DE112005002827A5 - Roboterhand sowie Verfahren zum automatischen Setzen eines Elements - Google Patents
Roboterhand sowie Verfahren zum automatischen Setzen eines Elements Download PDFInfo
- Publication number
- DE112005002827A5 DE112005002827A5 DE112005002827T DE112005002827T DE112005002827A5 DE 112005002827 A5 DE112005002827 A5 DE 112005002827A5 DE 112005002827 T DE112005002827 T DE 112005002827T DE 112005002827 T DE112005002827 T DE 112005002827T DE 112005002827 A5 DE112005002827 A5 DE 112005002827A5
- Authority
- DE
- Germany
- Prior art keywords
- automatically setting
- robotic hand
- robotic
- hand
- automatically
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/02—Riveting procedures
- B21J15/04—Riveting hollow rivets mechanically
- B21J15/043—Riveting hollow rivets mechanically by pulling a mandrel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
- B21J15/142—Aerospace structures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
- B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/007—Riveting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/16—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by adjusting the capacity of dead spaces of working chambers
-
- 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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/26—Supply reservoir or sump assemblies
- F15B1/265—Supply reservoir or sump assemblies with pressurised main reservoir
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49815—Disassembling
- Y10T29/49821—Disassembling by altering or destroying work part or connector
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49826—Assembling or joining
- Y10T29/49908—Joining by deforming
- Y10T29/49938—Radially expanding part in cavity, aperture, or hollow body
- Y10T29/49943—Riveting
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
- Y10T29/53061—Responsive to work or work-related machine element
- Y10T29/53065—Responsive to work or work-related machine element with means to fasten by deformation
- Y10T29/5307—Self-piercing work part
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53313—Means to interrelatedly feed plural work parts from plural sources without manual intervention
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53709—Overedge assembling means
- Y10T29/5377—Riveter
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53709—Overedge assembling means
- Y10T29/5377—Riveter
- Y10T29/53774—Single header
Applications Claiming Priority (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004056046 | 2004-11-19 | ||
DE102004056046.3 | 2004-11-19 | ||
DE102004061164.5 | 2004-12-16 | ||
DE102004061164 | 2004-12-16 | ||
DE102005023099.7 | 2005-03-13 | ||
DE102005023099 | 2005-05-13 | ||
PCT/EP2005/010207 WO2006056255A2 (de) | 2004-11-19 | 2005-09-21 | Roboterhand mit einer hydraulikeinheit, deren speicherraum ein variierbares ausgleichsvolumen hat |
Publications (2)
Publication Number | Publication Date |
---|---|
DE112005002827A5 true DE112005002827A5 (de) | 2007-11-22 |
DE112005002827B4 DE112005002827B4 (de) | 2014-02-20 |
Family
ID=35502749
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE112005002827.5T Active DE112005002827B4 (de) | 2004-11-19 | 2005-09-21 | Roboterhand sowie Verfahren zum automatischen Setzen eines Elements |
Country Status (3)
Country | Link |
---|---|
US (1) | US7729796B2 (de) |
DE (1) | DE112005002827B4 (de) |
WO (1) | WO2006056255A2 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016001235A3 (de) * | 2014-06-30 | 2016-03-24 | Ba Assembly & Turnkey Systems Gmbh | Manipulator mit einem manipulatorarm |
Families Citing this family (48)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
PL2041010T3 (pl) * | 2006-07-17 | 2012-03-30 | Celli Nonwovens Spa | Zautomatyzowany układ do wytwarzania i obsługiwania rolek materiału zwojowego oraz robot przeznaczony szczególnie do wymienionego układu |
DE102008056246A1 (de) * | 2008-11-06 | 2010-05-12 | Itw Automotive Products Gmbh | Montagegerät, System und Verfahren zur Montage von in eine Öffnung eines Werkstücks einzusetzende, als Schüttgut vorliegende Bauteile |
DE102008058946B4 (de) * | 2008-11-25 | 2012-12-13 | Lorenz Stöger | Setzeinheit zum Setzen von Nieten |
EP2329898A1 (de) * | 2009-12-01 | 2011-06-08 | Lorenz Stöger | Automatische Vorrichtung zum Setzen von Nieten |
US20110131776A1 (en) * | 2009-12-04 | 2011-06-09 | Stoeger Lorenz | Automatic device for setting rivets |
DE102010005798B4 (de) * | 2010-01-27 | 2019-10-31 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Roboterwerkzeug |
US20130038070A1 (en) * | 2010-02-16 | 2013-02-14 | Kurt Andersen | Method for assembling part of a generator, generator and wind turbine |
JP5513964B2 (ja) * | 2010-04-19 | 2014-06-04 | 株式会社大武ルート工業 | 自動ネジ締め装置 |
DE102012015183A1 (de) | 2011-08-05 | 2013-02-07 | Bayerische Motoren Werke Aktiengesellschaft | Fügeverbindung zwischen zwei Bauteilen, Blindniet für eine solche Fügeverbindung sowie Verfahren zur Herstellung einer solchen Fügeverbindung |
DE102011113832A1 (de) * | 2011-09-21 | 2013-03-21 | Newfrey Llc | Verfahren und Vorrichtung zum Zuführen von Fügeelementen |
DE202012009280U1 (de) | 2011-09-28 | 2013-01-11 | Richard Bergner Verbindungstechnik Gmbh & Co. Kg | Greifvorrichtung für ein bolzenförmiges Verbindungselement, insbesondere Blindniet sowie Magazin zur Aufnahme derartiger Verbindungselemente, automatisierte Zufuhrvorrichtung zum automatisierten Zuführen eines solchen Verbindungselements zu einer automatisierten Niet- oder Setzeinheit |
DE202012009279U1 (de) | 2011-09-28 | 2013-01-11 | Richard Bergner Verbindungstechnik Gmbh & Co. Kg | Fügeverbindung zwischen zwei Bauteilen, Niethülse sowie Blindniet für eine solche Fügeverbindung |
US9115705B2 (en) | 2012-09-10 | 2015-08-25 | Flotek Hydralift, Inc. | Synchronized dual well variable stroke and variable speed pump down control with regenerative assist |
DE102012018438B4 (de) * | 2012-09-19 | 2018-12-13 | Eisenmann Alpha-Tec Gmbh | Handhabungseinrichtung mit einem Manipulator für Materialstücke |
DE102012025108A1 (de) | 2012-12-21 | 2014-06-26 | Richard Bergner Verbindungstechnik Gmbh & Co. Kg | Fügeverbindung zwischen zwei Bauteilen, Niethülse sowie Blindniet für eine solche Fügeverbindung |
DE102013002863A1 (de) * | 2013-02-20 | 2014-08-21 | Newfrey Llc | Ausgleichsvorrichtung für eine Werkzeugeinheit und Fügeverfahren mittels der Werkzeugeinheit |
WO2014165831A1 (en) * | 2013-04-05 | 2014-10-09 | Best Larry D | Synchronized dual well variable stroke and variable speed pump down control with regenerative assist |
CN103640016A (zh) * | 2013-11-11 | 2014-03-19 | 吴中区木渎蒯斌模具加工厂 | 一种液压式大型机械手的工作步骤 |
CN104723331A (zh) * | 2013-12-20 | 2015-06-24 | 广西大学 | 一种闭链结构四自由度电驱动多关节型工业机械手 |
CN104723330A (zh) * | 2013-12-20 | 2015-06-24 | 广西大学 | 一种四自由度关节型教学电动机械手 |
PT3126284T (pt) * | 2014-03-29 | 2018-09-28 | Duerr Somac Gmbh | Adaptador de enchimento com uma interface para o acoplamento de uma pega |
DE202014102559U1 (de) * | 2014-06-02 | 2015-09-03 | Kuka Systems Gmbh | Stopfensetzeinrichtung |
CN105313127A (zh) * | 2014-06-02 | 2016-02-10 | 精工爱普生株式会社 | 机器人、机器人的控制方法以及机器人的控制装置 |
US9879700B1 (en) | 2014-07-22 | 2018-01-30 | Boston Dynamics, Inc. | Robotic hydraulic system |
US9849926B2 (en) | 2014-07-23 | 2017-12-26 | Boston Dynamics, Inc. | Predictively adjustable hydraulic pressure rails |
US9638216B1 (en) | 2014-07-31 | 2017-05-02 | Google Inc. | Discretized valve state control for multi-level hydraulic systems |
DE102014017855A1 (de) * | 2014-12-03 | 2016-06-09 | Dürr Systems GmbH | Handhabungseinrichtung zum Öffnen einer Klappe und entsprechendes Verfahren |
FR3029819B1 (fr) | 2014-12-11 | 2017-06-23 | Aerolia | Barillet de stockage de bagues et procede de distribution de bagues |
CN104875181A (zh) * | 2015-01-09 | 2015-09-02 | 广西大学 | 一种闭链结构五自由度步进电机驱动工业机械手 |
GB2537899B (en) | 2015-04-30 | 2018-02-21 | Hy5Pro As | Control of digits for artificial hand |
GB2537898B (en) | 2015-04-30 | 2018-02-21 | Hy5Pro As | Palm unit for artificial hand |
GB2537900B (en) * | 2015-04-30 | 2018-02-21 | Hy5Pro As | Hydraulic pump assembly for artificial hand |
US10150213B1 (en) | 2016-07-27 | 2018-12-11 | X Development Llc | Guide placement by a robotic device |
US11253909B2 (en) * | 2017-02-28 | 2022-02-22 | The Lee Company | Method of and device for installing a component in a bore |
DE102017003714A1 (de) | 2017-04-15 | 2018-10-18 | Audi Ag | Roboteranlage mit Werkzeugfixiereinrichtung |
US10286503B2 (en) * | 2017-06-23 | 2019-05-14 | Honda Motor Co., Ltd. | Fastener delivery system |
FR3069467B1 (fr) * | 2017-07-28 | 2019-08-30 | Safran | Procede de rivetage pour aeronef |
CN107421398A (zh) * | 2017-09-18 | 2017-12-01 | 浏阳市五科技机械有限公司 | 一种用于双响烟花自动成型机的机械手取筒装置 |
US10654093B2 (en) * | 2018-07-10 | 2020-05-19 | Electroimpact, Inc. | Riveting apparatus with moveable nose portion to match an adjoining rivet feed track |
KR102252765B1 (ko) * | 2018-11-20 | 2021-05-18 | 한국생산기술연구원 | 로봇팔을 이용한 정밀 가공장치 및 이의 작동방법 |
CN110936397A (zh) * | 2019-12-31 | 2020-03-31 | 芜湖鼎瀚再制造技术有限公司 | 一种用于缸体装夹的多角度调节式夹具 |
CN112101130B (zh) * | 2020-08-21 | 2024-04-05 | 上海航天精密机械研究所 | 基于视觉识别技术的铆钉成形质量检测判定系统及方法 |
DE102020127488A1 (de) * | 2020-10-19 | 2022-04-21 | HELLA GmbH & Co. KGaA | Vorrichtung zur automatisierten Herstellung von Schraubverbindungen |
JP2022181522A (ja) * | 2021-05-26 | 2022-12-08 | サーパス工業株式会社 | 液体供給装置および液体供給方法 |
JP2023020204A (ja) * | 2021-07-30 | 2023-02-09 | サーパス工業株式会社 | 液体供給装置および液体供給装置の制御方法 |
CN113650224B (zh) * | 2021-08-30 | 2023-03-21 | 佛山市合宏泰业科技有限公司 | 一种双滑块的上料模块 |
DE102022111518A1 (de) | 2022-05-09 | 2023-11-09 | Premium Aerotec Gmbh | Dichtmittelauftragstation und Montagesystem zum Verbinden von Komponenten |
DE102022111519A1 (de) | 2022-05-09 | 2023-11-09 | Premium Aerotec Gmbh | Montagewerkzeug und Montagesystem zum Verbinden von Komponenten |
Family Cites Families (18)
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US4590578A (en) * | 1983-07-11 | 1986-05-20 | United Technologies Corporation | Off-line programmable robot |
DE3641368A1 (de) * | 1986-12-03 | 1988-06-09 | Mannesmann Ag | Lagerung fuer einen greifer oder dergleichen |
US4894901A (en) * | 1986-12-22 | 1990-01-23 | The Boeing Company | Method for positioning a robotic work system |
GB2232110A (en) * | 1989-05-26 | 1990-12-05 | Avdel Systems Ltd | Fastener installation apparatus |
FR2647696B1 (fr) * | 1989-06-06 | 1991-09-27 | Dassault Avions | Ensemble d'outillage pour rivetage de pieces |
US5271686A (en) * | 1992-01-27 | 1993-12-21 | The Budd Company | Robot hand for aligning and isolating a work tool |
DE4310953A1 (de) * | 1993-04-02 | 1994-10-13 | Wolfgang Dipl Ing Luckhardt | Einpresseinrichtung zum Einpressen von Fügeteilen |
DE4335668C2 (de) * | 1993-10-20 | 2002-10-17 | Hydro Control Steuerungstechni | Nietsetzgerät mit automatischer Zuführung |
US5625940A (en) * | 1995-02-28 | 1997-05-06 | Budd Canada Inc. | Robot compliance device |
JP3439573B2 (ja) * | 1995-05-25 | 2003-08-25 | 九州電力株式会社 | マニピュレータ用油圧ポンプとそれを用いた油圧工具駆動装置 |
FR2739794B1 (fr) * | 1995-10-11 | 1997-12-26 | Dassault Aviat | Appareillage de rivetage operant par chocs et procede de mise en oeuvre de cet appareillage |
US6276050B1 (en) * | 1998-07-20 | 2001-08-21 | Emhart Inc. | Riveting system and process for forming a riveted joint |
US6112390A (en) * | 1998-05-25 | 2000-09-05 | Honda Giken Kogyo Kabushiki Kaisha | Apparatus for manufacturing hemmed workpieces |
JP4067726B2 (ja) * | 1998-11-27 | 2008-03-26 | 株式会社リコー | 締結部材の分解装置及びそのアタッチメント構造 |
CA2279435A1 (en) * | 1999-07-30 | 2001-01-30 | Michael Alexander Duff | Linear actuator |
CA2415669A1 (en) * | 2003-01-07 | 2004-07-07 | Gbm Rivet & Fasteners Inc. | Riveting tool and method of its use |
DE112005002804B4 (de) * | 2004-11-19 | 2014-07-31 | Richard Bergner Verbindungstechnik Gmbh & Co. Kg | Hydraulikaggregat sowie Verfahren zur Bereitstellung einer unter Druck stehenden Hydraulikflüssigkeit |
WO2006063630A1 (de) * | 2004-12-16 | 2006-06-22 | Richard Bergner Verbindungstechnik Gmbh& Co Kg | Zuführeinheit und verfahren zur zuführung eines elements zu einer verarbeitungseinheit |
-
2005
- 2005-09-21 WO PCT/EP2005/010207 patent/WO2006056255A2/de not_active Application Discontinuation
- 2005-09-21 DE DE112005002827.5T patent/DE112005002827B4/de active Active
-
2007
- 2007-05-21 US US11/804,840 patent/US7729796B2/en active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016001235A3 (de) * | 2014-06-30 | 2016-03-24 | Ba Assembly & Turnkey Systems Gmbh | Manipulator mit einem manipulatorarm |
Also Published As
Publication number | Publication date |
---|---|
WO2006056255A3 (de) | 2009-01-29 |
US20080247844A1 (en) | 2008-10-09 |
US7729796B2 (en) | 2010-06-01 |
DE112005002827B4 (de) | 2014-02-20 |
WO2006056255A2 (de) | 2006-06-01 |
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