EP2464768A1 - Greiferkopf einer webmaschine - Google Patents
Greiferkopf einer webmaschineInfo
- Publication number
- EP2464768A1 EP2464768A1 EP10744843A EP10744843A EP2464768A1 EP 2464768 A1 EP2464768 A1 EP 2464768A1 EP 10744843 A EP10744843 A EP 10744843A EP 10744843 A EP10744843 A EP 10744843A EP 2464768 A1 EP2464768 A1 EP 2464768A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- gripper head
- frame
- head according
- clamping
- jaw
- 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.)
- Granted
Links
- 238000009941 weaving Methods 0.000 title claims abstract description 12
- 239000000463 material Substances 0.000 claims abstract description 47
- 235000014676 Phragmites communis Nutrition 0.000 claims description 16
- 239000004744 fabric Substances 0.000 claims description 6
- 238000003780 insertion Methods 0.000 description 8
- 230000037431 insertion Effects 0.000 description 8
- 230000002349 favourable effect Effects 0.000 description 3
- 238000011109 contamination Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 239000005871 repellent Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000012783 reinforcing fiber Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D47/00—Looms in which bulk supply of weft does not pass through shed, e.g. shuttleless looms, gripper shuttle looms, dummy shuttle looms
- D03D47/12—Looms in which bulk supply of weft does not pass through shed, e.g. shuttleless looms, gripper shuttle looms, dummy shuttle looms wherein single picks of weft thread are inserted, i.e. with shedding between each pick
- D03D47/20—Constructional features of the thread-engaging device on the inserters
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D41/00—Looms not otherwise provided for, e.g. for weaving chenille yarn; Details peculiar to these looms
- D03D41/008—Looms for weaving flat yarns
Definitions
- the present invention relates to a rapier head of a loom with a clamping device for a clarlagendes in a shed of the loom band-shaped weft material, wherein the clamping device has a fixed and loaded by a spring, about a rotation axis movable jaw, each having a clamping surface.
- the movable jaw can be controlled by a control means for opening the clamping device.
- the invention relates to a loom with a corresponding gripper head.
- Gripper heads have become known in the prior art in various designs.
- the gripper heads have a clamping device in which the end of a weft thread is clamped and is entered into the shed.
- the opening of the clamping device can be done, for example, via a control rail in the region of the edge of the fabric or magnetically.
- DE 25 17 011 B1 and DE 299 08 543 U1 which describe such gripper heads, are for use with a filamentary
- weft material wherein the weft material is presented to the gripper head obliquely to be clamped between the clamping surfaces of the clamping device.
- said gripper heads are not suitable because they could be damaged by the oblique terminals in the clamping device.
- the US 5,455,107 shows a rapier head with a clamping device, which should also be suitable for tape-shaped weft materials.
- the free end of the weft material is clamped in a fixedly arranged on the loom clamp and delivered by a movable in the warp along the web edge feeder the rapier head.
- the weft material just like the devices described above, is attached to the gripper Head presented at an angle so that it can come in particular with reinforcing fibers containing weft ribbons to damage.
- WO 2006/075961 A1 shows an insertion element which is suitable for inserting a band-shaped weft material and has a comparatively wide clamping device which can clamp a band-shaped weft material in a straight, stretched state.
- the entry element can be designed as a gripper head or as a projectile.
- the weft tape is introduced by means of the entry element in a conventional manner in the shed and then spent by means of two attached in the region of the fabric edges terminals, which are movable in the warp direction, to the binding point. Damage to the weft material by a conventional weft stop is thereby avoided. In case of overshoot of the entry element on the intended transfer position may cause damage to the weft material under certain circumstances.
- gripper heads are DE 6 45 465 A, DE 25 41 990 A1 and EP 20 37 023. However, none of the gripper heads shown here is suitable to enter tape-shaped weft materials in greater width without damage in a shed.
- the object of the present invention is to propose a gripper head which enables a reliable clamping of a band-shaped weft material and avoids damage to the weft material.
- a gripper head of a weaving machine has a clamping device for a band-shaped weft material to be inserted into a shed of the weaving machine.
- band-shaped weft materials within the framework of This application is understood to mean weft materials having a width in the range of 3 mm to 50 mm.
- the chain can also be banded materials or conventional warp threads are used.
- the clamping device includes a fixed and loaded by a spring and movably mounted about a rotation jaw, which each have a
- the movable jaw can be controlled by a control means for opening the clamping device.
- the gripper head has a frame, wherein the clamping surfaces are arranged outside the frame and the spring and the axis of rotation and a bearing of the movable jaw are arranged within the frame.
- the inventive design of the gripper head with a frame it is possible to apply a comparatively large clamping force uniformly over the entire clamping width, as they can be supported on the stable frame on the storage of the movable jaw. Tilting of the jaws and thus only insufficient clamping of a band-shaped weft material is thereby avoided.
- the inventive design with a frame and arranged outside the frame clamping surfaces to protect the clamping mechanism and the storage within the frame, so that they are protected from contamination, for example, by fiber fly.
- the jaws on projections which extend transversely to the direction of movement of the gripper head in the direction of the binding point outside the frame and on which the clamping surfaces are arranged. Due to the projections, it is possible to spatially separate the clamping surfaces and to arrange laterally next to the clamping mechanism and a connection for a rapier rod with respect to the warp direction. In case of overshooting of the gripper head, the abutment of the free end of the weft material on parts of the gripper head as well as resulting damage is thereby prevented. In addition, it is by means of Projections possible to arrange the clamping surfaces as close as possible to the binding point, while the components which require a comparatively large space are arranged in a region facing away from the binding point. The weft material can thereby be entered near the binding point, so that no conventional weft stop, which would damage the weft material, is required.
- the projections have at least at their binding point end facing a reduced height compared to a height of the frame.
- the projections with the clamping surfaces which are based on the cross-section in the area of the tapered shed, can thereby be made comparatively thin, while still a stable design of the gripper head is made possible by the frame.
- the protrusions have a substantially triangular contour relative to a cross-section or in the warp direction, since they thereby obtain a warp-repellent shape, so that damage to the warp threads is avoided. It is particularly advantageous if the cross-sectional shape of the projections and / or the gripper head is adapted to an opening angle of the shed, since the gripper head with the projections then make the weft insertion very close to the binding point, without causing damage to the warp threads. This makes it possible to dispense with weft stopper or other means to spend the registered, ribbon-shaped weft material to the binding point.
- An advantageous embodiment of the invention provides that the frame is closed at its front end relative to the direction of movement of the gripper head. The stability of the gripper head is thereby substantially increased. Depending on the material used and the weight of the gripper head However, it is also possible that the frame is designed to be open at its front end.
- An advantageous development of the invention provides that the frame is formed by the fixed jaw and the movable jaw is mounted inside the frame. As a result, a compact design of the gripper head can be achieved.
- the movable clamping jaw is arranged completely within a longitudinal contour of the frame when the clamping device is closed. Due to the fact that no parts of the movable clamping jaw, the clamping device or the bearing protrude beyond the longitudinal contour, damage to the warp threads can be avoided despite the weft insertion near the binding point.
- the longitudinal contour of the frame is this run largely smoothly without interruptions or jumps.
- the frame is designed as a warp deflector.
- the frame has chamfers in its direction of movement, so that it divides and rejects the warp threads during the weft insertion.
- the frame may have a slope in the direction of the binding point in order to achieve a warp-repellent shape in the warp direction.
- the frame has fastening bores for fastening a rapier rod.
- the gripper bar which also requires a slightly larger space, is thus also arranged in a region remote from the binding point and thus allows the entry of the band-shaped weft material near the binding point.
- the movable jaw is designed as a one-armed lever and is thus driven at its front end relative to the direction of movement of the gripper head.
- the movable jaw has for this purpose at its front end a control surface for the control means, in particular a control rail on.
- the frame has a recess through which the drive surface can be controlled by the control means. It is particularly advantageous if the movable clamping jaw can be activated directly at its front end in order to achieve the earliest possible opening of the clamping device.
- the movable jaw is loaded by a leaf spring which is mounted loosely in the frame.
- a leaf spring which is mounted loosely in the frame.
- the leaf spring is mounted in a three-point bearing, wherein a middle bearing point of the three-point bearing is arranged on the movable jaw in a rotational axis of the jaw. The leaf spring can thereby be fixed solely by the shape of the movable jaw between the two jaws.
- the bias of the spring is adjustable.
- the adjustment of the bias can be done for example by means of an eccentric.
- the clamping force of the clamping device can thus be used on the dete band-shaped weft material and the speed of the gripper head are optimally adjusted during its movement, so that always a secure clamping of the strip material can be achieved.
- the gripper head has a guide element, by means of which it is guided on a reed of the loom.
- the guide element may for example be designed as a slider, which slides along the reed during the weft insertion and thereby causes a guide of the gripper head in the weft direction.
- the gripper head is guided by means of the guide element at least within the shed or between the fabric edges exclusively on the reed of the loom.
- the guide element and the reed may be connected, for example, by means of a dovetail guide, so that the gripper head is guided in the horizontal and vertical directions and damage to the warp threads can be avoided.
- the reed of the weaving machine has for this purpose a guide groove, in which the gripper head is guided by means of the guide element.
- Figure 1 shows a rapier head according to the invention in a schematic
- Figure 2 is a cross-section with a front view of the gripper head according to the invention.
- FIG. 3 shows a longitudinal section through a gripper head according to the invention with a leaf spring.
- FIG. 1 shows a rapier head 1 according to the invention in a schematic plan view.
- the gripper head 1 includes a clamping device 2 with a fixed jaw 3 and a movable jaw 4.
- the movable jaw 4 is by a spring 5, in this case a leaf spring 5, loaded and rotatably mounted about a rotation axis 6.
- the jaws 3 and 4 each have a clamping surface 7, between which can be clamped in a shed of the weaving machine, not shown here, band-shaped weft material 8.
- the movable clamping jaw 4 can be controlled by a control means 9 (not shown here) (see FIG. 3).
- the gripper head 1 has a frame 10, which in the present case is formed by the fixed clamping jaw 3. Since the frame 10 is formed by the fixed jaw 3 and the movable jaw 4 is mounted within the frame 10, it is possible to perform the movable jaw 4 integrated in the fixed jaw 3 and thereby a particularly compact design of the gripper head 1 with a comparatively low height H to achieve.
- the clamping surfaces 7 are arranged substantially outside the frame 10, as shown in the warp direction next to the frame 10 (see Fig. 2).
- the spring 5 and the clamping mechanism with the axis of rotation 6 and a bearing 11 of the jaw 4, however, are arranged substantially within the frame 10.
- the frame 10 and the fixed jaw 3 thus forms a kind of housing in which the components of the bearings 11 and the clamping mechanism of the clamping device 2 can be accommodated protected and compact.
- the bearings 11 include, according to the present illustration bearing bushes 24 which are inserted into the frame 10, and in which the movable jaw 4 is mounted via bearing pins 25.
- the frame 10 may be executed at its top and / or bottom partially closed, such as the figure 3 removable.
- the movable jaw 4 can be supported by the formation of the fixed jaw 3 as a frame 10 on both sides of its longitudinal extent, so that a particularly favorable support of the clamping forces can be done because the distance between the two bearings 11 with respect to the clamping width B can be made comparatively large ,
- the stable frame 10 allows optimum adjustment of the clamping force.
- the clamping surfaces 7 may have a profiling or be provided with an elastic base, so that even with a not quite parallel alignment of the clamping surfaces 7 to each other a reliable clamping is possible.
- the jaws 3 and 4 have at the front end of the gripper head 1 with respect to the direction of movement BR protrusions 3a and 4a, which extend outside the frame 10 in the direction of the binding point 12, which is shown here schematically as a dashed line.
- the clamping surfaces 7 are arranged in the region of the projections 3a, 4a.
- the frame 10 according to the invention and the projections 3a, 4a thus make it possible to arrange the clamping surfaces 7 separately from the clamping mechanism with the spring 5 and its mounting (compare FIG. 3) and the bearings 11 of the movable clamping jaw 4.
- the clamping surfaces 7 are thereby arranged in the warp direction laterally adjacent to the frame 10 and thus close to the binding point 12, so that a weft insertion near the binding point 12 or directly at the binding point 12 is possible.
- weft insertion opens the clamping device 2 of the rapier head 1 shortly after the rapier head 1 has left the shed, clamps the free end of the band-shaped weft material 8 and spends this through the shed to the opposite edge of the product.
- the freely protruding end is cut off near the edge of the fabric. It is therefore the aim to grasp the band-shaped weft material 8 as close as possible to its free end, in order to minimize the waste piece of weft material 8 at the opposite edge of the product. Since the time of opening and closing of the clamping device 2 is set in the crawl of the loom, it can come at operating speed to overshoot the rapier head 1 on the previously defined takeover position for the weft material 8.
- the frame 10 is closed at its front end with respect to the direction of movement BR of the gripper head 1 by means of a web, so that the gripper head 1 is designed to be particularly stable. However, depending on the material used, it is also possible to make the frame 10 open at its front end. The weight of the gripper head 1 can thereby be further reduced.
- the projections 3a, 4a have a reduced height H 'relative to the overall height H of the frame 10 relative to the cross section shown in FIG. This makes it possible to clamp and register the band-shaped weft material 8 near the binding point 12, since the low height H 'of the projections 3a, 4a Clamping surfaces 7 can be moved in the direction of the binding point 12.
- the protrusions 3a, 4a have a substantially triangular contour in the warp direction, so that damage to the warp threads 13 in spite of the weft insertion near the binding point 12 can be avoided.
- the contour of the projections 3a, 4a and the frame 10, in each case based on the cross-section, can be adapted to an opening angle ⁇ of the shed, so that the weft material 8 can be registered almost directly at the binding point 12.
- the opening angle ⁇ of the compartment can thereby be made very low in an advantageous manner.
- the weft material 8 can also be clamped in such a way that it projects beyond the clamping surfaces 7 in the direction of the binding point 12, so that it can be registered even closer to the binding point 12.
- weft materials 8 can be clamped whose width is greater than the clamping width B of the clamping device 2. The weft material 8 can thereby be entered even closer to the binding point 12 at least with sufficient rigidity.
- Figure 3 shows a longitudinal section in the direction of movement BR of the rapier head 1 and illustrates the integrated design of the movable jaw 4 with the fixed jaw 3.
- the movable jaw 4 is at least with the clamping device 2 completely within a longitudinal contour 14 (thick solid line) of the fixed jaw third arranged.
- the clamping mechanism and the bearings 11 damage to the warp threads 13 are thereby avoided, since no parts of the jaw 4, the bearing 11 or the spring 5 protrude beyond the longitudinal contour 14. Due to the design of the gripper head 1 with a frame 10, the frame 10 and the fixed jaw 3 can be carried out in a favorable manner as a warp deflector.
- the frame 10 is tapered at its front end relative to the direction of movement BR in the region of the web, so that the Kettannon by the rapier head 1 on the the binding point 12 facing away from the gripper head 1 takes place.
- the frame 10 additionally has an inclination in the direction of movement BR of the gripper head 1, so that no damage to the warp threads 13 is to be expected even when the gripper head 1 is floatingly guided on the warp threads 13.
- a control means 9 is provided, which is presently designed as a control rail, and controls the opening and closing of the clamping device 2.
- the movable jaw 4 is presently designed as a one-armed lever, which has a control surface 16 for the control means 9 directly at its front end relative to the direction of movement BR of the rapier head 1.
- the control means 9 may also be formed by a pin or cam, which are arranged in the region of the web edge. Magnetic actuation is also possible.
- the fixed jaw 3 and the frame 10 at least at its front end a recess 17 through which the control means 9 can control the jaw 4 integrated in the fixed jaw 3.
- the movable jaw 4 is loaded by a spring 5, which is presently designed as a leaf spring.
- the leaf spring 5 is loose, that is stored without additional fastening means and without a direct positive connection in the frame 10.
- the leaf spring 5 is supported only at its front end relative to the direction of movement BR of the gripper at a bearing point 18 'of the movable jaw 4, while its rear end at a bearing point 18 "of the fixed Jaw 3 is stored.
- the movable jaw 4 has a further bearing point 18 for the spring 5, so that the spring 5 is mounted in a three-point bearing.
- the bearing point 18 is preferably arranged in the region of the axis of rotation 6 of the movable clamping jaw 4.
- the leaf spring 5 is thus fixed only in the gripper head 1 by the bearing point 18 or the shaping in particular of the movable clamping jaw 4.
- an eccentric 19 is provided, which forms the bearing point 18 "on the fixed clamping jaw 3.
- the eccentric 19 can be adjusted by means of an adjusting screw 20
- the movable clamping jaw 4 has on its underside a recess 21 for receiving the spring 5.
- the recess 21 can also be formed as an opening and extends up to the upper side of the movable jaw 4, and form the bearing point 18 'for the spring 5 only in the front area of the movable jaw 4. The weight of the rapier head 1 can thereby be further reduced.
- the gripper head 1 has a guide element 22, by means of which it is guided on a weaving reed 23 of the loom, at least in the horizontal direction.
- the rapier head 1 is floatingly guided on the lower warp threads 13. If, due to the introduction of the band-shaped weft material 8 near the binding point 12, striking of the weft material by a weaving reed 23 is not required, a corresponding reed-like element can nevertheless be used in a favorable manner as the guide surface 23 of the gripper head 1.
- the rapier head 1 by means of the guide element
- the reed 23 and the guide Adjacent element 22 are in this case positively guided into one another, that a vertical support of the gripper head 1 on the reed 23 is possible.
- a dovetail guide is conceivable.
- the frame 10 also has mounting holes 15 for attachment of a rapier bar.
- a gripper bar can be provided in a known manner, a rack, a tube or a belt in this case. By attaching the gripper bar to the frame 10, it is possible to arrange the gripper bar, which requires a comparatively large space, near the reed 23 in the larger opening area of the shed.
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Looms (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009037127A DE102009037127A1 (de) | 2009-08-11 | 2009-08-11 | Greiferkopf einer Webmaschine |
PCT/DE2010/000775 WO2011018062A1 (de) | 2009-08-11 | 2010-07-06 | Greiferkopf einer webmaschine |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2464768A1 true EP2464768A1 (de) | 2012-06-20 |
EP2464768B1 EP2464768B1 (de) | 2017-09-20 |
Family
ID=42953851
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10744843.3A Active EP2464768B1 (de) | 2009-08-11 | 2010-07-06 | Greiferkopf einer webmaschine |
Country Status (9)
Country | Link |
---|---|
US (1) | US8656962B2 (de) |
EP (1) | EP2464768B1 (de) |
JP (1) | JP5497175B2 (de) |
CN (1) | CN102471957B (de) |
BR (1) | BR112012002856A2 (de) |
DE (1) | DE102009037127A1 (de) |
ES (1) | ES2652184T3 (de) |
RU (1) | RU2501893C2 (de) |
WO (1) | WO2011018062A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3916140A1 (de) | 2020-05-26 | 2021-12-01 | STÄUBLI BAYREUTH GmbH | Greifer, verfahren zum einziehen eines schussfadens mit einem solchen greifer und webmaschine mit einem solchen greifer |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009036589A1 (de) * | 2009-08-07 | 2011-02-10 | Lindauer Dornier Gmbh | Vorrichtung zum Übergeben eines bandförmigen Schussmaterials |
DE102012212169A1 (de) | 2012-07-11 | 2014-01-16 | Lindauer Dornier Gesellschaft Mit Beschränkter Haftung | Vorrichtung zum Zwischenspeichern von bandartigem Schussmaterial für eine Webmaschine und Webmaschine mit einer solchen Vorrichtung |
ITUB20155478A1 (it) | 2015-11-11 | 2017-05-11 | Pezzoli Miria | Dispositivo per l?apertura di un elemento di presa di filo di trama di un telaio a pinza, relativo 5 elemento di presa e metodo di apertura di un tale elemento di presa |
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ITMI20030176U1 (it) * | 2003-04-10 | 2004-10-11 | Promatech Spa | Pinza compatta a funzionamento perfezionato per telai tessili |
EP1838910B1 (de) | 2004-12-31 | 2009-10-21 | Lindauer Dornier Gesellschaft MbH | Drehergewebe sowie verfahren und webmaschine zu dessen herstellung |
AU2006205254B2 (en) | 2005-01-17 | 2009-11-26 | Tape Weaving Sweden Ab | A woven material comprising tape-like warp and weft, and an apparatus and method for weaving thereof |
EP1838911B1 (de) | 2005-01-17 | 2015-10-21 | Tape Weaving Sweden AB | Verfahren und vorrichtung zum weben von bandartigem schuss- und kettgarn und material daraus |
EP1803843A1 (de) * | 2005-12-28 | 2007-07-04 | Promatech S.p.A. | Mitnehmergreifer für Webmaschinen mit verbesserter Leistung zum Doppelschusseintrag |
DE102006034262A1 (de) | 2006-07-18 | 2008-01-24 | Picanol N.V. | Vorrichtung zum Zustellen von Schussfäden für eine Webmaschine |
EP2037023A1 (de) * | 2007-09-12 | 2009-03-18 | Sultex AG | Fadenklemme für einen Greiferkopf und Verfahren zum Betreiben derselben |
DE102009036589A1 (de) | 2009-08-07 | 2011-02-10 | Lindauer Dornier Gmbh | Vorrichtung zum Übergeben eines bandförmigen Schussmaterials |
-
2009
- 2009-08-11 DE DE102009037127A patent/DE102009037127A1/de not_active Withdrawn
-
2010
- 2010-07-06 BR BR112012002856A patent/BR112012002856A2/pt not_active IP Right Cessation
- 2010-07-06 CN CN201080035673.0A patent/CN102471957B/zh not_active Expired - Fee Related
- 2010-07-06 EP EP10744843.3A patent/EP2464768B1/de active Active
- 2010-07-06 RU RU2012108570/12A patent/RU2501893C2/ru not_active IP Right Cessation
- 2010-07-06 US US13/387,769 patent/US8656962B2/en active Active
- 2010-07-06 WO PCT/DE2010/000775 patent/WO2011018062A1/de active Application Filing
- 2010-07-06 JP JP2012524106A patent/JP5497175B2/ja not_active Expired - Fee Related
- 2010-07-06 ES ES10744843.3T patent/ES2652184T3/es active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2011018062A1 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3916140A1 (de) | 2020-05-26 | 2021-12-01 | STÄUBLI BAYREUTH GmbH | Greifer, verfahren zum einziehen eines schussfadens mit einem solchen greifer und webmaschine mit einem solchen greifer |
US11795589B2 (en) | 2020-05-26 | 2023-10-24 | Staubli Bayreuth Gmbh | Rapier, method for drawing in a weft yarn with such a rapier and weaving loom comprising such a rapier |
Also Published As
Publication number | Publication date |
---|---|
EP2464768B1 (de) | 2017-09-20 |
CN102471957B (zh) | 2014-11-05 |
DE102009037127A1 (de) | 2011-02-17 |
RU2012108570A (ru) | 2013-09-20 |
US8656962B2 (en) | 2014-02-25 |
WO2011018062A1 (de) | 2011-02-17 |
JP2013501858A (ja) | 2013-01-17 |
ES2652184T3 (es) | 2018-01-31 |
BR112012002856A2 (pt) | 2019-09-24 |
CN102471957A (zh) | 2012-05-23 |
JP5497175B2 (ja) | 2014-05-21 |
RU2501893C2 (ru) | 2013-12-20 |
US20120125475A1 (en) | 2012-05-24 |
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