EP0018920B1 - Waffensystem mit grosser Orientierungsbeweglichkeit - Google Patents

Waffensystem mit grosser Orientierungsbeweglichkeit Download PDF

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Publication number
EP0018920B1
EP0018920B1 EP80400609A EP80400609A EP0018920B1 EP 0018920 B1 EP0018920 B1 EP 0018920B1 EP 80400609 A EP80400609 A EP 80400609A EP 80400609 A EP80400609 A EP 80400609A EP 0018920 B1 EP0018920 B1 EP 0018920B1
Authority
EP
European Patent Office
Prior art keywords
weapon
vehicle
carrier vehicle
wheels
elevation
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
Application number
EP80400609A
Other languages
English (en)
French (fr)
Other versions
EP0018920A1 (de
Inventor
Henri Billottet
Henri Augy
André Quoy
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Thales SA
Original Assignee
Thomson CSF SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Thomson CSF SA filed Critical Thomson CSF SA
Priority to AT80400609T priority Critical patent/ATE3908T1/de
Publication of EP0018920A1 publication Critical patent/EP0018920A1/de
Application granted granted Critical
Publication of EP0018920B1 publication Critical patent/EP0018920B1/de
Expired legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/06—Mechanical systems
    • F41A27/22—Traversing gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/34—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles on wheeled or endless-track vehicles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/02—Land vehicles with enclosing armour, e.g. tanks

Definitions

  • the present invention relates to a weapon system carried with great orientation mobility. More specifically, in the context of the invention, the weapons considered consist of one or more artillery shell launch tubes, rockets, missiles, etc., tubes which must be oriented in site and in field. from a self-propelled platform in general, allowing rapid movement from one shooting point to another, regardless of the nature of the terrain on which the platform must operate. In addition, the weapons must be capable of being aimed towards a mobile or fixed target, land or air regardless of the altitude.
  • the platform is a wheeled or tracked vehicle on which is mounted a turret, housing the weapon, mobile turret in bearing and carrying a site axis.
  • the orientation of the weapon in deposit and site is thus linked to the turret which however presents serious drawbacks when one wants for the weapon a large deflection site of the order of - 15 ° to 38 ° on 360 ° in deposit; under these conditions it is necessary to design a turret of great height so that the weapon is released at the rear of the superstructure of the carrier vehicle.
  • wheeled vehicles and known tracked vehicles even if they can pivot, for mainly tracked vehicles, with a relatively small radius of gyration, cannot maneuver like a turret. They cannot therefore and especially in the conditions in which it is necessary to do it during a shooting on fast moving targets, involve the positioning in position of a weapon, and this with a minimum required precision. It is the object of the invention to define a weapon system carried by a vehicle, which is endowed with great orientation mobility, even when the weapon is not placed in a mobile turret .
  • the weapon system with high mobility of orientation consisting of one or more tubes launching artillery shells, rockets, missiles or other on land, sea or air purposes is carried by a vehicle without turret, the weapon made up of one or more tubes, movable in elevation being arranged longitudinally in the carrier vehicle and pointable in bearing by pivoting of the carrier vehicle;
  • the carrier vehicle comprises in its superstructure fixed to the chassis a well formed in its longitudinal axis, open upwards and forwards and under the weapon, towards the ground, with in this well a cradle on which the weapon rests, mobile in elevation around trunnions placed on the elevation axis of the carrier vehicle with a deflection of the order of - 15 ° to + 90 °, and is equipped with independent driving and steering wheels
  • said carrier vehicle comprises means for pivoting these wheels so that the carrier vehicle performs a rotational movement around a center point of a circle with respect to which the wheels are tangent, this rotational movement determining the pointing of the weapon in bearing with
  • the vehicle capable of being put into autorotation is arranged so as to facilitate the operation of the weapon and this, whatever the conditions of use, and provided with any other means, helping and facilitating the use of the weapon, making the whole an autonomous weapon system.
  • Figure 1 shows a general view of the weapon system according to the invention.
  • the 1-carrier vehicle is an armored vehicle of the same type with steering and driving wheels. In the example considered it has four wheels, but this number can be extended to six or eight, more possibly depending on the case. These wheels are identified by 2, 3, 4 and 5.
  • This vehicle is used to support a weapon 6, here a four-barrel cannon; this however does not imply any limitation.
  • This barrel is fixed to the vehicle via, for example, a cradle (not visible in the drawing) movable in elevation around pins placed on the elevation axis of the vehicle. This weapon is therefore by itself immobile in a deposit.
  • the wheels 2, 3, 4 and 5 can take positions which appear somewhat peculiar.
  • the wheels which are both steering and driving can take a position such that they can be made tangent to one or more concentric circles, the center of which is located on the longitudinal axis of the vehicle and allow the vehicle to start autorotation around this point. It appears so that the autorotation of the vehicle leads to the autorotation of the weapon which is fixed on it, this movement equivalent to a movement in deposit.
  • the vehicle assembly 1, weapon 6, includes other means, such as a sighting device 7 with a fire calculator and a target designation device 9, an episcopic scope 8; the objective designation device can be a radar.
  • FIG. 2 shows another overall view of the weapon system where the location of the weapon in the vehicle is more clearly visible and where the objective designation device 9 is also seen mounted on the vehicle, or standby sensor.
  • the position of the weapon allowing a shooting at high site.
  • the carrier vehicle is then as it spares in its superstructure 10 fixed to the perimeter of the chassis 11 and in the axis of the vehicle, a well 12 open upwards and forwards and under the weapon, towards the ground.
  • This arrangement allows a great mobility of the weapon in site and the well being open towards the ground, an easy ejection of the residues of the shooting by the bottom of the vehicle.
  • FIG. 3 represents a plan view of the vehicle making it possible to complete the description of the weapon system that constitutes the vehicle according to the invention.
  • the movable cradle 13 also carries all the slides 19. allowing the recoil and supporting the fixing of the weapon, the shock absorbers of recoil and the springs of recall of the weapon in firing position forward.
  • the weapon itself is linked to the slides by its support.
  • This weapon can be monotube or multitube but in all cases it is with closed breech 20, the recoil force being tolerated by the pins up to a value of the order of 5 tonnes or more.
  • the carrier vehicle is designed so as to carry the weapon and offer it the possibilities which have been defined above.
  • the vehicle additionally comprises all the organs which are necessary for its propulsion, for the service of the weapon and for the service of the weapon system which the assembly constitutes.
  • the vehicle is designed so that the wheels are used on the one hand for moving the vehicle and on the other hand for its autorotation which allows the pointing of the weapon in direction.
  • the carrier vehicle 1 is essentially composed of a chassis 21 which carries all the other necessary elements, some of which have already been listed.
  • the chassis is constituted by a rigid frame 21 carrying at its four corners fasteners 22 for the suspension, at the rear the fastening by means of "silent blocks, the heat engine 23 and its electric generator group for propulsion and the servos as well as the hydraulic generator for the suspension.
  • the chassis carries the four electric powertrains comprising, the four hydraulic suspensions for the four-wheeled vehicle envisaged by way of example, the four electric motors 24 of wheels, each being linked to the corresponding wheel by a constant velocity joint allowing a movement of the wheel ⁇ 30 ° relative to the engine, the four wheels with their brake and their tachometer generator 25.
  • the chassis also carries the two steering boxes, one front and one rear, each box being double to allow independent control of each half rack for autorotation.
  • the chassis also carries the superstructure already named, and which aims to protect the equipment and the servants of the weapon, superstructure fixed on all the perimeter of the chassis and ensuring a better rigidity of the whole.
  • This assembly includes inside its interconnections with the engine coupling box and the control box, as well as the on-board computer, and outside all the components which have been listed during the description of FIGS. 1 and 2 .
  • Figure 4 shows how the wheels of the vehicle carrying the weapon must be oriented to allow the vehicle to go into autorotation. These wheels 2, 3, 4, 5 must be tangent to a circle whose center C is located on the longitudinal axis L of the vehicle V.
  • FIG. 5 shows how the wheels of the vehicle are controlled for its autorotation.
  • the steering bars 26, 27, 28 and 29 for a four-wheeled vehicle are independently controlled from the steering boxes 30 and 31 to move in opposite directions from each other. If, for example, the bars 26 and 28 belonging respectively to the trains I and II move in the direction of the arrow F1, the bars 27 and 29 move in the opposite direction given by the arrow F2.
  • the hydraulic suspension adopted for the vehicle avoids any disturbance to the devices used on the vehicle and which are necessary for detecting the targets, their pursuit and shooting, disturbances of the vibration type which would be caused by the running of the vehicle, or by a mechanical gearbox. Since this does not exist on the vehicle in question, the generator set is fixed in a flexible manner, a fixing which communicates no vibration to the chassis of the vehicle.
  • the hydraulic suspension allows the vehicle to maintain a stable attitude both during taxiing and when stopped when the vehicle is turning in autorotation on a non-flat surface.
  • the determination of the location of the weapon in the triggering of the firing on a target or its pursuit is done by the autorotation of the carrier vehicle and control of the servomechanisms of the wheels of the vehicle from data provided by the telescopic sight 7 for example and transformed in the computer installed on board the vehicle 1.
  • FIG. 6 represents the vehicle carrying the weapon capable of making a shot.
  • the vehicle as a weapon system, is capable of carrying out either a surveillance of possible targets, possible in normal driving, and on external information, or also in autonomous mode, the vehicle having a rifle scope and a tracking scope.
  • the X axis is the forward axis of the vehicle
  • the Y axis is the axis in the attitude plane, which is identified relative to the chassis and which is horizontal when the vehicle is on a horizontal plane
  • the suspensions are adjusted to the same height and the tire inflation is identical
  • the Z axis which is perpendicular to the first two and oriented towards the top.
  • a second reference trihedron is also defined, OXYZ allowing the use of external information, transmitted by an external sensor for example or an operational center.
  • OXYZ allowing the use of external information, transmitted by an external sensor for example or an operational center.
  • the axis OX ' is directed towards the north
  • the axis OY' is directed towards the west
  • the axis OZ is vertical, directed upwards.
  • the surveillance of possible targets is carried out, whether the vehicle is in normal driving or in all terrain, by the optical omnidirectional standby station 8, or by an electromagnetic sensor 9.
  • the omnidirectional optical standby station includes for example a telescopic sight large field whose line of sight can move in elevation from - 15 ° to + 90 ° and sweep all the fields without limitation while the eyepieces placed in front of the operator are fixed relative to the chassis of the vehicle.
  • the aiming axis can be remotely controlled at constant speed in bearing to scan around a vertical axis even for a relatively sharp slope of the vehicle.
  • the target can be acquired by its tracking telescope, the vehicle being in the taxiing position.
  • the tracking telescope is fitted with fixed eyepieces with respect to the chassis and its O'X o line of sight can move throughout the upper space above the ground surface.
  • This pursuit being engaged for the vehicle in the driving position can continue when the vehicle stops and goes into the autorotation position then allowing the weapon to pursue the target by means of the vehicle, the l 'angle it must make with the line of sight is established by the computer.
  • FIG. 7 represents the schematic diagram of the control of the error in elevation and in bearing.
  • the tracking telescope 32 delivers the values S of the angle of elevation of the telescope relative to the attitude platform of the vehicle, g of the bearing angle relative to the axis of the vehicle and the measurements of the absolute angular speed vertically and sideways from the line of sight, ie ⁇ y and ⁇ z. These measurements are transmitted to the computer 33 installed on board the vehicle, as well as the measurement of site I of the weapon given by the site servomechanism 34 of the weapon.
  • This calculator taking into account the characteristics of the projectile given by the weapon, evaluates the site angle I of the weapon and the angle g between the weapon and the scope; it also performs the comparison between the values 1 and 1 to deliver to the servomechanism of site control 34 of the weapon site and between the values g and g to deliver to the control circuit of the wheels 35 of the vehicle, the control information the vehicle's autorotation speed.
  • FIG. 8 represents a schematic diagram of the servo-control in autorotation of the vehicle from data supplied by the computer 33.
  • Each wheel identified by 2, 5, 3, 4 has its own servo-control.
  • the autorotation speeds to be printed on the wheels are delivered by the computer 33, by correction circuits 332, 335, 333 and 334, the number on the right corresponding to the mark of the associated wheel.
  • Each control chain includes, from the computer correction circuit, a subtractor circuit 372-375-373-374, an amplifier cator 362-365-363-364 and the motor of the corresponding wheel 242, 245, 243, 244.
  • Each wheel is associated with a tachometer generator 252-255-253-254, which has the effect of linearizing the control of the corresponding wheel.
  • a tachometer generator 252-255-253-254 which has the effect of linearizing the control of the corresponding wheel.
  • the frame 21 of the vehicle, the wheels 2-5 and 3-4 and the axis of the vehicle OX which is confused with the axis of the barrel in bearing, the value g of which is the angle measured in relation to the scope of the telescope.
  • Each generator is included in a correction loop leading to the subtracting circuit and to the correcting circuit.
  • FIG. 9 represents the schematic diagram of the site control of the weapon.
  • the servo path starts from the computer 33 in which there is a device 38 for calculating the angle I, connected to a subtraction device 39 whose output feeds a corrector circuit 40.
  • This circuit delivers a site angle value so-called controlled which, through a subtraction circuit 41 is applied to an amplifier servomechanism 42, to the weapon site control motor 43, connected to a tachometer generator 45 which is inserted in a loop closing on the circuit of subtraction 41.
  • the motor 43 controls the orientation of the weapon in elevation through a reduction gear 44 and a correction loop is established from the weapon which closes on the subtraction device 39 of the computer.
  • a weapon system carried with great mobility of orientation in which the weapon is capable of ensuring a shooting on terrestrial and aerial objectives, in a very important angle of site and on 360 ° in bearing, the mobility on site being permitted by the absence of a turret and a special arrangement of the carrier vehicle equipped with wheels.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Transition And Organic Metals Composition Catalysts For Addition Polymerization (AREA)
  • Crystals, And After-Treatments Of Crystals (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Toys (AREA)

Claims (5)

1. Mobiles Waffensystem mit großer Orientierungsbeweglichkeit, bei dem ein drehturmloses Trägerfahrzeug (1) eine aus einem oder mehreren Rohren gebildete Waffe (6) trägt, die höhenwinkelbeweglich ist und in Längsrichtung in dem Trägerfahrzeug (1) angeordnet ist sowie durch Verschwenkung des Trägerfahrzeugs (1) seitenwinkelverstellbar ist, wobei das Trägerfahrzeug (1) in seinem an dem Chassis (11-21) befestigten Oberbau (10) einen Schacht (12) aufweist, der in Richtung seiner Längsachse angebracht ist sowie nach oben und nach vorne offen ist, mit einer in diesem Schacht (12) angeordneten Rohrwiege (13), auf der die Waffe (6) ruht, welche um auf der Höhenwinkelachse (14) des Trägerfahrzeugs (1) liegende Drehzapfen (15) höhenwinkelbeweglich ist, dadurch gekennzeichnet, daß der genannte Schacht (12) unter der Waffe (6) zum Boden hin geöffnet ist; daß die Waffe (6) höhenwinkelbeweglich ist mit einem Auslenkwinkel in der Größenordnung von - 15° bis + 90°, und daß das Trägerfahrzeug (1) mit voneinander unabhängigen Antriebs- und Lenkrädern (2, 3, 4, 5) ausgerüstet ist und Mittel (26, 27, 28, 29, 30, 31) umfaßt, um diese Räder (2, 3, 4, 5) derart zu verschwenken, daß das Trägerfahrzeug eine Drehbewegung um einen Punkt (C) ausführt, welcher der Mittelpunkt eines Kreises ist, in bezug auf den die Räder (2, 3, 4, 5) tangential sind, wobei diese Drehbewegung die Seitenwinkelrichtung der Waffe (6) mit einem Auslenkwinkel von 360° bestimmt.
2. Mobiles Waffensystem nach Anspruch 1, dadurch gekennzeichnet, daß der freie Raum unter dem Boden des Schachtes (12) an die Konstruktionsdaten des Trägerfahrzeugs (1) gebunden ist, welches mit Antriebsrädern (2, 3, 4, 5) mit elektrischem Antrieb durch einen Radmotor (24) und mit hydraulischen Aufhängungen ausgerüstet ist, die an bestimmten Punkten (22) des Chassis angeordnet sind, ohne Torsionsstäbe und ohne Übertragungwellen.
3. Waffensystem nach Anspruch 1, dadurch gekennzeichnet, daß die Drehbewegung des Trägerfahrzeugs (1) um den Mittelpunkt (C) zur Einnahme eines bestimmten Seitenwinkels oder zum Durchlaufen eines bestimmten Seitenwinkels gesteuert wird, ausgehend von einer Zielvorrichtung (7), die an Bord des Trägerfahrzeugs (1) angeordnet ist.
4. Mobiles Waffensystem nach Anspruch 3, dadurch gekennzeichnet, daß die Steuerung der Seitenwinkelorientierung der Waffe (6) ausgehend von Daten erfolgt, die durch eine Zielvorrichtung (7) geliefert werden, welche einen Rechner (33) an Bord des Trägerfahrzeugs speist, die an jedes Rad (2, 3, 4, 5) des Fahrzeugs eine Drehgeschwindigkeitssteuerung abgibt, und zwar über eine Regelstrecke, die eine Korrekturvorrichtung (332-335-333-334) umfaßt, welche an einen Verstärker (362-365-363-364) angeschlossen ist, der einen Radmotor (242-245-243-244) speist, welcher einem Tachometergenerator (252-255-253-254) zugeordnet ist.
5. Mobiles Waffensystem nach Anspruch 1, dadurch gekennzeichnet, daß es ferner eine Visiervorrichtung (7), eine Objektpeilvorrichtung (9) und ein Periskopfernrohr (8) umfaßt.
EP80400609A 1979-05-08 1980-05-06 Waffensystem mit grosser Orientierungsbeweglichkeit Expired EP0018920B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT80400609T ATE3908T1 (de) 1979-05-08 1980-05-06 Waffensystem mit grosser orientierungsbeweglichkeit.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR7911628 1979-05-08
FR7911628A FR2456303A1 (fr) 1979-05-08 1979-05-08 Systeme d'arme porte a grande mobilite d'orientation

Publications (2)

Publication Number Publication Date
EP0018920A1 EP0018920A1 (de) 1980-11-12
EP0018920B1 true EP0018920B1 (de) 1983-06-22

Family

ID=9225193

Family Applications (1)

Application Number Title Priority Date Filing Date
EP80400609A Expired EP0018920B1 (de) 1979-05-08 1980-05-06 Waffensystem mit grosser Orientierungsbeweglichkeit

Country Status (8)

Country Link
US (1) US4353284A (de)
EP (1) EP0018920B1 (de)
AT (1) ATE3908T1 (de)
DE (1) DE3063852D1 (de)
DK (1) DK189380A (de)
ES (1) ES491235A0 (de)
FR (1) FR2456303A1 (de)
NO (1) NO801350L (de)

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US4495850A (en) * 1982-08-26 1985-01-29 The United States Of America As Represented By The Secretary Of The Army Azimuth transfer scheme for a strapdown Inertial Measurement Unit
US4790399A (en) * 1988-03-09 1988-12-13 Middlesworth Engineering & Manufacturing, Inc. Steering mechanism for a zero turning radius vehicle
USRE34057E (en) * 1988-03-09 1992-09-08 Simplicity Manufacturing, Inc. Steering mechanism for a zero turning radius vehicle
SE500600C2 (sv) * 1992-11-26 1994-07-25 Bofors Ab Granatkastare med två eller flera eldrör
US5529135A (en) * 1994-05-11 1996-06-25 Ferris Industries, Inc. Steering mechanism for four wheel lawn mower
US6562590B1 (en) 1999-04-21 2003-05-13 University Of Florida Research Foundation, Inc. Transformed cells useful for the control of pests
US6481524B1 (en) * 1999-08-10 2002-11-19 Honda Giken Kogyo Kabushiki Kaisha Vehicle equipped with turning mechanism
WO2003033329A2 (en) 2001-10-17 2003-04-24 Lonmore, Lc Variable flow control devices, related applications, and related methods
US6968913B1 (en) 2004-06-16 2005-11-29 Cnh America Llc Skid steer vehicle including steering actuators to simultaneously steer one side's wheels
US7264068B2 (en) * 2004-09-13 2007-09-04 Cnh America Llc Steering control system for a skid steer vehicle
JP5653767B2 (ja) * 2011-01-14 2015-01-14 株式会社小松製作所 装甲車
US9518802B2 (en) * 2014-01-06 2016-12-13 Yanwei Wei Multi-launcher firearm
US11307575B2 (en) * 2019-04-16 2022-04-19 The Boeing Company Autonomous ground attack system

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US2933981A (en) * 1953-10-26 1960-04-26 Paul E Anderson Automatic repeating rocket launcher
CH344645A (fr) * 1957-02-19 1960-02-15 Brevets Aero Mecaniques Installation d'artillerie comprenant un affût mobile et un dispositif de pointage actionné par un moteur
NL230539A (de) * 1957-05-06
GB871358A (en) * 1959-04-17 1961-06-28 Atomic Energy Authority Uk Improvements in or relating to steerable trucks
DE1428756A1 (de) * 1964-10-02 1969-07-31 Ruf Dipl Ing Walter Gepanzertes Schuetzenfahrzeug
US3666034A (en) * 1969-10-24 1972-05-30 Clark Equipment Co Hydrostatic vehicle{13 four-wheel drive, four-wheel steering
DE2202309C3 (de) * 1972-01-19 1981-05-21 Krauss-Maffei AG, 8000 München Turmloses Panzerfahrzeug
FR2208370A5 (de) * 1972-11-29 1974-06-21 Hfm Hohenloher Fahrzeuge
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DE2430913A1 (de) * 1974-06-27 1976-01-08 Jourdan Klaus Dipl Ing Knickgelenktes panzerbares bzw. gepanzertes radfahrzeug

Also Published As

Publication number Publication date
FR2456303A1 (fr) 1980-12-05
NO801350L (no) 1980-11-10
ATE3908T1 (de) 1983-07-15
DE3063852D1 (en) 1983-07-28
ES8200766A1 (es) 1981-11-01
EP0018920A1 (de) 1980-11-12
ES491235A0 (es) 1981-11-01
DK189380A (da) 1980-11-09
US4353284A (en) 1982-10-12
FR2456303B1 (de) 1983-04-29

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