Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G59/00—De-stacking of articles
  • B65G59/02—De-stacking from the top of the stack
  • B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H3/00—Separating articles from piles
  • B65H3/08—Separating articles from piles using pneumatic force
  • B65H3/0808—Suction grippers
  • B65H3/0816—Suction grippers separating from the top of pile
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H3/00—Separating articles from piles
  • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
  • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
  • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
  • B31B50/02—Feeding or positioning sheets, blanks or webs
  • B31B50/04—Feeding sheets or blanks
  • B31B50/042—Feeding sheets or blanks using rolls, belts or chains
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
  • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
  • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
  • B31B50/02—Feeding or positioning sheets, blanks or webs
  • B31B50/04—Feeding sheets or blanks
  • B31B50/06—Feeding sheets or blanks from stacks
  • B31B50/066—Feeding sheets or blanks from stacks from above a magazine
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
  • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
  • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
  • B31B50/02—Feeding or positioning sheets, blanks or webs
  • B31B50/04—Feeding sheets or blanks
  • B31B50/07—Feeding sheets or blanks by air pressure or suction
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2301/00—Handling processes for sheets or webs
  • B65H2301/50—Auxiliary process performed during handling process
  • B65H2301/51—Modifying a characteristic of handled material
  • B65H2301/512—Changing form of handled material
  • B65H2301/5121—Bending, buckling, curling, bringing a curvature
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
  • B65H2511/20—Location in space
  • B65H2511/23—Coordinates, e.g. three dimensional coordinates
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2553/00—Sensing or detecting means
  • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
  • B65H2553/42—Cameras
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2555/00—Actuating means
  • B65H2555/30—Multi-axis
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2701/00—Handled material; Storage means
  • B65H2701/10—Handled articles or webs
  • B65H2701/17—Nature of material
  • B65H2701/176—Cardboard
  • B65H2701/1764—Cut-out, single-layer, e.g. flat blanks for boxes
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2701/00—Handled material; Storage means
  • B65H2701/10—Handled articles or webs
  • B65H2701/17—Nature of material
  • B65H2701/176—Cardboard
  • B65H2701/1766—Cut-out, multi-layer, e.g. folded blanks or boxes

Definitions

• the present invention relates to a method for transferring blanks for polygonal box packaging boxes from a magazine formed of at least one stack of cardboard sheet or corrugated cardboard blanks having indentations.
• It also relates to a device for carrying out such a transfer for a box embodiment.
• the blank After taking the blank of cardboard by suction from an inclined vertical store, the blank is slotted or cut, then it is placed in volume before closing by folding the shutters forming the bottom and / or the walls of the box and incorporated.
• a machine operating at a rate of thirty cases per minute to form packages of three hundred grams requires the handling about four tons of cardboard per day (over eight hours).
• the known means for avoiding fatigue for the operators essentially consist in processing the blanks by stacks or packets, thus moving a large number of blanks at a time.
• a first disadvantage, major, is to limit the possibility of gripping cuts to very simple palletizing planes namely in general two stacks of cartons aligned on a row.
• the devices of the prior art therefore do not allow to unstack pallets having several rows of cuts, each row itself having several stacks.
• This phenomenon makes unstacking difficult and generates machine stops with human intervention to crop the cuts on the pallet preventing real automation of the process.
• the present invention aims to overcome these disadvantages, by proposing a method and a device that better than those previously known to the requirements of the practice, particularly in that it allows the depalletization of cuts at high rates regardless of the palletizing plan.
• the invention finds a particularly important application although not exclusive in the field of the formation of boxes from blanks or corrugated sheets of low grammage ( ⁇ 120g / m2) for the industry or the food industry.
• the invention notably starts from the idea of no longer moving plate packs to a feed store in general inclined, but to treat the cuts one by one after having perfectly located them in space and repositioned during movement.
• the present invention essentially proposes a method for transferring cutting for the production of polygonal box packaging boxes from a magazine formed of at least one stack of blanks made of cardboard or corrugated cardboard material comprising notches, characterized in that
• the cutout of the top of the stack is located by camera
• the said cut is pre-separated from the rest of the stack, the top cut-out thus located by suction is grasped,
• said cut is moved by means of a robotic arm and released to a next station, for or before further forming
• the cutting handling rate is also multiplied by a factor of ten to fifty compared to a package handling, despite the difficulty of moving at high speed in the space of cardboard plates that behave like deformable wings.
• the process comprises more than thirty cycles per minute
• the magazine comprises several rows and / or several stacks of cuts from which the top cut is captured;
• the cutout magazine being formed by a pallet
• the pallet is placed on a leveling device, the top of the pallet is raised to an observation and setting plane,
• the top cutout is detected with at least one digital camera located above the magazine and centered with respect to said magazine,
• said robot is moved to align said suction tooling with the mark of the cutout before grasping it by suction with said apparatus;
• the forming is by piston in a cavity
• the box is formed at the forming station by winding the blanks around a determined volume
• the top blank is fed to the suction cup forming station displaced along the horizontal axis by the robotic arm at a translation speed of between 4m / s and 6m / s;
• the cutting is transferred to the forming station by a crew of two carriages on which is mounted the robotic arm, said crew being actuated by a drive system comprising a pulley arrangement and belt with electric motors;
• the box is formed from a cutout comprising a sequence of at least four main shutters terminated by a fastening tab, interconnected by first fold lines parallel to each other, said sequence of shutters forming the outer walls of the box and being connected on one side to a series of flaps by second fold lines perpendicular to said first fold lines, to form the bottom of the box;
• the method comprises a marking step after gripping by the robot and before removal to the next station.
• the invention further provides a device implementing the method as described above.
• the invention also relates to a device for producing polygonal section packaging boxes from a magazine formed of at least one stack of blanks made of corrugated cardboard or corrugated cardboard material, characterized in that , the pile being vertical, it comprises
• suction cut-out comprising a set of at least four suckers
• a robotic arm for lateral displacement of said blank at a next station, for the purpose of forming it, before empty return to capture the next top blank.
• the device further comprises gluing means of said cutout before the next station;
• the magazine comprises several rows and / or several stacks of cuts from which the top cut is captured;
• the device comprises an elevator platform for leveling the pallet up to an observation and setting plane, and
• the device comprises at least one digital camera located above the store and centered with respect to said store,
• grazing means for shaving the cutouts from above to generate shadows because of notches and / or escapes between cutouts and means for selecting the relevant cutout arranged to separate cutouts that do not all have their own shape. shadow areas as being below.
• grazing light enter horizontally or with an angle relative to the plane of the cut below 30 °, for example 15 °;
• the device includes
• the means for taking off the cut-out from the top comprise elements arranged to lift one or more sides of the cut while blocking part of the cutout, to create at least one lateral air inlet;
• the device comprises a booster forming station in a cavity
• it comprises a forming station by winding the blanks around a determined volume
• - It comprises a crew of two trolleys on which is mounted the robotic arm, said crew being actuated by a drive system comprising a pulley arrangement and belt with electric motor.
• Figure 1 is a schematic elevational front view of a device according to a first embodiment of the invention.
• Figure 2 is the side elevational view of the device of Figure 1.
• FIG. 3 is a view from above of the device of FIG. 1.
• Figure 4 is a top view of another embodiment of a device according to the invention.
• Fig. 5 is a diagram showing the camera tracking method in top view.
• FIG. 6 is an example in plan view of loose and offset cuts, which can be grasped by the method according to the invention.
• FIG. 7A shows in plan view an example of a pallet with four slightly offset stacks.
• Figure 7B illustrates the calibration of the camera which then allows the registration of the cutouts as shown in Figure 7A.
• FIGS 8 and 9 illustrate the shadow areas on cuts with side lights, used with the cameras and calculation software according to the invention.
• Figure 10 provides a flowchart of the operation of an embodiment of the method according to the invention.
• Figures 11 and 12 show in side view a device according to the invention applied to the forming around a mandrel ( Figure 11) and by piston in a cavity ( Figure 12).
• Figures 13 to 16 show embodiments of the pre-launch of the cut before suction.
• FIG. 17 is an exemplary embodiment of a suction tooling that can be used with the invention with pre-takeoff means.
• Figures 18 to 21 show other embodiments of pre-launch of the cut before suction capture.
• FIGS. 22 and 22A show another embodiment of a robot and / or robotic arm that can be used with a device according to the invention.
• FIG. 23 is a view from above of a device according to the invention using a robot of the type described with reference to FIG. 22.
• Fig. 24 is a schematic side view of the device of Fig. 23.
• FIGS. 1 to 3 show a device 1 for the production of a box 2 from a magazine 3 formed of two stacks 4 and 5 of blanks 6 of corrugated sheet material having notches 7.
• the batteries are vertical.
• the device 1 comprises means 8 for locating the top 9 of the stack by camera 10, means for taking off or pre-launching 11, which will be detailed subsequently, of the top cutout 12 of the stack, for example the first stack. 5.
• the device according to the invention further comprises suction means 14 comprising, for example, four or six suction cups 15 for gripping the blank 16.
• the device 1 further comprises a robotic arm 17 for lateral displacement of the cut-out sucked and seized at a subsequent station 17 'for the purpose of forming it, for example at the post after 18.
• the device also comprises sizing means (not shown) of the cutout before the forming station 18 for example around a mandrel 18 '.
• the cutting magazine 3 is formed by a pallet 19, which is for example the pallet which was used for transport, and comprises a lift plate 20 of a type known in itself, which allows the leveling of the pallet 'to a plan of observation and setting 21 (in phantom in the figure).
• a lift plate 20 of a type known in itself, which allows the leveling of the pallet 'to a plan of observation and setting 21 (in phantom in the figure).
• Mechanical or visual detection means of said observation plane of the cut-out of the top for example by means of a limit switch, and / or by means of an infrared ray make it possible to obtain the exact location.
• shaving illumination means 22 are provided and can be used to determine what is the cutout from above. They will be described later.
• All the elements of the device are mounted around a frame 23 in a manner known per se.
• FIG. 4 shows a view from above of another embodiment 24 of a device according to the invention.
• the pallet magazine 25 comprises two piles 26 of rectangular cutouts 27 formed a bottom 28 and four side flaps 29 with notches 30.
• the electrical cabinet 31 allows the power supply of the assembly and comprises the calculation means (computer, PC, etc.) known in themselves that will be used once properly programmed to perform the desired cycles.
• the robotic arm 32 is arranged to deploy above the magazine 25 and then place on a conveyor belt 33, of known type, the cutout 34, in position to then be guided and taken back (arrow 35) for subsequent forming.
• Gluing means 36 laterally displaceable then deposit the adhesive beads on the package advancing on the treadmill 33.
• a buffer stock 37 of cuts that can be used when the pallet magazine 25 is to be changed, so as not to lose the rate.
• the robotic arm 17 or 32 is for example a commercial robot of the type used in the automotive industry, which allows travel along four intelligent axes.
• the robotic arm takes the cutout in the gripping plane located with the shot plane detector, at the same altitude + 50mm, lifts it, moves it and rests it, in the transfer channel, on the treadmill or to build another stack. This last case is used to feed the "classic" store of an existing packaging training machine.
• an observation camera 10 connected to a computer is used.
• This camera gives the robot the position and the angle of the cut with respect to a reference common to the robot and cutting.
• a grazing lighting system illuminating the observation area.
• This lighting system 22 is advantageously oriented to illuminate the cutouts with an angle with respect to the engagement plane 21 between 5 and 25 °, for example 8 °.
• zone 1 which will be Al for A, B1 for B, etc.
• zone 2 which will be perpendicular to zone 1, namely A2 for A, B2 for B, etc.
• the lighting is either a fixed lighting (neon or constant light sources), or a pulsed lighting (light pulse of very short time of the flash type).
• a rest point is determined beforehand, ie the point at which the robot must release the zone of vision. This will be the reference point of reference for the positioning movements of the cut.
• the robot 17 or 32 includes a tool for gripping the cutout on the outlet plane provided with suction cups.
• It also includes a calculator arranged to calculate a trajectory that will both allow to take a cut and only one while minimizing the movements of the other cutouts on the shot plane, then that will bring it to the point of installation, it that is to say, as we have seen, either on a channel, or in a shop, or directly on a forming mandrel or in a cavity.
• FIG. 6 shows a view from above of what can be the disordered positions of cutouts 44, consisting of flap belts 45 comprising on both sides flaps 46, and terminated by a gluing tab 47 known in itself, on a shot plane as shown with the invention.
• observation zone may be covered (in a manner not shown) to avoid external light disturbances, which would prevent perfect recognition or identification of the blank with respect to the recorded standard image, as described in FIG. reference to Figures 7A and 7B.
• FIG. 7A shows here an example of a pallet 50 with four stacks 51 of cutouts of the type of that described with reference to FIG. 6, the lighting (ramp 52) being for example here a lighting, of the pulsed type driven by a control software. image analysis in a known manner in itself.
• the light typically varying and for example from 1 to 150 images per second.
• the lamps are typically positioned at a distance of 5 to 20 cm from the plane to be observed with an angle of incidence between 5 and 30 °.
• the cutout 53 partially concealed by the cutout 54, will give usable coordinates for B, then C, then D (see FIG. 5) but not A.
• the speed of calculation to find the position (x, y) and the angle ( ⁇ ) of the center of gravity 58 (see FIG. 7 ⁇ ) of the cut-out 54 located on the top is dependent on the tools and the software used, software whose design is within the reach of the skilled person.
• the counters increment 1 to 1.
• Another method that can be used with the process according to the invention consists in determining the sharpest cut corresponding to the standard (see FIG. 7B).
• FIGS. 8 and 9 show an example of pallet 60 with three stacks 61, with lateral illumination 62, 64 generating shadows 63, 65 (bold lines in FIGS. 8 and 9).
• the software then simultaneously manages the two lights and compares the images taken by the camera from two angles, to two corresponding reference images.
• the robot is programmed to guide the operators in the creation of new formats.
• the robot goes into production mode corresponding to the selected format (calibrated format saved).
• the selected format calibrated format saved.
• measurements are made of the cuts to be located on a palettization plan.
• the software calculates the presence of the four (or more) shadow zones selected and the distance between these zones.
• the robot moves to match its tool with the mark of the cut, then to take the cut, its trajectory then being perfectly defined.
• FIG. 5 A flow diagram of the method according to the embodiment of the invention more particularly envisaged with a stack of four blanks A, B, C, D (see FIG. 5) will now be described with reference to FIG.
• the robot is first initialized (block 70), pallet in place, the zone being, for example, the observation zone D.
• the robot is then tested in 71 to know if it is at the point of rest. If it is not there, it is brought there in 72.
• the program starts according to the application chosen in 74, both in terms of speed and number of batteries.
• the following pallet X is illuminated (block 78) and an image L is taken, then the following pallet Y is illuminated and an image M. is taken.
• zone zone + 1
• the image L is analyzed as a percentage of image with respect to the reference image area 1, and then the image M as a percentage of image with respect to the reference image area 2.
• test 81 If (test 81) the images L and M coincide with the two reference images, then the center of gravity is calculated (step 82) and the robot is oriented in X, Y and theta.
• the coordinates X, Y, theta are communicated to the robot that moves at the points X, Y, ⁇ located above the cut, ie with a vertical coordinate in Z above the Z axis of take (block
• the cut is deposited at the point of use and the robot returns to the point of rest (step 86).
• zone is then incremented from zone to zone + 1 (step 90), the image L is analyzed (step 91) as a percentage of reference image with respect to zone 1 and zone 2.
• the image L is equal to the reference image (test 92), it is analyzed then its center of gravity and its orientation in X, Y, theta (step 93) are calculated, before catching the previously described procedure in 83 .
• Figures 11 and 12 show two embodiments of the device according to the invention, particularly effective and allowing rapid formatting of the packaging.
• Figure 11 in particular is encased around a mandrel, the gripping head being optionally provided with a device (not shown) for folding flaps of the cut around the mandrel.
• flaps may also be folded and pressurized by complementary devices of the type actuated actuator or actuator in a manner known per se.
• This type of system is shown in part 110 of Figure 13. It shows how difficult it is to practice this type of clawing 111 on several piles, and this to the extent that at least one or two peripheries 112 of the cutouts 113 is not attainable.
• the pile of cartons is unstacked without disordering by proceeding as follows.
• Vacuum cups 114 are positioned on the cutout at various points and one or more sides of the cut are raised while blocking the central portion thereof (see FIGS. 13 and 14).
• Air inlets 115 are thus created by lifting the edges 116 of the cutouts by means of the means (suction cup 114, for example with locking cylinder 120).
• blower nozzles 118 are provided which further prevents the movement of the bottom cut 119 during unstacking as well as for cuts below.
• claws 121 may be provided in addition ( Figure 14) but are not necessary.
• FIG. 16 uses a device 120 comprising the suction cups 121 interconnected by a vacuum supply bar 122, said bar comprising, connected in the middle 123, a rod 124 terminated by an end 125 disposed offset from the bar and its suction cups so that it can be positioned laterally above the cutouts 126.
• FIG. 17 shows in perspective a tool 120 as described with reference to FIG.
• FIG. 18 shows the action of a central vibratory ram 130, pressing on the bottom cut-out 131 during the rise of the tooling 132, the aim being to create a vibration shock on the cut-out to unstick the cutout below.
• FIG. 19 shows another tooling according to an embodiment with staggered suction cups 133, 134 connected by a bar 135, in the socket, which makes it possible to reduce the friction surface between two cuts by the natural air inlet during the mounted tooling.
• FIG. 20 is another embodiment, simpler than that of FIG. 18, with central punching, for example on a creasing with the vibrating ram 136, the suction cups 137 being hinged at 138 with respect to the gripping arm 139 of FIG. tooling.
• Figure 21 shows yet another embodiment of a tool 140 using blows nozzle 141, from above and suction cups 142 on cylinder.
• FIGS. 22 and 22A show another embodiment of a robotic arm 150 that can be used with the invention.
• It comprises two branches 152 provided with transmission belts 154 for moving a central beam 156 by means of two motors 158, thus allowing the displacement of the central beam in the X, Y axes in the horizontal direction.
• the robot 160 itself comprises a support 162 comprising the branch 164 for supporting the suction cups 166 in a manner known per se, the support being in fact constituted by a movable head 168 connected to a central belt 170 of displacement according to the invention.
• a motor 172 allows the vertical movement Z.
• Figures 23 and 24 show the use of a robot 150 as shown in Figures 22 and 22A to form a single body.
• Figure 23 is a schematic top view of the device mounted on a frame 180.
• the robot 160 moves between a gripping portion of the blanks 181 on the vertical magazine 182, and a forming position at the station 183.
• the camera 184 looks at the pallet 182 and determines the cutout to be taken in X, Y, theta.
• the cut is then taken by the robot 160 (movement X, Y, Z and rotation along the vertical outer axis) and deposits the cutout on the mandrel 185.
• the formation of the box around the mandrel 185 is then performed by folding down the panels of the belt including via cylinders 187.
• the robot takes the cut in a buffer store (not shown) to avoid interrupting production.
• Raising lights 189 are of course provided as specified above.
• FIG. 24 (side view of the device of FIG. 23) also shows the movement of the robot 160, with the application of an ink jet in 190 (for the inscription of a bar code for example), the cuts being arranged in stack on the elevator platform as described above with reference to the other embodiments.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)
• Making Paper Articles (AREA)
• Sheets, Magazines, And Separation Thereof (AREA)

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Applications Claiming Priority (2)

Publications (1)

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Cited By (23)

Families Citing this family (40)

Citations (5)

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• 2010
  • 2010-03-29 FR FR1001279A patent/FR2957905B1/fr not_active Expired - Fee Related
• 2011
  • 2011-03-28 CA CA2792777A patent/CA2792777C/en not_active Expired - Fee Related
  • 2011-03-28 WO PCT/FR2011/000181 patent/WO2011124782A1/fr not_active Ceased
  • 2011-03-28 EP EP11719594.1A patent/EP2552812B1/fr not_active Not-in-force
  • 2011-03-28 US US13/637,875 patent/US9126771B2/en not_active Expired - Fee Related
  • 2011-03-28 JP JP2013501886A patent/JP5717216B2/ja not_active Expired - Fee Related

Patent Citations (5)

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