EP1415095B1 - Dispositif de commande destinee au mouvement continu d'un moteur d'un servomoteur hydraulique - Google Patents

Dispositif de commande destinee au mouvement continu d'un moteur d'un servomoteur hydraulique Download PDF

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Publication number
EP1415095B1
EP1415095B1 EP01974163A EP01974163A EP1415095B1 EP 1415095 B1 EP1415095 B1 EP 1415095B1 EP 01974163 A EP01974163 A EP 01974163A EP 01974163 A EP01974163 A EP 01974163A EP 1415095 B1 EP1415095 B1 EP 1415095B1
Authority
EP
European Patent Office
Prior art keywords
piston
restrictor
bore
control device
opening
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
EP01974163A
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German (de)
English (en)
Other versions
EP1415095A1 (fr
Inventor
JÖrg Linser
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.)
Robert Bosch Automotive Steering GmbH
Original Assignee
ZF Lenksysteme 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 ZF Lenksysteme GmbH filed Critical ZF Lenksysteme GmbH
Publication of EP1415095A1 publication Critical patent/EP1415095A1/fr
Application granted granted Critical
Publication of EP1415095B1 publication Critical patent/EP1415095B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/006—Hydraulic "Wheatstone bridge" circuits, i.e. with four nodes, P-A-T-B, and on-off or proportional valves in each link
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0401—Valve members; Fluid interconnections therefor
    • F15B13/0405—Valve members; Fluid interconnections therefor for seat valves, i.e. poppet valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
    • F15B13/0433—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the pilot valves being pressure control valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/30575—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve in a Wheatstone Bridge arrangement (also half bridges)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/35—Directional control combined with flow control
    • F15B2211/351—Flow control by regulating means in feed line, i.e. meter-in control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/35—Directional control combined with flow control
    • F15B2211/353—Flow control by regulating means in return line, i.e. meter-out control

Definitions

  • the invention relates to a control device according to the preamble of Patent claim 1.
  • Proportional valve arrangements as used for example as servo valve arrangements for Actuation of a hydraulic servomotor, e.g. in the form of a working cylinder 27 (FIG 1) can be composed of individual modules D1 to D4. These modules then form in the form of pilot-operated and pressure-proportional controlled Closing valves, the four controllable throttle devices D1, D2, D3, D4 one in Figure 1 illustrated hydraulic bridge circuit.
  • Figure 1 shows the switching principle of such a servo valve assembly in the so-called Open Center Execution (open center execution) in Neutral position in which all four throttling devices are open, so that one of a Pump P from a tank T funded fluid almost unhindered over the Throttle devices can flow back to the tank T.
  • Open Center Execution open center execution
  • From the points A and B lead lines LA and LB to work spaces a and b of the working cylinder 27, the are separated by a working piston AK.
  • the neutral position shown is the pressure in both working spaces a, b the same size, so that the working piston AK in Rest stays.
  • To the movement of To be able to control the working piston is basically enough to connect in series two throttle devices D1 and D4, one of which must be controllable; there may be provided for the working piston, a spring which urges him in one direction, or the working space b may be at an otherwise controlled or constant pressure be kept, the amount of which between the pump pressure and the pressure of the tank (which is usually the atmospheric pressure) is.
  • the invention relates to a control device with at least one controllable module (eg D1) or else with a pair of modules (eg D1 with D3).
  • a controllable module eg D1
  • a pair of modules eg D1 with D3
  • such a module D1 is basically one in a valve block (Housing G) introduced housing bore 1, in which a piston 3 axially back and can be moved.
  • a sealing element 4 on the piston circumference separates pressure chambers 2 and 5 from each other and at the same time acts as a low-friction guidance of the piston 3 in the Housing bore 1.
  • a throttle needle 9 is moved by a force in a throttle opening 8.
  • This throttle opening 8 is located in a captured disc 6, which also in a Housing G or in a lid D can be integrated and together with the Piston 3 and the housing bore 1 forms the pressure chamber 5.
  • the axial force at the Throttle needle 9 may be mechanical, electromotive, electromagnetic, hydraulic or be applied pneumatically.
  • the insertion of the throttle needle 9 in the Throttle opening 8 reduces the flow area for through a Vorordelelbohrung 12 via a channel 10 in a tank T flowing fluid flow.
  • a higher pressure builds up in the pressure chamber 5
  • the piston 3 is moved in the direction of the annular gap 17. This reduces the width of the annular gap 17, the connection from the inlet channel 14 to the outlet channel 13 manufactures.
  • the fluid pressure in the inflow passage 14 increases to.
  • the fluid pressure in the space 5 is proportional to the actuating force on the throttle needle 9.
  • This Fluid pressure is in turn proportional to the fluid pressure in the inlet channel 14, whereby Overall, a proportionality between the force acting on the throttle needle 9 actuating force and adjusts the fluid pressure generated in the inlet channel 14.
  • a hydraulic bridge circuit as in the case of Servo valves
  • they can designed almost identical and shared by the throttle unit of a module D1, consisting of throttle needle 9 and throttle opening 8, are controlled.
  • a hydraulic connection between on the one hand the pressure chamber 5 of a provided with a throttle unit module D1 and on the other hand the corresponding pressure chamber (53 in Figure 4) of one or more others Modules, which are then executed without throttle unit and without Vorordelbohrung 12 and be controlled.
  • the hydraulic connection may preferably take the form of a be executed internal housing channel (1_3 in Figure 4).
  • FIG. 4 shows the diagram of a servo valve arrangement designed in this way.
  • Figure 4 goes from the state shown in Figure 3, in which D1 and D3 are open, while D2 and D4 are closed so that the pump pressure (pressure at the outlet of the Pump P) via the opened throttle device D1 in the direction of the arrow in Working space a of the working cylinder 27 acts on the working piston AK.
  • both throttle pins 9 and 92 When used in a closed center (closed center) system, both throttle pins 9 and 92 maintain the associated throttle openings 8, 82 in the neutral state closed. If the working piston AK is to be moved to the right, for example, then the throttle needle 9 is moved to the left to open the throttle opening. In an open-center system, only one (active) of the throttle needles 9, 92 more or less pushed by a force in its throttle opening 8, 82, while on the other (passive) throttle needle no force acts, so that this throttle needle outside their throttle opening remains. Depending on the direction in which the working piston AK is to be moved, the throttle needles exchange their active or passive role.
  • the throttle device D1 (and D3) is passive, the pressure conditions (taking into account the different sized pressurized areas on both sides of the piston 3) ensure that the annular gap 17 is wide open.
  • Da D4 (and D2) (unlike in the neutral position of Figure 1) is almost closed, prevails at point A, a pressure above the pressure in the tank T, and via the line LA is in the Working space a pressure exerted in the direction of arrow on the working piston AK.
  • D2 has almost been closed in the following way: First, the throttle opening 82 of D2 was even more open so that fluid could flow relatively unobstructed from the pump P via the inlet channel 142 through a Vorordelelbohrung 122 in the piston 32 and via the throttle opening 82 and the channel 2_T to the tank T. Then, the throttle opening 82 was closed more tightly by sliding the throttle needle 92 to the left. As a result, a higher pressure has built up in the pressure chamber 52, which resulted in a displacement of the piston 32 to the left.
  • the advantage of the modules implemented according to the description lies in their simple nature and cost-reducing construction. As opposed to the usual on the perimeter sealing longitudinal slide and rotary valve sleeve units sealed here end cash becomes, eliminates the tainted with tolerances and thus production-consuming Fit between slide and bore. This is associated with a waiver special materials and their expensive processing in terms of surface and Heat treatment.
  • the described module has pistons and housing a light metal alloy proved sufficient even for high fluid pressures.
  • the spring elements 11 shown in Figure 2; which is also sunk by a large one (eg built-in) spring element 11a (shown at D4 in Figure 4) can be replaced in the neutral position, the task, the piston 3 in the direction of the annular gap 17 press that by throttling the fluid flow in the annular gap 17 a predeterminable Pressure difference arises when the throttle effect occurs at the choke unit, consisting of throttle needle 9 and throttle opening 8, a compressive force on the end face 16 ( Figure 2) allows the piston 3, which overcomes the friction of the sealing element 4. This friction is additionally by the spring force of the spring element 11th overcome.
  • the throttle opening 8 is located in a disc 6. the rear end of the Pressure chamber 5 forms.
  • the flowing through the throttle opening 8 in the space 7 fluid is passed through line 10 in Figure 2 (or 1_T in Figure 4) into the tank T of the system recycled.
  • control device with the features of claim 1 is a high leakage fluid flow avoided and thereby the work of the Working piston of a controlled working cylinder increased.
  • a high leakage fluid flow can be avoided when the piston 3 is designed so that in its end face 16 (Figure 2) the pilot hole 12 opens and their local bore opening by the abutment of the end face 16 against the stop surface 60 of the disc 6 (or at another corresponding stop surface for the piston 3) is closed when the piston 3 is pressed by pressurizing its end face 15 against the stop surface 60 of the disc 6 (or against another corresponding stop surface for the piston 3).
  • Figure 4 in the module D1.
  • the pilot bores 12, 122 need not be in the controllable throttle devices D1, D2 can be arranged, but instead can be in the co-controlled Throttle devices D3, D4 are: compare there the reference numerals 123 and 124th If in such a modified arrangement according to Figure 4, the throttle device D2 from opened in the closed state is to be controlled first Pilot fluid flow from the pump P via the inlet channel 14, the discharge channel 13, the Pilot bore 124 in the piston of the throttle device D4, the connecting channel 2_4, the pressure chamber 52, the throttle opening 82, the connecting channel 2_T to the tank T. flow.
  • the pressure in Pressure chamber 52 rise and move the piston 32 in the closing direction. simultaneously increases the pressure in the pressure chamber 54 of D4, so that the piston of D4 in Closing direction moves.
  • the control device according to the invention is particularly suitable for hydraulic auxiliary or power steering systems in open-center execution, because they have there the problem of unwanted leakage at fully opened annular gap 17 triggers; but she is also for suitable for use in a closed-center system.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Servomotors (AREA)

Claims (8)

  1. Dispositif de commande pour le mouvement continu d'un servomoteur hydraulique (27), comprenant les caractéristiques suivantes :
    a) dans un chemin d'écoulement hydraulique entre une pompe (P) et un réservoir (T) sont prévus en série deux dispositif d'étranglement (D1, D4) entre lesquels part une conduite hydraulique (LA) qui conduit à la chambre de travail (a) du servomoteur,
    b) l'un des dispositif d'étranglement se compose d'un papillon commandable (D1) avec un piston (3) dans un alésage du carter (1), qui porte d'un côté une tête de soupape qui limite une fente annulaire (17) entre un canal d'entrée (14) et un canal de sortie (13),
    c) la chute de pression au niveau de la fente annulaire (17) peut être commandée en continu au moyen d'une aiguille de papillon (9) déplaçable axialement dans une ouverture de papillon (8), qui est disposée de l'autre côté du piston (12) dans un chemin de commande hydraulique,
    d) le chemin de commande s'étend depuis le canal d'entrée (14) à travers l'ouverture de papillon (8) jusqu'au réservoir (T), où il est guidé par un alésage pilote (12) dans le piston (3) et à travers une chambre de pression (5) qui est disposée entre le piston (3) et l'ouverture de papillon (8),
    caractérisé en ce qu'
    une extrémité de l'alésage pilote (12) est disposée du côté du piston (3) voisin de la fente annulaire (17) dans la région du canal d'entrée (14) de telle sorte qu'elle reste ouverte même lorsque la fente annulaire (17) est fermée, et
    en ce que l'autre extrémité de l'alésage pilote (12) de l'autre côté du piston (3) est disposée où le piston (3) bute contre une surface de butée (60) lors de l'ouverture complète du papillon commandable (D1) et ferme ainsi automatiquement cette autre extrémité de l'alésage pilote (12).
  2. Dispositif de commande selon la revendication 1, caractérisé en ce que
    deux paires de construction identique de dispositifs d'étranglement sont prévues, chaque paire se composant de deux dispositifs d'étranglement, donc au total quatre dispositifs d'étranglement (D1, D2, D3, D4), qui présentent chacun des pistons déplaçables axialement (3, 32, 33, ...), un dispositif d'étranglement (D1 respectivement D2) d'une paire (D1, D3, respectivement D2, D4) pouvant être commandé à chaque fois au moyen d'une aiguille de papillon (9, 92) dans une ouverture de papillon (8, 82) et son piston (3, 32) formant avec une surface de butée (60, 61) dans un alésage du carter (1) une chambre de pression (5)
    et où le piston (33) d'un deuxième dispositif d'étranglement (D3) appartenant à la paire de dispositifs d'étranglement forme avec son carter (G) une autre chambre de pression (53), qui est en liaison hydraulique avec la chambre de pression (5) du premier dispositif d'étranglement (D1) de cette paire, par le biais d'une conduite (1_3),
    et en ce qu'un dispositif d'étranglement (D1 ou D3, respectivement D2 ou D4) de chaque paire (D1, D3, respectivement D2, D4) présente un alésage de pré-étranglement (12) conduisant d'une face frontale à l'autre du piston (3), lequel est disposé de telle sorte que son ouverture d'alésage tournée vers un canal d'entrée (14) soit ouverte dans chaque position du piston tandis que son autre ouverture d'alésage est fermée lorsque le piston (3) est déplacé contre la surface de butée (60).
  3. Dispositif de commande selon la revendication 1 ou 2, caractérisé en ce que la surface de butée (60) fait partie d'un couvercle (D) pour l'alésage du carter (1).
  4. Dispositif de commande selon la revendication 1 ou 2, caractérisé en ce que la surface de butée (60) fait partie d'un disque (6) dans lequel se trouve l'ouverture de papillon (8).
  5. Dispositif de commande selon l'une quelconque des revendications précédentes, caractérisé en ce que la chambre de pression (5, 52, 53, ...) qui est disposée entre le piston (3, 32, 33, ...) et la surface de butée (60) contient un ressort (11) qui pousse le piston (3, 32, 33, ...) dans la position de fermeture du papillon commandable (D1, D2, D3 , ...) .
  6. Dispositif de commande selon la revendication 1 ou 2, caractérisé en ce que le piston (3) porte sur son pourtour de grand diamètre un élément d'étanchéité (4) qui est simultanément utilisé comme support du piston dans l'alésage du carter (1) .
  7. Dispositif de commande selon la revendication 1 ou 2, caractérisé en ce que l'aiguille de papillon (9) peut être déplacée dans l'ouverture de papillon (8) par une force de commande pouvant être appliquée de l'extérieur.
  8. Dispositif de commande selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif de commande fonctionne selon le principe du milieu ouvert.
EP01974163A 2001-08-10 2001-08-10 Dispositif de commande destinee au mouvement continu d'un moteur d'un servomoteur hydraulique Expired - Lifetime EP1415095B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2001/009264 WO2003014576A1 (fr) 2001-08-10 2001-08-10 Dispositif de commande destinee au mouvement continu d'un moteur d'un servomoteur hydraulique

Publications (2)

Publication Number Publication Date
EP1415095A1 EP1415095A1 (fr) 2004-05-06
EP1415095B1 true EP1415095B1 (fr) 2005-12-14

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EP01974163A Expired - Lifetime EP1415095B1 (fr) 2001-08-10 2001-08-10 Dispositif de commande destinee au mouvement continu d'un moteur d'un servomoteur hydraulique

Country Status (5)

Country Link
US (1) US7028599B2 (fr)
EP (1) EP1415095B1 (fr)
AT (1) ATE313016T1 (fr)
DE (1) DE50108414D1 (fr)
WO (1) WO2003014576A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8096227B2 (en) * 2008-07-29 2012-01-17 Caterpillar Inc. Hydraulic system having regeneration modulation
US9328747B2 (en) * 2013-03-15 2016-05-03 Mts Systems Corporation Servo actuator load vector generating system
US10281055B2 (en) * 2016-02-09 2019-05-07 Parker-Hannifin Corporation Hydraulic servo valve
US10798866B2 (en) 2018-08-10 2020-10-13 Cnh Industrial America Llc Depth control system for raising and lowering a work unit of an implement
US20230312237A1 (en) * 2022-03-31 2023-10-05 Oshkosh Corporation Route planning based control of a refuse vehicle hydraulic system

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2672731A (en) * 1951-08-01 1954-03-23 Electrol Inc Self-contained power actuator
US3433131A (en) * 1967-08-22 1969-03-18 Ingebret Soyland Control systems for hydraulic power units
FR2432412B2 (fr) * 1978-05-20 1985-09-27 Girling Ltd Amplificateur de servo-commande pour systemes de freinage de vehicules
US4201052A (en) * 1979-03-26 1980-05-06 Sperry Rand Corporation Power transmission
US4437385A (en) * 1982-04-01 1984-03-20 Deere & Company Electrohydraulic valve system
JP2532081B2 (ja) * 1987-01-30 1996-09-11 日産自動車株式会社 パワ−ステアリングの油圧制御装置
FR2715903B1 (fr) * 1994-02-04 1996-05-03 Alliedsignal Europ Services Servomoteur d'assistance de freinage, à sécurité accrue.
FR2727922A1 (fr) * 1994-12-09 1996-06-14 Alliedsignal Europ Services Servomoteur a enveloppe deformable
DE19500749C2 (de) 1995-01-12 2000-12-07 Danfoss As Drei- oder Mehr-Wege-Ventil
DE19601662A1 (de) * 1996-01-18 1997-07-24 Joerg J Prof Dipl Ing Linser Servoventil in Kartuschenausführung, vorzugsweise für Hilfskraftlenkungen
US6691604B1 (en) * 1999-09-28 2004-02-17 Caterpillar Inc Hydraulic system with an actuator having independent meter-in meter-out control

Also Published As

Publication number Publication date
US20040187675A1 (en) 2004-09-30
EP1415095A1 (fr) 2004-05-06
US7028599B2 (en) 2006-04-18
DE50108414D1 (de) 2006-01-19
WO2003014576A1 (fr) 2003-02-20
ATE313016T1 (de) 2005-12-15

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