EP1531992B1 - Dispositif d'entrainement et procede pour assurer la commande d'une unite d'imprimante - Google Patents

Dispositif d'entrainement et procede pour assurer la commande d'une unite d'imprimante Download PDF

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Publication number
EP1531992B1
EP1531992B1 EP04721541.3A EP04721541A EP1531992B1 EP 1531992 B1 EP1531992 B1 EP 1531992B1 EP 04721541 A EP04721541 A EP 04721541A EP 1531992 B1 EP1531992 B1 EP 1531992B1
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EP
European Patent Office
Prior art keywords
circuit
printing press
press according
master shaft
drive
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EP04721541.3A
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German (de)
English (en)
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EP1531992A1 (fr
Inventor
Detlef Alfons BÜCHNER
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Bosch Rexroth AG
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Bosch Rexroth AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F13/00—Common details of rotary presses or machines
    • B41F13/004—Electric or hydraulic features of drives
    • B41F13/0045—Electric driving devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
    • B41P2213/00—Arrangements for actuating or driving printing presses; Auxiliary devices or processes
    • B41P2213/70—Driving devices associated with particular installations or situations
    • B41P2213/73—Driving devices for multicolour presses
    • B41P2213/734—Driving devices for multicolour presses each printing unit being driven by its own electric motor, i.e. electric shaft

Definitions

  • the DE 42 14 394 C2 discloses a drive device for a longitudinally shaftless printing machine, wherein the folding device is data-technically connected via a bus with groups of printing groups.
  • the folder delivers its position reference to the print point groups.
  • a drive control common to the drives of a single group of print groups performs the fine adjustment of these drives with each other and in relation to the folder.
  • a drive of a printing press line is described by a common drive motor, wherein an incremental encoder is arranged in the region of a punch. Signals from this encoder are z. B. used as a reference for the circumferential register.
  • the invention has for its object to provide a drive device and a method for controlling an aggregate of a printing press. The object is achieved by the features of claim 1 and 24, respectively.
  • circuit according to the invention and its connection to a virtual master axis, in particular with regard to the parameterability and the ability to output a plurality of differently parameterized signals.
  • a processing machine for web-like materials for. B. a printing press, in particular a web-fed rotary printing press, has a plurality of mechanically independently driven by a respective drive motor M units 01; 02; 03; 04; 06; 07 on. These independently driven units 01; 02; 03; 04; 06, 07 can z. B. directly or indirectly with a printing press passing through the web, z. As printing substrate, work together and must therefore be aligned in their relative position to the web or each other.
  • Such units 01; 02; 03; 04; 06; 07 may be printing towers 01, individual printing units 02, individual printing units 03 or individual cylinders 04, in particular individual forme cylinders 04, of printing units 03. Likewise, such a unit z. B.
  • Fig. 1 shows three such mechanically independently driven by drive motors M units 01; 02, 03; 04; 06; 07.
  • the two units shown on the left For example, printing towers 01, printing units 02, printing units 03 or cylinders 04 can be.
  • the right unit represents z.
  • a further processing unit 06, in particular the folder 06 is.
  • the drive motors M each have a drive 08 with drive control, which in each case via at least one signal line 09 with each other and with a computing and data processing unit 11, z. B. a computer 11, are connected.
  • the computing and data processing unit 11 may additionally comprise an operating unit 10 or with an operating unit 10, for. B. a control room 10, are in communication.
  • the drives 08 (or controller 08) can in principle (not shown) in series directly in ring or bus structure or as shown in a tree structure by signal lines 12 to be connected to the signal line 09.
  • the at least one signal line 09 carries signals of a Leitachsposition ⁇ , which by a computing unit 13, z. B. a higher-level drive control 13, is specified.
  • the signal line 09 together with the arithmetic unit 13, the so-called virtual master axis a (electronic wave) for the units connected to it) 01; 02; 03; 04; 06; 07, at which the units 01, 02; 03; 04; 06; 07 in their position or position.
  • This Leitachsposition ⁇ is passed to the drives 08 as a default (reference variable).
  • Each of the controllers 08 is a specific offset ⁇ i , z. B. angular offset ⁇ i, can be predetermined, wherein a permanent but variable displacement from the Defines Leitachsposition ⁇ .
  • This offset ⁇ i ? is z. B. directly on the controller 08 and / or via computing and data processing unit 11 entered and / or stored for specific operating situations, in particular specific web guides in a memory in the computing and data processing unit 11 and retrievable.
  • the signal line 09 is designed accordingly, for example as a broadband bus or broadband network, then the information about the respectively predetermined and fixed offset ⁇ i as well as the "rotating" Leitachsposition ⁇ can possibly take place via the common signal line 09.
  • the signal line 09 may also be connected in each case with a control system 24 which, for example, the different of the drive motors M actuators and drives of the printing units 02 or printing units 03 or folders 06, z.
  • a control system 24 which, for example, the different of the drive motors M actuators and drives of the printing units 02 or printing units 03 or folders 06, z.
  • the respective offset ⁇ i ? is z. B. transferred before the start of production by the control room 10 or by the computing and data processing unit 11 to the drives 08 and stored there.
  • the offset values A ⁇ i ?? for the various drives 08 can also be stored in the parent drive controller 13 in a variant.
  • each drive receives 08 via the signal lines 09; 12 (or in series: only 09) as a specification of the sum of the rotating Leitachsposition ⁇ and the specific, stored offset value ⁇ i of the respective drive 08th
  • drives 08 for example, the drives 08 of the first two z.
  • Example as printing towers 01 units running and the drive 08 of the unit is designed as a folding apparatus 06, respectively of the rotating master axis position ⁇ of the superordinate drive controller 13, each with a fixed offset ⁇ i values relative to the absolute Position of the master axis position ⁇ .
  • the drive control 13 predetermining the Leitachsposition ⁇ thus acts as a master substantially independent of the units for all drives 08 coupled to this leading axle a.
  • Different units 19 and / or different manufacturers now make pulse sequences I (t) with different number of pulses per revolution n / 2 ⁇ or periods with different period lengths ⁇ and / or different amplitudes I and / or different composition of a set of pulse trains I n ( t) and / or the presence of a zero "0" required.
  • the circuit 15 now has setting possibilities for one or more of the mentioned parameters n / 2 ⁇ , ⁇ , I, I n (t), "0". This can take place via an interface by means of a PC, by means of a so-called jumper box or else via the computing and data processing unit 11.
  • the Circuit 15 a possibility of adaptation (or possibility for parameterization) of the incremental resolution between the rotating master axis a; b and an angular position sensor of an on the circuit 15 to be controlled unit 19 and its drive on.
  • This parameterization can consist, for example, in the specification of a resolution ratio, the specification of one or both values of the leading axis or aggregate resolution.
  • an angular position sensor of the unit 19 and its drive motor with, for example, 1024 increments per revolution or a different number n, such. B. 512 or 4084, is executed. Or, for example, a factor is indicated between the number of these increments and that on which the master axis is based.
  • the circuit 15 has a plurality of subcircuits each having parameterizable parameters n / 2 ⁇ , ⁇ , I, I n (t), "0" and a plurality of outputs.
  • pulse sequences I (t) of one or more fictitious encoders can be tailored for the drives of units 19.
  • Fig. 2 In contrast to Fig. 1 takes place in Fig. 2 already in the drive control 13, or a circuit 20 implemented there, for example a card, the conversion of the Leitachsposition ⁇ in a first pulse train I 0 (t) with a fixed number of pulses or voltage per revolution n / 2 ⁇ and form, which the Input of the circuit 15 is supplied.
  • the output signal I (t) or the output signals I (t) is now generated based on the present parameters or parameter sets n / 2 ⁇ , ⁇ , I, I n (t), "0" and the aggregate 19 and supplied to the respective units 19. As in Fig. 2 indicated, these can each be individually parameterized.
  • the arithmetic unit 13 for the specification of the Leitachsposition ⁇ is z. B. connected via the signal line 14 to the computing and data processing unit 11, from which, for example, it again receives specifications in terms of production speed or current target speed.
  • the respective current Leitachsposition ⁇ is now specified by the parent drive controller 13 and fed into the signal line 09. From there, the information about the circulating Leitachsposition ⁇ is in each case via the communication node 17, given to the signal line 12 and there fed directly to the relevant for the current production drives 08.
  • a communication node 17 may, as in Fig. 2 represented, via the signal line 12, z.
  • printing units 02, printing units 03 or cylinders 04 be connected.
  • the subordinate units combined in the manner via a communication node 17 are referred to below as group 18 of mechanically independently driven units or aggregates.
  • the communication node 17 in this case z.
  • the middle unit represents in the example of the Fig. 2 such a group 18 of several subunits, e.g. B. two printing units 02, two printing units 03 or two guide elements 07 etc., whose drives are both 08 via the communication node 17 the Leitachsposition ⁇ .
  • the transmission takes place here z. B. in tree structure of the signal line 14 via a common signal line 16 per unit (or star-shaped over several separate signal lines 16 per unit) to the drives 08 out (solid lines).
  • the physical design of the logical connections 16' can directly or indirectly via other connections such as bus coupler, Bridges etc., or z. B. via an in Fig. 1 or 3 represented control system 24, take place.
  • the signal line (s) 16 can be omitted here.
  • the specific offset ⁇ i is supplied from the communication node 17 only via the signal line 12 to the corresponding drive 08 and stored there.
  • the given context is intended to clarify here and in the following only the principle.
  • the specific Leitachsposition ⁇ i the scopes of the driven units etc. to be considered, so that a real context z. B. has further aggregate-specific factors.
  • the computing and data processing unit 11 is thus on the one hand via the parent drive controller 13, the signal line 09 (cross-communication), the respective communication node 17 and the signal lines 12, z. Buses 12, in connection with the drives 08. Also information about the configuration (coupling of printing units 02 and / or printing units 03) or the common production speed can be exchanged in this way.
  • the computing and data processing unit 11 higher-level drive controller 13 is to transmit the information to the specific offset ⁇ i as described above either via the signal line 14 and the signal lines 16 or via the signal line 14, the logical connection 16 ', the communication node 17 and the signal lines 12 with the corresponding drives 08 in conjunction.
  • the drive motors M of the group 18 are connected to one another and to the subordinate control 17.
  • the subordinate controllers 17 of the groups 18 or units are connected to one another via at least one signal line 09 and to the higher-level drive controller 13.
  • the computing and data processing unit 11 for the transmission of the specific offset values ⁇ i via at least one signal line 14 to the drives 08 and the communication node 17 is connected.
  • the signal line 09 is in an advantageous embodiment as real-time capable compound 09 with a fixed time frame for real-time data and deterministic time response, z. B. as Arcnet trained.
  • the connection 09 may additionally comprise a channel in which, for example, non real-time-relevant data, such. B. the transmission of the specific offset values ⁇ i according to the embodiment according to Fig. 1 and / or information about the configuration, production speed, etc. according to the embodiment Fig. 1 be transmitted.
  • the signal line 12 is in an advantageous embodiment as a real-time connection 12 with a fixed time frame for real-time data and deterministic timing, z. B. as Arcnet executed.
  • the connection 12 may additionally have a channel in which, for example, non-real-time-relevant data, such. B. the transmission of the Offset ⁇ i and / or information about the configuration, production speed, etc. are transmitted.
  • the signal line 14 and 16 is preferably formed as a network 14, 16 or as part of a network 14, 16.
  • This network 14, 16 can again in an advantageous embodiment as network 14, 16 according to a deterministic access method, for. B. as Arcnet, work.
  • the network 14, 16 can also be used as a fast network 14, 16 with stochastic access behavior, e.g. B. as Ethernet, be executed.
  • data transmission should be possible at least in half-duplex mode.
  • Fig. 3 shows an embodiment, wherein the virtual leading axis is specified by one of the formerly "subordinate" drive controls 17 as so-called. Master. This is, for example, the drive controls 17 of the folder 06.
  • the input of the circuit 15, the Leitachsposition ⁇ are supplied, which converts them in the manner described.
  • the input of the circuit 15 is already fed a converted defined pulse train I 0 (t), which was generated according to the drive control.
  • the Leitachsposition ⁇ or the converted pulses can also from other points of the virtual leading axis a; b or another drive control 17 of the circuit 15 are supplied.
  • Fig. 4 shows an example of the drive of a printing press with several, here three printing towers 01, each having a plurality of printing units 03, here double printing units 03, have.
  • the printing units 03 of a printing tower 01 together with their drives 08 and the motors M a group 18, in particular a pressure point group 18, which is connected via the subordinate drive control 17 of this group 18 to the signal line 09.
  • the drive control 13 can also subgroups 02 of printing units 03, z. B. printing units 02, or other divisions associated with Manage drives 08.
  • this signal line 09 are also further, own subordinate drive control 17 having units, for. B. one or more vanes 07 and / or one or more folders 06 connected.
  • the signal line 09 is advantageously designed in ring topology, in particular as a double ring, and has one or more of the above Fig. 2 mentioned properties.
  • Fig. 4 is in each case a circuit 15 with a higher-level drive control 13 in connection, from which they the Leitachsposition ⁇ a; ⁇ b or already receives the pulse train I 0 (t). It is also possible to connect a circuit 15 to the common signal line 09, the circuit 15 (or its individual subordinate circuits for different outputs) then the one or the other leading axis a; b is assignable. This can then also be done via a parameterization for the individual output or the individual outputs.
  • the signal line 09 is connected to a plurality of, here two, higher-level drive controllers 13, which in each case different signals of a respective Leitachsposition ⁇ a; ⁇ b a master axis a; b can feed into the signal line 09.
  • This is advantageous, for example, if the printing machine or its printing towers 01 and / or printing units 02 and / or printing units 03 and the associated folding units 06 and guide elements 07 have a plurality of sections 21, 21; 22 should be assignable.
  • the individual printing towers 01 can be assigned, for example, to different folders 06. Even within a printing tower 01 are subgroups, z. As printing units 03, different webs with different web guides assignable, which can be performed on a common or even on different folders 06.
  • the sections 21; 22 are logically not to be understood as rigid units.
  • the subordinate drive control 17 processes each of the associated for the relevant drive 08 Leitachsposition ⁇ a; ⁇ b of the leading axis a or b, depending on the affiliation of the relevant printing point to one or the other web, with the predetermined offset for this web guide ⁇ i .
  • control system 24 controls and / or regulates, for example, the different of the drive motors M actuators and drives of the printing units 02 and groups of printing groups 18 and Druckwerke 03 valu.
  • the control system 24 and its control unit (s) 26 is / are in an advantageous embodiment by couplers, not shown, for. B. Bus coupler, releasably connected to the signal line 14.
  • the group 18 can in principle be operated by itself, with the control of the drives 08 taking place via the line of the subordinate drive control 17 with signal line 12 and the control of the further functions of the group 18 via the line of the control system 24. Setpoints as well as actual values and deviations can be switched on or off via the coupler.
  • the subordinate drive control 17 assumes in this case the specification of a Leitachsposition ⁇ . For this reason and for reasons of redundancy, it is advantageous if all subordinate drive controllers 17 are designed with the possibility of generating and specifying a Leitachsposition ⁇ .
  • the offset values ⁇ i become in the embodiment Fig. 4 thus supplied from the signal line 14 via the respective control system 24 of the respective subordinate drive control 17. As in the embodiment according to Fig. 2 described, the offset values ⁇ i can alternatively be given from there to the drives 08 and stored and processed there.
  • the parent drive control 13 accounts if z. B. one or more groups 18 or one of its own subordinate drive control 17 having units (eg folder 06) has a subordinate drive control 17.
  • the virtual Leading axis or Leitachsposition ⁇ is then z. B. of one of the drive controls 17 can be specified.
  • the circuit 15 again receives its input signal (Leitachsposition ⁇ or converted pulse train I 0 (t)) either from the signal line 09 or from the respective drive controller 17th

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)
  • Rotary Presses (AREA)

Claims (24)

  1. Machine d'impression comprenant un dispositif d'entraînement et au moins un axe pilote (a ; b) virtuel destiné à prédéfinir une position angulaire de consigne (Φi') d'un mécanisme d'entraînement (08) d'au moins une unité (01 ; 02 ; 03 ; 04 ; 06 ; 07) entraînée par un moteur d'entraînement (M) propre, au moins un circuit (15 ; 20) étant en liaison avec l'axe pilote (a ; b), au moyen duquel l'origine de la position angulaire d'une position de l'axe pilote (Φ) qui varie dans le temps peut être convertie en une séquence d'impulsions (I(t) ; I0(t)) sous la forme de signaux de sortie (I(t) ; I0(t)), et le circuit (15 ; 20) étant paramétrable du point de vue du nombre d'impulsions par tour (n/2π) et étant réalisé réglable en rapport avec d'autres paramètres (n/2π, τ, I, In(t), « 0 ») qui concernent la forme du signal de sortie (I(t)).
  2. Machine d'impression selon la revendication 1, caractérisée en ce que la séquence d'impulsions (I(t) ; I0(t)) est acheminée à un mécanisme d'entraînement d'un groupe (19) qui est entraîné indépendamment du mécanisme d'entraînement (08) de l'unité (01 ; 02 ; 03 ; 04 ; 06 ; 07) accouplée à l'axe pilote (a ; b).
  3. Machine d'impression selon la revendication 1, caractérisée en ce que le circuit possède plusieurs circuits partiels au moyen desquels plusieurs séquences d'impulsions (I(t)) peuvent être générées sous la forme de signaux de sortie (I(t)) au niveau de plusieurs sorties.
  4. Machine d'impression selon la revendication 1 ou 3, caractérisée en ce que le circuit partiel réalisé réglable en rapport avec d'autres paramètres (n/2π, τ, I, In(t), « 0 ») qui concernent la forme du signal de sortie (I(t)).
  5. Machine d'impression selon la revendication 1 ou 3, caractérisée en ce que le circuit (15 ; 20) ou le circuit partiel est réalisé sous la forme d'un circuit émulateur.
  6. Machine d'impression selon la revendication 1 ou 3, caractérisée en ce que le circuit (15 ; 20) ou le circuit partiel reçoit à son entrée la position actuelle de l'axe pilote (Φ) de la part d'une commande d'entraînement (13) ou d'une unité de calcul et de traitement de données (11) de la machine d'impression.
  7. Machine d'impression selon la revendication 1, caractérisée en ce que le circuit (15 ; 20) est connecté en tant que client à un réseau (09) qui achemine la position de l'axe pilote (Φ) et reçoit sa position angulaire à son entrée.
  8. Machine d'impression selon la revendication 1, caractérisée en ce qu'une commande d'entraînement (13) qui prédéfinit la position de l'axe pilote (Φ) est présente, laquelle possède au moins un circuit (15 ; 20).
  9. Machine d'impression selon la revendication 1, caractérisée en ce qu'un premier et au moins un deuxième circuit (20 ; 15) sont présents pour la conversion.
  10. Machine d'impression selon la revendication 9, caractérisée en ce qu'une commande d'entraînement (13 ; 17) qui prédéfinit la position de l'axe pilote (Φ) possède un premier circuit (20) au moyen duquel est réalisée une conversion de l'origine de la position de l'axe pilote (Φ) qui varie dans le temps en une première séquence d'impulsions (I0(t)) ayant un nombre défini fixe d'impulsions par tour (n/2π) de l'axe pilote (a ; b).
  11. Machine d'impression selon la revendication 10, caractérisée en ce qu'une sortie du premier circuit (20) est reliée à une entrée d'un deuxième circuit (15) au moyen duquel la première séquence d'impulsions (I0(t)) peut être convertie en un nouveau signal de sortie impulsionnel (I(t)) à l'aide des paramètres (n/2π, τ, I, In(t), « 0 ») qui influencent la forme.
  12. Machine d'impression selon les revendications 3 et 11, caractérisée en ce que le deuxième circuit (15) possède plusieurs circuits partiels au moyen desquels plusieurs séquences d'impulsions (I(t)) différentes les unes des autres peuvent être générées en tant que signaux de sortie (I(t)) au niveau de plusieurs sorties.
  13. Machine d'impression selon la revendication 11 ou 12, caractérisée en ce que les paramètres (n/2π, τ, I, In(t), « 0 ») du circuit (15) ou de ses circuits partiels sont réglables.
  14. Machine d'impression selon la revendication 1 ou 13, caractérisée en ce que le signal de sortie (I(t)) est paramétrable du point de vue du nombre d'impulsions par tour (n/2π) de l'axe pilote (a ; b).
  15. Machine d'impression selon la revendication 1 ou 13, caractérisée en ce que le circuit (15 ; 20) est paramétrable du point de vue du nombre d'impulsions par tour (n/2π) d'un groupe (19) à commander au moyen du circuit (15 ; 20).
  16. Machine d'impression selon la revendication 4 ou 13, caractérisée en ce que le signal de sortie (I(t)) est paramétrable du point de vue d'une hauteur de son amplitude (I).
  17. Machine d'impression selon la revendication 1, 3, 11 ou 12, caractérisée en ce que la séquence d'impulsions convertie (I(t)) est présente à la sortie du circuit (15 ; 20) sous la forme d'un signal de sortie (I(t)) numérique.
  18. Machine d'impression selon la revendication 1, 3, 11 ou 12, caractérisée en ce que la séquence d'impulsions convertie (I(t)) est présente à la sortie du circuit (15 ; 20) sous la forme d'un signal de sortie (I(t)) analogique.
  19. Machine d'impression selon la revendication 1, 3, 11 ou 12, caractérisée en ce que le signal de sortie (I(t)) possède à une sortie un jeu de séquences d'impulsions corrélées (IA(t) ; IB(t) ; IC(t)).
  20. Machine d'impression selon la revendication 4 ou 13, caractérisée en ce que le circuit (15 ; 20) est relié de manière amovible à une unité de calcul (11) en vue du réglage des paramètres (n/2π, τ, I, In(t), « 0 »).
  21. Machine d'impression selon la revendication 1, caractérisée en ce que la position de l'axe pilote (Φ) est prédéfinie par une commande d'entraînement (13 ; 17).
  22. Machine d'impression selon la revendication 10 ou 21, caractérisée en ce que la commande d'entraînement (13 ; 17) qui prédéfinit la position de l'axe pilote (Φ) est réalisée sous la forme d'un maître indépendant pour tous les mécanismes d'entraînement (08) qui sont accouplés à cet axe pilote (a ; b).
  23. Machine d'impression selon la revendication 10 ou 20, caractérisée en ce que la commande d'entraînement (17) qui prédéfinit la position de l'axe pilote (Φ) est réalisée sous la forme d'une commande d'entraînement (17) d'un appareil de pliage (06).
  24. Procédé de commande d'un groupe d'une machine d'impression comprenant au moins un axe pilote (a ; b) virtuel destiné à prédéfinir une position angulaire de consigne (Φi') d'un mécanisme d'entraînement (08) d'au moins une unité (01 ; 02 ; 03 ; 04 ; 06 ; 07) entraînée par un moteur d'entraînement (M) propre, l'origine de la position angulaire d'une position de l'axe pilote (Φ) qui varie dans le temps étant convertie en une séquence d'impulsions (I(t) ; I0(t)) au moyen d'au moins un circuit (15 ; 20) qui est en liaison avec l'axe pilote (a ; b) et étant acheminée au groupe (19) sous la forme de signaux de sortie (I(t) ; I0(t)), et une résolution incrémentale entre l'axe pilote (a ; b) rotatif et un codeur de position angulaire d'un groupe (19) ou de son moteur d'entraînement à commander par le biais du circuit (15 ; 20) étant réalisée par le biais d'un paramétrage du circuit et un réglage du circuit en rapport avec d'autres paramètres (n/2π, τ, I, In(t), « 0 ») qui concernent la forme du signal de sortie (I(t)).
EP04721541.3A 2003-04-16 2004-03-18 Dispositif d'entrainement et procede pour assurer la commande d'une unite d'imprimante Expired - Lifetime EP1531992B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10317570 2003-04-16
DE10317570A DE10317570B3 (de) 2003-04-16 2003-04-16 Antriebsvorrichtung eines Aggregates einer Druckmaschine
PCT/EP2004/050323 WO2004091912A1 (fr) 2003-04-16 2004-03-18 Dispositif d'entrainement et procede pour assurer la commande d'une unite d'imprimante

Publications (2)

Publication Number Publication Date
EP1531992A1 EP1531992A1 (fr) 2005-05-25
EP1531992B1 true EP1531992B1 (fr) 2018-05-16

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US (1) US20060207450A1 (fr)
EP (1) EP1531992B1 (fr)
JP (1) JP4833833B2 (fr)
DE (1) DE10317570B3 (fr)
WO (1) WO2004091912A1 (fr)

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JP2006525886A (ja) 2006-11-16
JP4833833B2 (ja) 2011-12-07
WO2004091912A1 (fr) 2004-10-28
DE10317570B3 (de) 2004-09-16
EP1531992A1 (fr) 2005-05-25
US20060207450A1 (en) 2006-09-21

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