EP0933527B1 - Fluidbetätigte Drehantriebsvorrichtung - Google Patents
Fluidbetätigte Drehantriebsvorrichtung Download PDFInfo
- Publication number
- EP0933527B1 EP0933527B1 EP98123579A EP98123579A EP0933527B1 EP 0933527 B1 EP0933527 B1 EP 0933527B1 EP 98123579 A EP98123579 A EP 98123579A EP 98123579 A EP98123579 A EP 98123579A EP 0933527 B1 EP0933527 B1 EP 0933527B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- stop
- drive
- rotary drive
- unit according
- piston
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
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
- F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
- F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
- F15B15/065—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement the motor being of the rack-and-pinion type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C1/00—Reciprocating-piston liquid engines
- F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
-
- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
- F15B11/12—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor providing distinct intermediate positions; with step-by-step action
- F15B11/121—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor providing distinct intermediate positions; with step-by-step action providing distinct intermediate positions
- F15B11/123—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor providing distinct intermediate positions; with step-by-step action providing distinct intermediate positions by means of actuators with fluid-operated stops
Definitions
- the invention relates to a fluid-operated rotary drive device According to the preamble of claim 1.
- Rotary drives of this type such as those from the FR 972 346 A emerge due to the existence two drive pistons also referred to as double-piston rotary drives.
- Your driven part usually designed as a solid or hollow shaft reaches between the two drive pistons, with which it is located at the diametrically opposite circumferential point is in meshing engagement.
- the drive pistons can be turned in opposite directions Linear motion drive what according to the selected travel direction a rotary movement of the driven part clockwise or counterclockwise.
- the angle of rotation can correspond to the maximum possible travel the drive piston is more or less than 360 °.
- the desired intermediate position can be achieved that the stop unit so far in the direction of the drive piston is shifted until each drive piston on one of two firmly connected stop parts of the stop unit is applied.
- the rotary drive device is designed so that a Relocation of the stop unit by fluid force is possible.
- the stop unit has a fixed with the two stop parts connected actuating piston for Relocation, for example, is pressurized with compressed air.
- the actuating piston has an elongated Has outline, the stop parts like a plunger trained and in coaxial extension of each assigned Drive piston in the area of the two narrow sides Edge sections of the actuating piston are arranged.
- the stop unit is expediently between the positioning position and one outside the maximum possible axial travel of the drive piston lying basic position relocatable, with the drive piston in the basic position the stop unit by pressurizing in such a way their end positions can be positioned that the driven part takes the assigned end position.
- the stop unit is expediently located in the Basic position outside of the drive piston Piston receiving spaces while in the positioning position with both stop parts axially into the two at the same time Piston receiving spaces protrude.
- a fine adjustment of the desired intermediate position to allow one or both stop parts have a stop element that is in Adjust the direction of travel of the assigned drive piston leaves.
- the stop unit can have one or more Have cavities from the outside, especially by means of a suitable screwing tool, adjusting the enable respective stop element.
- the rotary drive device generally designated 1 in the drawing comprises a drive module 2 and a Detachably fixed to this positioning module 3.
- the Structure of the drive module 2 can be the prior art correspond, the actual innovation extends to the positioning module 3 and its interaction with the Drive module 2.
- the drive module 2 contains an elongated first housing 4 with expediently cuboidal outer contour.
- it comprises an elongated base section 5, which in Longitudinal direction of two piston receiving spaces arranged side by side is enforced.
- the base section 5 By a on the back the base section 5 attached cover 7 are the Piston receiving spaces 6, 6 'are sealed at one axial end.
- the opposite front end causes the positioning module 3, which with its housing hereinafter referred to as the second housing 8 - to the front end of the base section 5 and is attached by means of screws, not shown.
- each piston receiving space 6, 6 ' there is an in Drive piston 12 guided in the longitudinal direction, 12 '.
- Each drive piston 12, 12 ' has an in Rack-like toothing 13 extending in the longitudinal direction, 13 'with transverse and in particular at right angles to the longitudinal axes 14, 14 'of the piston receiving spaces 6, 6' extending Teeth.
- the teeth are 13, 13 'on rack elements 15, 15', the axially fixed on both sides with a piston head 16 are the one associated with the inner surface of the Piston receiving space 6, 6 'cooperating annular Seal 17 carries.
- Each piston receiving space 6, 6 ' is by the one located therein Drive pistons 12, 12 'in two working spaces 18, 19; 18 ', 19' divided. communicate via fluid channels 22 the working spaces with the outside of the first housing 4 in particular at the end cover 7 opening connection openings 23, via which a fluid pressure medium, in particular Compressed air can be supplied and removed as required can.
- the arrangement is preferably made so that the Positioning module 3 facing front working space 18, 18 ' of a respective piston receiving space 6, 6 'with the rear Working space 19 ', 19 of the other piston receiving space communicates, the communicating in pairs Workrooms a common connection opening 23rd can be assigned via the schematically indicated Pressure fluid lines 24 with a first control valve device 25 communicate.
- the first control valve device 25 of the exemplary embodiment is a 4/3-way valve carried out in the neutral position shown all work rooms 18, 19; 18 ', 19' to the surrounding area R vented. In the other two possible switching positions the working rooms are pressurized in this way or vented that the drive pistons 12, 12 ' in mutually parallel directions along the longitudinal axes 14, 14 'are moved synchronously in opposite directions. at leads a forward movement of the one drive piston so the other drive piston moves backwards.
- the area of the toothing 13, 13 ' Output section 28 is expedient on the outer circumference with a self-contained ring gear 34 and non-rotatably connected, which at the same time, diametrically opposite positions, with the two teeth 13, 13 'of the drive piston 12, 12' combs.
- Fasteners 35 allow the setting components to be rotated or pivoted, for example of a gripper used to handle workpieces.
- the drive module 2 is now in the form of the positioning module 3 assigned a position setting device, the by interaction with the two drive pistons 12, 12 ' the specification of a rotational intermediate position of the driven part 27 allows relative to the first housing 4, wherein the intermediate position lies between the end positions, the the output part 27 takes an angular position when the drive piston 12, 12 'one or the other of their two assume possible axial end positions.
- end positions can be defined in particular in that the drive piston 12, 12 'on a cover-side contact surface get to the facility.
- the position setting device 3 has a stop unit axially upstream of the drive piston 12, 12 ' 36, which are indicated in a by double arrow Direction of displacement 37 parallel to the directions of travel the drive piston 12, 12 'relative to the aforementioned is relocatable. It is in the second housing 8 slidably mounted and has two in axial Extension of the two drive pistons 12, 12 'at a distance stop parts 38, 38 'arranged next to one another. Each stop part 38, 38 'has its associated one Piston receiving space 6, 6 'facing the end face via a stop surface 42, 42 ', which is a counter stop surface 43, 43 'axially opposite, which is located on the End face of the axially adjacent drive piston 12, 12 ' located.
- the stop unit 36 is through in the embodiment Fluid power between the basic position shown in Fig. 2 and one in this respect axially towards the drive module 2 shifted positioning position movable.
- the stop surfaces 42, 42 ' are outside the maximum possible axial travel of the drive piston 12, 12 ', expediently in the second Housing 8 are retracted.
- the two stop parts 38, 38 ' project axially into the adjacent one Piston receiving space 6, 6 'and take the in Fig. 2 indicated by the one stop part Position.
- This position 44 stands out characterized in that both stop parts 38, 38 'with their Stop surfaces 42, 42 'on the counter stop surface 43, 43' of the axially adjacent drive piston 12, 12 'simultaneously issue.
- the two are through the gear mesh 13, 13 'motion-coupled with each other Drive piston 12, 12 'clamped axially immobile, and you get a play-free fixation of the Output part 27 in the present intermediate position.
- the in the exemplary embodiment in the positioning position present intermediate position of the driven part 27 is one Middle position, the angularly centered between the two End positions. 5 shows this for clarification and 6 the in the basic position of the stop unit 36 realizable end positions, between those in the embodiment there is an angle of rotation of 90 °.
- Fig. 7 is the same arrangement when shifted to the positioning position Stop unit 36 shown, the driven part 27 occupies a 45 ° center position.
- the stop unit 36 is for its actuation in the exemplary embodiment equipped with an actuating piston 45, which is formed in a second housing 8 another piston receiving space 46 is located in Direction of displacement 37 is displaceable.
- the actuating piston 45 is elongated Outline designed as a flat piston, of cross section seen an elongated shape. In the embodiment 3 it has flat longitudinal sides which are connected to each other via rounded narrow sides. An oval and, for example, elliptical contour would also be conceivable.
- the two stop parts 38, 38 'are plunger-like formed, being in coaxial extension of the each associated drive piston 12, 12 'with the Actuating piston 45 are connected.
- the connection areas are in the embodiment of the embodiment Narrow-side sections of the actuating piston 45.
- the positioning module 3 is of the single-acting type Working cylinder built, the rear working space 55 is constantly vented via a housing channel 56.
- the one on the other side of the actuating piston 45 lying front work space 57 communicates via a connection opening 58 passing through the second housing 8 and a pressure medium line 62 connected to it a second control valve device 63.
- the front working space 57 optionally with a pressure medium source P connects or vented to the environment R.
- position module 3 also according to Art a double-acting cylinder can, regardless of the operating state of the drive module 2 the return movement of the stop unit 36 into the To be able to make the basic position.
- the two stop surfaces in the embodiment 42, 42 ' provided on two stop elements 65, each on a tubular body 66 of the Stop unit 36 are mounted so adjustable that they move in the direction of travel of the drive pistons 12, 12 ' can be adjusted continuously.
- the stop elements are preferably 65 bolt-like design and with one Provide external thread, through which they are formed in the tube type Base body 66 are screwed.
- This tubular Base body 66 is in one piece in the embodiment formed with the bearing rod 47, which is hollow is, so that the stop part 38, 38 'and the associated bearing rod 47, 47 'through access channel 67 results from the outside of the second housing 8 access to the associated stop element 65 allows.
- the rotary drive device 1 enables in the embodiment a simple capture of the set Intermediate position via the position setting device 3.
- a position sensor on the second housing 8 72 provided by one on the stop unit 36 provided actuator 73 when reaching the Positioning position is operated without contact.
- the position setting device can be 3 optionally to different Attach drive modules 2 and in particular also enables retrofitting conventional drive modules.
Description
- Fig. 1
- eine bevorzugte Bauform der erfindungsgemäßen Drehantriebsvorrichtung in perspektivischer Darstellung,
- Fig. 2
- einen Längsschnitt durch die Drehantriebsvorrichtung gemäß Schnittlinie II-II aus Fig. 1 und 4,
- Fig. 3
- eine Stirnansicht der Drehantriebsvorrichtung mit Blick gemäß Pfeil III aus Fig. 2,
- Fig. 4
- einen Querschnitt durch die Drehantriebsvorrichtung gemäß Schnittlinie IV-IV aus Fig. 2 und
- Fig. 5 bis 7
- in schematischer Darstellung verschiedene Betriebszustände der Drehantriebsvorrichtung.
Claims (14)
- Fluidbetätigte Drehantriebsvorrichtung, mit einem drehbar gelagerten Abtriebsteil (27), das wenigstens einen Zahnkranz (34) aufweist, mit dem an zwei nebeneinanderliegend angeordneten Antriebskolben (12, 12') vorgesehene zahnstangenartige Verzahnungen (13, 13') in Eingriff stehen, wobei die Antriebskolben (12, 12') durch Fluidbeaufschlagung in zueinander parallelen Richtungen gegensinnig bewegbar sind, um eine Drehbewegung (26) des Antriebsteils (27) zwischen zwei Endpositionen hervorzurufen, und mit einer Positionsvorgabeeinrichtung (3), die durch Zusammenwirken mit den beiden Antriebskolben (12, 12') die Vorgabe einer zwischen den Endpositionen befindlichen Zwischenposition des Abtriebsteils (27) ermöglicht und hierzu über eine durch Fluidkraft verlagerbare Anschlageinheit (36) verfügt, die zwei in axialer Verlängerung der beiden Antriebskolben (12, 12') nebeneinanderliegend angeordnete, fest mit einem fluidbeaufschlagbaren Betätigungskolben (45) verbundene Anschlagteile (38, 38') aufweist und die relativ zu den Antriebskolben (12, 12') in eine Positionierstellung verlagerbar ist, in der die beiden Anschlagteile (38, 38') gleichzeitig am jeweils zugeordneten Antriebskolben (12, 12') anliegen, dadurch gekennzeichnet, dass der Betätigungskolben (45) im Querschnitt gesehen einen länglichen Umriss aufweist, wobei die beiden Anschlagteile (38, 38') stößelartig ausgebildet sind und in koaxialer Verlängerung des jeweils zugeordneten Antriebskolbens (12, 12') im Bereich der schmalseitigen Randabschnitte des Betätigungskolbens (45) vorgesehen sind.
- Drehantriebsvorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die beiden Anschlagteile (38, 38') in der Positionierstellung an einer axial gerichteten Stirnfläche (43, 43') des jeweils zugeordneten Antriebskolbens (12, 12') anliegen.
- Drehantriebsvorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Anschlageinheit (36) in der Positionierstellung mit beiden Anschlagteilen (38, 38') axial in den den zugeordneten Antriebskolben (12, 12') verschiebbar aufnehmenden Kolbenaufnahmeraum (6, 6') hineinragt.
- Drehantriebsvorrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Anschlageinheit (36) zwischen der Positionierstellung und einer außerhalb des maximal möglichen axialen Verfahrweges der Antriebskolben (12, 12') liegenden Grundstellung verlagerbar ist.
- Drehantriebsvorrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Verlagerungsrichtung (37) der Anschlageinheit (36) parallel zu den verfahrrichtungen der Antriebskolben (12, 12') verläuft.
- Drehantriebsvorrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Anschlageinheit (36) den Antriebskolben (12, 12') axial vorgelagert ist.
- Drehantriebsvorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Anschlageinheit (36) über zwei in koaxialer Verlängerung der Anschlagteile (38, 38') angeordnete Lagerstangen (47, 47') verfügt.
- Drehantriebsvorrichtung nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass mindestens eines der Anschlagteile (38, 38') über ein die mit dem zugeordneten Antriebskolben (12, 12') zusammenarbeitende Anschlagfläche (42, 42') tragendes Anschlagelement (65) verfügt, das relativ zu einem es tragenden Grundkörper (66) der Anschlageinheit (36) in Verfahrrichtung des zugeordneten Antriebskolbens (12, 12') verstellbar ist.
- Drehantriebsvorrichtung nach Anspruch 8, dadurch gekennzeichnet, dass das Verstellen des Anschlagelementes (65) durch einen Hohlraum (67) des Grundkörpers (66) hindurch erfolgt.
- Drehantriebsvorrichtung nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass die Anschlageinheit (36) wenigstens ein mit einem Positionssensor (72) zusammenarbeitendes Betätigungsglied (73) trägt.
- Drehantriebsvorrichtung nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass die beiden Antriebskolben (12, 12') beim Verlagern der Anschlageinheit (36) in die Positionierstellung fluidisch unbeaufschlagt sind und von der Anschlageinheit (36) verschoben werden.
- Drehantriebsvorrichtung nach einem der Ansprüche 1 bis 11, gekennzeichnet durch eine beim Verlassen der Positionierstellung der Anschlageinheit (36) wirksame Abluftdrosselung (64).
- Drehantriebsvorrichtung nach einem der Ansprüche 1 bis 12, dadurch gekennzeichnet, dass die Antriebskolben (12, 12') und die Anschlageinheit (36) in separaten, stirnseitig aneinandergesetzten Gehäusen (4, 8) angeordnet sind.
- Drehantriebsvorrichtung nach einem der Ansprüche 1 bis 13, dadurch gekennzeichnet, dass die vorgegebene Zwischenposition eine Mittenposition mittig zwischen den beiden Endpositionen des Antriebsteils (27) ist.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19803819 | 1998-01-31 | ||
DE19803819A DE19803819B4 (de) | 1998-01-31 | 1998-01-31 | Fluidbetätigte Drehantriebsvorrichtung |
Publications (3)
Publication Number | Publication Date |
---|---|
EP0933527A2 EP0933527A2 (de) | 1999-08-04 |
EP0933527A3 EP0933527A3 (de) | 2001-12-05 |
EP0933527B1 true EP0933527B1 (de) | 2004-02-04 |
Family
ID=7856271
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98123579A Expired - Lifetime EP0933527B1 (de) | 1998-01-31 | 1998-12-10 | Fluidbetätigte Drehantriebsvorrichtung |
Country Status (4)
Country | Link |
---|---|
US (1) | US6170384B1 (de) |
EP (1) | EP0933527B1 (de) |
JP (1) | JP3122423B2 (de) |
DE (2) | DE19803819B4 (de) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4150993B2 (ja) * | 2000-04-12 | 2008-09-17 | Smc株式会社 | 揺動アクチュエータ |
JP3701576B2 (ja) * | 2001-04-10 | 2005-09-28 | Smc株式会社 | ダブルラック・ピニオン式揺動装置 |
US6708489B2 (en) | 2001-08-03 | 2004-03-23 | Parker & Harper Companies, Inc. | Pneumatic actuator |
DE10249509A1 (de) * | 2002-10-23 | 2004-05-13 | Bar Pneumatische Steuerungssysteme Gmbh | Pneumatischer Stellantrieb |
DE102007017418B4 (de) | 2007-04-13 | 2010-04-01 | Festo Ag & Co. Kg | Fluidbetätigte Drehantriebsvorrichtung |
DE102009011764A1 (de) * | 2009-03-04 | 2010-09-09 | Festo Ag & Co. Kg | Drehantriebsvorrichtung |
EP2420682B1 (de) | 2010-08-21 | 2012-06-06 | FESTO AG & Co. KG | Fluidbetätigte Drehantriebsvorrichtung |
EP2495449B1 (de) * | 2011-03-01 | 2013-04-03 | FESTO AG & Co. KG | Fluidbetätigte Drehantriebsvorrichtung |
EP2495450B1 (de) | 2011-03-01 | 2013-05-15 | FESTO AG & Co. KG | Fluidbetätigte Drehantriebsvorrichtung |
EP2495451B1 (de) | 2011-03-01 | 2013-05-15 | FESTO AG & Co. KG | Fluidbetätigte Drehantriebsvorrichtung |
EP2503162A1 (de) | 2011-03-25 | 2012-09-26 | Festo AG & Co. KG | Fluidbetätigte Drehantriebsvorrichtung |
US9586676B2 (en) * | 2014-04-01 | 2017-03-07 | The Boeing Company | Pneumatic positioning system |
JP1575545S (de) * | 2016-12-16 | 2017-05-08 | ||
JP1575546S (de) * | 2016-12-16 | 2017-05-08 | ||
JP1575966S (de) * | 2016-12-16 | 2017-05-08 | ||
JP7060295B1 (ja) | 2021-06-10 | 2022-04-26 | 友哉 木村 | 保冷シート収納ケース |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR972346A (fr) * | 1941-02-10 | 1951-01-29 | Camions Bernard | Dispositif pour commandes positives à distance par fluides sous pression |
US3019771A (en) * | 1960-06-09 | 1962-02-06 | Gen Dynamics Corp | Hydraulic rotary actuator |
US3190190A (en) * | 1963-05-02 | 1965-06-22 | Flo Tork Inc | Rotary actuator |
US3958493A (en) * | 1973-08-20 | 1976-05-25 | Tokico Ltd. | Multiple-stage actuating device |
GB2138505B (en) * | 1983-04-23 | 1986-09-10 | Duncan Ross Stewart | Fluid-pressure-operated actuators |
JPS6319408A (ja) | 1986-07-07 | 1988-01-27 | Akita Kikai Sekkei:Kk | 回転駆動機 |
DE3741261A1 (de) * | 1987-01-10 | 1988-07-28 | Amg Antrieb Mechanik Gmbh | Schwenkantrieb mit rueckstelleinheit |
JPH0260704A (ja) | 1988-08-26 | 1990-03-01 | Matsushita Electric Works Ltd | 改質木材の製法 |
JPH03121201A (ja) | 1989-10-05 | 1991-05-23 | Mitsubishi Heavy Ind Ltd | スクロール部材の製造方法 |
EP0449803A1 (de) * | 1990-03-28 | 1991-10-02 | Hoerbiger Fluidtechnik Kg | Schwenkantrieb |
JPH04101809A (ja) | 1990-08-22 | 1992-04-03 | Yu Hirayama | 窯業製品の成形方法 |
JPH05223106A (ja) | 1991-06-05 | 1993-08-31 | Koganei:Kk | ロータリアクチュエータ |
-
1998
- 1998-01-31 DE DE19803819A patent/DE19803819B4/de not_active Expired - Fee Related
- 1998-12-10 EP EP98123579A patent/EP0933527B1/de not_active Expired - Lifetime
- 1998-12-10 DE DE59810712T patent/DE59810712D1/de not_active Expired - Lifetime
-
1999
- 1999-01-13 US US09/229,791 patent/US6170384B1/en not_active Expired - Lifetime
- 1999-02-01 JP JP11024228A patent/JP3122423B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP0933527A3 (de) | 2001-12-05 |
JPH11270508A (ja) | 1999-10-05 |
DE19803819A1 (de) | 1999-08-12 |
DE19803819B4 (de) | 2004-05-13 |
US6170384B1 (en) | 2001-01-09 |
DE59810712D1 (de) | 2004-03-11 |
JP3122423B2 (ja) | 2001-01-09 |
EP0933527A2 (de) | 1999-08-04 |
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