CN101281391A - Transport apparatus - Google Patents
Transport apparatus Download PDFInfo
- Publication number
- CN101281391A CN101281391A CNA200810089871XA CN200810089871A CN101281391A CN 101281391 A CN101281391 A CN 101281391A CN A200810089871X A CNA200810089871X A CN A200810089871XA CN 200810089871 A CN200810089871 A CN 200810089871A CN 101281391 A CN101281391 A CN 101281391A
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- coefficient
- acceleration
- speed
- conveying device
- deceleration
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- 230000001133 acceleration Effects 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 238000009499 grossing Methods 0.000 abstract 1
- 230000009471 action Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/025—Speed of the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/28—Impact protection
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention provides a conveying device, which processes error between a velocity instruction and a current speed by a filter. In the filter, a coefficient K, which is obtained base on K=K0+nDelta (n being a duration time of an acceleration/deceleration signal) is inputted into an electrical current control part after being multiplied by a speed error. Thereby, the device can decrease impact of the conveying device at acceleration/deceleration, having smoothing moving and little swaying.
Description
Technical field
The present invention relates to conveying devices such as stakcer crane (stacker crane) or conveying carrier, lifting table, conveying belt.
Background technology
Conveying devices such as stakcer crane, except can turning round automatically, mostly can also manual operation (patent documentation 1: TOHKEMY 2000-153905).And, for manual operation, be provided with starting, quicken, slow down, stop four switches, carry out acceleration and deceleration by acceleration switch and speed reducing switch, braking by shutdown switch stops device.In manual operation, final goal speed can not be predicted for conveying device, therefore carries out acceleration and deceleration point-blank according to acceleration switch and speed reducing switch.So, because acceleration and deceleration and to conveying device and articles conveyedly apply very big impact.For example, under the situation of stakcer crane, pillar (mast) bending owing to acceleration and deceleration, vibration impact the article in carrying sometimes.In addition, under situations such as transport vehicles, the impact in the time of too can be and impacting to articles conveyed owing to acceleration and deceleration.
Patent documentation: TOHKEMY 2000-153905
Summary of the invention
The problem that the present invention will solve is, reduces to follow acceleration and deceleration when manually making the conveying device action and the impact that produces.
The problem that the invention of technical scheme two further will solve is further to reduce to impact.
The problem that the invention of technical scheme three further will solve is, simplifies to be used to the control that reduces to impact.
Conveying device of the present invention possesses: be used for according to the mechanism that generates target velocity from the acceleration/deceleration signal of hand switch; Be used to ask for the error detection mechanism of difference of the present speed of this target velocity and conveying device; And the control motor is eliminated the control gear of the velocity contrast of being tried to achieve; It is characterized in that, be provided with wave filter between error detection mechanism and control gear, drive above-mentioned control gear according to the output of this wave filter, this wave filter is used to ask for above-mentioned velocity contrast be multiply by value after the predetermined coefficients between 0 to 1.
Preferably, be provided with the coefficient generating mechanism that is used for making the afore mentioned rules coefficient to increase with the duration from the acceleration/deceleration signal of hand switch, wherein, the afore mentioned rules coefficient is initial value with the minimum value, and this initial value be on the occasion of.Especially preferably constitute above-mentioned coefficient generating mechanism by timer, this timer carries out timing to the duration of acceleration/deceleration signal, make when establish initial value be K0 (K0＞0), maximal value be Kmax (Kmax＜1), duration be n, when COEFFICIENT K increment rate hourly is Δ, K=K0+n Δ (K≤Kmax).
In the present invention, the difference of target velocity and present speed be multiply by predetermined coefficients between 0 to 1, and the output of wave filter is input in the control gear of control motor by wave filter.Its result, when quickening beginning and when slowing down beginning, present speed is to the operating lag of target velocity, thereby conveying device and impact that article applied are reduced.
Here, be initial value (K0＞0) with K0, when predetermined coefficients was increased with duration of acceleration/deceleration signal, when beginning acceleration or slowing down, especially can reduce response, therefore to target velocity, can reduce the variation of acceleration-deceleration, thereby reduce to impact.And when continuing acceleration or slowing down, coefficient increases, to the response increase of target velocity.Such coefficient also can use generations such as table or function, but, preferably the duration n of acceleration/deceleration signal is carried out timing with timer, coefficient increment rate hourly is made as Δ, when producing, can utilize timer to generate coefficient simply according to the K=K0+n Δ.When with software such wave filter being installed, as long as the duration of acceleration/deceleration signal is carried out timing, coefficient is correspondingly increased, the coefficient obtained and velocity error are multiplied each other to get final product, and therefore, wave filter can be installed very simply.
In addition, as a comparative example, can consider the mode that reduces according to by the caused impact of acceleration and deceleration, regulation is by the rate curve of the acceleration and deceleration of manually carrying out, and it is stored in the rate curve generating unit etc. of Fig. 1 for example.But, like this, will increase institute's data quantity stored, and, need predesignate final goal speed, so in the acceleration and deceleration of manually carrying out for the rate curve of being stored, for example, can produce impact with when stopping to quicken by the low speed of the contemplated speed of rate curve.When slowing down, target velocity is made as 0 equally, promptly is made as and stops, under the situation of having stored rate curve, after speed is reduced, when stopping to slow down, can produce impact.
Description of drawings
Fig. 1 is the block diagram of the conveying device of embodiment.
Fig. 2 is the block diagram of the wave filter among the embodiment.
Fig. 3 is the process flow diagram of the manual moving algorithm among the expression embodiment
Fig. 4 is in the performance plot of expression embodiment, to the variation of the speed responsive and the coefficient of speed command.
Symbol description among the figure
2-rate curve generating unit; The 4-hand switch; The 6-timer; The 8-error amplifier; The 10-wave filter; The 12-current control division; The 14-motor; The 16-differentiator; The 20-multiplier; The 21-timer; The 22-negative circuit; The 23-delay circuit
Embodiment
Below, provide and be used to implement most preferred embodiment of the present invention.
Embodiment
Fig. 1～Fig. 4 represents the conveying device of embodiment.The kind of conveying device is made as stakcer crane here, at moving or the forward-reverse of lifting or slip pallet fork of stakcer crane, is suitable for the present invention.Except stakcer crane, embodiment also goes for the action of the moving of the lifting of the moving of the moving of track or railless waggon, bridge-type locomotive, lifting table or overhead travelling crane, conveying belt, the transfer of shifting apparatus etc.
In each figure, the 2nd, the rate curve generating unit is under the situation of running automatically, during the input target location, according to the formation speed curves such as displacement from the current location to the target location.In addition, the dot-and-dash line of Fig. 1 represent automatically running intrinsic signal flow, the signal flow in the manual operation and running and the public signal flow of manual operation are represented with solid line automatically.The 4th, hand switch for example possesses four switches: the starting switch of manual operation, acceleration switch, speed reducing switch, shutdown switch.The installation method of switch is arbitrarily.Timer 6 is used for trying to achieve the turn-on time of acceleration switch of hand switch 4 and the turn-on time of speed reducing switch, when quickening, generates the target velocity (speed command) that is directly proportional with the turn-on time of acceleration switch.The maximal value of timer 6 storage target velocities when speed reducing switch is connected, generates the target velocity that reduces speed now from maximal rate with the turn-on time of speed reducing switch with being directly proportional, with it as speed command.
The 8th, error amplifier is used to amplify speed command and from the velocity error between the present speed of differentiator 16, and the revolution of differentiator 16 by monitoring motor 14 with scrambler etc. also carry out differential, generate present speed.Also can use replacement scramblers such as linear transducer (linear sensor) or laser range finder to try to achieve current location, and their signal is carried out differential, as present speed.Wave filter 10 only uses when utilizing hand switch to move, and handles the signal from error amplifier 8, generates the torque instruction to current control division 12.Current control division 12 is controlled motor 14 according to the torque instruction that is transfused to, and is fed the drive current i of motor 14.In an embodiment, except being provided with between error amplifier 8 and the current control division 12 wave filter 10, identical with in the past conveying device.
Fig. 2 represents the structure of wave filter 10, the 20th, and multiplier will multiply by COEFFICIENT K i from the velocity error of error amplifier 8 as torque instruction.Timer 21 output coefficient Ki, 22 is negative circuit, 23 is delay circuit.And, make timer 21 carry out additive operation according to signal for faster or reduce-speed sign from hand switch, when signal for faster or reduce-speed sign disconnection, make timer after 21 standby stipulated times by delay circuit 23, timer 21 is resetted.Make the output of timer 21 become initial value K0 by resetting.Here symbol is described, n is that duration, the Δ of signal for faster or reduce-speed sign is coefficient rate of change hourly.Initial value K0 be on the occasion of, be the minimum value of COEFFICIENT K, there is maximal value Kmax (0＜K0＜Kmax＜1) in COEFFICIENT K.And, can suitably set K0, Kmax or Δ.Make the acceleration and deceleration that are roughly self-conveying apparatus time delay of delay circuit 23 finish the back, follow slack time till the final speed command, also delay circuit 23 can be set to actual speed.In addition, in Fig. 2, be with hardware representation wave filter 10, but also can install with software.
Fig. 3 represents manual action when mobile, and the processing on the right side of figure is the processing relevant with the generation of COEFFICIENT K.When acceleration/deceleration signal being connected, to carrying out timing turn-on time and generating COEFFICIENT K by hand switch.In addition, be directly proportional with the turn-on time of acceleration and deceleration ground or formation speed instruction point-blank be multiply by COEFFICIENT K with the difference of speed command and present speed, and the generation torque instruction is with this torque instruction CD-ROM drive motor.When the acceleration/deceleration signal of hand switch disconnects, after the time delay through regulation, COEFFICIENT K is reset to initial value K0.When then carrying out acceleration and deceleration once more, carry out same control, when shutdown switch is connected, make the detent action.In an embodiment, during acceleration and when slowing down, the initial value K0 of COEFFICIENT K is certain, and maximal value Kmax also is certain, and rate of change Δ hourly is also certain, but also can make these parameters different in acceleration-deceleration.
Fig. 4 represents the operation curve of embodiment.The speed command of solid line is based on the speed command of hand switch, and dotted line represents that COEFFICIENT K is the actual speed of conveying device regularly, the speed when dot-and-dash line represents to try to achieve COEFFICIENT K by the K=K0+n Δ.The variation of COEFFICIENT K is represented in stage casing among the figure, and hypomere is represented the action of hand switch.
The beginning manual operation, when acceleration switch was connected, speed command increased point-blank.Coefficient of performance K in an embodiment to this, the value that will multiply by the difference of the present speed of speed command and conveying device after the COEFFICIENT K is exported as torque instruction.When the control system of supposing conveying device generates torque instruction at interval with official hour, most current speed or the one-period preceding speed of present speed for trying to achieve with differentiator 16.When speed command is consistent with present speed, torque instruction is 0, so can think that wave filter 10 is following next target velocity Vobject that stipulate: to from speed command Vinst, deducting on duty behind the current or last speed Vm, with multiplied result and present speed or last speed Vm addition with COEFFICIENT K.That is Vobject=(Vinst-Vm) K+Vm.
In an embodiment, no matter be to make COEFFICIENT K one regularly, still make it when initial value increases gradually, the response of speed command is all postponed.And, make COEFFICIENT K when initial value K0 increases gradually, because the value of coefficient is little when quickening beginning and when slowing down beginning, so can reduce to quicken to begin the time and the variation of the acceleration-deceleration when slowing down beginning, reduce to act on the impact of conveying device and article.When COEFFICIENT K is increased in time, because coefficient increases gradually, so whole response is basic identical with the situation that makes COEFFICIENT K one timing.And, when quickening to finish, continue to generate torque instruction, to eliminate the velocity error of this moment, carry out the transition to constant speed with target velocity and move.
When slowing down beginning, also use wave filter, make operating lag thus to speed command.Particularly when slowing down, when COEFFICIENT K is increased in time together, the variation of the acceleration-deceleration in the time of can reducing to slow down beginning.And, being almost after 0 at speed command, behind the delay stipulated time, actual speed is followed speed command, stops by brakeage again.In Fig. 4, decelerate at roughly 0 o'clock at speed command, because the operating lag of conveying device, speed is not dead slow speed, so the operator will make speed reducing switch connect.But before detent being had an effect, restart, negative speed is invalid, so speed command can be lower than 0 hardly.
Embodiment can obtain following effect:
(1) in the time of can reducing conveying device and quicken and the impact in when deceleration, reduces conveying device itself is reached articles conveyed influence.
(2) make employed coefficient when smaller initial value begins to increase gradually, in the time of especially reducing to quicken to begin and the impact when slowing down beginning.
(3) only by carrying out timing the turn-on time to signal for faster or reduce-speed sign, and correspondingly change coefficient, just can try to achieve COEFFICIENT K simply.And, wave filter can be installed very simply as long as coefficient that will be tried to achieve and the error between speed command and the present speed multiply each other.
Claims (3)
1, a kind of conveying device possesses: be used for according to the mechanism that generates target velocity from the acceleration/deceleration signal of hand switch; Be used to ask for the error detection mechanism of difference of the present speed of this target velocity and conveying device; And the control motor is eliminated the control gear of the velocity contrast of being tried to achieve; It is characterized in that,
Be provided with wave filter between error detection mechanism and control gear, drive above-mentioned control gear according to the output of this wave filter, this wave filter is used to ask for above-mentioned velocity contrast be multiply by value after the predetermined coefficients between 0 to 1.
2, conveying device according to claim 1 is characterized in that,
Be provided with the coefficient generating mechanism that is used for making the afore mentioned rules coefficient to increase with the duration from the acceleration/deceleration signal of hand switch, wherein, the afore mentioned rules coefficient is initial value with the minimum value, and this minimum value be on the occasion of.
3, conveying device according to claim 2 is characterized in that,
Constitute above-mentioned coefficient generator by timer, this timer carries out timing to the duration of acceleration/deceleration signal, make when establish initial value be K0, maximal value be duration of Kmax, acceleration/deceleration signal be n, when COEFFICIENT K increment rate hourly is Δ, the K=K0+n Δ, wherein, K0＞0, Kmax＜1, K≤Kmax.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007100259A JP4314639B2 (en) | 2007-04-06 | 2007-04-06 | Transport device |
| JP2007-100259 | 2007-04-06 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101281391A true CN101281391A (en) | 2008-10-08 |
| CN101281391B CN101281391B (en) | 2011-08-31 |
Family
ID=39978860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810089871XA Expired - Fee Related CN101281391B (en) | 2007-04-06 | 2008-04-03 | Transport apparatus |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP4314639B2 (en) |
| KR (1) | KR101202267B1 (en) |
| CN (1) | CN101281391B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103370668A (en) * | 2011-02-14 | 2013-10-23 | 村田机械株式会社 | Transport carriage system and method for controlling running of transport carriage |
| CN104192528A (en) * | 2014-08-12 | 2014-12-10 | 北京天拓四方科技有限公司 | Method for controlling band-type brake in stopping of sealing-tape machine |
| CN108408355A (en) * | 2018-01-23 | 2018-08-17 | 山西汾西矿业（集团）有限责任公司设备修造厂 | A kind of control method in place of the conveying mechanism of intermediate channel two-sided welding |
| CN110315994A (en) * | 2019-06-26 | 2019-10-11 | 河南美力达汽车有限公司 | A kind of shock resistance system of electric car |
| CN111056258A (en) * | 2019-11-20 | 2020-04-24 | 秒针信息技术有限公司 | Method and device for intelligently adjusting conveyor belt |
| CN111268618A (en) * | 2020-01-22 | 2020-06-12 | 广州市方圆机械设备有限公司 | Liquid tank conveying method for preventing liquid from overflowing |
| CN112976838A (en) * | 2021-02-02 | 2021-06-18 | 昆山大世界油墨涂料有限公司 | Iterative learning speed synchronous control method for paper conveying mechanism of ink-jet printer |
| CN113574006A (en) * | 2019-03-27 | 2021-10-29 | 株式会社多田野 | Crane control method and crane |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5573948B2 (en) * | 2010-06-11 | 2014-08-20 | 村田機械株式会社 | Conveyor system |
| CN106672598B (en) * | 2015-11-11 | 2019-03-29 | 中联重科股份有限公司 | Feeding control method, device, system and Machine-made Sand apparatus for production line |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2504307B2 (en) * | 1990-08-01 | 1996-06-05 | 三菱電機株式会社 | Electric motor speed controller |
| JP3591638B2 (en) * | 2000-10-02 | 2004-11-24 | 村田機械株式会社 | Stacker crane |
| JP3835184B2 (en) | 2001-03-19 | 2006-10-18 | 株式会社ダイフク | Shelf equipment |
-
2007
- 2007-04-06 JP JP2007100259A patent/JP4314639B2/en active Active
-
2008
- 2008-02-18 KR KR1020080014404A patent/KR101202267B1/en active IP Right Grant
- 2008-04-03 CN CN200810089871XA patent/CN101281391B/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103370668B (en) * | 2011-02-14 | 2016-05-18 | 村田机械株式会社 | The travel control method of conveying trolley system and conveying trolley |
| CN103370668A (en) * | 2011-02-14 | 2013-10-23 | 村田机械株式会社 | Transport carriage system and method for controlling running of transport carriage |
| CN104192528A (en) * | 2014-08-12 | 2014-12-10 | 北京天拓四方科技有限公司 | Method for controlling band-type brake in stopping of sealing-tape machine |
| CN104192528B (en) * | 2014-08-12 | 2017-03-15 | 北京天拓四方科技有限公司 | The control method of band-type brake when a kind of sealing-tape machine stops |
| CN108408355A (en) * | 2018-01-23 | 2018-08-17 | 山西汾西矿业（集团）有限责任公司设备修造厂 | A kind of control method in place of the conveying mechanism of intermediate channel two-sided welding |
| CN113574006A (en) * | 2019-03-27 | 2021-10-29 | 株式会社多田野 | Crane control method and crane |
| CN113574006B (en) * | 2019-03-27 | 2024-04-09 | 株式会社多田野 | Crane control device and crane |
| CN110315994A (en) * | 2019-06-26 | 2019-10-11 | 河南美力达汽车有限公司 | A kind of shock resistance system of electric car |
| CN111056258A (en) * | 2019-11-20 | 2020-04-24 | 秒针信息技术有限公司 | Method and device for intelligently adjusting conveyor belt |
| CN111056258B (en) * | 2019-11-20 | 2021-08-10 | 秒针信息技术有限公司 | Method and device for intelligently adjusting conveyor belt |
| CN111268618B (en) * | 2020-01-22 | 2021-12-28 | 广州市方圆机械设备有限公司 | Liquid tank conveying method for preventing liquid from overflowing |
| CN111268618A (en) * | 2020-01-22 | 2020-06-12 | 广州市方圆机械设备有限公司 | Liquid tank conveying method for preventing liquid from overflowing |
| CN112976838A (en) * | 2021-02-02 | 2021-06-18 | 昆山大世界油墨涂料有限公司 | Iterative learning speed synchronous control method for paper conveying mechanism of ink-jet printer |
| CN112976838B (en) * | 2021-02-02 | 2022-02-18 | 昆山大世界油墨涂料有限公司 | Iterative learning speed synchronous control method for paper conveying mechanism of ink-jet printer |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20080090969A (en) | 2008-10-09 |
| JP2008254898A (en) | 2008-10-23 |
| KR101202267B1 (en) | 2012-11-16 |
| CN101281391B (en) | 2011-08-31 |
| JP4314639B2 (en) | 2009-08-19 |
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