EP2049800A1 - Förderpumpe - Google Patents
FörderpumpeInfo
- Publication number
- EP2049800A1 EP2049800A1 EP07786069A EP07786069A EP2049800A1 EP 2049800 A1 EP2049800 A1 EP 2049800A1 EP 07786069 A EP07786069 A EP 07786069A EP 07786069 A EP07786069 A EP 07786069A EP 2049800 A1 EP2049800 A1 EP 2049800A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- pressure
- input
- feed pump
- control
- pump according
- 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
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C14/00—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations
- F04C14/18—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations characterised by varying the volume of the working chamber
- F04C14/22—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations characterised by varying the volume of the working chamber by changing the eccentricity between cooperating members
- F04C14/223—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations characterised by varying the volume of the working chamber by changing the eccentricity between cooperating members using a movable cam
- F04C14/226—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations characterised by varying the volume of the working chamber by changing the eccentricity between cooperating members using a movable cam by pivoting the cam around an eccentric axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C14/00—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/002—Hydraulic systems to change the pump delivery
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/08—Regulating by delivery pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C14/00—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations
- F04C14/18—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations characterised by varying the volume of the working chamber
- F04C14/22—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations characterised by varying the volume of the working chamber by changing the eccentricity between cooperating members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C2270/00—Control; Monitoring or safety arrangements
- F04C2270/18—Pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C2270/00—Control; Monitoring or safety arrangements
- F04C2270/21—Pressure difference
Definitions
- the invention relates to a feed pump for hydraulic media.
- Feed pumps have a delivery volume, which depends on the speed of the feed pump and its drive. Depending on the system resistance of the consumer or the facilities consuming the pumped hydraulic medium, the system pressure also depends on the delivery volume. In general, there is a desire to keep the system pressure at a constant level or at least within a predetermined range.
- the invention is therefore based on the object, a delivery pump, in particular a pump control to propose, which is easier to set to a desired system pressure.
- Figure 1 is a block diagram of a first embodiment of the invention
- Figure Ia is an enlarged view of the pressure limiter according to Figure 1;
- Figure 2 is an application example of the circuit shown in Figure 1 in a vane pump with adjustable rotor.
- Figure 3 shows a variant of the embodiment of Figure 1 with lossless promotion
- FIG. 3 a shows an enlarged representation of the pressure limiter according to FIG. 3;
- FIG. 4 shows a variant of the embodiment according to FIG. 1 with a system pressure regulated within a bandwidth
- FIG. 4a is an enlarged view of the pressure limiter according to Figure 4;
- FIG. 5 shows an application example of the circuit shown in FIG. 4 in the case of a vane-cell pump with an adjustable rotor;
- FIG. 6 shows a variant of the embodiment according to FIG. 4 with system pressure controlled within a bandwidth with loss-free delivery
- FIG. 6a shows an enlarged representation of the pressure limiter according to FIG. 6;
- Figure 7 shows the variant of Figure 4 in case of failure of the map control
- FIG. 8 is a block diagram of another embodiment of the invention with constant pressure control
- FIG. 9 shows an application example of the circuit shown in FIG. 8 in the case of a vane-cell pump with an adjustable rotor
- FIG. 10 is a block diagram of another embodiment of the invention with constant pressure control
- FIG. 11 shows an application example of the circuit shown in FIG. 10 in the case of a vane-cell pump with an adjustable rotor
- FIG. 12 shows an application example of another
- FIG. 13 shows an application example of another
- Figure 15 shows a variant of the application example of Figure 13 in case of failure of the map control
- FIG. 16 shows a variant of the invention according to FIG. 8.
- FIG. 1 shows a generally designated 10 feed pump whose volume is adjustable.
- the feed pump 10 has an input 12 which is connected to a tank 14.
- the delivery pressure Pi is applied and at the output 16, a pressure relief valve 18 is connected.
- This pressure relief valve 18 is also connected to the tank 14. If the delivery pressure Pi exceeds the opening pressure of the overpressure valve 18, eg 12 bar, then hydraulic medium flows into the tank 14.
- the outlet 16 is connected to a pressure-reducing element 20, for example a filter 22, a diaphragm or the like.
- the system pressure P 2 is applied .
- the subsidized by the pump 10 hydraulic medium reaches a consumer 26, for example, to an internal combustion engine of a motor vehicle.
- the hydraulic medium flows to the consumer 26 into the tank 14. Due to the pressure reducing element 20, the system pressure P 2 is smaller than the delivery pressure Pi.
- the output 16 of the feed pump 10 is also connected to a first input 28 of a pump controller 30, the second input 32 is connected to the output 24 of the pressure reducing element 20.
- the reference numeral 46, the minimum pressure of the pump controller 30 is designated.
- the pump controller 30 adjusts the feed pump 10 in the direction of minimum delivery when the pressure at the second input 32 is greater than the pressure at the first input 28.
- the voltage applied to the second input 32 pressure P 2 must exceed at least a minimum pressure, for example, 2 bar. Exceeds the voltage applied to the first input 28 or the minimum pressure of, for example, 2 bar the system pressure P 2 , the pump controller 30 adjusts the feed pump 10 in the direction of maximum delivery. As long as the system pressure P 2 is below the minimum pressure, the feed pump 10 is moved in the direction of maximum delivery.
- a pressure limiter 34 is connected, the first input 36 is connected to the first input 28 of the pump controller 30 and the second input 38 is connected to the tank 14.
- the system pressure P 2 is applied .
- the desired size 42 of the pressure limiter 34 is in particular adjustable and is 5.5 bar, for example. This means that the pressure limiter 34 connects the first input 36 to the second input 38 when the control input 40, a pressure exceeding the target size 42 is applied, ie when the system pressure P 2 exceeds the target size. Hydraulic medium flows into the tank 14. As a result, the pressure at the first input 28 of the pump regulator 30 is reduced below the system pressure P 2 , so that the pump regulator 30 adjusts the feed pump 10 in the direction of minimum delivery.
- the system pressure P 2 also drops until it drops below the value of the delivery pressure Pi, whereupon the pump regulator 30 is again adjusted in the direction of maximum delivery.
- the system pressure P 2 is thus maintained between the minimum pressure and the desired size 42.
- From the pressure limiter 34 so hydraulic fluid is discharged into the tank 14, which has not yet passed the pressure reducing element 20.
- the system pressure P 2 is changed only by an adjustment of the feed pump 10.
- a throttle 48 is provided, which is in particular adjustable.
- the control piston 44 of the pressure limiter 34 is shown, wherein the control piston 44 is shown in its the first input 36 from the second input 38 separating position.
- 2 shows an embodiment of a feed pump 10, to which the above-mentioned components are connected.
- the feed pump 10 is a vane pump 50, whose rotor 52 is driven by a shaft 54 and in radial slots 56 carries a plurality of vanes 58, which rotate about sliding shoes 60 on an inner peripheral surface 62 of a stator 64.
- the stator 64 is pivotally mounted and has a pivot axis 66 and two pistons 68 and 70 which correspond to the pistons 68 and 70 of the pump regulator 30 in FIG. By pivoting the stator 64 about the pivot axis 66 in the direction of the arrows 71, the delivery rate of the feed pump 10 is changed.
- the second input 38 of the pressure limiter 34 is connected to the control input 40 so that the pressure applied to the first input 36 is transferred to the second input 38 when the pressure limiter 34 is open.
- Such a circuit has the significant advantage that it works lossless. It can be seen from FIG. 3 a that the second input 38 is connected directly to the control input 40 and that displacement of the piston 44 causes a connection of the two inputs 36 and 38.
- the output 24 of the pressure reducing element 20 is connected to an electromagnetically driven control valve 72 (a 3/2-way valve).
- the output 24 of the pressure-reducing element 20 is connected via the control valve 72 to a second control input 74 of the pressure limiter 34.
- actuating forces for the pressure limiter 34 thus act on the first control input 40 applied system pressure P 2 with the force acting within the control piston 44 force Fi and applied to the second control input 74 system pressure P 2 with the force acting within the control piston 44 force F 2nd
- the control piston 44 is shown in the figure 4a, from which it can be clearly seen that the force F 2 due to the larger effective piston area is greater than the force Fi, which acts only on an annular surface.
- the control valve 72 is driven, for example, by a motor computer 76, whereby a map control of the feed pump 10 is made possible.
- the system pressure P 2 can be set to any value between the minimum pressure (pump controller 30) and the desired size 42 (pressure limiter 34).
- shut-off valve 78 which is controlled by the system pressure P 2 and whose input 80 is connected to the output 82 of the control valve 72.
- the output 84 of the shut-off valve 78 is connected to the second input 32 of the pump controller 30 and to the control input 40 of the pressure limiter 34. Accordingly, the system pressure P 2 is present at the control input 40.
- control valve 72 If the control valve 72 is actuated via the engine computer 76 and assumes the position shown in FIG. 4, then the system pressure P 2 is applied to the second control input 74 of the pressure limiter 34 and the pressure limiter 34 opens since the force F 2 due to the system pressure P 2 at the second control input 74 in addition to the force Fi of the system pressure P 2 is added to the control input 40, so that the two inputs 36 and 38 are connected to each other.
- the pump controller 30 adjusts the feed pump 10 in the direction of minimum delivery.
- the control valve 72 is switched over and closes the second control input 74.
- the system pressure P 2 then rises until it reaches the setpoint 42 or until the engine computer 76 in turn controls the control valve 72 controls and opens. In this way, the system pressure P 2 according to a map control within a predetermined bandwidth can be set to desired different values.
- FIG. 5 shows the feed pump 10 with the circuit shown in FIG.
- the pressure limiter 34 has the second control input 74, which is connected both to the control valve 72 and to the shut-off valve 78.
- the control valve 72 is actuated by the engine computer 76 and connects the second control input 74 via the shut-off valve 78 to the outlet 24 of the pressure-reducing element 20.
- control input 40 of the pressure limiter 34 is connected to its second input 38.
- FIG. 6a shows the control piston 44 in the pressure limiter 34.
- This variant represents a lossless control of the feed pump 10.
- FIG. 7 shows the position of the circuit in the event of failure of the engine computer 76 or the map control.
- the control valve 72 is not activated and closes the output 24 in the direction of the shut-off valve 78 and the pressure limiter 34. Accordingly, there is no pressure at the second control input 74, so that the force F 2 is zero.
- the second input 32 of the pump controller 30 is also no pressure, so that it assumes the position for maximum promotion.
- the system pressure P 2 increases until the shut-off valve 78 is changed over and connects the output 24 with both the pump regulator 30 and with the pressure limiter 34.
- the control input 40 is now the system pressure P 2 and the pressure limiter 34 opens as soon as the pressure of the target size 42 is exceeded.
- the pump controller 30 is adjusted towards minimum promotion. This means that in the event of failure of the engine computer 76, the system pressure P 2 is determined by the desired value 42. Also in this variant of the second input 38, as in the variant of Figures 3 and 6, are connected to the control input 40. This variant would then also lossless.
- FIG. 8 shows a further variant of the invention, with only the differences in comparison with the variant of FIG. 1 being discussed below.
- the pressure limiter 34 is formed by a hydraulically driven control valve 86 (a 4/2-way valve), whose one, in particular adjustable control value 42 is for example 5.5 bar.
- the other control variable is supplied by the system pressure P 2 , which is applied to the input 88.
- the second input 32 of the pump regulator 30 is connected to the tank 14 and the first input 28 of the pump regulator 30 is connected to the outlet 16 of the feed pump 10.
- the pump controller 30 is thereby adjusted in the direction of maximum delivery.
- FIG. 9 shows this variant in an exemplary embodiment to which the above-mentioned components are connected. The same components are provided with the same reference numerals.
- the second input 32 of the pump regulator 30 is connected to the tank 14 and the outlet 16 of the feed pump 10 is connected directly to the consumer 26.
- the pump controller 30 is moved in the direction of maximum delivery, as long as the delivery pressure Pi is below the manipulated variable 42. If the delivery pressure Pi exceeds the manipulated variable 42, then the output 24 of the pressure reducing element 20 with the tank 14 and the output 16 of the feed pump 10 with the second input 32 of the Pump controller 30 is connected, so that the pump controller 30 is adjusted in the direction of minimum promotion, since at the first input 28, a pressure is applied, which is smaller than the delivery pressure Pi due to the throttle 48.
- Figure 11 shows this variant in one embodiment.
- the pressure limiter 34 is designed as a 4/2-way valve 90.
- the first control input 40 with the shut-off valve 78 and the second control input 74 are connected both to the control valve 72 and to the shut-off valve 78.
- the directional control valve 90 reverses and connects the first input 28 to the tank 14, so that the pump regulator 30 is adjusted in the direction of minimum delivery.
- the 4/2-way valve 90 connects the second input 32 of the pump regulator 30 to the tank, so that the pump regulator 30 is initially adjusted in the direction of maximum delivery.
- the output 24 is connected to the system pressure P 2 to the first input 28 of the pump controller 30.
- the directional valve 90 reverses and connects the second input 32 of the pump regulator 30 to the output 24 and the first input 28 of the pump regulator 30 to the tank 14, so that the pump regulator 30 is adjusted in the direction of minimum funding.
- FIG. 16 shows a variant of the invention according to FIG. 8, wherein the pressure limiter 34 is designed as a 4/2-way valve 86 and not only via the input 88, to which the system pressure P 2 is applied, but also in parallel by means of the motor computer 76 electromagnetically driven becomes.
- the first input 28 of the pump controller 30 with the tank 14 and the second input 32 of the pump controller is designed as a 4/2-way valve 86 and not only via the input 88, to which the system pressure P 2 is applied, but also in parallel by means of the motor computer 76 electromagnetically driven becomes.
- the pump regulator 30 connected to the output 24.
- the pump regulator 30 is adjusted in the direction of minimum delivery.
- the 4/2-way valve 86 at which point the second input 32 of the pump controller 30 is connected to the tank 14 and the first input 28 to the output 24.
- the pump regulator 30 is adjusted in the direction of maximum delivery.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Positive-Displacement Pumps (AREA)
- Details And Applications Of Rotary Liquid Pumps (AREA)
- Fluid-Pressure Circuits (AREA)
- Control Of Transmission Device (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200610039698 DE102006039698B3 (de) | 2006-08-21 | 2006-08-21 | Förderpumpe |
DE200620015508 DE202006015508U1 (de) | 2006-10-10 | 2006-10-10 | Förderpumpe |
PCT/EP2007/006265 WO2008022672A1 (de) | 2006-08-21 | 2007-07-14 | Förderpumpe |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2049800A1 true EP2049800A1 (de) | 2009-04-22 |
EP2049800B1 EP2049800B1 (de) | 2011-12-28 |
Family
ID=38577399
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP07786069A Not-in-force EP2049800B1 (de) | 2006-08-21 | 2007-07-14 | Förderpumpe |
Country Status (5)
Country | Link |
---|---|
US (1) | US7802971B2 (de) |
EP (1) | EP2049800B1 (de) |
JP (1) | JP5209622B2 (de) |
KR (1) | KR101229173B1 (de) |
WO (1) | WO2008022672A1 (de) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB0912540D0 (en) * | 2009-07-20 | 2009-08-26 | Bamford Excavators Ltd | Hydraulic system |
DE102009046516A1 (de) * | 2009-11-09 | 2011-05-12 | Zf Lenksysteme Gmbh | Verdrängerpumpe |
WO2013040780A1 (zh) * | 2011-09-22 | 2013-03-28 | 长沙中联重工科技发展股份有限公司 | 变量泵的控制系统以及液压行走设备 |
DE102012022265A1 (de) * | 2012-11-13 | 2014-05-15 | Fmb Blickle Gmbh | Verfahren und Vorrichtung zur Regelung einer Verstellpumpe |
JP6456277B2 (ja) * | 2015-12-18 | 2019-01-23 | 日立建機株式会社 | 建設機械 |
CN111076091B (zh) * | 2020-01-06 | 2024-09-17 | 广州环投环境服务有限公司 | 一种高扬程恒流投加装置 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3345264A1 (de) * | 1983-12-14 | 1985-06-27 | Brueninghaus Hydraulik Gmbh, 7240 Horb | Drehmomenten-regeleinrichtung fuer eine verstellbare hydropumpe |
JP2657548B2 (ja) * | 1988-06-29 | 1997-09-24 | 日立建機株式会社 | 油圧駆動装置及びその制御方法 |
JPH0332793Y2 (de) * | 1988-11-22 | 1991-07-11 | ||
JPH0462376U (de) * | 1990-10-04 | 1992-05-28 | ||
DE4224973C2 (de) * | 1992-07-29 | 1995-08-03 | Glyco Metall Werke | Fluidversorgungssystem mit Druckbegrenzung |
JP3441834B2 (ja) * | 1995-04-05 | 2003-09-02 | 日立建機株式会社 | 建設機械の駆動制御装置 |
DE19517974A1 (de) * | 1995-05-16 | 1996-11-21 | Brueninghaus Hydromatik Gmbh | Verschiebbare hydraulische Leistungs- bzw. Momentenregeleinrichtung |
JPH09226610A (ja) * | 1996-02-23 | 1997-09-02 | Unisia Jecs Corp | パワーステアリング装置 |
DE19742157C2 (de) * | 1997-09-24 | 1999-07-01 | Brueninghaus Hydromatik Gmbh | Regeleinrichtung für eine verstellbare Hydropumpe mit mehreren Verbrauchern |
JP4209503B2 (ja) * | 1998-07-16 | 2009-01-14 | 株式会社小松製作所 | 油圧駆動機械の制御装置 |
JP2001050178A (ja) | 1999-08-06 | 2001-02-23 | Bosch Braking Systems Co Ltd | 可変容量形ポンプ |
JP3460817B2 (ja) * | 2000-06-28 | 2003-10-27 | 株式会社小松製作所 | 油圧掘削車両の油圧制御装置 |
JP2002130145A (ja) * | 2000-10-19 | 2002-05-09 | Komatsu Ltd | 可変容量形ポンプの容量制御装置 |
DE10104635A1 (de) | 2001-02-02 | 2002-10-02 | Joma Hydromechanic Gmbh | Verfahren zum Aufrechterhalten einer konstanten Ausgangsgröße einer Förderpumpe, z.B. ihres Fördervolumens, die von einer in ihrer Drehzahl variablen Antriebsvorrichtung angetrieben wird, sowie Vorrichtung zur Durchführung des Verfahrens |
JP4408406B2 (ja) * | 2004-09-24 | 2010-02-03 | 株式会社小松製作所 | アンロード機能付ポンプ可変容量制御装置 |
-
2007
- 2007-07-14 WO PCT/EP2007/006265 patent/WO2008022672A1/de active Application Filing
- 2007-07-14 KR KR1020077023798A patent/KR101229173B1/ko not_active IP Right Cessation
- 2007-07-14 EP EP07786069A patent/EP2049800B1/de not_active Not-in-force
- 2007-07-14 JP JP2009524911A patent/JP5209622B2/ja not_active Expired - Fee Related
- 2007-09-02 US US11/849,293 patent/US7802971B2/en not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
---|
See references of WO2008022672A1 * |
Also Published As
Publication number | Publication date |
---|---|
US7802971B2 (en) | 2010-09-28 |
US20080279699A1 (en) | 2008-11-13 |
KR20090120019A (ko) | 2009-11-24 |
WO2008022672A1 (de) | 2008-02-28 |
EP2049800B1 (de) | 2011-12-28 |
KR101229173B1 (ko) | 2013-02-01 |
JP5209622B2 (ja) | 2013-06-12 |
JP2010501762A (ja) | 2010-01-21 |
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