WO1994012809A1 - Engrenages de type a contact souple a profil de denture composite a deux arcs circulaires non decales - Google Patents

Engrenages de type a contact souple a profil de denture composite a deux arcs circulaires non decales Download PDF

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Publication number
WO1994012809A1
WO1994012809A1 PCT/JP1992/001536 JP9201536W WO9412809A1 WO 1994012809 A1 WO1994012809 A1 WO 1994012809A1 JP 9201536 W JP9201536 W JP 9201536W WO 9412809 A1 WO9412809 A1 WO 9412809A1
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WO
WIPO (PCT)
Prior art keywords
tooth
external gear
curve
cup
flexible external
Prior art date
Application number
PCT/JP1992/001536
Other languages
English (en)
Japanese (ja)
Inventor
Shoichi Ishikawa
Yoshihide Kiyosawa
Original Assignee
Harmonic Drive Systems Inc.
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 Harmonic Drive Systems Inc. filed Critical Harmonic Drive Systems Inc.
Priority to US08/256,719 priority Critical patent/US5458023A/en
Priority to PCT/JP1992/001536 priority patent/WO1994012809A1/fr
Priority to JP51295994A priority patent/JP3323502B2/ja
Priority to CA002128599A priority patent/CA2128599C/fr
Priority to KR1019940702549A priority patent/KR100245288B1/ko
Priority to EP92924006A priority patent/EP0622566B1/fr
Priority to DE69217391T priority patent/DE69217391T2/de
Publication of WO1994012809A1 publication Critical patent/WO1994012809A1/fr

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Classifications

    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • F16H55/0833—Flexible toothed member, e.g. harmonic drive

Definitions

  • the present invention relates to a flexible meshing gear device having a cup-shaped flexible external gear, and more particularly to a rigid circular internal gear of the device and a tooth profile of the cup-shaped flexible external gear. It is. Background art
  • a typical flexible meshing gear device is a rigid circular internal gear, which is bent in an elliptical shape inside the internal gear so as to mesh with the internal gear, for example, at two places, and is 2 n pieces larger than the internal gear.
  • N is a positive integer
  • a flexible external gear having substantially the same length and diameter in the axial direction with a small number of teeth, and an elliptical external gear fitted to the inside of the external gear. Flexing wave generator.
  • the basic tooth profile of the internal gear and the external gear of this flexure-engaged gear train is straight (US Pat. No. 2,906,143).
  • an invented tooth profile has been invented by one of the present inventors (Japanese Patent Publication No. 45-41171). If these tooth profiles are adopted, it is not possible to realize a continuous meshing of the tooth profiles of the internal gear and the external gear. Therefore, the present inventors have proposed that the gears of the two gears continuously engage the tooth profile of the tooth addendum during the entire meshing process, and to increase the load capacity of the flexible meshing gear device.
  • each of the above inventions includes a cylindrical flexible external gear. It is intended for flexible meshing gears called flat type or pancake type. Therefore, in the case where a cup-shaped flexible external gear is used, the three-dimensional phenomenon of change in the amount of axial radius due to so-called coning of the external gear, that is, change in the amount of deviation, is taken into account. Not. Therefore, each proposed tooth profile will function correctly in certain cross sections of the tooth trace (eg, non-deflection cross section), but will cause problems such as non-contact and interference of teeth in other cross sections. As described above, the tooth profile of each of the above-mentioned inventions is effective for a cylindrical flexible external gear, but is unsuitable for a cup-shaped flexible external gear as it is.
  • the ridge becomes even larger. The extent will increase further.
  • An object of the present invention is to enable a wider range of meshing without any additional processing such as crowning and relieving, without interference, over all tooth traces of the cup-shaped flexible external gear.
  • Another object of the present invention is to provide a radial meshing gear device that is easy to work and can reduce the axial length. Disclosure of the invention
  • a method of a rack approximation is introduced to simplify the analysis to find the equation of the envelope, and furthermore, a flexible external gear in a cross section perpendicular to the axis near the outside of the end of the diaphragm side tooth trace.
  • the movement trajectory of the tooth is connected to the envelope to create a composite curve, and the required part of the composite curve is subjected to similarity conversion at a contraction ratio of 1 to 2 from the limit point of meshing selected on this composite curve.
  • the resulting curve is a convex tooth profile of the tooth flank of the external gear and the internal gear, so that a flexible meshing gear device that continuously meshes in the tooth trace direction without dislocation can be obtained. ing.
  • the higher-order curve defining the tooth profile of the invention disclosed in the above-mentioned Japanese Patent Application No. 3-357036 is converted into two convex arcs having curvatures approximating this.
  • the tooth profile is defined by these two convex arcs.
  • Fig. 1 is a perspective view of a cup-shaped radial meshing gear device.
  • FIG. 2 is a schematic front view of the cup-shaped flexion-engagement gear device of FIG.
  • Fig. 3 shows the deformation of the cup-shaped flexible external gear for explaining the bending state of the cup-shaped flexible external gear due to the conning in the bending-engagement-type gear device of Fig. 1. It is a sectional view before.
  • FIG. 4 is a view showing the state of flexing of the cup-shaped flexible external gear due to the coupling in the flexion-engagement type gear device of FIG.
  • FIG. 4 is a sectional view including a major axis after deformation into an ellipse.
  • FIG. 5 is a view showing the state of bending of the cup-shaped flexible external gear in the bending-engagement-type gear device shown in FIG.
  • FIG. 4 is an axial cross-sectional view including a short axis after being deformed into an elliptical shape.
  • FIG. 6 is a view for explaining a situation and a trajectory in which one tooth of the cup-shaped flexible external gear moves with respect to the tooth space of the rigid internal gear, and illustrates the cup-shaped flexible external gear.
  • FIG. 7 is a diagram showing tooth movement and trajectory in a cross section perpendicular to the axis (non-deflection cross section) at the position of the opening.
  • FIG. 7 is a view for explaining a situation and a trajectory in which one tooth of the cup-shaped flexible external gear moves with respect to the tooth space of the rigid internal gear.
  • FIG. 4 is a diagram showing the movement and trajectory of a tooth having a cross section perpendicular to the axis at a central position in the tooth trace direction of a flexible external gear.
  • FIG. 8 is a diagram for explaining a state and a trajectory in which one tooth of the cup-shaped flexible external gear moves with respect to the tooth space of the rigid internal gear, and illustrates the cup-shaped flexible external gear.
  • FIG. 4 is a diagram showing tooth movement and trajectory in a cross section perpendicular to the axis at the position of the end of the tooth trace on the diaphragm side.
  • FIG. 9 is a diagram showing a composite curve serving as a base for deriving a continuous contact tooth profile.
  • FIG. 10 is a diagram showing a movement trajectory of a tooth of a rigid internal gear of one tooth of a cup-shaped flexible external gear for deriving an envelope in the composite curve of FIG.
  • FIG. 11 is an explanatory diagram for deriving a tooth profile based on the composite curve of FIG.
  • Fig. 12 is a diagram for explaining the situation and trajectory in which one tooth of a cup-shaped flexible external gear whose tooth profile is determined based on the composite curve of Fig. 9 moves with respect to the tooth groove of the rigid internal gear.
  • FIG. 7 is a diagram showing the movement and trajectory of the teeth in a section perpendicular to the axis (non-deflection section) at the opening of the cup-shaped flexible external gear.
  • Fig. 13 is a diagram for explaining the situation and trajectory in which one tooth of a cup-shaped flexible external gear whose tooth profile is determined based on the composite curve of Fig. 9 moves with respect to the tooth groove of the rigid internal gear.
  • FIG. 11 is an explanatory diagram for deriving a tooth profile based on the composite curve of FIG.
  • Fig. 12 is a diagram for explaining the situation and trajectory in which one tooth of a cup-shaped flexible external gear whose
  • FIG. 7 is a diagram showing the movement and trajectory of a tooth having a cross section perpendicular to the axis at a central position in the tooth trace direction of the cup-shaped flexible external gear.
  • Fig. 14 is a diagram for explaining the situation and trajectory of one tooth of a cup-shaped flexible external gear whose tooth profile is determined based on the composite curve of Fig. 9 moving along the tooth groove of the rigid internal gear.
  • FIG. 9 is a diagram showing the movement and trajectory of the tooth of the cross-section perpendicular to the axis at the position of the end on the diaphragm side of the tooth trace of the cup-shaped flexible external gear.
  • Figure 15 shows that the approximate trajectory of the rack and the addendum FIG.
  • FIG. 16 is a diagram showing an embodiment of a toothed reference rack of the present invention.
  • FIG. 17 is a toothed tooth of a cup-shaped flexible external tooth whose tooth shape is determined based on the present invention.
  • FIG. 4 is a view for explaining a situation and a locus of movement of the rigid internal gear with respect to the tooth space of the rigid internal gear.
  • FIG. 4 is a diagram showing the movement and trajectory of the tooth of FIG.
  • FIG. 18 is a view for explaining the situation and trajectory in which one tooth of the cup-shaped flexible external gear whose tooth profile is determined based on the present invention moves with respect to the tooth space of the rigid internal gear.
  • FIG. 4 is a view showing a movement and a locus of a tooth having a cross section perpendicular to the axis at a center position in a tooth trace direction of the cup-shaped flexible external gear.
  • FIG. 19 is a diagram for explaining the situation and trajectory in which one tooth of the cup-shaped flexible external gear whose tooth profile is determined based on the present invention moves with respect to the tooth space of the rigid internal gear.
  • FIG. 4B is a diagram showing the movement and trajectory of a tooth in a cross section perpendicular to the axis at the position of the end of the tooth trace of the cup-shaped flexible external gear on the diaphragm side.
  • FIG. 1 and FIG. 2 are a perspective view and a front view of a known cup-shaped flexible gear device.
  • the radial meshing type gear device 1 has a cylindrical rigid internal gear 2, a cup-shaped flexible external gear 3 disposed inside the inside, and an elliptical wave mounted inside the inside. It consists of generator 4.
  • the cup-shaped flexible external gear 3 is in a state of being bent in an elliptical shape by an elliptical web generator 4.
  • FIGS. 3, 4, and 5 show the bending state of the flexible external gear due to the coining in a cross section including the shaft.
  • Fig. 3 shows the state before being deformed (before deformation) by the wave generator 4.
  • Figure 4 shows ⁇ 'Eve.
  • FIG. 6 is an axial cross-section including a long axis of the wave generator in a state of being bent by the generator 4.
  • Fig. 5 is an axial cross section including the short axis of the wave generator in a state of being bent by the wave generator.
  • the cup-shaped flexible external gear 3 has the largest amount of bending at its opening 3a due to the ganging, and is bent toward the diaphragm 3b. The amount is gradually decreasing.
  • FIGS. 6, 7 and 8 show how the tooth of the cup-shaped flexible external gear 3 moves with respect to the tooth space of the rigid internal gear 2 and the trajectory in the bending-engaged gear device 1. Is shown as a rack approximation when the number of teeth of both gears 2 and 3 becomes infinite.
  • the motion and the trajectory shown in FIG. 6 are a cross section perpendicular to the axis at the position 31 of the opening 3 a in the tooth 30 of the cup-shaped flexible external gear 3 (the non-deflection having a normal deflection amount).
  • the motion and trajectory shown in Fig. 7 are obtained in a section perpendicular to the axis at the center 32 of the tooth trace, and the motion and trajectory shown in Fig.
  • the tooth profile shown in the figure is a curved tooth profile with irregularities determined by the method disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 63-115943.
  • a continuous meshing state is formed in the cross section perpendicular to the axis (non-deflection cross section) of the opening 3a shown in FIG. 6, but the teeth shown in FIG. 7 and FIG. At other positions in the muscle direction, tooth interference occurs.
  • n 1/2 of the difference in the number of teeth between the rigid internal gear and the flexible external gear
  • V Angle parameter
  • equation (2) is partially differentiated by / c, and solving for it yields equation (3).
  • a tooth is assumed in the vicinity of the end portion 33 of the tooth on the diaphragm side, and the motion trajectory of this tooth in a cross section perpendicular to the axis (hereinafter, referred to as a limit cross section) is determined in the same manner as in the above method.
  • the complex trajectory is determined by approximation, and the motion trajectory is connected to the above-mentioned envelope to create a composite curve, and this composite curve is used as a base for tooth profile creation.
  • Figure 9 shows the composite curve created in this way.
  • the composite curve C is composed of the portion of the envelope ⁇ and the portion of the motion locus L of the tooth of the critical cross section assumed near the end.
  • FIG. 10 shows, as a reference, only five tooth motion trajectories in a section perpendicular to each axis in the direction of the tooth trace of the flexible external gear used to determine the envelope ⁇ ⁇ .
  • FIG. 11 is an explanatory diagram for deriving a tooth profile capable of continuous contact from the composite curve C.
  • a curve part C (A, B) from the vertex ⁇ to the point B is taken.
  • the interval in the height direction of the curved portion C (A, B) is set to be twice as long as the addendum.
  • a similar curve C 1 (, B) obtained by subjecting a curved portion C (A, B) to similarity conversion at one contraction ratio 1 Z 2 from one end point B is defined as a convex tooth profile at the end of the rigid internal gear.
  • the section from the top of the composite curve to the envelope is from the opening of the flexible external gear to the diaphragm side tooth. This corresponds to the engagement up to the vicinity of the muscle end, and the subsequent portion of the composite curve is a continuous contact of the teeth assumed near the end of the tooth on the diaphragm side.
  • a critical cross section is set near the outside of the end, there are actually no teeth in this portion, and the engagement in this plane is imaginary.
  • FIGS. 12, 13 and 14 show examples of meshing of tooth profiles formed by setting a critical cross section at the end 33.
  • Fig. 12 is a cross section perpendicular to the axis at the opening position 3 1 (non-deflection cross section)
  • Fig. 13 is a cross section perpendicular to the axis at the center 3 of the tooth trace
  • Fig. 14 is a cross section at the diaphragm side end of the tooth trace.
  • This is the engagement in a section perpendicular to the axis at position 33 (see Figure 3 for each position).
  • each axis in the direction Within a perpendicular cross section a part of continuous contact is realized according to the degree of contact between the envelope and the motion trajectory of this cross section.
  • FIGS. 6, 7, and 8 show the movement trajectory of the conventional tooth at the same position in the tooth trace direction
  • a continuous meshing condition is formed over the cross section perpendicular to the axis of the shaft, and no trouble such as interference has occurred.
  • the above-mentioned tooth profile is a higher-order curve defined by a transcendental function, and it is not easy to actually and accurately process it, even if numerical control by a computer is used.
  • the present invention solves this difficulty, and focuses on the fact that the curvature radius of the two constituent curves of the above curves is slow, and replaces each of the constituent curves with one arc. It is in.
  • This slow change in the radius of curvature was first clarified in Japanese Patent Application Laid-Open No. Hei 1-295501, which was a prior invention of the present inventors, as described above. This is the fact that was the basis of the described invention.
  • Fig. 15 shows that the rack-like approximation movement trajectory and the addendum tooth profile can each be arc-like approximation.
  • FIG. 16 shows an embodiment of the toothed reference rack of the present invention.
  • the vicinity of the datum point M of the tooth addendum is a straight line L having a pressure angle H
  • an arc AB smoothly connected to the straight line L is a ⁇ similar curve of the envelope of the movement locus.
  • the arc BC smoothly connected to the tooth is the tooth of the flexible external gear in the cross section perpendicular to the axis near the end of the diaphragm-side tooth trace smoothly connected to the envelope. It is similar to the 12 similar curve of the trajectory.
  • FIG. 17, FIG. 18 and FIG. 19 are diagrams showing examples of meshing of the tooth profile of the present invention.
  • Fig. 17 shows the cross section at right angles to the opening axis
  • Fig. 18 shows the cross section at right angles to the central line of the tooth trace
  • Fig. 19 shows the cross section at right angles to the axis at the diaphragm side end of the tooth trace.
  • the section of the arc having a small radius near the datum point is mainly from the opening of the flexible external gear to the end of the tooth trace on the diaphragm side.
  • the portion of the circular arc having a large radius corresponding to the circular arc corresponds to the continuous contact of the tooth profile in the section perpendicular to the axis near the end of the diaphragm-side tooth trace.
  • this section perpendicular to the axis is taken near the outer side of the end of the diaphragm-side tooth trace, strictly, there are no teeth in this section, and the engagement in this plane is imaginary. However, it can be seen that the teeth at the end of the tooth on the diaphragm side are close to this.
  • the tooth profile of both gears corresponding to this portion is an involute tooth profile, which significantly facilitates machining in managing dimensions such as tooth thickness.
  • the pressure angle of this linear portion has a finite value
  • the radius of the two arcs must be slightly increased in order to maintain the quality of continuous contact. This is advantageous because it reduces the contact stress of the steel.
  • the tooth profile of the present invention it is possible to realize smooth contact in the tooth trace direction while maintaining the ganged state, and the tooth contact in the tooth trace direction is substantially uniform. Therefore, conventionally, As the contact is offset toward the opening side of the tooth trace and the tooth contact is less than half that of the tooth trace, the ratio of the total length and diameter in the axial direction of the flexible external gear must be set to a value around 1. However, in the present invention, it can be reduced to a range of about 0.2 to 0.7, and preferably to a range of about 0.5 to 0.7. In addition, since an increase in the ganging causes an increase in the stress of the portion of the flexible external gear other than the tooth portion, it is necessary to take additional measures such as partially reducing the thickness of the portion. Becomes Industrial applicability
  • the external gear does not need additional processing, such as crowning or relief, without changing. Therefore, while maintaining the tooth thickness constant, the entire tooth trace extends smoothly to the end of the tooth trace on the diaphragm side, and high strength, high rigidity, high precision, and small volume deflection that is easy to machine. A meshing gear device can be obtained.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)

Abstract

Engrenages (1) à contact souple de type cylindrique à denture droite interne dans lesquels les profils de denture de l'engrenage interne rigide (2) et de l'engrenage externe (3) souple cylindrique sont réalisés l'un et l'autre de telle sorte que la partie constituant la face des dentures est constituée d'une ligne droite MA au voisinage d'un point de référence. Un premier arc circulaire convexe AB entretient une liaison uniforme avec ce point et un deuxième arc circulaire convexe BC entretient une liaison uniforme avec le premier arc circulaire convexe AB et présente un rayon de courbure supérieur à celui de ce premier arc circulaire convexe, tandis que le creux de la dent, à l'exclusion du pied, est produit par une crémaillère standard consistant en un profil de denture formé par une courbe à symétrie de point par rapport au point de référence du profil de denture au niveau de sa surface ou par une courbe obtenue après correction de la courbe susmentionnée. La courbe définie par les premiers et deuxièmes arcs circulaires convexes susvisés est une courbe approchée d'une courbe similaire obtenue par une conversion de similitude de 1/2 dans le rapport de réduction à partir du point marginal d'engrènement, lequel est choisi sur une courbe composite décrite ci-après. Cette courbe composite est obtenue en reliant un point mobile des dents de l'engrenage externe souple sur un secteur de rotation au voisinage de la partie terminale de la ligne de flanc de dent sur le côté d'un diaphragme à une enveloppe de points mobiles obtenus en superposant sur un plan de rotation les points mobiles obtenus par l'approximation d'engrènement de l'engrenage externe à l'engrenage interne rigide dans les secteurs de rotation aux emplacements respectifs définis dans le sens de la ligne de flanc des dents de l'engrenage externe souple cylindrique.
PCT/JP1992/001536 1992-11-24 1992-11-24 Engrenages de type a contact souple a profil de denture composite a deux arcs circulaires non decales WO1994012809A1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
US08/256,719 US5458023A (en) 1992-11-24 1992-11-24 Flexing contact type gear drive of non-profile-shifted two-circular-arc composite tooth profile
PCT/JP1992/001536 WO1994012809A1 (fr) 1992-11-24 1992-11-24 Engrenages de type a contact souple a profil de denture composite a deux arcs circulaires non decales
JP51295994A JP3323502B2 (ja) 1992-11-24 1992-11-24 無転位２円弧複合歯形の撓み噛み合い式歯車装置
CA002128599A CA2128599C (fr) 1992-11-24 1992-11-24 Transmission par engrenages a contact variable, a denture a profil composite bisecteur, sans interference
KR1019940702549A KR100245288B1 (ko) 1992-11-24 1992-11-24 무전위2원호복합치형의 가요물림식기어장치
EP92924006A EP0622566B1 (fr) 1992-11-24 1992-11-24 Engrenages de type a contact souple a profil de denture composite a deux arcs circulaires non decales
DE69217391T DE69217391T2 (de) 1992-11-24 1992-11-24 Flexible kontaktverzahnung mit nicht profilverschobenen aus zwei kreisbögen generiertem zahnprofil

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PCT/JP1992/001536 WO1994012809A1 (fr) 1992-11-24 1992-11-24 Engrenages de type a contact souple a profil de denture composite a deux arcs circulaires non decales
CA002128599A CA2128599C (fr) 1992-11-24 1992-11-24 Transmission par engrenages a contact variable, a denture a profil composite bisecteur, sans interference

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WO1994012809A1 true WO1994012809A1 (fr) 1994-06-09

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PCT/JP1992/001536 WO1994012809A1 (fr) 1992-11-24 1992-11-24 Engrenages de type a contact souple a profil de denture composite a deux arcs circulaires non decales

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5662008A (en) * 1993-08-30 1997-09-02 Teijin Seiki Boston, Inc. Extended contact harmonic drive devices
WO2016194239A1 (fr) * 2015-06-02 2016-12-08 株式会社ハーモニック・ドライブ・システムズ Dispositif d'engrenage à ondes de déformation doté d'un engrènement composé impliquant la congruence des surfaces de dents

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63115943A (ja) * 1986-11-05 1988-05-20 Haamonitsuku Drive Syst:Kk 撓み噛み合い式歯車装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63115943A (ja) * 1986-11-05 1988-05-20 Haamonitsuku Drive Syst:Kk 撓み噛み合い式歯車装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP0622566A4 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5662008A (en) * 1993-08-30 1997-09-02 Teijin Seiki Boston, Inc. Extended contact harmonic drive devices
WO2016194239A1 (fr) * 2015-06-02 2016-12-08 株式会社ハーモニック・ドライブ・システムズ Dispositif d'engrenage à ondes de déformation doté d'un engrènement composé impliquant la congruence des surfaces de dents
KR20180011177A (ko) * 2015-06-02 2018-01-31 가부시키가이샤 하모닉 드라이브 시스템즈 치면의 일치를 수반하는 복합 맞물림 파동기어장치
JPWO2016194239A1 (ja) * 2015-06-02 2018-03-29 株式会社ハーモニック・ドライブ・システムズ 歯面の一致を伴う複合かみ合い波動歯車装置
KR102007320B1 (ko) * 2015-06-02 2019-08-05 가부시키가이샤 하모닉 드라이브 시스템즈 치면의 일치를 수반하는 복합 맞물림 파동기어장치
TWI690665B (zh) * 2015-06-02 2020-04-11 日商和諧驅動系統股份有限公司 伴隨著齒面一致的複合嚙合諧波齒輪裝置
US10871213B2 (en) 2015-06-02 2020-12-22 Harmonic Drive Systems Inc. Strain wave gearing with compound meshing that involves congruity of tooth surfaces

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CA2128599A1 (fr) 1994-06-09
CA2128599C (fr) 2004-01-13

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