindre une force de serrage F(t) prédéterminée, dès que le serre-flan (23) atteint la position de serrage (EP), la valeur de consigne du couple (ME(t)), une fois la position de serrage (EP) atteinte, présentant une valeur qui est supérieure à une valeur seuil supérieure (MO), et la valeur de consigne du couple (ME(t)) passant sous la valeur seuil supérieure (MO), après que le poinçon d'emboutissage (36) a atteint le fond du flan (37),
    - réglage d'une grandeur de position (α(t)) déterminant la position et/ou le changement de position du serre-flan (23), lorsque le serre-flan (23) se trouve en dehors de sa position de serrage (EP).
EP11164655.0A 2010-05-03 2011-05-03 Réglage du serre-flan dans la fabrication de corps de doses Not-in-force EP2384833B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010019323A DE102010019323B4 (de) 2010-05-03 2010-05-03 Vorrichtung und Verfahren zur Herstellung von Dosenkörpern

Publications (2)

Publication Number Publication Date
EP2384833A1 EP2384833A1 (fr) 2011-11-09
EP2384833B1 true EP2384833B1 (fr) 2016-03-02

Family

ID=44653696

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11164655.0A Not-in-force EP2384833B1 (fr) 2010-05-03 2011-05-03 Réglage du serre-flan dans la fabrication de corps de doses

Country Status (4)

Country Link
US (1) US9415434B2 (fr)
EP (1) EP2384833B1 (fr)
JP (1) JP5819098B2 (fr)
DE (1) DE102010019323B4 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010060452A1 (de) 2010-11-09 2012-05-10 Schuler Pressen Gmbh & Co. Kg Fördereinrichtung zum Fördern von Werkstücken
DE102011053084B4 (de) 2011-08-29 2013-07-11 Schuler Pressen Gmbh Vorrichtung und Verfahren zur Herstellung von Dosenkörpern mit Schneideinrichtung

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4414836A (en) * 1982-09-30 1983-11-15 National Steel Corporation Method of and apparatus for deep drawing metal containers
US4702098A (en) * 1985-10-11 1987-10-27 Ball Corporation Redraw carriage assembly and slide mount
BE1004564A3 (fr) * 1990-08-30 1992-12-15 Cockerill Rech & Dev Dispositif de regulation de la force de serre-flan dans une presse.
US5357779A (en) * 1990-09-07 1994-10-25 Coors Brewing Company Can body maker with magnetic ram bearing and redraw actuator
US5212977A (en) 1991-07-16 1993-05-25 Aura Systems, Inc. Electromagnetic re-draw sleeve actuator
US20090100892A1 (en) 2007-10-22 2009-04-23 Dubravko Nardini Method and apparatus for producing untrimmed container bodies
DE102008038263B4 (de) 2008-08-15 2014-04-10 H & T Produktions Technologie Gmbh Transferpresse mit CUP-Stufe

Also Published As

Publication number Publication date
JP5819098B2 (ja) 2015-11-18
JP2011235358A (ja) 2011-11-24
EP2384833A1 (fr) 2011-11-09
US20110265545A1 (en) 2011-11-03
DE102010019323A1 (de) 2011-11-03
US9415434B2 (en) 2016-08-16
DE102010019323B4 (de) 2012-03-01

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