WO2013064250A1 - Verfahren zum herstellen von metallischen strangpressprodukten sowie strang- und rohrpresse - Google Patents
Verfahren zum herstellen von metallischen strangpressprodukten sowie strang- und rohrpresse Download PDFInfo
- Publication number
- WO2013064250A1 WO2013064250A1 PCT/EP2012/004553 EP2012004553W WO2013064250A1 WO 2013064250 A1 WO2013064250 A1 WO 2013064250A1 EP 2012004553 W EP2012004553 W EP 2012004553W WO 2013064250 A1 WO2013064250 A1 WO 2013064250A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- block
- cylinder
- press
- pressing
- extrusion
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C23/00—Extruding metal; Impact extrusion
- B21C23/21—Presses specially adapted for extruding metal
- B21C23/212—Details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C23/00—Extruding metal; Impact extrusion
- B21C23/21—Presses specially adapted for extruding metal
- B21C23/211—Press driving devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C23/00—Extruding metal; Impact extrusion
- B21C23/21—Presses specially adapted for extruding metal
- B21C23/212—Details
- B21C23/215—Devices for positioning or centering press components, e.g. die or container
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C23/00—Extruding metal; Impact extrusion
- B21C23/21—Presses specially adapted for extruding metal
- B21C23/217—Tube extrusion presses
Definitions
- the invention relates to a method for producing metallic extruded products on extrusion and tube presses, which have a consisting of a cylinder spar and associated counter-spar press frame in which a movable, a block receiver bearing block pickup holder, which introduced a loader with a block to be pressed in Pressing position in front of the counter-spar spends with the local tool, and a movable stamping cross-member is provided, wherein in the cylinder spar a main or pressing cylinder is arranged, which receives in its cylinder housing at its front, supported by the stamping Traverse end provided with a plunger plunger, and in which the cylinder housing connected to a tank line is associated with an expansion tank supplying hydraulic oil to the plunger by means of a slide plate. Furthermore, the invention relates to extrusion and tube pressing or metal extrusion for performing the method.
- An extruder of this type in which the tool, usually pressure plate, die holder and die, having counter-spar is connected via tie rods or tension plates and pressure supports with the cylinder spar, has become known from DE 102 27 488 B3. From EP 1 526 930 B1 a metal extrusion press is known with an expansion tank attached to the pressure oil supply of the plunger or plunger to the main cylinder.
- the coping with large volume flows is to be achieved by providing two or more plungers with piston rods of the same diameter passing through the cylinder on both sides and sealing the two piston rods against the cylinders, so that Both sides of cylinder subspaces have the same effective area. These are connected to one another by a short-circuit line which can be closed by a switchable shut-off valve for working stroke. For a quick return stroke and a fast forward flow, this press provides special piston-cylinder units.
- the invention is therefore based on the object to provide a method and a strand and tube press of the type mentioned without the disadvantages described, in particular, should reduce the hydraulic effort and the Ne- To shorten the time required for a compact, simpler design of the extrusion and tube press or metal extrusion press.
- the electric motor drive is switched on and switched to hydraulic operation. This allows for the pressing of the loaded block to a strand required high forces for the plunger and for sealingly pressing the Blockaufrichhalters or Blockauf scenerys to the tool as well as for applying a stripping force to an end of the strand with a certain length or the Pressrest to be able to expose by removal of the Blockaufrichhalters for separation, also required high forces.
- no hydraulics are used for the traversing movements, not only the required tank volume, instead of the previous approx. 10,000 liters now only approx. 400 liters, can be significantly reduced, but also a significant cost reduction of the hydraulics due to lower weights (approx.
- the invention proposes that for clamping the loaded block between the ram and the tool of the block receiver holder and the stamp crosshead including plunger are simultaneously moved together and electromotively in the pressing direction, wherein from the expansion tank via an integrated in the master cylinder housing, open filling valve, a first Amount of hydraulic oil is pushed into the master cylinder behind the plunger, that after clamping of the block alone the Blockaufrichhalter is moved by an electric motor until the block traveled by the Blockaufillonhalter block is prise screeningt in Blockaufnado, whereupon then for pre-upsetting the block with the rear in the pressing direction of the Pressing piston connected, flanged to the rear wall of the expansion tank cylinder unit is acted upon, wherein a second amount of hydraulic oil via the open filling valve behind the plunger a is pushed out, and that the pressing of the block is carried out with a closed filling valve by applying pressure to the rear end of the plunger with hydraulic oil from a tank, accompanied by a third amount of hydraulic oil is expelled
- the known metal extrusion press with expansion tank required a pendulum volume of about 1,500 liters, now only about 45 liters are needed.
- the tank is always constantly filled.
- the injected behind the preferably hydrostatic bearing in the cylinder housing plunger oil quantity is conveyed from the surge tank accordingly in the tank.
- the block picker holder is moved back hydraulically by a short distance corresponding to the pressing residual length for stripping the press residue.
- the press residue protrudes from the billet and can be separated, usually by means of a press shear.
- the billet holder and the stamp crosshead with the plunger are moved back electromotively into the initial position for loading with a filling block to be compacted when the filling valve is open.
- the small pendulum volume thus returns to the expansion tank and is available again for a new pressing process.
- the problem underlying the invention is achieved with a generic extrusion and tube press or metal extrusion, characterized in that the stamping crosshead and the Blockaufrichhalter electric motors, preferably servomotors, are assigned as Verstell drives and the plunger via a extending in the expansion tank linkage with an outside of the rear wall attached to the expansion tank, for pre-upsetting the loaded block hydraulically acted cylinder unit is connected, and that the linkage is formed with an integrated in the transition from the reservoir to the master cylinder provided, the local inner diameter of the cylinder housing adapted, in the opening function a large annular area cross-section releasing filling valve.
- the process or the delivery movements, including clamping and driving over the block, in order to introduce this into the receptacle of the billet holder take over the electric motors.
- the cylinder unit is then actuated when the filling valve is open, via which the compression force is thus applied.
- the filling valve is closed and then pressed for subsequent pressing. sen fed only a small amount of hydraulic oil required via a pressure oil line from the tank into the cylinder chamber behind the plunger.
- an electric motor is provided on each longitudinal side of the Blockaufrichhalters and the stamping traverse, which are advantageous via drive pinion engaged with racks.
- threaded spindle arrangements or roller screw drives are optionally available, which move the block pickup holder and the stamping crosshead into the pressing position.
- the rod connecting the plunger with the cylinder unit consists of a mounted on the one hand in the plunger, at its opposite free end of the slide plate bearing outer tube and on the other hand, a dipping into the outer tube, rear of the cylinder unit connected push rod, wherein the immersion the push rod is formed with a temporarily to be pressed against the outer tube clamping device.
- the concentric nesting of push rod and outer tube makes it possible, these parts by means of the clamping device, which may have a central spline according to a proposal of the invention, which presses upon application of the cylinder unit complementary wedges to the inner wall of the tube, these parts as needed, as for upsetting or Pretending the block to connect to a rigid entity.
- a hydraulic clamping can be realized.
- the slider plate attached to the outer tube is displaced linearly in the expansion tank and feeds a quantity of the hydraulic oil accommodated in the compensating cylinder behind the plunger.
- the outer tube With clamping operation, as in the case of the cylinder unit switched to pressing the block, the outer tube, with the filling valve closed, moves with the stroke of the pressing piston acted upon by the pump via the tank, relative to the fixed one Push rod forward and the slide plate displaces even then oil volume in the tank.
- a proposal of the invention provides that the cylinder unit is designed to apply the force for compressing the block when the clamping device is activated via the push rod.
- the cylinder unit thus fulfills a dual function, namely the operation of the clamping device and the application of the compression force.
- the filling valve consists of a valve cover, which is arranged on the outer tube via a collar-like sliding bush, and a bushing in the pressing direction behind the valve cover enclosing annular cylinder, the cylinder piston depending on the acted upon with hydraulic oil piston side the sliding bush and thus the Move the valve cover either to the closed position or to the open position.
- the filling valve can thus be adjusted as needed, i. adapted to the respective phase of operation, opened over the ring cylinder, as in the ancestor of the billet holder and stamp crosshead, or closed, as in the case of presses after pre-upsetting.
- the free, large annular area cross-section provides the unhindered, free flow-through possibility to the oil volume either from the expansion tank into the pressure chamber of the plunger cylinder or the oil volume pushed back into the expansion tank after the pressing process by the returning plunger.
- the block receiver holder is assigned to each longitudinal side at least one with freedom of movement in the longitudinal direction through the cylinder spar guided tow bar, wherein the
- Tow bars are enclosed on a partial length between the cylinder spar and the billet holder by a combined ring cylinder and clamping unit. These combined units allow the tow bars to advance or move the billet holder by means of the electric motors can be taken unhindered.
- the clamping function is switched to seal the billet holder in the pressing position for sealing against the tool set of the counterstay. These units are also used for stripping the press residue by switching the pressure in the ring cylinder to the other side, so that the billet holder is slightly removed or withdrawn from the tool set counter to the pressing direction.
- the clamping device can also be formed here mechanically or hydraulically, for example with clamping pads or the like.
- Figure 1 is a perspective view as a detail of a strand and tube press or metal extrusion press frame with arranged therein stamping Traverse and Blocketzrichhalter.
- Fig. 2 shows the rear part of the press of Figure 1 including the cylinder housing of the main or pressing cylinder and stamping traverse with electric motors and racks shown in a partially sectioned plan view.
- Fig. 3 is a plan view as shown in Figure 2, in contrast, for block diving with activated clamping device.
- FIG. 4 is a representation as shown in Figure 2, in contrast, shown with closed for pressing filling valve. 5 as a detail of FIGS. 2 to 4 a cross section through the integrated in the cylinder housing, adjustable by a ring cylinder filling valve,
- FIG. 6 as a detail of Figures 2 to 4 in a cross section an embodiment of a clamping device in non-activated function.
- FIG. 7 shows the clamping device of FIG. 6 in active function
- FIG. 8a, b in a schematic side view (Fig. 8a) and plan view (Fig. 8b) the
- FIG. 9a, b in a schematic side view (Fig.9a) and plan view (Fig. 9b)
- FIG. 11a a schematic side view
- FIG. 11b a schematic side view
- FIG. 11a a schematic side view
- FIG. 11b plan view
- FIG. 12a a schematic side view
- FIG. 12b a schematic top view
- FIG. 13a a schematic side view
- FIG. 13b a schematic side view
- FIG. 13a a schematic side view
- FIG. 13b a schematic plan view
- G 14a, b in a schematic side view (FIG. 14a) and top view (FIG. 14b) of the press moved back into the block loading position.
- Fig. 1 From a strand and tube press or metal extrusion press 1, the base frame is shown in Fig. 1 substantially. This consists of a cylinder spar 2 and a tensioned on Buchlamellen 3, not shown here, counter-member 4 (see, eg, Fig. 8a). For frictional connection of these components continue to contribute pressure supports 5, which enclose the tension blades 3 between the cylinder spar 2 and the counter-spar 4. The pressure supports 5 are also still used to guide receiving a movable in the base frame stamping Traverse 6 and a movable Blockaufillonhalters 7.
- the a Blockaufsacrificing or recipient 8 having Blockaufrichhalter 7 as well as the stamping crosshead 6, which is the leading end of a cylinder housing 9 in the counter-4 is supported by hydrostatic bearing 10 guided pressing piston 11 (see Fig. 2 to 4) by means of electric motors 12 and 13, in particular servomotors, method.
- electric motors 12 or 13 is provided on each longitudinal side of the Blockaufêthalters 7 and the stamping Traverse 6.
- a surge tank 15 At the rear end of the cylinder housing 9 of the cylinder spar 2 is a surge tank 15 and to the end wall 16 of the surge tank 15 is a cylinder unit 17 is screwed.
- the pressing piston 11 has a pressing punch 19.
- a central filling valve 20 is formed, which consists of a large-scale valve cover 21 and a ring cylinder 22 for Basal cylinder 22 .
- the filling valve 20 shown in more detail in FIG. NEM attached to the rear end of the plunger 11 outer tube 23 with the interposition of a collar-like sliding bushing 24, on which also the annular cylinder 22 is seated arranged.
- the outer tube 23 carrying the annular cylinder 22 with the filling valve cover 21 is here part of a linkage 27, which continues into the expansion tank 15 and is provided at its local end with a slide plate 28 which upon actuation of the plunger 11 in the pressing direction according to arrow 29 the Hydraulic oil on the open Rudventildeckel 28 - Figs. 2 and 3 show the opening position - in the pressure chamber behind the plunger 11 or closed for pressing Greventildeckel 21, as shown in Fig. 4, in a laterally adjacent to the press tank, as above indicated by the pointing arrow, pushes out.
- the linkage 27 further includes a dipping into the outer tube 23 push rod 31, which is in operative connection with the flanged at the rear end and the end plate 16 of the surge tank 15 cylinder unit 17.
- the free end of the push rod 31 is formed with a clamping device 32, via which the push rod 31 as needed, as in the operation of the extruder 1 shown in Fig. 3 for block compress, from the inside to the outer tube 23 can be pressed to a rigid movement unit with this.
- the clamping device 32 is activated by the combined cylinder unit 17 by its cylinder piston 33 is acted upon accordingly.
- the clamping device 32 has a central sliding wedge 34 screwed to the push rod 31 and complementary wedge elements 35a, 35b associated therewith.
- the central sliding wedge 34 has been moved forward to the left in the drawing.
- the clamping device 32 is then activated via the cylinder unit 17 (see FIG. 7)
- the sliding wedge 34 is pulled to the right by the cylinder unit 17 in the drawing, so that the complementary wedges 35a, 35b are pressed against the inner wall of the outer tube 23.
- 8a and 8b illustrate the block loading position in which the block 18 to be pressed has been moved with a conventional block loading device in the center of the press of the extrusion and tube press 1.
- the extrusion and tube press 1 in addition to the already operated components also still provided on each side of the Blockaufêthalters 7, preferably arranged on each side both up and down tow rods 36, with their free ends with freedom of movement the cylinder spar 2 are passed (see also Fig. 1).
- the tow bars 36 are attached to the cylinder spar 2, combined Ringzylinder- and clamping units 37 assigned.
- the subsequent upsetting or pre-upsetting of the block 18 can be seen in FIGS. 11 a, 1 b.
- the combined cylinder unit 17 is acted upon when the electric motors 12, 13 are switched off, and the clamping device 32 is activated, whereby the push rod 31 is pressed against the outer tube 23.
- the Zylindereinine 17 then transmits over the rigid linkage 27, consisting of pressure rod 31 and outer tube 23, the compression force on the plunger 11, wherein a second subset of hydraulic oil in also in this compression position open filling valve (see Fig .. 3) in the pressure chamber behind the Pressing piston 11 is pushed out.
- the subsequent pressing of the block up to a remaining press residue 39 are shown in FIGS. 12a and 12b.
- the clamping device 32 is deactivated for pressing and the valve cover 21 of the integrated filling valve 20 is retracted by means of the annular cylinder 22 in its in Fig. 4 illustrated, sealing in the cylinder housing 9 closed position.
- the pressing force is applied by feeding Hyrauliköl from the tank 30, as indicated by the upward arrow in Fig. 4, in the pressure space behind the plunger 11. Since that Filling valve 20 is closed and the clamping device 32 is deactivated, a third amount of hydraulic oil is expelled from the surge tank 15 with the displacing in the pressing direction 29 plunger 11 of the slide plate 28 of the outer tube 23, said third amount of hydraulic oil into the tank 30 (see FIG 4) flows in.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Press Drives And Press Lines (AREA)
- Forging (AREA)
- Extrusion Of Metal (AREA)
- Extrusion Moulding Of Plastics Or The Like (AREA)
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES12788437.7T ES2577857T3 (es) | 2011-10-31 | 2012-10-31 | Procedimiento para producir productos de prensa de extrusión metálicos así como prensa de extrusión y tubos |
US14/129,179 US9649680B2 (en) | 2011-10-31 | 2012-10-31 | Method for producing metal extrusion press products, and extrusion and tube press |
JP2014539256A JP5921701B2 (ja) | 2011-10-31 | 2012-10-31 | 金属製の押出加工品の製造方法及び押出加工・パイプ押出加工機 |
RU2014122176/02A RU2570857C1 (ru) | 2011-10-31 | 2012-10-31 | Способ изготовления металлических продуктов непрерывного прессования, а также пресс для непрерывного прессования профилей, прутков и труб |
EP12788437.7A EP2773470B1 (de) | 2011-10-31 | 2012-10-31 | Verfahren zum herstellen von metallischen strangpressprodukten sowie strang- und rohrpresse |
CN201280053738.3A CN104023865B (zh) | 2011-10-31 | 2012-10-31 | 用于制造金属挤压产品的方法以及挤压机 |
KR1020147002474A KR101584075B1 (ko) | 2011-10-31 | 2012-10-31 | 금속 압출 프레스 제품의 제조 방법과 압출 및 튜브 프레스 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011117276 | 2011-10-31 | ||
DE102011117276.2 | 2011-10-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013064250A1 true WO2013064250A1 (de) | 2013-05-10 |
Family
ID=47216188
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2012/004553 WO2013064250A1 (de) | 2011-10-31 | 2012-10-31 | Verfahren zum herstellen von metallischen strangpressprodukten sowie strang- und rohrpresse |
Country Status (9)
Country | Link |
---|---|
US (1) | US9649680B2 (de) |
EP (1) | EP2773470B1 (de) |
JP (1) | JP5921701B2 (de) |
KR (1) | KR101584075B1 (de) |
CN (1) | CN104023865B (de) |
ES (1) | ES2577857T3 (de) |
PL (1) | PL2773470T3 (de) |
RU (1) | RU2570857C1 (de) |
WO (1) | WO2013064250A1 (de) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014209685B3 (de) * | 2014-05-21 | 2015-10-22 | Sms Meer Gmbh | Strangpresse mit Hydraulikantrieb |
LU92917B1 (de) * | 2015-12-17 | 2017-06-19 | Sms Group Gmbh | Strang- und Rohrpresse bzw. Metallstrangpresse |
DE102015116002B4 (de) * | 2015-09-22 | 2019-08-29 | Sms Group Gmbh | Strangpresse |
EP3838434A1 (de) * | 2019-12-16 | 2021-06-23 | Unterschütz Sondermaschinenbau GmbH | Strangpresse |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20200038928A1 (en) * | 2014-05-21 | 2020-02-06 | Sms Group Gmbh | Bar press with hydraulic drive |
CN107708883B (zh) * | 2015-06-12 | 2019-04-16 | 宇部兴产机械株式会社 | 混合动力式挤压机 |
DE102018113910A1 (de) * | 2018-06-11 | 2019-12-12 | Moog Gmbh | Strangpresse mit elektrohydrostatischen Steuersystem |
IT201800020782A1 (it) * | 2018-12-21 | 2020-06-21 | Danieli Off Mecc | Pressa per lestrusione diretta di materiale metallico |
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EP0822017B1 (de) | 1996-07-24 | 1998-10-28 | SMS EUMUCO GmbH | Antriebsanordnung für eine Metallstrangpresse |
DE10227488B3 (de) | 2002-06-19 | 2004-02-12 | Sms Eumuco Gmbh | Strang-und Rohrpresse |
EP1526930B1 (de) | 2002-08-08 | 2007-07-04 | SMS Eumuco GmbH | Haupt- bzw. presszylinder einer rohr- und strangpresse |
WO2011074106A1 (ja) * | 2009-12-14 | 2011-06-23 | 宇部興産機械株式会社 | 押出プレス |
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- 2012-10-31 US US14/129,179 patent/US9649680B2/en active Active
- 2012-10-31 KR KR1020147002474A patent/KR101584075B1/ko active IP Right Grant
- 2012-10-31 WO PCT/EP2012/004553 patent/WO2013064250A1/de active Application Filing
- 2012-10-31 ES ES12788437.7T patent/ES2577857T3/es active Active
- 2012-10-31 JP JP2014539256A patent/JP5921701B2/ja active Active
- 2012-10-31 RU RU2014122176/02A patent/RU2570857C1/ru active
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014209685B3 (de) * | 2014-05-21 | 2015-10-22 | Sms Meer Gmbh | Strangpresse mit Hydraulikantrieb |
WO2015177285A1 (de) * | 2014-05-21 | 2015-11-26 | Sms Meer Gmbh | Strangpresse mit hydraulikantrieb |
JP2017518189A (ja) * | 2014-05-21 | 2017-07-06 | エス・エム・エス・グループ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 液圧駆動装置を備えた押出し成形機 |
DE102015116002B4 (de) * | 2015-09-22 | 2019-08-29 | Sms Group Gmbh | Strangpresse |
LU92917B1 (de) * | 2015-12-17 | 2017-06-19 | Sms Group Gmbh | Strang- und Rohrpresse bzw. Metallstrangpresse |
WO2017102896A1 (de) * | 2015-12-17 | 2017-06-22 | Sms Group Gmbh | Strang- und rohrpresse bzw. metallstrangpresse |
TWI643685B (zh) * | 2015-12-17 | 2018-12-11 | Sms集團有限公司 | 條帶與管壓製器或金屬壓製器 |
US10882091B2 (en) | 2015-12-17 | 2021-01-05 | Sms Group Gmbh | Extruder and tube extruder or metal extrusion press |
EP3838434A1 (de) * | 2019-12-16 | 2021-06-23 | Unterschütz Sondermaschinenbau GmbH | Strangpresse |
Also Published As
Publication number | Publication date |
---|---|
US20150040635A1 (en) | 2015-02-12 |
CN104023865B (zh) | 2016-10-19 |
KR101584075B1 (ko) | 2016-01-11 |
PL2773470T3 (pl) | 2016-11-30 |
JP2014533202A (ja) | 2014-12-11 |
ES2577857T3 (es) | 2016-07-19 |
KR20140027536A (ko) | 2014-03-06 |
JP5921701B2 (ja) | 2016-05-24 |
RU2570857C1 (ru) | 2015-12-10 |
EP2773470B1 (de) | 2016-03-23 |
EP2773470A1 (de) | 2014-09-10 |
CN104023865A (zh) | 2014-09-03 |
US9649680B2 (en) | 2017-05-16 |
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