EP1570927A1 - Dispositif d'alimentation pour machine à cinter les tôles avec un dispositif d'éclairage - Google Patents

Dispositif d'alimentation pour machine à cinter les tôles avec un dispositif d'éclairage Download PDF

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Publication number
EP1570927A1
EP1570927A1 EP05004293A EP05004293A EP1570927A1 EP 1570927 A1 EP1570927 A1 EP 1570927A1 EP 05004293 A EP05004293 A EP 05004293A EP 05004293 A EP05004293 A EP 05004293A EP 1570927 A1 EP1570927 A1 EP 1570927A1
Authority
EP
European Patent Office
Prior art keywords
sheet metal
sheet
receiving system
metal part
light platform
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
EP05004293A
Other languages
German (de)
English (en)
Other versions
EP1570927B1 (fr
Inventor
Dieter Pfitzner
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.)
Trumpf Maschinen Austria GmbH and Co KG
Original Assignee
Trumpf Maschinen Austria GmbH and Co KG
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 Trumpf Maschinen Austria GmbH and Co KG filed Critical Trumpf Maschinen Austria GmbH and Co KG
Publication of EP1570927A1 publication Critical patent/EP1570927A1/fr
Application granted granted Critical
Publication of EP1570927B1 publication Critical patent/EP1570927B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/003—Positioning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0281—Workpiece supporting devices

Definitions

  • the invention relates to a sheet receiving system for the parts receiving and loading a sheet metal bending machine, in particular a press brake, comprising at least one Manipulator for gripping and moving sheet metal parts with a gripping means equipped with Gripper head, an electronic control device for controlling the movement of the Manipulator and a measuring system for determining the position of the sheet metal parts, as well as a method for picking up sheet metal parts from a sheet stack and positioning the sheet metal parts in a sheet metal bending machine, in particular a press brake, by means of a sheet metal receiving system, comprising at least one manipulator for gripping and moving the sheet metal parts with a grab head equipped with gripping means, an electronic control device for Control of the movement of the manipulator and a measuring system for determining the position of the Sheet metal parts.
  • Conventional sheet-receiving system for sheet-metal bending machines usually include a manipulator in a specific position in front of the sheet metal working machine is positioned and the sheet metal parts of a supply device feeds the press. Achieving an exact gripping position of the sheet metal parts, what a Prerequisite for accurate placement in the press, on the one hand by the precise alignment of the sheet metal parts in the supply device done, on the other hand by detecting the orientation of the edges of the sheet metal parts by means of a special usually mechanical detector device.
  • these methods require elaborate Devices and designed as on the one hand very time-consuming and on the other hand as relative inaccurate.
  • Another approach is to perform a sheet metal part identification with the Manipulator arranged sensors, creating an exact alignment of the sheet metal parts in the provision device can be omitted.
  • DE 196 39 590 A1 describes a bending center which, inter alia, a charging device comprising a loading table and a manipulator arrangement.
  • the feeder has a sensor, which the bearings of the recorded sheet metal part relative to a defined insertion position determined in a bending cell.
  • the sensor is through a light barrier arranged on a fork is formed.
  • the object of the invention is a sheet receiving system and a method for sheet metal recording which allows a quick and secure identification of the sheet metal parts.
  • This object of the invention is in each case independent by an initially mentioned sheet receiving system solved, in which the measuring system by an optoelectronic measuring device, in particular an image capture means, and a transmitted light platform is formed, or by an aforementioned method for receiving sheet metal parts, in which a Sheet metal part taken with the gripping means of the manipulator and a transmitted light platform is supplied, and a lighting device of the gripping means of the manipulator opposite side illuminated at least partial areas of the transmitted light platform, and an optoelectronic measuring device of the measuring system an image of the sheet metal part, in particular from a portion of the sheet metal part, detected and from a computer from the image data Outline data are calculated and from this a new gripping position or a correction of the The position of the gripper head is calculated, and the gripper head the sheet metal part in the new gripping position absorbs or corrects the position and the sheet metal bending machine feeds.
  • the transmitted-light platform is a bearing surface for the sheet metal parts, whereby the sheet metal parts in a well-defined height and location for filing and no additional storage facilities are necessary and thereby optimum quality of an optoelectronic measurement and an optimal Contrast can be achieved.
  • portions of the support surface are formed of a transparent material the advantage arises that a mechanically more stable transmitted light platform is provided For example, because areas that are not transparent are made of more stable materials, such as metals may be formed.
  • the transmitted light platform on one of the support surface for the Sheet metal parts facing away from each other, over at least 30% of the area of the sections Having extending illumination device, which advantageously for a high contrast for the optoelectronic measurement can be achieved and the another uniform illumination of the sub-area is given and thus a high Quality of the recordings is achieved.
  • the transmitted-light platform is in a surrounding area the sheet metal bending machine is arranged arbitrarily, there is the advantage that the transmitted light platform at a location of the surrounding area which is favorable with respect to the given space conditions the sheet metal bending machine can be arranged or an easy replacement the transmitted light platform can be made with changing dimensions of the sheet metal parts.
  • the transmitted light platform faces on a manipulator Front of the sheet metal bending machine, in particular a press table arranged is, it is advantageous that the transmitted light platform in a well-defined position for Manipulator or the sheet metal bending machine is located or that by the immediate Close to the sheet bending machine only short distances and manipulation times result, which the accuracy can be increased or the cycle times can be reduced.
  • the transmitted-light platform is arranged in an approximately vertical position is because it minimizes space requirements and allows a compact design of the machine becomes.
  • the advantage is achieved that high accuracy and quality the measurement is achieved by the well-defined fixed position of the measuring device.
  • the optoelectronic measuring device on the gripper head is arranged of the manipulator, as a result of a high flexibility with respect to the desired Recording position is reached and further the cycle time is kept low because an additional record a measuring device by the gripper deleted.
  • the image capture means is formed by at least one CCD camera, whereby the advantage arises that proven technology can be applied, whereby a cost-effective implementation is possible and also the data already digital for To be available.
  • the transmitted-light platform has position-determining means, as this makes it easy to determine the exact location of the platform around the system to oak and thereby achieve a safe and accurate storage of the sheet metal parts.
  • the transmitted light platform one to a maximum of three spaced apart sections has the advantage that each other very similar sheet metal parts still safe from each other can be distinguished and still a high stability of the transmitted light platform given is.
  • the advantage is achieved that consuming Provisioning facilities for receiving the sheet metal parts by the manipulator omitted can, as no specific number of sheets or sheet metal layers must be available.
  • the determined outline data stored in a storage device Data in particular CAD data of the sheet metal part, are compared by the computer and if the identification is positive, the sheet metal part is released for further processing, whereby a safe and quick control or identification of the sheet metal parts can be done and also Even existing data from the CAD data can be used can.
  • Fig. 1 shows a schematic representation of a press brake 1 with the inventive Sheet receiving system 2.
  • the press brake 1 of the sheet receiving system 2 are sheet metal parts 3rd for example, converted into profiles or housing parts, etc.
  • the upper tool 4 and the lower tool 5 are in this case with an adjustable pressing beam 7 or a fixed press table 8 connected.
  • Sheet metal part 3 at the level of a working level 9 on the lower tool 5 on a stop 10th to the plant.
  • a manipulator 11 comprises a plurality of pivotally connected articulated arms 12, wherein the articulated arms 12 may be arranged at an end region on a movable chassis (not shown in Fig. 1).
  • a further end region of the manipulator 11 is an at least rotatably mounted gripper head 13 is arranged, wherein a rotation axis 14 in the plane of the Working level 9 is located.
  • gripping means 15 are arranged on the gripper head, which, for example, by a Vacuum gripping device can be formed. This can, for example, with suction cups be equipped and equipped by a device equipped with the necessary supply channels be formed.
  • gripping means 15 in other embodiments for Use, such as Magnetic gripper or mechanical gripper, etc.
  • the number of articulated arms 12 of the manipulator 11 should not be limited to the embodiment shown in Fig. 1, but their number or the arrangement of the axes of rotation 14 are adapted to the respective requirements can.
  • the axis of rotation 14 of the rapier head 13 in a direction parallel to the arranged articulated arm 12 extends therethrough to allow additional degrees of freedom of movement.
  • an optoelectronic measuring device 16 can be arranged on the gripper head 13 be.
  • the optoelectronic measuring device 16 is on a gripping means 15 attached opposite side of the gripper head 13 is attached. It is also possible that the optoelectronic measuring device 16 on the same side of the rapier head 13, as the gripping means 15, is arranged or that the gripping means 15 and the optoelectronic Measuring device 16 are arranged in a common device on the gripper head 13.
  • the optoelectronic measuring device 16 can, in particular, provide information about the objects to be processed Sheet metal parts 3, such as type of sheet metal part 3, outline, location, etc., capture.
  • the optoelectronic measuring device 16 is preferably by an image acquisition means, for example, by an electronic camera formed. This camera can be in a preferred Embodiment by a camera operating on the basis of a CCD element be formed. Also possible are line scan cameras, which only have individual recording lines and the required receiving area optionally in the form of a translatory Motion is scanned.
  • the image capture means by multiple cameras, in particular CCD cameras is formed.
  • the image capture means may be preferred a coarse detection camera and a fine detection camera have.
  • a characteristic mark for example a cross, projected, for example by a Triangulation method known from the prior art, are determined.
  • the sheet metal parts 3 from the manipulator 11 without further position determination, only by means of a height determination or distance determination in a previously only roughly predetermined recording position are used and only then following fine detection process whose location is determined.
  • the shooting position must then be determined beforehand by entering or detecting the position of the Sheet stack is determined and is according to the recorded sheets to the Corresponding sheet thicknesses corrected.
  • the coarse detection and / or fine recognition of the sheet metal parts 3 can according to CAD data from the Planning or construction stored in a computer of the electronic control device are done. From this data, patterns are generated, which are recorded in the Image searched and released the respective sheet metal part 3 in agreement becomes.
  • the coarse detection and the fine detection can also be achieved by a single optoelectronic Measuring device 16, in particular a camera can be realized.
  • the optoelectronic measuring device 16 is part of a measuring system which also has a Transmitted light platform 17 includes.
  • the transmitted light platform 17 can in an environment of the sheet metal bending machine or the press brake 1 is arranged arbitrarily. For this it is possible that the transmitted light platform 17 has means for determining position. These can, for example, by at the Transmitted light platform 17 arranged reference marks or other unique markings are formed, for which it is once required for calibration, by means of the optoelectronic Measuring device 16 first to determine the position of the transmitted light platform 17.
  • the transmitted light platform 17 can form a support surface 18 for the sheet metal parts 3.
  • partial regions 19 of the support surface 18 are formed. These subregions 19 may be made of glass or be made of highly transparent plastic and in their size and arrangement on the support surface 18 of the transmitted light platform 17 are customized to the requirements. It can also be formed according to the invention up to three spaced-apart portions 19 be, whereby a distinction of very similar sheet metal parts 3 still safe can take place and still a high stability of the transmitted light platform 17 is given.
  • the transmitted light platform 17 a, on the, the support surface 18 for the Sheet metal parts 3 side facing away, arranged lighting device 20 has.
  • the illuminance is chosen so that a sufficient contrast for receiving a Image is achieved with the optoelectronic measuring device 16, but no overexposure and thus a poor quality of the recording occurs.
  • the illumination device 20 of the transmitted light platform 17 lighting means which extends over at least 30% of the area of the partial areas 19 extend. This improves the quality of the recordings by a flat illumination as well as a constant contrast ratio.
  • the transparent material of the portion 19 of the support surface 18 may also preferably be such that a diffuse scattering emitted by the illumination device 20 Light rays takes place and thereby also an improvement of image acquisition, by a constant contrast ratio over the entire area of the partial area 19, is reached.
  • the transmitted light platform 17 on a manipulator 11 facing the front of the press brake 1, in particular the press table 8, is arranged.
  • the transmitted light platform 17 preferably in vertical Position be arranged (not shown in Fig. 1).
  • the Optoelectronic measuring device 16 of the transmitted light platform 17 is assigned and in a suitable position and a suitable distance to the transmitted light platform 17 is positioned.
  • the optoelectronic measuring device 16 can be made adjustable in its position be able to easily make necessary positional corrections.
  • On the rapier head 13 may be an additional optoelectronic measuring device 16 for determining a recording position the sheet metal parts 3 may be arranged.
  • FIG. 2 shows a schematic plan view of the sheet metal receiving system 2 according to the invention.
  • FIG. 1 Shown is a press brake 1 with the sheet receiving system 2 according to the invention a top view.
  • the manipulator 11 of FIG. 1 is not shown, but only the optoelectronic measuring device 16, which on the gripper head 13 of the Manipulator 11 is shown in FIG. 1.
  • the transmitted-light platform 17 forms a bearing surface 18 for the sheet-metal parts 3. Further is a portion 19 of the transparency plates, which made of a transparent material, for example Glass or transparent plastic may be formed.
  • a lighting device 20 is arranged, which preferably over at least 30 ° the surface of the portion 19 is formed.
  • a plurality of transparent portions 19 on the Transmitted light platform 17 are arranged and, for example, in larger or very similar Sheet metal parts 3, to illuminate characteristic areas accordingly.
  • markings that are a reference position of the position of the transmitted light platform 17 represent in space are arranged on the transmitted light platform 17.
  • the sheet metal part 3 can be placed on the transmitted light platform 17 and it can be a rotation of the gripper head 13 take place about the axis of rotation 14, by means of the optoelectronic Measuring device 16, the deviation of the position of the sheet metal part 3 on the support surface 18th to determine from a desired desired position.
  • the sheet metal part 3 is now from the gripper head 13th gripped by the gripping means 15 in a corrected position and the press brake 1 in fed to the correct position for the Abkantvorgang.
  • the transmitted-light platform 17 does not, as shown in Fig. 2, of the Press brake is arranged separately, but at a suitable position on the press brake 1 is arranged, as already explained in detail under Fig. 1.
  • the optoelectronic measuring device 16 which is preferably formed by an electronic camera, with corresponding lenses equipped to adjust the focal length.
  • the optoelectronic measuring device 16 which is preferably formed by an electronic camera, with corresponding lenses equipped to adjust the focal length.
  • an additional diode laser for the projection used for determining the distance mark on the sheet metal parts 3 become.
  • a positioning of the sheet metal parts 3 in the press brake 1 is carried out by detecting a characteristic Area of the sheet metal part 3, according to the specifications of a production program for the production of a work piece, which by means of a computer directly from the construction area, especially the CAD data, can be adopted.
  • the electronic control device for controlling the movement of the manipulator 11 can be integrated into the computer and at the same time take over the task of Brechteilerkennung.
  • the optoelectronic measuring device 16 or the transmitted light platform 17 directly to the sheet metal bending machine are arranged, takes place after the position detection no renewed Grasping of the sheet metal part 3, but is directly a correction of the position of the gripper head 13th or sheet metal part 3 is performed and the sheet metal part 3 of the press brake 1 in the for Bending process fed correct position.
  • FIGS. 1 and 2 can be the subject matter form independent, inventive solutions.
  • the relevant, inventive Tasks and solutions can be found in the detailed descriptions of these figures.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP05004293A 2004-03-05 2005-02-28 Dispositif d'alimentation pour machine à cinter les tôles avec un dispositif d'éclairage et procédé d'alimentation des tôles Active EP1570927B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0039204A AT502501B1 (de) 2004-03-05 2004-03-05 Durchlichteinheit
AT3922004 2004-03-05

Publications (2)

Publication Number Publication Date
EP1570927A1 true EP1570927A1 (fr) 2005-09-07
EP1570927B1 EP1570927B1 (fr) 2007-11-07

Family

ID=34744108

Family Applications (1)

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EP05004293A Active EP1570927B1 (fr) 2004-03-05 2005-02-28 Dispositif d'alimentation pour machine à cinter les tôles avec un dispositif d'éclairage et procédé d'alimentation des tôles

Country Status (5)

Country Link
US (1) US7201032B2 (fr)
EP (1) EP1570927B1 (fr)
AT (2) AT502501B1 (fr)
DE (1) DE502005001852D1 (fr)
ES (1) ES2297549T3 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009112051A1 (fr) * 2008-03-12 2009-09-17 Schuler Automation Gmbh & Co. Kg Dispositif et procédé de positionnement de pièces en forme de plaques
CN106694732A (zh) * 2016-12-14 2017-05-24 安徽海拓志永智能装备股份有限公司 一种高效机械手自动化冲压线
CN106734467A (zh) * 2016-12-14 2017-05-31 安徽海拓志永智能装备股份有限公司 一种悬挂式机械手自动化冲压线
EP4155003A4 (fr) * 2020-05-22 2023-11-08 Amada Co., Ltd. Système de pliage et son procédé d'utilisation

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003326486A (ja) * 2001-06-20 2003-11-18 Amada Co Ltd ワーク位置決め装置
EP2177326A3 (fr) * 2008-10-14 2012-04-04 Safan B.V. Procédé d'alignement d'une pièce de travail sur un robot
AT508310B1 (de) 2009-05-18 2011-02-15 Trumpf Maschinen Austria Gmbh Verfahren zum betrieb einer fertigungspresse
CN109047539B (zh) * 2015-12-31 2020-03-13 徐州德坤电气科技有限公司 一种钣金件人工智能生产系统
EP4357040A1 (fr) * 2022-10-19 2024-04-24 Variobend-ASCO GmbH Procédé de fourniture de pièces de tôle à introduire dans une machine de pliage de tôle ainsi que combinaison d'un dispositif de fourniture de pièces de tôle à introduire dans une machine de pliage de tôle et d'un dispositif de pliage latéral

Citations (5)

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Publication number Priority date Publication date Assignee Title
GB2249275A (en) * 1988-01-29 1992-05-06 Amada Co Ltd Method for positioning of sheet metal workpiece in bending press
EP0462286B1 (fr) * 1989-12-29 1995-03-08 Amada Company Limited Procede de positionnement de toles metalliques dans une machine de fa onnage de toles metalliques
DE19639590A1 (de) * 1996-09-26 1998-04-09 Reinhardt Gmbh Maschbau Biegezentrum
DE10027814A1 (de) * 2000-06-05 2001-12-13 Schmalz J Gmbh Sauggreifer
EP1222975A2 (fr) * 2001-01-12 2002-07-17 Finn-Power International Inc. Presse plieuse avec système de positionnement de tole

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WO1991013318A1 (fr) * 1990-02-23 1991-09-05 Amada Company, Limited Procede et appareil de mesure d'angles de façonnage
US5761940A (en) * 1994-11-09 1998-06-09 Amada Company, Ltd. Methods and apparatuses for backgaging and sensor-based control of bending operations
US5950484A (en) 1996-09-26 1999-09-14 Reinhardt Maschinenbau Gmbh Bending center
US6958769B2 (en) * 2000-10-20 2005-10-25 S&S X-Ray Products, Inc. High resolution sheet metal scanner with independent tracking light source
US6466843B1 (en) * 2001-10-16 2002-10-15 General Electric Company Method and apparatus for lifting objects
EP1702727B1 (fr) * 2002-05-13 2008-08-20 Trumpf Maschinen Austria GmbH & CO. KG. Installation de production avec une presse plieuse, un dispositif de manipulation et un dispositif de calibrage

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2249275A (en) * 1988-01-29 1992-05-06 Amada Co Ltd Method for positioning of sheet metal workpiece in bending press
EP0462286B1 (fr) * 1989-12-29 1995-03-08 Amada Company Limited Procede de positionnement de toles metalliques dans une machine de fa onnage de toles metalliques
DE19639590A1 (de) * 1996-09-26 1998-04-09 Reinhardt Gmbh Maschbau Biegezentrum
DE10027814A1 (de) * 2000-06-05 2001-12-13 Schmalz J Gmbh Sauggreifer
EP1222975A2 (fr) * 2001-01-12 2002-07-17 Finn-Power International Inc. Presse plieuse avec système de positionnement de tole

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009112051A1 (fr) * 2008-03-12 2009-09-17 Schuler Automation Gmbh & Co. Kg Dispositif et procédé de positionnement de pièces en forme de plaques
CN101909778B (zh) * 2008-03-12 2012-09-05 许勒自动控制有限责任两合公司 用于调整板形零件位置的装置和方法
US8790064B2 (en) 2008-03-12 2014-07-29 Schuler Automation Gmbh & Co. Kg. Device and method for aligning the position of plate-shaped parts
CN106694732A (zh) * 2016-12-14 2017-05-24 安徽海拓志永智能装备股份有限公司 一种高效机械手自动化冲压线
CN106734467A (zh) * 2016-12-14 2017-05-31 安徽海拓志永智能装备股份有限公司 一种悬挂式机械手自动化冲压线
CN106694732B (zh) * 2016-12-14 2018-04-03 安徽海拓志永智能装备股份有限公司 一种高效机械手自动化冲压线
CN106734467B (zh) * 2016-12-14 2018-06-05 安徽海拓志永智能装备股份有限公司 一种悬挂式机械手自动化冲压线
EP4155003A4 (fr) * 2020-05-22 2023-11-08 Amada Co., Ltd. Système de pliage et son procédé d'utilisation

Also Published As

Publication number Publication date
US7201032B2 (en) 2007-04-10
DE502005001852D1 (de) 2007-12-20
EP1570927B1 (fr) 2007-11-07
US20050223772A1 (en) 2005-10-13
ATE377464T1 (de) 2007-11-15
AT502501A4 (de) 2007-04-15
AT502501B1 (de) 2007-04-15
ES2297549T3 (es) 2008-05-01

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