EP0233132A1 - Automatische Steuerungseinrichtung für flexible blattförmige Werkstücke - Google Patents

Automatische Steuerungseinrichtung für flexible blattförmige Werkstücke Download PDF

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Publication number
EP0233132A1
EP0233132A1 EP87420037A EP87420037A EP0233132A1 EP 0233132 A1 EP0233132 A1 EP 0233132A1 EP 87420037 A EP87420037 A EP 87420037A EP 87420037 A EP87420037 A EP 87420037A EP 0233132 A1 EP0233132 A1 EP 0233132A1
Authority
EP
European Patent Office
Prior art keywords
trajectory
disc
axis
local
advance
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.)
Ceased
Application number
EP87420037A
Other languages
English (en)
French (fr)
Inventor
Paul Romand
Frédéric Pescia
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.)
"anciens Ets Rene Aaron" SA
Braquehais Laurent
Original Assignee
"anciens Ets Rene Aaron" SA
Braquehais Laurent
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 "anciens Ets Rene Aaron" SA, Braquehais Laurent filed Critical "anciens Ets Rene Aaron" SA
Publication of EP0233132A1 publication Critical patent/EP0233132A1/de
Ceased legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B35/00—Work-feeding or -handling elements not otherwise provided for
    • D05B35/10—Edge guides
    • D05B35/102—Edge guide control systems with edge sensors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T83/00—Cutting
    • Y10T83/525—Operation controlled by detector means responsive to work
    • Y10T83/533—With photo-electric work-sensing means

Definitions

  • the subject of the present invention is a device intended for automatically guiding deformable materials such as plastic material, textile material, leathers, skins, etc.
  • This device is essentially intended for guiding materials, in the form of a sheet, with respect to an object of the same nature, of a different nature or with respect to a cutting, assembly, perforation, etc. tool.
  • the object of the present invention is to remedy these drawbacks and to provide a device for automatically guiding deformable sheet materials which is reliable and allows effective guiding of such materials even in the event of local deformation thereof during their job.
  • the automatic guiding device comprises a general material guiding device, which comprises a gripping system for this material and is able to move this material along a predetermined path, and a device for local correction of the trajectory capable of modifying the trajectory followed by the material when the latter deviates from the predetermined trajectory.
  • This device therefore ensures perfect guidance of the sheet material even when it deforms.
  • the device for local correction of the trajectory comprises a device for detecting the modification of the trajectory of the material with respect to the predetermined trajectory and a device for modifying the local orientation of the trajectory followed by the material until it corresponds to the predetermined trajectory.
  • the detection device is formed by detectors capable of being excited by a trace, previously deposited on the material and corresponding to the desired local trajectory of the material relative to the tool, when this trace passes under these detectors.
  • the tracing is carried out using an ink, a powder or a varnish capable of emitting light radiation of a determined wavelength which can be detected by photodetectors when it is excited by ultraviolet radiation.
  • Any other optical, magnetic, electrical solution may also be used with the corresponding detectors.
  • the device for modifying the local orientation of the trajectory of the material is formed by at least one disc with a substantially horizontal axis in contact with the material and which can be oriented around an axis perpendicular to the plane of movement of the material.
  • the disc is rotatably mounted around its axis; it can also be motorized and then rolls on a second disc with a vertical axis, coaxial with the axis of rotation of the first disc, located on the other side of the material and provided with a circular groove whose radius corresponds to the radius of rotation of the first disc.
  • the automatic guide device for sheet materials 1 essentially consists of a general guide device 10 provided with a gripping system 11 for the sheet material 1 and d a device 20 for local correction of the trajectory of the material 1, this device 20 being located near the working tool 30.
  • the general guide device 10 is mounted movable in a horizontal plane, that is to say in a plane parallel to the plane of movement of the material, in a manner known per se, along the perpendicular axes 31, 32, the directions of movement being materialized by the double arrows 31a, 32a.
  • the direction corresponding to arrow 31a is parallel to the direction of drive (advance) of the sheet material 1, this being represented by arrow 33.
  • the other direction of movement 32a is perpendicular to the direction of advance 33 of the sheet material 1.
  • the gripping system 11 is further mounted rotatably (arrow 34) relative to an axis 15 which is perpendicular to the horizontal plane of movement of the material 1 and which is therefore vertical.
  • the general guide device 10 and in particular its gripping system 11 are shown in more detail in FIG. 3.
  • the gripping system 11 is formed by several telescopic arms 12 (three telescopic arms in the example of the drawing) which radiate from their common axis of rotation.
  • Each arm 12 is provided at its free end with a gripping element 13 which can be formed by a clamp as in the example of FIG. 3, but also by systems of the suction cup type or with magnetic action.
  • Each arm 12 is fixed, by means of a mechanically disengageable system 12a, to the axis 15.
  • the different arms 12 can be angularly offset relative to each other and the gripping elements 13 can be more or less distant from axis 15.
  • these arms 12 are telescopic, it can be seen that they can be very easily adapted to the configuration of the sheet material 1 to be supported by the guide device 10.
  • These movements are programmed and controlled in synchronization with the advance of the material for example by a computer, so that the sheet material 1 follows a predetermined trajectory, which is calculated so that the tangent to the curve described by the sheet material is always parallel to the direction of advance thereof, the curve described by the material obviously corresponding to the desired local trajectory of the material relative to the tool.
  • the device 20 for local correction of the trajectory is shown more particularly in FIGS. 2, 4 and 5.
  • This correction device 20 consists essentially of a disc 21; this disc can be rotatably mounted around a rod 22 with a horizontal axis 22a as shown in FIG. 4, it can also be motorized along the same axis; it is further formed from a disc 25, with a vertical axis 25a and mounted tangentially to the disc 21.
  • this device is mounted upstream of the working tool 30 and the drive system 28 (crowbar) now the material 1, relative to the direction of advance 33.
  • the rod 22 is integral with a rod 23 with a vertical axis 23a, this rod 23 being itself connected to the output shaft of a positioner motor 24. Consequently the disc 21 is mounted to rotate, on the one hand , around a vertical axis offset from its median plane and which is the axis 23a, and on the other hand, around its own horizontal axis 22a.
  • This disc 21 is further provided on its periphery with a bead 21a, formed for example by a ring of rubber or other material having a high coefficient of friction, or also of a series of pins.
  • the disc 25 is itself rotatably mounted around its axis 25a, which coincides with the axis of rotation 23a, for example using a ball bearing not shown in the drawing.
  • This disc 25 has a radius corresponding at least to the radius of gyration of the disc 22 around the axis 23a.
  • This groove 26 is also centered on the axis 25a, 23a; it has a cross section corresponding to that of the bead 21a or the like produced on the disc 21, and is capable of receiving the latter, during the rotation of the disc 21 around the axis 23a.
  • the modification of the trajectory imposed by the disc 21 on the material 1 will be an arc of concave circle, of radius all the smaller as P is close to N.
  • This device therefore makes it possible to advantageously compensate for any deformations undergone by the material 1 and to always keep the desired trajectory. It also makes it possible to modify the trajectory according to very small radii of curvature and therefore allows great precision in following the predetermined trajectory.
  • the local orientation system must constantly generate a local trajectory corresponding to the local trajectory. desired and therefore that the disc 21 will be controlled around a theoretical position corresponding to the predetermined path at the point considered.
  • this guide device could be produced differently.
  • the disc 25 could be eliminated, as well as the circular groove 26 and the bead 21a of the disc 21.
  • the presence of the disc 25 facilitates the operation of the assembly.
  • the presence of the groove 26 and of the bead 21a makes it possible to eliminate any sliding effect between the material 1 and each of the two discs 21, 25, an effect which would obviously be detrimental to the overall operation of the assembly.
  • the disc 21 could be driven in rotation about its axis 22a by a motor (not shown), controlled in speed or in torque and controlled by the speed of advance of the material 1 in the direction 33. This could give more efficiency to the local correction system if necessary.
  • the disc 21 could also be arranged not perpendicular to the material 1 but simply inclined relative to the latter.
  • FIG. 6 shows the application of the local correction system 20 to the superposition of two sheet materials 1.
  • a local correction system 20 namely a disc 21 rolling on a disc 25
  • the two discs 25 can then be constituted by the two rings of a ball bearing 29.
  • a torque motor (not shown in the drawing) can be associated with one or the other of the discs 21, so as to create a couple opposing or on the contrary adding in advance of one or the other of the materials 1, so as to stretch or on the contrary to compress this material 1 with respect to the other material and to obtain a perfect overlay of these.
  • Each device 20 for local correction of the trajectory is associated with a system of tracing 40 on the sheet material and of detection 50 of this tracing allowing the device 20 to locally modify the trajectory of the material 1 when the latter deviates too much from the trajectory. theoretical materialized by the plots 40.
  • the line 40 is made on the material 1 itself and corresponds to the predetermined path to be described by the tool 30 on the material 1.
  • This tracing 40 is carried out by means of an ink or a varnish which emits, under the effect of a light excitation, a light radiation of wavelength different from that of the light excitation (in the example considered).
  • the ink chosen is in particular an ink, commonly used in the textile industry, which, when excited by ultraviolet light, emits very intense red light.
  • the detection system 50 associated with each trace 40 comprises an ultraviolet light source 51 capable of exciting the trace 40 produced on the material 1 and photodetectors 52,53,54,55 capable of receiving the radiation emitted by the excited ink by the ultraviolet rays of the light source 51.
  • This detection system 50 is located as close as possible to the tool and upstream of it relative to the direction of advance 33 of the material.
  • the light source 51 can be associated in a manner known per se with a focusing optic, a set of filters and a waveguide, so as to obtain a convergent light beam having the right wavelength and with a minimum light loss (not shown in the drawing).
  • the waveguide possibly conducting the ultraviolet rays, ensures the conduct of the beam formed at the light source 51 up to the chosen detection zone and allows a non-rectilinear path of these rays, depending on the constraints of the dimensions of the elements. outside the detection system.
  • Each detection system 50 comprises at least three photodetectors 52, 53, 54 which can be arranged either perpendicular to the direction of advance 33 as shown in FIG. 7, or inclined with respect to this (as shown in FIG. 8 ), this arrangement making it possible to reduce the bulk.
  • the correct position of the material 1 will therefore be detected when the photodetector 53 located in the middle is above the line 40 and is therefore excited.
  • the motor modifying the orientation of the disc 21 is actuated so as to bring the material 1 to the right .
  • This motor performs rotations of determined angle until the new orientations of the disc 21 have allowed the material 1 to return to the predetermined trajectory.
  • the detector on the right 54 is energized, the motor will rotate the disc 21 so as to bring the material 1 to the left until it rediscovers the theoretical trajectory.
  • the local correction system 20 is therefore controlled by the detection system 50.
  • a fourth photodetector 55 can also be provided for initializing the trace, that is to say locating the start of this trace 40.
  • This initialization photodetector 55 is disposed in front of the central photodetector 53 in the direction of advance 33, and is aligned with the latter.
  • FIGS. 10 to 13 illustrate the different stages of the procedure for initializing a trace 40 when the latter takes place at an angle 41 thereof.
  • the various detectors and in particular the initialization detector 55, are located outside the layout 40 and are therefore not excited by it (see FIG. 10).
  • the transfer device or general guide 10 moves the sheet of material 1 until the initialization detector 55 and the central detector 53 are excited (see FIG. 11), at a moment all the detectors are aligned on the track 40 and this is parallel to the direction of advance 33.
  • the general transfer device 10 possibly assisted by the local orientation system, if the latter is motorized (torque motor associated with the disc 21) then moves the sheet of material 1 parallel to the line 40, (cf. FIG. 12), until so that the initialization detector 55 is no longer energized and is therefore found outside the trace 40 (see FIG. 13). At this moment the sheet of material 1 is in the initialization position, that is to say that the detectors 52, 53, 54, 55 are located above an angle 41 of the tracing and the tracking of the trajectory by the detectors can be started.
  • marks 42 can be arranged at regular intervals on the trace 40. These marks 42 are oriented relative to the trace so as to be able to excite several photodetectors 52, 53, 54 (in this case three photodetectors in the case of Figure 9) at the same time.
  • markers 42 serve as "meetings” and allow, for example, to check that the predetermined trajectory is properly followed, or to specialize certain zones of these: these meetings can be particular points which must be coincident on two materials. ducts separately (stacking for assembly for example).

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Controlling Sheets Or Webs (AREA)
EP87420037A 1986-02-11 1987-02-10 Automatische Steuerungseinrichtung für flexible blattförmige Werkstücke Ceased EP0233132A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8602348A FR2594065A1 (fr) 1986-02-11 1986-02-11 Dispositif de guidage automatique de materiaux deformables sous forme de feuilles
FR8602348 1986-02-11

Publications (1)

Publication Number Publication Date
EP0233132A1 true EP0233132A1 (de) 1987-08-19

Family

ID=9332350

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87420037A Ceased EP0233132A1 (de) 1986-02-11 1987-02-10 Automatische Steuerungseinrichtung für flexible blattförmige Werkstücke

Country Status (6)

Country Link
US (1) US4776579A (de)
EP (1) EP0233132A1 (de)
JP (1) JPS63502562A (de)
BR (1) BR8705764A (de)
FR (1) FR2594065A1 (de)
WO (1) WO1987004736A1 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4002354A1 (de) * 1989-01-27 1990-08-09 Hams Corp Naehmaschine mit automatischer stoffuehrung
FR2667052A3 (fr) * 1990-09-26 1992-03-27 Sepaic Dispositif de guidage de materiau souple en forme de feuille.
DE4312875A1 (de) * 1992-04-21 1993-10-28 Henkel & Roth Gmbh Industrieau Verfahren und Anordnung zum selbsttätigen Führen eines Nähgutteiles

Families Citing this family (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4899675A (en) * 1988-05-31 1990-02-13 Tachi-S Co., Ltd. Sewing apparatus for sewing a curved, wavy cloth
JPH027992A (ja) * 1988-06-27 1990-01-11 Brother Ind Ltd 柄合わせ加工機械
DE3834427A1 (de) * 1988-10-10 1990-04-12 Msi Naehautomaten Entwicklung Vorrichtung zum konturgetreuen naehen, heften oder schneiden textiler werkstuecke
FR2640476A1 (fr) * 1988-12-19 1990-06-22 Miivar Procedes de fabrication automatique de produits en feuilles souples constitues de plusieurs pieces assemblees tels que des vetements ou sous-vetements ainsi que dispositifs pour la mise en oeuvre de ces procedes
US5018462A (en) * 1989-10-16 1991-05-28 Sew Simple Systems, Inc. Edge finishing system
DE3939461A1 (de) * 1989-11-29 1991-06-27 Kela Spezialmaschinen Gmbh Durchlaufeinrichtung fuer die behandlung von leder und aehnlichen materialien
DE4004231A1 (de) * 1990-02-12 1991-08-14 Msi Naehautomaten Entwicklungs Vorrichtung zum konturgetreuen naehen, heften oder schneiden textiler werkstuecke
US5065684A (en) * 1990-05-15 1991-11-19 The Charles Stark Draper Laboratory, Inc. Limp material segment transport apparatus for sewing machines
FR2665191B1 (fr) * 1990-07-27 1992-11-20 Rouleau Patrick Dispositif de guidage de tissu et procede de couture automatique.
GB9019091D0 (en) * 1990-09-01 1990-10-17 British United Shoe Machinery Automatic sewing machine system
US5216969A (en) * 1991-12-23 1993-06-08 L & P Products, Inc. Automated carpet binding apparatus
US5290027A (en) * 1992-02-19 1994-03-01 Ark, Inc. Article positioning apparatus and method for positioning an article
US5304773A (en) * 1992-02-19 1994-04-19 Trumpf Inc. Laser work station with optical sensor for calibration of guidance system
EP0672327A4 (de) * 1992-09-08 1997-10-29 Paul Howard Mayeaux Maschinenbeobachtungskamera und system zur videovorverarbeitung.
US5529004A (en) * 1994-03-17 1996-06-25 Porter Sewing Machines, Inc. Method and apparatus for manipulating and sewing flexible fabrics
US5647293A (en) * 1995-09-08 1997-07-15 Atlanta Attachment Co. Locker patch attachment system
US5645002A (en) * 1996-03-21 1997-07-08 Sew Simple Systems, Inc. Edge hemmer with corner controller
US6000352A (en) * 1997-10-15 1999-12-14 Porter Sewing Machines, Inc. Method and apparatus for sewing fabric panels
DE02028159T1 (de) * 2001-12-21 2004-04-15 C.P. Bourg S.A. Verfahren und Vorrichtung zur Steuerung der Orientierung und der Ausrichtung von auf einem Förderband vorbeikommenden einzelnen Papierbogen
US6834603B1 (en) 2002-03-05 2004-12-28 Atlanta Attachment Company Attachment gusset with ruffled corners and system for automated manufacture of same
US7100525B1 (en) 2003-02-10 2006-09-05 Atlanta Attachment Company, Inc. System and method of finishing ruffled gussets/borders
US6968794B1 (en) 2003-04-03 2005-11-29 Atlanta Attachment Company Presser foot control system
US6994043B1 (en) 2003-05-20 2006-02-07 Atlanta Attachment Company Method of forming a mattress
US7543364B1 (en) 2004-01-13 2009-06-09 Atlanta Attachment Company Border flanging and attachment gusset forming system
US7574788B1 (en) 2004-10-01 2009-08-18 Atlanta Attachment Company Foundation cover stretching and stapling system
US7383780B1 (en) 2005-04-18 2008-06-10 Atlanta Attachment Company Tape edge work station
US7416183B2 (en) * 2005-06-06 2008-08-26 Pitney Bowes Inc. Postal weighing platform with integrated feeding and deskewing functions
US8042478B2 (en) * 2007-09-10 2011-10-25 Atlanta Attachment Co. Automatic panel cutting and seaming system
US7984681B1 (en) 2007-11-20 2011-07-26 Atlanta Attachment Company Automatic panel sewing and flanging system
DE102015102342A1 (de) * 2015-02-19 2016-08-25 Faurecia Sièges d'Automobile Nähmaschine
DE102017107480A1 (de) * 2017-04-07 2018-10-11 Schmale-Holding Gmbh & Co. Verfahren und Vorrichtung zum Ausrichten eines Flächenbereiches eines flexiblen Materialstückes
CN108118461A (zh) * 2017-12-28 2018-06-05 苏州匠博智能科技有限公司 一种汽车脚垫自动转向感应装置
US10895030B1 (en) * 2020-07-01 2021-01-19 Softwear Automation, Inc. Palletless sewing methods and systems

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DE1302988B (de) *
US3349735A (en) * 1965-06-14 1967-10-31 Singer Co Work feeding mechanism for sewing machines
BE699568A (de) * 1967-06-06 1967-11-16
US3636898A (en) * 1968-06-18 1972-01-25 Kellwood Co Edge contour guidance control for pieces of material
FR2252008A5 (en) * 1973-10-24 1975-06-13 Inst Textile De France Sewing machine for stitching the curved edge of a work-piece - has adjusting device for moving edge transversely of the line of stitching
DE2720019A1 (de) * 1976-05-04 1977-11-17 Kayaba Industry Co Ltd Automatische naehmaschine
DE2939238A1 (de) * 1979-09-27 1981-04-02 Beisler Gmbh, 8752 Goldbach Vorrichtung zur bildung einer naht laengs mindestens eines teiles der raender eines naehgutteiles
FR2467902A1 (fr) * 1979-10-18 1981-04-30 Valton Sa Dispositif pour la mise automatique en position d'une piece de vetement en vue de l'execution d'une couture
GB2062707A (en) * 1979-09-14 1981-05-28 Amf Inc Guiding Work in Sewing- Machines
DE3426134A1 (de) * 1983-10-10 1985-04-18 Veb Kombinat Textima, Ddr 9010 Karl-Marx-Stadt Anordnung zur erkennung des kantenverlaufes
EP0157137A1 (de) * 1984-02-27 1985-10-09 BTF-Textilwerke GmbH & Co. Kommanditgesellschaft Vorrichtung zum Bewegen und Führen eines Werkstücks

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US2684651A (en) * 1949-12-20 1954-07-27 Bihaly Lajos Automatic guiding mechanism for sewing machines
US3175824A (en) * 1962-09-07 1965-03-30 Ibm Sheet driving and aligning mechanism
BE636458A (de) * 1962-09-10
US3417718A (en) * 1963-03-23 1968-12-24 Melka Ab System for automatically guiding the work in a sewing machine
US3529084A (en) * 1967-04-17 1970-09-15 Gerber Scientific Instr Co Line follower
US3472187A (en) * 1967-12-19 1969-10-14 Singer Co Sewing machine automatic work steering mechanisms
JPS59181185A (ja) * 1983-03-30 1984-10-15 蛇の目ミシン工業株式会社 刺しゆう枠駆動装置

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1302988B (de) *
US3349735A (en) * 1965-06-14 1967-10-31 Singer Co Work feeding mechanism for sewing machines
BE699568A (de) * 1967-06-06 1967-11-16
US3636898A (en) * 1968-06-18 1972-01-25 Kellwood Co Edge contour guidance control for pieces of material
FR2252008A5 (en) * 1973-10-24 1975-06-13 Inst Textile De France Sewing machine for stitching the curved edge of a work-piece - has adjusting device for moving edge transversely of the line of stitching
DE2720019A1 (de) * 1976-05-04 1977-11-17 Kayaba Industry Co Ltd Automatische naehmaschine
GB2062707A (en) * 1979-09-14 1981-05-28 Amf Inc Guiding Work in Sewing- Machines
DE2939238A1 (de) * 1979-09-27 1981-04-02 Beisler Gmbh, 8752 Goldbach Vorrichtung zur bildung einer naht laengs mindestens eines teiles der raender eines naehgutteiles
FR2467902A1 (fr) * 1979-10-18 1981-04-30 Valton Sa Dispositif pour la mise automatique en position d'une piece de vetement en vue de l'execution d'une couture
DE3426134A1 (de) * 1983-10-10 1985-04-18 Veb Kombinat Textima, Ddr 9010 Karl-Marx-Stadt Anordnung zur erkennung des kantenverlaufes
EP0157137A1 (de) * 1984-02-27 1985-10-09 BTF-Textilwerke GmbH & Co. Kommanditgesellschaft Vorrichtung zum Bewegen und Führen eines Werkstücks

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4002354A1 (de) * 1989-01-27 1990-08-09 Hams Corp Naehmaschine mit automatischer stoffuehrung
GB2228016A (en) * 1989-01-27 1990-08-15 Hams Corp Automatic fabric guide in sewing machine
US5033399A (en) * 1989-01-27 1991-07-23 Hams Corporation Automatic fabric guide in sewing machine
FR2667052A3 (fr) * 1990-09-26 1992-03-27 Sepaic Dispositif de guidage de materiau souple en forme de feuille.
DE4312875A1 (de) * 1992-04-21 1993-10-28 Henkel & Roth Gmbh Industrieau Verfahren und Anordnung zum selbsttätigen Führen eines Nähgutteiles

Also Published As

Publication number Publication date
FR2594065A1 (fr) 1987-08-14
BR8705764A (pt) 1988-02-09
WO1987004736A1 (fr) 1987-08-13
US4776579A (en) 1988-10-11
JPS63502562A (ja) 1988-09-29

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