EP2049804B1 - Positionssensoreinrichtung und damit ausgestatteter aktor - Google Patents

Positionssensoreinrichtung und damit ausgestatteter aktor Download PDF

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Publication number
EP2049804B1
EP2049804B1 EP07847030A EP07847030A EP2049804B1 EP 2049804 B1 EP2049804 B1 EP 2049804B1 EP 07847030 A EP07847030 A EP 07847030A EP 07847030 A EP07847030 A EP 07847030A EP 2049804 B1 EP2049804 B1 EP 2049804B1
Authority
EP
European Patent Office
Prior art keywords
actuator
position sensor
sensor device
sensor
display means
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.)
Active
Application number
EP07847030A
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German (de)
English (en)
French (fr)
Other versions
EP2049804A1 (de
Inventor
Francisco Costarossa
Thomas Reininger
José LEONETT
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.)
Festo SE and Co KG
Original Assignee
Festo SE 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.)
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Publication of EP2049804A1 publication Critical patent/EP2049804A1/de
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Publication of EP2049804B1 publication Critical patent/EP2049804B1/de
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Classifications

    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2807—Position switches, i.e. means for sensing of discrete positions only, e.g. limit switches
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/082—Characterised by the construction of the motor unit the motor being of the slotted cylinder type
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2892—Means for indicating the position, e.g. end of stroke characterised by the attachment means

Definitions

  • the invention relates to an actuator with a position sensor device according to the preamble of claim 1.
  • the actuator is, for example, a pneumatic linear drive.
  • a linear drive with a groove for receiving a position sensor device is for example from DE 195 14 846 B4 known.
  • a magnetic sensor is arranged, which is actuated by a magnetic element on the carriage.
  • the position sensor device triggers a position signal.
  • the carriage then obscures the position sensor device. This makes it difficult, for example, to find an exact position for the position sensor device in the receiving groove.
  • an actuator with a position sensor device according to the technical teaching of claim 1 is provided.
  • the position sensor device has a first and at least one second optical display means for displaying a position signal.
  • the sensor generates the position signal when it is an object, for example, the carriage of a rotary or linear drive or other by the actuator member driven element, determined in its detection range.
  • one of the display means remains visible when the other display means is covered by the object, for example the carriage.
  • the carriage is asymmetrical, for example, so that it conceals the first display means in a first position, eg linear position, but the second display means can signal the response of the sensor.
  • the second display means In a second position, for example, when the position sensor device is arranged in a reverse mounting position in a receiving groove of the actuator, eg the linear drive, the second display means remains visible, while the first display means is hidden by the carriage or other object in the detection range of the position sensor device.
  • the position sensor means may comprise a sensor having a detection area directed inwardly into the guide housing of the drive and / or a sensor having an outward detection area, e.g. detects the object, the carriage or the like.
  • the actuator is expediently pneumatically driven. But also an electric or electromagnetic drive principle is conceivable.
  • the actuator can also be used as a combined electrical and fluid engineering, e.g. be designed pneumatic actuator.
  • Preferred is a pneumatic or electrical rotary or linear drive.
  • a linearly movable piston In the interior of the guide housing, for example, a linearly movable piston is provided which can be actuated by compressed air.
  • the piston is connected by means of a piston member, which passes through a longitudinal slot of the guide housing, with the carriage and drives it linearly.
  • the piston can also be electromagnetically driven or by both methods, that is, both electromagnetic and pneumatic.
  • the carriage is designed as a rotor of an electric linear drive, in particular a linear direct drive, or coupled to a rotor.
  • the display means are expediently actuated synchronously.
  • both display means on a separate light source, which drives the sensor via a common electrical circuit.
  • a construction variant of the invention can also provide that a common light source is provided for both display means.
  • Between the bulb and at least one of the display means are one or more optical fibers, for example of glass or plastic.
  • the detection range of the sensor is advantageously arranged symmetrically between the at least two display means.
  • the display means are arranged, for example, on an upper side of the position sensor device. Namely, it is advantageous if the at least two display means are arranged on a display area of the position sensor device, which is visible when the position sensor device in a receptacle, e.g. a receiving groove, is mounted on the actuator. Other walls or wall sections of the position sensor device then lie in the groove, whereas the display region, in particular on the upper side of the position sensor device, is visible.
  • the position sensor device has an optical marking which marks the detection range of the sensor.
  • the marking is, for example, a line marker, a cross marker or the like.
  • an area corresponding to the detection area may serve as a mark.
  • a basic idea of the invention is that even if an object, for example the carriage of the linear drive, covers one of the display means, the respective other display means is free and visible. For the operator, it is thus easily possible to adjust the position sensor device, for example, in a receiving groove of a rotary or linear drive.
  • the position sensor device advantageously contains at least one inductive or capacitive or optical sensor.
  • the position sensing device then does not require any signaling means on the actuator member, on the carriage or on parts connected to it, e.g. Attachments, or other to be detected part, but works as it were self-sufficient.
  • the detection range of this sensor may be directed into the interior of the guide housing, or preferably into an outer area of the guide housing, e.g. to the sled.
  • the position sensor device has, for example, a capacitive or inductive oscillator on board whose field is influenced by the passing carriage so that the position sensor device can detect its position.
  • the carriage is, for example, magnetically conductive for the inductive principle, but does not need to be a magnet itself.
  • an electrical conductivity or, for example, of air expediently substantially different dielectricity of the carriage is sufficient to "disturb" the electric field lying in the detection range, so that the position sensor device can detect the position of the carriage.
  • the position sensor device expediently has a light source on board.
  • the detection area is, for example, an optical detection area.
  • the light is reflected or absorbed by the carriage, which is detectable by the optical sensor.
  • the detection area is expediently perpendicular to the receptacle, for example perpendicular to the receiving groove.
  • the detection range of the inductive, capacitive or optical sensor is advantageously not oriented in the inner region of the guide housing, but to the outside.
  • the coverage area is designed for example as a kind of field lobe.
  • a shielding device or field guiding means can be provided.
  • the shielding means shields the inductive or capacitive sensor e.g. from external interference fields or from influences from the interior of the guide housing, for example, influences which are generated by a arranged on an actuator member of a magnet, for example, pneumatic or electric linear drive.
  • a shielding device can be provided, for example, in a housing of the position sensor device. Furthermore, it is conceivable that shielding means are provided in the receptacle, for example in the receiving groove.
  • Field guiding means are suitable for directing the exciting field in the direction of the sensor or away from the sensor in the direction of the object to be detected, e.g. of the carriage to steer.
  • field baffles or shielding plates in particular with low magnetic remanence, can be provided.
  • the position sensor device can be contacted, for example, by means of wire connections.
  • a wireless interface is particularly preferred for transmitting sensor values or for receiving control commands.
  • the control commands are used, for example, to query sensor values, to parameterize the position sensor device or the like.
  • the position sensor device can be parameterized in the conventional way, with switching thresholds, for example or the like can be programmed via externally specified control commands at the interface. Furthermore, it is conceivable that, for example, a potentiometer or another adjusting device for defining limit values or threshold values is present at the position sensor device. A so-called learning mode or teach-in mode for parameterizing and / or programming the position sensor device is advantageous.
  • a receptacle on the actuator is designed as a receiving groove.
  • the position sensor device (several can also be provided) is linearly adjustable in the receiving groove, for example.
  • the position sensor device has clamping means, for example detent means, spring means, clamping screws, in particular eccentric clamping screws, or the like, for clamping in the receptacle, e.g. the receiving groove.
  • a variant of the invention which in itself represents an independent invention, even if only a single display means is present, provides that the position sensor device has at least one second sensor.
  • the detection range of the first sensor which operates magnetically, but preferably inductively, capacitively or optically, is directed outwards, while the detection range of the second sensor is oriented inward.
  • the inwardly directed sensor detects, for example, the position of the actuator member, for example a piston, which is movable in the guide housing along a pivoting path or linearly reciprocable. Redundancy can advantageously be achieved in this way: the inwardly directed second sensor detects the actuator element, while the outwardly directed first sensor detects an external object, for example the carriage.
  • the second sensor can also be an inductive or capacitive sensor.
  • it is a magnetic sensor that detects a field of excitation from within the guide housing.
  • the excitation field is generated for example by a magnet on a piston of a pneumatic cylinder.
  • screening means are expediently provided between the sensors whose detection areas are directed inwards and outwards.
  • the detection ranges of the at least one first and the second sensor are adjustable relative to one another.
  • field-guiding means and / or shielding means are provided which influence the respective detection areas and change them relative to one another.
  • the sensors within the housing are adjustable relative to each other.
  • the sensors suitably have a common interface, for example a wired or a wireless interface. As a result, the wiring effort and the communication effort is reduced.
  • FIG. 1 a linear actuator 10 is shown. On a guide housing 11 of the linear drive 10, a carriage 12 is linearly guided back and forth. The carriage 12 is driven and thus forms an actuator member. 8
  • the guide part 14 is arranged on an upper side 15 of a middle part 16 of the guide housing 11.
  • the guide member 14 is, for example, a dovetail-like projection which is encompassed by a dovetail groove forming the guide member 13.
  • head parts 17 are arranged, for example screwed by means of screws 18 to the central part 16.
  • Inner end faces 19 form longitudinal stops 20 for the carriage 12 and thus define linear end positions of the carriage 12.
  • a motor shaft 23 penetrates, for example, an opening 24 on one of the head parts 17 and drives a drive wheel 25 for a drive belt 26, for example a toothed belt or a friction belt.
  • a drive wheel 25 or a non-driven deflection wheel is provided in each of the head parts 17, over which the drive belt 26 rotates.
  • 17 openings 24 for connecting the motor 21 are present at each head part.
  • the openings 24 may be on opposite sides 27, 28 of the head parts 17 may be provided, so that the motor shaft from both sides in the head parts 17 can be inserted.
  • a lower run 30, an empty run, of the drive belt 26 extends in an inner space 29 of the guide housing 11.
  • An upper run 31, a load run, of the drive belt 26 is guided in a guide 32 on the upper side 15 and takes the slide 12 With.
  • the load run 31 is coupled in motion to the carriage 12.
  • a clamping member 33 clamps the drive belt 26 against the carriage 12.
  • the motor 21 drives the carriage 12 by means of a belt transmission 34.
  • a pneumatic drive concept is conceivable.
  • a piston 35 may be arranged, which is actuated by means of compressed air.
  • the piston 35 forms an actuator member 8.
  • head parts could be provided in the manner of the head parts 17, wherein in the openings 24 corresponding compressed air is fed.
  • the clamping part 33 further forms a guide part, which is guided in the guide 32.
  • the guide 32 extends at the top 15 next to the guide member 14th
  • Recesses 40, 41 which form receptacles 42, 43 for position sensor devices 44, 45 run parallel to the guide part 14 or to the guide 32. With the position sensor devices 44, 45 positions of the carriage 12 along its Linearverstellweges 39 between the stops 20 can be determined.
  • the position sensor devices 44, 45 are longitudinally positionable in the receiving grooves 40, 41 along the Linearverstellweges 39 and can be fixed by means of clamping means 46.
  • the clamping means 46 include, for example, clamping screws 47, for clamping sensor housings 48 of the position sensor devices 44, 45 in the receiving grooves 40, 41.
  • the clamping means 46 may optionally also comprise clamping projections 49, which advantageously protrude resiliently from the sides of the sensor housing 48.
  • clamping projections 49 advantageously protrude resiliently from the sides of the sensor housing 48.
  • the sensor housing 48 can then be snapped into the receiving grooves 40, 41 so to speak, wherein the clamping projections 49 are displaced in the direction of the sensor housing 48 during insertion into the grooves 40, 41 so that they groove projections 50 at the top of the grooves 40, 41 can be inserted past and then, when the sensor housing 48 are positioned in the grooves 40, 41, again project outwardly in front of the sensor housing 48 and to the bottom of the groove projections 50 or on side walls of the grooves 40, 41 create.
  • the receiving grooves 40, 41 are arranged on the outside of the guide housing 11.
  • the receiving grooves 40, 41 are arranged on an inclined portion 64 of the guide housing 11 between the top 15 and a side surface 65.
  • a downwardly projecting portion 66 of the carriage 12 enters detection areas 53 of the position sensing devices 44, 45.
  • Attached to a top 67 of the carriage 12 are fasteners 68, such as mounting holes, clamping means, or the like, for securing objects to the carriage 12, such as those to be conveyed Good, present.
  • the position sensor devices 44, 45 are wired, for example via lines 51, for example, connected to a control device 52 and report this to the control device 52 positions of the carriage 12.
  • the lines 51 are expediently arranged in the grooves 40, 41.
  • the position sensor devices 44, 45 have a first and a second display means 161, 162, at least one of which remains visible when a sensor 54 of the position sensor device 44, 45 detects an object 9, for example the carriage 12, in its detection region 53. Namely, the carriage 12 can obscure one of the display means 161 or 162. Nevertheless, the respective other display means 161 or 162 remains visible.
  • the carriage 12 is shown by way of example at a linear position, in which it covers the display means 162 at the sensor 44 and the display means 161 is arranged in an area adjacent to the carriage 12 or in a section of the carriage 12 and thus visible.
  • a printed circuit board 149 for example an electrical circuit board, is arranged in a sensor housing 148.
  • the sensor housing 158 can be clamped and adjusted for example in one of the receiving grooves 40 or 41 with clamping means 46. Then, a display area 171 with the display means 161, 162 visible outside of the receiving grooves 40 or 41.
  • the clamping means 46 comprise a clamping screw 47 which at least partially understands before a bottom of the sensor housing 148 in the clamped state.
  • the clamping screw 47 penetrates the sensor housing 148 at a recess 142, the bottom side 143 is set back relative to the top 144 that a head of the screw 47 in the assembled state of the position sensor means 44, 45 does not project from the top 144 of the sensor housing 148.
  • connection line 148 with a connection contact or plug 142 penetrates the sensor housing 148 at a connection opening 145.
  • the position sensor device 44, 45 can be connected, for example, to the control device 52.
  • the conduit 51 is connected to a connection housing 150, which is positioned in the region of the connection opening 145. From the terminal housing 150, a lead 149a leads to the printed circuit board 149.
  • the detection regions 53 of the position sensor devices 44, 45 are in an outer region 80 of the guide housing 11, e.g. oriented in the direction of the carriage 12.
  • the sensor 54 is preferably an inductive or capacitive sensor having a resonant circuit 55 containing an inductance or capacitance.
  • a magnetic or electric field generated by the resonant circuit or oscillator 55 defines the detection area 53.
  • the magnetic or electric field 56 of the resonant circuit 55 is affected, for example, disturbed, so that the sensor 54 can determine the presence of the carriage 12 at its respective position. Thus, no magnet on the carriage 12 is required.
  • a magnetic sensor 54a which is actuated by an optional present on the slide 12 magnet 69.
  • the detection areas 53 are perpendicular to the receptacle 42, 43, for example, the receiving groove 40, 41st
  • the resonant circuit 55 with a magnetic coil 155 is located in the mounted state of the circuit board 149 in a receptacle or recess 159 of the sensor housing 148.
  • An evaluation 156 which includes, for example, a comparator generates based on the signals of the resonant circuit 55, a position signal 90, the position sensor device 44, 45 outputs via line 51.
  • the position signal 90 is generated.
  • the detection area 53 is provided, for example, by field guiding means 157, e.g. Baffles 158, defined. It is understood that a suitably directed field characteristic of the detection range 53 can also be set by a suitable design or dimensioning of the resonant circuit 55 and no field-guiding means are required.
  • the position sensor devices 44, 45 may have a sensor 54b with a detection region directed into the interior of the actuator.
  • the sensor 54b is, for example, an inductive or capacitive sensor, or preferably a magnetic sensor, e.g. a reed contact, a magnetoresistive sensor or the like which is driven by a field 63 of a magnet 61 on the actuator member 8, e.g. the piston 35, is triggered.
  • the detection area 53 for an operator is indicated by a mark 160.
  • the marker 160 is, for example, a cross-shaped marker that marks the lateral boundaries of the detection area 53.
  • bulbs 163, such as LEDs are below windows 14 at the top 144 of the sensor housing 148.
  • the sensor 144 illuminates the bulbs 163, when the object 9 is in its detection area 53.
  • the illuminants 163 are spaced apart from one another at a linear distance, and in the present case are symmetrical to the detection region 53. It is understood that in principle also illuminants or display means can be provided which are arranged at different distances from the respective detection range of a position sensor device according to the invention.
  • FIG. 3 schematically a further embodiment of the invention is shown.
  • a common light source 167 for example an LED, which is illuminated by the sensor 54 when the object 9 is in its detection area 53, a light guide 166 leads to the windows 164.
  • FIG. 7 shown position sensor device 44 ' has partially the same components as the position sensor means 44, 45.
  • the position sensor means 44' is in FIG. 7 only partially inserted into the groove 40 and is inserted in a full assembly to the groove bottom further into the groove 40.
  • Shielding devices 59 shield the detection regions 53 of the position sensor devices 44, 45, 44 'from external field influences, which are undesirable.
  • the shielding devices 59 comprise, for example, a shielding plate 60, which shields the oscillatory circuit 55 from influences from the interior of the guide housing 11, for example from influences of a field of excitation 63 of a magnet 61 on the piston 35, which is optionally shown.
  • a shielding plate 62 may be present in the region of the receptacle 42, for example in the bottom region or below the bottom region of the receiving groove 40, and form a shielding device 59.
  • the shielding plate 62 shields, for example, an exciting field 63 of the magnet 61 from the position sensor devices 44, 45.
  • the position sensor device 44 has field-guiding means 57, for example baffles, which are mounted laterally on the sensor housing 48.
  • the field guiding means 57 deflect the field 56 in the direction of the oscillatory circuit 55.
  • FIG. 8 shown position sensor device 70 has partially the same components as the position sensor means 44, 45, which are accordingly denoted by the same reference numerals. In the following, different functions and components of the position sensor device 70 will be explained.
  • the position sensor device 70 has a wireless interface 71 for transmitting sensor values, for example to the control device 52.
  • the interface 71 is, for example, a WLAN interface (Wireles Local Area Network).
  • the interface 71 is a common interface for a first sensor 74 and a second sensor 75, wherein a detection range 73 of the first sensor 74 is oriented outwards, that is, in the direction of the carriage 12, while the second sensor 75 extends into the interior of the guide housing 11 directed detection area 76 has.
  • the first sensor 74 is, for example, an optical sensor which is activated by reflection or shading by the carriage 12, in particular of the section 66 of the carriage 12.
  • the second sensor 75 is expediently a magnetic sensor, which is actuated by the exciting field 63 of the magnet 61.
  • the sensor 75 is, for example, a Hall sensor, a reed contact, a magnetoresistive sensor or the like.
  • a shielding plate 78 which forms shielding means, is arranged between the two sensors 74, 75.
  • the sensors 74, 75 are expediently movable relative to one another within the sensor housing 48, for example parallel to the linear displacement path 39 of the carriage 12.
  • the carriage 12 is driven for example by a linear direct drive.
  • the carriage could be a runner of the linear drive.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Actuator (AREA)
EP07847030A 2007-02-20 2007-12-07 Positionssensoreinrichtung und damit ausgestatteter aktor Active EP2049804B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200710008338 DE102007008338B4 (de) 2007-02-20 2007-02-20 Positionssensoreinrichtung und damit ausgestatteter Aktor
PCT/EP2007/010683 WO2008101536A1 (de) 2007-02-20 2007-12-07 Positionssensoreinrichtung und damit ausgestatteter aktor

Publications (2)

Publication Number Publication Date
EP2049804A1 EP2049804A1 (de) 2009-04-22
EP2049804B1 true EP2049804B1 (de) 2010-11-17

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EP07847030A Active EP2049804B1 (de) 2007-02-20 2007-12-07 Positionssensoreinrichtung und damit ausgestatteter aktor

Country Status (4)

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EP (1) EP2049804B1 (zh)
CN (1) CN101611230B (zh)
DE (2) DE102007008338B4 (zh)
WO (1) WO2008101536A1 (zh)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019217178A1 (de) * 2019-11-07 2021-05-12 Max Aicher Gmbh & Co. Kg Abschirmeinheit zur abgeschirmten Anordnung eines Sensors, Sensoranordnung mit einer derartigen Abschirmeinheit und Behälter
DE102021205334A1 (de) 2021-05-26 2022-12-01 Robert Bosch Gesellschaft mit beschränkter Haftung Linearmodul und Verfahren zum Betrieb eines Linearmoduls

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR950002985B1 (ko) * 1991-01-10 1995-03-29 에스 엠 씨이 카부시키가이샤 로드리스실린더에 있어서의 배관 및 배선의 도출기구
JP3468831B2 (ja) * 1994-04-27 2003-11-17 Ｓｍｃ株式会社 ロッドレスシリンダ
DE29501140U1 (de) * 1995-01-25 1995-04-13 Festo AG & Co, 73734 Esslingen Linearantrieb mit Sensorausstattung
DE29518539U1 (de) * 1995-11-22 1996-01-18 Festo Kg, 73734 Esslingen Positionserfassungsvorrichtung
DE20004976U1 (de) * 2000-03-17 2000-05-31 Festo Ag & Co Fluidbetätigter Linearantrieb
DE10152178C2 (de) * 2001-04-30 2003-04-17 Rexroth Mecman Gmbh Druckmittelzylinder mit einem verschiebbaren Sensor zur Detektion der Kolbenstellung
CN2682378Y (zh) * 2003-09-11 2005-03-02 东风汽车公司 摆线型机油泵内转子检测仪
DE202005004996U1 (de) * 2005-03-30 2005-06-02 Festo Ag & Co. Linearantrieb

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Publication number Publication date
DE102007008338A1 (de) 2008-08-21
WO2008101536A1 (de) 2008-08-28
DE102007008338B4 (de) 2009-12-17
DE502007005694D1 (de) 2010-12-30
EP2049804A1 (de) 2009-04-22
CN101611230B (zh) 2012-12-05
CN101611230A (zh) 2009-12-23

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