CN101132882A - Hydraulic processing machine, hydraulic press brake, and method of controlling the same - Google Patents
Hydraulic processing machine, hydraulic press brake, and method of controlling the same Download PDFInfo
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- CN101132882A CN101132882A CNA2006800064416A CN200680006441A CN101132882A CN 101132882 A CN101132882 A CN 101132882A CN A2006800064416 A CNA2006800064416 A CN A2006800064416A CN 200680006441 A CN200680006441 A CN 200680006441A CN 101132882 A CN101132882 A CN 101132882A
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- control
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- oil pressure
- oil
- pump
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/26—Fluid-pressure drives
- B23Q5/266—Fluid-pressure drives with means to control the feed rate by controlling the fluid flow
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
- B21D5/0209—Tools therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D15/00—Shearing machines or shearing devices cutting by blades which move parallel to themselves
- B23D15/12—Shearing machines or shearing devices cutting by blades which move parallel to themselves characterised by drives or gearings therefor
- B23D15/14—Shearing machines or shearing devices cutting by blades which move parallel to themselves characterised by drives or gearings therefor actuated by fluid or gas pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/16—Control arrangements for fluid-driven presses
- B30B15/18—Control arrangements for fluid-driven presses controlling the reciprocating motion of the ram
- B30B15/20—Control arrangements for fluid-driven presses controlling the reciprocating motion of the ram controlling the speed of the ram, e.g. the speed of the approach, pressing or return strokes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2705/00—Driving working spindles or feeding members carrying tools or work
- B23Q2705/10—Feeding members carrying tools or work
- B23Q2705/12—Fluid-pressure drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
- Control Of Presses (AREA)
- Shearing Machines (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
- Press Drives And Press Lines (AREA)
Abstract
A hydraulic processing machine such as a hydraulic press brake and a shear capable of increasing energy efficiency by reducing the wasteful consumption of power and a method of controlling the processing machine and the press brake. The rotational speed of a pump motor (three-phase induction motor)(15) driving a hydraulic pump (14) is variably controlled by an inverter (24) to control the discharged flow rate of the hydraulic pump (14) to a minimum required for processing work. When a ram (1) is stationarily stopped at an upper limit position, the pump motor (15) is stopped. When the ram (1) is lowered from the upper limit position by its own weight, the pump motor (15) is rotated at the lowest rotational speed. When the ram (1) pressurizes a workpiece (5), the pump motor (15) is rotated at a minimum rotational speed. When the ram (1) is raised, the pump motor (15) is rotated at a maximum rotational speed.
Description
Technical field
The present invention relates to a kind ofly, utilize oil pressure to start hydraulic processing machine and control method thereof in order to the Working mechanism of processing operation as hydraulic press brake and hydraulic type shearing machine etc.
Background technology
With the hydraulic press brake is example, and as the oil hydraulic circuit of this hydraulic press brake, well-known is the oil hydraulic circuit that is for example disclosed in the patent documentation 1.In addition, as control technology, control technology that for example patent documentation 2～patent documentation 4 disclosed etc. is arranged as everyone knows then in order to the pump motor of the oil pressure pump that drives hydraulic press brake.
Patent documentation 1: No. 2551541 communique of utility model registration
Patent documentation 2: Japanese patent laid-open 9-76022 communique
Patent documentation 3: the Japan Patent spy opens the 2000-271651 communique
Patent documentation 4: Japanese patent laid-open 10-249440 communique
For the previous oil hydraulic circuit that patent documentation 1 is disclosed, during movable platform does not carry out lifting action, keep the state and the standby of pump motor running, can consume electric power without rhyme or reason thus.In addition, the control that is disclosed according to patent documentation 2 or patent documentation 3 is when movable platform stops and when surpassing certain setting-up time, the pump motor can stop automatically for a long time.Yet, during till reaching described setting-up time in, can consume electric power without rhyme or reason, and also have following inconvenience, that is,, must operate by operating personnel for priming pump motor once more.
And, previous, one and so on, during the pump motor running, its rotating speed is controlled to be fixed value, the unnecessary hydraulic oil that produces because of the change of the responsiveness of movable platform can be back to the action fuel tank by relief valve.Therefore, even during movable platform moves, also can consume electric power without rhyme or reason because of spraying unnecessary hydraulic oil, caloric value is bigger thereupon, therefore, uses the large-scale action fuel tank with the big heat-sinking capability that matches therewith.
The motor that is used to drive oil pressure pump uses three-phase motor usually.Different and different in view of supply frequency because of the area, for example be 60Hz or 50Hz, disclosing in patent documentation 4 has following technology,, detects supply frequency that is, and the responsiveness of coming the control pump motor according to this supply frequency.Yet this control technology can't solve the described problem that consumes electric power for no reason.
Summary of the invention
Therefore, the objective of the invention is to make hydraulic processing machines such as hydraulic press brake and hydraulic type shearing machine to reduce the electric power that consumes for no reason in the oil hydraulic circuit, to improve energy efficiency.
[technological means of dealing with problems]
According to the present invention, the hydraulic processing machine that utilizes oil pressure to start in order to the Working mechanism of processing operation comprises: an oil pressure activated device, and it starts Working mechanism; One oil pressure pump, its ejection action oil; One control valve, it is controlled in the flow of the action oil that flows between oil pressure pump and the oil pressure activated device; One pump motor, it drives oil pressure pump and can carry out variable control to rotating speed; One motor rotary speed control module, the rotating speed of its control pump motor; And a Working mechanism action control unit, it controls the action of Working mechanism by the control control valve.
According to described Work machine, can utilize control valve to control the flow of the action oil between oil pressure pump and the oil pressure activated device, control the action of Working mechanism thus, and can control the flow of the action oil that sprays from oil pressure pump by the rotating speed of control pump motor.Therefore control can reduce from the oil pressure pump ejection from the flow of the action oil of oil pressure pump ejection, but is not supplied to the oil pressure activated device and invalidly is back to the flow of the action oil of action fuel tank.Thus, reduce the electric power that consumes for no reason, and also reduce unnecessary caloric value, improve energy efficiency thus.
In preferred example, according to Working mechanism whether in the static rotating speed that comes the control pump motor of no-load condition.For example, when operation mechanism when no-load condition is static, the pump motor is stopped, on the other hand, when operation mechanism starts or when load condition is static, make the pump motor running.Herein, so-called load condition is meant that Working mechanism applies the state of power in order to processing to workpiece, and so-called no-load condition is meant that Working mechanism does not apply state in order to the power of processing to workpiece.When operation mechanism when no-load condition is static, the pump motor stops, and therefore, can prevent terminating in and to consume electric power when implementing the processing operation without rhyme or reason.
And, in preferred example, according to the flow that is supplied to the action oil of oil pressure activated device by control valve from oil pressure pump, the rotating speed of control pump motor.For example, the rotating speed of interim ground or continuity ground control pump motor, the feasible flow that is supplied to the action oil of oil pressure activated device by control valve is healed big, and then the rotating speed of pump motor is faster.Thus, process between operational period, also can control flow, therefore can reduce unnecessary power consumption according to by moving the pressure speed of starting Working mechanism of oil from the action oil of oil pressure pump ejection in Working mechanism.
And, in preferred example, the rotating speed of control pump motor, so that oil pressure pump sprays in order to guarantee to move oily flow and the necessary minimal flow of pressure, described action oil is desire is supplied to the oil pressure activated device by control valve action oil.Thus, can move the flow of action oil of fuel tank, be controlled in the necessary Min., thereby reduce unnecessary power consumption invalidly being back to through oil pressure pump ejection back.
In preferred example, the motor rotary speed control module is further controlled the pump motor, with the ejection pressure of control from oil pressure pump.For example, when operation mechanism is in load condition (, when workpiece has been applied operating force), the control pump motor is so that oil pressure pump sprays action oil with the pressure of (, when workpiece is not applied operating force) when being in no-load condition.By controlling the ejection pressure of described oil pressure pump, can make the power of the required size of Working mechanism output processing.
For the pump motor, can adopt AC electrical motor as three-phase induction motor and so on, in order to make its rotating speed variable, can use frequency-changing AC electric power to produce the power supply that circuit is used as the pump motor as phase inverter and so on.Yet described pump motor is not defined in this, can use the motor that is assembled with rotating-speed control circuit as servo motor and so on to be used as the pump motor yet.
In preferred example, described AC electrical motor of use capable of being combined and frequency-changing AC electric power produce circuit, and can use frequency that output frequency can be lower than the source power supply frequency certainly to the circuit that changes between the frequency that is higher than the source power supply frequency, produce circuit as frequency-changing AC electric power.The prerequisite of one and so on design of previous processing equipment is, makes AC electrical motor as the pump motor with the source power supply frequency run.Relative with it, according to the formation of coming the driving pump motor to the frequency that changes between the frequency that is higher than the source power supply frequency with the frequency that can be lower than the source power supply frequency certainly, with compare by previous one and so on the processing equipment that designs, the rotating speed that can make the pump motor changes between the higher rotating speed in the slow-speed of revolution more, therefore, unnecessary electric power can be saved, and also operating efficiency can be improved.
According to another form of the present invention, the hydraulic press brake that utilizes oil pressure to start movable platform comprises: an oil pressure activated device, and it starts movable platform; One oil pressure pump, its ejection action oil; One control valve, it is controlled in the flow of the action oil that flows between oil pressure pump and the oil pressure activated device; One pump motor, it drives oil pressure pump and can carry out variable control to rotating speed; One motor rotary speed control module, the rotating speed of control pump motor; And a Working mechanism action control unit, it controls the action of Working mechanism by the control control valve.And the Working mechanism action control unit is controlled the action of movable platform in the following order: make movable platform static in no-load condition, afterwards, movable platform is descended in no-load condition, then, movable platform is descended in load condition, at last, movable platform is risen in no-load condition.Be accompanied by described action, the motor rotary speed control module when no-load condition is static, stops the pump motor at movable platform, when movable platform descends or rise, makes the pump motor running.Then,, when no-load condition descends, the rotating speed of pump motor is controlled to be is lower than the rotating speed of movable platform when load condition descends at movable platform.
By described hydraulic press brake, the rising or falling speed and the plus-pressure of the movable platform that has nothing in common with each other during according to each bending machining operation, rotating speed to the pump motor carries out variable control, oil pressure pump can be with operation required flow and pressure ejection action oil, and with before compared, can reduce the flow of action oil that invalidly is back to the action fuel tank.Therefore, can improve energy efficiency.
According to another form of the present invention, method in order to the control hydraulic processing machine comprises: the step of the rotating speed of control oil pressure pump and the step of controlling the action of Working mechanism by the control control valve, described hydraulic processing machine will be supplied to the oil pressure activated device with the starting Working mechanism by control valve from the action oil of oil pressure pump ejection.
[effect of invention]
According to the present invention, make hydraulic processing machines such as hydraulic press brake and hydraulic type shearing machine reduce the electric power that consumes for no reason in the oil hydraulic circuit, to improve energy efficiency.
Description of drawings
Fig. 1 is the overall structure figure of the hydraulic press brake of an example of the present invention.
Fig. 2 is the control function that possessed of expression squeezer 30, especially in order to the calcspar of the control function of the action of control drift 1.
Fig. 3 A-Fig. 3 C is that illustration squeezer 30 enters holding state respectively, the bending machining operation begins, then be back in the process till the holding state sequential chart of the variation of the ejection flow of the position of drift 1 and oil pressure pump 14 and ejection pressure after the bending machining end of job once more.
Wherein, description of reference numerals is as follows:
1 drift (movable platform)
2 platforms (fixed platform)
3 patrixes
4 counterdies
5 workpiece (sheet material)
6 bogie side frames
7 carriages
11 oil hydraulic cylinders
12 control valves (servo valve etc.)
13 pressure-oil tanks
14 oil pressure pumps
15 pump motors (three-phase induction motor)
21 linear encoders
The 22NC device
23 controllers
24 phase inverters
25 firing switcies
26 running switches
27 rising switches
30 hydraulic press brakes
41 pump motor rotary speed control parts
43 drift operation control part
The specific embodiment
Existing conjunction with figs. is described as follows with regard to example of the present invention.
Fig. 1 represents the overall structure of the hydraulic processing machine of an example of the present invention, for example represents the overall structure of hydraulic press brake.
As shown in Figure 1, as the Working mechanism of processing operation, hydraulic press brake 30 comprises a movable platform (below be called drift) 1 and one fixed platform (below be called platform) 2.Fixed platform 2 is fixed on the ground, 2 bogie side frames 6,6 about being fixed with on the fixed platform 2.2 oil hydraulic cylinders 11,11 about being equipped with on the described bogie side frame 6,6 are equipped with a drift 1 on these oil hydraulic cylinders 11,11.By the effect of oil hydraulic cylinder 11,11, drift 1 can carry out lifting.Lower surface in drift 1 is fixed with a patrix 3, is fixed with a counterdie 4 in the upper surface of platform 2.Usually, counterdie 4 groove that is in the shape of the letter V.Otherwise 3 of patrixes are in the shape of the letter V prominent shape with in the V word groove that is embedded in counterdie 4.By the lifting of drift 1, between patrix 3 and counterdie 4, the sheet material as workpiece 5 is carried out bending machining.
Be connected with control valve 12,12 on oil hydraulic cylinder 11,11 respectively, control valve 12,12 is connected in an action pressure-oil tank 13 and an action oil pressure pump 14.Action oil pressure pump 14 is from moving pressure-oil tank 13 suction action oil, and exerts pressure and to spray this action oily.Control valve 12,12 about the action oil of action oil pressure pump 14 ejections is supplied to, and be back to action pressure-oil tank 13 from the action oil that control valve 12,12 is discharged. Control valve 12,12 for example is respectively servo valve, and self-controller 23 receives control signal and moves, and is supplied to the flow and the pressure of the action oil of oil hydraulic cylinder 11,11 with control.The flow and the pressure of 12,12 pairs of action oil of control valve are controlled, thus, and position, rising or falling speed and the plus-pressure of control drift 1.
Action oil pressure pump 14 is connected with pump motor 15, and is driven by pump motor 15.Action oil pressure pump 14 for example is the volum-controlled type pump, and the flow of the action oil of its ejection and the rotating speed of pump motor 15 are proportional.Pump motor 15 is a three-phase induction motor, and is driven by the three-phase ac power of supplying with from phase inverter 24.
The phase inverter 24 slightly illustrated source power supply of examining oneself is imported the alternating electromotive force of 50Hz for example or 60Hz, with carrying out AC-DC conversion after this alternating electromotive force rectification, exports the alternating electromotive force of required frequency.The changeable frequency of the output AC electric power of phase inverter 24, its variable range is for being lower than the frequency of source power supply frequency (for example, 50Hz or 60Hz) to the frequency that is higher than the source power supply frequency certainly.Phase inverter 24 is connected with controller 23, according to the indication that comes self-controller 23, the output frequency and the output voltage of phase inverter 24 is carried out variable control.Output frequency by control phase inverter 24 comes the rotating speed of pump motor 15 is carried out variable control, thus, carries out variable control to moving the flow of action oil of oil pressure pump 14 ejection certainly.And the output voltage by control phase inverter 24 comes the output power of phase inverter 24 is carried out variable control, and the output torque of pump motor 15 is carried out variable control, thus, carries out variable control to moving the pressure of action oil of oil pressure pump 14 ejections certainly.
Between the left and right end portions in order to 2 carriages 7,7 about 2 linear encoders 21,21 are installed on respectively about the position of detecting drift 1 and drift 1, described about 2 carriages be installed on the platform 2.The output signal of linear encoder 21,21 inputs to controller 23.Controller 23 is measured the position of drift 1 according to the output signal of linear encoder 21,21.
Be connected with a NC (numerical control, Numerical Control) device 22 on the controller 23.NC device 22 is from the bending condition data of the bending machining condition of outside input expression workpiece 5, and according to these bending condition data, in begin from the bending machining operation till finish during in each time point, calculate the target location of various Control Shafts such as lifting shaft of drift 1 and target responsiveness etc., and the target location of each time point of being calculated and responsiveness etc. are transferred to controller 23.Perhaps, NC device 22 is set the target location and the target responsiveness of each time point of described various Control Shafts by operating personnel's manual input, and this target location and target responsiveness are transferred to controller 23.
In addition, be connected with a starting switch 25, a running switch 26 and a rising switch 27 on the controller 23.Firing switch 25 is manual hand switches of operating personnel for example, on the other hand, running switch 26 and rising switch 27 all be for example operating personnel with the floor push of pin operation.If press firing switch 25, then send the initiating signal of request starting squeezer 30 to controller 23.If trample running switch 26, then send the CRANK PULSES that the bending machining action is carried out in request to controller 23.If trample the rising switch, then send the rising signals that stops after request makes drift 1 rise to upper limit position to controller 23.
Fig. 2 represents the control function that described squeezer 30 is possessed, and especially represents the control function in order to the action of control drift 1.
As shown in Figure 2, controller 23 comprises in order to a rotating speed control part 41 of the rotating speed (=running speed) of control pump motor 15 and in order to a drift operation control part 43 of the action of control drift 1.Pump motor rotary speed control part 41 receives the motor rotary speed operational order that requires the rotating speed of pump motor 15 is increased and decreased operation from drift operation control part 43, determine the rotating speed of target of pump motor 15 according to this motor rotary speed operational order, to export phase inverter 24 in order to the output frequency of control phase inverter 24 (also promptly, in order to) the motor rotary speed instruction of indicating this rotating speed of target.The described motor rotary speed instruction of phase inverter 24 rotations speed control part 41 inputs, and the feedback of self-pumping motor 15 input actual speed, control the output frequency and the output voltage of phase inverter 24 again by the closed-loop control method, so that actual speed is with consistent by the indicated rotating speed of target of described motor rotary speed instruction.The rotating speed of control pump motor 15 makes it roughly proportional with the output frequency of phase inverter 24, and then the ejection flow of control oil pressure pump 14.At this moment, output voltage by control phase inverter 24 is controlled the electric power size that is supplied to pump motor 15, pump motor 15 can be guaranteed thus with the rotating speed of target required moment of torsion that turns round, and then ejection pressure can be guaranteed with the required control oil pressure pump 14 of desired flow ejection action oil.
The drift operation control part 43 of controller 23 receive be accompanied by moving of drift 1 and from about the pulse signal of linear encoder 21,21 outputs, by this pulse signal is counted the position of detecting drift 1, and the timeliness of the position by calculating drift 1 changes the rising or falling speed of obtaining drift 1.And drift operation control part 43 receives the data of expression drift patterns from NC device 22, and this drift pattern is used to define target location and the target rising or falling speed that begins the drift 1 of each time point till finish from the bending machining operation.Then, control valve 12,12 about drift operation control part 43 is controlled by the closed-loop control method, so that in each time point of bending machining operation, the physical location of drift 1 and rising or falling speed are with consistent by defined target location of drift pattern and target rising or falling speed from NC device 22, and 43 pairs of described pump motor rotary speed control part 41 output motor rotary speed operational orders of drift operation control part.As mentioned above, come the rotating speed of control pump motor 15, control ejection flow thus, and also the necessary ejection pressure of this ejection flow is guaranteed in control from the action oil of oil pressure pump 14 according to the motor rotary speed operational order.Meanwhile, by control valve 12,12 is controlled, control the flow of the action oil of the oil hydraulic cylinder 11 about oil pressure pump 14 is supplied to, thus, oil hydraulic cylinder 11,11 moves, and makes drift 1 abide by described drift pattern and move.
As mentioned above, the output frequency of 23 pairs of phase inverters 24 of controller is controlled and (also is, the rotating speed of pump motor 15 is controlled or the ejection flow of oil pressure pump 14 is controlled), and also control valve 12,12 is controlled, controlled the action of drift 1 thus according to the drift pattern of target.At this moment, should note: control valve 12,12 is controlled, made that the target rising or falling speed of drift 1 is lower, the flow of action oil that then is supplied to oil hydraulic cylinder 11 is littler; And the output frequency (also promptly, the rotating speed of pump motor 15) of control phase inverter 24 makes that the target rising or falling speed of drift 1 is lower, and then the ejection flow of oil pressure pump 14 is also little.Promptly, output frequency by control phase inverter 24 (also is, the rotating speed of pump motor 15), cooperation must be supplied to the general size variation of the action oil flow of oil hydraulic cylinder 11,11, ejection flow to oil pressure pump 14 carries out variable control roughly, guarantees the action oil flow that oil hydraulic cylinder 11,11 is required thus.In addition,, control valve 12,12 controls the flow of the action oil that is supplied to oil hydraulic cylinder 11,11 accurately by being controlled, so that the pattern of target is accurately abideed by in the action of drift 1.In the ejection flow of oil pressure pump 14, remaining part is back to pressure-oil tank 13 owing to come the ejection flow of oil pressure pump 14 is carried out variable control according to oil hydraulic cylinder 11,11 required flows from oil pressure pump 14 after removing the part that is supplied to oil hydraulic cylinder 11,11, so, with as the ejection flow of previous and so on oil pressure pump 14 be that the situation of fixed value is compared, the residual flow that is back to pressure-oil tank 13 is less.Thus, invalidly the electric power that consumes as heat is less, and caloric value is also less, therefore, and pressure-oil tank 13 less getting final product.
Below, be conceived to the relation that the action control of drift 1 and the output frequency of phase inverter 24 (rotating speed of pump motor 15) are controlled, specifically describe the action of described squeezer 30.
At first, when squeezer 30 stopped, operating personnel pressed firing switch 25 before the beginning bending machining.Thus, controller 23 response moves to till the assigned position mechanism of various Control Shafts such as backstop, and positions in this position from the initiating signal of firing switch 25, thereafter, makes described various Control Shaft mechanism static, makes squeezer 30 enter holding state.Under holding state, drift 1 is still in upper limit position in fact not producing under the stressed state (is no-load condition to call this state in the following text).After squeezer 30 was in described holding state, operating personnel trampled running switch 26 at every turn when beginning bending machining.Thus, controller 23 responses begin the action of described drift 1 and the rotating speed of pump motor 15 are controlled from the CRANK PULSES of running switch 26, make drift 1 begin action thus, thus the operation of beginning bending machining.
Fig. 3 A is expressed as follows the variation example of the position of the drift 1 in the process, described process is meant that squeezer 30 enters holding state, the operation of beginning bending machining, then the process till being back to holding state once more after the bending machining end of job, Fig. 3 B and Fig. 3 C represent the variation example of ejection flow with the ejection pressure of oil pressure pump 14.
In Fig. 3, before moment t1 and after the moment t2, squeezer 30 is in holding state, and drift 1 is static in no-load condition.In this holding state, to control by 23 pairs of control valves of controller 12,12, the flow-control that will flow to the action oil of oil hydraulic cylinder 11,11 thus is zero, as shown in Figure 3A, drift 1 is still in upper limit position.And, control by 23 pairs of phase inverters 24 of controller, thus, phase inverter 24 is output power not, and pump motor 15 stops, and therefore, shown in Fig. 3 B and Fig. 3 C, the ejection flow of oil pressure pump 14 is zero with ejection pressure.
In holding state, when pressing running switch 26 in moment t1, the bending machining operation begins.The bending machining operation comprises several stages.Starting stage is the quick decline stage of freely falling body.In this stage, as shown in Figure 3A, drift 1 is in the non-loaded state of substance, utilizes himself weight and descends with the fast speed of regulation.At this moment, 23 pairs of control valves 12 of controller are controlled, the flow of the action oil that goes out from the cylinder bar effluent of oil hydraulic cylinder 11,11 with control, and the decrease speed with drift 1 is controlled to be by the indicated speed of pattern thus.In the cylinder head side of oil hydraulic cylinder 11,11, move pressure-oil tank 13 direct suction action oil certainly.
And, in the described starting stage, the output frequency of phase inverter 24 is controlled to be the low-limit frequency (for example 15Hz) of regulation.The rotating speed of pump motor 15 roughly depends on the output frequency of phase inverter 24, and the ejection flow of oil pressure pump 14 then depends on the rotating speed of pump motor 15.Therefore, because the output frequency of phase inverter 24 is controlled to be low-limit frequency, pump motor 15 thus, shown in Fig. 3 B, is controlled to be the ejection flow of oil pressure pump 14 minimum flow of regulation with the minimum speed running.Thus, in the ejection flow of oil pressure pump 14, the redundance that directly is back to action pressure-oil tank 13 reduces, and the waste of power consumption is controlled.
And, in the described starting stage, the output power of phase inverter 24 is controlled to be than low value.The ejection pressure of oil pressure pump 14 is to be determined divided by the value of rotating speed gained by the output power of phase inverter 24 (that is the output power of pump motor 15).Therefore, be controlled to be than low value, shown in Fig. 3 C, the ejection pressure of oil pressure pump 14 be controlled to be the low voltage value of regulation by output power with phase inverter 24.
Continue when the described starting stage, when drift 1 arrived the switching position (patrix 3 is near the position of workpiece 5) of regulation, control valve 12,12 switched, and made the action of drift 1 enter next pressurization decline stage.In this pressurization decline stage, utilize control valve 12,12 that the flow from the action oil of oil pressure pump 14 ejection is controlled the oily cylinder head side that flows into oil hydraulic cylinder 11,11 of this action.Thus, as shown in Figure 3A, drift 1 descends with the pressing speed of regulation, and workpiece 5 is imposed plus-pressure and makes its bending (below, will make drift 1 produce stressed state in this way and be called load condition).At this moment, shown in Fig. 3 B, the output frequency of phase inverter 24 be controlled to be with the corresponding frequency of pressing speed (for example, 50Hz with source power supply frequency same degree), pump motor 15 with the corresponding rotation speed operation of this frequency, thus, the ejection flow of oil pressure pump 14 is controlled at is enough to make drift 1 with the pressing speed but not excessive suitable flow (for example, being a bit larger tham) that descends in order to make drift 1 with the descend flow of degree of required flow of pressing speed.Therefore, in the ejection flow of oil pressure pump 14, the redundance that directly is back to action pressure-oil tank 13 is less, thereby the waste of power consumption is controlled.And, in the described pressurization decline stage, the output power of phase inverter 24 is controlled to be higher value, thus, shown in Fig. 3 C, the ejection pressure of oil pressure pump 14 is controlled to be in order to obtain to make workpiece 5 crooked required stressed elevated pressures.
Continue when the pressurization decline stage, when drift 1 arrived the lower position of regulation, the action of drift 1 entered next pressurization maintenance stage.In the pressurization maintenance stage, control valve 12,12 is zero with the action oil flow-control of oil hydraulic cylinder 11,11, and thus, as shown in Figure 3A, drift 1 stops at the lower position, and keeps load condition, that is, keep workpiece 5 is imposed stressed state.At this moment, shown in Fig. 3 B, the output frequency of phase inverter 24 is controlled to be the low-limit frequency of regulation (for example 15Hz), and the speed drop of pump motor 15 thus, makes the ejection flow of oil pressure pump 14 be reduced to minimum flow to minimum speed.Thus, in the ejection flow of oil pressure pump 14, the redundance that directly is back to action pressure-oil tank 13 reduces, and the waste of power consumption is controlled.On the other hand, the output power of phase inverter 24 is controlled to be the higher value identical with the decline stage of pressurizeing, thus, the ejection pressure of oil pressure pump 14 is maintained in order to keep the stressed elevated pressures of regulation.
In the pressurization maintenance stage, after the pressurization retention time through regulation, control valve 12,12 switches, and the action of drift 1 enters next slow ascent stage.Slowly ascent stage is transitional low speed vertical motion, this transitionality low speed vertical motion is used for, when what self-pressurization kept the stage drift 1 is imposed bigger stressed load condition, switch to drift 1 when action that the non-loaded state of substance rises, slow down the impact that is applied to oil hydraulic circuits such as control valve 12,12.In this slow ascent stage, utilize control valve 12,12 to control the flow of the action oil that sprays from oil pressure pump 14, so that this action oil flows into the cylinder bar side of oil hydraulic cylinder 11,11, thus, as shown in Figure 3A, drift 1 is in the non-loaded state of substance, with the low and slow rate of climb rising of regulation.At this moment, shown in Fig. 3 B, with the output frequency of phase inverter 24 be controlled to be with the slow corresponding frequency of the rate of climb (for example, 50Hz with source power supply frequency same degree), pump motor 15 with the corresponding rotation speed operation of this frequency, thus, the ejection flow of oil pressure pump 14 is controlled at is enough to make drift 1 with the slow rate of climb but not excessive suitable flow (for example, being a bit larger tham) that rises in order to make drift 1 with the rise flow of degree of required flow of the slow rate of climb.Therefore, in the ejection flow of oil pressure pump 14, the redundance that directly is back to action pressure-oil tank 13 is less, thereby the waste of power consumption is controlled.On the other hand, since make drift 1 rise required power less than making workpiece 5 crooked required power, so the output power of phase inverter 24 is controlled to be smaller value, thus, shown in Fig. 3 C, the ejection pressure of oil pressure pump 14 is controlled at is enough to lower pressure that drift 1 is risen.
After the action of drift 1 switches to vertical motion, in the short time, carry out slow ascent stage, then, the action of drift 1 enters the last fast rise stage.In the fast rise stage, oily from the action of oil pressure pump 14 ejections by control valve 12,12, flow into the cylinder bar side of oil hydraulic cylinder 11,11 with bigger flow, thus, as shown in Figure 3A, drift 1 is in the non-loaded state of substance, with the fast rising speed rising of regulation.At this moment, shown in Fig. 3 B, the output frequency of phase inverter 24 be controlled to be with the highest frequency of the corresponding regulation of fast rise speed (for example, 80Hz), pump motor 15 is to turn round with the corresponding maximum speed of this highest frequency, thus, the ejection flow of oil pressure pump 14 is controlled at is enough to make drift 1 with the fast rising speed but not excessive suitable maximum stream flow (for example, being a bit larger tham) that rises in order to make drift 1 with the rise flow of degree of required flow of fast rising speed.Therefore, in the ejection flow of oil pressure pump 14, the redundance that directly is back to action pressure-oil tank 13 is less, thereby the waste of power consumption is controlled.On the other hand, the output power of phase inverter 24 is controlled to be and the slow identical smaller value of ascent stage, thus, shown in Fig. 3 C, the ejection pressure of oil pressure pump 14 is controlled to be is enough to lower pressure that drift 1 is risen.When drift 1 arrives upper limit position, 1 bending machining end of job, squeezer 30 enters holding state.
As previously discussed, when drift 1 when no-load condition is static, pump motor 15 stops.And, when drift 1 starting, the flow that is flowed to the action oil of oil hydraulic cylinder 11,11 by 12 pairs of control valves is controlled, control the responsiveness of drift 1 thus, meanwhile, the output frequency by control phase inverter 24 comes the rotating speed of control pump motor 15, thus, to be controlled in the required Min. from the ejection flow of the action oil of oil pressure pump 14, this minimal flow is in order to guarantee to desire under each situation to be supplied to the flow of oil hydraulic cylinder 11,11.Its result is, can reduce because of moving oil directly to be back to the electric power that action pressure-oil tank 13 consumes for no reason from oil pressure pump 14, thereby improve energy efficiency.And, owing to reduce,, make 13 miniaturizations of action pressure-oil tank so can reduce the oil mass of action pressure-oil tank 13 by the caloric value that electric power produced that consumes for no reason.
In addition, control, thus, not the rotating speed of pump motor 15 is controlled by source power supply frequency limitation ground, therefore,, all can control the responsiveness of drift 1 according to demand regardless of the source power supply frequency by 24 pairs of output frequencies of phase inverter.
And, because the frequency of phase inverter 24 can be higher than the source power supply frequency, so the pump motor is run up with described high-frequency.Therefore, as being representative with the fast rise stage shown in Fig. 3 A-Fig. 3 C, though need not higher oil pressure, but in make drift 1 with high-speed mobile rapidly near or the action that speeds away in, with high-frequency pump motor 15 is run up, to increase the ejection flow of oil pressure pump 14, therefore, even do not increase the rated power of pump motor 15, also can make the translational speed of drift 1 be higher than previous translational speed.Therefore, can be expected to enhance productivity.
More than, example of the present invention is illustrated, but this example only is in order to example of the present invention to be described that its aim is not that scope of the present invention only is defined in this example.The present invention also can implement with other various aspects in the scope that does not break away from its main idea.For example can using, the circuit of the generation frequency-changing AC electric power of other kind such as cycloconverter replaces phase inverter.And, as the pump motor, can use the alternating current motor or the d.c. motor of other kinds such as syncmotor to replace induction motor.Perhaps, as servo motor and so on, use and be equipped with the motor of rotating-speed control circuit as the pump motor, thus, the instruction that utilizes self-controller directly to be sent to the pump motor comes the rotating speed of pump motor is carried out variable control, and the variable frequency that need not to be provided with in addition as phase inverter and so on exchanges output circuit.And, as oil pressure activated device, also can use the actuator of other kind such as hydraulic motor to replace oil hydraulic cylinder in order to the starting Working mechanism.The invention is not restricted to hydraulic press brake, also can be applicable in the hydraulic processing machine of hydraulic type shearing machine or other kind.And in described example, interim ground is controlled the rotating speed of pump motor, replaces, and also can promptly, continuity the rotating speed of pump motor be controlled not by stages.
Claims (12)
1. hydraulic processing machine be to utilize oil pressure to start hydraulic processing machine (30) in order to the Working mechanism (1) of processing operation, and described hydraulic processing machine comprises:
One oil pressure activated device (11), it starts described Working mechanism;
One oil pressure pump (14), its ejection action oil;
One control valve (12), it is controlled in the flow of the described action oil that flows between described oil pressure pump and the described oil pressure activated device;
One pump motor (15), it drives described oil pressure pump and can carry out variable control to rotating speed;
One motor rotary speed control module (23,24), it controls the rotating speed of described pump motor; And
One Working mechanism action control unit (43), it controls the action of described Working mechanism by controlling described control valve.
2. hydraulic processing machine as claimed in claim 1, it is characterized in that whether making described Working mechanism (1) static, by the rotating speed of described motor rotary speed control module (23,24) the described pump motor of control (15) in no-load condition according to described Working mechanism action control unit (43).
3. hydraulic processing machine as claimed in claim 2, it is characterized in that making described Working mechanism (1) when no-load condition is static in described Working mechanism action control unit (43), described motor rotary speed control module (23,24) stops described pump motor (15), when described Working mechanism action control unit (43) is started described Working mechanism (1) or make described Working mechanism (1) when load condition is static, described motor rotary speed control module (23,24) makes described pump motor (15) running.
4. hydraulic processing machine as claimed in claim 1, it is characterized in that described motor rotary speed control module (23,24) is according to the flow that is supplied to the action oil of described oil pressure activated device by described control valve from described oil pressure pump, control the rotating speed of described pump motor, described control valve is subjected to the control of Working mechanism action control unit (43).
5. hydraulic processing machine as claimed in claim 4, the rotating speed that it is characterized in that interim ground of described motor rotary speed control module (23,24) or the described pump motor of continuity ground control, heal greatly so that be supplied to the flow of the action oil of described oil pressure activated device by described control valve, the rotating speed of described pump motor is faster.
6. hydraulic processing machine as claimed in claim 1, the rotating speed that it is characterized in that the described pump motor of described motor rotary speed control module (23,24) control, so that described oil pressure pump sprays in order to guarantee to move oily flow and the necessary minimal flow of pressure, described action oil desire is supplied to the action oil of described oil pressure activated device by described control valve.
7. hydraulic processing machine as claimed in claim 1 is characterized in that described motor rotary speed control module (23,24) further controls described pump motor, with the ejection pressure of control from described oil pressure pump (14).
8. hydraulic processing machine as claimed in claim 7, it is characterized in that described motor rotary speed control module (23,24) is in described Working mechanism (1) when being in load condition, control described pump motor (15), so that described oil pressure pump (14) is with the pressure ejection action oil greater than the pressure of described Working mechanism (1) when being in no-load condition.
9. hydraulic processing machine as claimed in claim 1 is characterized in that described pump motor (1) is the AC electrical motor,
Described motor rotary speed control module (23,24) comprising:
One frequency-changing AC electric power produces circuit (24), and it can be supplied to described pump motor (1) to the alternating electromotive force that frequency is carried out variable control; And
One frequency control unit (23), it controls the output frequency that described frequency-changing AC electric power produces circuit (24).
10. hydraulic processing machine as claimed in claim 9, it is characterized in that frequency-changing AC electric power produces the alternating electromotive force of circuit (24) from source power supply input commercial frequency, and will import the output power that electric power converts changeable frequency to, the variable range of the frequency of described output power is from being lower than the frequency of described commercial frequency to the frequency that is higher than described commercial frequency.
11. a hydraulic press brake be to utilize oil pressure to start the hydraulic press brake (30) of movable platform (1), and described hydraulic press brake comprises:
One oil pressure activated device (11), it starts described movable platform (1);
One oil pressure pump (14), its ejection action oil;
One control valve (12), it is controlled in the flow of the described action oil that flows between described oil pressure pump and the described oil pressure activated device;
One pump motor (15), it drives described oil pressure pump and can carry out variable control to rotating speed;
One motor rotary speed control module (23,24), it controls the rotating speed of described pump motor; And
One Working mechanism action control unit (43), it controls the action of described Working mechanism by controlling described control valve; And
Working mechanism action control unit (43) makes described movable platform (1) static in no-load condition, thereafter, described movable platform (1) is descended in no-load condition, described movable platform (1) in load condition descended, thereafter thereafter,, described movable platform (1) is risen in no-load condition
When described movable platform (1) when no-load condition is static, described motor rotary speed control module (23,24) stops described pump motor (15), when described movable platform (1) descended or rise, described motor rotary speed control module (23,24) made described pump motor (15) running
In addition, when described movable platform (1) when no-load condition descends, compare when load condition descends with described movable platform (1), described motor rotary speed control module (23,24) makes described pump motor (15) with lower rotation speed operation.
12. the control method of a hydraulic processing machine, it is used to control hydraulic processing machine (30), described hydraulic processing machine (30) will be supplied to oil pressure activated device (11) with starting Working mechanism (1) by control valve (12) from the action oil of oil pressure pump (14) ejection, described control method comprises
Control the rotating speed of described oil pressure pump step, and
Control the step of the action of described Working mechanism by controlling described control valve.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005086559A JP4916121B2 (en) | 2005-03-24 | 2005-03-24 | Hydraulic processing machine, hydraulic press brake and control method thereof |
| JP086559/2005 | 2005-03-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101132882A true CN101132882A (en) | 2008-02-27 |
| CN100515665C CN100515665C (en) | 2009-07-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006800064416A Active CN100515665C (en) | 2005-03-24 | 2006-03-23 | Hydraulic processing machine, hydraulic plate bender |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP4916121B2 (en) |
| KR (1) | KR100940472B1 (en) |
| CN (1) | CN100515665C (en) |
| WO (1) | WO2006101156A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102155445A (en) * | 2011-02-22 | 2011-08-17 | 山东泰丰液压股份有限公司 | Hydraulic control system with double-feedback active proportional servo cartridge valve for CNC (Computer Numerical Control) bending machine |
| CN103423112A (en) * | 2012-05-14 | 2013-12-04 | 财团法人精密机械研究发展中心 | Hydrostatic turnplate regenerative charging energy-saving device |
| CN110058617A (en) * | 2018-01-18 | 2019-07-26 | 爱德利科技股份有限公司 | The control method of electric hydaulic power assist system |
| CN112936972A (en) * | 2021-02-08 | 2021-06-11 | 吕言 | Hydraulic control device and control method for hydraulic machine |
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| AT505724B1 (en) | 2007-09-12 | 2010-06-15 | Trumpf Maschinen Austria Gmbh | DRIVE DEVICE FOR A BEND PRESS |
| DE102009059025A1 (en) * | 2009-12-18 | 2011-06-22 | Robert Bosch GmbH, 70469 | Method for operating a hydraulic working machine |
| WO2011135619A1 (en) * | 2010-04-27 | 2011-11-03 | 株式会社ヒロテック | Machining device |
| EP2431166A1 (en) * | 2010-09-20 | 2012-03-21 | Bystronic Laser AG | Control system for a hydraulic folding press |
| JP2013066931A (en) * | 2011-09-26 | 2013-04-18 | Toyota Auto Body Co Ltd | Press device |
| TWI449592B (en) * | 2012-04-09 | 2014-08-21 | Prec Machinery Res & Dev Ct | Liquid static pressure rotary recharging energy saving device |
| TWI449593B (en) * | 2012-04-09 | 2014-08-21 | Prec Machinery Res & Dev Ct | Liquid hydraulic pressure switch |
| CN102717139A (en) * | 2012-05-11 | 2012-10-10 | 江苏龙威重型机械有限公司 | Modified cylinder used in bending machine or plate shearing machine |
| JP5961089B2 (en) * | 2012-10-17 | 2016-08-02 | 株式会社アマダホールディングス | Hydraulic press brake |
| JP6159578B2 (en) * | 2013-05-28 | 2017-07-05 | 中村留精密工業株式会社 | How to operate machine tools |
| KR101617686B1 (en) * | 2015-03-27 | 2016-05-03 | 학교법인 김천대학교 | Variable type mold device for patient-customized orthopedic implant plate |
| JP6704716B2 (en) * | 2015-11-26 | 2020-06-03 | 株式会社モリタ環境テック | Cutting processing apparatus and method of operating cutting processing apparatus |
| KR101823234B1 (en) * | 2016-04-11 | 2018-01-30 | 학교법인 김천대학교 | Bending Apparatus for fracture implants plate |
| JP6561092B2 (en) * | 2017-06-28 | 2019-08-14 | 株式会社栗本鐵工所 | Bending roll |
| WO2022146266A1 (en) * | 2020-12-31 | 2022-07-07 | Baykal Maki̇na Sanayi̇ Ve Ti̇caret Anoni̇m Şi̇rketi̇ | Gas propellant top beam structure in press brakes |
| AT526048A1 (en) * | 2022-04-05 | 2023-10-15 | Trumpf Maschinen Austria Gmbh & Co Kg | Forming machine for forming workpieces and a method for this |
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| JP3519091B2 (en) * | 1992-08-27 | 2004-04-12 | 株式会社アマダ | Press brake pressure regulator |
| JPH06323303A (en) * | 1993-05-12 | 1994-11-25 | Koyo Mach Ind Co Ltd | Hydraulic actuator driving device |
| JP2000271651A (en) * | 1999-03-29 | 2000-10-03 | Amada Eng Center Co Ltd | Energy saving driving method in bending device and its device |
| JP2002066799A (en) * | 2000-08-17 | 2002-03-05 | Applied Power Japan Kk | Press |
| JP2003156005A (en) * | 2001-11-19 | 2003-05-30 | N System:Kk | Controlling/pressurizing device for pump rotation |
| JP2004066248A (en) * | 2002-08-01 | 2004-03-04 | Amada Co Ltd | Bending machine |
-
2005
- 2005-03-24 JP JP2005086559A patent/JP4916121B2/en not_active Expired - Fee Related
-
2006
- 2006-03-23 KR KR1020077021900A patent/KR100940472B1/en not_active IP Right Cessation
- 2006-03-23 WO PCT/JP2006/305801 patent/WO2006101156A1/en active Application Filing
- 2006-03-23 CN CNB2006800064416A patent/CN100515665C/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102155445A (en) * | 2011-02-22 | 2011-08-17 | 山东泰丰液压股份有限公司 | Hydraulic control system with double-feedback active proportional servo cartridge valve for CNC (Computer Numerical Control) bending machine |
| CN102155445B (en) * | 2011-02-22 | 2013-07-03 | 山东泰丰液压股份有限公司 | Hydraulic control system with double-feedback active proportional servo cartridge valve for CNC (Computer Numerical Control) bending machine |
| CN103423112A (en) * | 2012-05-14 | 2013-12-04 | 财团法人精密机械研究发展中心 | Hydrostatic turnplate regenerative charging energy-saving device |
| CN103423112B (en) * | 2012-05-14 | 2016-01-06 | 财团法人精密机械研究发展中心 | Hydrostatic pressure rotating disk is brought back to life charging energy saving device |
| CN110058617A (en) * | 2018-01-18 | 2019-07-26 | 爱德利科技股份有限公司 | The control method of electric hydaulic power assist system |
| CN112936972A (en) * | 2021-02-08 | 2021-06-11 | 吕言 | Hydraulic control device and control method for hydraulic machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4916121B2 (en) | 2012-04-11 |
| JP2006263872A (en) | 2006-10-05 |
| KR20070112221A (en) | 2007-11-22 |
| CN100515665C (en) | 2009-07-22 |
| KR100940472B1 (en) | 2010-02-04 |
| WO2006101156A1 (en) | 2006-09-28 |
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