EP1725715A1 - Verfahren und vorrichtung zur bewegungstilgung bei baumaschinen - Google Patents
Verfahren und vorrichtung zur bewegungstilgung bei baumaschinenInfo
- Publication number
- EP1725715A1 EP1725715A1 EP05716056A EP05716056A EP1725715A1 EP 1725715 A1 EP1725715 A1 EP 1725715A1 EP 05716056 A EP05716056 A EP 05716056A EP 05716056 A EP05716056 A EP 05716056A EP 1725715 A1 EP1725715 A1 EP 1725715A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- damping
- hydraulic cylinder
- control unit
- sensor
- movement
- 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
Links
- 238000010276 construction Methods 0.000 title claims abstract description 58
- 238000013016 damping Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000006073 displacement reaction Methods 0.000 title abstract 2
- 230000001133 acceleration Effects 0.000 claims abstract description 33
- 239000012530 fluid Substances 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims description 46
- 230000008569 process Effects 0.000 claims description 5
- 230000001419 dependent effect Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 230000005284 excitation Effects 0.000 description 16
- 239000000725 suspension Substances 0.000 description 9
- 238000012546 transfer Methods 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008029 eradication Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000000638 stimulation Effects 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000009420 retrofitting Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000035899 viability Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
Definitions
- the invention relates to a method and a device for movement damping in self-driving unsprung construction machines, in particular in wheel loaders, with a working device driven by means of a hydraulic cylinder.
- a hydraulic system designed as a passive vibration-eradication system for a movable working machine provided with implements. It is provided here that a hydraulic accumulator is used as the load suspension system, the hydraulic lines responsible for lifting and lowering the implement being connected between the lifting cylinder and a control valve. It is disclosed that for the variable adjustment of the load pressure of the hydraulic feed At least one nozzle in connection with a plurality of directional valves between the load suspension system are provided on the respective load pressure of the lifting cylinder, the valves being operated in pilot lines between a pilot transmitter and the control valve via pressure switches provided. In principle, the flexibility of the hydraulic accumulator is used in this passive vibration-eradication system to allow the equipment to move in opposite phase, which in turn compensates for the movement of a bucket relative to the construction machine.
- suspension systems are known from the prior art, which are used in the agricultural technology sector primarily for tractors.
- the object of the invention is to develop a method and a device for movement damping in construction machinery that can be used for changing tasks, e.g. Cabin damping or blade damping, which can be adapted to the construction machine, which is inexpensive and enables retrofitting in previously unsprung construction machines with little effort.
- changing tasks e.g. Cabin damping or blade damping
- the method comprises for motion compensation in construction machines, the method steps and associated components of the device described below: (A) detection of the acceleration signal by the acceleration sensor while the construction machine is traveling, (B) processing of the acceleration signal as an input variable by the control software of the control unit and determination of a control current for the Valve as an output variable for movement damping and (C) supply of the hydraulic cylinder with hydraulic fluid through the valve depending on the control current.
- the pressure signals detected by a pressure sensor in the hydraulic cylinder for determining the degree of filling and / or the position of the lifting frame detected by an angle sensor can also be fed to the control unit as additional input variables in addition to the input variable (A).
- the pressure signals in the hydraulic cylinder indicate the degree of filling or the bucket load in order to be able to determine load-dependent control parameters in an adaptive control algorithm. Since the control algorithm is adaptive, that is to say self-adjusting, an optimized damping for different operating points with regard to the blade load can be achieved.
- the fact that the construction machine can be operated with two different damping modes, namely cabin mode and bucket mode, is particularly advantageous.
- the cabin mode is then preferably activated in order to achieve a higher driving speed during transfer journeys.
- the switchover to bucket mode is carried out when the bucket placed on the lifting equipment is damped, so that better handling can be achieved when the construction machine is in use.
- the mode can be selected manually by the driver of the machine or, in a particularly advantageous manner, automatically by evaluating the signal from the pressure sensor in order to activate the bucket mode with a filled bucket and the cabin mode with an empty bucket.
- the switch between the individual damping modes can be carried out by the operator of the construction machine not only when the vehicle is stationary, but also while driving, it being possible to differentiate between an operating point of a pressure level and / or the driving speed.
- the switchover between the individual damping modes is preferably carried out using the pressure sensor arranged in the hydraulic cylinder.
- the device for motion damping in self-driving unsprung construction machines with a working device driven by a hydraulic cylinder, a hydraulic source, a controlled valve for supplying the hydraulic cylinder with hydraulic fluid, at least one sensor for detecting a physical measured variable and a control unit a control software, wherein an acceleration sensor is provided as a sensor and the control unit is designed to process the signals of the acceleration sensor as input signals by means of the control software and to determine a control current for the valve as an output variable for a compensating movement of the hydraulic cylinder.
- the device according to the invention differs from the prior art in that no pressure regulation, but rather speed control of the hydraulic cylinder is realized on the basis of an acceleration feedback. This means that no highly dynamic valves are required, but the valve can advantageously be used for the control block's working circuit.
- the acceleration sensor can be directly accelerations acting on the bucket and / or the cabin of the construction machine are detected in order to cause the hydraulic cylinder to move in opposite phase.
- the signal detected by the acceleration sensor is fed to the control unit, where appropriate weighted with a pressure signal and a path-compensating signal, and converted into a corresponding signal which determines the current value for the valve controlling the hydraulic cylinder.
- the activated valve releases a valve cross section so that a corresponding volume flow can flow to the hydraulic cylinder.
- the acceleration sensor can be arranged at any point on the construction machine, but preferably in the area of the function or machine assembly to be damped, or respectively the bucket or driver's cab, of the construction machine.
- the movement-eradication system generates to compensate the force or Action of movement by means of the hydraulic fluid a counterforce in the hydraulic cylinders of the working equipment, particularly advantageous in the lifting cylinders.
- the pressure signal is detected by a pressure sensor, which is preferably arranged in the region of the hydraulic cylinder base of the lifting cylinders. This pressure signal represents the fill level of the bucket of the equipment. Since the degree of filling can vary continuously, it is provided that the control unit is designed to be adaptive. Optimal vibration compensation can thus be achieved in a load-adaptive manner.
- the pressure sensor is consequently able to distinguish between an empty and a filled bucket and to supply the corresponding signal to the control unit.
- the pressure sensor can also be supplemented by an angle sensor or another position sensor (e.g. stroke sensor for lifting cylinder).
- the angle sensor detects the position of the mast and compares it with a previously saved reference value. The deviation of the angular position from the reference position is processed by a controller.
- a permissible range for the position of the lifting frame can be defined in an advantageous manner, compliance with which is one of the control tasks of the control device during the repayment movement.
- the current position can be measured using an angle sensor on the mast.
- the control unit present in the construction machine for controlling the work functions is supplemented by control software, the algorithm of which can contain several damping functions.
- the associated damping function can now be activated by selecting a desired damping mode.
- Typical damping functions for the bucket mode, the cabin mode and also for the combined mode are provided in the control software.
- a corresponding control current is released for the valve in accordance with the associated damping function.
- FIG. 1 shows a schematic representation of the external excitations / impulses acting on a construction machine
- Fig. 2 control architecture of the device for movement damping
- Fig. 3 signal structure of the device for movement damping.
- FIG. 1 schematically illustrates the external excitations / impulses 4, which typically act on a construction machine 1.
- the cabin 1.1 of the wheel loader shown here is accelerated vertically by the lane excitation 4.1 and the excitation 4.2 by the equipment movement 5.
- the excitations / impulses 4 or lifting vibrations generated by the unevenness of the lane 3 or hoisting vibrations during the driving through the tires 1.3 onto the cabin 1.1 transmitted and, on the other hand, the excitations / impulses 4.2 or pitching vibrations generated by the pitching of the loaded blade 1.2.2 are introduced into the cabin 1.1 by the hydraulic cylinders 1.4, not shown.
- the vehicle or cabin is damped without a damping system exclusively by the tires 1.3 of the construction machine 1.
- FIG. 2 shows the control architecture of the device for movement compensation in construction machines 1 in a closed control loop.
- this exemplary embodiment illustrates the activation of the hydraulic cylinder 1.4 when the construction machine 1 is excited by the equipment 1.2 shown in FIG. 1 and by the roadway 3.
- the construction machine 1 shown in FIG. 1 has a valve 1.5 of the control block (not shown), a control unit 6, the angle sensors 2.2, the optionally used pressure sensor 2.3 and an acceleration sensor 2.1.
- the suggestions 4.1 of the construction machine 1 through the roadway 3 are transmitted via the wheels / tires 1.3 of the construction machine 1 as well as via the suggestions 4.2 of the equipment 1.2 to the cabin 1.1 of the construction machine 1.
- These superimposed excitations 4 are detected by an acceleration sensor 2.1 and fed to the control unit 6 as an electrical signal.
- This electrical signal forms the first input variable for the control unit 6.
- the position 10 of the mast 1.2.1 is fed to the control unit 6 as a further input variable.
- the supervision The position 10 of the mast 1.2.1 is carried out by means of the angle sensors 2.2 provided at the factory on the construction machine 1 in order to avoid hydraulic cylinder strokes which are too large and a drifting position of the equipment.
- the pressure 8 in the hydraulic cylinder 1.4 is measured by means of a pressure sensor 2.3.
- the filling level of the bucket 1.2.2 can be determined with this optionally used pressure sensor 2.3.
- the mass-laden goods located in the bucket 1.2.2 exert a compressive force on the hydraulic cylinder 1.4, which is detected by the pressure sensor 2.3.
- the previously described input signals from sensors 2 or measured value converters are processed in accordance with an algorithm shown in FIG. 3 for generating an output signal.
- the output signal is an electrical signal and supplies the current value for a valve 1.5 of a control block, not shown. Depending on the current value, the valve 1.5 releases a valve cross section, the current value being proportional to the released volume flow 7.
- hydraulic cylinder 1.4 is moved.
- the speed of the lifting movement is proportional to the released volume flow 7.
- the lifting movement of the hydraulic cylinder 1.4 corresponds to a compensating movement in relation to the road excitation 4.1 and equipment excitation 4.2.
- Which pressure 8 in hydraulic cylinder 1.4 is again detected by pressure sensor 2.3 and fed to control unit 6.
- the external excitations 4, which are not canceled by the control unit 6 of the construction machine 1, are detected by the acceleration sensor 2.1 as acceleration 5 and are fed to the control unit 6 again. This closes the control loop.
- an opposite phase movement of the hydraulic cylinder 1.4 can be generated in order to counteract the external excitations 4, e.g. to compensate for the road excitation 4.1 or the equipment excitation 4.2.
- Fig. 3 shows the signal structure of the device for movement damping.
- An algorithm for processing the input signals has been implemented in the control unit 6.
- the control unit 6 has three modules 12, namely the "active ride compensator” 12.1, the "boom position compensator” 12.2 and the “load compensator” 12.3, each module 12.1-12.3 having at least one input signal processed and a corresponding output signal generated.
- the module "active-ride-compensator” 12.1 processes the signal from the acceleration sensor 2.1 and determines it necessary control current 9 for the valve 1.5 to cause a compensating cylinder stroke movement.
- the detected acceleration is amplified by means of a gain element and, depending on a selected damping mode 11, converted into a signal by means of an interpolation function.
- the interpolation function is only activated by a generated signal of the "load compensator" 12.3 described below.
- damping modes 11, cabin damping 11.1 and blade damping 11.2 contain different mathematical transfer functions which can be activated individually or in combination.
- the generated signal for the control current 9 is amplified immediately before leaving the module 12.1.
- the overlap in valve 1.5 is also compensated for by an additional portion 6.6 of control current 9.
- the signal representing the position 10 of the mast 1.2.1 is fed to the "boom position compensator" 12.2.
- This signal is detected by angle sensors 2.2 arranged on the mast 1.2.1.
- the system saves the current position 10 of the mast 1.2.1 as a reference position.
- the angle sensor 2.2 When load is introduced into the bucket 1.2.2 of the implement 1.2, the angle of attack changes, whereby the position 10 of the mast 1.2.1 changes.
- This angular position is recorded by the angle sensor 2.2 and compared with the reference position in the "boom position compensator” 12.2.
- the deviation of the angular position from the reference position is processed by a PID controller 6.1 and subsequently processed further by a transmission element 6.4 designed as a limiter.
- the position controller only responds when the position of the mast leaves a permissible range.
- the signal generated by the PID controller 6.1 and the signal limited by the limiter is now added to the generated signal of the "active ride compensator".
- the "load compensator” processes the signals of the pressure sensor 2.3, which is arranged in the hydraulic cylinder 1.4.
- the pressure in the hydraulic cylinder 1.4 indicates the degree of filling of the bucket 1.2.2 or the compressive force which is applied to the hydraulic cylinder 1.4 by the mass-laden material in the bucket 1.2.2.
- the signals of the pressure sensor 2.3 are converted by means of a transmission element, then amplified by an amplification element and subsequently processed by means of a low-pass filter.
- the low-pass filter only filters out the stationary part of the signal that is proportional to the blade load or blade filling.
- the generated signal is now the "active ride compensator" supplied and activated depending on the size of the signal, the aforementioned interpolation function.
- the interpolation function includes the determination of the controller parameters of the "active ride compensator" depending on the blade load.
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Soil Working Implements (AREA)
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004012945A DE102004012945A1 (de) | 2004-03-17 | 2004-03-17 | Vorrichtung und Verfahren zur Bewegungstilgung bei Baumaschinen |
PCT/EP2005/002719 WO2005090694A1 (de) | 2004-03-17 | 2005-03-15 | Verfahren und vorrichtung zur bewegungstilgung bei baumaschinen |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1725715A1 true EP1725715A1 (de) | 2006-11-29 |
EP1725715B1 EP1725715B1 (de) | 2010-01-06 |
Family
ID=34962315
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05716056A Active EP1725715B1 (de) | 2004-03-17 | 2005-03-15 | Verfahren und vorrichtung zur bewegungstilgung bei baumaschinen |
Country Status (7)
Country | Link |
---|---|
US (1) | US7756622B2 (de) |
EP (1) | EP1725715B1 (de) |
AT (1) | ATE454507T1 (de) |
BR (1) | BRPI0508902B1 (de) |
DE (2) | DE102004012945A1 (de) |
ES (1) | ES2336340T3 (de) |
WO (1) | WO2005090694A1 (de) |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007026154B4 (de) * | 2006-06-05 | 2010-11-25 | Marc Schröder | Verfahren zum Druckausgleich im Dämpfungssystem einer Maschine mit hydraulischem Schwingungsdämpfer vor der Einschaltung des Dämpfersystems |
DE102007045846A1 (de) * | 2007-09-26 | 2009-04-02 | Deere & Company, Moline | Landwirtschaftliche Maschine und Verfahren zur Positionsbestimmung |
ITUD20080057A1 (it) * | 2008-03-17 | 2009-09-18 | Cifa Spa | Procedimento di controllo delle vibrazioni di un braccio articolato per il pompaggio di calcestruzzo, e relativo dispositivo |
US8162070B2 (en) * | 2008-09-03 | 2012-04-24 | Cnh America Llc | Hydraulic shock dissipation for implement bounce |
AT507087B1 (de) * | 2008-12-05 | 2010-02-15 | Siemens Vai Metals Tech Gmbh | Verfahren und vorrichtung zur semi-aktiven reduktion von druckschwingungen in einem hydrauliksystem |
WO2011108550A1 (ja) * | 2010-03-05 | 2011-09-09 | 株式会社小松製作所 | 作業用車両のダンパ作動制御装置およびダンパ作動制御方法 |
US8977440B2 (en) * | 2010-09-09 | 2015-03-10 | Robert Bosch Gmbh | Body movement mitigation in earth-moving vehicles |
EP2637961B1 (de) * | 2010-11-12 | 2016-04-20 | JLG Industries Inc. | System zur überwachung einer längenstabilität |
US8833861B2 (en) * | 2010-12-03 | 2014-09-16 | Caterpillar Inc. | Loading analysis system and method |
US9932215B2 (en) | 2012-04-11 | 2018-04-03 | Clark Equipment Company | Lift arm suspension system for a power machine |
US8869908B2 (en) | 2012-05-07 | 2014-10-28 | Caterpillar Inc. | Anti-bounce control system for a machine |
WO2015031821A1 (en) | 2013-08-30 | 2015-03-05 | Eaton Corporation | Control method and system for using a pair of independent hydraulic metering valves to reduce boom oscillations |
CN105849421B (zh) | 2013-11-14 | 2019-01-15 | 伊顿公司 | 用于减少动臂跳动的先导控制机构 |
JP6385069B2 (ja) * | 2014-02-24 | 2018-09-05 | 住友重機械工業株式会社 | ショベル |
EP3169858B1 (de) | 2014-07-15 | 2021-02-17 | Eaton Intelligent Power Limited | Verfahren und vorrichtung zur ermöglichung der auslegerfederungsreduzierung und zur vorbeugung von selbstständiger bewegung in hydrauliksystemen |
US10183852B2 (en) | 2015-07-30 | 2019-01-22 | Danfoss Power Solutions Gmbh & Co Ohg | Load dependent electronic valve actuator regulation and pressure compensation |
US10030364B2 (en) | 2015-10-26 | 2018-07-24 | Caterpillar Inc. | Hydraulic system having automatic ride control |
CN105604705B (zh) * | 2016-01-11 | 2018-04-03 | 重庆红江机械有限责任公司 | 动态位移反馈调节式液压调速器 |
GB2557643B (en) * | 2016-12-14 | 2019-12-18 | Caterpillar Inc | Pro-active machine damage limitation system |
US10174473B2 (en) * | 2017-02-15 | 2019-01-08 | Michael G D'Andrea | System and method for active vibration cancellation for use in a snow plow |
EP3615814A4 (de) | 2017-04-28 | 2021-01-27 | Eaton Intelligent Power Limited | System zur dämpfung von masseninduzierten schwingungen in maschinen mit hydraulisch gesteuerten auslegern oder länglichen elementen |
DE112018001592T5 (de) | 2017-04-28 | 2020-01-02 | Eaton Intelligent Power Limited | Driftkompensationssystem für eine drift in bezug auf die dämpfung von masse-induzierten schwingungen in maschinen |
EP3615813A4 (de) | 2017-04-28 | 2021-01-27 | Eaton Intelligent Power Limited | System mit bewegungssensoren zur dämpfung von masseninduzierten schwingungen in maschinen |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0662268B2 (ja) * | 1989-04-21 | 1994-08-17 | 株式会社神戸製鋼所 | 移動式クレーンの変位抑制装置 |
DE4119414A1 (de) * | 1991-06-13 | 1992-12-17 | Bosch Gmbh Robert | Landwirtschaftlich nutzbare zugmaschine mit angelenktem hubwerk |
DE4221943C2 (de) | 1991-09-04 | 1996-01-25 | Orenstein & Koppel Ag | Hydraulikanlage für mit Arbeitsgeräten versehene fahrbare Arbeitsmaschinen |
WO1993005244A1 (de) * | 1991-09-04 | 1993-03-18 | O&K Orenstein & Koppel Ag | Hydraulisches schwingungsdämpfungssystem für mit arbeitsgeräten versehene arbeitsmaschinen |
US5555942A (en) * | 1993-06-16 | 1996-09-17 | Kabushiki Kaisha Komatsu Seisakusho | Blade control system for use in a bulldozer |
JPH07158105A (ja) * | 1993-12-09 | 1995-06-20 | Shin Caterpillar Mitsubishi Ltd | ショベル系建設機械の掘削制御装置 |
JPH07234727A (ja) * | 1994-02-21 | 1995-09-05 | Komatsu Ltd | 作業機の振動抑制装置およびその方法 |
DE4416228A1 (de) * | 1994-05-07 | 1995-11-09 | Rexroth Mannesmann Gmbh | Hydraulische Anlage für ein mobiles Arbeitsgerät, insbesondere für einen Radlader |
US5528843A (en) * | 1994-08-18 | 1996-06-25 | Caterpillar Inc. | Control system for automatically controlling a work implement of an earthworking machine to capture material |
US5884204A (en) * | 1996-04-16 | 1999-03-16 | Case Corporation | Active roadability control for work vehicles |
US5890870A (en) | 1996-09-25 | 1999-04-06 | Case Corporation | Electronic ride control system for off-road vehicles |
US5941920A (en) * | 1997-11-12 | 1999-08-24 | Case Corporation | Control of an active suspension system for a work vehicle based upon a parameter of another vehicle system |
US6898501B2 (en) * | 1999-07-15 | 2005-05-24 | Cnh America Llc | Apparatus for facilitating reduction of vibration in a work vehicle having an active CAB suspension system |
US6356829B1 (en) * | 1999-08-02 | 2002-03-12 | Case Corporation | Unified control of a work implement |
US6941687B2 (en) * | 2001-09-25 | 2005-09-13 | Cnh America Llc | Electronic control for swing damping |
US6843489B2 (en) * | 2002-02-13 | 2005-01-18 | Caterpillar Inc. | Axle damping system and method |
US20050082127A1 (en) * | 2003-10-20 | 2005-04-21 | Dennis Barber | Passive vehicle suspension system with semi-active roll damping |
-
2004
- 2004-03-17 DE DE102004012945A patent/DE102004012945A1/de not_active Withdrawn
-
2005
- 2005-03-15 AT AT05716056T patent/ATE454507T1/de not_active IP Right Cessation
- 2005-03-15 BR BRPI0508902A patent/BRPI0508902B1/pt active IP Right Grant
- 2005-03-15 US US10/592,654 patent/US7756622B2/en active Active
- 2005-03-15 WO PCT/EP2005/002719 patent/WO2005090694A1/de active Application Filing
- 2005-03-15 EP EP05716056A patent/EP1725715B1/de active Active
- 2005-03-15 DE DE502005008824T patent/DE502005008824D1/de active Active
- 2005-03-15 ES ES05716056T patent/ES2336340T3/es active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2005090694A1 * |
Also Published As
Publication number | Publication date |
---|---|
ATE454507T1 (de) | 2010-01-15 |
US7756622B2 (en) | 2010-07-13 |
WO2005090694A1 (de) | 2005-09-29 |
BRPI0508902A (pt) | 2007-08-07 |
DE502005008824D1 (de) | 2010-02-25 |
US20070299589A1 (en) | 2007-12-27 |
BRPI0508902B1 (pt) | 2016-10-11 |
ES2336340T3 (es) | 2010-04-12 |
EP1725715B1 (de) | 2010-01-06 |
DE102004012945A1 (de) | 2005-10-13 |
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