SE446071B - Sett att programmera och styra en manipulator samt programmerings- och styranordning for genomforande av settet - Google Patents
Sett att programmera och styra en manipulator samt programmerings- och styranordning for genomforande av settetInfo
- Publication number
- SE446071B SE446071B SE7611920A SE7611920A SE446071B SE 446071 B SE446071 B SE 446071B SE 7611920 A SE7611920 A SE 7611920A SE 7611920 A SE7611920 A SE 7611920A SE 446071 B SE446071 B SE 446071B
- Authority
- SE
- Sweden
- Prior art keywords
- manipulator
- arm
- hand
- during
- axes
- Prior art date
Links
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- JZCCFEFSEZPSOG-UHFFFAOYSA-L copper(II) sulfate pentahydrate Chemical compound O.O.O.O.O.[Cu+2].[O-]S([O-])(=O)=O JZCCFEFSEZPSOG-UHFFFAOYSA-L 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H9/00—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members
- F16H9/02—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion
- F16H9/04—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes
- F16H9/10—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes engaging a pulley provided with radially-actuatable elements carrying the belt
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
- G05B19/25—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control
- G05B19/251—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/253—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34236—Multiplex for servos, actuators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34239—Multiplex for whole system
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35238—Gray-code
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35543—Cartesian to polar and vice versa
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39002—Move tip of arm on straight line
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39468—Changeable hand, tool, code carrier, detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40307—Two, dual arm robot, arm used synchronously, or each separately, asynchronously
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42207—Generate points between start and end position, linear interpolation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43183—Speed control, input is the reference, but no feedback
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45051—Transfer line
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45083—Manipulators, robot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49395—Repeating same operations for other coordinates
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
- Automatic Assembly (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US05/625,932 US4163183A (en) | 1975-10-28 | 1975-10-28 | Programmable automatic assembly system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| SE7611920L SE7611920L (sv) | 1977-04-29 |
| SE446071B true SE446071B (sv) | 1986-08-11 |
Family
ID=24508237
Family Applications (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE7611920A SE446071B (sv) | 1975-10-28 | 1976-10-27 | Sett att programmera och styra en manipulator samt programmerings- och styranordning for genomforande av settet |
| SE8305517A SE8305517L (sv) | 1975-10-28 | 1983-10-07 | Programmerbar manipulator |
| SE8305521A SE8305521L (sv) | 1975-10-28 | 1983-10-07 | Sett att programmera en manipulator |
| SE8305518A SE8305518D0 (sv) | 1975-10-28 | 1983-10-07 | Programmerbar manipulator |
| SE8305520A SE8305520L (sv) | 1975-10-28 | 1983-10-07 | Sett att programmera en manipulator |
| SE8305519A SE8305519D0 (sv) | 1975-10-28 | 1983-10-07 | Programmerbar manipulator |
Family Applications After (5)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE8305517A SE8305517L (sv) | 1975-10-28 | 1983-10-07 | Programmerbar manipulator |
| SE8305521A SE8305521L (sv) | 1975-10-28 | 1983-10-07 | Sett att programmera en manipulator |
| SE8305518A SE8305518D0 (sv) | 1975-10-28 | 1983-10-07 | Programmerbar manipulator |
| SE8305520A SE8305520L (sv) | 1975-10-28 | 1983-10-07 | Sett att programmera en manipulator |
| SE8305519A SE8305519D0 (sv) | 1975-10-28 | 1983-10-07 | Programmerbar manipulator |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US4163183A (show.php) |
| JP (1) | JPS5284669A (show.php) |
| CA (1) | CA1084966A (show.php) |
| DE (2) | DE2660912C2 (show.php) |
| FR (4) | FR2357339A1 (show.php) |
| GB (4) | GB1561256A (show.php) |
| IT (1) | IT1075776B (show.php) |
| SE (6) | SE446071B (show.php) |
Families Citing this family (65)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4086522A (en) * | 1976-09-08 | 1978-04-25 | Unimation, Inc. | Computer assisted teaching arrangement for conveyor line operation |
| US4263538A (en) * | 1977-05-30 | 1981-04-21 | Societa Di Elettronica Per L'automazione Sepa S.P.A. | Control system for an automatic machine |
| EP0001686B1 (en) * | 1977-10-20 | 1981-11-04 | Imperial Chemical Industries Plc | An industrial manipulator for placing articles in close proximity to adjacent articles and a method of close packing articles therewith |
| US4420812A (en) * | 1979-09-14 | 1983-12-13 | Tokico, Ltd. | Teaching- playback robot |
| US4385358A (en) * | 1979-10-19 | 1983-05-24 | Tokico Ltd. | Robot |
| DE3033202C2 (de) * | 1980-09-03 | 1984-04-19 | Siemens AG, 1000 Berlin und 8000 München | Verfahren zur Werkzeugbahn-Interpolation |
| CH645564A5 (de) * | 1980-09-05 | 1984-10-15 | Heinz Hossdorf | Verfahren und vorrichtung fuer das formen der oberflaeche eines werkstuecks. |
| CH639584A5 (fr) | 1980-10-10 | 1983-11-30 | Microbo Sa | Automate susceptible d'apprentissage. |
| JPS5769314A (en) * | 1980-10-13 | 1982-04-28 | Fanuc Ltd | Numerical control system |
| US4379335A (en) * | 1980-10-28 | 1983-04-05 | Auto-Place, Inc. | Electronic controller and portable programmer system for a pneumatically-powered point-to-point robot |
| US4468695A (en) * | 1980-11-20 | 1984-08-28 | Tokico Ltd. | Robot |
| JPS57113114A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
| JPS584377A (ja) * | 1981-03-18 | 1983-01-11 | 株式会社安川電機 | 関節形産業用ロボツトの制御装置 |
| IT1144709B (it) * | 1981-05-15 | 1986-10-29 | Dea Spa | Sistema di misura dimensionale servito da una pluralita di bracci operativi e controllato da un sistema a calcolatore |
| US4581893A (en) * | 1982-04-19 | 1986-04-15 | Unimation, Inc. | Manipulator apparatus with energy efficient control |
| FR2530173B1 (fr) * | 1982-07-14 | 1987-08-14 | Kuka Schweissanlagen & Roboter | Procede et montage pour freiner une partie de machine et pour l'arreter |
| US4558420A (en) * | 1982-10-25 | 1985-12-10 | Gerber Scientific Inc. | Computer generated mold for contoured garment piece formation |
| JPS59106007A (ja) * | 1982-12-10 | 1984-06-19 | Toyota Central Res & Dev Lab Inc | 多関節型ロボツトの軌跡制御装置 |
| JPS59172013A (ja) * | 1983-03-22 | 1984-09-28 | Mitsubishi Electric Corp | 数値制御装置の刃物台同期方式 |
| DE3337782A1 (de) * | 1983-10-18 | 1984-11-29 | Daimler-Benz Ag, 7000 Stuttgart | Verfahren zum programmieren und wiederholten ausfuehren einer bewegung eines roboters |
| US4557663A (en) * | 1984-01-09 | 1985-12-10 | Westinghouse Electric Corp. | Modular, low cost, pogrammable assembly system |
| GB2155212A (en) * | 1984-02-29 | 1985-09-18 | Dowty Group Services | Apparatus for assembling component parts |
| US4688983A (en) * | 1984-05-21 | 1987-08-25 | Unimation Inc. | Low cost robot |
| US4973215A (en) * | 1986-02-18 | 1990-11-27 | Robotics Research Corporation | Industrial robot with servo |
| US4878801A (en) * | 1986-05-19 | 1989-11-07 | Invention Design Engineering Associates, Inc. | Machine for handling circuit package storage tubes |
| US4748552A (en) * | 1986-05-28 | 1988-05-31 | Goro Kikuchi | Sequence control system |
| US4822238A (en) * | 1986-06-19 | 1989-04-18 | Westinghouse Electric Corp. | Robotic arm |
| DE3803040A1 (de) * | 1988-02-02 | 1989-08-10 | Eke Robotersysteme Gmbh | Schwenkantrieb fuer den arm eines industrieroboters |
| DE3931964C2 (de) * | 1989-09-25 | 1996-05-30 | Rexroth Mannesmann Gmbh | Vorrichtung zur Steuerung des Bewegungsablaufs mehrerer, von je einem Stellglied gleichzeitig zu betätigender hydraulischer Antriebe |
| US5126948A (en) * | 1989-11-08 | 1992-06-30 | Ltv Aerospace And Defense Company | Digital position encoder and data optimizer |
| DE4290927C2 (de) * | 1991-04-01 | 2000-04-27 | Fanuc Robotics North America | Anlage zur flexiblen Positionierung von Bauteilen in einer Montagestation und Anlage zur flexiblen Montage von Bauteilen |
| JPH0553634A (ja) * | 1991-08-29 | 1993-03-05 | Matsushita Electric Ind Co Ltd | 複腕干渉回避システム |
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| US2822094A (en) * | 1953-09-29 | 1958-02-04 | Greer Hydraulics Inc | Bridge manipulator |
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| US3701888A (en) * | 1970-08-05 | 1972-10-31 | Bendix Corp | Time shared position feedback system for numerical control |
| US3624371A (en) * | 1970-08-06 | 1971-11-30 | Cincinnati Milacron Inc | Apparatus for generating and recording a program and producing a finished part therefrom |
| JPS4921672Y1 (show.php) * | 1970-08-21 | 1974-06-10 | ||
| FR2183584B1 (show.php) * | 1972-05-10 | 1974-09-27 | Commissariat Energie Atomique | |
| DE2226407C3 (de) * | 1972-05-31 | 1978-10-12 | Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe | Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung |
| US3909600A (en) * | 1972-06-26 | 1975-09-30 | Cincinnati Milacron Inc | Method and apparatus for controlling an automation along a predetermined path |
| JPS5425300B2 (show.php) * | 1973-01-25 | 1979-08-27 | ||
| JPS5214900B2 (show.php) * | 1973-02-28 | 1977-04-25 | ||
| JPS5024686A (show.php) | 1973-07-09 | 1975-03-15 | ||
| US3920972A (en) * | 1974-07-16 | 1975-11-18 | Cincinnati Milacron Inc | Method and apparatus for programming a computer operated robot arm |
| US4011437A (en) * | 1975-09-12 | 1977-03-08 | Cincinnati Milacron, Inc. | Method and apparatus for compensating for unprogrammed changes in relative position between a machine and workpiece |
-
1975
- 1975-10-28 US US05/625,932 patent/US4163183A/en not_active Expired - Lifetime
-
1976
- 1976-10-27 SE SE7611920A patent/SE446071B/sv not_active IP Right Cessation
- 1976-10-28 GB GB44900/76A patent/GB1561256A/en not_active Expired
- 1976-10-28 CA CA264,391A patent/CA1084966A/en not_active Expired
- 1976-10-28 GB GB14777/79A patent/GB1561258A/en not_active Expired
- 1976-10-28 DE DE2660912A patent/DE2660912C2/de not_active Expired
- 1976-10-28 GB GB14778/79A patent/GB1561259A/en not_active Expired
- 1976-10-28 DE DE2649123A patent/DE2649123C2/de not_active Expired
- 1976-10-28 JP JP13035876A patent/JPS5284669A/ja active Pending
- 1976-10-28 IT IT51925/76A patent/IT1075776B/it active
- 1976-10-28 FR FR7632653A patent/FR2357339A1/fr active Granted
- 1976-10-28 GB GB14779/79A patent/GB1561260A/en not_active Expired
-
1977
- 1977-05-17 FR FR7715126A patent/FR2361206A1/fr active Granted
- 1977-05-17 FR FR7715125A patent/FR2361205A1/fr not_active Withdrawn
- 1977-05-17 FR FR7715127A patent/FR2361207B1/fr not_active Expired
-
1983
- 1983-10-07 SE SE8305517A patent/SE8305517L/sv not_active Application Discontinuation
- 1983-10-07 SE SE8305521A patent/SE8305521L/sv not_active Application Discontinuation
- 1983-10-07 SE SE8305518A patent/SE8305518D0/xx not_active Application Discontinuation
- 1983-10-07 SE SE8305520A patent/SE8305520L/sv not_active Application Discontinuation
- 1983-10-07 SE SE8305519A patent/SE8305519D0/xx not_active Application Discontinuation
Also Published As
| Publication number | Publication date |
|---|---|
| US4163183A (en) | 1979-07-31 |
| SE7611920L (sv) | 1977-04-29 |
| FR2361207B1 (fr) | 1985-08-23 |
| GB1561260A (en) | 1980-02-13 |
| SE8305519L (sv) | 1983-10-07 |
| FR2361206B1 (show.php) | 1984-07-20 |
| SE8305518L (sv) | 1983-10-07 |
| JPS5284669A (en) | 1977-07-14 |
| SE8305521D0 (sv) | 1983-10-07 |
| SE8305518D0 (sv) | 1983-10-07 |
| SE8305517D0 (sv) | 1983-10-07 |
| SE8305521L (sv) | 1983-10-07 |
| FR2357339A1 (fr) | 1978-02-03 |
| FR2357339B1 (show.php) | 1984-10-19 |
| GB1561258A (en) | 1980-02-13 |
| FR2361206A1 (fr) | 1978-03-10 |
| FR2361205A1 (fr) | 1978-03-10 |
| GB1561259A (en) | 1980-02-13 |
| SE8305520D0 (show.php) | 1983-10-07 |
| SE8305519D0 (sv) | 1983-10-07 |
| FR2361207A1 (fr) | 1978-03-10 |
| CA1084966A (en) | 1980-09-02 |
| DE2660912C2 (de) | 1986-07-17 |
| DE2649123C2 (de) | 1986-07-24 |
| SE8305520L (sv) | 1983-10-07 |
| GB1561256A (en) | 1980-02-13 |
| IT1075776B (it) | 1985-04-22 |
| SE8305517L (sv) | 1983-10-07 |
| DE2649123A1 (de) | 1977-05-12 |
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