EP0547095B1 - Vorrichtung zum steuern der bewegung eines werkzeugs langs des randes von glasscheiben - Google Patents

Vorrichtung zum steuern der bewegung eines werkzeugs langs des randes von glasscheiben Download PDF

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Publication number
EP0547095B1
EP0547095B1 EP91915476A EP91915476A EP0547095B1 EP 0547095 B1 EP0547095 B1 EP 0547095B1 EP 91915476 A EP91915476 A EP 91915476A EP 91915476 A EP91915476 A EP 91915476A EP 0547095 B1 EP0547095 B1 EP 0547095B1
Authority
EP
European Patent Office
Prior art keywords
travel
pane
plane
tool
line
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
EP91915476A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0547095A1 (de
Inventor
Karl Lenhardt
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.)
Bystronic Lenhardt GmbH
Original Assignee
Bystronic Lenhardt GmbH
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 Bystronic Lenhardt GmbH filed Critical Bystronic Lenhardt GmbH
Publication of EP0547095A1 publication Critical patent/EP0547095A1/de
Application granted granted Critical
Publication of EP0547095B1 publication Critical patent/EP0547095B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/66—Units comprising two or more parallel glass or like panes permanently secured together
    • E06B3/673—Assembling the units
    • E06B3/67365—Transporting or handling panes, spacer frames or units during assembly
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/66—Units comprising two or more parallel glass or like panes permanently secured together
    • E06B3/673—Assembling the units
    • E06B3/67365—Transporting or handling panes, spacer frames or units during assembly
    • E06B2003/67378—Apparatus travelling around the periphery of the pane or the unit
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/66—Units comprising two or more parallel glass or like panes permanently secured together
    • E06B3/673—Assembling the units
    • E06B3/67326—Assembling spacer elements with the panes
    • E06B3/6733—Assembling spacer elements with the panes by applying, e.g. extruding, a ribbon of hardenable material on or between the panes
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/66—Units comprising two or more parallel glass or like panes permanently secured together
    • E06B3/673—Assembling the units
    • E06B3/67339—Working the edges of already assembled units

Definitions

  • the invention relates to a device for controlling the movement of a tool along the edge of glass panes, in particular insulating glass panes, with a horizontal conveyor, on which the glass panes are supported by a support device, which defines a pane running plane with its front, which provides the support, with one or more optical sensors which scan the glass panes and with a drive motor for moving the tool parallel to the plane of the pan transverse to the conveying direction of the horizontal conveyor (1).
  • Such a device is known from DE-C-28 16 437.
  • a nozzle for sealing the edge joint of insulating glass panes is controlled by a light barrier which is moved along with the sealing nozzle and indicates when the nozzle reaches a corner of the insulating glass pane.
  • the light barrier then controls the drive of the nozzle so that the nozzle on the corner of the insulating glass pane is pivoted by 90 ° and then moves along the subsequent section of the edge of the insulating glass pane.
  • This type of control is good for rectangular insulating glass panes, but is less suitable for controlling the movement of a tool along the edge of individual glass panes or insulating glass panes that have a shape that deviates from the rectangular shape - so-called model panes.
  • model panes In order to control the movement of a tool along the edge of model panes, it is known to use a numerically controlled drive for the movement of the tool and to store selected shapes of model panes in a data memory and each time a glass pane with a stored shape is used for Processing is pending, the characteristic shape data is read out by a computer and the tool is controlled accordingly.
  • the disadvantage here is that glass panes, the shape of which is not saved, cannot be processed automatically, but must be processed by hand.
  • Another disadvantage is that the numerical control of the tool has to be communicated in some way when a model pane is to be processed and what shape it has, for example by first capturing the glass pane in terms of shape and size and by attaching a machine-readable data carrier can be coded, which is read in the processing device by a reading device which is connected to the computer which controls the movement of the tool (EP-A-0 252 066), or in that by detailed, computer-aided production planning from the outset for an entire production cycle, the dimensions of the glass panes to be processed and the order in which they are fed to the processing are determined and specified.
  • most companies that process glass panes are not equipped for such detailed production planning; in view of the constant change in format of the glass panes to be processed, it would also not be flexible enough.
  • the present invention has for its object to provide a device for controlling the movement of a tool along the edge of glass panes, with which both rectangular glass panes and arbitrarily designed model panes as they come, so in any order, without detailed production planning and can be processed automatically without attaching machine-readable data carriers.
  • the invention is based on the fact that the glass panes, preferably standing upright, are conveyed on a horizontal conveyor which is e.g. can be a conveyor belt or a roller conveyor or horizontally moving supports that support the glass panes. In principle, the glass panes can also be conveyed horizontally.
  • the support device can e.g.
  • a drive motor is provided to move the tool parallel to the disc running plane (in particular at right angles) to the conveying direction of the horizontal conveyor, which can be, for example, an electric stepper motor.
  • one or more electronic line cameras are provided according to the invention, which have an image field made up of one or more lines and are directed against the plane of the pane in such a way that the scanning line (s) of the respective line camera that are located on one another the pane running plane or onto the glass pane located in the pane running plane is or are extended at right angles to the conveying direction of the horizontal conveyor.
  • the line camera therefore sees where a scanning line sweeps over the respective glass pane, the extent of the glass pane at right angles to the conveying direction. Since the glass pane is moved across the scanning line by the horizontal conveyor, the respective line camera sees e.g. the height of the glass pane depending on its length. In order to determine the shape of the respective glass pane, only the slip-free movement of the glass pane on the horizontal conveyor must therefore be recorded in addition to the height supplied by the respective line camera. For this purpose, a displacement sensor synchronized with the horizontal conveyor is additionally provided according to the invention, which allows a measurement of the conveying path.
  • the encoder can e.g.
  • the evaluation computer thus has full information about the extension of the glass panes in two dimensions, namely in the conveying direction and transverse to the conveying direction, and thus has all the information necessary to control the movement of a tool along the edge of the glass panes .
  • the outline of the glass panes is not subject to any restrictions. Both rectangular and arbitrarily controlled model disks can be machined automatically without the sequence in which they are fed to the machining tool having to be determined beforehand.
  • the type of processing tool is not important; it can be a nozzle with which the edge joint an insulating glass pane is sealed, it can be a grinding tool with which a coating is removed along the edge of a glass pane, it can also be a tool with which a prefabricated, plastic spacer in the form of a strand on a glass pane along its Edge is applied.
  • the respective line scan camera is preferably directed at an angle different from 90 ° to the conveying direction against the disk running plane or perpendicular to the conveying direction, but at an angle different from 90 ° to the disk running plane.
  • This makes it possible to provide a light source directed against the pane running plane on the same side of the pane running plane as the line camera, and in such an arrangement that the glass panes reflect a substantial part of the light emanating from the light source to the line camera, so that the line camera clearly recognizes the glass pane can.
  • a blackened surface is preferably provided on the side of the pane running plane facing away from the light source, which swallows light that has passed through the glass pane, but does not reflect it to the line scan camera.
  • a single line scan camera is sufficient to determine the shape of the glass panes.
  • the lens of the line scan camera has a predetermined opening angle, and in this opening angle the pane format, namely the extent of the glass panes must fit in transversely to their conveying direction.
  • such a line camera can proceed transversely to the conveying direction, starting from a position in which an edge, in particular the lower edge of a glass sheet standing on a horizontal conveyor, lies in the field of view of the line camera be adjusted until the opposite edge of the glass pane appears in the field of view of the line scan camera.
  • the evaluation computer then only has to add the measurement number obtained from the output signal of the line camera to the measurement number which is obtained in accordance with the position of the stepping motor from the output signal of the displacement sensor coupled to it. In this way, a second line camera can be saved.
  • the line cameras are preferably arranged behind the support device and observe the glass panels through a recess in the support device. Behind the support device, they can be better protected against environmental influences and the glass panes remain freely accessible for inspections and handling.
  • the tool may be displaceable only transversely, preferably at right angles, to the conveying direction of the horizontal conveyor.
  • a rotary drive is required - as disclosed in DE-C-28 16 437 - for rotating or pivoting the tool around a perpendicular axis running to the disc running plane; in this case, the evaluation computer is expediently also connected to the rotary drive on the output side and controls the rotary movement of the Tool, such as the rotation of a nozzle when it has reached a corner of an insulating glass pane.
  • the evaluation computer preferably transmits not only a control signal to the drive motor which moves the tool transversely to the conveying direction of the horizontal conveyor, but also to the rotary drive of the tool a further signal which indicates the inclination or inclination of the glass pane in relation to the conveying direction.
  • This signal can be obtained by differentiating the signal obtained with the aid of the line camera, which contains the dimension of the glass pane measured transversely to the conveying direction, according to the conveying path, which is represented by the output signal of the displacement sensor synchronized with the horizontal conveyor.
  • the signal transmitted to the rotary drive is therefore mathematically the first derivative of the signal which is transmitted to the drive motor which shifts the tool transversely to the conveying direction.
  • the arrangement of the line scan cameras in relation to the tool can be selected so that the tool is controlled on-line.
  • the evaluation computer is preferably equipped with a memory for temporarily storing the observed dimensions of the glass panes, from which the data for the control of the tool are called up with a time delay. It is a major advantage of this measure that the stored data for controlling different tools, which are used in succession to carry out different processing operations on glass panels, for example grinding and coating, can be called up repeatedly from the memory. Another advantage of this measure is that it allows the measurement resolution to be increased.
  • Such a multi-line line camera can differ from a single-line Differentiate line scan cameras, for example, in that they contain a multi-line CCD (CCD array) instead of a single-line CCD as a light-sensitive receiver.
  • the image signals recorded in the lines of such a multi-line charge-coupled receiver can be successively buffered and evaluated, for example in such a way that if the signals of one line are buffered and the signals that have already been buffered on another line are evaluated, those that originate from a third line and already evaluated signals can be used to control the tool. In this way, the resolution can be increased in proportion to the number of lines of the line scan cameras.
  • the device As a horizontal conveyor 1, the device has a row of synchronously driven rollers which are attached to a frame (not shown). Above the horizontal conveyor, a wall extends as the support device 2, which is carried by the same frame as the horizontal conveyor and is arranged inclined a little to the rear.
  • the wall can be designed as an air cushion wall, which has bores from which air is blown out.
  • the front of the wall, over which the horizontal conveyor 1 protrudes, defines a pane running plane for glass panes 4, which are conveyed standing on the horizontal conveyor 1 and leaning against the wall 2 in the direction of arrow 5.
  • the wall 2 there is a vertical slot 6 and behind it are in a protective housing 7 at some distance from the wall two electronic line cameras 8 and 9 on one side of the slot and a number of essentially vertically extending, rod-shaped lamps 10 on the other Side of the slot 6 arranged; the arrangement is such that a significant part of the light incident on the glass pane 4 located beyond the slot 6 is reflected by the lamps 10 in the direction of the cameras 8 and 9.
  • a black plate 11 is provided, which swallows light passing through the glass pane 4 and at the same time prevents stray light from the front of the wall 2 through the slot 6 falls on cameras 8 and 9.
  • the two cameras have overlapping fields of view 12 and 13, characterized by an aperture angle ⁇ . They serve to scan the glass pane 4 line by line and are aligned for this purpose in such a way that the scanning line of the upper line camera 8 projected onto the pane running plane 3 or onto the glass plate 4 is aligned with that of the lower line camera 9.
  • the distance between the line cameras 8 and 9 from one another and from the horizontal conveyor 1 is predetermined.
  • An incremental rotary encoder 15 is attached to a driven shaft 14 of the horizontal conveyor 1, the output signals of which, like the output signals of the two cameras 8 and 9, are fed to an evaluation computer 16.
  • the output of the computer is connected to the drive motor 17 of a tool 18, which can be moved up and down on essentially vertical guide rods 19 parallel to the plane of the disk running, which are arranged behind a further slot 20 of the wall 2, which is viewed in the direction of conveyance 5 is located some distance behind the slot 6.
  • the tool 18 reaches through the slot 20 in order to process the glass pane 4 along its edge as soon as it comes into the area of action of the tool 18.
  • the device works as follows:
  • the two line cameras record the height h of the glass plate, which in the example shown is a model plate, which differs from the rectangular shape in that its upper edge is inclined .
  • the output signals from the cameras containing the height of the glass pane 4 are fed to the evaluation computer 16, which assigns the successively determined measured values of the height to the simultaneously transmitted measured values of the incremental rotary encoder 15, so that the evaluation computer has the information of how the height h of the glass pane 4 is Depends on the feed 1 of the glass pane changes.
  • the data that reflect this dependency are temporarily stored in a memory 21 of the evaluation computer 16 and used with a time delay to control the drive motor 17 of the tool 18.
  • the time delay depends on the distance between the tool 18 and the position of the scanning line in the middle of the slot 6; this distance corresponds to a fixed number of up-counts of the encoder 15.
  • the delayed response of the control of the drive motor 17 can therefore also be triggered by waiting for the predetermined number of counts of the encoder, which corresponds to the distance of the tool 18 from the Position of the scan lines corresponds; this procedure has the advantage that it allows intermittent downtimes for the horizontal conveyor.
  • its drive motor can also be connected to an incrementally operating rotary encoder 22, the output signals of which are fed to a further input of the evaluation computer 16 for checking.
  • the modified exemplary embodiment shown in FIG. 4 differs from the first exemplary embodiment only in that instead of two line cameras, only one line camera 8 is provided.
  • the same and corresponding parts are designated in both exemplary embodiments with the same reference numerals.
  • the camera provided alone can be moved up and down by a motor 31 on a guide rail 30 running at right angles to the conveying direction 5 and parallel to the wall 2.
  • the drive shaft of the motor 31 is connected to an incrementally operating rotary encoder 32, the output signals of which are also fed to the computer 16.
  • This modified device works as follows: In the starting position, the camera 8 is positioned so deep that its field of vision definitely captures the lower edge of a glass pane 4. The position of the lower edge is determined by the upper edge of the horizontal conveyor.
  • the camera can remain in its predetermined position.
  • the upper edge of the glass pane 4 approaches the upper edge of the field of view 12 up to a predetermined one while passing the slot 6 Distance, the camera 8 is automatically moved upwards a little, the path measured by the rotary encoder 32, transmitted to the evaluation computer 16 and taken into account there when the measurement result is formed. If the upper edge of the glass pane is already outside the court field 12 at the beginning, the camera is raised at the beginning so that the upper edge of the glass pane 4 lies in the field of view 12.
  • the invention is applicable for controlling processing operations on the edges of glass sheets, in particular in insulating glass production lines.

Landscapes

  • Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Control Of Conveyors (AREA)
  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
EP91915476A 1990-09-07 1991-09-05 Vorrichtung zum steuern der bewegung eines werkzeugs langs des randes von glasscheiben Expired - Lifetime EP0547095B1 (de)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE4028485 1990-09-07
DE4028485 1990-09-07
DE4033585 1990-10-23
DE4033585A DE4033585A1 (de) 1990-09-07 1990-10-23 Vorrichtung zum steuern der bewegung eines werkzeugs laengs des randes von glasscheiben
PCT/EP1991/001677 WO1992004521A1 (de) 1990-09-07 1991-09-05 Vorrichtung zum steuern der bewegung eines werkzeugs längs des randes von glasscheiben

Publications (2)

Publication Number Publication Date
EP0547095A1 EP0547095A1 (de) 1993-06-23
EP0547095B1 true EP0547095B1 (de) 1994-06-29

Family

ID=25896682

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91915476A Expired - Lifetime EP0547095B1 (de) 1990-09-07 1991-09-05 Vorrichtung zum steuern der bewegung eines werkzeugs langs des randes von glasscheiben

Country Status (5)

Country Link
US (1) US5319186A (enrdf_load_stackoverflow)
EP (1) EP0547095B1 (enrdf_load_stackoverflow)
AT (1) ATE108002T1 (enrdf_load_stackoverflow)
DE (2) DE4033585A1 (enrdf_load_stackoverflow)
WO (1) WO1992004521A1 (enrdf_load_stackoverflow)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4033585A1 (de) * 1990-09-07 1992-03-12 Lenhardt Maschinenbau Vorrichtung zum steuern der bewegung eines werkzeugs laengs des randes von glasscheiben
DE19534176A1 (de) 1994-09-27 1996-03-28 Peter Lisec Verfahren zum Erfassen der Gestalt von tafelförmigen Gegenständen
EP0770849A3 (de) * 1995-10-23 1998-10-14 Peter Lisec Vorrichtung zum Ermitteln der Form von tafelförmigen Gegenständen
AT406699B (de) * 1997-10-15 2000-07-25 Lisec Peter Verfahren und vorrichtung zum füllen von randfugen von isolierglasscheiben
DE10027043B4 (de) * 2000-06-02 2004-08-19 Webasto Vehicle Systems International Gmbh Verfahren und Vorrichtung zum Auftragen von Haftvermittler auf einen Glasscheibenrand
US6606837B2 (en) 2001-08-28 2003-08-19 Cardinal Ig Methods and devices for simultaneous application of end sealant and sash sealant
US6793971B2 (en) * 2001-12-03 2004-09-21 Cardinal Ig Company Methods and devices for manufacturing insulating glass units
US7001464B1 (en) * 2003-03-05 2006-02-21 Erdman Automation Corporation System and process for glazing glass to windows and door frames
AT412719B (de) * 2003-06-16 2005-06-27 Eckelt Glas Gmbh Verfahren und vorrichtung zum bereichsweisen entschichten von glasscheiben
SI1877351T1 (sl) * 2004-11-19 2008-12-31 Vetrotech Saint Gobain Int Ag Postopek in naprava za tračno in plosko obliko obdelave na površinah steklenih šip
US7712503B2 (en) * 2005-09-12 2010-05-11 Billco Manufacturing Incorporated Automatic flexible spacer or sealant applicator for a glass work piece and method of applying flexible spacer or sealant to a glass workpiece
US8435367B2 (en) 2010-11-11 2013-05-07 Erdman Automation Corporation Fixed head insulated glass edge sealing device
AT518443B1 (de) * 2016-03-21 2017-12-15 Softsolution Gmbh Inspektionsanlage für das optische Prüfen einer Flachglasscheibe
DE102021105105A1 (de) * 2021-03-03 2022-09-08 Provisur Technologies, Inc. Förderanlage zum Fördern von Fördergut

Family Cites Families (13)

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Publication number Priority date Publication date Assignee Title
US2275811A (en) * 1938-05-13 1942-03-10 Robert Mitchell Co Ltd Apparatus for forming multipane glazing units
FR2287278A1 (fr) * 1974-10-10 1976-05-07 Saint Gobain Procede et dispositif pour l'enduction des tranches d'un vitrage multiple
DE2816437B1 (de) * 1978-04-15 1979-08-16 Karl Lenhardt Vorrichtung zum automatischen Fuellen der Randfugen von Isolierglasscheiben mit einem Dichtungsmittel durch Fuellduesen
AT384596B (de) * 1980-09-22 1987-12-10 Lisec Peter Glastech Ind Vorrichtung zum foerdern von isolierglasscheiben
IT1153852B (it) * 1982-09-22 1987-01-21 Bovone Elettromecc Apparecchio per l'applicazione automatica del sigillante alle vetrate isolanti e simili
DE3404006A1 (de) * 1984-02-06 1985-08-08 Karl 7531 Neuhausen Lenhardt Vorrichtung zum aufbringen eines klebenden stranges aus kunststoff auf eine glasscheibe
DE3539879A1 (de) * 1985-11-11 1987-05-21 Karl Lenhardt Vorrichtung fuer das schlupffreie foerdern von zwei tafeln, insbesondere von glastafeln
JPS632840A (ja) * 1986-06-23 1988-01-07 ペ−タ−　リゼツク 絶縁ガラスの製造装置の制御方法
DE3743717A1 (de) * 1987-12-23 1989-07-06 Alfred Dipl Ing Spitzley Optoelektronische messvorrichtung zur automatischen vermessung der werkzeugschneidkantenlage mit handelsueblichen werkzeugvoreinstellgeraeten
BE1001440A4 (fr) * 1988-02-12 1989-10-31 Nationale Herstal Fn Sa Fab Procede de mesure de longueurs par camera a reseau photosensible.
AT397957B (de) * 1989-04-03 1994-08-25 Lisec Peter Vorrichtung zum füllen der randfuge von isolierglasscheiben mit versiegelungsmasse
EP0337978A1 (de) * 1988-04-11 1989-10-18 Peter Lisec Verfahren zum Füllen der Randfugen von Isolierglasscheiben mit Versiegelungsmasse
DE4033585A1 (de) * 1990-09-07 1992-03-12 Lenhardt Maschinenbau Vorrichtung zum steuern der bewegung eines werkzeugs laengs des randes von glasscheiben

Also Published As

Publication number Publication date
ATE108002T1 (de) 1994-07-15
WO1992004521A1 (de) 1992-03-19
EP0547095A1 (de) 1993-06-23
DE4033585C2 (enrdf_load_stackoverflow) 1992-06-25
US5319186A (en) 1994-06-07
DE59102085D1 (de) 1994-08-04
DE4033585A1 (de) 1992-03-12

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