EP1179120B1 - Electro-mechanical servo-drive - Google Patents

Electro-mechanical servo-drive Download PDF

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Publication number
EP1179120B1
EP1179120B1 EP00938542A EP00938542A EP1179120B1 EP 1179120 B1 EP1179120 B1 EP 1179120B1 EP 00938542 A EP00938542 A EP 00938542A EP 00938542 A EP00938542 A EP 00938542A EP 1179120 B1 EP1179120 B1 EP 1179120B1
Authority
EP
European Patent Office
Prior art keywords
shaft
actuator according
armature
electromagnet
actuator
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
EP00938542A
Other languages
German (de)
French (fr)
Other versions
EP1179120A1 (en
Inventor
Erwin Bauer
Wolfram Bohne
Ralf Cosfeld
Hanspeter Zink
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.)
Bayerische Motoren Werke AG
Siemens AG
Original Assignee
Bayerische Motoren Werke AG
Siemens 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.)
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Publication date
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Publication of EP1179120A1 publication Critical patent/EP1179120A1/en
Application granted granted Critical
Publication of EP1179120B1 publication Critical patent/EP1179120B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/16—Rectilinearly-movable armatures
    • H01F7/1638—Armatures not entering the winding
    • Y—GENERAL 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8158—With indicator, register, recorder, alarm or inspection means
    • Y10T137/8225—Position or extent of motion indicator
    • Y10T137/8242—Electrical

Definitions

  • the invention relates to an electromechanical actuator, in particular for a gas exchange valve of an internal combustion engine.
  • a well-known electromechanical actuator (DE 197 45 522 A1) has two electromagnets and an armature, which is mechanically coupled with two springs.
  • the anchor is between a first contact surface on the first electromagnet and a second contact surface on the second electromagnet movable.
  • the housing has receptacles Recording the electromagnets.
  • the object of the invention is the known electromechanical Train actuator so that a quick Opening and closing gas exchange valves of an internal combustion engine is possible, at the same time the required Energy requirements are kept low.
  • the invention is characterized in that the hollow body trained shaft of the anchor a much smaller Mass has a solidly formed shaft. This is the mass of the armature to be moved is reduced and therefore must only small actuating forces for moving the anchor plate from one Anchor surface to be applied to the other.
  • An internal combustion engine (FIG. 1) comprises an actuator which acts on a gas exchange valve and which is arranged in a cylinder head 31 of the internal combustion engine.
  • the gas exchange valve 2 is designed either as an outlet valve or as an inlet valve.
  • the gas exchange valve 2 has a valve stem 21 and a plate 22.
  • the actuator 1 has a housing 11 in which a first and a second electromagnet are arranged.
  • the first electromagnet has a first core 12 which is provided with a first coil 13.
  • the second electromagnet has a second core 14 which is provided with a second coil 15.
  • An armature is provided, the armature plate of which is movably arranged in the housing 11 between a first contact surface 15a of the first electromagnet and a second contact surface 15b of the second electromagnet.
  • the anchor plate 16 is thus movable between a closed position S maxS and an open position S maxO .
  • the armature further comprises a shaft 17 which is guided through recesses in the first and second core 12, 14 and which can be mechanically coupled to the valve shaft 21 of the gas exchange valve 2.
  • a first return means 18a and a second return means 18b which are preferably designed as springs, bias the anchor plate 16 into the predetermined rest position S 0 .
  • a sensor 19b of a position sensor is preferably arranged on or in the actuator 1 in such a way that it directly or indirectly detects the position of the armature plate 16 and the armature shaft 17.
  • the actuator 1 is with the cylinder head 31 of the internal combustion engine rigidly connected.
  • the intake port 32 and a cylinder 33 with a piston 34 are in the internal combustion engine intended.
  • the piston 34 is connected to a connecting rod with a Crankshaft 36 coupled.
  • a control device 4 which the signals from Detects sensors that are designed, for example, as the Position sensor, and / or a speed sensor and / or a Load detection sensor.
  • the control device 4 controls depending of the signals from the sensors the first and second coils 13, 15 of the actuator 1.
  • the shaft 17 (FIG. 2) of the armature is designed as a hollow body. For this purpose, it has a cylindrical bore, the forms a cavity 17a.
  • the shaft 17 thus has a small one Mass, but still has a high rigidity by one to ensure stable guidance of the anchor plate.
  • a transmitter 19a is arranged at a free end of the shaft 17.
  • the encoder 19a is preferably a permanent magnet that is assigned to the position sensor.
  • the pickup 19b is preferably a magnetoresistive element, preferably as Giant magnetoresistive element formed. A special one simple and secure fixation of the encoder 19a is guaranteed by crimping the free end in an area 19c.
  • the transmitter 19a is clearly spaced from the free end the shaft 17 arranged towards the anchor plate 16.
  • the donor 19a generated magnetic field only insignificantly by a magnetic Stray field is disturbed, that at the free end of the anchor shaft is particularly pronounced and evoked is by the magnetic circuit by the first or the second electromagnet and the armature is formed.
  • the encoder 19a is preferably a potting compound 19c in the cavity 17a in the region of the free end and introduced to the encoder 19a.
  • the exact fixation of the Encoder 19a is essential for an exact position detection by the pickup 19b during a long period of operation of the actuator.
  • the cavity 17a of the anchor shaft 17 can also be used only formed in a partial area along the longitudinal axis of the shaft be so B. only in the area in which the encoder 19a is included.
  • a further reduction in the moving masses of the actuator 1 is achieved through the formation of the anchor plate 16 made of a cobalt-iron alloy. Then preferably exist also the cores 12, 14 of the electromagnets made of the cobalt-iron alloy.
  • the alloy has, for example, between 17% and 50% by weight cobalt.
  • the cobalt-iron alloy has a much higher electrical resistance than for example iron (the electrical resistance is about four times as high). As a result, the eddy current losses less in the anchor.
  • the cobalt-iron alloy has the advantage that with a magnetic Induction of about 2.3 Tesla reached saturation which is about 15% higher than that of silicon-iron alloys.
  • the armature and the core can be downsized because in this case the sizing of the core and the anchor significantly affected is due to the anchor being placed on one of the contact surfaces 15a, 15b to be applied holding force.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Valve Device For Special Equipments (AREA)
  • Permanent Field Magnets Of Synchronous Machinery (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Description

Die Erfindung betrifft einen elektromechanischen Stellantrieb, insbesondere für ein Gaswechselventil einer Brennkraftmaschine.The invention relates to an electromechanical actuator, in particular for a gas exchange valve of an internal combustion engine.

Ein bekannter elektromechanischer Stellantrieb (DE 197 45 522 A1) hat zwei Elektromagnete und einen Anker, der mit zwei Federn mechanisch gekoppelt ist. Der Anker ist zwischen einer ersten Anlagefläche an dem ersten Elektromagneten und einer zweiten Anlagefläche an den zweiten Elektromagneten beweglich. Ferner hat das Gehäuse Aufnehmungen zur Aufnahme der Elektromagnete. Für einen zuverlässigen und sicheren Betrieb einer Brennkraftmaschine, deren Gaswechselventile von einem derartigen elektromechanischen Stellantrieb angetrieben werden, muß sichergestellt sein, daß der Anker sehr schnell von der einen Anlagefläche hin zu der anderen Anlagefläche und umgekehrt bewegbar ist. Nur so kann ein schnelles und präzises Öffnen und Schließen der Gaswechselventile der Brennkraftmaschine sichergestellt werden.A well-known electromechanical actuator (DE 197 45 522 A1) has two electromagnets and an armature, which is mechanically coupled with two springs. The anchor is between a first contact surface on the first electromagnet and a second contact surface on the second electromagnet movable. Furthermore, the housing has receptacles Recording the electromagnets. For a reliable and safe Operation of an internal combustion engine, its gas exchange valves from such an electromechanical actuator be driven, it must be ensured that the anchor very quickly from one contact surface to the other Contact surface and vice versa is movable. This is the only way quick and precise opening and closing of the gas exchange valves the internal combustion engine can be ensured.

Die Aufgabe der Erfindung ist es, den bekannten elektromechanischen Stellantrieb so weiterzubilden, daß ein schnelles Öffnen und Schließen von Gaswechselventilen einer Brennkraftmaschine ermöglicht ist, wobei gleichzeitig der dafür benötigte Energiebedarf gering gehalten ist.The object of the invention is the known electromechanical Train actuator so that a quick Opening and closing gas exchange valves of an internal combustion engine is possible, at the same time the required Energy requirements are kept low.

Die Aufgabe wird erfindungsgemäß gelöst durch die Merkmale des Patentanspruchs 1. Vorteilhafte Ausgestaltungen der Erfindung sind in den Unteransprüchen gekennzeichnet.The object is achieved by the features of claim 1. Advantageous embodiments of the invention are marked in the subclaims.

Die Erfindung zeichnet sich dadurch aus, daß der als Hohlkörper ausgebildete Schaft des Ankers eine wesentlich geringere Masse hat als ein massiv ausgebildeter Schaft. Dadurch ist die zu bewegende Masse des Ankers reduziert und somit müssen nur geringe Stellkräfte zum Bewegen der Ankerplatte von einer Ankerfläche zur anderen aufgebracht werden.The invention is characterized in that the hollow body trained shaft of the anchor a much smaller Mass has a solidly formed shaft. This is the mass of the armature to be moved is reduced and therefore must only small actuating forces for moving the anchor plate from one Anchor surface to be applied to the other.

Ausführungsbeispiele der Erfindung sind anhand der schematischen Zeichnungen näher erläutert. Es zeigen:

Figur 1
eine Anordnung eines Stellantriebs und einer Steuereinrichtung in einer Brennkraftmaschine,
Figur 2
einen Querschnitt durch den Anker gemäß einer ersten Ausführungsform des Ankers
Figur 3
einen Querschnitt durch den Anker gemäß einer zweiten Ausführungsform des Ankers.
Embodiments of the invention are explained in more detail with reference to the schematic drawings. Show it:
Figure 1
an arrangement of an actuator and a control device in an internal combustion engine,
Figure 2
a cross section through the anchor according to a first embodiment of the anchor
Figure 3
a cross section through the anchor according to a second embodiment of the anchor.

Elemente gleicher Konstruktion und Funktion sind figurenübergreifend mit den gleichen Bezugszeichen versehen.Elements of the same construction and function are common to all figures provided with the same reference numerals.

Eine Brennkraftmaschine (Figur 1) umfaßt einen Stellantrieb, der auf ein Gaswechselventil einwirkt und der in einem Zylinderkopf 31 der Brennkraftmaschine angeordnet ist. Das Gaswechselventil 2 ist entweder als Auslaßventil oder als Einlaßventil ausgebildet. Das Gaswechselventil 2 hat einen Ventilschaft 21 und einen Teller 22. Der Stellantrieb 1 hat ein Gehäuse 11, in dem ein erster und ein zweiter Elektromagnet angeordnet sind. Der erste Elektromagnet hat einen ersten Kern 12, der mit einer ersten Spule 13 versehen ist. Der zweite Elektromagnet hat einen zweiten Kern 14, der mit einer zweiten Spule 15 versehen ist. Ein Anker ist vorgesehen, dessen Ankerplatte in dem Gehäuse 11 beweglich zwischen einer ersten Anlagefläche 15a des ersten Elektromagneten und einer zweiten Anlagefläche 15b des zweiten Elektromagneten angeordnet ist. Die Ankerplatte 16 ist somit beweglich zwischen einer Schließposition SmaxS und einer Offenposition SmaxO. Der Anker umfaßt desweiteren einen Schaft 17, der durch Ausnehmungen des ersten und des zweiten Kerns 12, 14 geführt ist und der mit dem Ventilschaft 21 des Gaswechselventils 2 mechanisch koppelbar ist. Ein erstes Rückstellmittel 18a und ein zweites Rückstellmittel 18 b, die vorzugsweise als Federn ausgebildet sind, spannen die Ankerplatte 16 in die vorgegebene Ruheposition S0 vor. Vorzugsweise ist ein Aufnehmer 19b eines Positionssensors so an oder in dem Stellantrieb 1 angeordnet, daß er mittelbar oder unmittelbar die Position der Ankerplatte 16 und des Ankerschafts 17 erfaßt.An internal combustion engine (FIG. 1) comprises an actuator which acts on a gas exchange valve and which is arranged in a cylinder head 31 of the internal combustion engine. The gas exchange valve 2 is designed either as an outlet valve or as an inlet valve. The gas exchange valve 2 has a valve stem 21 and a plate 22. The actuator 1 has a housing 11 in which a first and a second electromagnet are arranged. The first electromagnet has a first core 12 which is provided with a first coil 13. The second electromagnet has a second core 14 which is provided with a second coil 15. An armature is provided, the armature plate of which is movably arranged in the housing 11 between a first contact surface 15a of the first electromagnet and a second contact surface 15b of the second electromagnet. The anchor plate 16 is thus movable between a closed position S maxS and an open position S maxO . The armature further comprises a shaft 17 which is guided through recesses in the first and second core 12, 14 and which can be mechanically coupled to the valve shaft 21 of the gas exchange valve 2. A first return means 18a and a second return means 18b, which are preferably designed as springs, bias the anchor plate 16 into the predetermined rest position S 0 . A sensor 19b of a position sensor is preferably arranged on or in the actuator 1 in such a way that it directly or indirectly detects the position of the armature plate 16 and the armature shaft 17.

Der Stellantrieb 1 ist mit dem Zylinderkopf 31 der Brennkraftmaschine starr verbunden. Der Ansaugkanal 32 und ein Zylinder 33 mit einem Kolben 34 sind in der Brennkraftmaschine vorgesehen. Der Kolben 34 ist über eine Pleuelstange mit einer Kurbelwelle 36 gekoppelt.The actuator 1 is with the cylinder head 31 of the internal combustion engine rigidly connected. The intake port 32 and a cylinder 33 with a piston 34 are in the internal combustion engine intended. The piston 34 is connected to a connecting rod with a Crankshaft 36 coupled.

Eine Steuereinrichtung 4 ist vorgesehen, die die Signale von Sensoren erfaßt, die beispielsweise ausgebildet sind als der Positionssensor, und/ oder ein Drehzahlgeber und/ oder ein Lasterfassungssensor. Die Steuereinrichtung 4 steuert abhängig von den Signalen der Sensoren die erste und zweite Spule 13, 15 des Stellantriebs 1 an.A control device 4 is provided, which the signals from Detects sensors that are designed, for example, as the Position sensor, and / or a speed sensor and / or a Load detection sensor. The control device 4 controls depending of the signals from the sensors the first and second coils 13, 15 of the actuator 1.

Der Schaft 17 (Figur 2) des Ankers ist als Hohlkörper ausgebildet. Dazu weist er eine zylinderförmige Bohrung auf, die einen Hohlraum 17a bildet. Der Schaft 17 hat somit eine geringe Masse, hat aber dennoch eine hohe Steifigkeit um eine stabile Führung der Ankerplatte zu gewährleisten. Im Bereich eines freien Endes des Schafts 17 ist ein Geber 19a angeordnet. Der Geber 19a ist vorzugsweise ein Permanentmagnet, der dem Positionssensor zugeordnet ist. Der Aufnehmer 19b ist vorzugsweise ein magnetoresistives Element, bevorzugt als Giant-magnetoresistives Element ausgebildet. Eine besonders einfache und sichere Fixierung des Gebers 19a ist gewährleistet durch das Bördeln des freien Endes in einem Bereich 19c.The shaft 17 (FIG. 2) of the armature is designed as a hollow body. For this purpose, it has a cylindrical bore, the forms a cavity 17a. The shaft 17 thus has a small one Mass, but still has a high rigidity by one to ensure stable guidance of the anchor plate. In the area A transmitter 19a is arranged at a free end of the shaft 17. The encoder 19a is preferably a permanent magnet that is assigned to the position sensor. The pickup 19b is preferably a magnetoresistive element, preferably as Giant magnetoresistive element formed. A special one simple and secure fixation of the encoder 19a is guaranteed by crimping the free end in an area 19c.

In einer zweiten Ausführungsform des Ankerschafts 17 (Figur 3) ist der Geber 19a deutlich beabstandet zu dem freien Ende des Schafts 17 hin zu der Ankerplatte 16 angeordnet. Dadurch ist auf einfache Weise gewährleistet, daß das von dem Geber 19a erzeugte Magnetfeld nur unwesentlich durch ein magnetisches Streufeld gestört wird, das an dem freien Ende des Ankerschafts besonders stark ausgeprägt ist und hervorgerufen wird durch den Magnetkreis, der durch den ersten oder den zweiten Elektromagneten und den Anker gebildet wird. Zur exakten Fixierung des Gebers 19a ist vorzugsweise eine Vergußmasse 19c in den Hohlraum 17a im Bereich des freien Endes und hin zu dem Geber 19a eingebracht. Die exakte Fixierung des Gebers 19a ist wesentlich für eine exakte Positionserfassung durch den Aufnehmer 19b während einer langen Betriebsdauer des Stellantriebs.In a second embodiment of the anchor shaft 17 (FIG 3) the transmitter 19a is clearly spaced from the free end the shaft 17 arranged towards the anchor plate 16. Thereby is guaranteed in a simple way that the donor 19a generated magnetic field only insignificantly by a magnetic Stray field is disturbed, that at the free end of the anchor shaft is particularly pronounced and evoked is by the magnetic circuit by the first or the second electromagnet and the armature is formed. For exact Fixing the encoder 19a is preferably a potting compound 19c in the cavity 17a in the region of the free end and introduced to the encoder 19a. The exact fixation of the Encoder 19a is essential for an exact position detection by the pickup 19b during a long period of operation of the actuator.

Alternativ kann der Hohlraum 17a des Ankerschafts 17 auch nur in einem Teilbereich entlang der Längsachse des Schafts ausgebildet sein, so z. B. nur in dem Bereich, in dem der Geber 19a aufgenommen ist.Alternatively, the cavity 17a of the anchor shaft 17 can also be used only formed in a partial area along the longitudinal axis of the shaft be so B. only in the area in which the encoder 19a is included.

Eine weitere Reduzierung der bewegten Massen des Stellantriebs 1 wird erreicht durch die Ausbildung der Ankerplatte 16 aus einer Kobalt-Eisen-Legierung. Bevorzugt bestehen dann auch die Kerne 12, 14 der Elektromagnete aus der Kobalt-Eisen-Legierung. Die Legierung weist beispielsweise zwischen 17% und 50% Gewichtsanteile Kobalt auf. Die Kobalt-Eisen-Legierung hat einen wesentlich höheren elektrischen Widerstand als beispielsweise Eisen (der elektrische Widerstand ist in etwa viermal so hoch). Dadurch sind die Wirbelstromverluste im Anker geringer. Im Gegensatz zu den üblicherweise bei Elektromagneten verwendeten Silizium-Eisen-Legierungen hat die Kobalt-Eisen-Legierung den Vorteil, daß bei einer magnetischen Induktion von etwa 2,3 Tesla die Sättigung erreicht wird, die etwa ca. 15% höher liegt als die der Silizium-Eisen-Legierungen. So kann insbesondere bei einem Stellantrieb, der für ein Gaseinlaßventil vorgesehen ist, der Anker und der Kern verkleinert werden, da in diesem Fall die Dimensionierung des Kerns und des Ankers wesentlich beeinflußt wird durch die während der Anlage des Ankers an einer der Anlageflächen 15a, 15b aufzubringenden Haltekraft.A further reduction in the moving masses of the actuator 1 is achieved through the formation of the anchor plate 16 made of a cobalt-iron alloy. Then preferably exist also the cores 12, 14 of the electromagnets made of the cobalt-iron alloy. The alloy has, for example, between 17% and 50% by weight cobalt. The cobalt-iron alloy has a much higher electrical resistance than for example iron (the electrical resistance is about four times as high). As a result, the eddy current losses less in the anchor. In contrast to the usual Silicon-iron alloys used in electromagnets the cobalt-iron alloy has the advantage that with a magnetic Induction of about 2.3 Tesla reached saturation which is about 15% higher than that of silicon-iron alloys. In particular with an actuator, which is intended for a gas inlet valve, the armature and the core can be downsized because in this case the sizing of the core and the anchor significantly affected is due to the anchor being placed on one of the contact surfaces 15a, 15b to be applied holding force.

Claims (7)

  1. Electromechanical actuator, in particular for a gas flow valve in an internal combustion engine, with at least one electromagnet and an armature, which has a shaft (17) in the form of a hollow body and which is linked mechanically to at least one reset device and which can move between a first contact surface (15a) on the electromagnet and a further contact surface (15b), characterised in that an output device (19a) of a sensor is inserted into the hollow space (17a) of the shaft (17).
  2. Actuator according to Claim 1, characterised in that the shaft (17) is tubular in form.
  3. Actuator according to Claim 1, characterised in that the output device (19a) is a permanent magnet.
  4. Actuator according to Claim 1 or 3, characterised in that the sensor is a position sensor.
  5. Actuator according to Claim 1, characterised in that the output device (19a) is inserted into the hollow space (17a) at a free end of the shaft (17) and the shaft (17) is crimped in an area (19c) of the free end.
  6. Actuator according to one of the preceding claims, characterised in that the armature has an armature plate (16) which is made from a cobalt-iron alloy.
  7. Actuator according to one of the preceding claims, characterised in that the electromagnet has a core (12, 14) which is made from a cobalt-iron alloy.
EP00938542A 1999-05-14 2000-05-11 Electro-mechanical servo-drive Expired - Lifetime EP1179120B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19922423 1999-05-14
DE19922423A DE19922423A1 (en) 1999-05-14 1999-05-14 Electromechanical actuator
PCT/DE2000/001483 WO2000070195A1 (en) 1999-05-14 2000-05-11 Electro-mechanical servo-drive

Publications (2)

Publication Number Publication Date
EP1179120A1 EP1179120A1 (en) 2002-02-13
EP1179120B1 true EP1179120B1 (en) 2003-04-09

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US (1) US6543477B2 (en)
EP (1) EP1179120B1 (en)
JP (1) JP2002544758A (en)
DE (2) DE19922423A1 (en)
WO (1) WO2000070195A1 (en)

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EP1179120A1 (en) 2002-02-13
DE19922423A1 (en) 2000-11-30
US20020059956A1 (en) 2002-05-23
JP2002544758A (en) 2002-12-24
WO2000070195A1 (en) 2000-11-23
US6543477B2 (en) 2003-04-08
DE50001718D1 (en) 2003-05-15

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