EP0476459B1 - Safety device for cranes - Google Patents
Safety device for cranes Download PDFInfo
- Publication number
- EP0476459B1 EP0476459B1 EP91115098A EP91115098A EP0476459B1 EP 0476459 B1 EP0476459 B1 EP 0476459B1 EP 91115098 A EP91115098 A EP 91115098A EP 91115098 A EP91115098 A EP 91115098A EP 0476459 B1 EP0476459 B1 EP 0476459B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- rotation angle
- cable drum
- tachogenerators
- values
- angle
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/54—Safety gear
Definitions
- the invention relates to a safety device on a crane in which at least one electric drive motor is mechanically coupled via gears to at least one cable drum, the drive motor being coupled to a speed sensor and to a rotation angle sensor, the cable drum is also coupled to a speed sensor and to a rotation angle sensor and wherein the speed sensors and rotary angle sensors are connected to an evaluation circuit which continuously monitors the values supplied by the speed sensors and the rotary angle sensors for the drive motor in relation to the values supplied for the cable drum and, in the event of a deviation from specified relations, emits a fault signal for an emergency shutdown .
- co-rotating switches are mechanically coupled to the drive motor and the cable drum of a crane which, depending on the angular position, close or interrupt a circuit, the switches also being designed such that their respective Angular position is influenced by the speed. In the case of trouble-free operation, the switches alternately take over the current flow in the circuit, so that a continuous current flows. In the event of a fault, asynchronous rotations and deviations in the angular positions of the switches lead to interruptions in the current flow, which are detected in an evaluation circuit and used to trigger an emergency shutdown.
- the invention is based on the object of specifying a simple and reliable safety device in which the individual sensors are additionally monitored.
- the object is achieved in that the evaluation circuit additionally compares rotation angle values derived from the speed values of the speed sensors with the rotation angle values supplied by the respectively associated rotation sensor.
- the evaluation circuit additionally compares rotation angle values derived from the speed values of the speed sensors with the rotation angle values supplied by the respectively associated rotation sensor.
- the speed sensors are advantageously designed in the form of incremental sensors and the rotary angle sensors in the form of angle encoders.
- the angle encoders use the values they generate to indicate absolutely the angle or the position, the output signals of the incremental encoders (angle increment encoders), each summed in a counter, also representing a measure of the path.
- the monitoring will take place in such a way that directional pulses emitted by the incremental encoders are supplied to electronic counters and compared with one another. It must apply that the sum of the impulses given for the drive motors normally coincides with the sum of the impulses on the cable drums, whereby the one value has to be multiplied according to the gear ratio. If the speeds given by the drive motors do not follow the corresponding speeds on the cable drums, there is a fault in the mechanics and the drive must be stopped immediately.
- the paths (angles) are simultaneously compared with one another via the angle encoders; what applies to the speed must also apply to the way.
- an electric motor 1 of a hoist drives a cable drum 3 via a transmission 2.
- An electrical incremental encoder 4 and an angle encoder 5 are mechanically coupled to the motor 1.
- An incremental encoder 6 and an angle encoder 7 are coupled mechanically directly to the cable drum 3.
- the output signals of the transmitters 4 to 7 are fed to an evaluation circuit 8 which emits a shutdown signal 9 in the event of a fault.
- the output signals of the transmitters 4 to 7 are routed via matching circuits 19 and are available as signals at the outputs A, B, C, D of these matching circuits 19.
- a pulse sequence is present at output A, which is derived from incremental encoder 4 and corresponds to the speed of motor 1.
- the respective angle value (angle of rotation) of the drive motor 1, which is supplied by the angle encoder 5, is present at the output B.
- the values at output A are compared with the values at output C in subtractor 22. If the difference in the speeds exceeds a predetermined limit value, then an assigned limit value indicator 24 responds and emits an interference signal.
- the signals at the outputs B and D in the subtractor 21 are compared with one another and an interference signal is likewise output in the event of a deviation via limit value detectors 24.
- the permissible differences between angles or speeds can be set differently. These measures described above are used to monitor whether the gears between the motor and drum are OK.
- the encoders can now also be monitored, and this is based on the consideration that the time integral of the pulse sequence emitted by the angle stepper 4 must match the angle value supplied by the angle encoder 5.
- the values supplied at the outputs A and B are compared with one another in a subtractor 20, both values having to be output in count form or in absolute form so that they are comparable. The easiest way to do this is for outputs A and C to also output the integrated speed values.
- FIG. 3 shows the monitoring of a crane with four drive motors 10 to 13.
- two drive motors 10 and 11 or 12 and 13 drive a planetary gear 14, which drives two cable drums 16 via further gears 15.
- Incremental encoders 17 and angle encoders 18 are coupled to motors 10 to 13 and cable drums 16, respectively. From the output signals of the sensors, it can then be determined in the evaluation circuit whether there is any fault in the mechanics or in the sensors; For example, one will monitor whether the two motors 10 and 11 have the same speed or cover the same angle of rotation in the same period. The same applies to motors 12 and 13 with their assigned sensors. One will also monitor whether the sum of the driving speed of the motors 10th to 13 corresponds to the speed or the path of the drums 16, since this condition must be met in a planetary gear.
- FIG. 3 is an expansion of the ideas explained at the beginning, the same basic structure of differential monitoring always remaining.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Retarders (AREA)
Description
Die Erfindung betrifft eine Sicherheitsvorrichtung an einem Kran, bei dem mindestens ein elektrischer Antriebsmotor über Getriebe mit mindestens einer Seiltrommel mechanisch gekuppelt ist, wobei der Antriebsmotor mit einem Drehzahlgeber und mit einem Drehwinkelgeber gekuppelt ist, die Seiltrommel ebenfalls mit einem Drehzahlgeber und mit einem Drehwinkelgeber gekuppelt ist und wobei die Drehzahlgeber und Drehwinkelgeber an einer Auswerteschaltung angeschlossen sind, die die von den Drehzahlgebern und den Drehwinkelgeber für den Antriebsmotor gelieferten Werte fortlaufend in ihrer Relation zu den für die Seiltrommel gelieferten Werten überwacht und bei einem Abweichen von vorgegebenen Relationen ein Storungssignal für eine Notabschaltung abgibt.The invention relates to a safety device on a crane in which at least one electric drive motor is mechanically coupled via gears to at least one cable drum, the drive motor being coupled to a speed sensor and to a rotation angle sensor, the cable drum is also coupled to a speed sensor and to a rotation angle sensor and wherein the speed sensors and rotary angle sensors are connected to an evaluation circuit which continuously monitors the values supplied by the speed sensors and the rotary angle sensors for the drive motor in relation to the values supplied for the cable drum and, in the event of a deviation from specified relations, emits a fault signal for an emergency shutdown .
Bei einer derartigen, aus der GB-A-2 031 363 bekannten Sicherheitsvorrichtung sind an dem Antriebsmotor und der Seiltrommel eines Krans mitrotierende Schalter mechanisch angekuppelt, die je nach Winkelstellung einen Stromkreis schlieβen oder unterbrechen, wobei die Schalter zusätzlich derart ausgebildet sind, daß ihre jeweilige Winkelstellung durch die Drehzahl beeinflußt wird. Bei störungsfreiem Betrieb übernehmen die Schalter abwechselnd den Stromfluß in dem Stromkreis, so daß ein kontinuierlicher Strom fließt. Im Fehlerfall kommt es aufgrund von asynchronen Rotationen und Abweichungen in den Winkelstellungen der Schalter zu Unterbrechungen im Stromfluß, die in einer Auswerteschaltung detektiert und zur Auslösung einer Notabschaltung herangezogen werden.In such a safety device known from GB-A-2 031 363, co-rotating switches are mechanically coupled to the drive motor and the cable drum of a crane which, depending on the angular position, close or interrupt a circuit, the switches also being designed such that their respective Angular position is influenced by the speed. In the case of trouble-free operation, the switches alternately take over the current flow in the circuit, so that a continuous current flows. In the event of a fault, asynchronous rotations and deviations in the angular positions of the switches lead to interruptions in the current flow, which are detected in an evaluation circuit and used to trigger an emergency shutdown.
Der Erfindung liegt die Aufgabe zugrunde, eine einfache und zuverlässige Sicherheitsvorrichtung anzugeben, bei der zusätzlich eine Überwachung der einzelnen Geber erfolgt.The invention is based on the object of specifying a simple and reliable safety device in which the individual sensors are additionally monitored.
Gemäß der Erfindung wird die Aufgabe dadurch gelöst, daß die Auswerteschaltung zusätzlich aus den Drehzahlwerten der Drehzahlgeber abgeleitete Drehwinkelwerte mit den von den jeweils zugehörigen Drehwinkelgebern gelieferten Drehwinkelwerten vergleicht. Auf diese Weise wird eine einfache Überwachung der einzelnen Geber erreicht, da z. B. das zeitliche Integral der von einem der Drehzahlgeber gelieferten Drehzahlwerte dem Drehwinkelwert des zugehörigen Drehwinkelgebers entsprechen muß.According to the invention, the object is achieved in that the evaluation circuit additionally compares rotation angle values derived from the speed values of the speed sensors with the rotation angle values supplied by the respectively associated rotation sensor. In this way, simple monitoring of the individual encoders is achieved because, for. B. the time integral of the speed values supplied by one of the speed sensors must correspond to the angle of rotation value of the associated angle sensor.
Die Drehzahlgeber sind in vorteilhafter Weise in Form von Inkrementalgebern und die Drehwinkelgeber in Form von Winkelcodierern ausgebildet. Die Winkelcodierer geben mit den von ihnen erzeugten Werten absolut den Winkel bzw. die Position an, wobei die jeweils in einem Zähler summierten Ausgangssignale der Inkrementalgeber (Winkelschrittgeber) ebenfalls ein Maß für den Weg darstellen.The speed sensors are advantageously designed in the form of incremental sensors and the rotary angle sensors in the form of angle encoders. The angle encoders use the values they generate to indicate absolutely the angle or the position, the output signals of the incremental encoders (angle increment encoders), each summed in a counter, also representing a measure of the path.
Die Überwachung wird in der Weise erfolgen, daß von den Inkrementalgebern abgegebene Richtungsimpulse elektronischen Zählern zugeführt und miteinander verglichen werden. Hierbei muß gelten, daß die Summe der für die Antriebsmotoren abgegebenen Impulse im Normalfall mit der Summe der Impulse an den Seiltrommeln übereinstimmt, wobei der eine Wert entsprechend dem Übersetzungsverhältnis multipliziert werden muß. Falls den von den Antriebsmotoren abgegebenen Drehzahlen nicht entsprechende Drehzahlen an den Seiltrommeln folgen, liegt eine Störung in der Mechanik vor und der Antrieb muß sofort stillgesetzt werden. Über die Winkelcodierer werden gleichzeitig auch die Wege (Winkel) miteinander verglichen; was für die Drehzahlen gilt, muß gleichzeitig auch für den Wege gelten.The monitoring will take place in such a way that directional pulses emitted by the incremental encoders are supplied to electronic counters and compared with one another. It must apply that the sum of the impulses given for the drive motors normally coincides with the sum of the impulses on the cable drums, whereby the one value has to be multiplied according to the gear ratio. If the speeds given by the drive motors do not follow the corresponding speeds on the cable drums, there is a fault in the mechanics and the drive must be stopped immediately. The paths (angles) are simultaneously compared with one another via the angle encoders; what applies to the speed must also apply to the way.
Bei mehreren Antriebsmotoren ist neben der Überwachung der Bewegung der Seiltrommel auch eine Überwachung der einzelnen Antriebsmotoren untereinander möglich. In diesem Zusammenhang ist bei mehreren elektrischen Antriebsmotoren, die jeweils paarweise über ein Planetengetriebe die mindestens eine Seiltrommel antreiben, in vorteilhafter Weise vorgesehen, daß die Auswerteschaltung die Relation zwischen der Summe der Drehzahlen und/oder Drehwinkel der Antriebsmotoren zu denen der Seiltrommel überwacht. Beim Antrieb einer Seiltrommel über ein Planetengetriebe können nämlich Drehzahlunterschiede in den Antriebsmotoren möglich sein und dürfen nicht zur Abschaltung führen. Jedoch müssen auch hier immer bestimmte Beziehungen zwischen der Summe der Drehzahl der einzelnen Antriebsmotoren und der daraus resultierenden Drehzahl der Seiltrommel eingehalten sein. Entsprechendes gilt für die Wege.In the case of several drive motors, in addition to monitoring the movement of the cable drum, it is also possible to monitor the individual drive motors with one another. In this context, in the case of a plurality of electric drive motors, each of which drives the at least one cable drum in pairs via a planetary gear, it is advantageously provided that that the evaluation circuit monitors the relationship between the sum of the speeds and / or angles of rotation of the drive motors to those of the cable drum. When driving a cable drum via a planetary gear, speed differences in the drive motors may be possible and may not lead to a shutdown. However, certain relationships must always be maintained between the sum of the speed of the individual drive motors and the resulting speed of the cable drum. The same applies to the paths.
Die vorstehend beschriebene Lösung stellt ein universell einsetzbares redundantes System zur Überwachung von Drehzahl und Wegen dar.The solution described above represents a universally applicable redundant system for monitoring speed and paths.
Anhand eines in der Zeichnung dargestellten Ausführungsbeispiels sei die Erfindung näher erläutert; es zeigen:
- FIG 1
- das Prinzipschaltbild der Sicherheitsvorrichtung,
- FIG 2
- das Prinzipschaltbild der Auswertevorrichtung und
- FIG 3
- eine Anordnung mit vier Antriebsmotoren bei einem Gießkran.
- FIG. 1
- the basic circuit diagram of the safety device,
- FIG 2
- the basic circuit diagram of the evaluation device and
- FIG 3
- an arrangement with four drive motors in a casting crane.
Wie aus FIG 1 ersichtlich, treibt ein elektrischer Motor 1 eines Hubwerkes über ein Getriebe 2 eine Seiltrommel 3 an. Mit dem Motor 1 sind mechanisch ein elektrischer Inkrementalgeber 4 und ein Winkelcodierer 5 gekuppelt.As can be seen from FIG. 1, an electric motor 1 of a hoist drives a
Mit der Seiltrommel 3 sind direkt mechanisch ein Inkrementalgeber 6 und ein Winkelcodierer 7 gekuppelt. Die Ausgangssignale der Geber 4 bis 7 werden einer Auswerteschaltung 8 zugeführt, die im Störungsfall ein Abschaltsignal 9 abgibt.An incremental encoder 6 and an angle encoder 7 are coupled mechanically directly to the
Wie aus FIG 2 ersichtlich, werden die Ausgangssignale der Geber 4 bis 7 über Anpaßschaltungen 19 geführt und stehen als Signale an den Ausgängen A,B,C,D dieser Anpassungsschaltungen 19 zur Verfügung. Am Ausgang A liegt eine Impulsfolge vor, die vom Inkrementalgeber 4 abgeleitet ist und der Drehzahl des Motors 1 entspricht. Am Ausgang B liegt der jeweilige Winkelwert (Drehwinkel) des Antriebsmotors 1 vor, der vom Winkelcodierer 5 geliefert wird.As can be seen from FIG. 2, the output signals of the transmitters 4 to 7 are routed via matching
Am Ausgang C erscheint die der Drehzahl der Seiltrommel 3 zugeordnete Impulsfolge und am Ausgang D der jeweilige Drehwinkel der Trommel 3, der vom Winkelcodierer 7 geliefert wird.At the output C the pulse sequence assigned to the speed of the
Zum Drehzahlvergleich werden die Werte am Ausgang A mit den Werten am Ausgang C im Subtrahierer 22 verglichen. Überschreitet die Differenz der Drehzahlen einen vorgegebenen Grenzwert, so spricht ein zugeordneter Grenzwertmelder 24 an und gibt ein Störsignal ab.For speed comparison, the values at output A are compared with the values at output C in
Zum Vergleich der Drehwinkel werden die Signale an den Ausgängen B und D im Subtrahierer 21 miteinander verglichen und ebenfalls bei einer Abweichung über Grenzwertmelder 24 ein Störsignal ausgegeben. Hierbei können die zulässigen Differenzen zwischen Winkeln bzw. Drehzahlen unterschiedlich eingestellt sein. Mit diesen vorbeschriebenen Maßnahmen wird überwacht, ob die Getriebe zwischen Motor und Trommel in Ordnung sind. Zusätzlich können nun auch die Geber überwacht werden, und zwar basiert dies auf der Überlegung, daß das zeitliche Integral der vom Winkelschrittgeber 4 abgegebenen Pulsfolge mit dem vom Winkelcodierer 5 gelieferten Winkelwert übereinstimmen muß. Hierzu werden in einem Subtrahierer 20 die an den Ausgängen A und B gelieferten Werte miteinander verglichen, wobei beide Werte in Zählform oder in Absolutform ausgegeben werden müssen, damit sie vergleichbar sind. Am einfachsten könnte dies dadurch geschehen, daß die Ausgänge A und C bereits ebenfalls die integrierten Drehzahlwerte ausgeben.To compare the angles of rotation, the signals at the outputs B and D in the subtractor 21 are compared with one another and an interference signal is likewise output in the event of a deviation via
Treten auch hier unzulässige Abweichungen in den Drehzahlen bzw. Winkeln auf, so ist dies ein Indiz dafür, daß eine Störung in den Gebern 4 oder 5 vorliegt, was über Grenzwertmelder 24 ebenfalls zur Abschaltung führt. Sinngemäß die gleiche Überwachungsstrategie gilt für die Geber 6 und 7 mit Hilfe des Subtrahierers 23.If impermissible deviations in the speeds or angles also occur here, this is an indication that there is a fault in the sensors 4 or 5, which also leads to a shutdown via
FIG 3 zeigt die Überwachung eines Kranes mit vier Antriebsmotoren 10 bis 13. Jeweils paarweise treiben zwei Antriebsmotoren 10 und 11 bzw. 12 und 13 ein Planetengetriebe 14 an, welches über weitere Getriebe 15 zwei Seiltrommeln 16 antreibt. Mit den Motoren 10 bis 13 und den Seiltrommeln 16 sind jeweils Inkrementalgeber 17 und Winkelcodierer 18 gekuppelt. Aus den Ausgangssignalen der Geber kann in der Auswerteschaltung dann festgestellt werden, ob irgendeine Störung in der Mechanik oder in den Gebern vorliegt; z.B. wird man überwachen, ob die beiden Motoren 10 und 11 gleiche Drehzahlen haben bzw. im gleichen Zeitraum gleiche Drehwinkel zurücklegen. Das gleiche gilt für die Motoren 12 und 13 mit ihren zugeordneten Gebern. Ebenso wird man überwachen, ob die Summe der eintreibenden Drehzahl der Motoren 10 bis 13 der Drehzahl bzw.dem Weg der Trommeln 16 entspricht, da bei einem Planetengetriebe diese Bedingung eingehalten werden muß.3 shows the monitoring of a crane with four
Wie im Zusammenhang mit den FIG 1 und 2 ersichtlich, ist die in FIG 3 dargestellte Anordnung eine Ausweitung der eingangs erläuterten Gedanken, wobei immer die gleiche Grundstruktur der Differentialüberwachung vorhanden bleibt.As can be seen in connection with FIGS. 1 and 2, the arrangement shown in FIG. 3 is an expansion of the ideas explained at the beginning, the same basic structure of differential monitoring always remaining.
Claims (3)
- Safety arrangement on a crane, in which at least one electric drive motor (1) is mechanically coupled with at least one cable drum (3) by way of a gear unit (2), with the drive motor (1) being coupled with a tachogenerator (4) and with a rotation angle transmitter (5), the cable drum (3) likewise being coupled with a tachogenerator (6) and with a rotation angle transmitter (7), and with the tachogenerators (4, 6) and rotation angle transmitters (5, 7) being connected to an evaluating circuit arrangement (8) which continuously monitors the values supplied by the tachogenerators (4, 6) and the rotation angle transmitters (5, 7) for the drive motor (1) in terms of their relationship with the values supplied for the cable drum (3) and emits a disturbance signal (9) for an emergency shutdown when there is a deviation from preset relationships, characterised in that the evaluating circuit arrangement (8) additionally compares rotation angle values derived from the speed values of the tachogenerators (4, 6) with the rotation angle values supplied by the respectively associated rotation angle transmitters (5, 7).
- Safety arrangement according to claim 1, characterised in that the tachogenerators (4, 6) are in the form of incremental generators and the rotation angle transmitters (5, 7) are in the form of angle encoders.
- Safety arrangement according to claim 1 or 2, characterised in that given several electric drive motors (10, 11, 12, 13) which, respectively in pairs, drive the at least one cable drum (16) by way of a planetary gear unit (14), the evaluating circuit arrangement monitors the relationship between the sum of the speeds and/or rotation angles of the drive motors (10, 11, 12, 13) relative to those of the cable drum (16).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4029992 | 1990-09-21 | ||
| DE4029992 | 1990-09-21 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0476459A2 EP0476459A2 (en) | 1992-03-25 |
| EP0476459A3 EP0476459A3 (en) | 1992-11-04 |
| EP0476459B1 true EP0476459B1 (en) | 1994-05-18 |
Family
ID=6414732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP91115098A Expired - Lifetime EP0476459B1 (en) | 1990-09-21 | 1991-09-06 | Safety device for cranes |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP0476459B1 (en) |
| DE (1) | DE59101661D1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100542941C (en) * | 2003-08-25 | 2009-09-23 | 德马格起重机及部件有限公司 | Be used to monitor the method and the chain type polyspast of chain type polyspast |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19905020A1 (en) * | 1999-01-28 | 2000-08-10 | Mannesmann Ag | Continuous monitoring of normal crane functioning involves comparing predefinable lifting motion demand value with actual value, activating emergency brake if deviation excessive |
| DE10233870A1 (en) * | 2002-07-25 | 2004-02-19 | Siemens Ag | Crane system, especially container crane, has components arranged in two separate groups so that in event of failure of one component, transport or lifting mechanism can be operated by other group |
| DE502004007355D1 (en) * | 2003-02-28 | 2008-07-24 | Gottwald Port Tech Gmbh | METHOD AND DEVICE FOR SAFETY SHUT-OFF OF ELECTRIC DRIVES |
| US7063306B2 (en) * | 2003-10-01 | 2006-06-20 | Paccar Inc | Electronic winch monitoring system |
| DE102015102140A1 (en) | 2015-02-13 | 2016-08-18 | Terex MHPS IP Management GmbH | Arrangement of an electric drive motor, a transmission and a rotary encoder, in particular for a cable pull |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2031363B (en) * | 1978-10-17 | 1982-08-11 | Northern Eng Ind | Crane safety system |
| GB2144091B (en) * | 1983-07-30 | 1986-04-30 | Norcros Investments Ltd | Crane safety device |
| DE3838058C3 (en) * | 1988-11-07 | 1996-04-11 | Mannesmann Ag | Drive monitoring of a drive chain |
-
1991
- 1991-09-06 EP EP91115098A patent/EP0476459B1/en not_active Expired - Lifetime
- 1991-09-06 DE DE59101661T patent/DE59101661D1/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100542941C (en) * | 2003-08-25 | 2009-09-23 | 德马格起重机及部件有限公司 | Be used to monitor the method and the chain type polyspast of chain type polyspast |
Also Published As
| Publication number | Publication date |
|---|---|
| EP0476459A3 (en) | 1992-11-04 |
| DE59101661D1 (en) | 1994-06-23 |
| EP0476459A2 (en) | 1992-03-25 |
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