EP1173308B1 - Rotary abrasive tool - Google Patents
Rotary abrasive tool Download PDFInfo
- Publication number
- EP1173308B1 EP1173308B1 EP00922017A EP00922017A EP1173308B1 EP 1173308 B1 EP1173308 B1 EP 1173308B1 EP 00922017 A EP00922017 A EP 00922017A EP 00922017 A EP00922017 A EP 00922017A EP 1173308 B1 EP1173308 B1 EP 1173308B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- disk
- tool according
- abrasive
- workpiece
- abrasive disk
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
- B24D7/00—Bonded abrasive wheels, or wheels with inserted abrasive blocks, designed for acting otherwise than only by their periphery, e.g. by the front face; Bushings or mountings therefor
- B24D7/12—Bonded abrasive wheels, or wheels with inserted abrasive blocks, designed for acting otherwise than only by their periphery, e.g. by the front face; Bushings or mountings therefor with apertures for inspecting the surface to be abraded
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/14—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the temperature during grinding
Definitions
- This invention relates to the coupling of in-situ measurement devices with rotary abrasive tools.
- Major advantages in the use and operation of abrasive tools can be gained by real time feedback to the operator or machine tool controlling the abrasive tool.
- the type of real-time feedback that has major significance are, for example, temperature, surface roughness,
- abrading is to be understood to refer not only to processes in which substantial amounts of material are removed from a surface but also, and perhaps more importantly, to processes in which the operation is considered to be fine finishing, polishing or lapping.
- a rotary abrasive tool has now been devised that can be controlled in a plurality of ways to respond to critical parameters automatically and to adjust the operation in response to variation in these parameters without the need for Interruption of the operation.
- the present invention provides a rotary abrading tool which comprises:
- the abrasive disk can be rigid, (that is self-supported), but usually more conveniently it is supported on a backup pad which comprises holes in the body of the pad corresponding in location to those in the disk supported thereon such that, upon rotation, it is possible to view a workpiece as it is undergoing abrasion through both the disk and the backup pad.
- Abrasive disks with viewing holes or apertures are known in the art for the purpose of allowing the operator to assess the state of the surface being abraded as it happens. Such abrasive disks are described for example in WO/US96/19191. The present invention goes much further however in adapting a rotary abrading tool not only to view the workpiece surface but also to measure its condition In application-specific ways.
- the non-contact sensor is a laser device adapted to measure the surface finish of the workpiece and/or the distance between the abrasive disk and the surface of the workpiece.
- a laser device adapted to measure the surface finish of the workpiece and/or the distance between the abrasive disk and the surface of the workpiece.
- the non-contact sensor is one specifically adapted to measure the temperature of the surface, for example using an infra-red sensor device.
- This is particularly important when the surface been treated is a painted surface.
- Modern automobile paints for example, above a certain temperature determined by the chemistry of the polymer matrix, tend to "ball up", (that is to partially melt or soften and form small balls or globules of polymer), during abrasion. This of course destroys the abrasive function of the disk and it is therefore critical to monitor the surface temperature during abrasion.
- the temperature sensing device can be separate from, or incorporated into, a laser sensing device such that both modes of surface condition sensing mechanism are available.
- Non-contact sensors can respond to light waves, (both UV and visible), sound waves and any other desired variety of electromagnetic radiation.
- the abrading disk is conveniently provided with from 3 to 6 apertures located at a uniform radial distance from the axis of the disk.
- the size of the apertures is preferably large enough to ensure that, when the tool is in use the surface condition sensors are able to receive sufficient data to give a useful reading.
- the shape of the apertures is not critical but generally round holes are preferred since these afford maximum visibility with minimum disruption to the cohesiveness of the disk under grinding conditions. It is also preferred that sensing devices are located to view through the disk in the radial position on the disk of maximum aperture area.
- the viewing apertures are preferably located in the radially outer half of the disk since this is the portion that is most heavily used.
- Such removed peripheral portions are likewise considered to be "apertures" since they perform the same function as holes in the body of the disk but in a different location on the disk.
- the sensor devices operate by transmitting and/or receiving electromagnetic radiation, (the nature of which depends on the condition being sensed as above indicated), through the apertures in the disk. In practice this means that one would synchronize the detection systems to the rotational speeds of the disc and to the frequency of the holes passing the detector system. This ensures that maximum information is received by the sensing device.
- the disk is rigid, as would be the case for example if the disk were a "flap-disk" in which quadrilateral flaps of coated abrasive material are attached by one edge to a rigid usually cupped disk in overlapping fashion around one surface of the disk no backup pad is needed. Such disks are used for grinding down welds or joint lines.
- the surface of the abrasive disk can be of the conventional type in which abrasive grain is bonded to a backing material by the usual maker and size coat combinations, with or without a supersize coat conferring special grinding properties or characteristics.
- it can also have an engineered surface comprising micro-replicated structures, such as pyramids or lines of parallel ridges, each of which comprises abrasive particles dispersed in a binder and adhered to a backing material.
- the surface can comprise a layer of a formulation comprising abrasive particles dispersed in a binder resin and deposited in a relatively uniform layer or in a contoured structure on a backing.
- the abrasive particles used can be any of those typically made available for such purposes and range from alumina, alumina-zirconia and silicon carbide in the general purpose grinding area, to diamond, CBN, ceria, gamma alumina, and microcrystalline alpha alumina in the more specialized abrading applications.
- the binder component of the abrasive disk can be selected from those known in the trade for such applications. These include thermosetting resins such as phenolic and epoxy-based resins, and radiation-curable resins such as acrylates, epoxy-acrylates, urethane-acrylates resins and similar resins that are curable by visible or UV light as well as electron-beam radiation. Also included are moisture-curable resins.
- the means by which the abrasive disk is made to rotate can be any suitable motor means and the whole tool can be a basic adaptation of an angle grinder, off-hand grinder, fixed grinder and the like.
- condition-sensing mechanism is linked to control systems on the tool which regulate parameters such as the position of the tool with respect to a workpiece, the force with which the abrasive disk contacts a workpiece and the speed of rotation of the disk.
- condition sensing device can be linked to a notification mechanism such as a light, a bell or a buzzer indicating that a desired end-point or limit condition has been reached.
- the linkage is preferably of the notification type.
- a preferred application is in the automobile industry wherein automation of finishing processes is well advanced.
- the rotary abrasive tool of the invention is particularly well adapted to the removal of finish defects where the workpiece is a painted automobile panel.
- An example of a tool adapted for this application is equipped with two sensors: one a laser device to read out the surface finish of the workpiece as it is polished and to terminate the work when the desired finish has been attained; and the second is a temperature sensor which is set to interrupt or moderate the polishing when the temperature of the surface approaches the point at which "balling-up" of the paint polymer becomes a problem.
- the preferred disk for the tool has a three round hole pattern with the holes equally spaced around the disk and each is located about two thirds of the radial distance from the center of the disk to the circumference.
- the diameter of the holes is from about 15 to 30% of the radius of the disk.
- the abrading surface is conventional for this application and is not critical to the tool itself.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Polishing Bodies And Polishing Tools (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Yarns And Mechanical Finishing Of Yarns Or Ropes (AREA)
- Turning (AREA)
- Grinding-Machine Dressing And Accessory Apparatuses (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
- Mechanical Treatment Of Semiconductor (AREA)
Abstract
Provision of a rotatable abrasive disk having apertures permitting a view of a workpiece surface during the abrading process makes possible the incorporation of a condition sensing mechanism viewing the workpiece surface through the holes and capable of adapting the grinding conditions accordingly.
Description
This invention relates to the coupling of in-situ measurement devices
with rotary abrasive tools. Major advantages in the use and operation of
abrasive tools can be gained by real time feedback to the operator or machine
tool controlling the abrasive tool. The type of real-time feedback that has
major significance are, for example, temperature, surface roughness,
workpiece position during the abrading, grinding, or finishing, or surface
roughness. Hitherto this has depended on the use of experienced operators or
interrupted operations in which the abrading is interrupted more or less
frequently for measurement. In this document the term "abrading" is to be
understood to refer not only to processes in which substantial amounts of
material are removed from a surface but also, and perhaps more importantly,
to processes in which the operation is considered to be fine finishing,
polishing or lapping.
A rotary abrasive tool has now been devised that can be controlled in a
plurality of ways to respond to critical parameters automatically and to adjust
the operation in response to variation in these parameters without the need
for Interruption of the operation.
The present invention provides a rotary abrading tool which comprises:
The abrasive disk can be rigid, (that is self-supported), but usually more
conveniently it is supported on a backup pad which comprises holes in the
body of the pad corresponding in location to those in the disk supported
thereon such that, upon rotation, it is possible to view a workpiece as it is
undergoing abrasion through both the disk and the backup pad.
Abrasive disks with viewing holes or apertures are known in the art for the
purpose of allowing the operator to assess the state of the surface being
abraded as it happens. Such abrasive disks are described for example in
WO/US96/19191. The present invention goes much further however in
adapting a rotary abrading tool not only to view the workpiece surface but
also to measure its condition In application-specific ways.
In one embodiment of the invention the non-contact sensor is a laser device
adapted to measure the surface finish of the workpiece and/or the distance
between the abrasive disk and the surface of the workpiece. Thus in an
automated operation such a sensor can, for example, advance the abrasive
disk towards the workplece in a rapid but controlled fashion so as to avoid
both delays and workpiece damage resulting from excessively abrupt initial
contact. Then, having initiated abrading, the laser can monitor the surface of
the workpiece and, through appropriate feedback mechanisms, control the
grinding pressure or withdraw the tool when the appropriate surface finish
has been generated. Making this a part of the rotary abrasive tool ensures
that the abrasive operation is conducted efficiently with a minimum of lost
time.
In another embodiment the non-contact sensor is one specifically adapted to
measure the temperature of the surface, for example using an infra-red
sensor device. This is particularly important when the surface been treated is
a painted surface. Modern automobile paints, for example, above a certain
temperature determined by the chemistry of the polymer matrix, tend to "ball
up", (that is to partially melt or soften and form small balls or globules of
polymer), during abrasion. This of course destroys the abrasive function of
the disk and it is therefore critical to monitor the surface temperature during
abrasion. The temperature sensing device can be separate from, or
incorporated into, a laser sensing device such that both modes of surface
condition sensing mechanism are available.
Other non-contact sensors can respond to light waves, (both UV and visible),
sound waves and any other desired variety of electromagnetic radiation.
The abrading disk is conveniently provided with from 3 to 6 apertures located
at a uniform radial distance from the axis of the disk. The size of the
apertures is preferably large enough to ensure that, when the tool is in use
the surface condition sensors are able to receive sufficient data to give a
useful reading. The shape of the apertures is not critical but generally round
holes are preferred since these afford maximum visibility with minimum
disruption to the cohesiveness of the disk under grinding conditions. It is
also preferred that sensing devices are located to view through the disk in
the radial position on the disk of maximum aperture area.
Since the most relevant information relates to the surface of the workpiece
actually being abraded, the viewing apertures are preferably located in the
radially outer half of the disk since this is the portion that is most heavily
used. In some forms of abrasive disk, it is known to remove portions of the
circumference of a disk so as to afford a view of the surface right to the edge
of the abrasive disk.. Such removed peripheral portions are likewise
considered to be "apertures" since they perform the same function as holes in
the body of the disk but in a different location on the disk.
The sensor devices operate by transmitting and/or receiving electromagnetic
radiation, (the nature of which depends on the condition being sensed as
above indicated), through the apertures in the disk. In practice this means
that one would synchronize the detection systems to the rotational speeds of
the disc and to the frequency of the holes passing the detector system. This
ensures that maximum information is received by the sensing device.
Where the disk is rigid, as would be the case for example if the disk were a
"flap-disk" in which quadrilateral flaps of coated abrasive material are
attached by one edge to a rigid usually cupped disk in overlapping fashion
around one surface of the disk
no backup pad is needed. Such disks
are used for grinding down welds or joint lines.
The surface of the abrasive disk can be of the conventional type in which
abrasive grain is bonded to a backing material by the usual maker and size
coat combinations, with or without a supersize coat conferring special
grinding properties or characteristics. However it can also have an
engineered surface comprising micro-replicated structures, such as pyramids
or lines of parallel ridges, each of which comprises abrasive particles
dispersed in a binder and adhered to a backing material.
Finally the surface can comprise a layer of a formulation comprising abrasive
particles dispersed in a binder resin and deposited in a relatively uniform layer
or in a contoured structure on a backing.
The abrasive particles used can be any of those typically made available for
such purposes and range from alumina, alumina-zirconia and silicon carbide in
the general purpose grinding area, to diamond, CBN, ceria, gamma alumina,
and microcrystalline alpha alumina in the more specialized abrading
applications.
The binder component of the abrasive disk can be selected from those known
in the trade for such applications. These include thermosetting resins such as
phenolic and epoxy-based resins, and radiation-curable resins such as
acrylates, epoxy-acrylates, urethane-acrylates resins and similar resins that
are curable by visible or UV light as well as electron-beam radiation. Also
included are moisture-curable resins.
The means by which the abrasive disk is made to rotate can be any suitable
motor means and the whole tool can be a basic adaptation of an angle
grinder, off-hand grinder, fixed grinder and the like.
Advantageously the condition-sensing mechanism is linked to control systems
on the tool which regulate parameters such as the position of the tool with
respect to a workpiece, the force with which the abrasive disk contacts a
workpiece and the speed of rotation of the disk. Alternatively or additionally
the condition sensing device can be linked to a notification mechanism such
as a light, a bell or a buzzer indicating that a desired end-point or limit
condition has been reached. Clearly if the tool is used in an off-hand grinding
mode, the linkage is preferably of the notification type.
A preferred application is in the automobile industry wherein automation of
finishing processes is well advanced. The rotary abrasive tool of the invention
is particularly well adapted to the removal of finish defects where the
workpiece is a painted automobile panel. An example of a tool adapted for
this application is equipped with two sensors: one a laser device to read out
the surface finish of the workpiece as it is polished and to terminate the work
when the desired finish has been attained; and the second is a temperature
sensor which is set to interrupt or moderate the polishing when the
temperature of the surface approaches the point at which "balling-up" of the
paint polymer becomes a problem. The preferred disk for the tool has a three
round hole pattern with the holes equally spaced around the disk and each is
located about two thirds of the radial distance from the center of the disk to
the circumference. The diameter of the holes is from about 15 to 30% of the
radius of the
disk. The abrading surface is conventional for this application and is not
critical to the tool itself.
Claims (8)
- A rotary abrading tool which comprises:a) an abrasive disk having holes pierced through the disk at intervals permitting a view of the surface during the abrading operation; the disk being mounted onb) a rotatable shaft actuated by a motor; andc) at least one non-contact sensor aligned to view and/or measure the condition of a workpiece surface through holes in the abrasive disk as it rotates.
- A tool according to Claim 1 in which the sensor is coupled to means for adjusting the abrading operation in response to the condition sensed.
- A tool according to Claim 1 in which the abrasive disk is supported on a backup pad having holes in the body of the pad corresponding in location to those in the disk supported thereon such that, upon rotation, it is possible to view a workpiece as it is undergoing abrasion through both the disk and the backup pad.
- A tool according to Claim 1 in which the sensor is a laser device adapted to measure the surface finish of the workpiece and/or the distance between the abrasive disk and the surface of the workpiece.
- A tool according to Claim 1 in which the sensor is adapted to measure the temperature of the surface using an infra-red sensor device.
- A tool according to Claim 1 in which the viewing apertures in the abrasive disk are located in the radially outer half of the disk.
- A tool according to Claim 1 in which the viewing apertures in the abrasive disk are in the form of portions removed from the circumference of the disk.
- A tool according to Claim 1 in which the surface of the abrasive disk is engineered to provide a plurality of micro-replicated structures.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US522881 | 1990-05-11 | ||
| US13100399P | 1999-04-23 | 1999-04-23 | |
| US131003P | 1999-04-23 | ||
| US52288100A | 2000-03-10 | 2000-03-10 | |
| PCT/US2000/009576 WO2000064634A1 (en) | 1999-04-23 | 2000-04-10 | Rotary abrasive tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP1173308A1 EP1173308A1 (en) | 2002-01-23 |
| EP1173308B1 true EP1173308B1 (en) | 2002-11-06 |
Family
ID=26829041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP00922017A Expired - Lifetime EP1173308B1 (en) | 1999-04-23 | 2000-04-10 | Rotary abrasive tool |
Country Status (14)
| Country | Link |
|---|---|
| EP (1) | EP1173308B1 (en) |
| JP (1) | JP2002542058A (en) |
| KR (1) | KR100416329B1 (en) |
| CN (1) | CN1129507C (en) |
| AT (1) | ATE227195T1 (en) |
| AU (1) | AU750253B2 (en) |
| BR (1) | BR0009985B1 (en) |
| CA (1) | CA2369657C (en) |
| DE (1) | DE60000737T2 (en) |
| ES (1) | ES2186644T3 (en) |
| ID (1) | ID30452A (en) |
| MX (1) | MXPA01010823A (en) |
| TW (1) | TW567116B (en) |
| WO (1) | WO2000064634A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10315218B4 (en) * | 2003-04-01 | 2010-12-30 | Nagel Maschinen- Und Werkzeugfabrik Gmbh | Method and device for fine machining a surface of a workpiece |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6722955B2 (en) | 2001-01-10 | 2004-04-20 | 3M Innovative Properties Company | Buckup plate assembly for grinding system |
| DE102012004212A1 (en) * | 2012-03-06 | 2013-09-12 | Illinois Tool Works Inc. | Disc for cutting and / or grinding |
| DE102013218233A1 (en) * | 2013-05-02 | 2014-11-06 | Bayerische Motoren Werke Aktiengesellschaft | Rotating grinding tool |
| WO2020084523A2 (en) * | 2018-10-25 | 2020-04-30 | 3M Innovative Properties Company | Robotic paint repair systems and methods |
| WO2020084411A1 (en) * | 2018-10-25 | 2020-04-30 | 3M Innovative Properties Company | Indirect force control systems and methods used in robotic paint repair |
| CN111975463B (en) * | 2020-07-16 | 2021-11-12 | 金中控股有限公司 | Preparation method of light multilayer composite cookware |
| CN111941259B (en) * | 2020-07-16 | 2022-02-22 | 金中控股有限公司 | Waxing and polishing device for automatically detecting polishing interface and interface detection method thereof |
| CN112247806A (en) * | 2020-10-19 | 2021-01-22 | 邵阳县辰宜居家具有限公司 | Intelligent furniture top layer burnishing machine |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5893796A (en) * | 1995-03-28 | 1999-04-13 | Applied Materials, Inc. | Forming a transparent window in a polishing pad for a chemical mechanical polishing apparatus |
| WO1997021520A1 (en) * | 1995-12-08 | 1997-06-19 | Norton Company | Backing plates for abrasive disks |
| US6007415A (en) * | 1995-12-08 | 1999-12-28 | Norton Company | Sanding disks |
| US5888119A (en) * | 1997-03-07 | 1999-03-30 | Minnesota Mining And Manufacturing Company | Method for providing a clear surface finish on glass |
| US5999264A (en) * | 1997-06-26 | 1999-12-07 | Mitutoyo Corporation | On-the-fly optical interference measurement device, machining device provided with the measurement device, and machine tool suited to on-the-fly optical measurement |
-
2000
- 2000-04-05 TW TW089106212A patent/TW567116B/en not_active IP Right Cessation
- 2000-04-10 ES ES00922017T patent/ES2186644T3/en not_active Expired - Lifetime
- 2000-04-10 CA CA002369657A patent/CA2369657C/en not_active Expired - Fee Related
- 2000-04-10 EP EP00922017A patent/EP1173308B1/en not_active Expired - Lifetime
- 2000-04-10 DE DE60000737T patent/DE60000737T2/en not_active Expired - Fee Related
- 2000-04-10 WO PCT/US2000/009576 patent/WO2000064634A1/en active IP Right Grant
- 2000-04-10 BR BRPI0009985-6A patent/BR0009985B1/en not_active IP Right Cessation
- 2000-04-10 AU AU42262/00A patent/AU750253B2/en not_active Ceased
- 2000-04-10 AT AT00922017T patent/ATE227195T1/en not_active IP Right Cessation
- 2000-04-10 ID IDW00200102279A patent/ID30452A/en unknown
- 2000-04-10 KR KR10-2001-7013451A patent/KR100416329B1/en not_active IP Right Cessation
- 2000-04-10 JP JP2000613613A patent/JP2002542058A/en active Pending
- 2000-04-10 MX MXPA01010823A patent/MXPA01010823A/en active IP Right Grant
- 2000-04-10 CN CN00806598A patent/CN1129507C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10315218B4 (en) * | 2003-04-01 | 2010-12-30 | Nagel Maschinen- Und Werkzeugfabrik Gmbh | Method and device for fine machining a surface of a workpiece |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1351532A (en) | 2002-05-29 |
| KR20010113827A (en) | 2001-12-28 |
| WO2000064634A1 (en) | 2000-11-02 |
| JP2002542058A (en) | 2002-12-10 |
| CA2369657A1 (en) | 2000-11-02 |
| KR100416329B1 (en) | 2004-01-31 |
| EP1173308A1 (en) | 2002-01-23 |
| DE60000737T2 (en) | 2003-07-17 |
| ES2186644T3 (en) | 2003-05-16 |
| CN1129507C (en) | 2003-12-03 |
| AU750253B2 (en) | 2002-07-11 |
| DE60000737D1 (en) | 2002-12-12 |
| ID30452A (en) | 2001-12-06 |
| BR0009985A (en) | 2002-01-08 |
| AU4226200A (en) | 2000-11-10 |
| MXPA01010823A (en) | 2003-09-04 |
| TW567116B (en) | 2003-12-21 |
| CA2369657C (en) | 2006-07-18 |
| BR0009985B1 (en) | 2008-11-18 |
| ATE227195T1 (en) | 2002-11-15 |
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| PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
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| 17P | Request for examination filed |
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