EP2220383B1 - Dispositif de commande hydraulique - Google Patents

Dispositif de commande hydraulique Download PDF

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Publication number
EP2220383B1
EP2220383B1 EP08774826A EP08774826A EP2220383B1 EP 2220383 B1 EP2220383 B1 EP 2220383B1 EP 08774826 A EP08774826 A EP 08774826A EP 08774826 A EP08774826 A EP 08774826A EP 2220383 B1 EP2220383 B1 EP 2220383B1
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EP
European Patent Office
Prior art keywords
pressure
consumer
hydraulic control
control arrangement
consumers
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.)
Not-in-force
Application number
EP08774826A
Other languages
German (de)
English (en)
Other versions
EP2220383A1 (fr
Inventor
Edwin Heemskerk
Bernd VÖLKER
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2220383A1 publication Critical patent/EP2220383A1/fr
Application granted granted Critical
Publication of EP2220383B1 publication Critical patent/EP2220383B1/fr
Not-in-force legal-status Critical Current
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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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • 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
    • 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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump

Definitions

  • the invention relates to a hydraulic control arrangement for supplying a plurality of hydraulic consumers according to the preamble of patent claim 1.
  • LS load sensing
  • throttle systems are often used.
  • the pump pressure is adjusted depending on the highest load pressure of the consumer.
  • each of the consumers is assigned an adjustable measuring orifice and a pressure compensator, which keep the pressure medium volume flow independent of the load pressure.
  • LUDV systems a subgroup of LS systems - the pressure compensator is connected downstream of the continuously adjustable metering orifice and acted upon in the closing direction by the highest load pressure of all consumers and in the opening direction by the pressure downstream of the metering orifice.
  • the available volume flow in LUDV measuring systems is proportionally divided in proportion to the opened measuring orifice cross-sections.
  • the pump flow rate is thus adapted to the respective requirements.
  • the pump in a load pressure dependent working throttle system, the pump always promotes the maximum possible or a constant flow rate.
  • the pump can be designed as a constant or variable.
  • These throttle controls use open-center control blocks, as described, for example, in data sheet RE 64 122 / 05.03 from Bosch Rexroth AG. These control blocks have a variety of directional control valve elements that lead in their basic position the pump flow with low pressure loss via a circulation channel back to the tank.
  • the valve piston of a valve element When adjusting the valve piston of a valve element, the connection to the associated consumer is steadily turned on, while the pressure fluid volume flow is throttled in the circulation channel, so that the pump pressure rises to the load pressure of the consumer. With the further adjustment of the control piston thus the pump flow is increasingly reversed from the circulation channel to the consumer channel.
  • the volume flow is then divided to the individual consumers in dependence on the respective load pressure, wherein due to the load pressure dependence, the pressure medium preferably flows to the consumer with the lowest load pressure.
  • a pump pressure sets in that corresponds approximately to the highest load pressure of the consumer plus a predetermined pressure difference. Accordingly, the pump pressure must be throttled for operating the load-lowest consumer accordingly, so that considerable losses.
  • the pump pressure is throttled by the individual pressure compensators assigned to the lower- load consumers, so that losses also occur.
  • a disadvantage of this solution is that the device complexity is considerable due to the large number of hydraulic motors and thus the energy savings is consumed by the higher investment costs.
  • the invention has the object to minimize the energy loss in such control arrangements with low device complexity.
  • the hydraulic control arrangement has a pump for supplying pressure medium to a plurality of consumers.
  • the control arrangement according to the invention comes with a single hydraulic motor, which is assigned to several, preferably all consumers and is followed by a Um Kunststoffan für only the lastniedrigsten or one of the lower-load consumer.
  • the hydraulic energy of the pressure medium flowing away from this consumer is thus used to drive the hydraulic motor associated with a plurality of consumers, so that practically the "load pressure" of this low-load consumer is raised by the additional drive of the hydraulic motor and correspondingly energy can be saved.
  • the solution according to the invention is distinguished from the initially known solution by a considerably reduced device complexity, wherein the throttling losses at the low-load consumer can be used for the pump drive, so that the energy saving is almost of the same order of magnitude as in the prior art.
  • the consumers are designed as differential cylinders, the annular space or - depending on the load direction - the cylinder chamber is connected to the return, the return of the low-load consumer is guided via the Um Kunststoffan für to the hydraulic motor and the pressure medium from the higher-load consumer via the directional control valve assembly flows to the tank.
  • the Um bruisean Alba advantageously has a consumer associated continuously adjustable directional control valves, which are actuated in response to the load pressure.
  • control takes place in the direction of control of the connection to the hydraulic motor by the load pressure of the respective consumer and in the opposite direction by the load pressure of the other consumer.
  • control of the directional control valves is electrically dependent on the pressure difference between the highest load pressure (pressure in the cylinder chamber of the consumer) and the pressure in the return (pressure in the annulus).
  • the directional control valves of Um Kunststoffanix are designed as continuously adjustable 3-way valves, wherein working ports of the directional control valves each with the decreasing pressure chamber of the consumer, return ports of the directional control valves each with a working port of the associated Directional valve element and Um tenuan realise the directional control valves are connected to the input port of the hydraulic motor.
  • the continuously adjustable directional control valves can also control a throttle cross-section to the return port and thus to the associated directional valve element when controlling the pressure medium connection to the hydraulic motor.
  • the pump of the control arrangement according to the invention can be designed as a constant or variable.
  • the pump can be designed as a double pump with pump units connected in parallel.
  • the invention can be used particularly advantageously in control arrangements with at least two consumers.
  • the control arrangement can be designed as EFM, LS, LUDV or throttle control.
  • FIG. 1 shows a circuit diagram of a running as LS, LUDV or throttle control hydraulic control arrangement in which at least three consumers 2, 4, 6 via a pump 8, a LS, LUDV or throttle control block 10 and a reversing device 12 can be supplied with pressure medium.
  • the pump 8 is driven by a motor M.
  • This drive can be supported by a hydraulic motor 14, which is also adjustable and - as in FIG. 1 indicated - acts on the same pump shaft as the engine.
  • the adjustment of the hydraulic motor 14 is carried out according to the embodiment FIG. 1 electronically via an adjusting device 16, which will be explained in more detail below.
  • the Um Kunststoffan extract 12 includes a plurality of continuously adjustable 3-way valves 18, 20, 22, each associated with one of the consumers 2, 4 and 6 respectively.
  • the adjustment of these directional control valves 18, 20, 22 takes place electrically in dependence on the signal of two pressure sensors 24, 26; 28, 30; 32, 34, which are each assigned to one of the consumers 2, 4 and 6 and over which - as explained in more detail below - the lowest-load consumer is detectable.
  • the control block 10 essentially consists of an input element, directional control valve elements and an output element, wherein each of the consumers is associated with a directional control valve element.
  • a control block is described by way of example in the data sheets RD 64 122 (throttle control), RD 64 282 (LS control block) or RD 64 127 (LUDV control block).
  • FIG. 1 are the consumers 2, 4, 6 as a differential cylinder, for example, lifting cylinder of a mobile working device executed, in each case via a differential piston, a bottom-side cylinder chamber 36, 38, 40 of a piston rod side annular space 42, 44, 46 is separated
  • FIG. 2 Accordingly, this is designed as a continuously adjustable 3-way valve with a working port A, a return port R and a reversing port U and biased by a spring 48 in a basic position in which the working port A is connected to the return port R and the circulation port U is shut off.
  • a valve spool of the directional control valve 22 can be moved so that a connection opened from the working port A to Um Kunststoffan gleich U and the connection to the return port R is controlled.
  • a throttle cross-section to the return port R is also controlled in the end position (valve spool of the directional control valve 22 moved to the left).
  • the in FIG. 2 dash-dotted lines with the reference numeral 22 'is shown is dispensed with this throttle cross section to the return port R, so that it is shut off in the end position of the valve spool.
  • the working port A is connected via a return line 52 to the annular space 46.
  • the return port R is connected via a return passage 54 to a working port of the associated directional control valve element.
  • the other working port of this directional control valve element is connected via a feed channel 56 to the cylinder chamber 40 of the consumer 6.
  • the pressure sensors 32, 34 are arranged in the flow channel 56 and in the return channel 52, so that via these two pressure sensors each of the highest load pressure of the consumer corresponding pressure in the cylinder chamber 40 and the pressure building up in the annular space 46 is detected, which is approximately inversely proportional behaves to the load pressure of the associated consumer.
  • the pressure difference detected by the pressure sensors 32, 34 and correspondingly by the pressure sensors 24, 26 and 28, 30 is a measure of the load pressure of the respective consumer.
  • the effective area ratio between the cylinder chamber 40 and the annular space 46 is 2: 1 and that the load pressure of the consumer 2 100 bar, the consumer 4 is 70 bar and the consumer 6 50 bar, so is in a throttle control in the cylinder chambers 36, 38, 40 each set the highest load pressure corresponding pressure of about 100 bar.
  • the pressure in the annular space 42 of the highest-load consumer 2 would then correspond approximately to the tank pressure.
  • the pressure difference detected by means of the pressure sensors 24, 26 thus corresponds approximately to the load pressure (100 bar) for the highest-load consumer.
  • the pressure in the annular space 44 of the somewhat lower-load consumer 4 (70 bar) would then be about 60bar, so that the pressure difference detected by the pressure sensors 28, 30 would correspondingly be 40 bar.
  • a pressure of about 100 bar would set in the annular space 46, so that the pressure difference detected via the pressure sensors 32, 34 is then approximately equal to zero.
  • D. h. The lowest-load consumer is in a throttle control the one in which the pressure sensors 32, 34, the lowest pressure difference is measured.
  • This pressure difference is then processed by a control unit CU, which outputs a control signal to the directional control valves 18, 20, 22, so that the directional valve 22 associated with the lowest-load consumer - in the direction of an opening of the pressure medium connection between the working port A and the Um Kunststoffan gleich U is adjusted.
  • the lowest load pressure can be detected directly via the sensors 26, 28, 32.
  • FIG. 1 and FIG. 2 are all reversal ports U of the directional control valve 18, 20, 22 connected to a circulation channel 58, which leads to the pressure or input port P of the hydraulic motor 14. Its tank connection T is connected via a tank line 60 to a tank 62.
  • FIG. 1 can be removed, downstream of each Um Kunststoffan gleiches U of the directional control valves 20 each one in the direction of the hydraulic motor 14 opening check valve 64, 66, 68 is provided, via which a pressure fluid flow from the circulation channel 58 in the direction of the consumer 2, 4, 6 is prevented.
  • connection of the other two consumers 2, 4 to the control block 10 and the reversing device 12 is carried out according to the connection of the third consumer 6, based on FIG. 2 is explained in detail - it is omitted for simplicity, to provide the corresponding, the consumers 2, 4 associated channels and lines with reference numerals.
  • the pressure medium is conveyed by the pump 8 via a common supply channel 70 to the consumer valve 2, 4, 6 associated directional control valve elements 10 of the control block.
  • the pressure medium flowing back from the higher-load consumers 2, 4 is returned to the tank 62 via these directional control valve elements - this pressure medium flow path is in FIG. 1 for the sake of simplicity not shown.
  • the adjustment of the hydraulic motor 14 is also carried out electrically in response to the load pressures from the sensors 24, 26; 28, 30; 32, 34 are detected.
  • Such an electronic adjusting device 16 may for example be designed as in FIG. 1 shown below right.
  • Such adjusting device 16 has an actuating cylinder 72 which, in its spring-biased basic position, sets the displacement of the hydraulic motor 14 to 0.
  • the adjusting cylinder 72 can be acted upon by a pressure reducing valve 74 with a control pressure whose size is predetermined via the control unit CU.
  • the pressure reducing valve 74 can be electrically actuated or even be adjustable via a control pressure, which is predetermined by the control unit CU.
  • Such actuators for hydraulic motors 14 are known, so that further explanations are unnecessary.
  • FIG. 1 is represented by the reference numeral 8 ', a further variant of a throttle control arrangement according to the invention.
  • the pump 8 may be formed of two pumping units 82, 84, which are connected in parallel to each other and driven by a common motor M and the hydraulic motor 14. In this way, it is possible to ensure a high pressure medium volume flow with comparatively small pumps.
  • the pressure medium flowing off via the circulation channel 58 drives the hydraulic motor 14, the displacement of which - as explained above - is set as a function of the load pressure of the last-lowest consumer 6. Pressure medium in the pressure medium flow path to the annular space 6 is thus accumulated via the hydraulic motor 14.
  • a pressure builds up, which tapped via the control line 49 and acts in the direction of the spring 48 on the valve spool of the directional control valve 22, so that the valve spool by the spring 48 and this control pressure in the control line 49 on the one hand and by the force of Proportional magnet 50 is applied on the other hand.
  • This control pressure also acts on the two other directional valves 18, 20 in the closing direction, so that they are held in their basic positions shown.
  • control unit CU decides at the beginning of the activation of the consumers 2, 4, 6 from the evaluation of the pressure signals, which is the load lower consumer and then the corresponding directional control valve 18, 20, 22 adjusted - a subsequent load pressure change is then not considered.
  • the reversing arrangement 12 is designed with electrically actuatable directional control valves 18, 20, 22.
  • FIG. 3 shows an embodiment in which the control arrangement 12 is formed with hydraulically operated directional valves 18, 20.
  • the respective load pressure in the bottom-side cylinder chamber 36, 38 is tapped via control channels 76, 78 and effective in the direction of the spring 48 control surface of the associated directional control valve 18, 20 and in the opposite direction, ie in the direction of controlling the pressure fluid connection to the hydraulic motor fourteenth effective control surface of each other way valve 20, 18 out. That is, in this variant, the directional control valves 18, 20 acted upon by the load pressure difference, wherein in the switching direction (opening of the pressure medium connection to the hydraulic motor 14) each of the load pressure of the other consumer acts.
  • the adjustment of the absorption volume of the hydraulic motor 14 via a control unit 86, which consists essentially of the actuating cylinder 72 and a control valve 88.
  • This is designed as a continuously adjustable 3-way valve whose input port P is connected via a pressure channel 90 to the inlet channel 70.
  • the adjusting cylinder 72 is connected via a control line 92 to the output terminal A.
  • the control valve 88 further has a tank port T connected to the tank S.
  • the adjustment of the control valve 88 is a function of the load pressure difference of the two consumers 2, 4. It is assumed that the load pressure of the consumer 2, the pressure p 1 in the pressure chamber 36th and the load pressure of the further consumer 4, the pressure p 2 in the cylinder chamber 38 of the consumer 4 is. As shown in FIG.
  • the adjustment of the swivel angle of the hydraulic motor 14 also takes place as a function of the two aforementioned load pressures.
  • this higher load pressure is guided via the shuttle valve 96 to the effective in the direction of the spring 94 control surface of the control valve 88, while the smaller Load pressure p 2 via the inverse shuttle valve 98 acts on the effective in the opposite direction control surface of the control valve 88.
  • the output port A is connected to the tank port S, so that pressure medium from the actuator cylinder 72 can flow to the tank T and the swing angle is taken back and thus according to the pressure in the circulation channel 58 increases until the smaller load pressure p 2 is only smaller than the load pressure p 1 by the pressure equivalent of the spring 94.
  • each two consumers 2, 4 associated with a hydraulic motor 14. If several consumers are controlled in the manner shown, two hydraulic motors 14 could always be assigned to two other consumers.
  • FIG. 4 shows the conditions in a controller according to the invention, wherein in each case the load pressures P are shown above the pressure medium volume flow Q.
  • the throttle losses at the load 2 is approximately equal to zero, since here the load pressure corresponds approximately to the self-adjusting pump pressure.
  • the second consumer 4 throttle losses are present, since the pump pressure must be throttled.
  • a hydraulic control arrangement with a pump, via which a plurality of consumers, preferably three or more consumers are supplied with pressure medium.
  • the pressure medium supply via a directional control valve arrangement, which can be designed as LS, LUDV or throttle control.
  • a low-pressure consumer is followed by a hydraulic motor, which is driven by the pressure medium flowing away from this consumer.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)

Claims (14)

  1. Dispositif de commande hydraulique comprenant une pompe (8), par le biais de laquelle plusieurs consommateurs (2, 4, 6) peuvent être alimentés en fluide sous pression, chaque consommateur étant associé à un agencement de soupape de distribution (10) pour ajuster le débit volumique du fluide sous pression et le sens d'écoulement, et comprenant un moteur hydraulique (14) disposé dans le retour d'un consommateur (2, 4, 6), caractérisé en ce que le moteur hydraulique (14) est associé à plusieurs consommateurs (2, 4, 6) et est monté par le biais d'un dispositif d'inversion (12) placé dans un retour (52) des consommateurs (2, 4, 6) après le consommateur de plus faible charge ou l'un des consommateurs de plus faible charge (2, 4, 6).
  2. Dispositif de commande hydraulique selon la revendication 1, dans lequel le moteur hydraulique (14) entraîne la pompe (8).
  3. Dispositif de commande hydraulique selon la revendication 1 ou 2, dans lequel les consommateurs sont des cylindres différentiels (2, 4, 6), dont l'espace annulaire (42, 44, 46) ou l'espace de cylindre (38, 40) est à chaque fois connecté au retour (52).
  4. Dispositif de commande hydraulique selon l'une quelconque des revendications précédentes, dans lequel le dispositif d'inversion (12) présente à chaque fois des soupapes de distribution (18, 20) réglables en continu associées à un consommateur (2, 4, 6), qui peuvent être actionnées en fonction de la pression de charge.
  5. Dispositif de commande hydraulique selon la revendication 4, dans lequel deux consommateurs (2, 4) sont associés à chaque fois à une soupape de distribution (18, 20), qui est sollicitée dans la direction de fermeture de la connexion avec le moteur hydraulique (14) par la pression de charge respective, et dans le sens inverse par la pression de charge de l'autre consommateur (2, 4).
  6. Dispositif de commande hydraulique selon les revendications 3 et 4, dans lequel les soupapes de distribution (18, 20, 22) peuvent être actionnées électriquement en fonction de la différence de pression entre la pression dans l'espace annulaire (42, 44, 46) ou un espace de pression diminuant du consommateur (2, 4, 6) et la pression de charge maximale ou la pression dans l'espace de cylindre (36, 38, 40) ou l'espace de pression augmentant.
  7. Dispositif de commande hydraulique selon la revendication 3 et selon l'une quelconque des revendications 4 à 6, dans lequel des raccords de travail (A) des soupapes de distribution (18, 20, 22) sont connectés à l'espace annulaire (42, 44, 46) ou à un espace de pression diminuant du consommateur (2, 4, 6), des raccords de retour (R) sont connectés à chaque fois à un raccord de travail de l'élément de soupape de distribution associé de l'agencement de soupape de distribution (10) et des raccords d'inversion (U) sont connectés au raccord d'entrée (P) du moteur hydraulique (14).
  8. Dispositif de commande hydraulique selon la revendication 7, dans lequel la soupape de distribution (18, 20, 22), dans sa position d'inversion, laisse ouverte une connexion étranglée avec le raccord de retour (R).
  9. Dispositif de commande hydraulique selon les revendications 7 et 8, dans lequel en aval de chaque raccord d'inversion (U) est disposé à chaque fois un clapet antiretour (68) s'ouvrant dans la direction du moteur hydraulique (14).
  10. Dispositif de commande hydraulique selon l'une quelconque des revendications précédentes, dans lequel la pompe (8) est une pompe à débit variable.
  11. Dispositif de commande hydraulique selon l'une quelconque des revendications précédentes, dans lequel deux unités de pompe (82, 84) sont montées en parallèle.
  12. Dispositif de commande hydraulique selon l'une quelconque des revendications précédentes, dans lequel le moteur hydraulique (14) est associé à au moins deux consommateurs (2, 4, 6).
  13. Dispositif de commande hydraulique selon l'une quelconque des revendications précédentes, dans lequel le moteur hydraulique (14) peut être réglé en fonction de la pression de charge la plus faible ou d'une différence de pression de charge de deux consommateurs (2, 4).
  14. Dispositif de commande hydraulique selon l'une quelconque des revendications précédentes, dans lequel l'agencement de soupape de distribution (10) constitue une commande LS (à détection de charge), LUDV (à distribution indépendante de la pression) ou à étranglement.
EP08774826A 2007-08-01 2008-07-07 Dispositif de commande hydraulique Not-in-force EP2220383B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007035972A DE102007035972A1 (de) 2007-08-01 2007-08-01 Hydraulische Steueranordnung
PCT/EP2008/058758 WO2009015998A1 (fr) 2007-08-01 2008-07-07 Dispositif de commande hydraulique

Publications (2)

Publication Number Publication Date
EP2220383A1 EP2220383A1 (fr) 2010-08-25
EP2220383B1 true EP2220383B1 (fr) 2011-03-02

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EP08774826A Not-in-force EP2220383B1 (fr) 2007-08-01 2008-07-07 Dispositif de commande hydraulique

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EP (1) EP2220383B1 (fr)
AT (1) ATE500428T1 (fr)
DE (2) DE102007035972A1 (fr)
WO (1) WO2009015998A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009054217B4 (de) * 2009-11-21 2020-09-03 Robert Bosch Gmbh Hydraulikanordnung

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JP2004011168A (ja) * 2002-06-04 2004-01-15 Komatsu Ltd 建設機械
JP3957061B2 (ja) * 2002-07-08 2007-08-08 株式会社小松製作所 複数の圧油エネルギー選択回収装置及びその選択回収方法
WO2006088399A1 (fr) 2005-02-17 2006-08-24 Volvo Construction Equipment Holding Sweden Ab Agencement et procede pour le controle d'un vehicule de travail

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Publication number Publication date
ATE500428T1 (de) 2011-03-15
DE102007035972A1 (de) 2009-02-05
EP2220383A1 (fr) 2010-08-25
WO2009015998A1 (fr) 2009-02-05
DE502008002780D1 (de) 2011-04-14

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