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EP1569805B1 - Marking device for encoding metallic workpieces with two-dimensional matrix codes - Google Patents

Marking device for encoding metallic workpieces with two-dimensional matrix codes Download PDF

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Publication number
EP1569805B1
EP1569805B1 EP03769490A EP03769490A EP1569805B1 EP 1569805 B1 EP1569805 B1 EP 1569805B1 EP 03769490 A EP03769490 A EP 03769490A EP 03769490 A EP03769490 A EP 03769490A EP 1569805 B1 EP1569805 B1 EP 1569805B1
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EP
European Patent Office
Prior art keywords
marking device
current
marking
workpiece
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP03769490A
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German (de)
French (fr)
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EP1569805A1 (en
Inventor
Konrad FRÖHLICH
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Borries Markier-Systeme GmbH
Borries Markier Systeme GmbH
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Borries Markier-Systeme GmbH
Borries Markier Systeme GmbH
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Publication of EP1569805A1 publication Critical patent/EP1569805A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES, PROFILES OR LIKE SEMI-MANUFACTURED PRODUCTS OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
    • B21C51/005—Marking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B44—DECORATIVE ARTS
    • B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
    • B44B5/00—Machines or apparatus for embossing decorations or marks, e.g. embossing coins
    • B44B5/0061—Machines or apparatus for embossing decorations or marks, e.g. embossing coins characterised by the power drive
    • B44B5/0066—Machines or apparatus for embossing decorations or marks, e.g. embossing coins characterised by the power drive producing a vibratory motion

Definitions

  • the invention relates to a marking device for coding metallic workpieces with two-dimensional matrix codes, in which the information is present as recessed dots in a square or rectangular arrangement. The presence or absence of these embossed dots at the respective grid locations represents the binary coded information.
  • the precision with which the embossed dots are applied is of great importance.
  • the exact shape, size and depth of the dots are important quality features. This is directly related to the type of reading technique such embossed or embossed codings using CCD cameras. Top or side illumination must create a bright-dark contrast from the respective well via corresponding reflections, which is much more difficult than with in-plane printed black and white areas for which the code was originally designed. A different shape or size of the individual wells can easily generate a reflection or even undesirably do not produce, which can lead to an undesired infortmation-falsification. In the aerospace industry For critical, highly loaded components, even more stringent requirements are added, which aim at avoiding the reduction of mechanical strength due to notch effect.
  • the invention has for its object to improve the movement of a driven by an electromagnet assembly impact tool so that formed as depressions Markings can be formed with much higher precision.
  • the current flow through the electromagnet arrangement for the acceleration phase and the subsequent movement phase of the impact tool can be set differently.
  • this leads to a rapid acceleration, wherein after switching over to the lower current of the movement phase, the impact tool is moved in a defined manner against the workpiece.
  • This leads to a large uniformity and reproducibility of the depression formed. Due to the substantially uniform movement due to the lower current during the movement phase, a greater tolerance is allowed for the distance of the marking device to the workpiece. In the known devices an increasing distance leads due to the longer acceleration phase to a more pronounced depression.
  • the lower current during the motion phase also avoids an uncontrollable, purely ballistic "free-flying phase" of the impact tool until it hits the workpiece surface, which would occur if the current were switched off prior to hitting the workpiece, which in turn larger tolerances of the markers would be connected.
  • this reversal takes place in a simple execution by means of a time control.
  • this reversal can also be position-dependent, for which purpose a position measuring device is provided for controlling the changeover in at least one predeterminable position.
  • this position measuring device can be a simple position sensor in a certain position or else an end position sensor which responds after a certain distance covered during the striking movement.
  • the position measurement can be used advantageously for detecting the length of the entire movement distance of the impact tool, ie for measuring the distance to the workpiece.
  • the corresponding measured value can then also be used as a working parameter for determining the current strengths and times or positions.
  • means for eliminating the current upon reaching the impact position are preferably provided.
  • the current increase of the supply current for the electromagnet arrangement with a current sensor can be detected for this purpose, wherein this increase in current occurs when the movement of the magnet armature, ie the impact tool, is stopped and no inductance change takes place in the coil of the solenoid assembly more.
  • means for generating a braking current before reaching the rest position during the return movement of the impact tool are provided in an advantageous manner. These means may be time- and / or position-controlled, and the current value is chosen so that the impact tool is braked as far as possible to the rest position to zero speed. This ensures a very fast work cycle.
  • the control device advantageously contains a microcomputer with a memory device in which the working parameters are stored, in particular current intensities, times, path parameters, workpiece properties, temperatures and the like.
  • the working parameters are expediently contained as tables and can be selected and / or changed as a function of the respective marking process. While some parameters have to be entered, taking into account, for example, the workpiece characteristics of the workpiece to be marked, other parameters may be detected by sensors, such as the temperature, and still others are measured in the manner already indicated, for example the position of the impact tool along the entire movement path.
  • control device is connected between a main controller for the marking device and the electromagnet arrangement and is preferably designed as a separate module which, for example, can also be subsequently retrofitted.
  • the various current values can be controlled or regulated depending on the position or time during the entire movement distance.
  • FIG. 1 in a schematic diagram schematically illustrated marking head 10 has an electromagnetic coil 11, which for generating the impact movement of an example as Hard metal needle trained impact tool 12 is formed.
  • the impact tool 12 is connected to a magnet armature 9, which is movable against the force of a return spring 13 to a workpiece 14.
  • another known return device may be provided, for example, a pneumatic, hydraulic or electromagnetic acting return device.
  • the marking head 10 is movable by means of an adjusting device, not shown, in the x- and y-direction of a plane which is arranged parallel to the plane of the workpiece 14. As a result, the marking head 10 can approach each position of the workpiece 14.
  • the marking head 10 is used for introducing coding points formed as depressions in the metallic workpiece 14. These coding points form a two-dimensional matrix code which represents binary-coded information. After starting the desired grid point, the impact tool 12 is moved against the workpiece 14 by actuation of the electromagnetic coil 11 to produce the desired code recess.
  • the basic control of the marking head 10 is effected by a main controller 15, by means of which the position of the marking head 10 can be controlled by means of the adjusting device, not shown, and the triggering of the movement of the striking tool 12.
  • a control device 16 is connected, through which the exact movement of the impact tool 12 is controlled.
  • a first embodiment of this control device 16 is shown in FIG figure 2 and a second embodiment in FIG. 3 shown.
  • the position signal S of a position measuring device 20 is supplied to detect the respective position of the striking tool 12.
  • This position measuring device is, for example, at an inductive displacement measuring system, which in FIG. 1 is arranged outside of the electromagnetic coil 11, but may also be integrated in the magnetic drive.
  • this displacement measuring signal S is compared during the striking movement with a stored switching value S 0 , and upon reaching the same, a switchover takes place from an initially high current value I 1 to a smaller current value I 2 .
  • the initially high current value I 1 is used for rapid acceleration of the impact tool 12 during an acceleration phase, wherein the smaller current value I 2 is selected so that the impact tool is guided to the workpiece after this acceleration phase with the greatest possible speed.
  • the return to the lower current value I 2 can of course also take place in several stages.
  • a current increase of the supply current for the electromagnetic coil 11 since at the end of the movement of the armature 9, no inductance change of the electromagnetic coil 11 takes place more.
  • This increase in current is detected by a current sensor 21 and fed to an evaluation stage 22 for the current increase, which may for example contain a differentiating stage. If this current increase is detected, then takes place by a reset signal R, a shutdown of the current for the electromagnetic coil eleventh
  • the operating parameters for the adjustment of the positions and currents are stored.
  • Such operating parameters are, for example, currents, times, path parameters, workpiece properties, temperatures and the like; which are stored as tables. Based on these tables, the currents I 1 and I 2 and the positions S 0 and S 1 are then specified, for example calculated. These are parameters that influence the movement of the impact tool 12.
  • the temperature of the marking head 10 or the electromagnetic coil 11 can be measured, for example, in a manner not shown.
  • Other working parameters, such as the material properties of the workpiece 14 can be stored by means of an input device, not shown.
  • An important parameter is still the working stroke, ie the length of the working movement until it hits the workpiece 14.
  • the distance can be detected by means of the position measuring device 20. The measurement takes place until it hits the workpiece 14, which is signaled by the evaluation stage 22.
  • the currently used control parameters for the relevant workpiece 14 are then individually changed so that the striking energy effective for marking corresponds again to the desired value.
  • this distance measurement can be applied to the position of the workpiece surface to be marked relative to the mounting height of the marking head 10.
  • the height of the marking head 10 is made adjustable with a third NC axis.
  • the impact tool 12 is fully extended with sufficient to overcome the restoring force, set by the current control stage 17 current and then driven the marking head 10 from a known, higher position against the workpiece surface.
  • the impact tool 12 Once the impact tool 12 occurs on the surface, it is retracted until the already existing distance sensor 20 in the marking head 10 emits a signal. Since the way from fully extended impact tool 12 is known to the switching point of the sensor, the position of the workpiece surface can be accurately determined from the entire track and used for precise adjustment of the desired distance of the impact tool 12 from the workpiece 14. Also by this method, negative-working workpiece tolerances are eliminated.
  • the control device can therefore increase the acceleration current I 1 for the first lifting movement. This increase can also be set via stored tables.
  • the current control stage 17 can only control the current values I 1 and I 2 or further current values, or it can be designed as a current regulation stage.
  • a simple position sensor may be provided, which merely specifies a switching signal at a fixed position S 0 or S 1 .
  • This may be, for example, an end position sensor which emits a signal when the rest position has been left by a certain distance S 0 or when the armature 9 has approached by a certain distance S 1 in return movement.
  • control device 16 is realized for example as a microcomputer or microcontroller.
  • the memory device 23 is then a non-volatile main memory of the microcontroller.
  • FIG. 3 a modified controller 16a is shown. Same or equivalent components or elements are provided with the same reference numerals and not described again in detail.
  • a time specification stage 24 occurs in the second exemplary embodiment. This is triggered by a signal of the main controller 15. After a time t 0 has elapsed, the switchover takes place from the higher current value I 1 for the acceleration phase to the lower current value I 2 for the movement phase. Accordingly, the braking current is switched on during the return movement of the striking tool 12 after a time t 1 .
  • the memory device 23 contains the stored values t 0 and t 1 , which are predetermined in accordance with the first embodiment on the basis of the working parameter tables.
  • Combinations of the two embodiments can also be implemented for current control and / or regulation, that is to say the adjustment or regulation of the currents takes place partly time-dependent and partly position-dependent.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Percussive Tools And Related Accessories (AREA)
  • Detection And Prevention Of Errors In Transmission (AREA)
  • Shaping Metal By Deep-Drawing, Or The Like (AREA)

Abstract

The marking device marks metal workpieces (14) with matrix codes using a percussion tool (12) with an electromagnetic drive (11) The electronic control device (16) for the percussion tool includes a device for presetting a higher current during the first acceleration phase and lower current during the displacement phase.

Description

Die Erfindung betrifft eine Markiervorrichtung zum Codieren metallischer Werkstücke mit zweidimensionalen Matrix-Codes, bei denen die Information als vertieft geprägte Punkte in einer quadratischen oder rechteckigen Anordnung vorliegt. Das Vorhandensein oder Fehlen dieser geprägten Punkte an den jeweiligen Rasterstellen stellt die binär verschlüsselte Information dar.The invention relates to a marking device for coding metallic workpieces with two-dimensional matrix codes, in which the information is present as recessed dots in a square or rectangular arrangement. The presence or absence of these embossed dots at the respective grid locations represents the binary coded information.

Um die Information wieder fehlerfrei rücklesen zu können, kommt der Präzision bei der Anbringung der geprägten Punkte eine hohe Bedeutung zu. Dabei sind die exakte Form, Größe und Tiefe der Punkte wichtige Qualitätsmerkmale. Dies hängt unmittelbar mit der Art der Lesetechnik solcher eingeprägter bzw. eingeschlagener Codierungen mittels CCD-Kameras zusammen. Eine Beleuchtung von oben oder der Seite muss aus der jeweiligen Vertiefung über entsprechende Reflexionen einen Hell-Dunkel-Kontrast erzeugen, was sehr viel schwieriger ist als bei in einer Ebene befindlichen gedruckten Schwarz-weiß-Flächen, für die der Code ursprünglich entwickelt wurde. Eine abweichende Form oder Größe der einzelnen Vertiefungen kann dabei leicht eine Reflexion erzeugen oder eben auch in unerwünschter Weise nicht erzeugen, was zu einer unerwünschten Infortmations-Verfälschung führen kann. In der Luft- und Raumfahrtindustrie kommen bei kritischen, hochbelasteten Bauteilen noch verschärfte Anforderungen hinzu, die auf eine Vermeidung der Verringerung der mechanischen Festigkeit durch Kerbwirkung abzielen.In order to be able to read back the information without errors, the precision with which the embossed dots are applied is of great importance. The exact shape, size and depth of the dots are important quality features. This is directly related to the type of reading technique such embossed or embossed codings using CCD cameras. Top or side illumination must create a bright-dark contrast from the respective well via corresponding reflections, which is much more difficult than with in-plane printed black and white areas for which the code was originally designed. A different shape or size of the individual wells can easily generate a reflection or even undesirably do not produce, which can lead to an undesired infortmation-falsification. In the aerospace industry For critical, highly loaded components, even more stringent requirements are added, which aim at avoiding the reduction of mechanical strength due to notch effect.

Um die geforderte Präzision zu erreichen, muss das üblicherweise als Hartmetallnadel ausgebildete Schlagwerkzeug einerseits sehr schnell, jedoch andererseits mit genau definierter und reproduzierbarer Energie auf das metallische Werkstück aufschlagen. Als der gewünschten Präzision entgegenstehend sind viele Bedingungen zu berücksichtigen. Zum Beispiel bei elektrischem Antrieb kann sich die Temperatur der Kupferwicklung der Elektromagnetanordnung im Betrieb erhöhen, wodurch der Stromfluss und damit die Energieaufnahme des Elektromagneten verringert wird. Bei längerer Stillstandszeit der Markiervorrichtung klebt das als Magnetanker ausgebildete oder mit einem Magnetanker verbundene oder in Wirkverbindung stehende Schlagwerkzeug, sodass sich die Schlagenergie beim ersten Punkt reduzieren kann. Prinzipiell bewirkt eine zu langsame Schlagbewegung eine ovale Verformung der Vertiefung, wenn sich die Schlageinheit während der Kodierung weiterbewegt. Andererseits verursacht eine zu schnelle Schlaggeschwindigkeit eine große Streuung der Schlagtiefe, da bereits ganz geringe Unterschiede, zum Beispiel durch überlagerte mechanische Schwingungen im Schlagwerk, zu geringfügig unterschiedlicher Energieabgabe des Schlagsystems beim Bilden der Vertiefung führen. Weiterhin beeinflussen auch die Materialeigenschaften des Werkstücks die Bildung der Vertiefung. Schließlich führen noch mechanische Toleranzen zu Fehlern, wenn dadurch die Bewegung des Magnetankers den magnetisch im Wesentlichen linearen Bereich überschreitet.To achieve the required precision, usually designed as a hard metal needle impact tool on the one hand very fast, but on the other hand strike with a well-defined and reproducible energy to the metal workpiece. As opposed to the desired precision many conditions have to be considered. For example, with electric drive, the temperature of the copper winding of the solenoid assembly may increase during operation, whereby the current flow and thus the energy consumption of the electromagnet is reduced. If the marking device is not used for a long period of time, the striking tool that is designed as a magnet armature or connected to a magnet armature or in operative connection sticks, so that the impact energy at the first point can be reduced. In principle, a too slow impact movement causes an oval deformation of the recess when the beating unit moves on during the coding. On the other hand, a too fast impact velocity causes a large scatter of the impact depth, since even very small differences, for example due to superimposed mechanical vibrations in the impact mechanism, lead to slightly different energy output of the impact system when forming the recess. Furthermore, the material properties of the workpiece also influence the formation of the depression. Finally, mechanical tolerances lead to errors, if thereby the movement of the armature exceeds the magnetically substantially linear range.

Bei bekannten Anordnungen ist lediglich das Ein- und Ausschalten des Stroms für die Elektromagnetanordnung vorgesehen. Dabei dienen Freilauf-Dioden oder andere Überspannungsschutzeinrichtungen zum Schutz gegen Überspannung beim Ausschalten der Elektromagnetanordnung als induktiver Last. Bekannt sind auch Vorwiderstände vor der Elektromagnetanordnung, um über die Erhöhung der Zeitkonstante einen schnelleren Stromanstieg oder -abfall in der Magnetspule zu erzeugen. Bei diesen Einfachsystemen kann außer der einmaligen Dimensionierung nach dem Einschalten des Stroms nur noch der Abschaltzeitpunkt variiert werden, während sich der gesamte zeitliche Verlauf der Arbeitsbewegung ausschließlich aus der Dimensionierung und den augenblicklichen Randbedingungen ergibt. Mit derartigen Systemen ist die geforderte Präzision nicht erreichbar.In known arrangements, only the switching on and off of the current for the electromagnet assembly is provided. Freewheeling diodes or other overvoltage protection devices serve to protect against overvoltage when the electromagnet arrangement is switched off as an inductive load. Also known are series resistors in front of the electromagnet assembly in order to generate a faster current increase or decrease in the magnetic coil on the increase of the time constant. In these simple systems, apart from the one-time dimensioning after switching on the current, only the switch-off time can be varied, while the entire time profile of the working movement results exclusively from the dimensioning and the instantaneous boundary conditions. With such systems, the required precision is not achievable.

Bei der Steuerung von Magnetventilen ist es zwar bekannt, nach dem zunächst für eine schnelle Bewegung erforderlichen hohen Einschaltstrom auf einen niedrigeren Haltestrom zurückzuschalten. Diese Umschaltung erfolgt jedoch erst nach dem Schalten des Ventils, also nach der Bewegung des Ventilglieds, und dient dazu, einerseits Energie zu sparen und zum anderen die Erwärmung des Magnetventils zu reduzieren.In the control of solenoid valves, although it is known to switch back to a lower holding current after the high inrush current initially required for a fast movement. However, this switching takes place only after the switching of the valve, ie after the movement of the valve member, and serves on the one hand to save energy and on the other to reduce the heating of the solenoid valve.

Der Erfindung liegt die Aufgabe zugrunde, die Bewegung eines von einer Elektromagnetanordnung angetriebenen Schlagwerkzeugs so zu verbessern, dass als Vertiefungen ausgebildete Markierungen mit wesentlich höherer Präzision gebildet werden können.The invention has for its object to improve the movement of a driven by an electromagnet assembly impact tool so that formed as depressions Markings can be formed with much higher precision.

Diese Aufgabe wird erfindungsgemäß durch eine Markiervorrichtung mit den Merkmalen des Anspruchs 1 gelöst.This object is achieved by a marking device with the features of claim 1.

In vorteilhafter Weise kann erfindungsgemäß der Stromfluss durch die Elektromagnetanordnung für die Beschleunigungsphase und die anschließende Bewegungsphase des Schlagwerkzeugs verschieden eingestellt werden. Dies führt einerseits zu einer schnellen Beschleunigung, wobei nach der Umschaltung auf den niedrigeren Strom der Bewegungsphase das Schlagwerkzeug definiert gegen das Werkstück bewegt wird. Dies führt zu einer großen Gleichmäßigkeit und Reproduzierbarkeit der gebildeten Vertiefung. Aufgrund der durch den niedrigeren Strom während der Bewegungsphase im Wesentlichen gleichförmigen Bewegung ist eine größere Toleranz für den Abstand der Markiervorrichtung zum Werkstück zulässig. Bei den bekannten Vorrichtungen führt ein größer werdender Abstand infolge der längeren Beschleunigungsphase zu einer stärker ausgeprägten Vertiefung. Durch den niedrigeren Strom während der Bewegungsphase wird auch eine unkontrollierbare, rein ballistische "Freiflug-Phase" des Schlagwerkzeugs bis zum Auftreffen auf der Werkstück-Oberfläche vermieden, die auftreten würde, wenn man den Strom vor dem Auftreffen auf das Werkstück abschaltet, was wiederum mit größeren Toleranzen der Markierungen verbunden wäre.Advantageously, according to the invention, the current flow through the electromagnet arrangement for the acceleration phase and the subsequent movement phase of the impact tool can be set differently. On the one hand, this leads to a rapid acceleration, wherein after switching over to the lower current of the movement phase, the impact tool is moved in a defined manner against the workpiece. This leads to a large uniformity and reproducibility of the depression formed. Due to the substantially uniform movement due to the lower current during the movement phase, a greater tolerance is allowed for the distance of the marking device to the workpiece. In the known devices an increasing distance leads due to the longer acceleration phase to a more pronounced depression. The lower current during the motion phase also avoids an uncontrollable, purely ballistic "free-flying phase" of the impact tool until it hits the workpiece surface, which would occur if the current were switched off prior to hitting the workpiece, which in turn larger tolerances of the markers would be connected.

Durch die in den Unteransprüchen aufgeführten Maßnahmen sind vorteilhafte Weiterbildungen und Verbesserungen der im Anspruch 1 angegebenen Markiervorrichtung möglich.The measures listed in the dependent claims advantageous refinements and improvements of the claim 1 marking device are possible.

Die Umsteuerung des Stroms vom höheren zum niedrigeren Wert in einer oder mehreren Stufen oder kontinuierlich erfolgt in einer einfachen Ausführung durch eine Zeitsteuerung. Alternativ kann diese Umsteuerung auch positionsabhängig erfolgen, wozu eine Positionsmessvorrichtung zur Steuerung der Umschaltung in wenigstens einer vorgebbaren Position vorgesehen ist. Diese Positionsmessvorrichtung kann im einfachsten Fall ein einfacher Positionssensor in einer bestimmten Position sein oder aber ein Endlagensensor, der nach einer bestimmten zurückgelegten Wegstrecke bei der Schlagbewegung anspricht.The reversal of the current from the higher to the lower value in one or more stages or continuously takes place in a simple execution by means of a time control. Alternatively, this reversal can also be position-dependent, for which purpose a position measuring device is provided for controlling the changeover in at least one predeterminable position. In the simplest case, this position measuring device can be a simple position sensor in a certain position or else an end position sensor which responds after a certain distance covered during the striking movement.

Die Positionsmessung kann in vorteilhafter Weise auch zur Erfassung der Länge der gesamten Bewegungsstrecke des Schlagwerkzeugs, also zur Messung des Abstands zum Werkstück hin, eingesetzt werden. Der entsprechende Messwert kann dann als Arbeitsparameter zur Festlegung der Stromstärken und Zeiten bzw. Positionen miteingesetzt werden.The position measurement can be used advantageously for detecting the length of the entire movement distance of the impact tool, ie for measuring the distance to the workpiece. The corresponding measured value can then also be used as a working parameter for determining the current strengths and times or positions.

Um den Strom exakt nach dem Auftreffen des Schlagwerkzeugs auf dem Werkstück abschalten zu können, sind vorzugsweise Mittel zur Ausschaltung des Stroms bei Erreichen der Aufschlagposition vorgesehen. In besonders einfacher Weise kann hierzu der Stromanstieg des Versorgungsstroms für die Elektromagnetanordnung mit einem Stromsensor erfasst werden, wobei dieser Stromanstieg entsteht, wenn die Bewegung des Magnetankers, also des Schlagwerkzeugs, gestoppt ist und keine Induktivitätsänderung in der Spule der Elektromagnetanordnung mehr stattfindet.In order to be able to switch off the current exactly after the impingement of the impact tool on the workpiece, means for eliminating the current upon reaching the impact position are preferably provided. In a particularly simple manner, the current increase of the supply current for the electromagnet arrangement with a current sensor can be detected for this purpose, wherein this increase in current occurs when the movement of the magnet armature, ie the impact tool, is stopped and no inductance change takes place in the coil of the solenoid assembly more.

Nach dem Aufschlagen des Schlagwerkzeugs auf dem Werkstück wird der Strom abgeschaltet, sodass das Schlagwerkzeug durch die Kraft der Rückstelleinrichtung, beispielsweise einer Feder, wieder in die Ruhelage zurückgeführt wird. Um nun zu verhindern, dass die kinetische Energie des Schlagwerkzeugs beim Auftreffen in die Ruhelage nicht vollständig durch Dämpfung und/oder Prellen abgebaut werden muss, sind in vorteilhafter Weise Mittel zur Erzeugung eines Bremsstroms vor dem Erreichen der Ruheposition bei der Rückbewegung des Schlagwerkzeugs vorgesehen. Diese Mittel können zeit- und/oder positionsgesteuert sein, und der Stromwert wird so gewählt, dass das Schlagwerkzeug möglichst bis zur Ruheposition auf die Geschwindigkeit null abgebremst wird. Hierdurch wird ein sehr schneller Arbeitszyklus gewährleistet.After striking the impact tool on the workpiece, the power is turned off, so that the impact tool is returned by the force of the restoring device, such as a spring, back to the rest position. In order to prevent now that the kinetic energy of the impact tool when hitting the rest position does not have to be completely reduced by damping and / or bouncing, means for generating a braking current before reaching the rest position during the return movement of the impact tool are provided in an advantageous manner. These means may be time- and / or position-controlled, and the current value is chosen so that the impact tool is braked as far as possible to the rest position to zero speed. This ensures a very fast work cycle.

Die Steuereinrichtung enthält in vorteilhafter Weise einen Mikrorechner mit einer Speichereinrichtung, in dem die Arbeitsparameter gespeichert sind, insbesondere Stromstärken, Zeiten, Wegparameter, Werkstückeigenschaften, Temperaturen und dergleichen. Die Arbeitsparameter sind zweckmäßigerweise als Tabellen enthalten und sind in Abhängigkeit des jeweiligen Markiervorgangs auswählbar und/oder auch veränderbar. Während einige Parameter eingegeben werden müssen, die zum Beispiel die Werkstückeigenschaften des zu markierenden Werkstücks berücksichtigen, können andere Parameter durch Sensoren erfasst werden, wie die Temperatur, und wieder andere werden in der bereits angegebenen Weise gemessen, beispielsweise die Position des Schlagwerkzeugs entlang der gesamten Bewegungsstrecke.The control device advantageously contains a microcomputer with a memory device in which the working parameters are stored, in particular current intensities, times, path parameters, workpiece properties, temperatures and the like. The working parameters are expediently contained as tables and can be selected and / or changed as a function of the respective marking process. While some parameters have to be entered, taking into account, for example, the workpiece characteristics of the workpiece to be marked, other parameters may be detected by sensors, such as the temperature, and still others are measured in the manner already indicated, for example the position of the impact tool along the entire movement path.

In vorteilhafter Weise ist die Steuereinrichtung zwischen einem Hauptcontroller für die Markiervorrichtung und der Elektromagnetanordnung geschaltet und vorzugsweise als separates Modul ausgebildet, das beispielsweise auch noch nachträglich nachgerüstet werden kann.In an advantageous manner, the control device is connected between a main controller for the marking device and the electromagnet arrangement and is preferably designed as a separate module which, for example, can also be subsequently retrofitted.

Die verschiedenen Stromwerte können positionsabhängig oder zeitabhängig während der gesamten Bewegungsstrecke gesteuert oder auch geregelt werden.The various current values can be controlled or regulated depending on the position or time during the entire movement distance.

Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und in der nachfolgenden Beschreibung näher erläutert. Es zeigen:

Figur 1
eine schematische Darstellung der Markiervorrich- tung zum Codieren metallischer Werkstücke mit zwei- dimensionalen Matrix-Codes,
Figur 2
ein erstes Ausführungsbeispiel mit einer positions- abhängigen Steuerung für die Antriebsbewegung des Schlagwerkzeugs und
Figur 3
ein zweites Ausführungsbeispiel mit einer zeitab- hängigen Steuerung für die Antriebsbewegung des Schlagwerkzeugs.
Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. Show it:
FIG. 1
1 is a schematic representation of the marking device for coding metallic workpieces with two-dimensional matrix codes;
FIG. 2
a first embodiment with a position-dependent control for the drive movement of the impact tool and
FIG. 3
a second embodiment with a time-dependent control for the drive movement of the impact tool.

Der in Figur 1 in einer Prinzipdarstellung schematisch dargestellte Markierkopf 10 weist eine Elektromagnetspule 11 auf, die zur Erzeugung der Schlagbewegung eines beispielsweise als Hartmetallnadel ausgebildeten Schlagwerkzeugs 12 ausgebildet ist. Das Schlagwerkzeug 12 ist mit einem Magnetanker 9 verbunden, der gegen die Kraft einer Rückstellfeder 13 zu einem Werkstück 14 hin bewegbar ist. Selbstverständlich kann auch eine andere bekannte Rückstellvorrichtung vorgesehen sein, beispielsweise eine pneumatisch, hydraulisch oder elektromagnetisch wirkende Rückstellvorrichtung.The in FIG. 1 in a schematic diagram schematically illustrated marking head 10 has an electromagnetic coil 11, which for generating the impact movement of an example as Hard metal needle trained impact tool 12 is formed. The impact tool 12 is connected to a magnet armature 9, which is movable against the force of a return spring 13 to a workpiece 14. Of course, another known return device may be provided, for example, a pneumatic, hydraulic or electromagnetic acting return device.

Der Markierkopf 10 ist mittels einer nicht dargestellten Stelleinrichtung in der x- und y-Richtung einer Ebene verfahrbar, die parallel zur Ebene des Werkstücks 14 angeordnet ist. Hierdurch kann der Markierkopf 10 jede Position des Werkstücks 14 anfahren. Der Markierkopf 10 dient zum Einbringen von als Vertiefungen ausgebildeten Codierpunkten im metallischen Werkstück 14. Diese Codierpunkte bilden einen zweidimensionalen Matrix-Code, der eine binär verschlüsselte Information darstellt. Nach dem Anfahren des gewünschten Rasterpunkts wird durch Betätigung der Elektromagnetspule 11 das Schlagwerkzeug 12 gegen das Werkstück 14 bewegt, um die gewünschte Code-Vertiefung zu erzeugen.The marking head 10 is movable by means of an adjusting device, not shown, in the x- and y-direction of a plane which is arranged parallel to the plane of the workpiece 14. As a result, the marking head 10 can approach each position of the workpiece 14. The marking head 10 is used for introducing coding points formed as depressions in the metallic workpiece 14. These coding points form a two-dimensional matrix code which represents binary-coded information. After starting the desired grid point, the impact tool 12 is moved against the workpiece 14 by actuation of the electromagnetic coil 11 to produce the desired code recess.

Die Grundsteuerung des Markierkopfs 10 erfolgt durch einen Hauptcontroller 15, durch den die Position des Markierkopfs 10 mittels der nicht dargestellten Stelleinrichtung und die Auslösung der Bewegung des Schlagwerkzeugs 12 steuerbar sind.The basic control of the marking head 10 is effected by a main controller 15, by means of which the position of the marking head 10 can be controlled by means of the adjusting device, not shown, and the triggering of the movement of the striking tool 12.

Zwischen den Hauptcontroller 15 und die Elektromagnetspule 11 ist eine Steuereinrichtung 16 geschaltet, durch die die exakte Bewegung des Schlagwerkzeugs 12 gesteuert wird. Ein erstes Ausführungsbeispiel dieser Steuereinrichtung 16 ist in Figur 2 und ein zweites Ausführungsbeispiel in Figur 3 dargestellt. Bei dem in Figur 2 dargestellten Ausführungsbeispiel steuert eine vom Hauptcontroller 15 aus triggerbare Stromsteuerstufe 17 über eine Verstärkereinrichtung 18 die Elektromagnetspule 11 des Markierkopfs 10. Einer Positionsvorgabestufe 19 wird das Positionssignal S einer Positionsmessvorrichtung 20 zugeführt zur Erfassung der jeweiligen Position des Schlagwerkzeugs 12. Bei dieser Positionsmessvorrichtung handelt es sich beispielsweise um ein induktives Wegmesssystem, das in Figur 1 außerhalb der Elektromagnetspule 11 angeordnet ist, jedoch auch im Magnetantrieb integriert sein kann. In der Positionsvorgabestufe 19 wird dieses Wegmesssignal S bei der Schlagbewegung mit einem gespeicherten Umschaltwert S0 verglichen, und bei Erreichen desselben erfolgt ein Umschaltung von einem zunächst hohen Stromwert I1 auf einen kleineren Stromwert I2. Der anfänglich hohe Stromwert I1 dient der schnellen Beschleunigung des Schlagwerkzeugs 12 während einer Beschleunigungsphase, wobei der kleinere Stromwert I2 so gewählt ist, dass das Schlagwerkzeug nach dieser Beschleunigungsphase mit möglichst gleichmäßiger Geschwindigkeit zum Werkstück geführt wird. Die Rückführung auf den niedrigeren Stromwert I2 kann selbstverständlich auch in mehreren Stufen erfolgen. Beim Auftreffen des Schlagwerkzeugs 12 auf dem Werkstück 14 erfolgt ein Stromanstieg des Versorgungsstroms für die Elektromagnetspule 11, da bei Beendigung der Bewegung des Magnetankers 9 keine Induktivitätsänderung der Elektromagnetspule 11 mehr stattfindet. Dieser Stromanstieg wird durch einen Stromsensor 21 erfasst und einer Auswertestufe 22 für den Stromanstieg zugeführt, die beispielsweise eine Differenzierstufe enthalten kann. Wird dieser Stromanstieg erkannt, so erfolgt durch ein Rücksetzsignal R eine Abschaltung des Stroms für die Elektromagnetspule 11.Between the main controller 15 and the electromagnetic coil 11, a control device 16 is connected, through which the exact movement of the impact tool 12 is controlled. A first embodiment of this control device 16 is shown in FIG figure 2 and a second embodiment in FIG. 3 shown. At the in FIG. 2 A position setting step 19, the position signal S of a position measuring device 20 is supplied to detect the respective position of the striking tool 12. This position measuring device is, for example, at an inductive displacement measuring system, which in FIG. 1 is arranged outside of the electromagnetic coil 11, but may also be integrated in the magnetic drive. In the position presetting stage 19, this displacement measuring signal S is compared during the striking movement with a stored switching value S 0 , and upon reaching the same, a switchover takes place from an initially high current value I 1 to a smaller current value I 2 . The initially high current value I 1 is used for rapid acceleration of the impact tool 12 during an acceleration phase, wherein the smaller current value I 2 is selected so that the impact tool is guided to the workpiece after this acceleration phase with the greatest possible speed. The return to the lower current value I 2 can of course also take place in several stages. Upon impact of the impact tool 12 on the workpiece 14, a current increase of the supply current for the electromagnetic coil 11, since at the end of the movement of the armature 9, no inductance change of the electromagnetic coil 11 takes place more. This increase in current is detected by a current sensor 21 and fed to an evaluation stage 22 for the current increase, which may for example contain a differentiating stage. If this current increase is detected, then takes place by a reset signal R, a shutdown of the current for the electromagnetic coil eleventh

Nach dem Abschalten des Stroms erfolgt eine Rückbewegung des Schlagwerkzeugs 12 bzw. des Magnetankers 9 durch die Kraft der Rückstellfeder 13 in die in Figur 1 dargestellte Ruheposition. Wird bei der Rückbewegung eine Position S1 vor Erreichen der Ruheposition erkannt, so wird der Strom mittels der Stromsteuerstufe 17 wieder eingeschaltet, der dann als Bremsstrom dient. Die Position S1 und die Stromstärke werden dabei so gewählt, dass das Schlagwerkzeug 12 bei Erreichen der Ruheposition möglichst genau auf die Geschwindigkeit null abgebremst ist. Hierzu kann entweder einer der Ströme I1 oder I2 oder ein anderer Stromwert vorgegeben werden.After switching off the current, a return movement of the striking tool 12 and the magnet armature 9 by the force of the return spring 13 in the in FIG. 1 illustrated rest position. If, during the return movement, a position S 1 is detected before reaching the rest position, then the current is switched on again by means of the current control stage 17, which then serves as a braking current. The position S 1 and the amperage are chosen so that the impact tool 12 is braked when it reaches the rest position as accurately as possible to zero speed. For this purpose, either one of the currents I 1 or I 2 or another current value can be specified.

In einer Speichereinrichtung 23 sind die Arbeitsparameter für die Einstellung der Positionen und Ströme gespeichert. Solche Arbeitsparameter sind beispielsweise Stromstärken, Zeiten, Wegparameter, Werkstückeigenschaften, Temperaturen und dergleichen; die als Tabellen gespeichert sind. Anhand dieser Tabellen werden dann die Stromstärken I1 und I2 sowie die Positionen S0 und S1 vorgegeben, beispielsweise berechnet. Es handelt sich dabei um Parameter, die die Bewegung des Schlagwerkzeugs 12 beeinflussen. Dabei kann die Temperatur des Markierkopfes 10 bzw. der Elektromagnetspule 11 beispielsweise in nicht näher dargestellter Weise gemessen werden. Andere Arbeitsparameter, wie die Materialeigenschaften des Werkstücks 14, können mittels einer nicht dargestellten Eingabevorrichtung eingespeichert werden. Ein wichtiger Parameter ist noch der Arbeitshub, also die Länge der Arbeitsbewegung bis zum Auftreffen auf das Werkstück 14. Durch einen vor dem eigentlichen Markierprozess stattfindende Messbewegung des Schlagwerkzeugs 12 kann der Abstand mittels der Positionsmessvorrichtung 20 erfasst werden. Die Messung erfolgt bis zum Auftreffen auf dem Werkstück 14, was durch die Auswertestufe 22 signalisiert wird.In a memory device 23, the operating parameters for the adjustment of the positions and currents are stored. Such operating parameters are, for example, currents, times, path parameters, workpiece properties, temperatures and the like; which are stored as tables. Based on these tables, the currents I 1 and I 2 and the positions S 0 and S 1 are then specified, for example calculated. These are parameters that influence the movement of the impact tool 12. In this case, the temperature of the marking head 10 or the electromagnetic coil 11 can be measured, for example, in a manner not shown. Other working parameters, such as the material properties of the workpiece 14, can be stored by means of an input device, not shown. An important parameter is still the working stroke, ie the length of the working movement until it hits the workpiece 14. By means of a measuring movement of the striking tool 12 taking place before the actual marking process, the distance can be detected by means of the position measuring device 20. The measurement takes place until it hits the workpiece 14, which is signaled by the evaluation stage 22.

Auf Grund dieses Messwertes werden dann die aktuell zu benutzenden Steuer-Parameter für das betreffende Werkstück 14 individuell so verändert, dass die zur Markierung wirksame Schlagenergie wieder dem gewünschten Wert entspricht.On the basis of this measured value, the currently used control parameters for the relevant workpiece 14 are then individually changed so that the striking energy effective for marking corresponds again to the desired value.

In einer anderen Ausführung kann diese Abstandsmessung auf die Lage der zu markierenden Werkstückoberfläche bezogen auf die Montage-Höhe des Markierkopfs 10 angewandt werden. Hierzu wird der mit einer dritten NC-Achse die Höhe des Markierkopfs 10 verstellbar ausgeführt. Jetzt wird das Schlagwerkzeug 12 mit einem zur Überwindung der Rückstellkraft ausreichenden, von der Stromsteuerstufe 17 eingestellten Strom vollständig ausgefahren und dann der Markierkopf 10 von einer bekannten, höheren Position gegen die Werkstückoberfläche gefahren. Sobald das Schlagwerkzeug 12 auf die Oberfläche auftritt, wird sie eingefahren bis der ohnehin vorhandene Abstandssensor 20 im Markierkopf 10 ein Signal abgibt. Da der Weg von ganz ausgefahrenem Schlagwerkzeug 12 bis zum Schaltpunkt des Sensors bekannt ist, kann aus dem gesamten Fahrweg die Lage der Werkstückoberfläche genau ermittelt und zur präzisen Einstellung des gewünschten Abstandes des Schlagwerkzeuges 12 vom Werkstück 14 benutzt werden. Auch durch dieses Verfahren werden sich negativ auswirkende Werkstücktoleranzen eliminiert.In another embodiment, this distance measurement can be applied to the position of the workpiece surface to be marked relative to the mounting height of the marking head 10. For this purpose, the height of the marking head 10 is made adjustable with a third NC axis. Now the impact tool 12 is fully extended with sufficient to overcome the restoring force, set by the current control stage 17 current and then driven the marking head 10 from a known, higher position against the workpiece surface. Once the impact tool 12 occurs on the surface, it is retracted until the already existing distance sensor 20 in the marking head 10 emits a signal. Since the way from fully extended impact tool 12 is known to the switching point of the sensor, the position of the workpiece surface can be accurately determined from the entire track and used for precise adjustment of the desired distance of the impact tool 12 from the workpiece 14. Also by this method, negative-working workpiece tolerances are eliminated.

Nach einer gewissen Stillstandszeit tritt der Effekt auf, dass der Magnetanker 9 in seiner Ruheposition stärker haftet (klebt) als während der Hubbewegungen beim Markiervorgang. Die Steuereinrichtung kann daher den Beschleunigungsstrom I1 für die erste Hubbewegung anheben. Auch diese Anhebung kann über gespeicherte Tabellen eingestellt werden.After a certain downtime, the effect occurs that the magnet armature 9 in its rest position adheres more (sticks) than during the lifting movements during the marking process. The control device can therefore increase the acceleration current I 1 for the first lifting movement. This increase can also be set via stored tables.

Die Stromsteuerstufe 17 kann die Stromwerte I1 und I2 oder weitere Stromwerte lediglich steuern, oder sie kann als Stromregelstufe ausgebildet sein.The current control stage 17 can only control the current values I 1 and I 2 or further current values, or it can be designed as a current regulation stage.

In Abwandlung des dargestellten Ausführungsbeispiels kann anstelle der Positionsmessvorrichtung 20 auch ein einfacher Positionssensor vorgesehen sein, der lediglich ein Umschaltsignal bei einer fest vorgegebenen Position S0 bzw. S1 vorgibt. Dabei kann es sich beispielsweise um einen Endlagensensor handeln, der ein Signal abgibt, wenn die Ruhestellung um eine bestimmte Strecke S0 verlassen worden ist oder wenn sich der Magnetanker 9 bei Rückbewegung um eine bestimmte Strecke S1 angenähert hat.In a modification of the illustrated embodiment, instead of the position measuring device 20, a simple position sensor may be provided, which merely specifies a switching signal at a fixed position S 0 or S 1 . This may be, for example, an end position sensor which emits a signal when the rest position has been left by a certain distance S 0 or when the armature 9 has approached by a certain distance S 1 in return movement.

Die in Figur 2 dargestellte Steuereinrichtung 16 ist beispielsweise als Mikrorechner bzw. Mikrocontroller realisiert. Bei der Speichereinrichtung 23 handelt es sich dann um einen nichtflüchtigen Arbeitsspeicher des Mikrocontrollers.In the FIG. 2 illustrated control device 16 is realized for example as a microcomputer or microcontroller. The memory device 23 is then a non-volatile main memory of the microcontroller.

In Figur 3 ist eine modifizierte Steuereinrichtung 16a dargestellt. Gleiche oder gleichwirkende Baugruppen oder Elemente sind mit denselben Bezugszeichen versehen und nicht nochmals detailliert beschrieben.In FIG. 3 a modified controller 16a is shown. Same or equivalent components or elements are provided with the same reference numerals and not described again in detail.

Anstelle der Positionsvorgabestufe 19 tritt beim zweiten Ausführungsbeispiel eine Zeitvorgabestufe 24. Diese wird durch ein Signal des Hauptcontrollers 15 getriggert. Nach Ablauf einer Zeit t0 erfolgt die Umschaltung vom höheren Stromwert I1 für die Beschleunigungsphase zum niedrigeren Stromwert I2 für die Bewegungsphase. Entsprechend wird der Bremsstrom bei der Rückbewegung des Schlagwerkzeugs 12 nach einer Zeit t1 eingeschaltet. Die Speichereinrichtung 23 enthält die gespeicherten Werte t0 und t1, die entsprechend dem ersten Ausführungsbeispiel anhand der Arbeitsparameter-Tabellen vorgegeben sind.Instead of the position specification stage 19, a time specification stage 24 occurs in the second exemplary embodiment. This is triggered by a signal of the main controller 15. After a time t 0 has elapsed, the switchover takes place from the higher current value I 1 for the acceleration phase to the lower current value I 2 for the movement phase. Accordingly, the braking current is switched on during the return movement of the striking tool 12 after a time t 1 . The memory device 23 contains the stored values t 0 and t 1 , which are predetermined in accordance with the first embodiment on the basis of the working parameter tables.

Zur Stromsteuerung und/oder -regelung können auch Kombinationen der beiden Ausführungsbeispiele realisiert sein, das heißt, die Einstellung bzw. Regelung der Ströme erfolgt zum Teil zeitabhängig und zum Teil positionsabhängig.Combinations of the two embodiments can also be implemented for current control and / or regulation, that is to say the adjustment or regulation of the currents takes place partly time-dependent and partly position-dependent.

Claims (14)

  1. Marking device for encoding metallic workpieces with two-dimensional matrix codes, having a punching tool (12) which can be driven by an electromagnet assembly (11) for forming the code recesses, the operational movement occurring against the force of a return device (13), having an adjusting device which can be moved in both axes (x, y) vertical to the punching direction (z) for positioning the punching tool (12) at the desired code positions, characterized by an electronic control device (16, 16a) for moving the punching tool (12) which has means (17) for setting a higher current (I1) for the electromagnet assembly (11) during a first acceleration phase of the punching tool (12) and a lower current (I2) during the subsequent movement phase until the workpiece (14) is struck.
  2. Marking device according to Claim 1, characterized in that a time control (24) for presetting the acceleration time is provided.
  3. Marking device according to Claim 1, characterized in that a position control (19) for switching from the acceleration phase to the subsequent movement phase is provided.
  4. Marking device according to Claim 3, characterized in that a position measurement device (20), in particular a position sensor, is provided to control the switchover in at least one position (So) which can be predefined.
  5. Marking device according to Claim 4, characterized in that the position measurement device (20) is also adapted for detecting the length of the entire travel of the punching tool (12) and/or its distance from the workpiece (14).
  6. Marking device according to Claim 5, characterized in that the position measurement device (20) is operatively connected with means for determining the distance with a tolerance of the marking head (10) from the workpiece surface in an advance movement before the marking and for compensating the control parameters by way of a corresponding correction.
  7. Marking device according to Claim 5, characterized in that the position measurement device (20) is operatively connected with means for determining the distance with a tolerance of the marking head (10) from the workpiece surface in an advance movement before the marking and for compensating the control parameters by means of a height adjustment device.
  8. Marking device according to one of the preceding claims, characterized in that the current is controlled in open-loop or closed-loop control in dependence on position or time over the entire travel.
  9. Marking device according to one of the preceding claims, characterized in that means (21, 22) for switching off the current when the striking position is reached are provided.
  10. Marking device according to Claim 9, characterized in that the means (21, 22) are adapted to detect a corresponding rise in current when the striking position is reached.
  11. Marking device according to one of the preceding claims, characterized in that means for generating a braking current before the resting position is reached during return of the striking tool (12) are provided.
  12. Marking device according to Claim 11, characterized in that the means for generating a braking current are time- and/or position-controlled.
  13. Marking device according to one of the preceding claims, characterized in that the control device (16, 16a) is connected between a main controller (15) for the marking device and the electromagnet assembly (11) and is preferably embodied as a separate module.
  14. Marking device according to one of the preceding claims, characterized in that means for increasing the higher current (I1) in the acceleration phase during the first working stroke are provided.
EP03769490A 2002-12-10 2003-11-06 Marking device for encoding metallic workpieces with two-dimensional matrix codes Expired - Lifetime EP1569805B1 (en)

Applications Claiming Priority (3)

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DE10257532A DE10257532A1 (en) 2002-12-10 2002-12-10 Marking device for applying matrix codes has device for presetting higher current during acceleration phase
DE10257532 2002-12-10
PCT/EP2003/012409 WO2004052660A1 (en) 2002-12-10 2003-11-06 Marking device for encoding metallic workpieces with two-dimensional matrix codes

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EP (1) EP1569805B1 (en)
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US7357013B2 (en) 2008-04-15
US20060075800A1 (en) 2006-04-13
AU2003278177A1 (en) 2004-06-30
WO2004052660A1 (en) 2004-06-24
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DE50312631D1 (en) 2010-05-27
ATE464189T1 (en) 2010-04-15

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