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
• • 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
• • 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
• • 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
  • E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
  • F15B1/02—Installations or systems with accumulators
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
  • F15B1/02—Installations or systems with accumulators
  • F15B1/021—Installations or systems with accumulators used for damping

Definitions

• the invention relates to a hydraulic control arrangement for damping pitch oscillations of a mobile work machine according to the preamble of patent claim 1.
• Mobile machines such as forklifts, telescopic loaders, wheel loaders usually have no spring-damper system between Fahrwerg and vehicle chassis, as is the case with cars and trucks.
• the chassis damping takes place in mobile machines essentially on the tires and is therefore relatively limited.
• the use of spring-damper systems in mobile work machines can, in certain operating situations, result in undesired, negative properties, such as, for example, poor positioning accuracy when picking up and laying down the loads by input or Ausfe ⁇ countries or how Reduced tearing forces on wheel loaders Blades when working in the heap, which is due to the Energyauf ⁇ assumption in the spring-damper system.
• a disadvantage of undamped machines are the significantly poorer handling characteristics.
• work machines with transport loads outside of the wheel frame tend to accelerate faster, depending on the condition of the road surface and on the loading, in some cases considerable pitching vibrations.
• the work machine then shows a significantly deteriorated steering and braking behavior.
• the vehicle and the driver are heavily loaded by the auf ⁇ passing vibrations and the Lüstabi ⁇ lity of the transport load is at risk, which can lead to a loss of cargo in unfavorable conditions conditions.
• the acceleration applied to the driver conditions can lead to significant damage to health.
• the increased vehicle load due to the swinging in and out causes increased wear and leads to increased maintenance.
• a stabilization system with a hydropneumatic accumulator is installed in the hydraulic lifting systems of the working machine as a spring / damper element between the control block and the lifting cylinder bottom side.
• a solution is spielmik known from DE 197 43 005 Al.
• a bottom side of a hydraulic cylinder of a lifting equipment of the working machine is connected to a hydraulic accumulator via a pilot-operated directional control valve.
• the hydraulic accumulator is charged via another pilot-operated switching valve. The latter also makes it possible to adapt the accumulator pressure to the load pressure acting on the hydraulic cylinder.
• a disadvantage of this solution is that the circuit with the pilot-operated directional control valve and the pilot-operated switching valve is very expensive.
• the invention has the object zugrun ⁇ de to provide a hydraulic control arrangement can be reduced with the pitch oscillations of a mobile machine with minimal effort.
• the hydraulic control arrangement has a damping valve arrangement, by means of which a first pressure chamber of a hydraulic cylinder for pitching oscillation damping effective in the direction of support can be connected to a hydraulic accumulator and an effective pressure chamber in the lowering direction of the hydraulic cylinder can be connected to a tank or low pressure.
• the hydraulic accumulator can be connected to the tank or low pressure during a working cycle of the hydraulic cylinder for filling with a pump line and for equalizing the accumulator pressure to the load pressure.
• a nozzle valve assembly having two under ⁇ different nozzle cross-sections, of which the larger nozzle cross-section during filling and the smaller Düsenquer ⁇ cut when adjusting the accumulator pressure to the load pressure are effective. Due to the comparatively large nozzle which is effective during the filling of the hydraulic accumulator, rapid charging of the hydraulic accumulator is ensured, so that when the damping is switched on, the accumulator pressure is high enough for the lifting equipment to be supported and not to fall. During the equalization of the accumulator pressure to the actual load pressure, the smaller nozzle is effective, so that the compensation processes take place relatively slowly and the hydraulic accumulator is correspondingly protected.
• the damping valve arrangement is preferably carried out with a pilot-operated directional control valve which in a basic position shuts off a connection between the first pressure chamber and the hydraulic accumulator and between the second pressure chamber and the tank / low pressure and which opens these connections in a switching position.
• the precontrol can take place via an electrically actuated pilot valve, which acts on an effective in the opening direction of the control valve control surface in a Weg ⁇ position with tank pressure and in a second Heidelbergstel ⁇ ment with the accumulator pressure.
• the nozzle valve arrangement is connected to a bypass line via which the directional control valve can be bypassed.
• the Düsenventilan ⁇ order is designed as a shuttle valve, each nozzle cross-section is associated with a check valve, which during filling a pressure medium flow to the hydraulic accumulator or allows a pressure medium flow in the opposite direction when adjusting.
• the shuttle valve is designed with a shuttle bolt, which is movably guided in a valve bore between two valve seats.
• the shuttle bolt has an end face in each case a valve cone, on whose outer circumference in each case at least one nozzle notch is formed.
• the effective nozzle notch cross-section on a poppet is greater than that on the other poppet, so that the larger nozzle notch cross-section is traversed during the filling of pressure medium, while the pressure medium flow is determined when adjusting by the smaller nozzle notch cross-section.
• the nozzle In a simply constructed shuttle bolt, the nozzle notches open in a flattening on the outer circumference of the shuttle bolt.
• the components of the pitching vibration damping are designed in a separate valve housing, wherein the axis of the directional control valve of the damping valve assembly is perpendicular to the axis of the shuttle valve.
• the two valve seats of the shuttle valve are preferably each formed on a valve bushing.
• shuttle valve with the two shuttle nozzles and the respective associated return check valves can also be an alternative solution Lucas ⁇ sets to chen the filling and matching ermögli ⁇ .
• the larger, effective during filling Shutt ⁇ LEDüse in the directional control valve bypassing bypass is arranged and this upstream of a check valve, which allows a flow of pressure medium to fill and shuts off in the opposite direction.
• This adjustment control valve can be brought into an open position for adjustment, so that pressure medium can flow away from the hydraulic accumulator via the two shuttle nozzles to the tank.
• This variant is particularly simple if the switching of the An Eisen Kunststoffus done by the pressure at the input.
• a directionally variable damping nozzle can be provided in a control line and used to protect the hydrodynamic valve. Memory before too high pressures, the hydraulic control arrangement can be made ⁇ with a pressure relief valve.
• An emptying of the hydraulic accumulator is possible via a vor ⁇ preferably manually operated drain valve.
• FIG. 1 shows a system diagram of a first exemplary embodiment of a hydraulic control arrangement according to the invention for damping pitch oscillations
• FIG. 2 is a sectional view through a valve block of a damping valve arrangement of the control arrangement from FIG. 1;
• FIG. 3 shows a detailed representation of a shuttle valve of the valve block from FIG. 2 and FIG. 3
• FIG. 4 shows a system diagram of a second embodiment of a control arrangement for pitch damping.
• FIG. 1 shows a system diagram of a hydraulic control arrangement for pitching vibration damping of a smaller mobile working machine, for example a bicycle or a forklift truck.
• This has a Hubausrüs ⁇ device for lifting loads, which is actuated by two parallel arranged hydraulic cylinders 2, 4.
• the Druck ⁇ medium supply by means of a mobile control block 6, via which the two hydraulic cylinders 2, 4 with a variable displacement pump or a tank (not shown) are ver ⁇ bindable.
• Two work connections A, B of the mobile erblocks 6 are connected via a flow line [line 8 and a drain line 10 with a bottom-side cylinder chamber 12 and an annular space 14 of the two hydraulic cylinders 2, 4.
• the pressure medium is conveyed into the two cylinder chambers 12 and displaced out of the two annular spaces 14 via the mobile control block 6 to a tank T.
• the two annular spaces 14 and the cylinder spaces 12 of the hydraulic cylinders 2, 4 are connected directly to one another.
• the pitching vibration damping takes place by connecting the two cylinder spaces 12 to a hydraulic accumulator 16.
• This acts as a hydro-pneumatic spring-damper element, which is practically installed between the hydraulic cylinders 2, 4 and the mobile control block 6.
• the two annular spaces 14 are connected to the tank T during the pitching vibration damping.
• the connection with the tank T and the hydraulic accumulator 16 takes place via a damping valve arrangement 18, which is connected with its two input connections A, B via a storage line 20 and a discharge line 22 to the supply line 8 or the discharge line 10.
• a storage port X2 of the damping valve assembly 18 is connected to the hydraulic accumulator 16 and a tank port T to the tank.
• the damping valve assembly 18 has a pilot operated 4/2-way valve 24 which is biased by a spring in its illustrated blocking position in which the two working ports A, B are shut off from the terminals X2 and T.
• the control of the pilot-operated directional valve 24 er ⁇ follows via an electrically operated pilot valve 26, which in its spring-biased home position to a control line leading in the opening direction of the Wege ⁇ valve 24 leading control line 28 via a Tanksteu ⁇ er effet 25 with a verbunde ⁇ with the tank connection T nen tank channel 30 connects.
• a solenoid of the pilot control valve 26 When a solenoid of the pilot control valve 26 is energized, it is brought into its switching position, in which the control line 28 is connected via a filling control line 27 connected to a connection P of the pilot valve 26 to a storage channel 32 leading to the storage connection X2.
• a direction variable damping throttle 34 is arranged, which is designed in the illustrated embodiment as a shuttle valve and two throttles 36, 38 having different diameters, which are connected in parallel, wherein the throttle valve 36 in the direction of the control chamber for Vorumble ⁇ valve 26 opening check valve 40 and the throttle 38 is a control oil flow to the control chamber ermö ⁇ the non-return valve 42 is assigned.
• the control of the pilot valve 26 is carried out either by hand or in response to a mobile control device when the work machine has exceeded a predetermined driving speed.
• the damping valve arrangement 18 furthermore has a pressure-limiting valve 44 which is arranged in a connection channel 46 between the storage channel 82 and the tank channel 30. By this pressure limiting valve 44, the maximum pressure of the hydraulic accumulator 16 is limited.
• an emptying valve 50 is arranged, which can be brought by hand from a blocking position into an opening graduation in order to connect the hydraulic accumulator 16 to the tank channel 30.
• This emptying of the hydraulic accumulator 16 may be necessary, for example, for maintenance work or in the case of faults.
• a bypass channel 52 branches off in the pressure medium flow path between the working connection A and the directional control valve 24, in which a nozzle valve arrangement 53 is arranged, which in the illustrated embodiment is designed as a shuttle valve 54 whose outlet opens into the discharge channel 48 , which in turn branches off from the memory channel 32.
• the shuttle valve 54 is shown enlarged in Figure 1 at the top left. Accordingly, the bypass channel 52 branches into two branch lines, wherein in the right branch in FIG.
• a shuttle nozzle 56 with a comparatively small cross section and a shuttle check valve 58 which opens in the direction of the connection A are arranged, while in the left branch a shuttle nozzle 60 having a larger cross-section and a shuttle return valve 62 opening in the direction of the hydraulic accumulator 16 is provided.
• the check valve 58 opens and the smaller shuttle nozzle 56 flows through, while the pressure fluid flow from the working connection A to the hydraulic accumulator 16 (filling) causes the shuttle nozzle 60 to have a larger cross section.
• the flow 8 is connected via the mobile control block 6 with a pump line, not shown, so that the two hydraulic cylinders 2, 4 extend and the pressure medium from the annulus via the drain line 10 and the mobile control block 6 for Tank T is returned.
• the load pressure at the hydraulic cylinders is tapped via a load-signaling line, not shown, and the variable-displacement pump is set as a function of the highest load pressure of the load of the working machine.
• the electromagnet of the pilot valve 26 is de-energized, so that the control chamber of the directional control valve 24 relieved and accordingly the directional control valve 24 remains in its spring-biased basic position.
• the hydraulic accumulator 16 is charged via the storage line 20, the bypass channel 52, the check valve 62 and the shuttle nozzle 60 and the storage channel 32.
• the maximum accumulator pressure is limited via the pressure limiting valve 44. This maximum pressure is adjusted so that the pressure limiting valve 44 does not open during a normal working cycle. If the pressure limiting valve 44 nevertheless activates, it is ensured in cooperation with the shuttle nozzle 60 that a load pressure which acts above this limit pressure remains in front of it.
• the hydraulic accumulator 16 is correspondingly discharged via the return check valve 58 and the smaller shuttle nozzle 56 to the lower load pressure level.
• the loading and unloading speed is essentially determined by the different shuttle nozzle cross sections.
• the stabilization system After switching off the stabilization system, ie the currentless switching of the solenoid of the pilot valve 26, the latter is moved back into its spring-biased home position and connected according to the Steuerhoffm the directional control valve 24 to the tank T; the directional control valve is moved back into its blocking position by the force of the springs and the stabilization system is switched off. Pressure fluctuations in the control channel 28 during these switching on and off operations of the stabilization system are dampened by the directionally variable damping nozzle 34.
• FIG. 2 shows a sectional view of a valve block 64, through which the Dämpfungsventilan ⁇ order 18 is formed.
• the valve block 64 is penetrated by a valve bore 66 in which a slide 68 of the directional control valve 24 is guided axially displaceably.
• the slider 68 is acted upon by a spring 70 in its illustrated basic position, in which it rests against a Ver ⁇ end screw 72 which closes the valve bore 66.
• the spring 70 is supported on a cap 74 screwed into the valve block 64 and engages on a spring plate 76 on the slider 68 at.
• the valve bore 66 is expanded to four annular spaces 78, 80, 82 and 84 and to a control chamber 86.
• the latter is bounded on the one hand by the end face of the closure screw 72 and on the other hand by the adjacent end section of the valve slide 68 and is connected to the pilot valve 26 by the control line 28 indicated by dashed lines and by the in-line control valve 26 Figure 2 only the solenoid is shown, which is mounted in the valve block 64.
• the annular space 80 is connected to the working port B, the annular space 78 to the tank port T, the annular space 82 to the working port A and the annular space 84 to the storage port X2, which is formed approximately perpendicular to the plane in Figure 2.
• the slider 68 has two cam grooves 88, 90 through which two control edges 92 and 96 are formed. Via the latter control edge 96, the connection between the annular spaces 78, 80, i. between the working port B and the tank port T is opened or closed, while via the control edge 92, the connection between the annular spaces 82, 84, i. between the working port A and the storage port X2 is opened or closed.
• the storage channel 32 connected to the storage port X2 and the annular space 84 extends approximately perpendicular to the plane of the drawing in FIG. 2.
• the shuttle valve 54 is arranged in the valve block 64, the axis of which consequently also extends perpendicular to the plane of the drawing in FIG.
• the axis of the slide 68 extends perpendicular thereto in the drawing plane according to FIG 2.
• the Shutt ⁇ leventil 54 is disposed in the region between the annular space 82 and the memory channel 32 and connected via the indicated channels with these.
• FIG. 3 shows a sectional view through the shuttle valve 54 along the section line A-A indicated in FIG.
• the two valve sleeves 104, 106 form a valve bore 112, in which a shuttle bolt 114 is guided axially displaceable. This has at its two end portions in each case a valve cone 116, 118, which is associated with a valve seat 120 and 122 in the valve sleeve 104 and 106, respectively.
• the distance between the two valve seats 120, 122 is selected to be slightly larger than the length of the shuttle bolt 114, so that it can only ever rest on one of the valve seats 120, 122. For easier insertion of the two valve sleeves 104, 106, these are both executed in their right end portion with recesses 132, 134 for applying a tool.
• Axially extending nozzle notches 124 and 126 are formed in the region of the two valve cones 116, 118, wherein one or two nozzle notches 124 of larger cross-section are provided on the left-hand valve cone 116 and a single nozzle notch 126 of comparatively small on the valve cone 118 Diameter is formed.
• the nozzle notches 124 and 126 thus practically form the shuttle nozzles 60, 56 of the shuttle valve 54 in FIG. 1, while the valve cones 116, 118 in cooperation with the valve seats 120 and 122 form the two check valves 62, 58.
• On the outer circumference of the shuttle bolt 114 are two diametrically arranged Abflachun ⁇ gene (see also Figure 2) 128 formed in which the Nozzle notches 124, 126 leak. These flattenings 128 together with the circumferential walls of the valve bore 112 form a pressure medium flow channel.
• the pressure medium When filling, i. During normal working cycle of the lifting equipment, the pressure medium enters the bore 102 via the working port A and the channel 100. This pressure acts on the right end face of the shuttle bolt 114 in FIG. 3, so that it is lifted off the valve seat 122 and brought into contact with the valve seat 120 by the valve plug 116. The pressure medium can then flow over the open valve seat 122, the space delimited by the flat 128 and the outer circumference of the valve bore 112, and the shuttle nozzle 60 bounded by the nozzle notches 124 into the channel section 130 and from there into the storage channel 32 to the hydraulic accumulator 16 strö ⁇ men so that it is loaded.
• the higher accumulator pressure is present in the channel section 130, so that the shuttle pin 114 is lifted off the valve seat 120 and displaced to the right onto the valve seat 122.
• the shuttle nozzle 56 determined by the smaller nozzle notch 126 is then effective.
• a similar construction is also arranged as a directionally variable damping throttle 34 in the control line 28.
• valve bushing makes it possible to replace the shuttle bolt 114 very easily, so that the effective diameters of the shuttle nozzles 56, 60 can be adapted to the requirements of the vehicle.
• an equalization of the pressure of the hydraulic accumulator 16 is only possible if the mobile control block 6 is switched accordingly, so that the storage line 20 is verbun ⁇ with the tank.
• Figure 4 shows a solution in which the filling and matching can be done independently of the setting of the mobile control block 6.
• the basic circuit corresponds ent ⁇ that of Figure 1, wherein only the nozzle valve assembly 53 is designed differently from the above-described solution.
• the remaining hydraulic components correspond to the embodiment described above, so that reference is made to the remarks on FIG. 1 in order to avoid repetitions with regard to the matching components.
• the nozzle valve arrangement 53 likewise has two shuttle lances 60, 56, wherein the larger shuttle nozzle 60 determines the pressure medium flow during filling and the shuttle nozzle 56 with smaller cross section determines the pressure medium flow during the same.
• the shuttle nozzle 60 is arranged in a bypass channel 52 of the damping valve arrangement 18, as in the exemplary embodiment described above.
• a fill check valve 62 is also provided in the bypass duct 52, which permits a pressure medium flow from the storage line 20 to the larger shuttle nozzle 60.
• branch line 136 in which the smaller shuttle nozzle 56 is arranged.
• the branch line 136 leads to an input port P 1 of a matching control valve 138, whose output port A 1 is connected to the tank channel 30 via a compensating line 140.
• the An Eisensteu ⁇ erventil 138 is in the illustrated embodiment, a switching valve, which is biased by means of a relatively strong spring 146 in its illustrated blocking position.
• the pressure in the area between the shuttle nozzle 56 and the Input terminal P 1 is tapped via a control line 142 and guided to a control chamber effective in the opening direction of the An ⁇ control valve 138.
• the filling of the hydraulic accumulator 16 during an operating cycle takes place via the bypass channel 52, the filling return valve 62, the larger shuttle nozzle 60 and the storage channel 32, as in the previously described embodiment.
• the adjusting control valve 138 is replaced by the higher pressure in the further control line 144 and biased the force of the spring in its closed position.
• the adjustment control valve 138 When the load pressure, ie the pressure in the cylinder chamber 12, drops, the adjustment control valve 138 is switched to its opening position by the higher accumulator pressure, so that the input port P 1 is connected to the output port A 1 and the reservoir via the accumulator channel 32, the larger shuttle nozzle 60, the smaller shuttle nozzle 56, the controlled equal control valve 138, the equalization line 140 and the tank channel 30 is connected to the tank T, so that the accumulator pressure is adjusted according to the load pressure.
• the two shuttle lugs 60, 56 are connected in series, with the pressure medium flow being essentially limited by the smaller shuttle nozzle 56, so that the adjustment processes take place comparatively slowly, while only the larger shuttle nozzle 60 is effective during filling is and thus the hydraulic accumulator 16 can be increased quickly to the respective load pressure.
• FIG. 4 shows yet another special feature.
• the circuit according to the invention makes it possible to dampen pitching oscillations with minimum device complexity, so that the mobile working machine can be moved at a higher travel speed and accordingly the handling performance is improved. Due to the low vibrations, the loads on the driver and the mechanical loads on the machine are much lower than on non-damped machines. This further reduces maintenance and improves transport safety compared to conventional solutions.
• a hydraulic control arrangement for damping pitching oscillations wherein a hydraulic cylinder of a lifting equipment can be connected to a hydraulic accumulator via a damping valve arrangement during driving operation.
• the damping valve arrangement has a nozzle valve arrangement with two different nozzle cross-sections, of which the larger when filling the hydraulic accumulator and the Klei ⁇ nere when adjusting the hydraulic accumulator to the load pressure of the hydraulic cylinder are effective.

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• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Mining & Mineral Resources (AREA)
• Civil Engineering (AREA)
• Structural Engineering (AREA)
• Physics & Mathematics (AREA)
• Fluid Mechanics (AREA)
• Mechanical Engineering (AREA)
• Fluid-Pressure Circuits (AREA)
• Fluid-Damping Devices (AREA)

Applications Claiming Priority (2)

Publications (2)

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ID=35124529

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Cited By (1)

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• 2004
  • 2004-07-13 DE DE102004033890A patent/DE102004033890A1/de not_active Withdrawn
• 2005
  • 2005-07-06 WO PCT/EP2005/007309 patent/WO2006005497A1/fr active Application Filing
  • 2005-07-06 KR KR1020077000875A patent/KR101217755B1/ko active IP Right Grant
  • 2005-07-06 AT AT05770225T patent/ATE445048T1/de active
  • 2005-07-06 EP EP05770225A patent/EP1778923B1/fr not_active Not-in-force
  • 2005-07-06 US US11/630,695 patent/US7637103B2/en not_active Expired - Fee Related
  • 2005-07-06 DE DE502005008287T patent/DE502005008287D1/de active Active
  • 2005-07-06 CN CN2005800238216A patent/CN101001996B/zh not_active Expired - Fee Related

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