WO2018108199A1 - Verfahren zur erhöhung der reinheit von oligosilanen und oligosilanverbindungen durch fraktionierte crystallisation - Google Patents
Verfahren zur erhöhung der reinheit von oligosilanen und oligosilanverbindungen durch fraktionierte crystallisation Download PDFInfo
- Publication number
- WO2018108199A1 WO2018108199A1 PCT/DE2017/000425 DE2017000425W WO2018108199A1 WO 2018108199 A1 WO2018108199 A1 WO 2018108199A1 DE 2017000425 W DE2017000425 W DE 2017000425W WO 2018108199 A1 WO2018108199 A1 WO 2018108199A1
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- substance mixture
- liquid substance
- oligosilanes
- separated
- compounds
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Classifications
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- C—CHEMISTRY; METALLURGY
- C01—INORGANIC CHEMISTRY
- C01B—NON-METALLIC ELEMENTS; COMPOUNDS THEREOF; METALLOIDS OR COMPOUNDS THEREOF NOT COVERED BY SUBCLASS C01C
- C01B33/00—Silicon; Compounds thereof
- C01B33/08—Compounds containing halogen
- C01B33/107—Halogenated silanes
-
- C—CHEMISTRY; METALLURGY
- C01—INORGANIC CHEMISTRY
- C01B—NON-METALLIC ELEMENTS; COMPOUNDS THEREOF; METALLOIDS OR COMPOUNDS THEREOF NOT COVERED BY SUBCLASS C01C
- C01B33/00—Silicon; Compounds thereof
- C01B33/08—Compounds containing halogen
- C01B33/107—Halogenated silanes
- C01B33/10778—Purification
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D9/00—Crystallisation
- B01D9/0004—Crystallisation cooling by heat exchange
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D9/00—Crystallisation
- B01D9/0036—Crystallisation on to a bed of product crystals; Seeding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D9/00—Crystallisation
- B01D2009/0086—Processes or apparatus therefor
Definitions
- the invention relates to a process for increasing the purity of oligosilanes and oligosilane compounds, in particular inorganic oligosilanes, halogenated oligosilanes or organically substituted oligosilanes.
- Contaminants and contaminations of silicon compounds used in the semiconductor industry for microelectronic components lead to undesirable doping, by which the function, such as signal transmission and heat generation of the
- catcher reagents 20 relevant silanes organic compounds are added as catcher reagents.
- catcher reagents amino groups, which coordinate as ligands to the metal centers or metalloid centers.
- Disadvantage is that the process for oligosilanes, that is silanes with multiple silicon atoms to a maximum
- Van Dyke et al. (Inorg. Chem. Vol. 3, No. 5, 1964, pp. 747-752) describes a reaction of boron trichloride with various silyl siloxanes which are cleaved to silyl chlorides. However, this method only concerns the
- dopant-containing compounds such as boron compounds, phosphorus compounds, arsenic compounds and antimony compounds
- a further process for reducing impurities in silanes is known from DE 10 2014 013 250 A1, in which impurities of metallic or metalloid elements are removed by addition of fluorides and organic oligoethers or polyethers.
- This method is intended essentially for the removal of metallic impurities, the cleaning effect being dependent on the reactivity of the impurity with respect to the fluoride used.
- the disadvantage here is that Lewis bases and Lewis acids can not be removed equally well.
- the addition of organic reagents can cause unwanted side reactions that require removal of these reagents.
- the object underlying the present invention is now to propose a method by which impurities caused by dopants, metal compounds and organic and inorganic molecular compounds in oligosilanes and their compounds can be simultaneously reduced, so that the purity of oligosilanes and their compounds can be increased.
- the object is achieved by a method according to claim 1.
- At least 50% of the Oligosilanitatien comprising inorganic oligosilanes and / or halogenated oligosilanes and / or organically substituted oligosilanes, formed first liquid substance mixture provided, and the first liquid substance mixture subjected to at least one cleaning step, wherein in a first step a) the liquid substance mixture is heated to a temperature at the at least a portion of the oligosilane compounds solidify, and in a second step b) at least a portion of the liquid substance mixture is separated.
- the solids formed in step a) in step b) can be completely separated from the liquid substance mixture.
- the solids formed are predominantly crystals of the oligosilane compounds to be purified.
- the resulting crystals can be re-liquefied by tempering, wherein the liquid obtained has a lower dopant concentration and / or a higher concentration or higher purity of the oligosilane compounds.
- the purification passage with the liquefied crystals may be repeated in a second purification cycle.
- the liquefied crystals used in a second purification cycle may be referred to as a second liquid substance mixture.
- the process according to the invention makes use of the fact that pure oligosilanes which are liquid under normal conditions solidify or crystallize from contaminated oligosilane compounds or a contaminated oligosilane-containing liquid substance mixture according to their thermodynamic distribution constant, impurities or contaminated compounds solidifying by lowering the freezing point at lower temperatures or crystallize.
- This makes it possible to separate pure oligosilanes at low temperature as a solid from the substance mixture containing impurities, which may also be referred to as mother liquor, without additional reagents, such as solvents are used have to.
- halogenated oligosilanes and polysilanes can be obtained by specific thermal or plasma-chemical syntheses from simple monosilanes, such as SiCl 4 or HSi 3, where reducing agents, such as H 2 , can be used.
- oligosilanes come as by-products in processes for the preparation of precursors of silicone production, such as the Müller-Rochow process and can be isolated from the exhaust gases and used for the process according to the invention, that is to provide the first liquid substance mixture.
- the liquid substance mixture provided for each cleaning cycle can be predistilled to obtain a proportion of at least 50% oligosilane compounds.
- the crystal formation can be influenced by stirring the crystallization batch, with as laminar a flow as possible being advantageous.
- a proportion of a solid of matted crystals or smaller suspended crystals results to give a crystal slurry.
- pure crystals of oligosilanes can be obtained as a suspension of crystals or as a compact crystal block by the process according to the invention.
- the oligosilane compounds contained in the provided first and further liquid substance mixtures can be formed with a maximum of nine silicon atoms. In other words, it is / are preferably provided a first liquid substance mixture or further liquid substance mixtures for further purification runs, which is / are at least 50% of oligosilane compounds formed with a maximum of nine silicon atoms.
- the purification run consisting of steps a) and b) may be repeated at least once to achieve increased purity of oligosilanes and / or increased concentration of the oligosilanes.
- further cleaning passages are referred to as second, third, fourth cleaning passages.
- the substance mixture separated in step b) can also be referred to as mother liquor, a liquid substance mixture separated off during the first purification pass being referred to as the first mother liquor and a substance mixture separated off in the second purification pass being referred to as the second mother liquor and so on.
- the second separated liquid substance mixture that is to say part of the second mother liquor, is added to the first liquid substance mixture in a second purification pass.
- oligosilanes present in the second mother liquor in a further purification run, so that the yield of pure oligosilanes is increased.
- a second mother liquor is used whose purity is higher, but at least not significantly lower, than the purity of the first substance mixture provided.
- the second mother liquor can be predistilled. By this pretreatment, a concentration of contained oligosilane compounds can be achieved.
- Any further third or fourth mother liquors are not critical in their amounts, but should, if they are added to a next batch each again, allow a meaningful use of the reactor volume without overfilling it.
- the at least one cleaning cycle in step b) at least 15% and at most 50% of the liquid substance mixture is separated as the first mother liquor. Furthermore, it can be provided that, in at least one second or further purification run, at least 10% and at most 80%, preferably 15% to 45%, of the second or further liquid substance mixture is separated off as the second or further mother liquor. Due to the volume of the reactor used for the process, the amount of the second or further mother liquor may limit the amount of the provided first, second or further liquid substance mixture. It can therefore be provided that the provided first, second or further liquid substance mixture preferably 10% to 40% of the first, second or further mother liquor is added.
- provision may be made for the first, second or further liquid substance mixture to be tempered for the provision in order to obtain a solution or melt of the oligosilane compounds.
- the crystallization of oligosilanes is achieved by the temperature control of the first, second or further liquid substance mixture. Since the crystallization temperatures or the solidification temperatures of oligosilanes are influenced by the type and amount of impurities, it can be provided that the required crystallization temperature is determined by observation of the substance mixture, wherein the temperature is lowered stepwise during tempering until first crystals form in the substance mixture , The temperature reached can then be maintained for a predetermined period of time, preferably until the crystallization is complete or no significant increase in the crystal can be determined for a given period of time. Subsequently, the mother liquor obtained in each purification pass, ie the remaining uncrystallized substance mixture, can be separated from the crystals formed.
- the remaining mother liquor fulfills the conditions of the liquid substance mixture provided, that is to say consists of at least 50% of oligosilane compounds, it can be subjected directly to a further purification run.
- a lower temperature compared to the first cleaning passage can be set be to win more crystals of other oligosilanes, which crystallize or solidify at a lower temperature.
- the mother liquor can be pre-distilled to achieve a concentration of oligosilane compounds.
- the temperature during the temperature control of the first, second or further liquid substance mixture is varied below the temperature of an onset crystallization in a predetermined temperature range to achieve a percentage degree of crystallization or percentage degree of solidification of the liquid substance mixture , In this way, a crystallization of several other oligosilanes can be achieved.
- the percentage degree of crystallization or percentage degree of solidification is to be understood as a percentage of crystals formed on the respective liquid substance mixture.
- the temperature during tempering can be reduced stepwise or a corresponding temperature maintained for a predetermined period of time until the proportion of crystals formed make up 50% of the liquid substance mixture.
- the temperature control or the crystallization of the liquid substance mixture can be maintained until a percentage of the original liquid substance mixture has remained as the mother liquor.
- Antau Kunststoff it is achieved that an undesirable proportion, such as contaminated oligosilanes or dopants, which were detected in the crystallization in crystalline form or as an adherent / enclosed mother liquor on and in the crystals, again go into solution and be removed as mother liquor can.
- the purity of the oligosilanes can be increased by an anti-step.
- the solids formed in step a) can be separated from the liquid substance mixture by decantation, filtration and / or centrifuging.
- a distillation of the liquefied crystals at a pressure of less than 1600 hPa, preferably at a pressure of less than 800 hPa, more preferably in a vacuum is carried out.
- particulate matter contained in particular by the distillation step can be removed from the oligosilanes.
- the oligosilane compounds are mixed in addition to a temperature control in a solvent which preferably has a lower solidification temperature than at least one inorganic oligosilane and / or halogenated oligosilane and / or organically substituted oligosilane.
- the solvent may be selected from a group comprising alkanes, chloroalkanes, especially dichloromethane, cycloalkanes, triglyme, diglyme, dioxane, dibutyl ether, tetrahydrofuran, diethyl ether, silanes or oligosilanes.
- the first, second or further liquid substance mixture can be inoculated during tempering with a seed of an inorganic oligosilane and / or halogenated oligosilane and / or organically substituted oligosilane to initiate the crystallization process.
- the liquid substance mixture is stirred or pumped during tempering in order to promote crystal formation.
- Subsequent introduction of impurities can be prevented by carrying out the process according to the invention, in particular the purification cycle, in a closed reactor system.
- an inert gas can be used in the reactor to keep unwanted reactions low.
- the process according to the invention is carried out under inert gas.
- an inert gas can be used in excess pressure in order to minimize the introduction of impurities into the reactor.
- the process according to the invention purifies products which are liquid under normal conditions. However, products which are solid in the pure state can also be obtained from the liquid substance mixtures.
- the process can be applied to liquid oligosilane individual compounds which already have a relatively high purity, for example> 99%, whereby the oligosilane individual compounds can be readily used for the most applications by the process according to the invention for most applications.
- the advantage of the process according to the invention furthermore lies in the fact that costs can be saved and the product purity can be increased in comparison to the distillative separation methods used in the prior art.
- the first liquid substance mixture provided for the first embodiment contains 81.88% hexachlorodisilane (HCDS), 8.42% hexachlorodisiloxane, 8.44% pentachlorodisilane and 1.13% tetrachlorosilane and has a mass of 1422.5 g.
- HCDS hexachlorodisilane
- pentachlorodisilane 1.13% tetrachlorosilane
- 1.13% tetrachlorosilane 1.13% tetrachlorosilane
- mass of 1422.5 g To purify the hexachlorodisilane contained in the first liquid substance mixture, the first liquid substance mixture is heated in the first purification pass in a reactor with stirring of a stirring tool at 600-1000 revolutions per minute at a temperature of -40 ° C. to -48 ° C. After 2 hours the temperature control process is terminated educated.
- the remaining first liquid substance mixture is withdrawn as the first mother liquor with a filter frit of pore size D3 and thus separated from the crystals.
- a second purification run wherein the crystals obtained from the first purification run are thawed by tempering and the resulting liquid as a second liquid mixture in the reactor with stirring the stirring at 600 - 1000 revolutions per minute at a temperature of -40 ° C -48 ° C tempered for 2 hours.
- the remaining second liquid mixture is withdrawn as a second mother liquor with a filter frit of pore size D3 and thus separated from the crystals.
- the process progress is monitored by gas chromatography.
- gas chromatography For this purpose, the following GC analysis results are obtained from the first liquid substance mixture and from the crystals formed, in each case after the thawing of the crystals after the first and the second purification run:
- the first liquid substance mixture provided for the second embodiment contains 99.898% hexachlorodisilane (HCDS), 0.097% Hexachlorodisiloxane and 0.005% tetrachlorosilane and has a mass of 1303.5 g.
- HCDS hexachlorodisilane
- the first liquid substance mixture in the first purification pass in a reactor with stirring of a stirring tool at 300 - 400 revolutions per minute at a temperature of -6 ° C tempered. After one hour, the tempering process is terminated. At the reactor wall, a crystal layer has formed.
- the remaining first liquid substance mixture is withdrawn as the first mother liquor with a filter frit of pore size D3 and thus separated from the crystals. Subsequently, a second, third and fourth cleaning passage takes place analogously to the first cleaning cycle.
- the crystals obtained after each cleaning cycle are liquefied by tempering for the subsequent purification step and used in each case as a liquid substance mixture.
- the purification passages are continuously performed using a portion of a mother liquor of a preceding purification passage in a subsequent cleaning pass.
- the exemplary embodiment explains the method according to the invention with five cleaning passes in a continuously continued process.
- a first liquid substance mixture is provided which has a mass of 47.55 kg and an HCDS concentration of 99.304%, as can be seen from the first column of Table 3 below.
- the second liquid substance mixture thus formed is subjected to a second purification step, proceeding as described above. After 5 hours and 50 minutes, 28.225 kg are separated as the second mother liquor, the crystals thawed at 35 ° C while 15.53 kg of a fourth mother liquor from the previous batch are added to provide a third liquid mixture of masses of 52.225 kg for a third purification becomes.
- the third liquid substance mixture is tempered while stirring a stirring tool at 350 revolutions per minute at a temperature of -20 ° C. After 7 hours and 12 minutes 31,995kg of crystals are obtained, with 20.23kg are separated as the third mother liquor. The crystals are thawed at 35 ° C while 7.795kg of a fifth mother liquor of the preceding Charge is added so that a fourth liquid substance mixture with a mass of 39.79 kg is provided for a fourth purification run.
- the fourth liquid substance mixture is heated while stirring a stirrer at 350 revolutions per minute at a temperature of -20 ° C. After 6 hours and 10 minutes 14,49kg are separated as the fourth mother liquor and 25.3kg of crystals are obtained. The crystals are thawed at 35 ° C and used as the fifth liquid substance mixture for a fifth purification run, with no additional mother liquor of a previous batch is added to achieve maximum purity.
- the fifth liquid substance mixture is heated while stirring a stirrer at 350 revolutions per minute at a temperature of -20 ° C. After 6 hours and 58 minutes, the temperature is stopped. Subsequently, 5.84 kg of liquid is separated off as the fifth mother liquor, so that 19.46 kg of HCDS crystallizate having a purity of> 99.99 are obtained.
- the process is monitored by gas chromatography. For this purpose, the following GC analysis results are obtained from the first liquid substance mixture and from the end product after the fifth purification run:
- Figure 1 a flowchart of an embodiment of the
- the process according to the invention can be carried out in batches, wherein mother liquors ML2 to ML5 separated from a first batch in the subsequent batch are added to the liquid substance mixture in each case in a cleaning cycle.
- the first substance mixture is referred to in the present example as a crude mixture.
- Four batches are shown on the X-axis of diagram 1, with the number of cleaning passes 1. UK to 5. UK being shown in the Y-axis direction for each batch 1 to 4.
- Reference numerals K1 to K5 denote the crystals obtained in each batch 1 to 4, the purity of which increases with a consecutive number.
- each batch 1 to 4 starts with a raw mixture as the first liquid substance mixture, which is respectively supplied to the first cleaning step l.UK.
- second mother liquor ML2 from the preceding first batch 1 is added to the first cleaning cycle 1 UK and co-processed.
- UK supplies the first crystals Kl, which has higher purity than the crude mixture and the mother liquor M L1, which has a lower purity.
- the portions of the first mother liquors ML1 are discharged and treated separately in order to achieve a purity which corresponds at least to that of the raw mixture.
- the first crystallizate K1 is combined with at least a portion of a third mother liquor ML3 from a preceding batch for a second purification run 2. UK.
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- Organic Chemistry (AREA)
- Inorganic Chemistry (AREA)
- Crystallography & Structural Chemistry (AREA)
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- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Silicon Compounds (AREA)
Abstract
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Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112017006301.9T DE112017006301A5 (de) | 2016-12-15 | 2017-12-15 | Verfahren zur erhöhung der reinheit von oligosilanen und oligosilanverbindungen durch fraktionierte crystallisation |
JP2019553619A JP6996776B2 (ja) | 2016-12-15 | 2017-12-15 | オリゴシランおよびオリゴシラン化合物の純度を高める方法 |
KR1020197020457A KR102439298B1 (ko) | 2016-12-15 | 2017-12-15 | 올리고실란 및 올리고실란 화합물의 순도를 증가시키는 방법 |
US16/469,975 US11584654B2 (en) | 2016-12-15 | 2017-12-15 | Method for increasing the purity of oligosilanes and oligosilane compounds by means of fractional crystallization |
CN201780086537.6A CN110402236B (zh) | 2016-12-15 | 2017-12-15 | 通过分步结晶提高低聚硅烷和低聚硅烷化合物纯度的方法 |
CA3064929A CA3064929A1 (en) | 2016-12-15 | 2017-12-15 | Method for increasing the purity of oligosilanes and oligosilane compounds |
Applications Claiming Priority (2)
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DE102016014900.0A DE102016014900A1 (de) | 2016-12-15 | 2016-12-15 | Verfahren zur Erhöhung der Reinheit von Oligosilanen und Oligosilanverbindungen |
DE102016014900.0 | 2016-12-15 |
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WO2018108199A1 true WO2018108199A1 (de) | 2018-06-21 |
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PCT/DE2017/000425 WO2018108199A1 (de) | 2016-12-15 | 2017-12-15 | Verfahren zur erhöhung der reinheit von oligosilanen und oligosilanverbindungen durch fraktionierte crystallisation |
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US (1) | US11584654B2 (de) |
JP (1) | JP6996776B2 (de) |
KR (1) | KR102439298B1 (de) |
CN (1) | CN110402236B (de) |
CA (1) | CA3064929A1 (de) |
DE (2) | DE102016014900A1 (de) |
WO (1) | WO2018108199A1 (de) |
Families Citing this family (1)
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DE102016014900A1 (de) | 2016-12-15 | 2018-06-21 | Psc Polysilane Chemicals Gmbh | Verfahren zur Erhöhung der Reinheit von Oligosilanen und Oligosilanverbindungen |
Citations (4)
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DE102009027729A1 (de) | 2009-07-15 | 2011-01-27 | Evonik Degussa Gmbh | Entfernung von Fremdmetallen aus anorganischen Silanen |
DE102014007685A1 (de) * | 2014-05-21 | 2015-11-26 | Psc Polysilane Chemicals Gmbh | Verfahren zur Herstellung von Hexachlordisilan |
DE102014013250A1 (de) | 2014-09-08 | 2016-03-10 | Psc Polysilane Chemicals Gmbh | Verfahren zur Aufreinigung halogenierter Oligosilane |
US20160264426A1 (en) * | 2016-05-19 | 2016-09-15 | Air Liquide Advanced Materials, Inc. | Synthesis methods for halosilanes |
Family Cites Families (10)
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CA632238A (en) * | 1961-12-05 | A. Jacob Theodore | Purification of silane | |
FR2034331B1 (de) * | 1969-03-17 | 1974-07-12 | Rhone Poulenc Sa | |
IT1196197B (it) * | 1984-07-23 | 1988-11-10 | Ravizza Spa | Procedimento per la risoluzione dell'acido (+)(-) 2-(2'-(p-fluorofenil)--5'-benzossazolil)-propionico |
JP2006169012A (ja) * | 2004-12-13 | 2006-06-29 | Sumitomo Titanium Corp | ヘキサクロロジシラン及びその製造方法 |
DE102006034061A1 (de) * | 2006-07-20 | 2008-01-24 | REV Renewable Energy Ventures, Inc., Aloha | Polysilanverarbeitung und Verwendung |
DE102009056731A1 (de) * | 2009-12-04 | 2011-06-09 | Rev Renewable Energy Ventures, Inc. | Halogenierte Polysilane und Polygermane |
JP5542026B2 (ja) * | 2010-10-27 | 2014-07-09 | 信越化学工業株式会社 | クロロシラン類の精製方法 |
JP5751202B2 (ja) | 2012-04-03 | 2015-07-22 | 東亞合成株式会社 | 高純度クロロシランの製造方法および製造装置 |
KR101517513B1 (ko) * | 2013-10-07 | 2015-05-06 | 한국에너지기술연구원 | 입체장애 알카놀아민을 포함하는 이산화탄소 흡수용 조성물, 이를 이용한 이산화탄소 흡수 방법 및 장치 |
DE102016014900A1 (de) | 2016-12-15 | 2018-06-21 | Psc Polysilane Chemicals Gmbh | Verfahren zur Erhöhung der Reinheit von Oligosilanen und Oligosilanverbindungen |
-
2016
- 2016-12-15 DE DE102016014900.0A patent/DE102016014900A1/de not_active Withdrawn
-
2017
- 2017-12-15 CN CN201780086537.6A patent/CN110402236B/zh active Active
- 2017-12-15 US US16/469,975 patent/US11584654B2/en active Active
- 2017-12-15 JP JP2019553619A patent/JP6996776B2/ja active Active
- 2017-12-15 WO PCT/DE2017/000425 patent/WO2018108199A1/de active Application Filing
- 2017-12-15 DE DE112017006301.9T patent/DE112017006301A5/de active Pending
- 2017-12-15 KR KR1020197020457A patent/KR102439298B1/ko active IP Right Grant
- 2017-12-15 CA CA3064929A patent/CA3064929A1/en active Pending
Patent Citations (4)
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DE102009027729A1 (de) | 2009-07-15 | 2011-01-27 | Evonik Degussa Gmbh | Entfernung von Fremdmetallen aus anorganischen Silanen |
DE102014007685A1 (de) * | 2014-05-21 | 2015-11-26 | Psc Polysilane Chemicals Gmbh | Verfahren zur Herstellung von Hexachlordisilan |
DE102014013250A1 (de) | 2014-09-08 | 2016-03-10 | Psc Polysilane Chemicals Gmbh | Verfahren zur Aufreinigung halogenierter Oligosilane |
US20160264426A1 (en) * | 2016-05-19 | 2016-09-15 | Air Liquide Advanced Materials, Inc. | Synthesis methods for halosilanes |
Non-Patent Citations (2)
Title |
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VAN DYKE ET AL., INORG.CHEM, vol. 3, no. 5, 1964, pages 747 - 752 |
WIKIPEDIA: "Fractional crystallization (chemistry)", 26 September 2016 (2016-09-26), XP002780171, Retrieved from the Internet <URL:https://de.wikipedia.org/wiki/Fraktionierte_Kristallisation_(Chemie)> [retrieved on 20180417] * |
Also Published As
Publication number | Publication date |
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CN110402236B (zh) | 2023-04-04 |
JP2020503236A (ja) | 2020-01-30 |
KR20190120175A (ko) | 2019-10-23 |
CA3064929A1 (en) | 2018-06-21 |
US20200079653A1 (en) | 2020-03-12 |
DE112017006301A5 (de) | 2019-12-19 |
KR102439298B1 (ko) | 2022-09-01 |
DE102016014900A1 (de) | 2018-06-21 |
CN110402236A (zh) | 2019-11-01 |
US11584654B2 (en) | 2023-02-21 |
JP6996776B2 (ja) | 2022-01-17 |
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