EP0984170B1 - Druckmittelzylinder, Weichenventil und druckmittelbetätigte Arbeitseinheit - Google Patents

Druckmittelzylinder, Weichenventil und druckmittelbetätigte Arbeitseinheit Download PDF

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Publication number
EP0984170B1
EP0984170B1 EP99890249A EP99890249A EP0984170B1 EP 0984170 B1 EP0984170 B1 EP 0984170B1 EP 99890249 A EP99890249 A EP 99890249A EP 99890249 A EP99890249 A EP 99890249A EP 0984170 B1 EP0984170 B1 EP 0984170B1
Authority
EP
European Patent Office
Prior art keywords
valve
working
pressure
cylinder
medium
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
EP99890249A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0984170A2 (de
EP0984170A3 (de
Inventor
Alfredo Hellemann
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.)
Hygrama AG
Original Assignee
Hygrama AG
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 Hygrama AG filed Critical Hygrama AG
Publication of EP0984170A2 publication Critical patent/EP0984170A2/de
Publication of EP0984170A3 publication Critical patent/EP0984170A3/de
Application granted granted Critical
Publication of EP0984170B1 publication Critical patent/EP0984170B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08Characterised by the construction of the motor unit
    • F15B15/14Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/149Fluid interconnections, e.g. fluid connectors, passages
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0401Valve members; Fluid interconnections therefor
    • F15B13/0405Valve members; Fluid interconnections therefor for seat valves, i.e. poppet valves
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08Characterised by the construction of the motor unit
    • F15B15/14Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423Component parts; Constructional details
    • F15B15/1433End caps
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/30Directional control
    • F15B2211/305Directional control characterised by the type of valves
    • F15B2211/3052Shuttle valves
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/30Directional control
    • F15B2211/305Directional control characterised by the type of valves
    • F15B2211/3056Assemblies of multiple valves
    • F15B2211/30565Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/30Directional control
    • F15B2211/32Directional control characterised by the type of actuation
    • F15B2211/329Directional control characterised by the type of actuation actuated by fluid pressure
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/70Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051Linear output members
    • F15B2211/7053Double-acting output members
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/80Other types of control related to particular problems or conditions
    • F15B2211/885Control specific to the type of fluid, e.g. specific to magnetorheological fluid
    • F15B2211/8855Compressible fluids, e.g. specific to pneumatics
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00Fluid handling
    • Y10T137/8593Systems
    • Y10T137/86493Multi-way valve unit
    • Y10T137/86847Pivoted valve unit
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00Fluid handling
    • Y10T137/8593Systems
    • Y10T137/87169Supply and exhaust
    • Y10T137/87193Pilot-actuated
    • Y10T137/87201Common to plural valve motor chambers

Definitions

  • the invention relates to a valve arrangement with a through which on the control connection applied pressure between two switch positions, switchable rocker sealing element (31, 33) and at least one control space (34a, 34b) delimited by the rocker sealing element, and an exhaust control valve (36a, 36b) which has at least one device (35a, 35b; 37a, 37b) for transmitting the pressure applied to the control connection is in operative connection with the control room (34a, 34b), and a working unit actuated by pressure medium, comprising at least one pressure source (25), at least one possibly double-acting Pressure medium cylinder (A) with at least one drain opening (12a, 12b), which with a valve (13a, 13b; 27a, 27b) is provided, which through the at the feed opening (9a, 9b) applied pressure of the working medium is controllable, at least one valve (V) for controllable Supply of the working cylinder with working medium and at least one line (29a, 29b) for the working medium from the valve to the working cylinder.
  • pneumatic work units For converting pneumatic energy into mechanical power, for example several functions are necessary, that of different components, elements or component groups pneumatic work units are carried out here. That's the way the right of way signal is into a ventilation signal of the corresponding working area of the working cylinder and, if necessary To convert the ventilation signal of the counter chamber, or to link these signals. This is achieved in conventional constructions by the valve, which also applies to the deflection the compressed air to the corresponding work area, the opening of the counter chamber to Cylinder ventilation and the discharge of the exhaust air into the atmosphere ensures.
  • the management of both the Network compressed air to the cylinder which purely converts the air pressure into mechanical force the cylinder piston, as well as the exhaust air from the cylinder is released into the atmosphere Pneumatic lines carried out.
  • a pressure cylinder is known, in the drain opening Valve is provided, which is determined by the pressure of the working medium at the supply opening is controllable.
  • a valve with at least one inlet, at least one outlet for a working medium, a control connection and a drain channel for the working medium is in WO-A-9821484 described.
  • Said drain channel goes from a position between the blocking element of the valve and leads to the at least one outlet and includes an outlet or vent control valve, which can be switched by the pressure applied to the control connection is.
  • GB-A-2089941 discloses a structure of a pneumatic switching valve as a rocker valve, with a rocker sealing element that can be switched between two switching positions. On On one side of this rocker there is a one, limited by the rocker sealing element Control pressure for switching the rocker sealing element between its switching positions loadable control room.
  • the aim of the present invention is therefore to provide elements for a pressure-operated Work unit and to create such an improved work unit itself, in which a smaller size, at least of the valve, reaches the already existing space, better exploited especially in the cylinder and the performance of the individual elements better and can be coordinated more efficiently.
  • This aim is achieved according to the invention for a valve arrangement characterized at the outset thereby achieved that, as a device for transmitting the pressure, a part of the wall the control chamber forming flexible membrane is provided, which preferably via a valve stem acts on the actual sealing element, which blocks or releases the drain channel.
  • This is a particularly good one in a structurally simple and very space-saving manner Switchability of the outlet or ventilation control valve guaranteed.
  • this offers Valve construction for the smallest damaged spaces and fast even for large cross-sections Switching times and exact sealing, which means an immediate, safe and quick ventilation control or control of the outflow of the pressure medium from the working cylinder guaranteed.
  • Switch valve is a smaller size than even with two rocker valves for one 5/2-way function.
  • valve arrangement has a structure that is at least functionally the same on both sides having.
  • a working unit actuated by pressure medium according to the invention is to solve the problem Task according to the invention, characterized in that only per cylinder work space One line each for the working medium to the cylinder and the lines over at least a controllable outlet or vent valve can be vented or relieved, and that the Drain opening of the working cylinder is kept clear.
  • the work unit with the at least one double-acting pressure medium cylinder characterized in that the Cylinder only one line is provided for the working medium to the cylinder, and that the Switch valve arrangement is designed as a rocker valve according to one of the above paragraphs.
  • a control logic arrangement is provided, the connections for communication, preferably has a fieldbus, electrical control and supply and for the working medium.
  • the connections for communication preferably has a fieldbus, electrical control and supply and for the working medium.
  • the Invention the valve for controlling one or both working spaces of the working cylinder directly be attached to it or integrated therein, preferably in one of the two end pieces of this Cylinder.
  • the or each vent control valve can advantageously be attached to the working cylinder and / or the switch valve can be attached or structurally integrated into it.
  • the switch valve can advantageously be attached to the working cylinder and / or the switch valve can be attached or structurally integrated into it.
  • lines between these combined components can and in the case of structural integration there are also no connection and sealing points, with which on the one hand, the arrangement of the overall system is considerably simplified and its functional reliability - due to the lower risk of leakage - can be increased significantly.
  • the aforementioned options are also available when designing the switch valve in a rocker valve design advantageously applicable.
  • Fig. 1 shows a longitudinal section through an advantageous in the invention Working unit used working cylinder
  • Fig. 2 is a partial cross-sectional view a switch valve that can be used for the working unit according to the invention with integrated Vent control valves
  • Fig. 3 shows a possible embodiment of the switch valve
  • Fig. 4 and Fig. 5 are schematic circuit diagrams of the invention pneumatic work units
  • Fig. 6 represents a switch valve in rocker valve design together with the associated vent control valves
  • Fig. 7 is a Switch valve in rocker valve design with integrated bleed control valves.
  • the pneumatic working cylinder A shown in Fig. 1, preferably with compressed air as Operated working medium consists of a cylinder tube 1, the ends of which have a bottom 2 and a lid 3 are completed.
  • a piston 4 which is sealed by a piston rod 5 through the Cover 3 is passed, transmits the mechanical force to the element to be driven.
  • the invention is in the same way on rodless cylinders and Working media other than compressed air can be used, for example also on hydraulic working media.
  • the mouth of the passage 11a, 11b lying in the feed opening 9a, 9b forms a valve seat for a located in the feed opening 9a, 9b preferably flat valve element 13a, 13b, this mouth completely covered and advantageously also the mouth of the parallel Feed channels 10a, 10b to work space 6 and 7, at least partially covered.
  • in compressed air is supplied to the connection 8a on the right thereby pressing the right valve element 13a onto its seat and sealing the Passage 11a to the right drain opening 12a.
  • the compressed air arrives on Valve element 13a past into the feed channel 10a and further into the work area 6. This causes the piston 4 to move to the left and the Piston rod 5 extends.
  • valve V With such a working cylinder A with integrated pressure relief or ventilation can be in the valve V, for example in the version of the Fig. 2, the vent valve arrangement avoided and the size accordingly be made smaller.
  • Valve element 15 In the housing 14 of the valve V is the real thing Valve element 15 slidably mounted, which valve element 15 in itself known way a compressed air connection 16 alternately with the two Working connections 17a and 17b connects which working connections 17a, 17b via pressure lines and the connections 8a and 8b on the working cylinder A thereof Supply working rooms 6 and 7 with compressed air.
  • the valve element 15 acted upon by a control pressure, which via the control connections 18 is initiated.
  • a drain channel 19 be provided from a position between the corresponding output 17a, 17b of the valve V and the actual valve element 15 to a drain opening 19a leads into the atmosphere.
  • This drain channel 19 is through a Valve element 20 closed as long as the associated outlet with the compressed air source connected is.
  • the valve element 20 from its valve piston 22 Lifted the seat and gives the connection from the drain channel 19 through the drain opening 19a released into the atmosphere.
  • the pressure line is then depressurized and in the working cylinder A, the valve element 13a, 13b by the from the previously lifted up with compressed air and the corresponding Ventilated work area.
  • vent control valves 24 As shown in FIG Fig. 4 is shown, the working air lines by solid lines and the control air lines are symbolized by dashed lines.
  • the pneumatic working unit shown here is the compressed air source 25 connected to the working cylinder A via a switch valve V.
  • the working cylinder A has two vent valves 27a and 27b, for example as in FIG 1 explained, integrated.
  • the control air lines 28a, 28b lead both to the switch valve V and also to the two vent control valves 24a, 24b, the drain lines in block or release the compressed air lines 29a and 29b to the working cylinder A.
  • the switch valve V gives the compressed air connection to right working space 6 of working cylinder A free.
  • the Pilot pressure in parallel to this also on the right ventilation control valve 24a is placed in a position in which the connection of the left compressed air line 29b released to the atmosphere and this line is therefore depressurized. This also releases the vent valve 27b and the left work space 7 can be vented to the atmosphere.
  • the left bleed control valve 24b is in because there is no pilot pressure the closed position.
  • a single vent control valve 30 may also be provided, whose two inputs each with one of the two pressure lines 29a and 29b are connected and its exit leads into the atmosphere.
  • the bleed control valve 30 is for example a conventional 3/2-way valve, as well like the switch valve V. If the left control line 28b with the control pressure is acted upon, the compressed air from the compressed air source 25 passes through the Pressure line 29b to the left work space 7. At the same time, the vent control valve due to the control pressure present in parallel in a Positioned in which the right pressure line 29a via the bleed control valve 30 vented into the atmosphere and thus depressurized. In order to the right ventilation valve 27a in the working cylinder A is relieved and the Air can escape from the right-hand work area 6, which is thus a vented counter chamber is to escape into the atmosphere via this valve 27a.
  • FIG. 6 An advantageous embodiment for the switch valve is in FIG. 6 shown.
  • a rocker valve is used as a switch valve W provided.
  • An essentially rigid, movable about an axis of rotation Seesaw 31 from e.g. Metal is stored in a valve housing 32.
  • the seesaw 31 is for example between two elastomer sealing elements 33 - for higher ones Preferably press reinforced fabric - embedded and and the axis of rotation D pivotable.
  • the housing 32 has at least one supply connection Connection to the compressed air source 25 and two working connections, from which the pressure lines 29a, 29b run out to the working cylinder A.
  • control line 28a also applies the control pressure to the ventilation control valve 24a, this opens the connection from the right pressure line 29a to the atmosphere and thus depressurises this line, which also causes the right vent valve Open 27a in working cylinder A and the corresponding working area in can vent the atmosphere.
  • the embodiment of the rocker switch valve is made with as few components as possible W of Fig. 6 or 7 advantageous.
  • the housing 32 is a Insert E with two bleed control valves installed.
  • the control rooms 34a, 34b for the actuation of the rocker 31 are each with a flexible Membrane 35 sealed opening, through which membranes 35 the pressure prevailing in the control chamber 34a, 34b for actuating the sealing elements 36a, 36b of the ventilation control valves is transferred to them, preferably via the valve stems 37a, 37b. From the work ports too The discharge lines 38a, 38b lead the pressure lines 29a, 29b past the rocker 31 to the vent control valves and further to drain openings in the The atmosphere.
  • valve for Control one of the two work rooms or also for double-acting A possible switch valve to control both workrooms directly attached to the working cylinder or integrated into it, preferably in one of the two end pieces of this cylinder. That too or Each bleed control valve can be attached to the working cylinder in the same way and or or the switch valve is attached or even integrated into it his. This eliminates lines between these combined Components and in the case of structural integration also connecting and Sealing points, with which the arrangement of the overall system is essential simplified and its functional reliability - due to the lower risk of Leakages - can be increased significantly.
  • the options just mentioned are also in the design of the switch valve in rocker valve design advantageously applicable.
  • control logic arrangement in or on the working cylinder A. is integrated. This can be flanged to the working cylinder or a preferably one of its end pieces can be integrated. From the central Control units go connecting lines to this control logic arrangement in the or on the working cylinder, for communication, electrical control, serve the energy supply and the supply with the working medium. As A fieldbus is preferably provided for the communication system.
  • the Control logic arrangement can also control or position signals of, for example End position or position sensors in or on the working cylinder or from evaluate the actuated elements and take appropriate actions to trigger them control the control valves or these signals and actions via the Report back communication lines to the control unit.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Valve Device For Special Equipments (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Actuator (AREA)
  • Jib Cranes (AREA)
EP99890249A 1998-08-04 1999-07-23 Druckmittelzylinder, Weichenventil und druckmittelbetätigte Arbeitseinheit Expired - Lifetime EP0984170B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0134498A AT407661B (de) 1998-08-04 1998-08-04 Druckmittelzylinder, weichenventil und druckmittelbetätigte arbeitseinheit
AT134498 1998-08-04

Publications (3)

Publication Number Publication Date
EP0984170A2 EP0984170A2 (de) 2000-03-08
EP0984170A3 EP0984170A3 (de) 2001-08-08
EP0984170B1 true EP0984170B1 (de) 2004-02-18

Family

ID=3511879

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99890249A Expired - Lifetime EP0984170B1 (de) 1998-08-04 1999-07-23 Druckmittelzylinder, Weichenventil und druckmittelbetätigte Arbeitseinheit

Country Status (6)

Country Link
US (2) US6276257B1 (ja)
EP (1) EP0984170B1 (ja)
JP (1) JP2000065012A (ja)
AT (2) AT407661B (ja)
DE (1) DE59908562D1 (ja)
ES (1) ES2216481T3 (ja)

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EP2829379A1 (de) * 2013-07-22 2015-01-28 Eugen Seitz AG Ventilanordnung
US10927858B2 (en) * 2016-06-22 2021-02-23 Aladdin Engineering And Manufacturing, Inc. Valve system for pneumatic cylinders
CN106122129B (zh) * 2016-06-29 2018-05-01 上汽通用五菱汽车股份有限公司 一种车身气动控制装置及方法
JP1575545S (ja) * 2016-12-16 2017-05-08
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JP1575966S (ja) * 2016-12-16 2017-05-08
DE102017111466A1 (de) 2017-05-24 2018-11-29 TRüTZSCHLER GMBH & CO. KG Pneumatikzylinder für Vlieswickler
JP1601259S (ja) * 2017-09-07 2018-04-09
TWD195577S (zh) * 2017-09-07 2019-01-21 日商Smc股份有限公司 電動旋轉致動器之部分
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DE59908562D1 (de) 2004-03-25
AT407661B (de) 2001-05-25
ATE259939T1 (de) 2004-03-15
EP0984170A2 (de) 2000-03-08
US6679162B2 (en) 2004-01-20
JP2000065012A (ja) 2000-03-03
EP0984170A3 (de) 2001-08-08
ATA134498A (de) 2000-09-15
ES2216481T3 (es) 2004-10-16
US6276257B1 (en) 2001-08-21
US20010018860A1 (en) 2001-09-06

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