KR910700414A - 작업기계의 유압회로장치 - Google Patents

작업기계의 유압회로장치

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Publication number
KR910700414A
KR910700414A KR1019900701662A KR900701662A KR910700414A KR 910700414 A KR910700414 A KR 910700414A KR 1019900701662 A KR1019900701662 A KR 1019900701662A KR 900701662 A KR900701662 A KR 900701662A KR 910700414 A KR910700414 A KR 910700414A
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KR
South Korea
Prior art keywords
pressure
control
circuit device
variable
hydraulic circuit
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Application number
KR1019900701662A
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English (en)
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KR920007650B1 (ko
Inventor
겐로꾸 스기야마
도이찌 히라다
Original Assignee
오까다 하지메
히다찌 겐끼 가부시기가이샤
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Publication of KR910700414A publication Critical patent/KR910700414A/ko
Application granted granted Critical
Publication of KR920007650B1 publication Critical patent/KR920007650B1/ko

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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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • 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
    • E02F9/2282—Systems using center bypass type changeover valves
    • 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
    • E02F9/2285—Pilot-operated systems
    • 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
    • E02F9/2292—Systems with two or more pumps
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/163—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for sharing the pump output equally amongst users or groups of users, e.g. using anti-saturation, pressure compensation
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/168—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load with an isolator valve (duplicating valve), i.e. at least one load sense [LS] pressure is derived from a work port load sense pressure but is not a work port pressure itself
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/25—Pressure control functions
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F15B2211/3053—In combination with a pressure compensating valve
    • F15B2211/30535—In combination with a pressure compensating valve the pressure compensating valve is arranged between pressure source and directional control valve
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F15B2211/3053—In combination with a pressure compensating valve
    • F15B2211/30555—Inlet and outlet of the pressure compensating valve being connected to the directional control valve
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3111—Neutral or centre positions the pump port being closed in the centre position, e.g. so-called closed centre
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
    • F15B2211/5159—Pressure control characterised by the connections of the pressure control means in the circuit being connected to an output member and a return line
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/55—Pressure control for limiting a pressure up to a maximum pressure, e.g. by using a pressure relief valve
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/605—Load sensing circuits
    • F15B2211/6051—Load sensing circuits having valve means between output member and the load sensing circuit
    • F15B2211/6054—Load sensing circuits having valve means between output member and the load sensing circuit using shuttle valves
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/78—Control of multiple output members

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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)
  • Operation Control Of Excavators (AREA)

Abstract

내용 없음.

Description

작업기계의 유압회로장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본원 발명의 제1의 실시예에 의한 유압회로장치의 개략도이다.
제2도는 조작레버의 조작량에 대한 액튜에이터에의 공급유량의 변화의 관계를 나타낸 도면이다.
제3도는 본원 발명의 제2의 실시예에 의한 유압회로장치의 개략도이다.

Claims (13)

  1. 압유공급원(1)과, 이 압유공급원으로부터의 압유에 의해 구동되는 최소한 한의 유압액튜에이터(3 또는 13)와, 이 액튜에이터에 공급되는 압유의 흐름을 제어하는 유량제어밸브(4 : 4A 또는 14 : 14A)와, 이 유량제어밸브의 전후차압을 규정치로 유지하는 압력제어수단(5 : 5A 또는 15 : 15A)을 구비한 작업기계의 유압회로장치에 있어서, 상기 액튜에이터(3 또는 13)의 부하압력과 상기 압유공급원(1)의 공급압력으로부터 상기 부하압력과 같은 압력과 상기 부하압력보다 높고 상기 공급압력보다 낮은 중간압력의 한쪽을 선택적으로 만들어내고, 이것을 제어압력으로서 출력하는 제1의 수단(20 : 23 : 35, 36)과, 상기 제1의 수단을 조작하고, 상기 제어압력으로서 상기 부하압력과 같은 압력이나 상기 중간압력의 어느 것을 선택하는가를 지시하는 제2의 수단(21 : 27 : 29 : 34, 36)과, 상기 제어압력을 상기 제어압력제어수단(5 : 5A 또는 15 : 15A)에 도입하는 연락수단(22)을 가지며, 상기 압력제어수단은 상기 제어압력이 상기 부하압력과 같은 압력일 때는 상기 차압을 상기 규정치로 유지하고, 상기 제어압력이 상기 중간압력일 때는 상기 차압을 상기 규정치보다 작게 하는 것을 특징으로 하는 작업기계의 유압회로장치.
  2. 제1항에 있어서, 상기 제1의 수단(20)은 일단에 상기 부하압력이 도입되고, 타단에 상기 공급압력이 도입되는 관로(20a)와, 상기 관로에 설치된 고정스로틀(20b) 및 가변스로틀(20c)을 포함하며, 상기 제2의 수단은 상기 가변스로틀의 개폐도를 조정하는 수단(21 : 27, 29)이며, 상기 연락수단(22)은 상기 관로의 고정스로틀과 가변스로틀의 사이의 부분(20d)에 접속되어 있는 것을 특징으로 하는 작업기계의 유압회로장치.
  3. 제2항에 있어서, 상기 고정스로틀(20b)은 상기 관로(20a)의 부하압력이 도입되는 측에 설치되고, 상기 가변스로틀(20c)은 상기 관로의 공급압력이 도입되는 측에 설치되며, 상기 제2의 수단(21 : 27, 29)은 상기 부하압력을 선택할때는 상기 가변스로틀을 폐쇄하고, 상기 중간압력을 선택할 때는 상기 가변스로틀을 임의의 개폐도로 개방하는 것을 특징으로 하는 작업기계의 유압회로장치.
  4. 제1항에 있어서, 상기 제1의 수단(23)은 일단에 상기 부하압력이 도입되고, 타단에 상기 공급압력이 도입되는 관로(23a)와, 상기 관로에 설치된 고정스로틀(23c) 및 가변압력제어밸브(23b)를 포함하며, 상기 제2의 수단은 상기 가변압력제어밸브의 설정치를 조정하는 수단(21)이며, 상기 연락수단(22)은 상기 관로의 고정스로틀과 가변압력조정밸브사이의 부분(23d)에 접속되어 있는 것을 특징으로 하는 작업기계의 유압회로장치.
  5. 제4항에 있어서, 상기 가변압력제어밸브(23b)는 상기 관로(23a)의 부하압력이 도입되는 측에 설치되고, 상기 고정스로틀(23c)은 상기 관로의 공급압력이 도입되는 측에 설치되며, 상기 제2의 수단(21)은 상기 부하압력을 선택할 때는 상기 가변압력제어밸브 설정치를 영으로 하고, 상기 중간압력을 선택할 때는 상기 가변압력제어밸브의 설정치를 영이외의 임의의 값으로 변경하는 것을 특징으로 하는 작업기계의 유압회로장치.
  6. 제1항에 있어서, 상기 제1의 수단은 상기 부하압력을 검출하는 수단(31)과, 상기 공급압력을 검출하는 수단(32)과, 상기 검출된 부하압력 및 공급압력으로부터 상기 제어압력을 연산하는 수단(36)과, 상기 연산된 제어압력에 따라 제어되어, 상기 제어압력을 발생하는 수단(35)을 포함하는 것을 특징으로 하는 작업기계의 유압회로장치.
  7. 제1항에 있어서, 상기 제2의 수단은 오퍼레이터의 조작에 의해 조작되고, 상기 제1의 수단(20, 23)을 조작하는 수단(21)인 것을 특징으로 하는 작업기계의 유압회로장치.
  8. 제1항에 있어서, 상기 압유공급원과 유압펌프(1)와, 이 유압펌프를 구동하는 원동기(25)를 포함하며 상기제2의 수단은 상기 원동기의 회전수에 따라 상기 제1의 수단(20; 35, 36)을 조작하는 수단(27, 29; 34, 36)인 것을 특징으로하는 작업기계의 유압회로장치.
  9. 제8항에 있어서, 상기 제2의 수단은 상기 원동기(25)의 목표회전수를 지시하는 수단(27)에 연동하여 상기제1의 수단(20)을 조작하는 수단(29)인 것을 특징으로 하는 작업기계의 유압회로장치.
  10. 제8항에 있어서, 상기 제2의 수단은 상기 원동기(25)의 실회전수를 검출하는 수단(34)과, 이 검출된 실회전수에 따라 상기 제1의 수단(35,36)을 조작하는 수단(3b)을 포함하는 것을 특징으로 하는 작업기계의 유압회로장치.
  11. 제6항에 있어서, 상기 제2의 수단은 상기 선택의 기초가 되는 정보를 출력하는 수단(34)을 포함하며, 상기 제어압력을 연산하는 수단(36)은 상기 정보를 입력하고, 이것에 의거하여 상기 부하압력과 같은 압력이거나 상기 중간압력의 어느 하나를 이 제어압력으로서 연산하는 것을 특징으로 하는 작업기계의 유압회로장치.
  12. 제1항에 있어서, 상기 압력제어수단은 상기 유량제어밸브(4 또는 14)의 하류측에 설치된 압력제어기(5 또는 15)인 것을 특징으로 하는 작업기계의 유압회로장치.
  13. 제1항에 있어서, 상기 압력제어수단은 상기 유량제어밸브(4A 또는 14A)의 하류측에 설치된 압력보상밸브(5A 또는 15A)인 것을 특징으로 하는 작업기계의 유압회로장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019900701662A 1989-02-20 1990-02-19 작업기계의 유압회로장치 KR920007650B1 (ko)

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JP3832589 1989-02-20
JP89-38325 1989-02-20
JP1-38325 1989-02-20
PCT/JP1990/000193 WO1990009528A1 (en) 1989-02-20 1990-02-19 Hydraulic circuit for working machines

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KR920007650B1 KR920007650B1 (ko) 1992-09-14

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EP0411151A1 (en) 1991-02-06
DE69010419T2 (de) 1994-11-03
EP0411151A4 (en) 1992-03-11
EP0411151B1 (en) 1994-07-06
KR920007650B1 (ko) 1992-09-14
US5101629A (en) 1992-04-07
WO1990009528A1 (en) 1990-08-23
DE69010419D1 (de) 1994-08-11

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