Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
  • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
  • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
  • F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
• • E—FIXED CONSTRUCTIONS
  • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
  • E02F—DREDGING; SOIL-SHIFTING
  • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
  • E02F9/20—Drives; Control devices
  • E02F9/22—Hydraulic or pneumatic drives
  • E02F9/2278—Hydraulic circuits
  • E02F9/2296—Systems with a variable displacement pump
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
  • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
  • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
  • F15B11/163—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for sharing the pump output equally amongst users or groups of users, e.g. using anti-saturation, pressure compensation
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
  • F15B21/08—Servomotor systems incorporating electrically operated control means
  • F15B21/087—Control strategy, e.g. with block diagram
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B2211/00—Circuits for servomotor systems
  • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
  • F15B2211/205—Systems with pumps
  • F15B2211/2053—Type of pump
  • F15B2211/20546—Type of pump variable capacity
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B2211/00—Circuits for servomotor systems
  • F15B2211/40—Flow control
  • F15B2211/405—Flow control characterised by the type of flow control means or valve
  • F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B2211/00—Circuits for servomotor systems
  • F15B2211/40—Flow control
  • F15B2211/405—Flow control characterised by the type of flow control means or valve
  • F15B2211/40553—Flow control characterised by the type of flow control means or valve with pressure compensating valves
  • F15B2211/40561—Flow control characterised by the type of flow control means or valve with pressure compensating valves the pressure compensating valve arranged upstream of the flow control means
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B2211/00—Circuits for servomotor systems
  • F15B2211/40—Flow control
  • F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
  • F15B2211/41527—Flow control characterised by the connections of the flow control means in the circuit being connected to an output member and a directional control valve
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B2211/00—Circuits for servomotor systems
  • F15B2211/40—Flow control
  • F15B2211/42—Flow control characterised by the type of actuation
  • F15B2211/426—Flow control characterised by the type of actuation electrically or electronically
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B2211/00—Circuits for servomotor systems
  • F15B2211/60—Circuit components or control therefor
  • F15B2211/63—Electronic controllers
  • F15B2211/6303—Electronic controllers using input signals
  • F15B2211/6306—Electronic controllers using input signals representing a pressure
  • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B2211/00—Circuits for servomotor systems
  • F15B2211/60—Circuit components or control therefor
  • F15B2211/63—Electronic controllers
  • F15B2211/6303—Electronic controllers using input signals
  • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position

Definitions

• the invention relates to a control arrangement for
• Hydraulic systems are used to control several consumers, in which the consumers are supplied with pressure medium via a pump with an adjustable delivery volume (variable pump).
• a metering orifice and a pressure compensator are often provided between the variable pump and each consumer, the latter being able to be connected upstream or downstream of the metering orifice.
• LS systems operating according to the current regulator principle and systems operating according to the current divider principle, in which the pressure compensator is always connected downstream of the metering orifice.
• These current divider systems are also known as LUDV systems, which represent a subset of the LS systems.
• the variable pump is set depending on the highest load pressure of the hydraulic consumers operated so that the inlet pressure is a certain pressure difference above the highest load pressure.
• the downstream pressure compensators are acted upon in the opening direction by the pressure after the respective metering orifice and in the closing direction by a control pressure which usually corresponds to the highest load pressure of all controlled consumers. If, when several hydraulic consumers are operated at the same time, the metering orifices are opened so far that the quantity of pressure medium supplied by the hydraulic pump adjusted to the stop is smaller than the total quantity of pressure medium required, the pressure medium quantities flowing to the individual hydraulic consumers become proportionally independent of the respective load pressure of the hydraulic consumers reduced (load-independent flow distribution).
• the pressure compensator upstream or downstream of the metering orifice is acted upon in the closing direction by the pressure in front of the metering orifice and in the opening direction by the individual load pressure of the respective hydraulic consumer, so that no load-independent flow distribution is obtained. If several hydraulic consumers are operated simultaneously and the quantity of pressure medium supplied by the variable displacement pump is insufficient, only the quantity of pressure medium flowing to the consumer with the highest load pressure is reduced.
• Pressure compensators are downstream of the metering orifices.
• variable pump is controlled depending on the highest load pressure tapped via an LS line in such a way that a pressure is established in the pump line that is equivalent to a pressure difference above the highest load pressure that is equivalent to the force of a control spring of a pump control valve lies.
• LS system described, in which the control of the pump setting is carried out electronically.
• Sensors record the pressures effective at the consumers, the pump pressure, the drive speed and the drive torque of the variable pump and, depending on, for example, setpoints given via a joystick, control signals are sent to the pump control valve and the proportional valves upstream of the consumers.
• control signals are sent to the pump control valve and the proportional valves upstream of the consumers.
• the function of the individual pressure compensators assigned to the metering orifices is implemented electronically.
• EP 0 275 969 B1 shows an electrohydraulic LS control arrangement in which the individual pressure compensators are connected upstream of the metering orifices.
• the setpoints for the metering orifices set via actuators, for example joysticks are recorded and a total volume flow is determined therefrom.
• the adjustment pump is then activated in such a way that a slight undersupply occurs, so that the metering orifice of the consumer with the highest load pressure is opened and the aforementioned pressure difference between the pump pressure and the highest load pressure is reduced.
• the invention is based on the object of developing a control arrangement and a method for supplying pressure medium to at least two hydraulic consumers in such a way that it is possible to control a plurality of consumers at a predetermined speed with reduced energy losses.
• This object is achieved with regard to the control arrangement by the features of patent claim 1 and with respect to the method by the features of patent claim 6.
• the individual load pressures of the consumers are detected by suitable sensors and the consumer with the highest load pressure is determined from these signals.
• the metering orifice assigned to the consumer with the highest load pressure is completely controlled by the setting resulting from the predetermined setpoint value, so that the pressure loss exceeds the pressure load with the highest load user-assigned metering orifice is minimal.
• control arrangement is designed with a further sensor for detecting the system pressure, ie the pressure upstream of the metering orifices
• the pressure difference across the respective metering orifices can be determined via the signals detected by the pressure sensors.
• the metering orifices are then adjusted via the electronics of the control arrangement so that the desired pressure medium volume flow flows to the consumers.
• the function of the individual pressure compensators is implemented electronically, although, in contrast to the publication (O + P) mentioned at the outset, the metering orifice of the consumer with the highest pressure is always fully opened, so that the energy losses are reduced compared to the known solution.
• the control arrangement can be designed with the metering orifices upstream or downstream individual pressure compensators, each in the closing direction from the pressure upstream of the metering orifice and in the opening direction from the pressure downstream of the metering orifice are acted upon.
• the variant in which the pressure compensators are arranged downstream of the metering orifices results in a structure which is similar to that of LUDV directional valves. This makes it possible to provide the same or at least similar housings as semi-finished products for the control arrangement according to the invention and LUDV control arrangements, so that the production costs can be reduced.
• variable displacement pump In the case of a pulling load, this can be detected by the sensors used according to the invention and the variable displacement pump can be reset and the pressure medium can be sucked into the low-pressure side of the consumer via suction valves.
• the flow rates of the metering orifices assigned to the lower load consumers can be reduced in the same proportion in the event of an undersupply. This reduction is preferably carried out in the ratio of the maximum pump delivery quantity to the desired target quantity.
• the load pressures of consumers operated at the same time are compared and, in the event that these load pressures differ by less than the control ⁇ p of the pressure compensators, the metering orifice of the consumer, which is lower in load pressure, is opened further than this by Setpoint is specified so that this pressure difference is compensated.
• Figure 1 shows a control arrangement according to the invention with the metering orifices downstream individual pressure scales
• FIG. 2 shows a variant of the control arrangement from FIG. 1 with an upstream individual pressure compensator
• FIG. 3 shows a control arrangement in which the function of the individual pressure compensators is implemented electronically and
• FIG. 4 shows a control arrangement with the individual pressure compensators connected downstream of the metering orifices.
• the control arrangement 1 shown in FIG. 1 works according to the current regulator principle, in which several current regulators are connected in parallel.
• the control arrangement 1 shown has a variable displacement pump 2, via which two or more consumers 4, 6 can be supplied with pressure medium. They are controlled by means of a control device, for example a joystick 8, via which control signals are sent to an electronic control device 10. These signals represent a command to move consumers at a certain speed and along a certain trajectory.
• the output of the variable pump 2 is connected to a pump line 12, which in two feed lines 14, 16 branches.
• An electronically proportionally adjustable metering orifice 18 or 20 is arranged in each inlet line 14, 16, each of which can be adjusted via a proportional magnet 22 which is controlled via the control device 10.
• the metering orifices 18, 20, for example formed by a proportional valve, are each followed by a pressure compensator 24 or 26 which is acted upon in the opening direction by the force of a regulating spring and the pressure downstream of the metering orifices 18, 20 and in the closing direction by the pump or system pressure which is tapped from the pump line 12 via a branching control line 28.
• the outputs of the pressure compensators 24, 26 are connected to the consumers 4, 6 via feed lines 30 and 32, respectively.
• these consumers are 4, 6 hydraulic cylinders, the cylinder spaces of which are connected to the feed line 30 or 32.
• the return and outlet lines connecting the cylinder spaces to the tank T are omitted, the flow cross-sections of which are also opened or closed via the proportional valve forming the metering orifice 18, 20.
• the load pressures of the consumers 4, 6 are recorded and the setting of the metering orifices 18, 20 is changed as a function of these load pressures.
• these load pressures are detected by pressure sensors 34, 36, which are arranged in the feed lines 30, 32 and whose signals are processed by the control device 10.
• the pressure sensors 34, 36 and the joystick 8 are connected to the control system via signal lines.
• device 10 via which control signals are then sent via signal lines to the electrically operated pump control valve and to the two proportionally adjustable metering orifices 18, 20 in accordance with the predetermined setpoints and the detected load pressures.
• variable displacement pump with a variable swivel angle
• constant displacement pump with a variable-speed drive
• the variable displacement pump 2 is preferably designed with a pressure sensor for detecting the pump pressure, a speed sensor for detecting the pump speed and a swivel angle sensor for detecting the pump swivel angle.
• the characteristic curves of the variable displacement pump 2 and the two proportionally adjustable metering orifices 18, 20 are also stored in the control device, so that extremely precise volume flow control via the variable displacement pump 2 is possible with the aid of all or some of the aforementioned sensors and characteristic curves.
• the function of the control arrangement according to the invention is as follows.
• variable displacement pump 2 To actuate the two consumers 4, 6, control signals are generated by the operator via one or more joysticks 8, which are output to the control device 10.
• the variable displacement pump 2 In order to control the consumers 4, 6 accordingly, the variable displacement pump 2 must provide a specific pressure medium volume flow which corresponds to the sum of the set volume flows set via the joystick 8. Ie the variable displacement pump 2 must be adjusted depending on the setting of the joystick 8 to a swivel angle at which this total volume flow is delivered. The corresponding adjustment of the variable displacement pump 2 can be carried out in a simple manner as a function of the setpoint by detecting the current pump pressure, the current pump speed and the set swivel angle via the pump curve.
• the pump controller therefore does not receive a pressure signal which generally corresponds to the highest load pressure, but rather the control of the variable displacement pump 2 takes place as a function of the setpoints. This eliminates the need to tap the load pressures at the consumers via complex shuttle valve arrangements and to lead them to the variable displacement pump 2 via comparatively long lines.
• volume flow errors due to volumetric losses of the variable displacement pump 2 can be compensated for by the setpoint adjustment via the joystick 8, since the operator immediately adjusts via the joystick 8 if the consumers 4, 6 are not actuated at the desired speed.
• the highest load pressure is then set accordingly at the consumer with the highest load and the pressure difference from the consumers with lower load is throttled away by current regulation on the individual pressure compensators 24, 26.
• the consumer at which the highest is determined is determined via the pressure sensors 34, 36
• Load pressure is present.
• the signals detected by the pressure sensors 34, 36 are compared with one another in the control device 10 and a control signal is emitted to the metering orifice 18, 20, which is assigned to the consumer 4, 6 with the highest load pressure, by means of which this metering orifice 18, 20 is complete is opened. Only a minimal pressure difference then arises at this metering orifice 18, 20, so that the system losses are reduced compared to the regulations described at the beginning.
• the assigned pressure compensator 24 or 26 of the consumer 4 or 6 with the highest load pressure is then also fully open, since the pressure difference across the assigned metering orifice 18 or 22 is not sufficient to adjust the pressure compensator in the closing direction against the force of the control spring.
• the current regulator circuit is designed with the pressure compensators 24, 26 connected downstream of the metering orifices 18, 20. Since the pressure compensators in the LUDV systems described at the beginning must always be connected downstream of the metering orifices, identical or only slightly modified housings can be used for the system shown in FIG. 1 and for LUDV systems.
• the control arrangement according to the invention can also be implemented in circuits in which the individual pressure compensators 24, 26 are connected upstream of the metering orifices 18 and 20, respectively. These pressure balances are also in the opening direction of the pressure downstream of the metering orifices 18, 20 and in the closing direction of the pressure upstream of the metering orifices 18, 20, i.e. the pump pressure supplied by the variable displacement pump 2.
• the other structure and the function of the control arrangement shown in FIG. 2 correspond to the exemplary embodiment according to FIG. 1, so that further explanations are unnecessary.
• FIG. 3 A variant is shown in FIG. 3 in which the metering orifices 18, 20 are not assigned any individual pressure compensators.
• the function of the individual pressure compensators is practically taken over by the electronics.
• the pressure in the pump line 12, ie the pressure upstream of the metering orifices 18, 20, must be detected via a further pressure sensor 38. From this pressure and the pressures detected by the pressure sensors 34, 36 downstream of the metering orifices 18, 20 the pressure drop over the metering orifices 18, 20 can then be calculated.
• the flow cross section of the respective metering orifices 18, 20 can then be adjusted via the control device 10 with the aid of the stored characteristic curves such that the desired volume flow flows to the consumers 4, 6.
• the adjustment pump 2 is set in the manner described above as a function of the setpoints set using the joystick 8.
• variable pump is set to the desired total flow and the individual pressure medium flows to the consumers are divided by suitable control of the valve orifices, the metering orifice assigned to the consumer with the highest pressure being fully opened.
• a control makes it possible, for example in the event of an undersupply, that is to say in the case in which the target quantity is greater than the maximum pump quantity, to reduce the flow rates by proportioning the load pressure-lower consumers.
• an LUDV behavior can practically be generated by reducing the opening cross sections of the metering orifices 18, 20, which are lower in load pressure. This reduction can take place, for example, in the ratio of the maximum pump delivery rate to the target amount.
• control arrangement is designed to control three consumers. It is further assumed that the set flows set on the three consumers via joysticks 8 are 40, 60 and 20 liters / minute, ie the set total flow is 120 liters / minute load pressure highest consumers should be supplied with 20 liters / minute.
• the maximum delivery rate of the pump is, for example, 100 liters / minute - there is therefore an undersupply.
• This undersupply is compensated according to the invention in that the setpoints for the two lower-load consumers (40, 60 liters / minute) are reduced via the control device 10 in the ratio of the maximum delivery rate of the pump to the total volume flow, ie in the ratio 100/120.
• the first named consumer is supplied with 33.33 liters / minute, the second named consumer with 50 liters / minute (per unit of time).
• the metering orifice of the consumer with the highest load pressure is fully controlled according to the invention - the resulting volume flow above this metering orifice is 16.66 liters / minute, so that the maximum flow rate of the pump of 100 L / minute is divided proportionally and thus a load-independent flow distribution (LUDV) is practically realized ,
• the exemplary embodiments explained with reference to FIGS. 1 and 2 are distinguished by a low susceptibility to vibration.
• the setpoints can also be determined for proportional valves with slide travel measurement from the actual slide travel value of the metering orifices 18, 20.
• system according to the invention is also effective when only a single consumer is actuated - in this case the metering orifice of this consumer is opened completely and the pressure medium volume flow is controlled via the variable displacement pump 2.
• FIG. 4 shows a control arrangement in which the individual load pressures of consumers 4, 6 are not detected via pressure sensors or the like. It is again a current regulator system, the two individual pressure compensators 24, 26 being connected downstream of the two proportionally adjustable metering orifices 18, 20. That is, apart from the two sensors 34, 36 which are not present, the control arrangement shown in FIG. 4 corresponds to that from FIG. 1. Also in the control arrangement according to FIG. 4, the variable displacement pump 2 is adjusted depending on the setpoint values set via the joystick 8 so that it adjusts the delivers the desired pressure medium total flow.
• This total pressure medium flow is then divided via the current regulators (metering orifices 18, 20; pressure compensators 24, 26), the metering orifices 18, 20 in turn being adjusted as a function of the setpoints set on the joystick 8.
• the load pressure present at the outlet of the metering orifices 18, 20, which corresponds approximately to the highest effective load pressure of the consumers, is then throttled to the individual load pressures via the individual pressure scales 24, 26.
• the metering orifice assigned to the consumer with higher load pressure remains on that as a function of the predefined ones Set values set opening cross-section and is not fully opened.
• a control arrangement and a method for supplying pressure medium to at least two hydraulic consumers, which are supplied with pressure medium via a variable displacement pump, are disclosed.
• a metering orifice is provided in each case in the pressure medium flow path between the consumers and the variable pump.
• the adjustment pump and metering orifices are set electronically via a control device as a function of the setpoints entered by an operator.
• the metering orifice assigned to the consumer with the highest load pressure is turned on completely, so that the pressure loss across this metering orifice is minimal.

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• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Fluid Mechanics (AREA)
• Mechanical Engineering (AREA)
• Analytical Chemistry (AREA)
• Chemical & Material Sciences (AREA)
• Mining & Mineral Resources (AREA)
• Civil Engineering (AREA)
• Structural Engineering (AREA)
• Fluid-Pressure Circuits (AREA)
• Operation Control Of Excavators (AREA)
• Control Of Transmission Device (AREA)

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Publications (2)

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Cited By (2)

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• 2003
  • 2003-09-11 DE DE10342037A patent/DE10342037A1/de not_active Withdrawn
• 2004
  • 2004-09-09 DE DE502004006859T patent/DE502004006859D1/de not_active Expired - Lifetime
  • 2004-09-09 WO PCT/DE2004/002008 patent/WO2005024245A1/fr not_active Ceased
  • 2004-09-09 EP EP04786730A patent/EP1664551B1/fr not_active Expired - Lifetime
  • 2004-09-09 JP JP2006525618A patent/JP4653091B2/ja not_active Expired - Fee Related
  • 2004-09-09 AT AT04786730T patent/ATE392555T1/de active
  • 2004-09-09 US US10/570,157 patent/US7434393B2/en not_active Expired - Fee Related

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