WO2015052066A1 - Reaktionsrohr und verfahren zur herstellung von cyanwasserstoff - Google Patents
Reaktionsrohr und verfahren zur herstellung von cyanwasserstoff Download PDFInfo
- Publication number
- WO2015052066A1 WO2015052066A1 PCT/EP2014/071119 EP2014071119W WO2015052066A1 WO 2015052066 A1 WO2015052066 A1 WO 2015052066A1 EP 2014071119 W EP2014071119 W EP 2014071119W WO 2015052066 A1 WO2015052066 A1 WO 2015052066A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tube
- reaction tube
- reaction
- ribs
- hydrogen cyanide
- Prior art date
Links
- LELOWRISYMNNSU-UHFFFAOYSA-N hydrogen cyanide Chemical compound N#C LELOWRISYMNNSU-UHFFFAOYSA-N 0.000 title claims abstract description 75
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 74
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 25
- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 claims abstract description 36
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 claims abstract description 30
- 239000003054 catalyst Substances 0.000 claims abstract description 30
- 229910052697 platinum Inorganic materials 0.000 claims abstract description 18
- 229910021529 ammonia Inorganic materials 0.000 claims abstract description 15
- 239000000919 ceramic Substances 0.000 claims abstract description 13
- 125000004432 carbon atom Chemical group C* 0.000 claims abstract description 5
- 150000001338 aliphatic hydrocarbons Chemical class 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 23
- 238000009434 installation Methods 0.000 claims description 20
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 20
- PNEYBMLMFCGWSK-UHFFFAOYSA-N aluminium oxide Inorganic materials [O-2].[O-2].[O-2].[Al+3].[Al+3] PNEYBMLMFCGWSK-UHFFFAOYSA-N 0.000 claims description 8
- 229930195733 hydrocarbon Natural products 0.000 claims description 7
- 150000002430 hydrocarbons Chemical class 0.000 claims description 7
- 239000007789 gas Substances 0.000 description 8
- 239000004215 Carbon black (E152) Substances 0.000 description 5
- 239000000203 mixture Substances 0.000 description 5
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 3
- 239000011541 reaction mixture Substances 0.000 description 3
- 239000004071 soot Substances 0.000 description 3
- 230000000052 comparative effect Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000008646 thermal stress Effects 0.000 description 2
- 125000001931 aliphatic group Chemical group 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000001354 calcination Methods 0.000 description 1
- 239000006229 carbon black Substances 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005755 formation reaction Methods 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J19/00—Chemical, physical or physico-chemical processes in general; Their relevant apparatus
- B01J19/24—Stationary reactors without moving elements inside
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J12/00—Chemical processes in general for reacting gaseous media with gaseous media; Apparatus specially adapted therefor
- B01J12/007—Chemical processes in general for reacting gaseous media with gaseous media; Apparatus specially adapted therefor in the presence of catalytically active bodies, e.g. porous plates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J19/00—Chemical, physical or physico-chemical processes in general; Their relevant apparatus
- B01J19/0006—Controlling or regulating processes
- B01J19/002—Avoiding undesirable reactions or side-effects, e.g. avoiding explosions, or improving the yield by suppressing side-reactions
- B01J19/0026—Avoiding carbon deposits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J19/00—Chemical, physical or physico-chemical processes in general; Their relevant apparatus
- B01J19/0053—Details of the reactor
- B01J19/006—Baffles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J19/00—Chemical, physical or physico-chemical processes in general; Their relevant apparatus
- B01J19/24—Stationary reactors without moving elements inside
- B01J19/2415—Tubular reactors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J21/00—Catalysts comprising the elements, oxides, or hydroxides of magnesium, boron, aluminium, carbon, silicon, titanium, zirconium, or hafnium
- B01J21/02—Boron or aluminium; Oxides or hydroxides thereof
- B01J21/04—Alumina
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J23/00—Catalysts comprising metals or metal oxides or hydroxides, not provided for in group B01J21/00
- B01J23/38—Catalysts comprising metals or metal oxides or hydroxides, not provided for in group B01J21/00 of noble metals
- B01J23/40—Catalysts comprising metals or metal oxides or hydroxides, not provided for in group B01J21/00 of noble metals of the platinum group metals
- B01J23/42—Platinum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J35/00—Catalysts, in general, characterised by their form or physical properties
- B01J35/50—Catalysts, in general, characterised by their form or physical properties characterised by their shape or configuration
- B01J35/56—Foraminous structures having flow-through passages or channels, e.g. grids or three-dimensional monoliths
-
- C—CHEMISTRY; METALLURGY
- C01—INORGANIC CHEMISTRY
- C01C—AMMONIA; CYANOGEN; COMPOUNDS THEREOF
- C01C3/00—Cyanogen; Compounds thereof
- C01C3/02—Preparation, separation or purification of hydrogen cyanide
-
- C—CHEMISTRY; METALLURGY
- C01—INORGANIC CHEMISTRY
- C01C—AMMONIA; CYANOGEN; COMPOUNDS THEREOF
- C01C3/00—Cyanogen; Compounds thereof
- C01C3/02—Preparation, separation or purification of hydrogen cyanide
- C01C3/0208—Preparation in gaseous phase
- C01C3/0229—Preparation in gaseous phase from hydrocarbons and ammonia in the absence of oxygen, e.g. HMA-process
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J2219/00—Chemical, physical or physico-chemical processes in general; Their relevant apparatus
- B01J2219/02—Apparatus characterised by their chemically-resistant properties
- B01J2219/025—Apparatus characterised by their chemically-resistant properties characterised by the construction materials of the reactor vessel proper
- B01J2219/0263—Ceramic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J2219/00—Chemical, physical or physico-chemical processes in general; Their relevant apparatus
- B01J2219/30—Details relating to random packing elements
- B01J2219/302—Basic shape of the elements
- B01J2219/30242—Star
Definitions
- the invention is directed to a reaction tube for the production of hydrogen cyanide, and to a process for the production of hydrogen cyanide using this reaction tube.
- the BMA process for the production of hydrogen cyanide from ammonia and an aliphatic hydrocarbon having 1 to 4 carbon atoms is carried out at temperatures in the range of 1000 ° C to 1400 ° C. Since the reaction is endothermic, heat must be added to the reaction mixture in the process. On an industrial scale, the BMA process is carried out in externally heated reaction tubes, which are coated on the inside of the tube with a platinum-containing catalyst and are flowed through by the gaseous reaction mixture. The space-time yield in these technical reactors is determined by the geometric surface of the reaction tube and the resulting limited active surface of the platinum-containing catalyst.
- reaction tubes for the BMA method are known, the periodic cross-sectional changes of Reaction tube from a circular cross section to an elliptical cross section.
- Hydrocarbon formed carbon black is thereby precipitated on the platinum-containing catalyst and thereby inhibits the formation reaction of hydrogen cyanide. Therefore, measures must be taken more frequently to remove soot deposits for which the production of
- Hydrogen cyanide must be interrupted. A mechanical removal of soot deposits is virtually impossible in the reaction tubes of DE 29 36 844 AI, WO 90/13405 and DE 41 28 201 because of the internals or cross-sectional changes.
- Reaction temperature may be tubular or
- WO 2006/050781 have known reaction tubes with tubular or rod-shaped internals.
- the invention therefore relates to a reaction tube for the production of hydrogen cyanide, comprising
- Catalyst characterized in that it comprises at least one inserted into the cylindrical tube body of ceramic with three or four of the
- the invention also relates to a method for
- Reaction tube is performed.
- the reaction tube according to the invention comprises a
- Cylindrical tube made of ceramic, preferably made of a gas-tight sintered ceramic and particularly preferably of gas-tight sintered alumina.
- the cylindrical tube preferably has an inner diameter of 10 to 50 mm, more preferably 15 to 30 mm.
- the length of the cylindrical tube is preferably in the range of 1000 to 3000 mm, and more preferably in the range of 1500 to 2500 mm.
- the cylindrical tube is on the inside in whole or in part with a platinum-containing catalyst
- platinum-containing catalysts all known for the BMA process for the production of hydrogen cyanide catalysts can be used. Preference is given to the catalysts known from WO 2004/076351 with a
- the platinum-containing catalysts can be prepared by any known method for applying such catalysts on support materials on the inside of the cylindrical
- the reaction tube according to the invention has at least one inserted into the cylindrical tube body of ceramic with three or four of the tube axis to
- the mounting body is preferably made of sintered alumina.
- the ribs of the installation body divide the pipe interior into substantially straight channels with substantially the same circular segment-shaped cross sections.
- the ribs are designed as a substantially closed, aligned in the longitudinal direction of the tube surfaces. However, they may have individual openings or indentations at the ends for pressure equalization between adjacent channels.
- the ribs of the mounting body can be mounted on a running in the tube axis rod or tube. Preferably, however, the ribs of the installation body extend as far as the tube axis and strike each other in the tube axis.
- the mean distance between the ends of the ribs and the pipe inner wall is in the range of 0.1 to 3 mm.
- the ends of the ribs are preferably rounded. The mean distance then refers to the point at which the rounding of the rib of the inner tube wall comes closest to each other.
- the installation body of the reaction tube according to the invention can in the same way as the cylindrical tube by extrusion or extrusion of an alumina-containing
- the mounting body of the reaction tube according to the invention has the advantage that it does not deform as much due to its geometry during heating to the required for the production of hydrogen cyanide by the BMA method temperature as the known from the prior art rod-shaped or tubular internals.
- rounded ends of the ribs can be additionally inserted
- the ribs touch the pipe inner wall at individual locations.
- a subdivision of the tube interior is achieved in channels having substantially the same cross sections and the mounting body can be faster and easier to install in the cylindrical tube than the known from the prior art rod-shaped or tubular internals.
- the ribs of the mounting body preferably have an average thickness which is 0.25 times to 2.5 times the average wall thickness of the cylindrical tube. Particularly preferably, the average thickness of the ribs is the
- the ribs of the mounting body have the same thickness as the wall of the cylindrical tube.
- the installation body is preferably completely or partially coated with a platinum-containing catalyst
- the installation body is completely coated with catalyst.
- the reaction tube according to the invention may comprise one or more installation bodies inserted into the cylindrical tube
- an installation body is arranged in a central region of the cylindrical tube and has a length of 10 to 90%, in particular 40 to 75%, of the length of the cylindrical tube. The use of only a single body allows a mechanical removal of soot from the
- Reaction tube also in the region of the channels formed between the ribs of the mounting body.
- Mounting body which has a smaller length than the reaction tube, in a central region of the
- Reaction tube leads to an arrangement at the beginning or at the end of the reaction tube to a higher space-time yield.
- reaction tube according to the invention can be used for the reaction tube according to the invention.
- Production of hydrogen cyanide use preferably production of hydrogen cyanide according to the BMA method.
- a gas mixture containing ammonia and at least one aliphatic hydrocarbon having 1 to 4 carbon atoms is passed through the reaction tube according to the invention and the reaction tube through
- the temperature of 1000 ° C to 1400 ° C held a temperature of 1000 ° C to 1400 ° C held.
- Hydrocarbons of at least 90% by volume of methane preferably contains ammonia in stoichiometric
- the reaction tube is preferably selected such that a substantially laminar flow is formed in the entire reaction tube, including the region in which the mounting body is arranged.
- Fig. 1 to 3 show embodiments of the mounting body and its arrangement in the cylindrical tube of the
- Fig. 1 shows an installation body made of ceramic with four ribs in a perspective view.
- Fig. 2 shows a cross section through a reaction tube with a ceramic mounting body with four of the tube axis to the pipe inner wall facing ribs which are rounded at the ends.
- 3 shows a cross section through a reaction tube with a ceramic installation body with three ribs pointing from the tube axis to the tube inner wall, which are rounded at the ends.
- the installation body shown in Fig. 1 can thus in the
- the installation body of FIG. 1 can also be inserted into the cylindrical tube such that the cross-section corresponds to FIG. 2 only in the center of the installation body, while the installation body bears against the cylindrical tube at the ends with one or two ribs the mean distance between the ends of the ribs and the pipe inner wall is in the range of 0.1 to 3 mm. This is for example the case when in the middle of the mounting body of the cross section Fig.
- Alumina with 2100 mm length and 17 mm inner diameter was coated and formed as described in Example 6 of EP 0 407 809 A with a platinum-containing catalyst. Subsequently, a gas mixture of 44 mol / h of ammonia and 40 mol / h of methane was passed at 1280 ° C from below through the vertical reaction tube. The gas exiting the reaction tube was analyzed, the
- Hydrogen cyanide yield was 79.9% based on ammonia and 88.8% based on methane.
- Example 2 comparative example with installation body according to WO 2006/050781
- Example 1 was repeated, but in the
- Hydrogen cyanide was 84.4% based on ammonia and 93.3% based on methane.
- Example 1 was repeated, but in the
- Fitted alumina sintered body with four rounded ribs according to FIG. 1 was inserted.
- the body had a length of 1200 mm, a medium Wall thickness of the ribs of 2.8 mm and a medium
- the yield of hydrogen cyanide was 88.7% based on ammonia and 98.1% based on methane.
- Example 3 was repeated except that an installation body with a length of 1800 mm was used.
- the yield of hydrogen cyanide was 90.8% based on ammonia and 99.6% based on methane.
- Example 3 was repeated except that an installation body with a length of 600 mm was used.
- the yield of hydrogen cyanide was 81.9% based on ammonia and 92.6% based on methane.
- Reaction tube in the production of hydrogen cyanide according to the BMA method higher yields of hydrogen cyanide with respect to hydrocarbon and ammonia used and a higher space-time yield can be achieved than when using a reaction tube without internals. With the same length of the mounting body and better yields are achieved than when using a
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- Chemical & Material Sciences (AREA)
- Organic Chemistry (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Inorganic Chemistry (AREA)
- Catalysts (AREA)
- Hydrogen, Water And Hydrids (AREA)
Abstract
Description
Claims
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SG11201601072WA SG11201601072WA (en) | 2013-10-11 | 2014-10-02 | Reaction tube and method for producing hydrogen cyanide |
JP2016521942A JP6279724B2 (ja) | 2013-10-11 | 2014-10-02 | シアン化水素を製造する反応管及び方法 |
RU2016118024A RU2666446C2 (ru) | 2013-10-11 | 2014-10-02 | Реакционная труба и способ получения цианистого водорода |
US15/028,415 US10441942B2 (en) | 2013-10-11 | 2014-10-02 | Reaction tube and method for producing hydrogen cyanide |
EP14780478.5A EP3055056B1 (de) | 2013-10-11 | 2014-10-02 | Reaktionsrohr und verfahren zur herstellung von cyanwasserstoff |
KR1020167009358A KR20160068778A (ko) | 2013-10-11 | 2014-10-02 | 시안화 수소를 제조하기 위한 반응 튜브 및 방법 |
MX2016004436A MX2016004436A (es) | 2013-10-11 | 2014-10-02 | Tubo de reaccion y metodo para producir cianuro de hidrogeno. |
CN201480055936.2A CN105813725B (zh) | 2013-10-11 | 2014-10-02 | 用于制备氰化氢的反应管和方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP13188304.3 | 2013-10-11 | ||
EP13188304 | 2013-10-11 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015052066A1 true WO2015052066A1 (de) | 2015-04-16 |
Family
ID=49326592
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2014/071119 WO2015052066A1 (de) | 2013-10-11 | 2014-10-02 | Reaktionsrohr und verfahren zur herstellung von cyanwasserstoff |
Country Status (9)
Country | Link |
---|---|
US (1) | US10441942B2 (de) |
EP (1) | EP3055056B1 (de) |
JP (1) | JP6279724B2 (de) |
KR (1) | KR20160068778A (de) |
CN (1) | CN105813725B (de) |
MX (1) | MX2016004436A (de) |
RU (1) | RU2666446C2 (de) |
SG (1) | SG11201601072WA (de) |
WO (1) | WO2015052066A1 (de) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3301075A1 (de) | 2016-09-28 | 2018-04-04 | Evonik Degussa GmbH | Verfahren zur herstellung von cyanwasserstoff |
WO2020187607A1 (de) | 2019-03-15 | 2020-09-24 | Basf Se | Gasdichtes, wärmedurchlässiges, keramisches und mehrschichtiges verbundrohr |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102334579B1 (ko) * | 2019-12-27 | 2021-12-03 | 한국기계연구원 | 마이크로 채널 반응기 |
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US3970435A (en) * | 1975-03-27 | 1976-07-20 | Midland-Ross Corporation | Apparatus and method for methanation |
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DE2936844A1 (de) | 1979-09-12 | 1981-04-02 | Degussa Ag, 6000 Frankfurt | Verfahren zur herstellung von cyanwasserstoff |
EP0299175A1 (de) | 1987-07-16 | 1989-01-18 | Degussa Aktiengesellschaft | Verfahren zur Herstellung von Cyanwasserstoff |
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-
2014
- 2014-10-02 RU RU2016118024A patent/RU2666446C2/ru active
- 2014-10-02 EP EP14780478.5A patent/EP3055056B1/de active Active
- 2014-10-02 CN CN201480055936.2A patent/CN105813725B/zh active Active
- 2014-10-02 WO PCT/EP2014/071119 patent/WO2015052066A1/de active Application Filing
- 2014-10-02 SG SG11201601072WA patent/SG11201601072WA/en unknown
- 2014-10-02 KR KR1020167009358A patent/KR20160068778A/ko not_active Application Discontinuation
- 2014-10-02 JP JP2016521942A patent/JP6279724B2/ja active Active
- 2014-10-02 MX MX2016004436A patent/MX2016004436A/es unknown
- 2014-10-02 US US15/028,415 patent/US10441942B2/en active Active
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3301075A1 (de) | 2016-09-28 | 2018-04-04 | Evonik Degussa GmbH | Verfahren zur herstellung von cyanwasserstoff |
WO2018060196A1 (en) | 2016-09-28 | 2018-04-05 | Evonik Degussa Gmbh | Method for producing hydrogen cyanide |
US20190225501A1 (en) * | 2016-09-28 | 2019-07-25 | Evonik Degussa Gmbh | Method for producing hydrogen cyanide |
US11897781B2 (en) * | 2016-09-28 | 2024-02-13 | Evonik Operations Gmbh | Method for producing hydrogen cyanide |
WO2020187607A1 (de) | 2019-03-15 | 2020-09-24 | Basf Se | Gasdichtes, wärmedurchlässiges, keramisches und mehrschichtiges verbundrohr |
Also Published As
Publication number | Publication date |
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MX2016004436A (es) | 2016-06-21 |
RU2666446C2 (ru) | 2018-09-07 |
SG11201601072WA (en) | 2016-03-30 |
RU2016118024A (ru) | 2017-11-16 |
JP6279724B2 (ja) | 2018-02-14 |
US20160263558A1 (en) | 2016-09-15 |
EP3055056A1 (de) | 2016-08-17 |
JP2016536245A (ja) | 2016-11-24 |
KR20160068778A (ko) | 2016-06-15 |
CN105813725B (zh) | 2018-08-17 |
US10441942B2 (en) | 2019-10-15 |
EP3055056B1 (de) | 2019-12-18 |
CN105813725A (zh) | 2016-07-27 |
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