EP1040064B1 - Systeme de prehension pour objets plans - Google Patents

Systeme de prehension pour objets plans Download PDF

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Publication number
EP1040064B1
EP1040064B1 EP98942446A EP98942446A EP1040064B1 EP 1040064 B1 EP1040064 B1 EP 1040064B1 EP 98942446 A EP98942446 A EP 98942446A EP 98942446 A EP98942446 A EP 98942446A EP 1040064 B1 EP1040064 B1 EP 1040064B1
Authority
EP
European Patent Office
Prior art keywords
gripper
leg
legs
sliding part
closed position
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
EP98942446A
Other languages
German (de)
English (en)
Other versions
EP1040064A1 (fr
Inventor
Walter Reist
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.)
Ferag AG
Original Assignee
Ferag 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 Ferag AG filed Critical Ferag AG
Publication of EP1040064A1 publication Critical patent/EP1040064A1/fr
Application granted granted Critical
Publication of EP1040064B1 publication Critical patent/EP1040064B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/003—Delivering or advancing articles from machines; Advancing articles to or into piles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/30—Orientation, displacement, position of the handled material
    • B65H2301/32—Orientation of handled material
    • B65H2301/323—Hanging

Definitions

  • the invention relates to a gripper for holding flat Objects, especially flexible objects such as one and multi-sheet printed products, with two relative to each other swiveling gripper legs that in one Closing position on the object held a clamping effect exercise, and with an actuator that to generate a swiveling movement of the two gripper legs relative to each other on at least one of the gripper legs attacks, the actuator for Switch between an open position and a closed position the gripper leg can be moved in translation.
  • Such grippers are found particularly in conveyor systems for the individual transport of objects.
  • these items may be are different printed products that are from along a Transport path guided grippers are kept hanging.
  • a gripper of the type mentioned is from the European Patent application EP 0 767 125 A1 known.
  • the one in it disclosed gripper has two gripper legs, the by a locking device with two sprags in Be held in the closed position. By swiveling or translational movement of the locking device Gripper legs released and can be in their open position swing.
  • This known gripper has the disadvantage that the free moveable swiveling gripper legs actually only then swivel to a pronounced open position when a additional element, such as a compression spring, is provided, which is an ongoing on the jaws Exerts spreading force.
  • the gripper is intended to hold the object securely as well as a enable easy control of the opening and closing movement.
  • the object is achieved in that the Actuating device has at least one sliding part, a force through its translatory movement on at least one gripper leg either in the direction the open position or in the direction of the closed position is.
  • a force can be exerted on the at least by means of the sliding part a gripper leg can be exercised.
  • a gripper leg can be exercised.
  • appropriate translatory movement of the sliding part can for active control of both the closing and the Opening movement of the gripper leg direction and amount the force can be determined directly, without further Tools, such as additional mechanical elements, are required are.
  • the possibility of the gripper legs in two opposite to each other Moving directions actively allows controlled ones Closing and opening movements, for example around an object while moving the gripper to drop in time and place.
  • the gripper according to the invention has the advantage that the legs are active for any pivotal movement be caused and at the same time without such Spreading tension can be freely pivoted, so that with the active pivoting movement of the legs no additional Force to overcome such spreading tension must be applied.
  • the sliding part has of the gripper is an expansion element that can be brought about an opening movement or at least for stabilization exert a spreading force on a gripper leg can.
  • the expansion element between the two gripper legs and the spreading force Exercise on both gripper legs simultaneously.
  • the sliding part is a or has two locking elements, through which or on one each associated gripper leg a closing force can be exercised to make this gripper leg To initiate closing movement or in a particular Stabilize position.
  • the gripper legs can at least one recess own, in which the respectively assigned locking element in a specific opening position of the gripper legs, for example, the closed position, can be locked. This makes it possible to maintain this position without that there is an active force on the respective gripper leg, for example, through constant application of force or translational movement of the sliding part, must be exercised.
  • the one facing a gripper leg Section of the expansion element or the closing element is flat.
  • the force transmission surface preferably extends of the closing element along the entire width of the assigned Gripper leg.
  • the power transmission surface of the Spreader can be considered as at least one nose along only the edge of the associated gripper leg extends, be formed.
  • the force applied to the gripper legs by the Sliding part and guiding the sliding part prove as particularly effective or simple when the sliding part moved along or parallel to an axis or plane to which the two gripper legs, especially in their closed position, are arranged symmetrically. In in this case, lateral forces are avoided, so that the mechanical design of the gripper and the sliding part guide simplified.
  • the actuator has exactly one sliding part with essentially two openings, each through one Gripper leg runs. Doing this alone can translational movement of the single sliding part both Gripper legs are simultaneously subjected to force and moved.
  • the actuator exactly two sliding parts each having an opening, with each opening has a gripper leg.
  • the two sliding parts and thus the respective Open position of the corresponding legs with each other or operated or influenced independently of one another become.
  • a guide means is provided which is a translational Movement of the two sliding parts along each other parallel runs guaranteed.
  • the actuator has exactly one sliding part with an opening, by only one of the two gripper legs runs. If only this gripper leg can move freely is pivotally suspended and the other gripper leg assumes a substantially rigid position, the sliding part and thus also the swiveling gripper leg simplified mechanical design between closed position and open position of the gripper can be actuated.
  • the two gripper legs as separate Parts or are integrally formed.
  • the gripper legs can for more secure detection and holding flat Objects as gripper jaws with the shape of a surface or a surface contour, the Flat sides of the two gripper jaws essentially one another are facing.
  • the aforementioned, provided in the or the sliding parts Openings are slit-shaped and optionally run essentially parallel to each other.
  • the respective sliding part along a wide section and at a short distance from the corresponding Fit the gripper legs. This enables one particularly effective, homogeneous and quick adhesion between the sliding part and the gripper leg.
  • the sliding part can be a Gripper legs surrounded in a ring.
  • the application of force from two opposite sides of one Gripper legs through the sliding part is alternative also possible in that the sliding part essentially Has a U-shaped cross-section and the gripper leg between the two U-legs of the sliding part is arranged. In this sense, one is also one-sided open indentation as one of those described above Understand openings.
  • the two gripper legs can each move freely be arranged so that they are independent of each other can be pivoted without significant counterforce. For example, they can be on a common or each own pivot axis.
  • the two Alternatively, legs can also be used in this way be attached so that they are without external force take a defined rest position relative to each other, the for example the open position, the closed position or corresponds to another position.
  • the control or generation of the translatory movement the sliding part can be done in a known manner, for example by placing one or both ends of the sliding part Guide rollers are attached when moving of the gripper along opening or closing scenes run.
  • the gripper according to the invention in a known manner with a suspension device Attachment to a transport track.
  • the invention also extends to a conveyor, the one for the individual transport of objects Has a variety of grippers according to the invention.
  • FIG. 1a, b, c, d show a gripper according to the invention with two gripper legs 11, 12 made of elastic material, such as plastic, spring steel or the like.
  • the legs 11, 12 are along a slotted tube sleeve 13 keyed together.
  • In the illustrated Cross-sectional view show them in one area 14 near the slit tube sleeve 13 with respect to each other leg 12 and 11 convex course and in a region 15 adjacent to its respective free end a concave course. Between these areas 14, 15 have the legs 11, 12 in the direction of each other leg 12 or 11 facing recess 16.
  • the two gripper legs 11, 12 and the slotted tube sleeve 13 each extend vertically in one direction to the paper plane, so that the legs 11, 12 a flat shape and the slit tube sleeve 13 an elongated Take shape.
  • the gripper shown in FIGS. 1a to 1d has a only sliding part 18 with two closing elements 19 and with an expansion element 20 which is substantially along a line so spaced from each other are that the two gripper legs 11, 12 each within the space between the expansion element 20 and one of the two closing elements 19 are located.
  • the Elements 19, 20 each have the cross section of a rectangle rounded corners.
  • the closing elements 19 each extend as an elongated, continuous web perpendicular to the paper plane the entire width of the two legs 11, 12 and beyond this.
  • the expansion element 20 has two lugs on, each in a direction perpendicular to the paper plane from the outside between the two gripper legs 11, 12 protrude.
  • the three elements 19, 20 are firmly connected to one another, so that in each case a closing element 19 with the pair of noses 20 limited an opening.
  • the gripper shown in FIGS. 1a to 1d is used for gripping, Holding and releasing an item 21.
  • the Gripper can be arranged on a conveyor, through which to exercise or during exercise of these functions transported in any direction or positioned for the inclusion of products, i.e. brought into preferred locations or aligned can.
  • Fig. 1a shows a relaxed position of the gripper, at the gripper legs 11, 12 one by the common Jamming of the legs 11, 12 predetermined opening angle lock in.
  • the sliding part 18 is in a neutral position in which neither the expansion element 20 still the closing elements 19 a force on the gripper legs 11, 12 exercise.
  • the legs are in the representation according to FIG. 1b 11, 12 in an open position, in which the object 21 fed to the gripper in a particularly simple manner can be or can leave it.
  • This open position is achieved by the sliding part 18 a translational movement along the plane of symmetry 17 in Direction A of the slotted tube sleeve 13 is carried out. This causes loading the inside of the two gripper legs 11, 12 through the expansion element 20 so that the legs 11, 12 are caused to open.
  • FIG. 1c shows a translational movement of the sliding part 18 in direction B of the free ends of the two legs 11, 12.
  • the two closing elements act on it 19 each the outer side of the region 14 facing them the gripper legs 11, 12 and exercise on this one Closing force.
  • the two legs 11, 12 a closing movement in which they are on each other to move.
  • Fig. 1d shows the one shown in Fig. 1c Closing movement reached the closed position of the two Gripper legs 11, 12 for holding the object 21.
  • Die two closing elements 19 are in the locking recesses 16 the gripper legs 11, 12 locked.
  • the one for locking of the sliding part 18 required counter forces result from the concern of the two legs 11, 12 on the one hand to each other along their areas 14, to the other the object 21 with its areas 15.
  • 2a to 2e is a further embodiment of the invention Gripper shown, with the same reference numerals same as in Fig. 1a to 1d or Identify similar parts.
  • the in 2a to 2e shown gripper two gripper legs 11, 12 each with a recess 16 and two Sliding parts 18, each with a single closing element 19 and expansion element 20.
  • the gripper legs 11, 12 are each at one end a hinge joint 22 is freely pivotably connected to one another.
  • the entire gripper arrangement is symmetrical to that Bisector 17 of the two legs 11, 12 included opening angle.
  • the closing elements 19 and spreading elements 20 of the in FIG. 2a to 2e shown grippers each have one Cross section in the shape of a rectangle with rounded Corners.
  • the closing element 19 and the expansion element 20 one Sliding part 18 are spaced apart and on at least one in a direction perpendicular to the paper plane end connected to each other so that they form a U shape or a ring shape. Between these two U-legs or ring sections 19, 20 one Sliding part 18, a gripper leg 11, 12 is guided.
  • Fig. 2a shows an intermediate position of the two gripper legs 11, 12.
  • Fig. 2b Movement of the sliding parts 18 along the bisector 17 in direction A of the hinge joint 22 a force from each of the two expansion elements 20 the gripper legs 11, 12 exercised so that they actively an opening movement in the direction of an open position be prompted.
  • the gripper is that the two sliding parts 18 and thus the gripper legs acted upon by these 11, 12 can be moved independently of one another, which enables a more flexible use of the gripper. For example, one of the legs can be in the closed position be left while releasing an item 21 only the other leg 11 an opening movement performs. Such a one-sided open position of the gripper is shown in Fig. 2e.
  • the gripper shown in Figures 2a to 2e is as material, space and weight saving gripper clasp designed, in which the gripper legs 11, 12 have an elongated, Have rod-shaped form, made of a flexible metal are formed and only perpendicular to the plane of the paper have a narrow width.
  • FIG. 2f shows a further embodiment of the invention Gripper.
  • This gripper has two legs 11, 12, one of which 12 - as indicated by the hatching - assumes an essentially rigid position, and the other 11 with respect to the rigid leg 12 about a hinge joint 22 is freely pivotable.
  • a single ring-shaped Sliding part 18 encompasses a closing element 19 and a spreading element 20 the pivotable leg 11.
  • the movement is by a guide means, not shown of the sliding part 18 on a parallel to the central plane 17 of the gripper straight line C restricted.
  • the Location of the rigid leg 12 is by a not shown Fixing means fixed with respect to the guideway C.
  • a translatory movement of the sliding part 18 along the straight line C causes the opening or closing of the pivotable leg 11 for releasing or detecting a Product 21. Only the pivotable leg 11 points a recess 16 with which the sliding part 18 - as shown in dashed lines in Fig. 2f - in the closed position the pivotable leg 11 or the gripper can.
  • Fig. 3 shows a further embodiment of an inventive Gripper, with those described above Embodiments identical or similar parts are each designated by the same reference numerals.
  • the gripper has a flat sheet metal stamped part, which is bent in such a way that two gripper legs 11, 12 are formed, which are essentially in the voltage-free state stand parallel to each other.
  • One of both Leg 11 is a rectangular, flat section of the Sheet metal stamping formed.
  • the other gripper leg 12 has an elongated punch cutout 23 so that this Leg 12 has the shape of a flat bracket.
  • This leg 12 is deformed such that it is a with respect to the opposite leg 11 essentially concave curvature with a recess in it 16 has.
  • Section 24 of the stamped sheet metal part is its material diluted.
  • FIG. 3 is a sliding part 18 with two slot-shaped, adjacent openings shown.
  • the openings are by two at their longitudinal ends Noses 20 delimited from one another.
  • Each of the two gripper legs 11, 12 is guided through one of the two openings, so that the pair of noses 20 acts as an expansion element.
  • the two extend along the width of the legs 11, 12, i.e. along the longitudinal direction of the openings Sections of the sliding part 18 each form one as a closing element web 19.
  • the one-piece construction of the two gripper legs 11, 12 as a stamped sheet metal part enables particularly simple manufacture of the gripper. Due to the punched cutout 23 and due to the design of the sections 24 with a only a smaller layer of material can be translated Movement of the sliding part 18 and thus the initiation a pivoting movement of the two gripper legs 11, 12 advantageous relative to each other without significant effort respectively.
  • the invention also includes all of them Embodiments of a gripper, which different Features of those shown in Figs. 1a to 1d, 2a to 2f and 3 Combine grippers as required, especially the Characteristics of a flat, rod-shaped or bow-shaped Design of a gripper leg, the use of a single or two independent sliding parts, one free pivotable or fixed connection of the two gripper legs with each other, one-piece or separate Structure of the gripper legs and the materials used in each case.
  • the gripper according to the invention is for any funding tasks and for any kind of products and objects can be used.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Discharge By Other Means (AREA)
  • Immobilizing And Processing Of Enzymes And Microorganisms (AREA)
  • Manipulator (AREA)
  • Springs (AREA)
  • Preparation Of Compounds By Using Micro-Organisms (AREA)
  • Advancing Webs (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Labeling Devices (AREA)

Claims (12)

  1. Preneur pour retenir des objets plats (21), en particulier des objets flexibles tels que des produits d'imprimerie à une et à plusieurs feuilles, comportant deux bras de preneur (11, 12) susceptibles de pivoter l'un par rapport à l'autre qui, dans une position fermée, exercent un effet de pincement sur l'objet retenu (21), et comportant un dispositif d'actionnement qui attaque l'un au moins des bras de preneur (11, 12) pour provoquer un mouvement de pivotement des deux bras de preneur (11, 12) l'un par rapport à l'autre, le dispositif d'actionnement étant mobile en translation pour alterner entre une position ouverte et la position fermée des bras de preneur (11, 12), caractérisé en ce que le dispositif d'actionnement comprend au moins une partie coulissante (18) dont le mouvement en translation provoque une force exercée sur au moins un bras de preneur (11, 12) sélectivement en direction de la position ouverte ou en direction de la position fermeture.
  2. Preneur selon la revendication 1, caractérisé en ce que la partie coulissante comprend un élément écarteur (20) au moyen duquel, pour produire un mouvement d'ouverture d'au moins un bras de preneur (11, 12), une face de ce bras de preneur (11, 12) orientée vers l'autre bras de preneur respectif (12, 11) peut être sollicitée par une force.
  3. Preneur selon l'une ou l'autre des revendications 1 et 2, caractérisé en ce que la partie coulissante (18) comprend au moins un élément de fermeture (19) au moyen duquel, pour produire un mouvement de fermeture d'un bras de preneur associé (11, 12), une face de ce bras de preneur (11, 12) détournée vers l'autre bras de preneur respectif (12, 11) peut être sollicitée par une force.
  4. Preneur selon la revendication 3, caractérisé en ce que l'un au moins des deux bras de preneur (11, 12) comprend un renfoncement d'enclenchement (16) dans lequel l'élément de fermeture (19) associé au bras de preneur (11, 12) peut venir s'enclencher dans la position fermée.
  5. Preneur selon l'une quelconque des revendications 2 à 4, caractérisé en ce que la face de l'élément écarteur (20) et/ou de l'élément de fermeture (19) orientée vers un bras de preneur (11, 12) est réalisée sous forme de surface allongée respective qui s'étend du moins en partie le long de la largeur du bras de preneur (11, 12) et en particulier parallèlement à l'axe de pivotement du bras de preneur (11, 12).
  6. Preneur selon la revendication 5, caractérisé en ce que la surface allongée est réalisée sous forme de barrette continue (19) qui s'étend sensiblement le long de toute la largeur du bras de preneur associé (11, 12), ou sous forme d'un ou de deux becs (20) qui s'étend(ent) seulement le long d'une partie marginale du bras de preneur associé (11,12).
  7. Preneur selon l'une quelconque des revendications précédentes, caractérisé en ce que la partie coulissante est mobile en translation sensiblement le long de et/ou parallèlement à la bissectrice (17) de l'angle formé par les deux bras de preneur (11, 12) dans leur position fermée.
  8. Preneur selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif d'actionnement comprend exactement une partie coulissante (18) présentent sensiblement deux orifices traversés chacun par un bras de preneur (11, 12).
  9. Preneur selon l'une quelconque des revendications 1 à 7, caractérisé en ce que le dispositif d'actionnement comprend exactement deux parties coulissantes (18) présentant chacune un orifice traversé par un bras de preneur respectif (11, 12), les deux parties coulissantes (18) pouvant être actionnées en particulier indépendamment l'une de l'autre.
  10. Preneur selon l'une quelconque des revendications 1 à 7, caractérisé en ce que le dispositif d'actionnement comprend exactement une partie coulissante (18) présentant un orifice traversé par l'un des deux bras de preneur (11, 12), et en ce que, en particulier, seul celui des bras de preneur (11, 12) qui traverse l'orifice de la partie coulissante (18) est capable de pivoter.
  11. Preneur selon l'une quelconque des revendications précédentes, caractérisé en ce que les deux bras de preneur (11; 12) sont coincés conjointement sur une douille tubulaire à fente (13).
  12. Installation de convoyage pour transporter des objets (21), comportant une multitude de preneurs selon l'une quelconque des revendications précédentes.
EP98942446A 1997-12-17 1998-09-21 Systeme de prehension pour objets plans Expired - Lifetime EP1040064B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CH290097 1997-12-17
CH290097 1997-12-17
PCT/CH1998/000405 WO1999030996A1 (fr) 1997-12-17 1998-09-21 Systeme de prehension pour objets plans

Publications (2)

Publication Number Publication Date
EP1040064A1 EP1040064A1 (fr) 2000-10-04
EP1040064B1 true EP1040064B1 (fr) 2002-06-05

Family

ID=4244144

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98942446A Expired - Lifetime EP1040064B1 (fr) 1997-12-17 1998-09-21 Systeme de prehension pour objets plans

Country Status (14)

Country Link
US (1) US6435583B1 (fr)
EP (1) EP1040064B1 (fr)
JP (1) JP4030959B2 (fr)
AT (1) ATE218494T1 (fr)
AU (1) AU736928B2 (fr)
BR (1) BR9813824A (fr)
CA (1) CA2308849C (fr)
DE (1) DE59804371D1 (fr)
DK (1) DK1040064T3 (fr)
ES (1) ES2174474T3 (fr)
NO (1) NO314843B1 (fr)
PT (1) PT1040064E (fr)
RU (1) RU2207314C2 (fr)
WO (1) WO1999030996A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1227052B1 (fr) * 2001-01-24 2004-08-11 Ferag AG Procédé et dispositif pour changer la position de saisie des objets plats, convoyés par des pinces
US7369729B2 (en) 2001-09-13 2008-05-06 Fujikura Ltd. Optical fiber sheet and optical fiber sheet production method
US20030221356A1 (en) * 2002-05-28 2003-12-04 Thomas Trozera Locking tweezers for securing beads or weights used in tying fishing flies
US8245377B2 (en) 2005-06-22 2012-08-21 Automated Solutions Device for securing trim to a seat
US7527261B2 (en) 2006-07-13 2009-05-05 Lockheed Martin Corporation Mailpiece container for stacking mixed mail and method for stacking mail therein
US8640310B2 (en) * 2009-02-13 2014-02-04 Leatherman Tool Group, Inc. Disengageable clip and associated article
DE102016223156A1 (de) * 2016-11-23 2018-05-24 Bayerische Motoren Werke Aktiengesellschaft Greifvorrichtung zum Greifen nicht formfester Werkstücke

Family Cites Families (14)

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Publication number Priority date Publication date Assignee Title
US515162A (en) * 1894-02-20 Lifting-fork
US1184372A (en) * 1915-03-09 1916-05-23 Frank W Nalley Egg-handling device.
US1375580A (en) * 1917-09-14 1921-04-19 Fisher Thomas Plate-lifter
US2177595A (en) * 1937-01-06 1939-10-24 William Marten Egg handling device
US2336527A (en) * 1942-05-07 1943-12-14 Bullington Harold Eugene Lifting tongs
US2792253A (en) * 1953-04-27 1957-05-14 George N Bliss Egg lifter
DE1563730C3 (de) * 1966-08-09 1978-04-27 Siemens Ag, 1000 Berlin Und 8000 Muenchen Einarmige Sicherungszange
DE3011837A1 (de) * 1980-03-27 1981-10-01 Sommer, Friedhelm, 7530 Pforzheim Handhabungsgreifer, bspw. fuer industrieroboter
US4681213A (en) * 1985-10-23 1987-07-21 Harris Graphics Corporation Gripper assembly
CH670619A5 (fr) 1986-04-29 1989-06-30 Sft Ag Spontanfoerdertechnik
US4721296A (en) * 1986-05-27 1988-01-26 Harris Graphics Corporation Sheet material handling apparatus
SE469889B (sv) * 1992-03-16 1993-10-04 Wamag Idab Ab Griparetransportör med permanent förspänd klämback
US5755436A (en) 1995-10-03 1998-05-26 Reist; Walter Clamp for sheet-like articles
DE59603772D1 (de) * 1995-10-03 2000-01-05 Ferag Ag Klammer für flächige Gegenstände

Also Published As

Publication number Publication date
NO20003155L (no) 2000-06-16
ES2174474T3 (es) 2002-11-01
CA2308849A1 (fr) 1999-06-24
CA2308849C (fr) 2007-02-13
AU9059998A (en) 1999-07-05
JP4030959B2 (ja) 2008-01-09
NO20003155D0 (no) 2000-06-16
BR9813824A (pt) 2000-10-10
NO314843B1 (no) 2003-06-02
JP2004521051A (ja) 2004-07-15
PT1040064E (pt) 2002-11-29
AU736928B2 (en) 2001-08-09
WO1999030996A8 (fr) 2001-02-01
DK1040064T3 (da) 2002-07-08
DE59804371D1 (de) 2002-07-11
EP1040064A1 (fr) 2000-10-04
RU2207314C2 (ru) 2003-06-27
US6435583B1 (en) 2002-08-20
WO1999030996A1 (fr) 1999-06-24
ATE218494T1 (de) 2002-06-15

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