EP1223131B1 - Device for taking out flat objects - Google Patents

Device for taking out flat objects Download PDF

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Publication number
EP1223131B1
EP1223131B1 EP01127891A EP01127891A EP1223131B1 EP 1223131 B1 EP1223131 B1 EP 1223131B1 EP 01127891 A EP01127891 A EP 01127891A EP 01127891 A EP01127891 A EP 01127891A EP 1223131 B1 EP1223131 B1 EP 1223131B1
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EP
European Patent Office
Prior art keywords
rotor
suction
suction arms
cycloidal path
arms
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
EP01127891A
Other languages
German (de)
French (fr)
Other versions
EP1223131A2 (en
EP1223131A3 (en
Inventor
Bruno Baumeister
Walter Dr. Baur
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.)
Rovema Verpackungsmaschinen GmbH and Co KG
Rovema GmbH
Original Assignee
Rovema Verpackungsmaschinen GmbH and Co KG
Rovema GmbH
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 Rovema Verpackungsmaschinen GmbH and Co KG, Rovema GmbH filed Critical Rovema Verpackungsmaschinen GmbH and Co KG
Publication of EP1223131A2 publication Critical patent/EP1223131A2/en
Publication of EP1223131A3 publication Critical patent/EP1223131A3/en
Application granted granted Critical
Publication of EP1223131B1 publication Critical patent/EP1223131B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/42—Separating articles from piles by two or more separators mounted for movement with, or relative to, rotary or oscillating bodies
    • 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
    • B65H2301/40—Type of handling process
    • B65H2301/42—Piling, depiling, handling piles
    • B65H2301/423—Depiling; Separating articles from a pile
    • B65H2301/4232—Depiling; Separating articles from a pile of horizontal or inclined articles, i.e. wherein articles support fully or in part the mass of other articles in the piles
    • B65H2301/42322—Depiling; Separating articles from a pile of horizontal or inclined articles, i.e. wherein articles support fully or in part the mass of other articles in the piles from bottom of the pile

Definitions

  • the invention relates to a device for removing flat objects, in particular blanks of cartons from a dispensing station and to Transferring this to a receiving station, which is a transport device for Continue transporting the items, with several on one in closed cycloid trajectory circumferential Saugerarmen, each at least having a nipple, the cycloidal web having a plurality of peaks and therebetween lying curve curves, wherein the discharge station and the receiving station to is arranged in each case a tip of the cycloid trajectory, and with a suction arms moving rotor.
  • a planetary gear is provided, which is the Cycloid traction describes, and the suckers are parallel to each other and to the transport direction the transport device aligned.
  • the invention is therefore based on the object, a Device of the type described above, but with a parallel offset the Folding cartons, to create.
  • the device according to the invention has the advantage that it is technically easier Way and without control mechanism works.
  • the planetary gear is a conventional transmission, which in itself generates the cycloidal trajectory.
  • the suckers are aligned parallel to each other and always remain in that direction during their Circulation.
  • their connection to the planetary gear is also can be realized in a simple manner.
  • the suckers are through the Zyloidenbahn to a Brought object, then moved together with the object to the dispensing station and finally put back on a subsequent item.
  • Optimum temporal use of the device is achieved when, according to the Claims 2 and 3 on the device three or four teat arms or Saugerarmcrue are provided. Is an item of a pair of Saugerarm his removal and transport are safer than if he only to be moved by a single Saugerarm. Serve the same purpose also several suckers on a Saugerarm.
  • the device includes a planetary gear 1, which has a four-arched cycloid path Z describes, as well as other, superimposed gear stages 2,3, a total translation effect of 1: 1 from the frame 4 on the teat arms 5, so that this on the one hand describe a cycloid trajectory Z, but always parallel to one Stay straight in frame 4.
  • the planetary gear 1 consists of a rotor 6 fixed to the drive shaft 7 connected and stored in the frame 4. On the rotor 6 there are three planets 8, which consist of the hollow shaft 9, the spur gear 10 and the crank 11. The stimulus 10 and the crank 11 are fixedly connected to the hollow shaft 9. In the planets 8 are the waves 12 stored at which the teat arms 13 with the suction 14th are located.
  • the gear stage 2 consists of a spur gear 20 which is fixedly connected to the shaft 19, another Stimrad 22, which is fixedly connected to the shaft 12 and an intermediate wheel 21, the is mounted on the crank 11.
  • the numbers of teeth of the sprockets 20 and 22 be identical.
  • the Blank 34 passed to a circulating transport device 26.
  • the tax of Vacuum of the individual teat arms 5 takes place mechanically by a in the spur 15th taken in circular arc segment.
  • the air is through suction holes 28, 29, 30 and a line 31 sucked through the suction 14 so that the blank 34 sucked becomes.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Making Paper Articles (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

A device for removing flat articles, in particular blanks of collapsed boxes from a delivery station and for transferring them to a receiving station which has a transport device thereat. Plural suction arms each with suction devices thereon are provided, which suction arms move through a self-contained cycloidal path. The cycloidal path has several tips and curved segments lying therebetween. The delivery station and the receiving station are each arranged at a tip of the cycloidal path. A rotor is provided for moving the suction arms. A sun and planet gear arrangement is provided on the rotor, which sun and planet gear delineate the cycloidal path. The suction arms are aligned parallel to one another and preferably to the transport direction of the transport device in order to achieve in this manner a technically simple and reliable device.

Description

Die Erfindung betrifft eine Vorrichtung zum Entnehmen flacher Gegenstände, insbesondere Zuschnitte von Faltschachteln aus einer Abgabestation und zum Überführen dieser zu einer Aufnahmestation, welche eine Transportvorrichtung zum Weitertransportieren der Gegenstände aufweist, mit mehreren auf einer in sich geschlossenen Zykloidenbahn umlaufenden Saugerarmen, welche jeweils mindestens einen Sauger aufweisen, wobei die Zykloidenbahn mehrere Spitzen und dazwischen liegende Kurvenbögen aufweist, wobei die Abgabestation und die Aufnahmestation an jeweils einer Spitze der Zykloidenbahn angeordnet ist, und mit einem die Saugerarme bewegenden Rotor. Am Rotor ist ein Planetengetriebe vorgesehen, welches die Zykloidenbahn beschreibt, und die Sauger sind parallel zueinander und zur Transportrichtung der Transportvorrichtung ausgerichtet.The invention relates to a device for removing flat objects, in particular blanks of cartons from a dispensing station and to Transferring this to a receiving station, which is a transport device for Continue transporting the items, with several on one in closed cycloid trajectory circumferential Saugerarmen, each at least having a nipple, the cycloidal web having a plurality of peaks and therebetween lying curve curves, wherein the discharge station and the receiving station to is arranged in each case a tip of the cycloid trajectory, and with a suction arms moving rotor. On the rotor, a planetary gear is provided, which is the Cycloid traction describes, and the suckers are parallel to each other and to the transport direction the transport device aligned.

Aus der EP 0 580 958 A ist eine derartige Vorrichtung bekannt, bei welcher die Saugerarme verschwenkbar sind.From EP 0 580 958 A such a device is known in which the Sucker arms are pivotable.

Der Erfindung liegt daher die Aufgabe zu Grunde, eine Vorrichtung der eingangs beschriebenen Art, jedoch mit einem Parallelversetzen der Faltschachteln, zu schaffen.The invention is therefore based on the object, a Device of the type described above, but with a parallel offset the Folding cartons, to create.

Gelöst ist die Aufgabe gemäß dem kennzeichnenden Teil des Anspruchs 1.The problem is solved according to the characterizing part of claim 1.

Die erfindungsgemäße Vorrichtung hat den Vorteil, dass sie in technisch einfacher Weise und ohne Steuermechanismus funktioniert. Das Planetengetriebe ist ein herkömmliches Getriebe, welches an sich die Zykloidenbahn erzeugt. Die Sauger sind parallel zueinander ausgerichtet und verbleiben stets in dieser Richtung während ihres Umlaufs. Somit ist auch deren Verbindung mit dem Planetengetriebe in einfacher Weise realisierbar. Die Sauger werden durch die Zyloidenbahn an einen Gegenstand herangeführt, dann mitsamt dem Gegenstand zur Abgabestation bewegt und schließlich wieder an einen nachfolgenden Gegenstand gesetzt. Die Saugerarme bleiben immer parallel zu einer Geraden im Gestell. Weitere vorteilhafte Ausgestaltungen der Erfindung sind in den Ansprüchen 2 bis 6 beschrieben.The device according to the invention has the advantage that it is technically easier Way and without control mechanism works. The planetary gear is a conventional transmission, which in itself generates the cycloidal trajectory. The suckers are aligned parallel to each other and always remain in that direction during their Circulation. Thus, their connection to the planetary gear is also can be realized in a simple manner. The suckers are through the Zyloidenbahn to a Brought object, then moved together with the object to the dispensing station and finally put back on a subsequent item. The teat arms always stay parallel to a straight line in the frame. Further advantageous embodiments of the invention are in the claims 2 to 6 described.

Eine optimale zeitliche Nutzung der Vorrichtung ist erreicht, wenn gemäß den Ansprüchen 2 und 3 an der Vorrichtung drei oder vier Saugerarme bzw. Saugerarmpaare vorgesehen sind. Wird ein Gegenstand von einem Saugerarmpaar ergriffen, so sind seine Entnahme und sein Weitertransport sicherer als wenn er nur von einem einzelnen Saugerarm bewegt werden soll. Dem gleichen Zweck dienen auch mehrere Sauger an einem Saugerarm.Optimum temporal use of the device is achieved when, according to the Claims 2 and 3 on the device three or four teat arms or Saugerarmpaare are provided. Is an item of a pair of Saugerarm his removal and transport are safer than if he only to be moved by a single Saugerarm. Serve the same purpose also several suckers on a Saugerarm.

Ist der Rotor kontinuierlich angetrieben (Anspruch 4), so wird eine besonders hohe Rate für die Gegenstandsübergabe erreicht, da ein Stillstand des Rotors vermieden wird. Mittels Servotechnik kann dabei an den für ein Handling der Gegenstände relevanten Spitzen der Zyloidenbahn die Bewegung des Rotors verlangsamt werden, um derart das Handling noch zuverlässiger zu machen.If the rotor is driven continuously (claim 4), so is a particularly high Reached for the article passing, as a stoppage of the rotor avoided becomes. Servo technology can be used to handle the objects relevant peaks of the cycloid orbit slowing down the motion of the rotor, so as to make handling even more reliable.

Aus einem Magazin (Anspruch 5) können flache Faltschachtelzuschnitte entnommen werden, um sie dann entlang der Zyloidenbahn an einer Führung aufzurichten (Anspruch 6). Die Zuschnitte werden dazu mit einer vorgefalteten Kante an der Führung entlangbewegt. Die Führung ist der Zykloidenbahn derart angepasst, dass sich beim Weiterbewegen des Zuschnitts der Abstand zwischen der Zykloidenbahn und der Führung verringert, um derart den Zuschnitt zu stauchen und dabei die Faltschachtel aufzurichten. Die aufgerichtete Faltschachtel wird anschließend an die Transportvorrichtung abgegeben.From a magazine (claim 5) flat carton blanks can be removed to erect them along the Zyloidenbahn on a guide (Claim 6). The blanks are added with a pre-folded edge on the Guided tour. The guide is adapted to the cycloid track such that the further movement of the blank, the distance between the cycloid web and the guide is reduced so as to compress the blank while the Erect folding carton. The erected carton is then attached to the Dispensed transport.

Im folgenden wird die Erfindung an Hand ein Ausführungsbeispiel darstellender Figuren näher beschrieben. Es zeigt:

Figur 1
in einer Seitenansicht ein Planetengetriebe an einem Rotor, wobei drei Saugerarme jeweils mit einem Planeten verbunden sind, um sich entlang einer Zykloidenbahn zu bewegen, so dass jeweils ein Zuschnitt für eine Faltschachtel aus einem Magazin entnommen, an einer Führung aufgerichtet und an einer Abgabestation an eine Transportvorrichtung abgegeben wird;
Figur 2
in einer Schnittdarstellung den Gegenstand der Figur 1, sowie
Figur 3
in einem Schnitt entlang B-B der Figur 2 den Gegenstand der Figur 2.
In the following the invention with reference to an embodiment illustrative figures will be described in more detail. It shows:
FIG. 1
in a side view, a planetary gear on a rotor, wherein three sucker arms are each connected to a planet to move along a cycloid trajectory, so that each removed a blank for a carton from a magazine, erected on a guide and at a discharge station to a Transport device is discharged;
FIG. 2
in a sectional view of the subject matter of Figure 1, as well
FIG. 3
in a section along BB of Figure 2 the subject of Figure 2.

Die Vorrichtung enthält ein Planetengetriebe 1, das eine vierbogige Zykloidenbahn Z beschreibt, sowie weitere, überlagerte Getriebestufen 2,3, die eine Gesamtübersetzung von 1:1 vom Gestell 4 auf die Saugerarme 5 bewirken, so dass diese einerseits eine Zykloidenbahn Z beschreiben, gleichzeitig aber immer parallel zu einer Geraden im Gestell 4 bleiben.The device includes a planetary gear 1, which has a four-arched cycloid path Z describes, as well as other, superimposed gear stages 2,3, a total translation effect of 1: 1 from the frame 4 on the teat arms 5, so that this on the one hand describe a cycloid trajectory Z, but always parallel to one Stay straight in frame 4.

Das Planetengetriebe 1 besteht aus einem Rotor 6, der mit der Antriebswelle 7 fest verbunden und im Gestell 4 gelagert ist. Auf dem Rotor 6 befinden sich drei Planeten 8, die aus der Hohlwelle 9, dem Stirnrad 10 und der Kurbel 11 bestehen. Das Stimrad 10 und die Kurbel 11 sind fest mit der Hohlwelle 9 verbunden. In den Planeten 8 sind die Wellen 12 gelagert, an denen sich die Saugerarme 13 mit den Saugem 14 befinden.The planetary gear 1 consists of a rotor 6 fixed to the drive shaft 7 connected and stored in the frame 4. On the rotor 6 there are three planets 8, which consist of the hollow shaft 9, the spur gear 10 and the crank 11. The stimulus 10 and the crank 11 are fixedly connected to the hollow shaft 9. In the planets 8 are the waves 12 stored at which the teat arms 13 with the suction 14th are located.

Für die Erzeugung der vierbogigen Zykloide ist eine Übersetzung vom Stimrad 9 zum gestellfesten Stirnrad mit i=4 verwendet, wobei auf dem Rotor 6 das Zwischenrad 16 gelagert ist. Der Radius des Planeten F verhält sich zum Radius des Rotors E ungefähr 1:3.For the generation of vierbogigen cycloids is a translation of the spur 9 to frame-fixed spur gear used with i = 4, wherein on the rotor 6, the intermediate 16th is stored. The radius of the planet F is approximately equal to the radius of the rotor E. 1: 3.

Um die Parallelität der Sauger 14 zum Gestell 4 zu realisieren, sind die Getriebestufen 2 und 3 dem Planetengetriebe 1 überlagert. Die Getriebestufe 3 besteht aus einem Rotor 17, der exzentrisch zur Antriebswelle 7 im Gestell 4 gelagert ist, einer Welle 19, die koaxial in der Hohlwelle 9 gelagert ist und einer Kurbel 18, die fest mit der Welle 19 verbunden ist. Um eine Übersetzung von 1:1 vom Gestell 4 auf die Welle 19 zu realisieren, muß die Exzentrizität G dem Kurbelradius H entsprechen. Die Funktionsweise entspricht somit einer "halben" Schmidt-Kupplung. Die Getriebestufe 2 besteht aus einem Stirnrad 20, das mit der Welle 19 fest verbunden ist, einem weiteren Stimrad 22, das mit der Welle 12 fest verbunden ist und einem Zwischenrad 21, das auf der Kurbel 11 gelagert ist. Hierbei müssen die Zähnezahlen der Stimräder 20 und 22 identisch sein. In order to realize the parallelism of the suckers 14 to the frame 4, the gear stages 2 and 3 superimposed on the planetary gear 1. The gear 3 consists of a Rotor 17, which is mounted eccentrically to the drive shaft 7 in the frame 4, a shaft 19, which is mounted coaxially in the hollow shaft 9 and a crank 18 fixed to the shaft 19th connected is. To a translation of 1: 1 from the frame 4 to the shaft 19 to realize the eccentricity G must correspond to the crank radius H. The Functionality thus corresponds to a "half" Schmidt clutch. The gear stage 2 consists of a spur gear 20 which is fixedly connected to the shaft 19, another Stimrad 22, which is fixedly connected to the shaft 12 and an intermediate wheel 21, the is mounted on the crank 11. Here, the numbers of teeth of the sprockets 20 and 22 be identical.

Fährt der Saugerarm 13, der Teil eines Saugerarmpaares ist, in den Bereich der Spitze A, so wird ein Zuschnitt 34 aus dem Magazin 23 angesaugt, und bei Verlassen des Saugerarms 13 der Spitze A wird dieser Zuschnitt 34 von den Saugern 14 gehalten und aus dem Magazin 23 über Haltenasen 24 gezogen. Beim Durchlaufen des Bogens von Punkt A nach Punkt B wird die dem Planetengetriebe 1 abgewandte Kante 35 des Zuschnitts 34 an einer Führung 25 entlang geführt, so dass sich der flache Zuschnitt 34 zu einer Hülse aufrichtet. Bevor der Saugerarm 5 Punkt B erreicht, wird der Zuschnitt 34 an eine umlaufende Transportvorrichtung 26 übergeben. Das Steuem des Vakuums der einzelnen Saugerarme 5 erfolgt mechanisch durch ein in das Stimrad 15 eingelassenes Kreisbogensegment. Die Luft wird durch Ansaugbohrungen 28, 29, 30 und eine Leitung 31 durch die Sauger 14 abgesaugt, damit der Zuschnitt 34 angesaugt wird.The sucker arm 13, which is part of a Saugerarmpaares, moves in the area of the tip A, a blank 34 is sucked from the magazine 23, and when leaving the Sucker 13 of the tip A, this blank 34 is held by the suckers 14 and pulled out of the magazine 23 via retaining lugs 24. When going through the arch from point A to point B facing away from the planetary gear 1 edge 35 of Blade 34 guided along a guide 25 along so that the flat blank 34 erects to a sleeve. Before the teat arm reaches 5 point B, the Blank 34 passed to a circulating transport device 26. The tax of Vacuum of the individual teat arms 5 takes place mechanically by a in the spur 15th taken in circular arc segment. The air is through suction holes 28, 29, 30 and a line 31 sucked through the suction 14 so that the blank 34 sucked becomes.

Besonders vorteilhaft bei der Absaugung und Aufrichtung mit diesem System ist, dass der Zuschnitt 34 jederzeit sowohl parallel zum Magazin 23, als auch zur Transportvorrichtung 26 gehalten wird, so dass auch breitere Zuschnitte 34 problemlos verarbeitet werden können. Zusätzlich ist es von Vorteil, dass bei der Entnahme aus dem Magazin 23 fast ausschließlich eine Bewegung in Richtung des Magazins 23 ausgeführt wird, während der Zuschnitt 34 bei der Übergabe an die Transportvorrichtung 26 schon eine Bewegungskomponente in Transportrichtung hat.Particularly advantageous in the extraction and erection with this system is that the blank 34 at any time both parallel to the magazine 23, as well as for Transport device 26 is held so that wider blanks 34 easily can be processed. In addition, it is advantageous that when taking off the magazine 23 almost exclusively a movement in the direction of the magazine 23rd is executed while the blank 34 in the transfer to the Transport device 26 already has a component of movement in the transport direction.

Als weiterer Vorteil ist zu nennen, dass auf dem Rotor 6 eine beliebige Anzahl von Planeten 8 mit Saugerarmen 13 befestigt werden kann. Hierdurch ist es z. B. möglich, bei Erhöhung der Anzahl von Saugerarmpaaren 27 von drei auf vier eine 33-prozentige Leistungssteigerung zu erzielen, während die Antriebsdrehzahl und damit die Ansaug-, Aufricht- und Übergabezeit die selbe wie bei drei Saugerarmpaaren 27 ist.Another advantage is that on the rotor 6 any number of Planet 8 can be attached with suction arms 13. This is z. Possible, increasing the number of teat arm pairs 27 from three to four a 33 percent Performance increase, while the input speed and thus the intake, Aufricht- and transfer time the same as three Saugerarmpaaren 27 is.

Claims (6)

  1. A device for removing flat articles, in particular blanks (34) of folding boxes from a delivery station (36), and for transferring the said blanks to a receiving station (37) which has a transport device (26), comprising several suction arms (13) with suction devices (14), which suction arms rotate on a self-contained cycloidal path (Z), the cycloidal path (Z) having several peaks (A, B, C, D) and curve arcs lying therebetween, the delivery station (36) and the receiving station (37) being arranged at respective peaks (A, B) of the cycloidal path (Z), comprising a rotor (6) moving the suction arms (13), a planetary gear (1) being provided on the rotor (6) which describes the cycloidal path (Z), and the suction arms (13) being aligned parallel to one another and to the transport direction (38) of the transport device (26), characterised in that the suction arms (13) always remain parallel to a straight line in the frame (4).
  2. A device according to Claim 1, characterised in that three or four suction arms (13) are provided on the device.
  3. A device according to Claim 1, characterised in that three or four suction arm pairs (27) are provided on the device.
  4. A device according to Claim 1, Claim 2 or Claim 3, characterised in that the rotor (6) is continuously driven.
  5. A device according to Claim 1, Claim 2, Claim 3 or Claim 4, characterised in that a magazine (23) for storing the flat articles is provided at the delivery station (36).
  6. A device according to at least one of Claims 1 to 5, characterised in that a guide (25) is provided along the cycloidal path (Z) between the delivery station (36) and the receiving station (37), along which one edge (35) of the articles is moved in order to deform the article, in particular to erect a blank (34) of a folding box.
EP01127891A 2001-01-11 2001-11-23 Device for taking out flat objects Expired - Lifetime EP1223131B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10100968 2001-01-11
DE10100968A DE10100968A1 (en) 2001-01-11 2001-01-11 Device for removing flat objects

Publications (3)

Publication Number Publication Date
EP1223131A2 EP1223131A2 (en) 2002-07-17
EP1223131A3 EP1223131A3 (en) 2004-01-02
EP1223131B1 true EP1223131B1 (en) 2005-06-08

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EP01127891A Expired - Lifetime EP1223131B1 (en) 2001-01-11 2001-11-23 Device for taking out flat objects

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US (1) US6659928B2 (en)
EP (1) EP1223131B1 (en)
AT (1) ATE297352T1 (en)
DE (2) DE10100968A1 (en)
ES (1) ES2240311T3 (en)

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US5782734A (en) 1996-06-07 1998-07-21 Riverwood International Corporation Carton feed opening wheel assembly
DE19801194A1 (en) * 1998-01-15 1999-07-22 Iwk Verpackungstechnik Gmbh Folding transfer layout as erected for filling

Also Published As

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ES2240311T3 (en) 2005-10-16
EP1223131A2 (en) 2002-07-17
US20020091052A1 (en) 2002-07-11
US6659928B2 (en) 2003-12-09
DE50106445D1 (en) 2005-07-14
ATE297352T1 (en) 2005-06-15
DE10100968A1 (en) 2002-07-18
EP1223131A3 (en) 2004-01-02

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