EP0355179B1 - Disposition de vérin linéaire - Google Patents

Disposition de vérin linéaire Download PDF

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Publication number
EP0355179B1
EP0355179B1 EP88113407A EP88113407A EP0355179B1 EP 0355179 B1 EP0355179 B1 EP 0355179B1 EP 88113407 A EP88113407 A EP 88113407A EP 88113407 A EP88113407 A EP 88113407A EP 0355179 B1 EP0355179 B1 EP 0355179B1
Authority
EP
European Patent Office
Prior art keywords
housing
sensor device
motor
linear drive
drive assembly
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
Application number
EP88113407A
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German (de)
English (en)
Other versions
EP0355179A1 (fr
Inventor
Kurt Stoll
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.)
Festo SE and Co KG
Original Assignee
Festo SE and Co KG
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 Festo SE and Co KG filed Critical Festo SE and Co KG
Priority to EP88113407A priority Critical patent/EP0355179B1/fr
Priority to ES198888113407T priority patent/ES2030811T3/es
Priority to DE8888113407T priority patent/DE3870876D1/de
Priority to JP1183533A priority patent/JP2928276B2/ja
Priority to US07/389,004 priority patent/US4987822A/en
Priority to KR1019890011738A priority patent/KR950003066B1/ko
Publication of EP0355179A1 publication Critical patent/EP0355179A1/fr
Application granted granted Critical
Publication of EP0355179B1 publication Critical patent/EP0355179B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S91/00—Motors: expansible chamber type
    • Y10S91/04—Magnets

Definitions

  • the invention relates to a linear drive device, with a linear motor, in particular pneumatically operated by pressure medium, which has a housing in which there is an axially displaceable piston which is connected to an actuating rod protruding from the motor housing on one working side, in particular as a valve device trained control device for motor control, and with a responsive at certain positions of the actuating rod sensor device, wherein the control device and the sensor device are arranged in the region of the control side opposite the working side of the linear motor and are firmly connected to this to form a jointly manageable work unit.
  • the linear motor is regularly designed as a piston-cylinder unit whose piston rod, which is connected to the piston and protrudes from the cylinder, represents the actuating rod which can be connected to a component to be moved or another power take-off.
  • the linear motor is brought to the desired location and the pressure medium required for actuation, eg compressed air, is brought in or out via pressure medium lines or hoses.
  • the pressure medium flow control devices are used, which are often designed as valve devices and are operated, for example, electrically.
  • a sensor device is provided which operates one or more, for example on an electrical, magnetic, pneumatic or mechanical basis May contain sensors with which predetermined positions of the actuating rod can be detected in order to switch the control device in dependence thereon.
  • a linear drive device of the type mentioned at the outset is known from DE-U-8632990.
  • Your sensor device is formed by a position sensor which can be actuated in a contactless manner and which is mounted together with a solenoid valve forming the valve device in the region of the end face of the linear motor opposite the piston rod.
  • the position sensor responds to the position of the piston and can actuate the solenoid valve to influence the operating state of the linear motor. Since the linear motor, the position sensor and the solenoid valve are combined to form a work unit that can be handled together, rapid assembly is possible at the respective place of use.
  • the known linear drive device has a relatively large width. This results mainly from the sensor device arranged on the outer circumference of the motor housing, which must be attached in the stroke area of the piston responsible for its actuation. In order to obtain a structural unit with the sensor device, the valve device is also provided radially outside the sensor device, as a result of which the overall width is increased again. Ultimately, it would also be problematic to implement a possibly desired adjustability of the sensor device, for which it would be necessary to keep a large part of the circumferential area of the linear motor free for the axial adjustment of the two devices.
  • a switching rod is arranged on the piston side opposite the actuating rod, which is connected to the arrangement consisting of piston and actuating rod so as to be movable and has at least one rod portion on the control side protruding from the motor housing with the sensor device for actuating it cooperating switching section, and that the control device and the sensor device are arranged transversely to the axial direction next to each other in the axial direction following the linear motor on its control side, with a space of movement for the displacement movement of the shift rod being available between the two devices.
  • both the sensor device and the control device are arranged on the control side of the linear motor facing away from the piston rod, so that the peripheral area of the motor housing remains free and even in confined spaces, the drive device can be accommodated without problems is possible.
  • the two devices are practically shielded from the working side by the motor housing, which considerably reduces the risk of damage during operation.
  • the provided shift rod makes it possible to place both devices on the control side, whereby the arrangement of the sensor device and the control device lying next to one another nevertheless enables a relatively short working unit to be realized.
  • the control device can be arranged without problems where it does not hinder or impair the switching processes between the switching rod and the sensor device. In particular, options for axial adjustment of the sensor device can be provided if necessary, without the control device interfering.
  • the control rod also allows easy adjustment of the switching time, since the switching section is arranged outside the linear motor in a clearly recognizable manner.
  • a linear drive device with a sensor device and a control device also emerges from DE-U-8603346.
  • Piezoelectric transducers in the area of the housing faces serve as the control device.
  • the control device formed by a slide valve is located laterally in the circumferential area of the working space receiving the piston, and the use of a switching rod is also not provided.
  • a linear motor results from JP-A-58/83202, the piston of which carries a further rod on the side opposite the actuating rod, which rod participates in the detection of the respective piston position.
  • the sensor device designed as a detector is arranged axially following this rod on the outside of the device housing, as a result of which an increased axial overall length is established.
  • a control device for motor control that can be actuated by means of the sensor device is not provided in this linear drive device.
  • the development according to claim 2 enables a simple and inexpensive construction.
  • the space available for the devices on the control side of the linear motor is optimally used.
  • both the control device and the sensor device are optimally protected, the linear drive device being given a relatively smooth surface on the outside, which considerably facilitates handling.
  • the development according to claim 10 allows a flexible adjustment of the desired switching time.
  • the development according to claim 11 allows a largely dispensing with external lines, which reduces both the manufacturing and assembly costs and the susceptibility to failure.
  • the development according to claim 12 allows a simple, momentary connection of the individual components of the linear drive device to existing pressure medium and / or electrical lines, for example from a bus. This can be electrical and / or pneumatic multi-pin plug are used, so that mix-ups are excluded.
  • a particular advantage of the invention is that the working side of the linear drive device can remain free of any add-on components and there is sufficient space for the power take-off to be actuated.
  • the individual components are outside the working area of the drive device, so that damage is excluded from the outset.
  • the linear drive devices 1, 1 ', 1''shown in FIGS. 1 to 3 each contain a linear motor 2, which is expediently designed in the manner of a piston-cylinder unit. It has a motor housing 3 designed in the manner of a cylinder, which encloses a piston chamber 4, in which there is a piston 6, which can be moved back and forth in the axial direction according to double arrow 5.
  • the piston 6 seals two cylinder spaces 7, 8 from one another in a sealed manner.
  • the cross section of the piston chamber 4 is expediently circular-cylindrical, which simplifies production, and the outer circumference 9 of the motor housing 3 is also kept circular-cylindrical in the exemplary embodiment.
  • the outer circumference can be square or rectangular in cross-section, so that the motor housing 3 has a cuboid shape overall.
  • the piston seals are not shown in the figures, their design is known to the person skilled in the art.
  • actuating rod 14 which runs coaxially to the piston chamber 4 and which crosses the associated cylinder chamber 8 in the longitudinal direction and penetrates the facing end wall 15 of the motor housing 3 with sealing and being guided so as to be displaceable to the surroundings.
  • the end wall 15 can be an integral part of the motor housing 3, but it can also be a separate and in particular detachably fixed cover.
  • the penetration point of the piston rod is indicated at 17; here too, seals have been omitted for the sake of simplicity.
  • the side on which the actuating rod 14 protrudes from the motor housing 3 represents the working side 18 of the linear drive devices 1, 1 ', 1 ⁇ .
  • the actuating rod 14 can be connected to a component to be moved or any power take-off, which in Fig. 1 is indicated by dashed lines at 19. If the two cylinder spaces 7, 8 are filled or ventilated with pressure medium in a suitable manner via corresponding connection openings 20, 21, the piston 6, together with the firmly attached actuating rod 14, performs an axial displacement movement indicated by a double arrow 5, within the scope of which the respective decrease in force 19 is moved in a corresponding manner.
  • the two cylinder spaces 7, 8 each represent work spaces, whereas in the case of modifications of the device according to the invention, not shown, one of the two spaces can also remain depressurized when the piston is returned to an initial position by being acted upon the actuating rod 14 is effected from the outside or via a return spring.
  • control device 22 The control of the pressure medium supply and discharge with respect to the two cylinder spaces 7, 8 is carried out by a schematically indicated control device 22.
  • This is preferably a valve device containing one or more valves, the actuation of which is carried out electrically, and corresponding electrical connection cables are shown in FIGS 1 and 2 indicated by dashed lines at 23.
  • supply lines 24 are connected to the control device 22 (shown in broken lines in FIG. 2), which lead to a pressure medium source 25 and / or pressure medium sink 26, both of which are indicated schematically.
  • the respective linear drive device 1, 1 ', 1 ⁇ also has a sensor device 31 (not shown in Fig. 3) with which certain, previously definable displacement positions of the piston 6 and the actuating rod 14 can be detected in order to depend on certain Shift positions trigger functional processes of external or internal components.
  • the respective signal emitted by the sensor device 31 at the detection times is used internally in that the signals are used to actuate the control device 22.
  • the sensor device 31 for example, end positions of the piston 6, but also intermediate positions, can be detected.
  • the linear motor 2, the control device 22 and the sensor device 31 of the respective Linear drive device 1, 1 ', 1 ⁇ are firmly connected to one another and thus form a compact work unit within which they can be handled together.
  • the work unit thus represents a summary of three components 2, 22, 31 in the exemplary embodiments, which can be assembled uniformly at the place of use, so that complex individual assembly consisting of a large number of individual components is unnecessary.
  • the control device 22 and the sensor device 31 are each arranged on the control side 28 of the linear motor 2 opposite the working side 18, so that the working side 18 can remain free of additional components, which improves the mounting options and damages the devices 22 , 31 is excluded by moving components.
  • a quick exchange can be carried out in the event of a defect, and individual components can also be replaced if necessary in adaptation to the respective operating conditions.
  • the sensor device 31 shown in the exemplary embodiments according to FIGS. 1 and 2 is particularly advantageous. It contains several, for example two, sensors 32 which are designed as proximity switches which can be switched without contact. They work together with a switching section 33, which consists of magnetic material or at least contains magnetic components.
  • the switching section 33 is fastened to one end region of a switching rod 34, which is fixed in particular in the same way as the actuating rod 14 with its opposite end on the piston 6 on the axial side 35 opposite the actuating rod 14.
  • Both rods 14, 34 are preferably arranged coaxially to one another, and it can be two components which are connected to one another and on which the piston 6 is subsequently mounted.
  • the rods 14, 34 can also be separate components which are firmly connected to the piston 6.
  • the switching rod 34 penetrates the End wall 15 opposite axial end wall 36 of the motor housing 3, wherein guide and sealing devices, also not shown, are provided in the penetration area.
  • the switching part 33 accordingly carries out a corresponding axial movement, and the sensors 32 arranged in the axial direction 5 laterally next to their movement path emit a signal at the point in time at which they are radially opposite the switching part 33.
  • the control device 22 and the sensor device 31 are accommodated in a common device housing 37, 37 '.
  • the device housing 37 is a separate component with respect to the motor housing 3, which is fixed to the motor housing 3 and in particular is detachably connected here. It is attached to the motor housing 3 on the control side 28, e.g. as shown in the manner of a flange connection by means of screw connections 38. Since the same outer contour and the same transverse dimensions as for the motor housing 3 have been chosen for the device housing 37, the overall result is an elongated work unit which is narrow across the longitudinal direction.
  • the device housing 37 preferably closes the installation space 39 for the devices 22, 31 from the outside, so that no contamination can occur and trouble-free operation is ensured.
  • One end wall 36 of the motor housing 3 expediently forms a closure cover for the flanged-on device housing 37.
  • the device housing is at least partially formed by the motor housing.
  • a housing 40 which contains both the motor housing 3 and the control device 22 and the sensor device 31 protectively encased.
  • the enveloping housing 40 thus simultaneously forms the device housing 37 ', but which also contains the motor housing 3.
  • both the motor housing 3 and a device housing surrounding the two devices 22, 31 are housed together in an enveloping protective housing.
  • sensors 32 are adjustable in the direction of movement of the shift rod 34, so that the switching time can be variably adjusted.
  • the sensors 32 in the embodiment according to FIG. 1 are adjustably arranged on a longitudinal guide 44 on the inside of the device housing 37.
  • the sensors 32 are arranged on the inside of the enveloping housing 40 and can also be adjustable in a corresponding manner.
  • control device 22 is expediently also fixed on the inside of the device housing 37. It is provided that the control device 22 and the sensor device 31 lie opposite one another transversely to the longitudinal direction 5 and in particular diametrically, so that a movement space 45 for the shift rod 34 remains between the two devices 22, 31. In this way, a short, compact arrangement can be achieved, and since the subunit of the working unit consisting of control device 22 and sensor device 31 is practically completely covered by the motor housing 3 in the longitudinal direction of the linear motor 2 from the working side 18, a slim, outward jagged arrangement.
  • FIG. 4 schematically shows the arrangement of the linear motor 2, the control device 22 and the sensor device 31 within the work unit the linear drive device 1 is indicated, and a three-block arrangement can be seen in which the two devices 22, 31, which are arranged next to one another transversely to the longitudinal direction 5, follow at the same time in the axial direction of view 46 of the linear motor 2.
  • FIG. 5 Another arrangement is shown schematically in FIG. 5, in which the linear motor 2, the sensor device 31 and the control device 22 also represent a three-block unit, the individual components of which are arranged one behind the other in the axial direction 5. This embodiment allows a further reduction in the transverse dimensions.
  • the control device 22 and sensor device 31 are expediently fastened to the inside of this housing 40.
  • the motor housing 3 can expediently be flanged to an end face 41 of the housing 40, the housing 40 having a through opening for the actuating rod 14.
  • the pressure medium connection between the control device 22 and the connection openings 20, 21 on the motor housing 3 takes place via loosely laid pressure medium lines 29. Because of the compact arrangement, the length of the lines can be kept very short, and through the individual housings they can be housed at least partially protected from external influences.
  • the pressure medium lines 29 are designed in the form of pressure medium channels 30 which run in the wall of the motor housing 3 and partially of the device housing 37, so that external lines can be dispensed with if the control device 22 is arranged accordingly. This makes assembly considerably easier. It is also possible, to move to the motor housing 3 by the control device 22 via pressure medium lines, from where the connection to the cylinder spaces 7, 8 is then established via channels formed only in the motor housing 3.
  • connection options 47 shown in dashed lines are provided in FIGS. 1 and 2, which are preferably combined in the form of plug-type connection units and fixed to the device housing 37, 37 '. They are in permanent connection with the corresponding points of the two devices 22, 31 via the cables 23 or supply lines 24 and allow external lines 49, which lead to the pressure medium source 25, pressure medium sink 26 or e.g. an electronic control unit 48 (indicated by dashed lines).
  • connection unit allows the lines 49 to be quickly detachably coupled within the framework of central plug connections, e.g. so-called pneumatic and / or electrical multi-pin plug devices can be used. Connection to a bus is therefore possible without any problems. It is advantageous in all of this if the connection options 47 are arranged on the connection side 50 opposite the working side 18, so that there is no increase in the overall width of the linear drive device even when the connection is established.
  • the invention thus combines various devices to form a structural unit, devices with three or four functional levels being present, depending on the embodiment. 1, 2 and 4, there are three levels, the first level being represented by the linear motor 2, the actuator, the second level by the control device (Processor) and sensor device existing subunit and the third level from the level of connection options 47, the bus level. 5 there are four levels, since the devices 22, 31 are arranged axially one after the other.
  • a major advantage of the invention is that the user can get a complete solution tailored to his problem from a single source, whereas in the past he had to order, store, assemble and maintain a large number of individual components in order to obtain the desired equipment. Commissioning is also much easier with the solution according to the invention, since practically only two plug connections (pneumatic and electrical multi-pin plug) have to be made in order to make the device ready for operation.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Linear Motors (AREA)
  • Catching Or Destruction (AREA)
  • Colloid Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)

Claims (12)

  1. Dispositif d'entraînement linéaire comportant un moteur linéaire (2) en particulier actionné pneumatiquement par un fluide sous pression, qui est muni d'un carter (3) dans lequel se trouve un piston (6) coulissant en direction axiale (5), lequel est relié à une tige d'actionnement (14) dépassant du carter-moteur (3) sur un côté de travail (18), comportant un dispositif de commande (22), conçu notamment sous la forme d'un dispositif à soupape, pour la commande du moteur et comportant un dispositif à capteur (13) intervenant dans des positions déterminées de la tige d'actionnement (14), le dispositif de commande (22) et le dispositif à capteur (31) étant disposés dans la région du côté de commande (28), opposé au côté de travail (18), du moteur linéaire et étant reliés de manière fixe avec celui-ci, pour former une unité de travail manipulable comme un tout, caractérisé en ce que sur le côté de piston (35) opposé à la tige d'actionnement (14), est prévue une tige de pilotage (34) qui est solidaire du dispositif constitué du piston (6) et de la tige d'actionnement (14) et se déplace avec celui-ci et qui présente, sur sa partie de tige sortant du carter-moteur (3), sur le côté de commande (28), au moins une partie de pilotage (33) coopérant avec le dispositif à capteur (31) en vue de son actionnement et en ce que le dispositif de commande (22) et le dispositif à capteur (31) sont disposés côte à côte transversalement à la direction axiale (5), à la suite du moteur linéaire (2) dans la direction axiale (5), sur son côté de commande (28), un espace de déplacement (45) étant disponible entre les deux dispositifs (22, 31), pour le coulissement de la tige de pilotage (34).
  2. Dispositif d'entraînement linéaire selon la revendication 1, caractérisé en ce que la tige de pilotage (34) est coaxiale à la tige d'actionnement (14).
  3. Dispositif d'entraînement linéaire selon la revendication 1 ou 2, caractérisé en ce que le dispositif de commande (22) et le dispositif à capteur (31) sont diamétralement opposés.
  4. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 3, caractérisé en ce que le moteur linéaire (2), le dispositif de commande (22) et le dispositif à capteur (31) sont reliés entre eux de manière amovible et en particulier de manière à pouvoir être échangés.
  5. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 4, caractérisé en ce que le sous-ensemble contenant le dispositif de commande (22) et le dispositif à capteur (31) est totalement recouvert par le carter-moteur (3) dans la direction longitudinale (5) du moteur linéaire (2), à partir du côté de travail (18).
  6. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 5, caractérisé en ce que le dispositif de commande (22) et le dispositif à capteur (31) sont logés dans un carter de dispositif (37, 37') commun.
  7. Dispositif d'entraînement linéaire selon la revendication 6, caractérisé en ce que le carter de dispositif est formé au moins en partie par le carter-moteur.
  8. Dispositif d'entraînement linéaire selon la revendication 6, caractérisé en ce que le carter de dispositif (37), sur le côté de commande (28) du moteur linéaire (2), est placé de manière fixe, en particulier amovible, sur le carter-moteur (3), par exemple par vissage (38) à la manière d'un assemblage bridé.
  9. Dispositif d'entraînement linéaire selon l'une des revendications 6 à 8, caractérisé en ce que le carter-moteur (3) et le dispositif de commande (22) ainsi que le dispositif à capteur (31) sont logés dans une enveloppe (40) commune, les deux dispositifs (22, 31) pouvant être placés en outre dans un carter de dispositif placé à l'intérieur de l'enveloppe (40).
  10. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 9, caractérisé en ce que le dispositif à capteur (31) comporte au moins un capteur (32), avantageusement déplaçable dans la direction de déplacement de la tige de pilotage (34), se présentant en particulier sous la forme d'un détecteur de proximité fonctionnant sans contact et réagissant à la partie de pilotage (33).
  11. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 10, caractérisé en ce que le dispositif de commande (22) est relié, par des conduites de fluide sous pression (29), avec au moins l'une des deux chambres de cylindre (7, 8) séparées l'une de l'autre par le piston (6), dans le carter-moteur (3), lesquelles chambres s'étendent dans la région du carter et peuvent être formées au moins en partie sous la forme de canaux de fluide sous pression (30) formés dans la paroi du carter.
  12. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 11, caractérisé en ce que sont prévus des moyens de branchement (47) reliés au dispositif de commande (22) et au dispositif à capteur (31), pour des lignes électriques et/ou pneumatiques (49) extérieures ou similaires,qui sont avantageusement disposés sur le côté de branchement (50), opposé au côté de travail (18), de l'unité de travail et sont regroupés pour former en particulier des unités de branchement mâles ou femelles, celles-ci pouvant être éventuellement placées sur le carter de dispositif (37, 37').
EP88113407A 1988-08-18 1988-08-18 Disposition de vérin linéaire Expired - Lifetime EP0355179B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP88113407A EP0355179B1 (fr) 1988-08-18 1988-08-18 Disposition de vérin linéaire
ES198888113407T ES2030811T3 (es) 1988-08-18 1988-08-18 Dispositivo lineal de impulsion.
DE8888113407T DE3870876D1 (de) 1988-08-18 1988-08-18 Linear-antriebseinrichtung.
JP1183533A JP2928276B2 (ja) 1988-08-18 1989-07-14 リニア駆動装置
US07/389,004 US4987822A (en) 1988-08-18 1989-08-02 Linear actuator
KR1019890011738A KR950003066B1 (ko) 1988-08-18 1989-08-18 선형-구동장치

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP88113407A EP0355179B1 (fr) 1988-08-18 1988-08-18 Disposition de vérin linéaire

Publications (2)

Publication Number Publication Date
EP0355179A1 EP0355179A1 (fr) 1990-02-28
EP0355179B1 true EP0355179B1 (fr) 1992-05-06

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP88113407A Expired - Lifetime EP0355179B1 (fr) 1988-08-18 1988-08-18 Disposition de vérin linéaire

Country Status (6)

Country Link
US (1) US4987822A (fr)
EP (1) EP0355179B1 (fr)
JP (1) JP2928276B2 (fr)
KR (1) KR950003066B1 (fr)
DE (1) DE3870876D1 (fr)
ES (1) ES2030811T3 (fr)

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Also Published As

Publication number Publication date
US4987822A (en) 1991-01-29
EP0355179A1 (fr) 1990-02-28
KR950003066B1 (ko) 1995-03-30
JPH0266304A (ja) 1990-03-06
KR900003544A (ko) 1990-03-26
ES2030811T3 (es) 1992-11-16
DE3870876D1 (de) 1992-06-11
JP2928276B2 (ja) 1999-08-03

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