DE3786855D1 - Verfahren und anlage fuer die automatische erzeugung von werkzeugbahndaten fuer eine automatische bearbeitungszentrale. - Google Patents
Verfahren und anlage fuer die automatische erzeugung von werkzeugbahndaten fuer eine automatische bearbeitungszentrale.Info
- Publication number
- DE3786855D1 DE3786855D1 DE8787112888T DE3786855T DE3786855D1 DE 3786855 D1 DE3786855 D1 DE 3786855D1 DE 8787112888 T DE8787112888 T DE 8787112888T DE 3786855 T DE3786855 T DE 3786855T DE 3786855 D1 DE3786855 D1 DE 3786855D1
- Authority
- DE
- Germany
- Prior art keywords
- automatic
- machining center
- tool path
- path data
- automatic generation
- 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.)
- Expired - Lifetime
Links
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
- G05B19/4099—Surface or curve machining, making 3D objects, e.g. desktop manufacturing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33257—Conversion of designed 3-D tolerance, allowance to real coordinates of machine
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34101—Data compression, look ahead segment calculation, max segment lenght
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35002—Parametric machine control, direct control from cad data, no nc data
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35097—Generation of cutter path, offset curve
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35115—Project 3-D surface on 2-D plane, define grid in plane
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35117—Define surface by elements, meshes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35151—Modeling geometric, generation or forming of curved surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35313—Display, validate tool path for boundary, surface interference
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35316—Interference checking between tool, machine, part, chuck, machining range
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35525—Use same data for different operations, coarse and fine, cutting and grinding
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37617—Tolerance of form, shape or position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45145—Milling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49149—Ball end cutter interference, caused by tool shape, overcut part surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49151—Axis related interference, remove hidden surfaces
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50332—Tool offset for 3-D surfaces normal to surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50336—Tool, probe offset for curves, surfaces, contouring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50356—Tool perpendicular, normal to 3-D surface
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61208548A JP2531148B2 (ja) | 1986-09-04 | 1986-09-04 | 自由曲面の加工情報生成方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
DE3786855D1 true DE3786855D1 (de) | 1993-09-09 |
DE3786855T2 DE3786855T2 (de) | 1993-11-25 |
Family
ID=16558006
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE87112888T Expired - Lifetime DE3786855T2 (de) | 1986-09-04 | 1987-09-03 | Verfahren und Anlage für die automatische Erzeugung von Werkzeugbahndaten für eine automatische Bearbeitungszentrale. |
Country Status (6)
Country | Link |
---|---|
US (1) | US4789931A (de) |
EP (1) | EP0258897B1 (de) |
JP (1) | JP2531148B2 (de) |
AU (1) | AU612592B2 (de) |
CA (1) | CA1276712C (de) |
DE (1) | DE3786855T2 (de) |
Families Citing this family (60)
Publication number | Priority date | Publication date | Assignee | Title |
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DE3820566C2 (de) * | 1987-06-19 | 1994-01-27 | Mitsubishi Electric Corp | Verfahren zum Ermitteln einer Bewegungsbahn eines Bearbeitungswerkzeugs einer von einer numerischen Steuervorrichtung gesteuerten Werkzeugmaschine |
IT1211390B (it) * | 1987-10-06 | 1989-10-18 | Dea Spa | Sistema grafico interattivo per la matematizzazione di modelli fisici |
JPH01102604A (ja) * | 1987-10-15 | 1989-04-20 | Fanuc Ltd | Ncデータ作成方式 |
US5134570A (en) * | 1988-01-20 | 1992-07-28 | Mitsubishi Denki K.K. | Offset configuration forming method |
US4928221A (en) * | 1988-04-11 | 1990-05-22 | Westinghouse Electric Corp. | Part program generating system |
US5033005A (en) * | 1988-09-06 | 1991-07-16 | Schlumberger Technologies, Inc. | Analytical computer-aided machining system and method |
US4922431A (en) * | 1988-11-16 | 1990-05-01 | Automation Intelligence, Inc. | Method and apparatus of tool control in arbitrary plane operations |
JPH02148109A (ja) * | 1988-11-29 | 1990-06-07 | Fanuc Ltd | Cnc制御方式 |
JPH02183304A (ja) * | 1989-01-10 | 1990-07-17 | Fanuc Ltd | 複合曲面切削における複合曲面生成方法 |
US5005135A (en) * | 1989-03-22 | 1991-04-02 | Cincinnati Milacron, Inc. | Dynamic correction of servo following errors in a computer-numerically controlled system and fixed cycle utilizing same |
US5307282A (en) * | 1989-09-22 | 1994-04-26 | Hewlett-Packard Company | Method of computer-aided prediction of collisions between objects including fabrication tools and parts to be fabricated |
US5043906A (en) * | 1989-11-24 | 1991-08-27 | Ford Motor Company | Absolute gouge avoidance for computer-aided control of cutter paths |
JPH03176703A (ja) * | 1989-12-05 | 1991-07-31 | Yoshiaki Kakino | 数値制御装置 |
JP3019398B2 (ja) * | 1990-01-21 | 2000-03-13 | ソニー株式会社 | 自由曲面加工データ作成方法 |
US5481659A (en) * | 1990-01-21 | 1996-01-02 | Sony Corporation | Method for generating free-form surface data |
IT1247585B (it) * | 1990-02-22 | 1994-12-28 | Jobs Spa | Plotter multifunzione tridimensionale |
JP2949146B2 (ja) * | 1990-05-17 | 1999-09-13 | ソニー株式会社 | 荒加工データ作成方法 |
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JP2804829B2 (ja) * | 1990-06-27 | 1998-09-30 | 株式会社日立製作所 | 曲面加工方法 |
US5179514A (en) * | 1990-08-08 | 1993-01-12 | The Research Foundation Of State University Of New York | Method and apparatus for trajectory control of robot manipulators or the like |
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JP3028116B2 (ja) * | 1991-02-28 | 2000-04-04 | ソニー株式会社 | 形状データ処理方法及び形状データ処理装置 |
JP2800861B2 (ja) * | 1991-11-19 | 1998-09-21 | 株式会社 エフ・エーラボ | 三次元加工方法 |
JP3202068B2 (ja) * | 1992-07-14 | 2001-08-27 | マツダ株式会社 | Nc加工用工具移動経路の作成方法 |
US5432704A (en) * | 1993-11-23 | 1995-07-11 | Clemson University | Adaptive lamina generation for shape dependent process control and/or object decomposition |
US5596504A (en) * | 1995-04-10 | 1997-01-21 | Clemson University | Apparatus and method for layered modeling of intended objects represented in STL format and adaptive slicing thereof |
JPH08292808A (ja) * | 1995-04-24 | 1996-11-05 | Makino Milling Mach Co Ltd | ボールエンドミルによる切削加工方法および装置 |
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DE19846426A1 (de) * | 1998-10-08 | 2000-04-13 | Open Mind Software Technologie | Verfahren zum Steuern der Arbeitsbewegung eines Werkzeugs zur materialabtragenden Bearbeitung eines Materialblocks |
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US6909939B1 (en) * | 2000-09-20 | 2005-06-21 | Mitsubishi Denki Kabushiki Kaisha | Numerical control method and numerical control device |
JP2002189510A (ja) * | 2000-12-22 | 2002-07-05 | Mori Seiki Co Ltd | 加工関連情報生成装置、及びこれを備えた数値制御装置 |
ITMI20021876A1 (it) * | 2002-09-03 | 2004-03-04 | Nuovo Pignone Spa | Procedimento migliorato per realizzare un rotore di un |
JP2004284002A (ja) * | 2003-01-31 | 2004-10-14 | Fujitsu Ltd | 加工制御装置 |
US6968256B2 (en) * | 2003-08-15 | 2005-11-22 | General Electric Company | Method for processing manufactured parts |
US20090299687A1 (en) * | 2007-08-07 | 2009-12-03 | United Technologies Corporation | Reverse engineering disk inspection |
GB2452091B (en) * | 2007-08-24 | 2013-01-02 | Zeeko Ltd | Computer controlled work tool apparatus and method |
US8588958B2 (en) * | 2007-09-04 | 2013-11-19 | Musashi Engineering, Inc. | Moving program making-out program and device |
KR101535305B1 (ko) | 2009-10-09 | 2015-07-08 | 두산인프라코어 주식회사 | 선삭 가공 시스템에서의 공구 경로 생성 방법 |
JP4980458B2 (ja) * | 2010-10-27 | 2012-07-18 | ファナック株式会社 | 数値制御工作機械の加工時間予測装置 |
US9026242B2 (en) | 2011-05-19 | 2015-05-05 | Taktia Llc | Automatically guided tools |
EP3964902B1 (de) | 2012-04-26 | 2024-01-03 | Shaper Tools, Inc. | Systeme und verfahren zum ausführen einer aufgabe an einem werkstoff oder zur ermittlung der position einer vorrichtung relativ zur oberfläche des werkstoffs |
US9696707B2 (en) * | 2013-03-15 | 2017-07-04 | Makino Inc. | Method of controlling tool orientation and step-over distance in face milling of curvilinear surfaces |
CN103264183B (zh) * | 2013-05-23 | 2016-06-01 | 沈阳黎明航空发动机(集团)有限责任公司 | 一种复杂机匣类零件外型锥面随形铣加工方法 |
JP5845228B2 (ja) * | 2013-10-23 | 2016-01-20 | ファナック株式会社 | 工具経路曲線化装置 |
CN104076734A (zh) * | 2014-06-26 | 2014-10-01 | 天津职业技术师范大学 | 一种铣削加工颤振在线寻优方法 |
US10235807B2 (en) * | 2015-01-20 | 2019-03-19 | Microsoft Technology Licensing, Llc | Building holographic content using holographic tools |
JP6968700B2 (ja) | 2015-05-13 | 2021-11-17 | シェイパー ツールズ, インク.Shaper Tools, Inc. | 案内工具用のシステム、方法、および装置 |
CN109643098B (zh) | 2016-08-19 | 2022-06-03 | 整形工具股份有限公司 | 一种用于跟踪钻机的使用的系统、方法及介质 |
CN106502201B (zh) * | 2016-12-12 | 2019-01-22 | 北京航空航天大学 | 一种简单变截面零件的三轴数控粗加工方法 |
CN109213083B (zh) | 2017-07-05 | 2020-05-08 | 上海狮迈科技有限公司 | 一种直纹面加工路径生成方法、装置及设备 |
JP6896144B2 (ja) * | 2018-03-09 | 2021-06-30 | 株式会社牧野フライス製作所 | 工具経路生成方法 |
CN108920862A (zh) * | 2018-07-19 | 2018-11-30 | 杭州开维科技有限公司 | 一种基于cad建模的模具切削加工轨迹计算方法 |
CN111026027A (zh) * | 2019-11-30 | 2020-04-17 | 徐州华邦专用汽车有限公司 | 一种用于制造曲线型汽车配件用定位系统 |
JP7041660B2 (ja) * | 2019-12-13 | 2022-03-24 | 株式会社牧野フライス製作所 | 工具経路生成方法、工具経路生成装置および工作機械の制御装置 |
CN112276340B (zh) * | 2020-11-13 | 2022-07-22 | 西安中科微精光子科技股份有限公司 | 针对复杂曲面的加工路径碰撞检测方法、装置及存储介质 |
CN112613135B (zh) * | 2020-12-12 | 2022-11-18 | 江西洪都航空工业集团有限责任公司 | 一种钛合金角片零件切边数据设计方法 |
CN112666890B (zh) * | 2020-12-30 | 2022-09-16 | 西安中科微精光子科技股份有限公司 | 一种曲面工件加工轨迹规划方法 |
CN116748951B (zh) * | 2023-08-16 | 2023-10-27 | 二重(德阳)重型装备有限公司 | 异形锥形孔的数控加工方法 |
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DE3608438A1 (de) * | 1985-03-13 | 1986-09-18 | Toshiba Kikai K.K., Tokio/Tokyo | Verfahren zum berechnen von freien gekruemmten flaechen mittels computergestuetztem design cad und computergestuetzter herstellung cam und numerischer steuerung nc |
JPS632642A (ja) * | 1986-06-19 | 1988-01-07 | Mitsubishi Electric Corp | 数値制御装置 |
-
1986
- 1986-09-04 JP JP61208548A patent/JP2531148B2/ja not_active Expired - Fee Related
-
1987
- 1987-09-01 US US07/091,983 patent/US4789931A/en not_active Expired - Lifetime
- 1987-09-03 CA CA000546060A patent/CA1276712C/en not_active Expired - Lifetime
- 1987-09-03 DE DE87112888T patent/DE3786855T2/de not_active Expired - Lifetime
- 1987-09-03 EP EP87112888A patent/EP0258897B1/de not_active Expired - Lifetime
- 1987-09-04 AU AU77959/87A patent/AU612592B2/en not_active Expired
Also Published As
Publication number | Publication date |
---|---|
EP0258897A2 (de) | 1988-03-09 |
EP0258897A3 (en) | 1989-12-27 |
JP2531148B2 (ja) | 1996-09-04 |
DE3786855T2 (de) | 1993-11-25 |
AU612592B2 (en) | 1991-07-18 |
JPS6364105A (ja) | 1988-03-22 |
AU7795987A (en) | 1988-03-10 |
US4789931A (en) | 1988-12-06 |
EP0258897B1 (de) | 1993-08-04 |
CA1276712C (en) | 1990-11-20 |
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