EP0212196B1 - Verfahren und Vorrichtung zur Regelung eines Kettbaumantriebs einer Webmaschine - Google Patents
Verfahren und Vorrichtung zur Regelung eines Kettbaumantriebs einer Webmaschine Download PDFInfo
- Publication number
- EP0212196B1 EP0212196B1 EP86109298A EP86109298A EP0212196B1 EP 0212196 B1 EP0212196 B1 EP 0212196B1 EP 86109298 A EP86109298 A EP 86109298A EP 86109298 A EP86109298 A EP 86109298A EP 0212196 B1 EP0212196 B1 EP 0212196B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- warp beam
- drive
- warp
- tension
- speed
- 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
- 238000000034 method Methods 0.000 title claims description 27
- 230000008569 process Effects 0.000 title description 12
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000009941 weaving Methods 0.000 description 17
- 238000013519 translation Methods 0.000 description 16
- 238000012937 correction Methods 0.000 description 11
- 239000004744 fabric Substances 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000001419 dependent effect Effects 0.000 description 5
- 230000009467 reduction Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
Images
Classifications
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D51/00—Driving, starting, or stopping arrangements; Automatic stop motions
- D03D51/002—Avoiding starting marks
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D49/00—Details or constructional features not specially adapted for looms of a particular type
- D03D49/04—Control of the tension in warp or cloth
- D03D49/06—Warp let-off mechanisms
Definitions
- the invention relates to a method for controlling a warp beam drive of a weaving machine, in which the warp beam drive is influenced at least as a function of a speed of the warp beam and a size representing the tension of the warp threads, and to a device for carrying out the method with a control device for influencing the warp beam drive and at least one device for measuring the speed of the warp beam and one device for measuring the tension of the warp threads to act on the control device.
- the starting setpoint generator proposed in the cited patent specification which specifies a certain run-up curve for starting the warp beam drive and thus replaces the position of the dancer as a setpoint signal, can only to a limited extent remedy the occurrence of stop marks in the fabric.
- DE-A-3 406 888 also discloses a method for starting a weaving machine from standstill, the warp beam being rotated forwards or backwards until the detected warp thread tension corresponds to a predetermined warp thread tension.
- the object of the invention is to improve the known method in such a way that even when the warp beam drive is started from standstill, no errors occur and therefore no stop marks or start marks are recognizable in the fabric.
- the problem is solved in that, in the known method, before the warp beam drive is restarted from standstill, the tension of the warp threads is increased to a predeterminable value by turning the warp beam back and is reduced to a likewise predeterminable normal value during the start-up by acting on the warp beam drive.
- This measure on the one hand replaces the tension of the warp threads normally used as a setpoint with predeterminable values or functions, and on the other hand the tension of the warp threads is adjusted to these values or functions by rotating the warp beam. This makes it possible to influence the starting process of the warp beam drive so precisely that no stop marks or temper marks can be seen in the fabric.
- the predeterminable normal value corresponds to the value of the tension of the warp threads before the first start of the warp beam drive, while the predeterminable increased value forms a constant difference with the normal value, which in turn depends on the starting behavior of the main drive.
- the manner in which the tension of the warp threads is taken into account when starting the warp beam drive is achieved in that the resetting of the tension of the warp threads from the predeterminable increased value to the normal value is carried out in the form of a predefinable time-dependent function.
- the control device is designed in digital form, in particular in the form of a correspondingly programmed digital computing device.
- the device for measuring the speed of the warp beam is realized with the aid of a pulse generator coupled to the warp beam, which generates a certain number of digital pulses per complete rotation of the warp beam.
- the device for measuring the tension of the warp threads is carried out by means of a potentiometer which detects the position of a tension roller determining the tension of the warp threads and which is followed by an analog / digital converter.
- the use of the pulse generator on the specified device is particularly advantageous, since not only the speed of the warp beam drive can be measured with it, but also the number of pulses that result from the turning back of the warp beam to increase the tension of the warp threads. This number can then be used in a particularly advantageous manner to form the start-up function.
- the forward movement of the woven warp threads is measured with the aid of a further pulse generator which is coupled to a shaft which is in operative connection with the woven warp threads by friction.
- the speed of the forward movement of the interwoven warp threads serves to further influence the control device and thus influence the warp beam drive.
- the warp beam drive itself is provided as a drive which can be regulated in terms of its speed by alternately actuating a clutch and a brake. Any other controllable drive can also be used.
- warp threads 11 are unwound from a warp beam 10 and fed via a first deflection roller 12, a dancer 13 and a second deflection roller 15 to a weaving machine, which is indicated schematically by reference number 16. There, the warp threads 11 are subject to the so-called shed formation, the warp threads marked 17 forming the upper pocket and those marked 18 forming the lower pocket, through which the weft thread is guided in a manner not shown. Outside the weaving machine indicated by the reference numeral 16, the warp threads 11 now woven, that is to say the fabric 19, run between the two drive rollers 20 and are then wound up on the roller 21.
- the warp beam 10 is driven by a warp beam drive 25, while the two drive rollers 20 are set in motion by a roller drive 26.
- the roller drive 26 can also be referred to as the main drive and is therefore marked with an M because it is the so-called "master drive", that is the preferred drive, while the warp beam drive 35 is marked with an S because it is the "Slave drive” is, that is, the drive dependent on the roller drive 26.
- a pulse generator 27 and 28 is connected to the warp beam 10 and to one of the two drive rollers 20 and generates a certain number of digital pulses with each rotation of the warp beam 10 or the drive rollers 20.
- the speed of the shaft is then detected in that a device, for example a light barrier, detects the movement of the individual teeth and emits a signal for each tooth that is moved past.
- a pulse shaper stage connected downstream of this device can then process this signal into a corresponding digital pulse.
- the number of such digital pulses per unit of time then gives the speed of the shaft.
- the dancer 13 is used to compensate for the speed fluctuations of the warp threads 10, which arise from the shedding. For this reason, the dancer 13 moves up and down in synchronism with the shedding.
- the dancer 13 is held by a spring 14 so that the warp threads 11 are always under tension.
- the position of the dancer 13 is detected by a position sensor 29 and a zero point sensor 31, the position sensor 29 being followed by an analog / digital converter 30 and the zero point sensor 31 being followed by a pulse shaper 32.
- the displacement sensor 29 can be designed, for example, in the form of a potentiometer, the tap of which is coupled to the dancer.
- the zero point transmitter 31 can be a switch which is closed when the dancer 13 is in a specific, predeterminable position, but is otherwise always open.
- the output signals of the pulse generator 27, the pulse shaper 32, the converter 30 and the pulse shaper 28, which are denoted by IS, NP, TS and IM, are fed to a computing device 35 which is supplied with a variable U as a further input signal and which has an output signal generated, which is connected to a digital / analog converter 45.
- the computing device 35 comprises a translation calculation 36, a target value calculation 37, a target-actual comparison 38, an actual value correction 39 and a link 40.
- the translation TS 36 is supplied with the signal TS and the signal U, while the actual value correction 39 has the signal NP and the signal IS is supplied.
- the translation calculation 36 Depending on its two input signals, the translation calculation 36 generates an output signal TK which, together with the signal IM, acts on the setpoint calculation 37.
- the output signal of the setpoint calculation 37 is designated ISS and is connected to the setpoint / actual comparison 38.
- the actual value correction 39 forms an output signal NK from its two input signals NP and IS and from a signal t that represents time, which is connected to the link 40 together with the signal S and is linked there to form the signal ISI.
- This signal ISI is finally led as a second input signal to the target-actual comparison 38, the output signal of which controls the converter 45.
- the speed of the roller drive 26 is predetermined by a signal LWM, which is fed to the roller drive 26 on the one hand and a conversion 47 on the other hand.
- the signal LWF is generated from the signal LWM as a function of the already mentioned signal U and is connected to a link 46, which is also supplied with the output signal LWK of the converter 45 as an input signal.
- the output signal of the link 46 is finally designated LWS and is connected to the warp beam drive 25 for the purpose of controlling it.
- the LWM signal is constant and effective in that the roller drive 26 drives the drive rollers 20 at a likewise constant speed.
- the fabric 19 is therefore drawn off from the area of the weaving machine 16 at a constant speed. Since the roller drive 26 is the preferred drive, the "master drive”, the warp beam drive 25, the "slave drive”, which is dependent thereon, must be set to this constant take-off speed of the fabric 19. This is done by linking the LWF and LWK signals to the LWS signal.
- the warp beam 10 had a constant diameter during the entire operating period of the control, this would result in a constant ratio between the speed of the warp beam 10 and the speed of the drive rollers 20. In this case, it would be sufficient to link the signal LWM which controls the roller drive 26 with the aid of the conversion 47 with the aforementioned ratio, in order then to directly drive the warp beam drive 25 with the output signal LWF. In this case, the signal LWK would be continuously zero due to the constant transmission ratio.
- the warp threads 11 unwind from the warp beam 10, its diameter decreases in the long term with each thread layer that it unwinds. For this reason, it is not sufficient to work with a fixed ratio of the speeds of the drive rollers 20 and the warp beam 10, but the speed of the warp beam 10 has to be corrected, more precisely, increased due to the reduction in its diameter. This is done with the aid of the signal LWK generated by the computing device 35, which influences the warp beam drive 25 via the link 46.
- the current diameter of the warp beam must be measured before the first start of the entire control system and the transmission ratio of the speeds of the warp beam 10 and the drive rollers 20 belonging to this diameter must be calculated therefrom.
- This transmission ratio must be fed to the computing device 35 and the conversion 47 as a signal U.
- the current position of the dancer 13 must be influenced so that it corresponds to the position detectable by the zero point sensor 31 before the first start of the control.
- the zero point transmitter 31 must therefore emit a signal precisely when the dancer 13 is in this current position.
- the dancer 13 moves up and down regularly. If the diameter of the warp beam 10 does not change, the mean value of this movement also remains constant. However, if a thread layer of the warp beam 10 is unwound, the diameter of the warp beam is reduced, which has the consequence that too little warp thread length is fed to the weaving machine due to the constant speed of the warp beam 10 in the first moment, and thereby the mean value of the up and down movement of the Dancer 13 slowly changed in the form of a long-term upward movement of the dancer 13.
- This process is ascertained by the translation calculation 36 via the travel sensor 29, so that the translation ratio U initially entered can now be changed by the translation calculation 36 such that the reduced diameter of the warp beam 10 is taken into account.
- the change in the mean value of the dancer 13 can be detected by the translation calculation 36, for example by integrating the dancer movements.
- the output signal of the translation calculation 36 which represents the actual, that is, the current transmission ratio, is linked by the setpoint calculation 37 to the signal IM, which corresponds, for example, to the number of pulses in a predefinable time unit, in such a way that at the output of the Setpoint calculation 37 a signal is present which corresponds to the desired number of pulses in the same time unit of the pulse generator 27 assigned to the warp beam 10.
- the number of pulses IM is therefore converted by the setpoint calculation 37 using the actual transmission ratio TK to the set number of pulses ISS.
- the target / actual comparison 38 compares the target number of pulses ISS with the actual number of pulses ISI, which normally corresponds to the output signal IS of the pulse generator 27 when the signal NK is zero. In the event of a deviation of the actual number of pulses from the target, the comparison 38 generates an output signal which, via the link 46, influences the warp beam drive 25 in such a way that the reduction in the diameter of the warp beam 10 is compensated for by an increase in the speed of the same. Since the input signals of the target-actual comparison 38 become the same size by increasing the speed of the warp beam 10, in order to maintain the increased speed of the warp beam 10, the comparison 38 must have storing, ie integrating properties.
- the signal NK is zero. However, this is only the case when the entire weaving machine is operating at its normal operating speed. If, however, an error occurs during operation so that the weaving machine comes to a standstill, the entire weaving machine must be restarted after the error has been rectified. During this start-up, the signal NK is not equal to zero.
- the signal NK has the task of ensuring that the entire weaving machine works properly even when the weaving machine is started from standstill. The stop marks or starter marks normally caused by standstills of the weaving machine should therefore be avoided.
- the warp beam drive 25 is designed so that the warp beam 10 comes to a standstill later than the drive rollers 20, so that the dancer 13 is below its normal position and can reach this normal position by turning the warp beam 10 backwards. If the actual value correction 39 has recognized on the basis of the signal NP that the dancer 13 has reached this normal position, then when the warp beam 10 is turned back further it counts the signals IS generated thereby by the pulse generator 27.
- the actual value correction 39 is predetermined a certain number of pulses X, which is related to the signal IM generated by the pulse generator 28 and which is converted by the actual value correction 39 with the aid of the actual gear ratio provided by the translation calculation 36 into a number of pulses Y related to the signal IS. If the number of pulses of the signal IS supplied by the pulse generator 27 reaches the value of the predetermined number of pulses Y, the warp beam 10 is stopped. The dancer 13 is now in a position above its normal position, this position being clearly defined by the value of the number of pulses X.
- the weaving machine can start moving.
- the influence of the signal TS on the translation calculation 36 is prevented first, since otherwise the translation calculation 36 would calculate an incorrect actual translation due to the position of the dancer 13 caused by the turning back.
- the gear ratio calculation 36 In order for the signal TK, which represents the last actual gear ratio, to be retained during the start-up of the weaving machine, that is to say during a time period To in which the signal TS must not act on the gear ratio calculation 36, the gear ratio calculation 36 must store, e.g. have integrating properties.
- the time range To during which the signal TK is stored is communicated to the translation calculation 36 by the actual value correction 39, which is to be indicated in FIG. 1 by the dashed arrow connection. This time period To is dependent, for example, on the starting behavior of the roller drive 26.
- the adjustment of the dancer 13 from its normal position before starting the two drive units 25 and 26 has the purpose of preventing the dancer 13 from overshooting during the starting process.
- the adjustment of the dancer 13 must, however, be corrected again at the end of the starting process, that is to say after the period of time to, so that the dancer 13 moves up and down again about its normal position in normal operation.
- This correction is accomplished during the start-up of the two drive units 25 and 26 with the aid of the signal NK generated by the actual value correction 39.
- the actual value correction 39 stores the value Y by which the warp beam 10 has been rotated back over the normal position of the dancer 13 and passes this number of pulses during the start-up process as a signal NK to the target / actual comparison 38.
- the signal NK thus manipulates the number of pulses IS, in such a way that, by actuating the warp beam drive 25, the mean value of the position of the dancer 13 slowly approaches its normal position again during the starting process. At the end of the starting process, that is to say after the time period To, the signal NK is again zero and the mean value of the position of the dancer 13 again corresponds to the normal position of the same. At the same time, the influence of the signal TS on the translation calculation 36 is now released again, so that after the start of the two drive units 25 and 26 the normal control loop is intact again and reductions in the diameter of the warp beam 10 can be taken into account with the help of the translation calculation 36.
- the course of the signal NK during the start of the drives 25 and 26, that is to say during the time period To, is particularly dependent on the start-up behavior of the roller drive 26.
- the course of the signal NK is a function that changes over time t. It is particularly advantageous to reduce the signal NK during the start-up process from larger to smaller values, for example in a linear manner. It is also conceivable that the course of the signal NK depends on the current actual transmission ratio. For this purpose, the actual value correction is coupled to the translation calculation 36 via the dashed arrow connection shown in FIG. 1.
- the computing device 35 with which the control of the warp beam drive 25 and in particular the control thereof is carried out during start-up, is constructed in digital form. It is particularly advantageous to use a suitably programmed digital computer, in particular a microprocessor. By using a digital computing device, it is possible in a particularly simple and advantageous manner to relate the output signal IS of the pulse generator 27, namely the individual pulses of this signal, not only to the time and thus to calculate a speed, but also in particular when the speed is turned back Warp beam 10 to use for path measurements or angle measurements. For this purpose, the individual impulses are counted and converted to the distance or angle covered multiplied by a factor dependent on the encoder wheel generating the pulse.
- the zero point transmitter 31 It is also possible to carry out the function of the zero point transmitter 31 with the aid of the travel sensor 29.
- the value measured by the travel sensor 29, which corresponds to the normal position of the dancer 13 normally detected by the zero point transmitter 31, must be stored by the computing device 35. If, in particular, the normal position of the dancer 13 is to be recognized while the warp beam 10 is being rotated back, then in this case the value corresponding to the dancer 13 and measured by the displacement sensor 29 must be continuously compared with the stored value, so that the normal position of the Dancer 13 can be recognized.
- the warp beam drive 25 with a clutch and a brake, which are actuated alternately by the signal LWS, so that a drive with variable speed is available overall.
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Looms (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE3528280 | 1985-08-07 | ||
DE19853528280 DE3528280A1 (de) | 1985-08-07 | 1985-08-07 | Verfahren und vorrichtung zur regelung eines kettbaumantriebs einer webmaschine |
Publications (3)
Publication Number | Publication Date |
---|---|
EP0212196A2 EP0212196A2 (de) | 1987-03-04 |
EP0212196A3 EP0212196A3 (en) | 1988-05-11 |
EP0212196B1 true EP0212196B1 (de) | 1990-06-13 |
Family
ID=6277892
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP86109298A Expired - Lifetime EP0212196B1 (de) | 1985-08-07 | 1986-07-08 | Verfahren und Vorrichtung zur Regelung eines Kettbaumantriebs einer Webmaschine |
Country Status (4)
Country | Link |
---|---|
US (1) | US4750527A (ja) |
EP (1) | EP0212196B1 (ja) |
JP (1) | JPS6233852A (ja) |
DE (2) | DE3528280A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4325038A1 (de) * | 1992-08-18 | 1994-02-24 | Regatron Ag Steinach | Regeleinrichtung für den Vorschub von Wickelgut einer Webmaschine |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3730310A1 (de) * | 1987-09-10 | 1989-04-06 | Stromag Maschf | Verfahren zur steuerung oder regelung einer webmaschine |
DE58901019D1 (de) * | 1988-07-08 | 1992-04-30 | Sulzer Ag | Verfahren zur kettspannungssteuerung und webmaschine mit kettspannungsorgane. |
BE1002819A3 (nl) * | 1989-02-06 | 1991-06-18 | Picanol Nv | Werkwijze voor het weven van een weefsel met een weefselpatroon, en weefmachines die deze werkwijze toepassen. |
IT1232389B (it) * | 1989-03-21 | 1992-02-17 | Ergotron Dondi Benelli Dore | Procedimento e dispositivo per impedire la formazione di barrature di trama nel tessuto alla ripresa di un funzionamento di un telaio dopo una interruzione |
JPH0418151A (ja) * | 1990-05-11 | 1992-01-22 | Tsudakoma Corp | たて糸張力制御装置 |
US5224520A (en) * | 1990-11-19 | 1993-07-06 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Weaving bar prevention in a jet loom |
DE4123671A1 (de) * | 1991-07-17 | 1993-01-21 | Berger Lahr Gmbh | Webmaschine |
US5259421A (en) * | 1992-10-27 | 1993-11-09 | Alexander Machinery, Inc. | Weaving machine feeding apparatus with oscillating dancer roll |
US6216747B1 (en) * | 1999-03-15 | 2001-04-17 | E. I. Du Pont De Nemours And Company | Beam let-off apparatus and a method for letting off filaments |
US20020195160A1 (en) * | 2001-06-26 | 2002-12-26 | Sulzer Textil Ag | Method and apparatus for the regulation of the warp let-off a weaving machine |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1243114B (de) * | 1958-10-22 | 1967-06-22 | Zellweger A G App U Maschinenf | Vorrichtung fuer Webmaschinen zum Konstanthalten der Kettenspannung |
FR1407185A (fr) * | 1964-06-17 | 1965-07-30 | Inst Textile De France | Dispositif de commande par mouvement rotatif à vitesse constante d'un dérouleur de fils de chaîne pour métier à tisser |
CH613999A5 (ja) * | 1976-09-27 | 1979-10-31 | Sulzer Ag | |
JPS5593849A (en) * | 1978-12-30 | 1980-07-16 | Toyoda Automatic Loom Works | Timing setting method and apparatus in loom |
CH629549A5 (en) * | 1979-04-09 | 1982-04-30 | Grob Willy Ag | Positive warp let-off device |
DE2939607C2 (de) * | 1979-09-29 | 1983-10-27 | Maschinenfabrik Stromag Gmbh, 4750 Unna | Regeleinrichtung für den Antrieb eines Kettablasses einer Webmaschine |
US4480665A (en) * | 1981-01-21 | 1984-11-06 | Nissan Motor Company, Limited | Weft-bar (set mark) prevention system for a loom |
JPS5959946A (ja) * | 1982-09-24 | 1984-04-05 | 日産自動車株式会社 | 織機の経系送り出し装置における織機停止時の制御方法 |
JPS5994648A (ja) * | 1982-11-16 | 1984-05-31 | 株式会社豊田自動織機製作所 | 織機における経糸送り出し制御方法 |
JPS59129889U (ja) * | 1983-02-16 | 1984-08-31 | 津田駒工業株式会社 | 電動送り出し制御装置 |
JPH0694614B2 (ja) * | 1983-02-25 | 1994-11-24 | 津田駒工業株式会社 | 織機の電動送り出し方法およびその装置 |
JPS59157355A (ja) * | 1983-02-28 | 1984-09-06 | 株式会社豊田自動織機製作所 | 織機の運転開始方法 |
CH661754A5 (de) * | 1983-10-04 | 1987-08-14 | Saurer Ag Adolph | Regeleinrichtung fuer den drehantrieb einer abwickelvorrichtung. |
JPS60155757A (ja) * | 1984-01-20 | 1985-08-15 | 津田駒工業株式会社 | 織機の電動送り出し・巻取制御方法およびその装置 |
JPH0730490B2 (ja) * | 1984-09-06 | 1995-04-05 | 津田駒工業株式会社 | 織機の電動送り出し制御装置 |
-
1985
- 1985-08-07 DE DE19853528280 patent/DE3528280A1/de not_active Withdrawn
-
1986
- 1986-07-08 DE DE8686109298T patent/DE3671923D1/de not_active Expired - Lifetime
- 1986-07-08 EP EP86109298A patent/EP0212196B1/de not_active Expired - Lifetime
- 1986-08-07 JP JP61184366A patent/JPS6233852A/ja active Pending
- 1986-08-07 US US06/894,250 patent/US4750527A/en not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4325038A1 (de) * | 1992-08-18 | 1994-02-24 | Regatron Ag Steinach | Regeleinrichtung für den Vorschub von Wickelgut einer Webmaschine |
Also Published As
Publication number | Publication date |
---|---|
EP0212196A2 (de) | 1987-03-04 |
DE3671923D1 (de) | 1990-07-19 |
JPS6233852A (ja) | 1987-02-13 |
DE3528280A1 (de) | 1987-02-19 |
EP0212196A3 (en) | 1988-05-11 |
US4750527A (en) | 1988-06-14 |
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