EP0949047B1 - Marking device with drive mechanism - Google Patents
Marking device with drive mechanism Download PDFInfo
- Publication number
- EP0949047B1 EP0949047B1 EP99420091A EP99420091A EP0949047B1 EP 0949047 B1 EP0949047 B1 EP 0949047B1 EP 99420091 A EP99420091 A EP 99420091A EP 99420091 A EP99420091 A EP 99420091A EP 0949047 B1 EP0949047 B1 EP 0949047B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- marking device
- relative
- displaceable
- marking
- arm
- 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
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B5/00—Machines or apparatus for embossing decorations or marks, e.g. embossing coins
- B44B5/0095—Machines or apparatus for embossing decorations or marks, e.g. embossing coins using computer control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B5/00—Machines or apparatus for embossing decorations or marks, e.g. embossing coins
- B44B5/0004—Machines or apparatus for embossing decorations or marks, e.g. embossing coins characterised by the movement of the embossing tool(s), or the movement of the work, during the embossing operation
- B44B5/0019—Rectilinearly moving embossing tools
Definitions
- the present invention relates to a marking device.
- marking device means any device enabling make a pattern on the surface of a part, either by printing, deformation or removal of material at this surface.
- a marking device comprises a frame supporting a drive mechanism of a tool marking, which can be a pneumatic stylus or a head engraving.
- a drive mechanism has a fixed element with respect to the frame, provided with ledges on which two guide bars are arranged.
- a first carriage is slidably mounted thereon and is finds himself provided with two additional bars, perpendicular to the first pair of bars and which are intended for receiving a second carriage to which the tool is attached marking.
- the marking tool is suitable for moving according to two directions perpendicular to each other, with respect to the fixed element.
- such a marking device has certain disadvantages. Indeed, the high number of its elements constitutive implies the existence of important functional games. In addition, the rigidity of these constituent elements is relatively weak, due to their lightness, so that they are sometimes subject, in service, to certain deformations. Finally, such a marking device sometimes calls for Toothed drive belts for carriages, inducing elastic deformation phenomenon. All of these characteristics therefore gives a definite lack of precision to the positioning of the marking tool thus produced.
- the invention proposes to produce a marking device which, while having a lightness sufficient, guarantees precise positioning of the marking and is subject, in service, to low friction.
- the invention relates to a device for marking including a frame and a drive mechanism a marking tool relative to the frame, said mechanism drive comprising a fixed element with respect to said frame, a movable element integral with said tool marking and means for moving said movable element by relation to said fixed element in two perpendicular directions between them, characterized in that said means of displacement include a first linear motor element able to move said mobile element according to a first steering and a second linear motor element capable of moving said movable member in a second direction perpendicular to the first direction.
- the marking device represented in FIG. 1, designated as a whole by the reference 2, comprises a base 4 for receiving a part to be marked 6.
- a bracket 8 extends from base 4, away from the area of reception of the piece to be marked 6, and includes a column vertical 8A on which a bar can be secured horizontal 8B, the height of which can be adjusted by any means appropriate.
- the end of the bar 8B, opposite the post 8A, is subject, for example by screwing, to a drive mechanism 10 of a marking tool 12.
- a marking tool 12 is, in the example shown, a pneumatic stylus but the invention can also be applied to other tools, such as, for example, an electromagnetic stylus or a bur engraving or an instrument depositing ink.
- This drive mechanism 10 has a fixed element 14, of generally parallelepiped shape.
- a mobile element 16 which is also globally parallelepipedic, is likely to move in two perpendicular directions between them, in the vicinity of the lower face 14A of the fixed element 14, namely that opposite the bar 8B.
- the displacement of the movable element 16 relative to the fixed element 14 is achieved by taking advantage of the induction phenomenon.
- the fixed inductor element 14, forming a stator, and the element mobile 16 armature, forming a carriage are such as those marketed, for example, by the company 3D Automation under the name Planar / Drive and form a linear motor plan.
- the armature 16 is produced in the form of four modules individual 18, 20, 22 and 24, each of which includes a coil 18A, 20A, 22A, 24A and its associated magnetic core 18B, 20B, 22B, 24B, both embedded in resin.
- the facing surfaces, made of soft iron, of the fixed element 14 and magnetic cores 18B, 20B, 22B, 24B are provided with respective teeth, not shown, intended to align with each other when the current flows through the coil.
- the carriage 16 By varying the characteristics of the current in the coils 18A and 22A, it is possible to move the carriage 16 induced in a first direction materialized by the arrow F. This carriage may move according to a perpendicular direction, materialized by arrow F ', by selective current flow in the coils 20A and 24A.
- Each module 18, 20, 22, 24 is the seat of a magnet permanent, so that the carriage 16 is permanently attracted by the ferric surface of the fixed element 14 forming a stator.
- the currents of these coils are supplied in a known manner by electronic stepper motor power boards two phases.
- An air passage 25 is also provided in the body of the carriage 16. This air passage is supplied by means of a hose 26, shown in Figures 1 and 2 and allows training, in service, an air cushion between the facing planes 14A, 16A of the fixed element 14 and of the carriage 16.
- the power supply electrical coils is provided, in known manner, by a line 27.
- the stylus 12 is fixed to the carriage 16 for example by bonding.
- the pneumatic stylus 12 is supplied by a pipe 28, in a known manner.
- an end angle 30 is fixed to the level of one of the angles of the fixed element 14.
- Each of the wings of this angle iron 30 receives a sensor 32, so that this angle ensures precise positioning of the carriage 16.
- This angle thus constitutes an origin of the coordinates for the carriage 16. This origin has been reached during commissioning of the marking device, by an automatic movement in direction of the angle, movement which is interrupted upon actuation sensors 32.
- FIG. 5 represents a second embodiment of the invention.
- the movable element 16 is provided, opposite to the fixed element 14, of a sheath 34 receiving slidingly a first bar 36 extending in a first direction.
- This bar 36 is connected, at one of its ends, to a transverse sleeve 38 capable of sliding relative to a second bar 40.
- the latter which extends perpendicular to the first bar 36, is subject to two cheeks 42 extending from the fixed element 14.
- the two bars 36, 40 provide guidance of this mobile element, in two perpendicular directions between them, and therefore prevents it from pivoting around an axis vertical. This contributes to ensuring high reliability of functioning, given that the risk of dropping out of the movable element 16, under the effect of such pivoting, are particularly weak.
- FIGS. 1 to 4 A third embodiment of the invention is shown in Figures 6 to 8, in which the identical elements to those of FIGS. 1 to 4 are designated by the same reference numbers increased by 100.
- the fixed element 114 and the carriage 116 are arranged inside a housing 134 parallelepiped, secured to a gallows not shown, similar to that 8 of the previous figures.
- the housing 134 which is generally closed, is pierced with a opening 135 at one of its 136 lateral faces. As shown in particular in Figure 7, the walls of the housing 134 opposite, constituting the upper edges and bottom of opening 135, are each provided with a rail longitudinal 138 in a U shape.
- a movable deck 140 which is provided with ribs 142 and whose longitudinal dimensions are significantly lower than those of rails 138, is received at sliding in these rails 138, via the ribs 142.
- This apron 140 is hollowed out with a middle opening 144 of receiving an arm 146 fixed, at a first end, to the carriage 116, and carrying, at its other end, a stylus marking 112.
- This arm 146 is hollowed out of a longitudinal housing 148 for receiving an air hose 128 supplying the stylus.
- the trolley is supplied with air and electricity respectively by a pipe 126 and a line 127.
- a strip 150 for example metallic, extends over the entire inner periphery of the lateral faces of the case 134.
- This strip which forms a closed loop, is mounted on four rollers 152 and is attached to the deck 140. It is also pierced, over part of its height, an opening for the passage of the arm 146.
- the carriage In service, when the carriage is moved according to the main direction of arm 146, the latter is able to slide within the respective openings in the apron 140 and in strip 150, these last two elements remaining fixed.
- the carriage When the carriage is moved perpendicularly to the main direction of the arm 146, the latter drives the sliding of the apron 140 along the rails 138, as well as moving the strip 150 around the rollers 152.
- the band 150 protects the fixed element 114 inductor and the carriage 116 induced with regard to dust and external dirt.
- the deck 140 and the rails 138 provide the guiding the arm 146 in two perpendicular directions between them, which limits the risk of dropping out of the movable element, by pivoting of the latter around an axis vertical.
- the strip 150 and its rollers 152 of support can be replaced by two bellows 154 mounted on rails 138 and arranged on either side of the apron 140 for receiving the arm 146.
- These bellows 154 are fixed, at each of their lateral ends, respectively to the walls of the housing 134 and to the side faces of the deck 140.
- these bellows 154 are able to fold or unfold, so as to guarantee watertightness overall of the whole case 134.
- the arm 146 is integral, at opposite the carriage 116, a holding member 156 free to move relative to a support member 158, which is fixed relative to the framework of the marking device not shown in this figure.
- the member 156 can be a passive part free from move relative to the support element 158 by means of a air cushion.
- the movement of the member 156 can also be insured by means of a linear motor additional, which gives motor power particularly important to the means of movement of the arm 146.
- Figure 11 shows an additional variant of embodiment of the invention, in which a metal strip 250, forming a closed loop, is mounted on rollers 252 arranged in recesses 233 of the housing 234, arranged at each angle of the latter.
- This strip 250 therefore extends to the outer periphery of the lateral faces of the housing 234 and is is able to support the movements of the arm 246, while sealing the housing 234.
- Figure 12 shows an additional variant of the invention, in which the movable element 316 receives an arm 346 supporting a not shown marking tool.
- This element mobile includes four individual modules 318, 320, 322 and 324, whose structure is similar to that of modules 18 to 24 described with reference to Figures 3 and 4.
- modules 318 to 324 are however arranged so different, in the sense that modules 318 and 322, which allow moving the movable element according to a first direction materialized by the arrow G ', are arranged so opposite, on both sides of the two modules 320 and 324 allowing the displacement of the movable element 316 in the direction materialized by the arrow G perpendicular to the arrow G '. All modules are aligned according to direction main of arm 346.
- Figure 13 shows a compliant marking device to a further embodiment of the invention, which is designated as a whole by the reference 402, and comprises a base 404 for receiving a part to be marked, not shown.
- a bracket 406 extends from the base 404, at a distance from the reception area of the part to be marked and includes a vertical column 406A on which a horizontal bar 406B, the height of which is adjustable by any appropriate means.
- a generally closed enclosure 408 is subject, by its upper wall 408A, at the end of the bar 406B, opposite to the post 406.
- This enclosure 408 receives the drive mechanism 410 of a marking tool 412.
- the latter is, in the example shown, a pneumatic stylus, but the invention can also be applied to other tools, such as for example an electromagnetic stylus, an engraving cutter or even an instrument depositing ink.
- the drive mechanism 410 has a fixed element 414, of generally parallelepiped shape and which is fixed, by example by screwing, against the upper wall 408A of the enclosure 408.
- a mobile element 416 which is also parallelepiped, is likely to move in two directions perpendicular to each other, in the vicinity of the underside 414A of the fixed element 414, namely that opposite the 406B bar.
- the displacement of the movable element 416 relative to the fixed element 414 is produced by taking advantage of the phenomenon induction, analogously to what has been described in reference to Figures 3 and 4.
- An unrepresented air passage is formed in the body of the carriage 416.
- This air passage is supplied by means of a hose 426 and allows the formation, in service, of a cushion of air between the facing planar faces 414A, 416A of the element fixed 414 and the carriage 416.
- This pipe 426 and this line penetrates, with seal, at the top wall 408A of enclosure 408.
- a finger 428 is fixed to the carriage 416, for example by bonding. It is also possible to provide, in the resin, cart modules, a metal plate to which this finger 428 is secured by screwing. This finger 428 is integral, with its end opposite the carriage, a ball joint 430 ensuring the pivoting joint of the marking tool 412 by compared to carriage 416.
- the marking tool 412 is mounted at the lower end an operating rod 432 which passes through the enclosure 408 by a opening 434, of concave spherical profile.
- This opening 434 constitutes a bearing for a spherical ball joint 436 in profile corresponding, integral with the operating rod 432.
- the end 438 of the rod 432, opposite the tool marking 412, is likely to slide within a housing provided with an articulated intermediate piece 440 on the ball 436, via a fork 442. It note that the connection between finger 428 and piece 440 can be of cardan type.
- the operating rod 432 and the part intermediate 440 form a support element for the marking 412.
- Hose 444 supplying air to the stylus pneumatic 412 penetrates through the upper wall 408A of the enclosure 408 and opens into the housing of the intermediate piece 440, intended for sliding reception of the rod operation 432.
- the marking tool 412 When the induced carriage 416 is moved relative to the fixed element 414, the marking tool 412 also moves, due to the double articulation of the rod 432, at the times relative to the carriage 416 and to the walls of the enclosure 408.
- the invention also finds its application to first and second separate linear motor elements, arranged at a distance from each other on the movable member.
- the invention makes it possible to achieve the objectives previously mentioned. Indeed, the use of a fixed inductor element cooperating with an induced movable element allows appeal to a very small number of building blocks, which tends to reduce backlash compared to marking devices prior art. Furthermore, none of these constituent elements is not likely to deform in service, which gives a very precise positioning with the device marking tool according to the invention.
- this inductor and this armature leads a significant reduction in friction compared to the devices marking of the prior art using many mechanical elements. This is allowed through the use of a air cushion interposed between the facing faces of the inductor and armature.
- Having the marking tool on one arm allows to deport the marking area outside the training area of the movable element.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Cutting Processes (AREA)
- Valve Device For Special Equipments (AREA)
- Surgical Instruments (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
- Dot-Matrix Printers And Others (AREA)
- Control Of Position Or Direction (AREA)
- Adornments (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Air Bags (AREA)
Abstract
Description
La présente invention concerne un dispositif de marquage.The present invention relates to a marking device.
Dans le cadre de l'invention, le terme générique de dispositif de marquage désigne tout dispositif permettant de réaliser un motif sur la surface d'une pièce, que ce soit par impression, déformation ou enlèvement de matière au niveau de cette surface.In the context of the invention, the generic term of marking device means any device enabling make a pattern on the surface of a part, either by printing, deformation or removal of material at this surface.
De manière connue, un dispositif de marquage comprend une ossature supportant un mécanisme d'entraínement d'un outil de marquage, qui peut être un stylet pneumatique ou une tête de gravure. De manière habituelle, un tel mécanisme d'entraínement comporte un élément fixe par rapport à l'ossature, pourvu de rebords sur lesquels sont disposées deux barres de guidage. Un premier chariot est monté à coulissement sur celles-ci et se trouve lui-même muni de deux barres supplémentaires, perpendiculaires au premier couple de barres et qui sont destinées à la réception d'un second chariot auquel est assujetti l'outil de marquage.In known manner, a marking device comprises a frame supporting a drive mechanism of a tool marking, which can be a pneumatic stylus or a head engraving. Usually, such a drive mechanism has a fixed element with respect to the frame, provided with ledges on which two guide bars are arranged. A first carriage is slidably mounted thereon and is finds himself provided with two additional bars, perpendicular to the first pair of bars and which are intended for receiving a second carriage to which the tool is attached marking.
Grâce à l'utilisation de ce système dit "à chariots croisés", l'outil de marquage est propre à se déplacer selon deux directions perpendiculaires entre elles, par rapport à l'élément fixe.Thanks to the use of this so-called "trolley system" crossed, the marking tool is suitable for moving according to two directions perpendicular to each other, with respect to the fixed element.
Un tel dispositif de marquage présente cependant certains inconvénients. En effet, le nombre élevé de ses éléments constitutifs implique l'existence de jeux fonctionnels importants. De plus, la rigidité de ces éléments constitutifs est relativement faible, du fait de leur légèreté, de sorte qu'ils sont parfois soumis, en service, à certaines déformations. Enfin, un tel dispositif de marquage fait parfois appel à des courroies crantées d'entraínement des chariots, induisant un phénomène de déformation élastique. L'ensemble de ces caractéristiques confère donc un manque de précision certain au positionnement de l'outil de marquage ainsi réalisé.However, such a marking device has certain disadvantages. Indeed, the high number of its elements constitutive implies the existence of important functional games. In addition, the rigidity of these constituent elements is relatively weak, due to their lightness, so that they are sometimes subject, in service, to certain deformations. Finally, such a marking device sometimes calls for Toothed drive belts for carriages, inducing elastic deformation phenomenon. All of these characteristics therefore gives a definite lack of precision to the positioning of the marking tool thus produced.
De plus, les différents éléments constitutifs du dispositif de marquage sont soumis à des frottements importants, de sorte que le rendement mécanique de ce dispositif n'est pas optimal. Les caractéristiques du préambule de la revendication 1 sont connues du document FR 2731087 A.In addition, the various components of the device marking are subject to significant friction, so the mechanical performance of this device is not optimal. The characteristics of the preamble of the claim 1 are known from document FR 2731087 A.
A fin de pallier les inconvénients de l'art antérieur évoqués ci-dessus, l'invention se propose de réaliser un dispositif de marquage qui, tout en possédant une légèreté suffisante, garantisse un positionnement précis de l'outil de marquage et soit soumis, en service, à de faibles frottements.To overcome the drawbacks of the prior art mentioned above, the invention proposes to produce a marking device which, while having a lightness sufficient, guarantees precise positioning of the marking and is subject, in service, to low friction.
A cet effet, l'invention a pour objet un dispositif de marquage comprenant une ossature et un mécanisme d'entraínement d'un outil de marquage par rapport à l'ossature, ledit mécanisme d'entraínement comportant un élément fixe par rapport à ladite ossature, un élément mobile solidaire dudit outil de marquage et des moyens de déplacement dudit élément mobile par rapport audit élément fixe selon deux directions perpendiculaires entre elles, caractérisé en ce que lesdits moyens de déplacement comprennent un premier élément de moteur linéaire apte à déplacer ledit élément mobile selon une première direction et un second élément de moteur linéaire apte à déplacer ledit élément mobile selon une seconde direction perpendiculaire à la première direction.To this end, the invention relates to a device for marking including a frame and a drive mechanism a marking tool relative to the frame, said mechanism drive comprising a fixed element with respect to said frame, a movable element integral with said tool marking and means for moving said movable element by relation to said fixed element in two perpendicular directions between them, characterized in that said means of displacement include a first linear motor element able to move said mobile element according to a first steering and a second linear motor element capable of moving said movable member in a second direction perpendicular to the first direction.
L'invention va être décrite ci-dessous, en référence aux dessins annexés donnée uniquement à titre d'exemple non limitatif, dans lesquels :
- la figure 1 est une vue de côté d'un dispositif de marquage conforme à un premier mode de réalisation de l'invention ;
- la figure 2 est une vue en perspective du mécanisme d'entraínement de l'outil de marquage du dispositif de marquage représenté à la figure 1 ;
- la figure 3 est une vue schématique de dessus d'un chariot mobile du mécanisme d'entraínement représenté à la figure 2 ;
- la figure 4 est une vue en coupe selon la ligne IV-IV à la figure 3 ;
- les figures 5 et 6 sont des vues en perspective illustrant le mécanisme d'entraínement d'un dispositif de marquage conforme à des second et troisième modes de réalisation de l'invention ;
- la figure 7 est une vue en coupe, selon la direction principale du bras du mécanisme d'entraínement représenté à la figure 6 ;
- la figure 8 est une vue en coupe selon ligne VIII-VIII à la figure 7 ;
- la figure 9 est une vue en coupe, analogue à la figure 8, illustrant une autre variante de réalisation de l'invention ;
- la figure 10 est une vue de côté illustrant une variante supplémentaire de l'invention ;
- la figure 11 est une vue en coupe, analogue à la figure 8, illustrant une variante supplémentaire de réalisation de l'invention ;
- la figure 12 est une vue analogue à la figure 3, d'une variante supplémentaire de réalisation de l'invention ;
- la figure 13 est une vue de côté d'un dispositif de marquage conforme à un autre mode de réalisation de l'invention et
- la figure 14 est une vue en coupe du mécanisme d'entraínement du dispositif de marquage représenté à la figure 13.
- Figure 1 is a side view of a marking device according to a first embodiment of the invention;
- Figure 2 is a perspective view of the drive mechanism of the marking tool of the marking device shown in Figure 1;
- Figure 3 is a schematic top view of a movable carriage of the drive mechanism shown in Figure 2;
- Figure 4 is a sectional view along the line IV-IV in Figure 3;
- Figures 5 and 6 are perspective views illustrating the drive mechanism of a marking device according to second and third embodiments of the invention;
- Figure 7 is a sectional view along the main direction of the arm of the drive mechanism shown in Figure 6;
- Figure 8 is a sectional view along line VIII-VIII in Figure 7;
- Figure 9 is a sectional view, similar to Figure 8, illustrating another alternative embodiment of the invention;
- Figure 10 is a side view illustrating a further variant of the invention;
- Figure 11 is a sectional view, similar to Figure 8, illustrating a further alternative embodiment of the invention;
- Figure 12 is a view similar to Figure 3, of an additional alternative embodiment of the invention;
- FIG. 13 is a side view of a marking device according to another embodiment of the invention and
- FIG. 14 is a sectional view of the drive mechanism of the marking device shown in FIG. 13.
Le dispositif de marquage représenté à la figure 1,
désigné dans son ensemble par la référence 2, comporte une
embase 4 de réception d'une pièce à marquer 6. Une potence 8
s'étend à partir de l'embase 4, à distance de la zone de
réception de la pièce à marquer 6, et comprend une colonne
verticale 8A sur laquelle peut être solidarisée une barre
horizontale 8B, dont la hauteur peut être réglée par tout moyen
approprié.The marking device represented in FIG. 1,
designated as a whole by the
L'extrémité de la barre 8B, opposée au poteau 8A, est
assujettie, par exemple par vissage, à un mécanisme d'entraínement
10 d'un outil de marquage 12. Ce dernier est, dans
l'exemple représenté, un stylet pneumatique mais l'invention
trouve également son application à d'autres outils, tels que,
par exemple, un stylet électromagnétique ou une fraise de
gravure ou un instrument déposant de l'encre.The end of the
Ce mécanisme d'entraínement 10 comporte un élément fixe
14, de forme globalement parallélépipédique. Un élément mobile
16, qui est lui aussi globalement parallélépipédique, est
susceptible de se déplacer, selon deux directions perpendiculaires
entre elles, au voisinage de la face inférieure 14A de
l'élément fixe 14, à savoir celle opposée à la barre 8B.This
Comme le montrent plus précisément les figures 3 et 4, le
déplacement de l'élément mobile 16 par rapport à l'élément fixe
14 est réalisé en tirant parti du phénomène d'induction. A cet
effet, l'élément fixe 14 inducteur, formant stator, et l'élément
mobile 16 induit, formant chariot, sont tels que ceux
commercialisés, par exemple, par la société 3D Automation sous
la dénomination Planar/Drive et forment un moteur linéaire
plan.As shown more precisely in Figures 3 and 4, the
displacement of the
L'induit 16 est réalisé sous forme de quatre modules
individuels 18, 20, 22 et 24, dont chacun comprend une bobine
18A, 20A, 22A, 24A et son noyau magnétique associé 18B, 20B,
22B, 24B, tous deux noyés dans de la résine. Les directions
principales des bobines opposées, à savoir d'une part celles
18A et 22A, et d'autre part celles 20A et 24A, sont parallèles
entre elles. Les surfaces en regard, réalisées en fer doux, de
l'élément fixe 14 et des noyaux magnétiques 18B, 20B, 22B, 24B
sont pourvues de dents respectives non représentées, destinées
à s'aligner mutuellement lors du passage du courant dans la
bobine.The
En faisant varier les caractéristiques du courant dans les
bobines 18A et 22A, il est possible de déplacer le chariot 16
induit dans une première direction matérialisée par la flèche
F. Ce chariot est susceptible de se déplacer suivant une
direction perpendiculaire, matérialisée par la flèche F', par
passage sélectif du courant dans les bobines 20A et 24A. Les
modules d'une part 18 et 22, d'autre part 20 et 24, forment des
premier et second éléments de moteur linéaire permettant de
déplacer le chariot selon des première et seconde directions
perpendiculaires entre elles.By varying the characteristics of the current in the
Chaque module 18, 20, 22, 24 est le siège d'un aimant
permanent, de sorte que le chariot 16 est en permanence attiré
par la surface ferrique de l'élément fixe 14 formant stator.
Les courants de ces bobines sont fournis de manière connue par
des cartes électroniques d'alimentation de moteur pas-à-pas à
deux phases.Each
Un passage d'air 25 est en outre ménagé dans le corps du
chariot 16. Ce passage d'air est alimenté au moyen d'un tuyau
26, représenté aux figures 1 et 2 et permet la formation, en
service, d'un coussin d'air entre les faces planes en regard
14A, 16A de l'élément fixe 14 et du chariot 16. L'alimentation
électrique des bobines est assurée, de manière connue, par une
ligne 27.An
Le stylet 12 est fixé au chariot 16 par exemple par
collage. On peut aussi prévoir de disposer, dans la résine d'un
des modules du chariot, une plaque métallique à laquelle le
stylet est assujetti par vissage.The
L'alimentation du stylet pneumatique 12 est prévue par un
tuyau 28, de manière connue. En faisant en particulier référence
à la figure 2, une cornière d'extrémité 30 est fixée au
niveau de l'un des angles de l'élément fixe 14. Chacune des
ailes de cette cornière 30 reçoit un capteur 32, de sorte que
cette cornière assure un positionnement précis du chariot 16.
Cette cornière constitue ainsi une origine des coordonnées pour
le chariot 16. Cette origine est atteinte à la mise en service
du dispositif de marquage, par un mouvement automatique en
direction de l'angle, mouvement qui est interrompu dès l'actionnement
des capteurs 32.The
La figure 5 représente un deuxième mode de réalisation de
l'invention. L'élément mobile 16 est pourvu, à l'opposé de
l'élément fixe 14, d'un fourreau 34 recevant à coulissement une
première barre 36 s'étendant selon une première direction.
Cette barre 36 est reliée, à l'une de ses extrémités, à un
manchon transversal 38 susceptible de coulisser par rapport à
une deuxième barre 40. Cette dernière, qui s'étend
perpendiculairement à la première barre 36, est assujettie à
deux joues 42 s'étendant à partir de l'élément fixe 14.FIG. 5 represents a second embodiment of
the invention. The
Lors du déplacement de l'élément mobile 16 par rapport à
l'élément fixe 14, les deux barres 36, 40 assurent un guidage
de cet élément mobile, selon deux directions perpendiculaires
entre elles, et l'empêche donc de pivoter autour d'un axe
vertical. Ceci contribue à assurer une grande fiabilité de
fonctionnement, étant donné que les risques de décrochement de
l'élément mobile 16, sous l'effet d'un tel pivotement, sont
particulièrement faibles.When the
Un troisième mode de réalisation de l'invention est représenté
aux figures 6 à 8, dans lesquelles les éléments identiques
à ceux des figures 1 à 4 sont désignés par les mêmes
numéros de référence augmentés de 100. L'élément fixe 114 et le
chariot 116 sont disposés à l'intérieur d'un boítier 134
parallélépipédique, solidaire d'une potence non représentée,
analogue à celle 8 des figures précédentes.A third embodiment of the invention is shown
in Figures 6 to 8, in which the identical elements
to those of FIGS. 1 to 4 are designated by the same
reference numbers increased by 100. The fixed
Le boítier 134, qui est globalement fermé, est percé d'une
ouverture 135 au niveau de l'une 136 de ses faces latérales.
Comme le montre en particulier la figure 7, les parois du
boítier 134 en regard, constituant les pourtours supérieur et
inférieur de l'ouverture 135, sont pourvues chacune d'un rail
longitudinal 138 en forme de U. Un tablier mobile 140, qui est
muni de nervures 142 et dont les dimensions longitudinales sont
nettement inférieures à celles des rails 138, est reçu à
coulissement dans ces rails 138, par l'intermédiaire des
nervures 142.The
Ce tablier 140 est creusé d'une ouverture médiane 144 de
réception d'un bras 146 fixé, à une première extrémité, au
chariot 116, et portant, à son autre extrémité, un stylet de
marquage 112. Ce bras 146 est creusé d'un logement longitudinal
148 de réception d'un tuyau d'air 128 d'alimentation du stylet.
Par ailleurs, le chariot est alimenté en air et en électricité
respectivement par un tuyau 126 et une ligne 127.This
Une bande 150, par exemple métallique, s'étend sur
l'ensemble de la périphérie intérieure des faces latérales du
boítier 134. Cette bande, qui forme une boucle fermée, est
montée sur quatre rouleaux 152 et se trouve fixée au tablier
140. Elle est en outre percée, sur une partie de sa hauteur,
d'une ouverture de passage du bras 146.A
En service, lorsque l'on déplace le chariot selon la
direction principale du bras 146, ce dernier est à même de
coulisser au sein des ouvertures respectives ménagées dans le
tablier 140 et dans la bande 150, ces deux derniers éléments
restant fixes. Lorsque le chariot est déplacé perpendiculairement
à la direction principale du bras 146, ce dernier entraíne
le coulissement du tablier 140 le long des rails 138, ainsi que
le déplacement de la bande 150 autour des rouleaux 152. La
bande 150 protège l'élément fixe 114 inducteur et le chariot
116 induit à l'égard des poussières et des salissures extérieures.
De plus, le tablier 140 et les rails 138 assurent le
guidage du bras 146 selon deux directions perpendiculaires
entre elles, ce qui limite les risques de décrochement de
l'élément mobile, par pivotement de ce dernier autour d'un axe
vertical.In service, when the carriage is moved according to the
main direction of
Comme le montre la figure 9, la bande 150 et ses rouleaux
152 de support peuvent être remplacés par deux soufflets 154
montés sur des rails 138 et disposés de part et d'autre du
tablier 140 de réception du bras 146. Ces soufflets 154 sont
fixés, à chacune de leurs extrémités latérales, respectivement
aux parois du boítier 134 et aux faces latérales du tablier
140. Lors du déplacement du tablier perpendiculairement à la
direction principale du bras 146, ces soufflets 154 sont à même
de se plier ou de se déplier, de manière à garantir l'étanchéité
globale de l'ensemble du boítier 134.As shown in Figure 9, the
Selon une variante supplémentaire de l'invention,
représentée à la figure 10, le bras 146 est solidaire, à
l'opposé du chariot 116, d'un organe de maintien 156 libre de
se mouvoir par rapport à un élément de support 158, qui est
fixe par rapport à l'ossature du dispositif de marquage non
représentée sur cette figure.According to an additional variant of the invention,
shown in Figure 10, the
L'organe 156 peut être une pièce passive libre de se
déplacer par rapport à l'élément de support 158 grâce à un
coussin d'air. Le déplacement de l'organe 156 peut également
être assuré par l'intermédiaire d'un moteur linéaire
supplémentaire, ce qui permet de conférer une puissance motrice
particulièrement importante aux moyens de déplacement du bras
146.The
La présence d'un tel organe 156 permet de réduire, de
manière sensible, tout risque de basculement vers le bas du
bras 146, sous l'effet du moment induit par l'organe de
marquage 112, quand bien même ce bras 146 possède des
dimensions longitudinales très importantes.The presence of such an
La figure 11 représente une variante supplémentaire de
réalisation de l'invention, dans laquelle une bande métallique
250, formant une boucle fermée, est montée sur des rouleaux 252
disposés dans des décrochements 233 du boítier 234, ménagés à
chaque angle de ce dernier. Cette bande 250 s'étend donc à la
périphérie extérieure des faces latérales du boítier 234 et se
trouve à même d'accompagner les mouvements du bras 246, tout en
assurant l'étanchéité du boítier 234.Figure 11 shows an additional variant of
embodiment of the invention, in which a
La figure 12 représente une variante supplémentaire de
l'invention, dans laquelle l'élément mobile 316 reçoit un bras
346 supportant un outil de marquage non représenté. Cet élément
mobile comprend quatre modules individuels 318, 320, 322 et
324, dont la structure est analogue à celle des modules 18 à 24
décrits en référence aux figures 3 et 4.Figure 12 shows an additional variant of
the invention, in which the
Ces modules 318 à 324 sont cependant agencés de façon
différente, en ce sens que les modules 318 et 322, qui
permettent de déplacer l'élément mobile selon une première
direction matérialisée par la flèche G' , sont disposés de façon
opposée, de part et d'autre des deux modules 320 et 324
permettant le déplacement de l'élément mobile 316 dans la
direction matérialisée par la flèche G perpendiculaire à la
flèche G'. L'ensemble des modules est aligné selon la direction
principale du bras 346.These
Cette conformation permet de réduire, dans une mesure
importante, les risques de pivotement de l'élément mobile 316
autour d'un axe vertical, qui seraient susceptibles de
provoquer le décrochement de cet élément mobile par rapport à
l'élément fixe, non représenté sur cette figure.This conformation makes it possible to reduce, to an extent
important, the risks of pivoting of the
La figure 13 représente un dispositif de marquage conforme
à un mode de réalisation supplémentaire de l'invention, qui est
désigné dans son ensemble par la référence 402, et comporte une
embase 404 de réception d'une pièce à marquer non représentée.
Une potence 406 s'étend à partir de l'embase 404, à distance de
la zone de réception de la pièce à marquer et comprend une
colonne verticale 406A sur laquelle peut être solidarisée une
barre horizontale 406B, dont la hauteur est réglable par tout
moyen approprié.Figure 13 shows a compliant marking device
to a further embodiment of the invention, which is
designated as a whole by the
Une enceinte 408 globalement fermée est assujettie, par sa
paroi supérieure 408A, à l'extrémité de la barre 406B, opposée
au poteau 406. Cette enceinte 408 reçoit le mécanisme d'entraínement
410 d'un outil de marquage 412. Ce dernier est, dans
l'exemple représenté, un stylet pneumatique, mais l'invention
trouve également son application à d'autres outils, tels que
par exemple un stylet électromagnétique, une fraise de gravure
ou bien encore un instrument déposant de l'encre.A generally closed
Le mécanisme d'entraínement 410 comporte un élément fixe
414, de forme générale parallélépipédique et qui est fixé, par
exemple par vissage, contre la paroi supérieure 408A de l'enceinte
408.The
Un élément mobile 416, qui est lui aussi parallélépipédique,
est susceptible de se déplacer, selon deux directions
perpendiculaires entre elles, au voisinage de la face inférieure
414A de l'élément fixe 414, à savoir celle opposée à la
barre 406B.A
Le déplacement de l'élément mobile 416 par rapport à
l'élément fixe 414 est réalisé en tirant parti du phénomène
d'induction, de manière analogue à ce qui a été décrit en
référence aux figures 3 et 4.The displacement of the
Un passage d'air non représenté est ménagé dans le corps
du chariot 416. Ce passage d'air est alimenté au moyen d'un
tuyau 426 et permet la formation, en service, d'un coussin
d'air entre les faces planes en regard 414A, 416A de l'élément
fixe 414 et du chariot 416. Ce tuyau 426 et cette ligne pénètre,
avec étanchéité, au niveau de la paroi supérieure 408A de
l'enceinte 408.An unrepresented air passage is formed in the body
of the
Un doigt 428 est fixé au chariot 416, par exemple par
collage. On peut aussi prévoir de disposer, dans la résine des
modules du chariot, une plaque métallique à laquelle ce doigt
428 est assujetti par vissage. Ce doigt 428 est solidaire, à
son extrémité opposée au chariot, d'une rotule 430 assurant
l'articulation à pivotement de l'outil de marquage 412 par
rapport au chariot 416.A
En faisant en particulier référence à la figure 13,
l'outil de marquage 412 est monté à l'extrémité inférieure
d'une tige de manoeuvre 432 qui traverse l'enceinte 408 par une
ouverture 434, de profil sphérique concave. Cette ouverture 434
constitue une portée pour une rotule sphérique 436 de profil
correspondant, solidaire de la tige de manoeuvre 432.With particular reference to Figure 13,
the marking
L'extrémité 438 de la tige 432, opposée à l'outil de
marquage 412, est susceptible de coulisser au sein d'un
logement dont est pourvue une pièce intermédiaire 440 articulée
sur la rotule 436, par l'intermédiaire d'une fourche 442. Il
est à noter que la liaison entre le doigt 428 et la pièce 440
peut être de type cardan. La tige de manoeuvre 432 et la pièce
intermédiaire 440 forment un élément de support pour l'outil de
marquage 412.The
Le tuyau 444 assurant l'alimentation en air du stylet
pneumatique 412 pénètre par la paroi supérieure 408A de l'enceinte
408 et débouche au sein du logement de la pièce intermédiaire
440, destiné à la réception à coulissement de la tige de
manoeuvre 432.
Lorsque l'on déplace le chariot induit 416 par rapport à
l'élément fixe 414, l'outil de marquage 412 se déplace également,
du fait de la double articulation de la tige 432, à la
fois par rapport au chariot 416 et aux parois de l'enceinte
408.When the induced
L'invention trouve aussi son application à des premier et second éléments de moteur linéaire séparés, disposés à distance l'un de l'autre sur l'élément mobile.The invention also finds its application to first and second separate linear motor elements, arranged at a distance from each other on the movable member.
L'invention permet de réaliser les objectifs précédemment mentionnés. En effet, l'utilisation d'un élément fixe inducteur coopérant avec un élément mobile induit permet de faire appel à un très faible nombre d'éléments constitutifs, ce qui tend à réduire les jeux, en comparaison des dispositifs de marquage de l'art antérieur. De plus, aucun de ces éléments constitutifs n'est susceptible de se déformer en service, ce qui confère un positionnement très précis à l'outil de marquage du dispositif conforme à l'invention.The invention makes it possible to achieve the objectives previously mentioned. Indeed, the use of a fixed inductor element cooperating with an induced movable element allows appeal to a very small number of building blocks, which tends to reduce backlash compared to marking devices prior art. Furthermore, none of these constituent elements is not likely to deform in service, which gives a very precise positioning with the device marking tool according to the invention.
De plus, l'emploi de cet inducteur et cet induit entraíne une réduction notable des frottements, par rapport aux dispositifs de marquage de l'art antérieur faisant appel à de nombreux éléments mécaniques. Ceci est permis grâce à l'utilisation d'un coussin d'air interposé entre les faces en regard de l'inducteur et de l'induit.In addition, the use of this inductor and this armature leads a significant reduction in friction compared to the devices marking of the prior art using many mechanical elements. This is allowed through the use of a air cushion interposed between the facing faces of the inductor and armature.
Le fait de disposer l'outil de marquage sur un bras permet de déporter la zone de marquage hors de la zone d'entraínement de l'élément mobile.Having the marking tool on one arm allows to deport the marking area outside the training area of the movable element.
Le fait de disposer l'inducteur et l'induit dans une enceinte étanche garantit enfin une protection satisfaisante à l'égard des poussières et des salissures, de l'ensemble du mécanisme d'entraínement de l'outil de marquage.Having the inductor and the armature in a waterproof enclosure finally guarantees satisfactory protection with regard to dust and dirt, of the whole drive mechanism of the marking tool.
Claims (14)
- Marking device (2; 402), comprising a frame (4, 8; 404, 406) and a mechanism (10; 410) for driving a marking tool (12; 112; 412) relative to the frame, said drive mechanism comprising a fixed element (14; 114; 414) relative to said frame, a displaceable element (16; 116; 316; 416) integral with said marking tool (12; 112; 412) and means for displacing said displaceable element relative to said fixed element in two directions perpendicular to each other, characterised in that said displacement means comprise a first linear motor element (18, 22; 318, 322), which is capable of displacing said displaceable element (16; 116; 316; 416) in a first direction (F), and a second linear motor element (20, 24: 320, 324), which is capable of displacing said displaceable element in a second direction (F') perpendicular to the first direction (F).
- Marking device according to claim 1, characterised in that said first (18, 22; 318, 322) and second (20, 24; 320, 324) linear motor elements are assembled together so as to form a single linear motor, which is displaceable in two directions (F, F') perpendicular to each other.
- Marking device according to claim 1 or 2, characterised in that the marking tool (12) is secured, more especially by screwing, directly on the displaceable element (16).
- Marking device according to claim 3, characterised in that the fixed element (14) is provided, at one of its angles, with a corner (30) for positioning said displaceable element (16) at the start.
- Marking device according to one of claims 3 or 4, characterised in that said displaceable element (16) is adapted to slide relative to a first guide bar (36) extending in a first direction, said first guide bar (36) being adapted to slide in a second direction, perpendicular to the first direction, relative to a second guide bar (40), which is integral with the frame (4, 8) of the device.
- Marking device according to claim 1 or 2, characterised in that the marking tool (112) is secured on an arm (146; 346), which is integral with the displaceable element (116; 316).
- Marking device according to claim 6, characterised in that the fixed element (114) and the displaceable element (116) are disposed in a casing (134), said arm (146), which is integral with the displaceable element, projecting out of the casing while being free to slide in its principal direction relative to a support element (140) disposed in an opening (135) provided in a lateral face of the casing, said support element (140) being adapted to be displaced transversely relative to the principal direction of the arm (146) along a periphery of said opening, means (150; 154; 250) being provided to maintain the sealing of the casing (134) during the displacement of said support element (140).
- Marking device according to claim 7, characterised in that the sealing means comprise a closed loop (150) extending on the periphery of the lateral walls of the casing (134), said loop being provided with a through-opening for said arm (146) and being adapted to be displaced along said lateral walls of the casing.
- Marking device according to claim 7, characterised in that the sealing means comprise two bellows (154) which are disposed, within the opening (135) of the lateral face of the casing (134), on each side of the support element (140).
- Marking device according to any of claims 6 to 9, characterised in that it compases a retaining member (156) for the arm (146), which member is secured to said arm opposite the displaceable element (116), said retaining member (156) being displaceable, by displacement means, in the vicinity of the surface of a support element, which is fixed relative to the frame.
- Marking device according to claim 10, characterised in that said displacement means comprise third and fourth linear motor elements, which are capable of displacing said displaceable member (156) in two directions perpendicular to each other relative to the support element (158).
- , Marking device according to one of claims 6 to 11, characterised in that the first (318; 322) and second (320; 324) linear motor elements each comprise at least two modules, two opposite modules (318, 322) of the first element being placed on each side of two central modules (320, 324) of the second element, the opposite modules and the central modules being aligned substantially with the principal axis of the arm (346).
- Marking device according to one of claims 1 or 2, characterised in that the marking tool (412) is integral with a support element (432, 440), which is likely to pivot both relative to the displaceable element (416) and relative to a fixed area (434) of the frame.
- Marking device according to claim 13, characterised in that the support element (432, 440) is pivotably mounted relative to the displaceable element (416), through the intermediary of a hinged element (428, 430) secured on said displaceable element,
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9804875A FR2777217B1 (en) | 1998-04-10 | 1998-04-10 | MARKING DEVICE COMPRISING AN IMPROVED DRIVE MECHANISM |
FR9804875 | 1998-04-10 | ||
FR9806863 | 1998-05-27 | ||
FR9806863A FR2779085B1 (en) | 1998-05-27 | 1998-05-27 | MARKING DEVICE COMPRISING AN IMPROVED DRIVE MECHANISM |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0949047A1 EP0949047A1 (en) | 1999-10-13 |
EP0949047B1 true EP0949047B1 (en) | 2003-02-05 |
Family
ID=26234275
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP99420091A Expired - Lifetime EP0949047B1 (en) | 1998-04-10 | 1999-04-09 | Marking device with drive mechanism |
Country Status (9)
Country | Link |
---|---|
US (1) | US6188148B1 (en) |
EP (1) | EP0949047B1 (en) |
JP (1) | JPH11320458A (en) |
AT (1) | ATE232153T1 (en) |
BR (1) | BR9904676A (en) |
CA (1) | CA2268299A1 (en) |
DE (1) | DE69905210T2 (en) |
DK (1) | DK0949047T3 (en) |
ES (1) | ES2188118T3 (en) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6427357B1 (en) * | 1999-08-13 | 2002-08-06 | Thomas W. Piper | Spindle mounted marking device for CNC machines |
FR2801238B1 (en) * | 1999-11-24 | 2002-02-15 | Technomark | MODULAR PARTS MARKING MACHINE |
GB2370812A (en) * | 2001-01-09 | 2002-07-10 | Edward Pryor And Son Ltd | Handheld marking device including a marking stylus head horizontally and vertically movable about a frame to a required location by two stepper motors |
US20030221470A1 (en) * | 2002-05-30 | 2003-12-04 | Gunther Siegel | Apparatus for writing in metal |
US7707731B2 (en) * | 2008-09-05 | 2010-05-04 | The Tapmatic Corporation | Marking device for rotational machines |
EP3056353A1 (en) * | 2015-02-04 | 2016-08-17 | Inka-Laser GmbH & Co KG | Marking method with two linear motors and character-based quality control |
DE102015001263B4 (en) * | 2015-02-04 | 2021-06-10 | MAPA-Tech GmbH & Co. KG | Marking device with linear motors |
CN107512086B (en) * | 2017-10-12 | 2023-10-27 | 重庆市灵龙自动化设备有限公司 | Automatic code spraying device for mobile phone motor |
CN107598887B (en) * | 2017-10-25 | 2024-01-09 | 广西职业技术学院 | Multifunctional scribing table |
CN107972370B (en) * | 2017-12-08 | 2019-11-12 | 安徽万礼食品有限责任公司 | A kind of battery automatic marking machine |
CN109702706B (en) * | 2019-02-20 | 2023-12-26 | 上海机动车检测认证技术研究中心有限公司 | Scribing device |
CN115312335B (en) * | 2022-09-29 | 2022-12-09 | 山东博尔特电梯有限公司 | Travel switch convenient to installation operation |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3851196A (en) * | 1971-09-08 | 1974-11-26 | Xynetics Inc | Plural axis linear motor structure |
US3982165A (en) * | 1974-09-10 | 1976-09-21 | The Gerber Scientific Instrument Company | Apparatus for digitizing and plotting |
US4422027A (en) * | 1981-03-16 | 1983-12-20 | The United States Of America As Represented By The Secretary Of The Army | Linear motor controller |
KR940006941B1 (en) | 1989-10-03 | 1994-07-30 | 가부시끼가이샤 야스가와 덴끼 세이사꾸쇼 | Manipulator using plane pulse motor |
US5126648A (en) | 1990-03-22 | 1992-06-30 | Megamation Incorporated | High resolution piggyback linear motor design for placement systems and the like |
DE9407399U1 (en) | 1994-05-04 | 1994-09-22 | Chern Der Luh | Marking device for drilling marks on a blank |
JPH08230393A (en) | 1995-02-28 | 1996-09-10 | Ando Electric Co Ltd | Marking device with cad |
-
1999
- 1999-03-31 CA CA002268299A patent/CA2268299A1/en not_active Abandoned
- 1999-04-07 JP JP11100368A patent/JPH11320458A/en not_active Withdrawn
- 1999-04-07 US US09/287,629 patent/US6188148B1/en not_active Expired - Fee Related
- 1999-04-08 BR BR9904676-8A patent/BR9904676A/en active Search and Examination
- 1999-04-09 EP EP99420091A patent/EP0949047B1/en not_active Expired - Lifetime
- 1999-04-09 DE DE69905210T patent/DE69905210T2/en not_active Expired - Fee Related
- 1999-04-09 DK DK99420091T patent/DK0949047T3/en active
- 1999-04-09 ES ES99420091T patent/ES2188118T3/en not_active Expired - Lifetime
- 1999-04-09 AT AT99420091T patent/ATE232153T1/en not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
ES2188118T3 (en) | 2003-06-16 |
ATE232153T1 (en) | 2003-02-15 |
CA2268299A1 (en) | 1999-10-10 |
EP0949047A1 (en) | 1999-10-13 |
JPH11320458A (en) | 1999-11-24 |
DK0949047T3 (en) | 2003-02-24 |
BR9904676A (en) | 2000-09-12 |
DE69905210T2 (en) | 2003-07-10 |
DE69905210D1 (en) | 2003-03-13 |
US6188148B1 (en) | 2001-02-13 |
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