EP1516850A1 - Capteur, dispositif d'actionnement et machine de travail - Google Patents

Capteur, dispositif d'actionnement et machine de travail Download PDF

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Publication number
EP1516850A1
EP1516850A1 EP04104323A EP04104323A EP1516850A1 EP 1516850 A1 EP1516850 A1 EP 1516850A1 EP 04104323 A EP04104323 A EP 04104323A EP 04104323 A EP04104323 A EP 04104323A EP 1516850 A1 EP1516850 A1 EP 1516850A1
Authority
EP
European Patent Office
Prior art keywords
boom
sensor
working
arm
processing system
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.)
Granted
Application number
EP04104323A
Other languages
German (de)
English (en)
Other versions
EP1516850B1 (fr
Inventor
Richard Gary Rokusek
Gregory Keith Werner
Scott Joseph Breiner
Daniel Lawrence Pflieger
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.)
Deere and Co
Original Assignee
Deere and Co
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 Deere and Co filed Critical Deere and Co
Publication of EP1516850A1 publication Critical patent/EP1516850A1/fr
Application granted granted Critical
Publication of EP1516850B1 publication Critical patent/EP1516850B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
    • E02F3/433—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude horizontal, e.g. self-levelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20576—Elements
    • Y10T74/20636—Detents
    • Y10T74/20666—Lever engaging

Definitions

  • the invention relates to a sensor device for determining the position of a boom of a working machine, with a Follower arm and a position sensor, wherein the follower arm such interacts with the boom and the position sensor that the position sensor a position, in particular a Angle position, the cantilever can detect one Control device with such a sensor device and a Working machine, in particular a preferably self-propelled Working vehicle.
  • the height and angle must be or in general the position of a working means visually estimated and manually in an approximately constant range being held. This is for a normal operator tiring.
  • On other equipment or vehicles are individual positions, ie heights and angular positions of the Factory-preset working fluid to allow that the work equipment automatically in certain positions can be brought if an operator for this purpose Instruction, for example by pressing a button, a Movement of a handle or other simple movement, gives.
  • US-A-4,015,729 shows an automatic control system for a backhoe with a provided on a boom Spoon.
  • the control system has means for determining the Position of the boom with a potentiometer, which over a linkage with the boom communicates with.
  • a sensor device for determining the position a boom of a working machine, with a follower arm and a position sensor, wherein the follower arm with the Boom and the position sensor cooperates, that the Position sensor a position, in particular a Angle position, the cantilever can determine with a Spring device that loads the follower arm such that this at least during operation permanently with the Boom remains in contact, a control device with a Such sensor device and a work machine with a Such adjusting device and / or sensor device proposed.
  • the position sensor can be considered a particular electronic Sensor be formed, preferably mechanically with the Follower arm directly or indirectly, for example via lever or in particular via the follower arm connected.
  • Position sensor may be, for example, a Potentiometer act or the position sensor can one Have potentiometer.
  • an adjusting device for at least substantially automatic positioning at least one boom and / or one with the boom connected work equipment such as an excavator bucket, a bucket, a fork, etc. of a working machine, in particular a work vehicle such
  • a work vehicle such
  • Have sensor device so that they also have a simplified construction and improved handling having.
  • the adjusting device can be an adjusting means, preferably in the Type of a particular hand-operated lever with at least a locking position by means of which the boom is positioned can be at least one actuating means, preferably one Switch, and a memory unit which, when actuated the actuating means at least a first of the Sensor device determined, to the current position of the cantilever stores corresponding value, and that the Actuating the boom at least in one to the first stored value corresponding position brings when the Adjusting means assumes its locking position.
  • the Adjustment means the adjusting means from its locking position release when the jib returns to the stored value reached corresponding position.
  • the data processing system based on the value and a distance of the working medium from a rotation center of the boom a working height of the Work equipment calculates that means for entering the amount of Working means are provided in the data processing system and that in particular the position of the Outrigger calculated and stored a corresponding value becomes.
  • this display device can For example, in an already existing Display device integrated or provided separately.
  • Such a device and / or sensor device may be on a work machine, in particular a preferably self-propelled work vehicle, provided with a boom be.
  • the work machine can also be a stationary work machine act.
  • the work machine can For example, a construction equipment or vehicle, for example in be the type of a loader, excavator or crane, one agricultural or industrial working machine, like For example, a tractor with a boom, a Front loader, a backhoe or a telescopic loader, or any other suitably-trained work machine.
  • Such a work machine may have one or more outriggers exhibit.
  • the boom (s) can work with the machine permanently or detachably connected.
  • the boom can be directly or indirectly with one Work equipment and the other directly or indirectly with one a frame of the working machine or the working machine provided carrier preferably at least one in particular at least substantially horizontal axis be connected pivotally.
  • the work equipment can For example, an excavator bucket, bucket, a Fork, a transport device, etc. act.
  • a method for automatically positioning a cantilever such a work machine determines at least one Position or a rotational or angular position of the boom by means of the sensor device stores at least one the sensor device determined position, preferably by means the adjusting device or a control or storage unit the actuator and moves the boom preferably at least stored in this position, if that Actuating means or the lever in its locking position is or has been brought into this or is.
  • a sensor device, a Adjusting device and a working machine available their handling for an operator less tiring and / or that is easy and inexpensive.
  • the sensor device and / or the adjusting device can be a Position of a cantilever tracked or determined simplified become.
  • an angle sensor is provided which a having spring-loaded follower arm, permanently or in all Positions in contact with the boom is or held becomes.
  • the follower arm pivots when the position of the Cantilever changes and causes a change in one electrical characteristic of an electromechanical device, such as a potentiometer.
  • This change of electrical characteristic is in one Signal processing device or an on-board computer, such as For example, a chassis control unit or a Control unit and / or transmitted to an operator.
  • Positions such as an ejection position, grave or Transport position (s) by only a pure actuation a button of a switch at desired boom heights too determine.
  • An actuating means in particular an actuating lever of the boom, can be used by the operator be to the boom from a server platform or off to operate a cabin.
  • Such an actuating means has preferably in a known manner at least one Locking or locking position on.
  • the boom can be automatic placed in a set or stored position be in which the actuating means in this locking position is brought.
  • the boom has reached this position, the corresponds to the stored value, transmits the Control unit a signal to the actuating means from the Release lock position and give him a return in one To enable neutral position. That way it stops Movement of the boom when releasing the actuator.
  • Such a sensor and / or adjusting device is very simple and no need between the sensor and the boom Linkage system, as is common in known systems. On this way, the sensor device can with a minimum Expenditure of changes to the working machine attached as they are firmly connected to an area of the vehicle and with the actuator by means of cables or wirelessly is connected.
  • a transmission of the values to the control unit can be via flexible, electrical cable or wireless by means of electrical waves are achieved.
  • FIG. 1 shows a working machine in the manner of a Construction vehicle to which the present invention uses Can be found.
  • a vehicle body 10 having a front Vehicle area 100 which is pivotally connected to a rearward vehicle area 200 via vertical pivot bearings 220 is connected to the working machine by a Pivoting the front vehicle area 100 relative to the rearward vehicle area 200 in a known manner is steered.
  • the front and rear vehicle areas 100 and 200 are respectively on front drivable wheels 101 and rear drivable wheels 201.
  • Rear vehicle area is a driver platform 210 provided, which substantially above the pivot bearing 220 is arranged.
  • the front vehicle area 100 has a Carrier 120 with a right support region 120a and a left carrier region 120b.
  • the front and back, drivable wheels 101 and 201 move the working machine over the underground and are in a known manner driven.
  • a boom 110 attached, the corresponding first and second boom arms 110a and 110b.
  • the first and second extension arms 110a and 110b are provided with a cross tube 111 which is connected to both the first cantilever arm 110a and second cantilever arm 110b welded, connected.
  • a rear end of the Boom 110 is on the carrier 102 by means of radial bearings 125 and a loader bucket or a working means 115 is at one front end portion of the boom 110 by means of transverse bearings 116th appropriate.
  • the boom 110 is about the transverse bearing 125 by means hydraulic lifting cylinder (not shown) pivoted.
  • FIG. 2 shows an exemplary embodiment of a boom position determination device according to the invention, which is referred to below as sensor device 300, which is provided on the carrier 120.
  • sensor device 300 According to this particular Embodiment is the sensor device 300 at a Side wall 121 of the boom 120 by means of screws 301 appropriate.
  • a spring-loaded follower arm 312 against the underside of the first Cantilever arm 110a pressed so that the follower arm 312 in all rotary positions a pressure on the first boom 110a exercises.
  • the spring-loaded follower arm is located 312, as shown in Figures 3 and 4, according to this embodiment, in all rotational positions of the Boom 110 at the bottom of the boom 110a, without that he be physically attached to the boom 110 for this purpose would have to produce and without the associated effort.
  • FIG. 5 shows an exemplary embodiment of the invention Sensor device 300 according to the invention.
  • the sensor device 300 has a Sensor carrier 309, a follower assembly 310 and a Potentiometerzusammenbau and a position sensor 306 on.
  • the sensor carrier 309 has a first region 302 and a second area 303, wherein the first and the second area 302, 303 together by means of screws 304a and locknuts 302b are firmly connected.
  • the first region 302 has an L-shaped Terminal area 302a and a C-shaped Connection area 304b.
  • the L-shaped terminal portion 302a has two recesses 301a for fixing the whole Sensor device 300 on the side wall 121 of the carrier 120th by means of the screws 301.
  • he has two Recesses 304a for attaching the first portion 302 to the second area 303 by means of the screws 304a and the Locknuts 304b on.
  • the C-shaped terminal portion 302b has two recesses 307a for attaching the position sensor 306 by means of lock nuts 306e and screws 306c and a third recess 306j to a passage of a shaft 316th through a wall of the C-shaped portion 302b and into the Potentiometer 306b to allow.
  • the C-shaped Terminal portion 302b an anchor bolt recess 320a to Attaching a spring anchor pin subassembly 320 on.
  • the second terminal portion 303 has two recesses 304b for fixing the first area 302 to the second area 303 on.
  • the second area 303 further has two additional ones Recesses 315a and 316a on.
  • a stop device 315 is provided, to limit the rotational movement of the follower arm 312.
  • the shaft 316 of the follower assembly 310 is a shaft bearing 310a pressed to the rotational movement of the shaft 316 to to improve and axial movement of a spring bearing 318 to limit.
  • the shaft 316 are on each side of the Spring bearing 318 washers 317 provided.
  • a first End portion of the follower arm 312 is on the shaft 316 at a Place next to the spring bearing 318 pressed onto the shaft 316.
  • a locking ring is in a groove 316a in the direction of a second end portion of the shaft 316 arranged to the To secure washers 317 and the spring bearing 318, as well to limit axial movement of the shaft 316.
  • a first End portion of a torsion spring or a spring 314 is on an anchor bolt 320 anchored while a second end portion the spring 314 the follower arm 312 against a bottom of the first cantilever arm 110a urges and loads there.
  • a Roll assembly 313 is provided, which a roller 313 a and a bearing 313d, as well as a screw 313b and a Lock nut 313c, to each movement of the roller 313a and of the bearing 313d relative to the screw 313b except one Limit rotational movement.
  • the follower assembly 310 has the follower arm 312, the spring 314, the shaft 316a, the shaft bearing 310a, a plurality of Washers 317, the circlip 330 and the spring bearing 318 on.
  • a Potentiometer assembly On the C-shaped receiving portion 320b is a Potentiometer assembly and a position sensor 306th attached, which has a holder portion 306a and a Sensor range or a potentiometer 306b has.
  • the Holder portion 306a and potentiometer 306b are on opposite side portions 302c of the C-shaped Receiving area 302 via screws 306c, washers 306d and locknuts 306e attached.
  • washers 306d When assembling the Position sensors 306 are located between side portions 302c and the potentiometer 306b washers 302f made of rubber as Seal arranged against environmental influences.
  • the second When mounting the the entire sensor device 300, the second extends End portion of the shaft 316 through a recess 306g in the Holder portion 306a and in a recess 306h in the Potentiometer 306b, where it in a known manner in one conventional rotor (for example by means of a Keyway) is fastened, such that a Change in the angle of the shaft 316 in a proportional Change in the resistance of the potentiometer 306b results.
  • FIG. 8 that of FIG Sensor device 300 detected signal via electrical Wires or wireless by means of electromagnetic waves a chassis control unit 500 transferred.
  • a first toggle switch or a first Actuating means 601 and a second toggle switch or a second actuating means 602 are activated by pressing. After an actuation, the actuation of the first transmits Actuating means 601 and / or the second actuating means 602 a short-term signal to the control unit 500, which causes the control unit 500 the current signal value the sensor device 300 stores.
  • the control unit 500 compares that by a latch or a Memory unit 510 stored signal with that of the Sensor device 30 detected signal and sends a signal to a control lever or an adjusting means 700 from a release locked position or a locking position, when the stored signal is about the detected signal equivalent.
  • the control unit 500 or the storage unit 510 is able to store further calculated values, that is, having a value for the first Actuator 601 has stored, it can be another Store value for the second actuator 602. To this Way, boom ejection position values and transport position values in the control unit 500 or the Memory unit 510 coexist, resulting in convenience and ease of operation of the implement is increased.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
EP04104323.3A 2003-09-12 2004-09-08 Capteur, dispositif d'actionnement et machine de travail Expired - Lifetime EP1516850B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US10/661,166 US7344351B2 (en) 2003-09-12 2003-09-12 Electronic boom height sensor
US661166 2003-09-12

Publications (2)

Publication Number Publication Date
EP1516850A1 true EP1516850A1 (fr) 2005-03-23
EP1516850B1 EP1516850B1 (fr) 2013-10-09

Family

ID=34194706

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04104323.3A Expired - Lifetime EP1516850B1 (fr) 2003-09-12 2004-09-08 Capteur, dispositif d'actionnement et machine de travail

Country Status (6)

Country Link
US (1) US7344351B2 (fr)
EP (1) EP1516850B1 (fr)
JP (1) JP4395015B2 (fr)
AU (1) AU2004202845B2 (fr)
CA (1) CA2481137C (fr)
ES (1) ES2433125T3 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005025536A1 (de) * 2005-06-03 2007-02-01 Technische Universität Ilmenau Mobile Arbeitsmaschinen, insbesondere hydraulisch angetriebene Erdbaumaschinen, und Verfahren zur Erd- und Schüttgutbewegung
DE102015004819A1 (de) * 2015-04-14 2016-10-20 Liebherr-Werk Bischofshofen Gmbh Arbeitsmaschine

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100215469A1 (en) * 2007-06-15 2010-08-26 Boris Trifunovic Electronic Parallel Lift And Return To Dig On A Backhoe Loader
US8500387B2 (en) * 2007-06-15 2013-08-06 Deere & Company Electronic parallel lift and return to carry or float on a backhoe loader
US20100254793A1 (en) * 2007-06-15 2010-10-07 Boris Trifunovic Electronic Anti-Spill
WO2008153533A1 (fr) * 2007-06-15 2008-12-18 Deere & Company Anti-renversement et levage parallèles électronique sur une chargeuse-pelleteuse
JP4918888B2 (ja) * 2007-06-19 2012-04-18 セイコーエプソン株式会社 メディア処理装置及びその制御方法
USD630268S1 (en) * 2009-11-25 2011-01-04 John Cunningham Remote controlled vehicle
DE102010039471B4 (de) * 2010-08-18 2014-02-13 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung einer Hubhöhe einer Arbeitsmaschine
JP5453205B2 (ja) * 2010-09-14 2014-03-26 日立建機株式会社 作業機械
KR20120069788A (ko) 2010-12-21 2012-06-29 두산인프라코어 주식회사 건설중장비의 트랜스미션 컷 오프 제어장치 및 제어방법
JP5707313B2 (ja) 2011-12-19 2015-04-30 日立建機株式会社 作業車両
US8726529B2 (en) 2012-03-27 2014-05-20 Cnh Industrial America Llc Rotary sensor assembly
PE20230969A1 (es) * 2015-05-28 2023-06-16 Joy Global Longview Operations Llc Maquina de mineria y sistema de almacenamiento de energia para la misma
US9714497B2 (en) 2015-10-21 2017-07-25 Caterpillar Inc. Control system and method for operating a machine
SE540111C2 (en) * 2016-10-10 2018-04-03 Loe Ab Rotary sensor arrangement for mounting to a pivot arm arrangement and method for mounting a rotary sensor arrangement to a pivoting arm arrangement

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US4499541A (en) * 1981-03-31 1985-02-12 Kabushiki Kaisha Toyoda Jidoh Shokki Seisakusho Input circuit of a fork lift truck control system for a fork lift truck
DE4110959A1 (de) * 1990-04-11 1991-10-17 Kubota Kk Loeffelbagger
EP0718593A1 (fr) * 1994-12-23 1996-06-26 Samsung Heavy Industries Co., Ltd Dispositif de détection de déplacement de parties mobiles dans des machines industrielles
US5538149A (en) * 1993-08-09 1996-07-23 Altec Industries, Inc. Control systems for the lifting moment of vehicle mounted booms
JP2000129731A (ja) * 1998-10-26 2000-05-09 Sumitomo Constr Mach Co Ltd 建設機械のアタッチメントの位置検出器
EP1258450A2 (fr) * 2001-05-16 2002-11-20 Still Gmbh Chariot de manutention avec un dispositif pour détecter la position d' un actionneur
US6533076B1 (en) * 2002-02-06 2003-03-18 Crown Equipment Corporation Materials handling vehicle mast height sensor

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US3489294A (en) * 1968-04-25 1970-01-13 Bucyrus Erie Co Load limit control for hoisting equipment
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CA1298815C (fr) * 1987-09-10 1992-04-14 Isao Kourogi Commande de positionnement pour chargeuse frontale
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US4499541A (en) * 1981-03-31 1985-02-12 Kabushiki Kaisha Toyoda Jidoh Shokki Seisakusho Input circuit of a fork lift truck control system for a fork lift truck
DE4110959A1 (de) * 1990-04-11 1991-10-17 Kubota Kk Loeffelbagger
US5538149A (en) * 1993-08-09 1996-07-23 Altec Industries, Inc. Control systems for the lifting moment of vehicle mounted booms
EP0718593A1 (fr) * 1994-12-23 1996-06-26 Samsung Heavy Industries Co., Ltd Dispositif de détection de déplacement de parties mobiles dans des machines industrielles
JP2000129731A (ja) * 1998-10-26 2000-05-09 Sumitomo Constr Mach Co Ltd 建設機械のアタッチメントの位置検出器
EP1258450A2 (fr) * 2001-05-16 2002-11-20 Still Gmbh Chariot de manutention avec un dispositif pour détecter la position d' un actionneur
US6533076B1 (en) * 2002-02-06 2003-03-18 Crown Equipment Corporation Materials handling vehicle mast height sensor

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005025536A1 (de) * 2005-06-03 2007-02-01 Technische Universität Ilmenau Mobile Arbeitsmaschinen, insbesondere hydraulisch angetriebene Erdbaumaschinen, und Verfahren zur Erd- und Schüttgutbewegung
DE102015004819A1 (de) * 2015-04-14 2016-10-20 Liebherr-Werk Bischofshofen Gmbh Arbeitsmaschine

Also Published As

Publication number Publication date
CA2481137A1 (fr) 2005-03-12
US20050058530A1 (en) 2005-03-17
ES2433125T3 (es) 2013-12-09
AU2004202845A1 (en) 2005-04-07
CA2481137C (fr) 2008-05-20
AU2004202845B2 (en) 2010-01-07
JP2005090217A (ja) 2005-04-07
EP1516850B1 (fr) 2013-10-09
US7344351B2 (en) 2008-03-18
JP4395015B2 (ja) 2010-01-06

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