EP0069661B1 - Automatische Blechbiegemaschine - Google Patents

Automatische Blechbiegemaschine Download PDF

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Publication number
EP0069661B1
EP0069661B1 EP82401240A EP82401240A EP0069661B1 EP 0069661 B1 EP0069661 B1 EP 0069661B1 EP 82401240 A EP82401240 A EP 82401240A EP 82401240 A EP82401240 A EP 82401240A EP 0069661 B1 EP0069661 B1 EP 0069661B1
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EP
European Patent Office
Prior art keywords
sheet
bending
bending machine
folding
jaws
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
EP82401240A
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English (en)
French (fr)
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EP0069661A1 (de
Inventor
Jean Triouleyre
Jean Rousselin
Patrick Schmit
Philippe Gondry
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.)
ETS Y JOUANEL SA
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ETS Y JOUANEL 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 ETS Y JOUANEL SA filed Critical ETS Y JOUANEL SA
Priority to AT82401240T priority Critical patent/ATE12191T1/de
Publication of EP0069661A1 publication Critical patent/EP0069661A1/de
Application granted granted Critical
Publication of EP0069661B1 publication Critical patent/EP0069661B1/de
Expired legal-status Critical Current

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Classifications

    • 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
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • 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
    • B21D5/04—Bending sheet metal along straight lines, e.g. to form simple curves on brakes making use of clamping means on one side of the work
    • B21D5/042—With a rotational movement of the bending blade

Definitions

  • the present invention relates to an automatic sheet bending machine.
  • the folding machines of known types are machines comprising a frame provided with two vertical pillars whose spacing defines the maximum width of the sheets to be folded, a horizontal table fixed on the frame and intended to support the sheet to be folded , a clamp movable vertically so as to clamp the sheet against the table and having a leading edge which defines the fold line, and an apron which constitutes the actual folding member.
  • this deck is placed on the front of the frame, below the upper horizontal plane of the table, and it can pivot around an upper horizontal axis so that its upper edge, in contact with the sheet metal fold, ensures the folding of the latter of the desired angle.
  • systems are provided for adjusting the position of the pivot axis of the deck relative to the table.
  • the worker must turn the sheet vertically before presenting the new folding line in coincidence with the working edge of the table then he repeats the operations described above .
  • the worker must rotate the sheet horizontally by 180 ° to reorient the new fold line in coincidence with the edge work table before starting the actual folding process again.
  • An automatic folding machine has been proposed (FR-A No 2307592) in which the sheet is arranged vertically in a fixed position, between two pliers with a horizontal leading edge articulated on a fixed frame, the machine comprising two folding members arranged symmetrically with respect to the sheet and mounted on articulated supports to fold the sheet either in one direction or in the other.
  • This arrangement avoids having to turn the sheet between two successive folds, but the arrangement of the clamps articulated on the frame does not allow the sheet to then be folded on its opposite edge.
  • the mounting of the folding members which allows large displacements of these can affect the accuracy of these, especially in the case of high stresses.
  • the object of the invention is to provide a machine which allows an automatic unfolding of the various operations of adjusting the machine, of bending of the sheets in both directions and of possible reorientation of the sheets between two bending phases, and to a large extent. range of powers and folding dimensions.
  • the invention therefore provides a machine of the type stated in the preamble of claim 1, and which makes it possible to solve the problem posed by virtue of the features stated in the characterizing part of claim 1.
  • the machine according to the invention responds to an original principle concerning the movements of the sheet metal and of the folding members.
  • the sheet is fixed relative to a frame; and in machines allowing folding in two opposite directions, the folding members move towards the sheet.
  • the machine according to the invention on the contrary, there are two stationary folding stations with respect to the frame, and the sheet is moved towards one or the other according to the operation which it is desired to do.
  • the aprons are arranged vertically one above and the other below the clamps, these being themselves superimposed, and being able to move vertically towards one or the other of the aprons, in that the lower clamp has, horizontally, larger dimensions than the upper clamp in order to serve simultaneously as a sheet support table, and said means for generating and coordinating the different movements of the folder include connection and actuation means of said clamps to produce, on the one hand, a relative vertical movement of the two clamps to ensure the tightening and loosening of a sheet and, on the other hand, a vertical movement of the assembly of the two clamps in order to bring them into the said upper and lower horizontal working planes and, in addition, in any appropriate intermediate position.
  • a structure in which the sheet is kept in a horizontal position results in simpler handling thereof than a structure such as that of FR-A No 2307692, where the sheet is vertical and must therefore be kept naked on its opposite sides during any movement.
  • the folder according to the invention shown in perspective view in FIG. 1, comprises a fixed frame 1 in the form of a gantry, which is provided with pillars 2, of U-shaped cross section, interconnected by upper and lower horizontal crosspieces.
  • This frame can be made of mechanically welded sheet metal.
  • the machine according to the invention comprises on the front an upper apron 3 and a lower deck 4, the sheet to be folded being moved into a folding position by the respective deck using a set of two clamps 5, 6, which is movable vertically in slides secured to the pillars of the frame.
  • the upper deck 3 is articulated on the frame of the folder by means of fixed pivots 7, which are aligned so as to define a horizontal pivot axis.
  • the lower deck 4 is articulated in the same way on the frame by means of fixed pivots 8 defining a horizontal pivot axis.
  • the two aprons carry, along their working edges, that is to say respectviement below for the upper apron and above for the lower apron, folding tools 9, 10.
  • the aprons are coupled with their respective fixed pivots by means of an adjustment device, which will be described in detail below and which makes it possible to modify the position of the working edge of the bending tool relative to the corresponding pivot axis as a function of the bending parameters, that is to say in particular the thickness and mechanical characteristics of the sheet to be bent, the bending radius, the direction of rolling of the metal, etc.
  • the completely lower edge of the folding tool of the upper apron and the completely upper edge of the folding tool of the lower apron respectively define horizontal planes of start of folding, designated by P ,, P and constituting reference planes, extremely important in which the sheet metal to be bent must be transferred before the actual bending operation begins.
  • the upper pliers 5 comprises a lower horizontal surface for clamping the sheet which is terminated at its front part by a rule 11; furthermore, its front face is inclined 45 ° towards the rear, as indicated at 12 in FIG. 1, in accordance with a characteristic of the present invention which will be explained below.
  • the lower clamp 6 has an upper horizontal sheet clamping surface, terminated on its front edge by a rule 13. This horizontal surface has a greater extent than that of the upper clamp in order to simultaneously serve as a sheet support table for to fold.
  • the front face of the lower clamp, designated by 14 in FIG. 1 is also inclined 45 ° backwards, for the same purpose as the surface 12 of the upper clamp.
  • the two clamps are mounted by their lateral ends in transmissions, designated respectively by 15 and 16 and shown in particular in FIGS. 1 and 2.
  • the first group of transmissions 15 allows the relative displacement of two clamps 5, 6 for the tightening and loosening of a sheet to be bent
  • the second group of transmissions 16 allows the vertical displacement of the assembly of the two clamps between the two horizontal reference planes P ,, P z defined by the extreme edges of the aprons.
  • the structure which has just been described constitutes, in the machine, the actual folding system.
  • a sheet engaged between the two clamps 5, 6 so as to rest on the lower clamp6 is clamped between these two clamps and it can be brought into one of the above-mentioned horizontal reference planes, that is to say in the upper horizontal plane P, when it is to be folded down by the upper deck 3 and in the lower horizontal plane P 2 when it is to be folded up by the lower deck 4.
  • a bending line positioning device which comprises members coming into contact with the rear edge of the sheet so as to thus adjust the bending line in the correct position. relative to the working edge of rule 13 of the lower clamp 6.
  • This device comprises two rear stops 17, 18 which are mounted on respective arms 19, 20 integral with the lower clamp 6 and whose longitudinal direction is oriented perpendicular to the rule 13 of this clamp.
  • the stops 17, 18 can be moved in this longitudinal direction using independent motorized mechanisms, for example of the screw and nut type, so that they can be brought closer or further away from the working edge of said rule 13.
  • the arms 19, 20, can slide by means of a sliding transmission 21 and a dovetail slide 22, along the clamp 6, which produces a displacement of the stops 17, 18 parallel to rule 13 of this clamp.
  • each rear stop is equipped with fixing members in position of the sheet, these members being able to be magnetic plates, suction cups, jaws, or any other suitable means.
  • the sheet reorientation device comprises a table 23 comprising an upper plate 24, for example of square shape, which is intended to support and hold the sheet and which is equipped with members for fixing the sheet in position, such as magnetic plates 35, suction cups 34 or other suitable gripping means.
  • This tray 24 of the table is mounted on a barrel 25 in which it can rotate around its axis, this barrel itself being secured to a lower base 26, which can slide or roll on a track, materialized in the example considered by two rails 27a, 27b, which are connected to the base of the folder perpendicular thereto.
  • This track can also be connected to the folder in the same way as the arms 19, 20 carrying the rear stops 17, 18, in order to be able to execute a translational movement in one direction parallel to rule 13 of the lower clamp 6, for a purpose which will be explained below.
  • the plane defined by the upper plate 24 of the reorientation table 23 constitutes an important reference plane in the machine, as will be explained below.
  • the rails 27a, 27b are replaced by a raceway located in height, and on which the rotary table is suspended, which clears the ground.
  • table 23 has rotated 180 °. However, as indicated above, it is possible to rotate this table by an angle different from 180 ° in order to orient a sheet bending line at an appropriate angle which cannot be established using the stops 17, 18.
  • table 23 comes into action only for the orientation or reorientation of the sheets. It is however possible to provide that it is also used during the operations of supplying and evacuating the sheets, the raceway being arranged accordingly. In particular, if it is suspended from a raceway located at a height, it is advantageous to provide that it is also vertically movable and that the raceway is arranged to allow the table to come and pick up the sheets on a conveyor or a pallet, and / or to deposit them, after treatment, on a means of evacuation.
  • Fig. 8 shows an embodiment according to such a variant.
  • the raceway consists of rails 27c located in height and which is suspended from the table 23, which can be provided with magnetic plates or suction cups, and which can rotate around a vertical axis.
  • the supply means here consist of a scissor lift 40 which carries a pallet 41 on which are stacked the sheets 30 which must be processed by the folder.
  • the evacuation means are here constituted by a conveyor belt 42.
  • the table 23, moving along the raceway 27c, can transport the sheets between the pallet 41, the folder and the evacuation means 42, all keeping the possibility of orienting the sheets for the different phases of the work of the folder, as described above.
  • the means for handling the sheets described with reference to FIGS. 4A to 4D, and even more in FIG. 8, constitute a real robot which can also be used in connection with other machines, for example machines for forming, drilling or cutting by stamping or stamping.
  • FIGS. 1, 5A and 5B Fig. 1 shows that the axes of rotation 7, 8 of the upper and lower aprons are fixed.
  • Fig. 1 shows that the axes of rotation 7, 8 of the upper and lower aprons are fixed.
  • bending parameters such as the thickness and nature of the sheet metal, the direction of rolling, the bending radius, etc.
  • the folder according to the invention includes improvements in this respect which allow this adjustment to be carried out both manually and automatically. Because the arrangements provided for the upper and lower decks are symmetrical with respect to a horizontal plane, we will only describe one in the following.
  • the lower apron 4 has on its two lateral edges flanges 33 forming crank supports and on each of which is fixed a slide 31 comprising a groove which is oriented, after fixing in position of the slide, at 45 ° relative to the median plane longitudinal of the deck. In this groove is engaged a slide 32 which is itself integral with the corresponding pivot 8 of the deck 4.
  • Another feature of the folder according to the invention which distinguishes it from the prior art relates to the possibility of initially tilting one or the other of the aprons 3, 4 in a position making an angle of 45 ° towards the rear. from the center plane of the folder. This initial adjustment is made possible by the structure highlighted in fig. 6, which is a cross-sectional view of the lower clamp 6 and of the lower deck 4.
  • the lower clamp of the folder according to the invention is provided with a structure with a triangular cross section and it has a front face 14 which is inclined 45 ° towards the rear, which allows the initial adjustment of the lower apron 4 in a position parallel to this face 14 , as shown in fig. 6.
  • the plane P z it is then necessary to equip the deck with a folding tool 10 having the profile indicated in the figure.
  • FIGS. 7A and 7B an example of working of a sheet, which has been previously folded and whose next folding, to be carried out along the new line designated by 36, can only be carried out by initially placing the deck in a position shifted towards the 45 ° rear.
  • the folder according to the invention makes it possible to complete a staple-shaped fold, that is to say a fold in which the edge of the sheet is completely turned over. backwards at an angle of 180 °: in this case, a rough bending is first carried out using a tool making it possible to obtain a bending angle of the order of 170 °; then, place this extreme part of the sheet between the two rules of the upper and lower clamps and lower the upper clamp so as to push the turned edge towards the plane of the sheet to complete the folding at 180 °, said clamp superior then playing the role of a press punch.
  • the folder according to the invention is equipped with all motors and transmission members. sion and adjustment of dimensional and angular strokes of appropriate types, that is to say electric, hydraulic, pneumatic or others.
  • the machine can be equipped, for the control and coordination of the various movements, with a simple digital control system of CN type or of digital control with computer of CNC type. It is also possible to provide suitable devices on the machine for displaying the various folding parameters.
  • the folder makes it possible to have, side by side, between the two pillars 2 of the frame 1, several work stations, two of which are shown diagrammatically in FIG. 2. It is then possible to manufacture several parts at the same time, of different dimensions but with similar geometric shapes.
  • a pair of rear stops 17, 18 is provided; 17 ', 18' and a reorientation table 23, 23 '.
  • the folder can be installed in an automatic production line and in this case the sheet metal supply to the workstations and the evacuation of the finished parts are carried out automatically by all appropriate means.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)

Claims (12)

1. Automatische Blechbiegemaschine umfassung:
- einen feststehenden Rahmen (1),
- eine Anordnung von Klemmen (5, 6), die zum Einspannen des zu biegenden Blechs dienen,
- zwei Biegeplattent (3, 4), die an dem Rahmen derart angelenkt sind, dass jede unabhängig um eine Achse parallel zur Arbeitskante der Klemmen geschwenkt werden kann, wobei diese Achse während des Biegevorgangs feststehend ist, die beiden Platten beiderseits der Klemmenanordnung angeordnet sind und jeweils ein Biegewerkzeug (9, 10) tragen, dessen Kante eine Arbeitsebene der Biegemaschine definiert,
- eine Positioniervorrichtung (17,18) für die Biegelinien des Blechs,
- Einstellmittel (31, 32, 33) für die räumliche Position der Achsen der Platten,
- Mittel zum Erzeugen und Koordinieren der verschiedenen Bewegungen zum Durchführen des Biegens,

dadurch gekennzeichnet, dass die Klemmen (5, 6) in bezug auf den Rahmen (1) beweglich sind zum Zuführen des Blechs in die Position zum Biegen durch die eine oder andere der Biegeplatten (3,4), während die Achsen (7, 8), um die die besagten Platten während des Biegevorgangs schwenken, in bezug auf den Rahmen ortsfest sind mit Ausnahme von Einstellbewegungen geringer Amplitude wie diejenigen, die infolge einer Änderung der Blechstärke notwendig sind.
2. Biegemaschine nach Anspruch 1, und bei der jede Klemme (5, 6) eine ebene Blecheinspannfläche aufweist, die zur Vorderseite der Maschine in einer Leiste endet, die dazu bestimmt ist, mit dem Biegewerkzeug der nächstbefindlichen Platte zusammenzuarbeiten, dadurch gekennzeichnet, dass die Platten vertikal eine oberhalb und eine unterhalb der Klemmen angeordnet sind, die selbst übereinander angeordnet sind und vertikal zu der einen oder anderen Platte verschoben werden können, dass die untere Klemme (6) horizontal grössere Abmessungen als die obere Klemme (5) aufweist, um gleichzeitig als Blechauflagetisch zu dienen, und dass die besagten Mittel zum Erzeugen und Koordinieren der verschiedenen Bewegungen der Biegemaschine Mittel der Verbindung und Betätigung (15, 16) der besagten Klemmen zum Erzeugen einerseits einer relativen Vertikalbewegung der beiden Klemmen zum Sicherstellen des Einspannens und des Lospannens eines Blechs und andererseits einer Vertikalbewegung der Anordnung der beiden Klemmen, um diese in die besagte obere und untere horizontale Arbeitsebene (P, , P 2) und zudem in jede geeignete Zwischenposition (P3) zu bringen.
3. Biegemaschine nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass die besagten Mittel der Verbindung und Betätigung der besagten Klemmen Nut- und Kugelreihenantrieb aufweisen.
4. Biegemaschine nach einem der Ansprüche 1 bis 3 und bei der die Positioniervorrichtung für die Biegelinie Anschläge (17,18) umfasst, gegen die der hintere Rand des zu biegenden Blechs in Anlage gelangt, wobei diese Anschläge in einer Richtung senkrecht zu einer der Klemme (6) verschiebbar ist, dadurch gekennzeichnet, dass die besagten Anschläge unabhängig voneinander in der besagten senkrechten Richtung verschiebbar sind.
5. Biegemaschine nach Anspruch 4, dadurch gekennzeichnet, dass die besagten Anschläge (17,18) auf Armen (19,20) montiert sind, die mit dem hinteren Teil der besagten Klemme (6) verbunden sind, und auf den besagten Armen verschoben werden können, und dass diese Arme zudem in einer Richtung parallel zur Vorderkante der besagten Klemme verschiebbar sind, um den relativen Zwischenraum der besagten Anschläge zu ändern.
6. Biegemaschine nach einem der Ansprüche 1 bis 5 und bei der die Vorrichtung zur Umorientierung des zu biegenden Blechs einen oder mehrere Tische (23) umfasst, die hinter der Biegemaschine angeordnet, jeweils mit dieser durch eine entsprechende Förderstrecke (27a, 27b) verbunden sind und unter der Wirkung geeigneter zugeordneter Mittel einerseits eine Drehbewegung um die Vertikalachse des Tisches, um das Blech um einen geeigneten Winkel zur Umorientierung zu drehen, und andererseits einetranslationsbewegung in einer Richtung senkrech zu den Horizontalachsen der Platten (3, 4) derart ausführen zu können, dass das Blech von der Biegemaschine vor seiner Drehung entfernt und nach Reorientierung in die Maschine zurückgeführt wird, wobei der besagte Tisch mit geeigneten Mitteln (34, 35) zum Halten des Blechs in Position während der Ausführung der Bewegungsfolge versehen ist, dadurch gekennzeichnet, dass die besagten Mittel zum Halten durch magnetische Teller (35) oder Sauger (34) gebildet werden.
7. Biegemaschine nach Anspruch 1, dadurch gekennzeichnet, dass die besagten Mittel zum Einstellen der räumlichen Position der Horizontalachsen der beiden Platten (3, 4) durch Führungschienen (31), die an den Seitenteilen der entsprechenden Platten befestigt sind, indem sie um 45° in bezug auf deren Längsmittelebene geneigt sind und die unter der Einwirkung eines geeigneten Stellmechanismus, der manuell oder automatisch sein kann, auf Gleitschuhen (32) geführt gleiten, die an den Enden der entsprechenden ortsfesten Achsen (7,8) angeordnet sind, als auch durch Organe zum Blockieren der besagten Führungsschienen in ihren entsprechenden Einstellpositionen gebildet werden.
8. Biegemaschine nach einem der Ansprüche 1 bis 7, bei der die obere Klemme (5) und die untere Klemme (6) jeweils eine Vorderseite (12,14) aufweisen, die um 45° nach hinten in bezug auf die Ebene durch die Schwenkachsen (7, 8) der Platten verlaufen, dadurch gekennzeichnet, das die beiden Platten (3,4) durch Drehung um ihre ortsfesten Achsen (7, 8) in Biegeausgangspositionen eingestellt werden können, die nach hinten in bezug auf eine Bezugsebene, die durch die Schwenkachse der entsprechenden Platte und parallel zur Einspannrichtung der Klemmen verläuft, in einem Winkel geneigt ist, der 45° erreichen kann.
9. Biegemaschine nach einem der Ansprüche 1 bis 8 und mehrere Arbeitsplätze aufweisend, die jeweils mit hinteren Anschlägen versehen sind, dadurch gekennzeichnet, dass jeder Arbeitsplatz mit einem Tisch zur Umorientierung des Blechs (23, 23') versehen ist.
10. Biegemaschine nach Anspruch 9, dadurch gekennzeichnet, dass jeder Arbeitsplatz zudem mit Transporteinrichtungen zum Zu- und Abführen der Bleche, die mit geeigneten Mitteln zum Greifen ausgerüstet sind, versehen ist.
11. Biegemaschine nach einem der Ansprüche 6, 7 oder 10, dadurch gekennzeichnet, dass der Transportweg, der einen Umorientierungstisch mit der Biegemaschine verbindet, derart eingerichtet ist, dass der Umorientierungstich gleichzeitig zum Zu- und Abführen der Bleche verwendet werden kann.
12. Biegemaschine nach einem der Ansprüche 6, 9 oder 11, dadurch gekennzeichnet, dass der Umorientierungstisch (23) an einer Laufbahn (27c), die hoch angeordnet ist, aufgehängt ist.
EP82401240A 1981-07-07 1982-07-01 Automatische Blechbiegemaschine Expired EP0069661B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT82401240T ATE12191T1 (de) 1981-07-07 1982-07-01 Automatische blechbiegemaschine.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8113349 1981-07-07
FR8113349A FR2509204A1 (fr) 1981-07-07 1981-07-07 Plieuse automatique de toles

Publications (2)

Publication Number Publication Date
EP0069661A1 EP0069661A1 (de) 1983-01-12
EP0069661B1 true EP0069661B1 (de) 1985-03-20

Family

ID=9260300

Family Applications (1)

Application Number Title Priority Date Filing Date
EP82401240A Expired EP0069661B1 (de) 1981-07-07 1982-07-01 Automatische Blechbiegemaschine

Country Status (7)

Country Link
US (1) US4510785A (de)
EP (1) EP0069661B1 (de)
JP (1) JPS5816733A (de)
AT (1) ATE12191T1 (de)
CA (1) CA1185158A (de)
DE (1) DE3262649D1 (de)
FR (1) FR2509204A1 (de)

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JPS5816733A (ja) 1983-01-31
FR2509204A1 (fr) 1983-01-14
ATE12191T1 (de) 1985-04-15
DE3262649D1 (en) 1985-04-25
JPH0228404B2 (de) 1990-06-25
CA1185158A (en) 1985-04-09
FR2509204B1 (de) 1984-06-01
EP0069661A1 (de) 1983-01-12
US4510785A (en) 1985-04-16

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