EP1346191A1 - Dispositif et procede pour mesurer un objet - Google Patents

Dispositif et procede pour mesurer un objet

Info

Publication number
EP1346191A1
EP1346191A1 EP01982467A EP01982467A EP1346191A1 EP 1346191 A1 EP1346191 A1 EP 1346191A1 EP 01982467 A EP01982467 A EP 01982467A EP 01982467 A EP01982467 A EP 01982467A EP 1346191 A1 EP1346191 A1 EP 1346191A1
Authority
EP
European Patent Office
Prior art keywords
measuring
camera
light
spring
light source
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.)
Withdrawn
Application number
EP01982467A
Other languages
German (de)
English (en)
Inventor
Hans-Peter Armbruster
Bernhard Bock
Jürgen MARX
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.)
Technische Federn Otto Joos GmbH
Original Assignee
TECH FEDERN GmbH
Technische Federn GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by TECH FEDERN GmbH, Technische Federn GmbH filed Critical TECH FEDERN GmbH
Publication of EP1346191A1 publication Critical patent/EP1346191A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/10—Sorting according to size measured by light-responsive means
    • 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

Definitions

  • the invention relates to a device with a camera according to the preamble of claim 1 and a method for measuring an object according to the preamble of claim 20.
  • Devices and methods of the type mentioned here are known. They are used to record and measure objects, for example to determine the length of an object. In many cases, the measurement results are too imprecise because the surface of the object to be measured was dirty or has errors. Differences in roughness of different objects can also lead to different measurement results.
  • a measuring device which has the features mentioned in claim 1. It is characterized by the fact that light rays emanating from a light source and passing through a measurement section are directed at a camera and that the light beams passing through the measurement section can be influenced by the object to be eaten. With the help of The light source creates a shadow image directly in the camera, i.e. a light / dark structure, on the basis of which the object is measured. It is therefore not, as in conventional methods, light rays reflected from the surface of the object to be measured that are used to measure it, but directly the light rays that come from the light source to the camera.
  • An embodiment of a measuring device is particularly preferred which comprises a bright, actively illuminating surface as light source u.
  • a two-dimensional measurement of the object is possible. Numerous parameters of the object can thus be recorded in a simple manner in order to achieve highly accurate measurement results.
  • the object to be measured is arranged between the light source and the camera, that is to say is introduced directly into the measuring section.
  • a pinhole is provided, which is located in the measuring section and through which the light from the light source is directed onto the camera.
  • the position of the pinhole is influenced by the object to be measured, so that the object can be measured by means of the bright point of light generated by the pinhole, that is to say by its light / dark structure.
  • a method according to claim 20 is also proposed, which is characterized in that a light / dark structure is generated therein with the aid of a light source, the light rays of which pass through a measurement section and fall on the camera, in order to measure an object ,
  • the light / dark structure can be a shadow image of the object in the camera or a light point that is generated with the aid of a pinhole. In both cases, the light directed from the light source onto the camera is used to measure the object.
  • Figure 1 is a schematic diagram of a device for measuring an object
  • Figure 2 shows a first embodiment of the device for detecting the length of a spring produced by a winding machine
  • Figure 3 shows a second embodiment of the device for detecting the length of an unloaded coil spring
  • Figure 4 shows a third embodiment of a device for detecting the deflection of a compression spring under load
  • Figure 5 shows a fourth embodiment of a device for detecting the length of a
  • the schematic diagram according to FIG. 1 shows a measuring device 1 with a camera 3, a light source 5, from which light rays 7 emerge and pass through a measuring section 9. The light rays hit the camera 3.
  • An arrow 13 indicates that the object 11 influences the light beams 7 which pass through the measurement section 9, so that a light / dark structure is generated in the camera, that is to say is imaged.
  • the signals generated by the camera are fed via a line 15 to an evaluation unit 17.
  • This can include, for example, a monitor, also not shown here, on which the light / dark structure is imaged, so that an operator can monitor and influence the measuring process.
  • the evaluation unit 17 can also cooperate with a sorting device 19 which assigns the measured objects to different classes. For example, in the case of a length measurement, the different deviation from a target dimension can be used to classify and sort the objects. If necessary, a sorting device 21 can also be combined with the sorting device 19. The number of objects falling into the different classes and / or the total number of measured objects are measured.
  • the sorting device 19 can be controlled via a line 23, via which the values of the counter 21 can also be sent to the evaluation device 17.
  • the arrow 13 only indicates in a very general way that the light beams 7 passing through the measuring section 9 and which hit the camera 3 are influenced by the object 11.
  • the object 11 or a region of this object can be imaged directly in the camera 3 by the light rays 7 in order to produce a light / dark structure.
  • the object it is also possible for the object to act indirectly on the light beams 7, for example via the deflection of a pinhole introduced into the measuring section 9, with the aid of which a light / dark structure is generated in the camera 3, namely a light spot and not a silhouette, as is the case with the first embodiment.
  • the measurement principles mentioned are explained in more detail with reference to the exemplary embodiments shown below.
  • the light source 5 is an active light source that emits light of different wavelengths, including invisible light.
  • the light source points 5 a bright, actively illuminating surface 25 in order to image as large as possible areas of the object 11 to be measured on the camera 3. This then makes it possible in a simple manner to also record different measurement areas within the light / dark structure and thus different areas of the object and different features.
  • FIG. 2 shows a first exemplary embodiment of a measuring device 1, which is used together with a winding machine 27, on which coil springs are produced.
  • the feed devices for the spring wire are omitted here.
  • a coil spring 29 can be seen here as a circle, which emerges from the winding machine 27 and is designed as a coil spring. It runs perpendicular to the image plane of FIG. 2.
  • the measuring device 1 used together with the winding machine 27 has a camera designed here as a matrix camera 3 and also a light source 5. This emits light beams 7, which are recorded by the matrix camera 3.
  • the light source 5 is designed here as a so-called flat or foil illumination, which has a bright, actively illuminating surface 25.
  • the light beams 7 extending from the light source 5 to the matrix camera 3 form the measuring section 9, within which the helical spring 29 is arranged.
  • the matrix camera 3 is connected via a line 15 to an evaluation device 17, moreover to a monitor 31 on which the one to be measured Object, so here areas of the coil spring 29 are recognizable.
  • a sorting device 19 is connected via a line 23 to the evaluation device 17, which here can sort springs produced by the wind machine 27 into five different classes.
  • a length control 32 is also connected to the evaluation device 17 here. This controls a cutting device of the winding machine 27, which cuts off the wire brought in to produce the helical spring 29 when a desired length of the helical spring 29 has been reached. Length differences resulting during the cutting process are recorded and evaluated by the matrix camera 3 in order to classify coil springs 29 of different lengths in the sorting device 19.
  • the end of the helical spring 29 emerging from the winding machine 27 enters the measuring section 9, so that it can be measured using the matrix camera 3, which is designed, for example, as a CCD camera. A two-dimensional measurement takes place.
  • the measuring line 9 is disposed at a predetermined distance from the winding machine 27 in particular for the outlet opening from which the pen off occurs, so that after production of a reference spring the springs manufactured in 'the winding machine 27 with the reference measure can be compared. If the measuring field of the matrix camera 3 is large enough, or if correspondingly small coil springs 29 are to be produced, which can be completely captured by the camera, no reference measurement is required because the Coil spring 29 can be completely captured and measured by the measuring field of the matrix camera 3.
  • the end of the coil spring 29, possibly also the entire spring, is displayed on the monitor 31, where an operator can define a measurement window. If the foremost end of the coil spring 29 emerging from the winding machine 27 is detected, the spring length can be measured with the aid of the matrix camera. This can also detect the front of the coil spring and determine an oblique position. If the measurement window of the matrix camera 3 is large enough, the screw diameter can also be recorded. It is also conceivable to measure the diameter of the wire used for the manufacture of the coil spring 29. With a corresponding selection of the measurement window on the monitor 31, the winding spacing of the spring can also be recorded.
  • a silhouette of the helical spring 29 is thus depicted on the matrix camera 3, specifically with the aid of the light rays 7 emerging from the light source 5, which are directed onto the matrix camera 3 and pass through the measuring section 9.
  • the measurement thus creates a light / dark structure or a shadow image from which the desired data are determined.
  • a dynamic measurement therefore takes place.
  • the winding machine 27 is controlled with the aid of the length control 32 such that a cutting device is activated when a desired spring length is reached.
  • vibrations can occur during operation of the wind machine 27, which also lead to blurring of the light / dark structure in the matrix camera 3.
  • the light source 5 can emit pulsed light.
  • the flashes of light must be so short that movements occurring during the generation of the light / dark structure cannot lead to a blurring of the image. It is also conceivable to use a camera with a short exposure time in order to compensate for movements of the object to be measured, that is to say the coil spring 29.
  • the measurement window can be approximately 40x30 mm, that the resolution is approximately 6 ⁇ m and the measurement accuracy is approximately 0.02 mm. Up to ten measurements per second can be carried out to compensate for movements and to enable the most accurate length measurement possible.
  • the light source 5 is preferably selected such that it emits, for example, pulsed light or else light of a specific frequency, which is then selectively recorded by the matrix camera 3. This means that the measurement can be carried out practically independently of the ambient light and the error rate due to external influences can be reduced to a minimum. This also applies to all of the following exemplary embodiments of the measuring device, including the line camera mentioned below.
  • the second exemplary embodiment shown in FIG. 3 of the measuring device 1 explained with reference to FIG. 1 again comprises, for example, a matrix camera 3 as a camera, and also a light source 5 which emits light beams 7 onto the matrix camera in order to form a measuring section 9.
  • the measuring section is also influenced here by the object to be measured.
  • the matrix camera 3 and the light source 5 are attached via a suitable holder 33 and 35 at a defined distance above a measuring table 37, on the surface 39 of which a helical spring 29 is set up.
  • This is a ground helical spring, that is to say a spring, the ends of which are ground flat and which is positioned here on the surface 39 in order to determine the length lo by means of the measuring device 1.
  • the upper end 41 of the coil spring 29 protrudes into the measuring section 9, so that the light beams 7 emitted by the light source 5 depict a light / dark structure or a silhouette in the matrix camera 3.
  • the distance between the measuring section 9 and the surface 39 of the measuring table 37 is determined by a reference measurement or in another suitable manner. Therefore, the length 1 0 of the coil spring 29 can be detected using the measuring device 1.
  • the light source 5 also has a bright, actively illuminating surface 25 here Emits light rays onto the matrix camera 3 and thus forms the measuring section 9. If the measuring window of the camera is large enough or the spring is small enough, the length of the spring can be determined directly from the silhouette.
  • the matrix camera 3 is connected via a line 15 to an evaluation device 17 which comprises a monitor 31.
  • the user of the measuring device 1 can see the end 41 of the coil spring 29 on the monitor 31. He can also choose a suitable measurement window.
  • the unloaded length of the helical spring 10, an inclination of the end face in the region of the end 41, the wire thickness of the helical spring 29, the winding spacing and the like can thus be readily determined.
  • the exemplary embodiment explained with reference to FIG. 3 is characterized in turn by the fact that the measuring section 9 is influenced directly by the object to be measured, in this case by the coil spring 29, and that a corresponding silhouette, that is to say a light / dark structure, is imaged in the matrix camera .
  • a line camera also known as a line camera, can be used, which is characterized by an elongated, very narrow, that is to say quasi one-dimensional , measurement window.
  • a measuring window approx. 18 mm long and approx. 1/100 mm wide is used.
  • the third exemplary embodiment in FIG. 4 again shows a measuring device 1 with a camera designed as a matrix camera 3 and a light sensor.
  • Source 5. This emits light rays 7 indicated by dotted lines, which impinge on the matrix camera 3 and form a measuring section 9.
  • the light path is bent here.
  • Three mirrors 43a, 43b and 43c are introduced into the light beam 7, through which the light beam is deflected essentially in a U-shape and is finally reflected onto the matrix camera 3.
  • the light path here comprises two horizontal sections 7a and 7b, which run at a distance from one another and are connected to one another by a vertical section 7c.
  • the horizontal section 7b merges via the mirror 43c into a vertical section Jd which runs from the mirror 43c to the matrix camera 3.
  • the light beam 7 also falls into the camera here, as in the other exemplary embodiments. However, the radiation path has been kinked several times.
  • the vertical section 7c of the light beam 7 runs through a pinhole 45.
  • the pinhole 45 is part of a measuring structure 47, which has a horizontal measuring plate 49, on the surface 51 of which a helical spring 29 with a flat surface ground ends.
  • the measuring plate 49 is connected via a suitable holder 53 to an aperture plate 55 comprising the aperture plate 45 and to a bearing plate 57. This is mounted on a base 61 practically smoothly via an air bearing 59.
  • the measuring hole of the aperture 45 is preferably arranged centrally to the coil spring 29.
  • Signals emitted by the matrix camera 3 pass via a line 15 to an evaluation device 17 which comprises a monitor 31.
  • the evaluation device 17 can have an output A, which serves to display and / or evaluate measurement results in a suitable manner.
  • a volumetric piston 63 is shown above the helical spring 29 and serves to apply a force F to the helical spring 29, which is indicated by an arrow 65.
  • the transverse force resulting from the spring geometry leads to a lateral deflection of the spring and thus to a movement of the measuring assembly 47 in the x and y directions, which is indicated by arrows 67.
  • the pinhole 45 ie also the measuring hole, moves, so that the light point generated by the light source 5 in the matrix camera 3 is also shifted. This can be followed on the monitor 31.
  • the deflection can be recorded exactly.
  • a maximum freedom of movement of the measurement setup was set to + 3mm.
  • the tilting of the measuring plate 49 was less than 0.2 °.
  • the resolution of the matrix camera was 2 ⁇ m.
  • the measurement accuracy was 0.01 mm.
  • the measuring device 1 shown here is characterized in that the measuring section 9 is not directly influenced by a silhouette of the object to be measured, that is to say a silhouette of the coil spring 29, but by a point of light which moves when the coil spring 29 is deflected laterally becomes. So there is an indirect influence on the measuring section 9 by the object to be measured.
  • a bright light spot is also present here, which here forms the light / dark structure detected by the camera.
  • the bent Strahlenver- • can be realized running of the light beam. 7 This is necessary if the perforated diaphragm 45 is to be arranged centrally with respect to the coil spring 29. If, however, the perforated diaphragm is attached outside the measuring structure 47, for example on a diaphragm plate 55 firmly connected to it, a straight-line light path or light beam 7 can also be directed from a light source 5 onto a matrix camera 3 and detected there. As said, instead of the bright light spot, a shadow of a measuring pointer can also be detected, which is firmly connected to the measuring structure 47.
  • FIG. 5 shows a further exemplary embodiment of a device for detecting the length of a spring. Parts that have already been explained with reference to the preceding figures are provided with the same reference numbers, so that reference is made to the description above.
  • the measuring device 1 shown in FIG. 5 comprises a camera 3, a light source 5, from which light rays 7 emanate, which form a measuring section 9.
  • Two prisms 69 and 71 are introduced into the radiation path of the light beam 7 and are essentially triangular in side view.
  • the hypotenuses of prisms 69 and 71 run parallel to one another at a distance.
  • the right angle catheters are to the right and left of the hypotenuses.
  • the light beam 7 is deflected within the prisms 69 and 71 in such a way that a horizontally running light beam 1 ′ is created, which ultimately Route 9 forms and which is influenced by the object to be measured 11, here for example by a coil spring 29. This emerges from a winding machine 27, which is only indicated here.
  • the horizontally running light beam 7 ′ runs at a distance from the wind machine 27, which is set, for example, on the basis of comparative measurements with a reference spring.
  • a light / dark structure namely a silhouette
  • FIG. 5 shows that the light beam 7 is essentially V-shaped and that the horizontally running light beam 7 'can be guided very close to the wind machine 27 because the light beam 7 runs through the prisms 69 and 71 as a whole.
  • the length of the spring entering the gap between the hypotenuses of the prisms 69 and 71 is recorded with the aid of the camera 3, a signal coming from the camera 3 being fed via a line 15 to the evaluation device 17, which comprises a monitor 31. At least one area of the object 11 or the free end of the helical spring 29 emerging from the winding machine 27 can be detected on this and displayed on the monitor 31.
  • the evaluation device controls a sorting device 19 via a suitable line 23, into which the coil springs 29 emerging from the winding machine 27 are introduced in accordance with the arrow 73.
  • the camera 3 of the exemplary embodiment of the measuring device 1 shown in FIG. 5 can be designed as a matrix camera or, preferably, as a line camera.
  • the narrow, elongated measurement window of the line camera preferably runs parallel to the direction of movement of the coil spring 29, that is, along the hypotenuses of the prisms 69 and 71.
  • the line camera is completely sufficient to record the length of the coil spring 29 emerging from the winding machine 27.
  • both the light source 5 and the camera 3 can be arranged at a distance from the wind machine 27, so that this already provides lasting protection against contamination of these two devices.
  • the V-shaped course of the light beam 7 ensures that a measuring section 9 can be generated in the immediate vicinity of the exit opening of a helical spring 29 from a wind machine 27 and that this is not disturbed by the other structures of the wind machine 27.
  • the prisms 69 and 71 explained with reference to FIG. 5 can also be used to provide the light beam, which runs at an angle to produce a measuring section 9, in a device which was explained with reference to FIG. It is therefore conceivable to replace mirrors with prisms and vice versa for certain measuring processes.
  • a camera designed as a matrix or line camera can be used in the method. If a matrix camera is used, two-dimensional detection of the object or parts thereof is made possible. With the aid of a light source and light rays emanating therefrom, a measuring path is realized which is characterized in that the light rays.7 of the light source .5 are directed at the camera 3 and that the measuring path 9 is influenced by the object to be measured, that a light / dark structure is created in the camera 3.
  • a pulsating light source can be used, and the evaluation of the signals are carried out of the camera in the analysis device 17 so that only 'at certain times, namely in synchronism with the flashes of light, which is evaluated in the camera existing image becomes. It is also conceivable to design the light source 5 in such a way that it emits light of a certain wavelength, including invisible light, namely in such a way that the camera can distinguish it from the ambient light and evaluate it.
  • a bright, actively illuminating surface 25 is preferred, which enables a measuring field of corresponding size. Certain areas can be selected within the measuring field in order to record defined structures of the object to be measured.
  • the method is independent of whether a silhouette of the object to be measured or a point of light is captured by the camera 3 as a light / dark structure.
  • the only thing that is decisive is that the light / dark structure is influenced in a defined manner by the object to be measured, in order to draw conclusions about it. It is therefore possible to directly capture the silhouette of the object or, as explained with reference to FIG. 4, a point of light whose position is influenced by the object to be measured.
  • the measuring method can be used universally.
  • the method and the measuring device have proven particularly useful in the measurement of springs, in particular helical springs, on the one hand directly during manufacture, i.e. when they emerge from a wind machine, but also on the other hand after further processing operations, i.e. after the ends of a helical spring 29 have been ground.
  • the evaluation device downstream of the camera can evaluate the measurement results very precisely and control a sorting device with which a fine classification of the measured objects is made possible.
  • measurements can be carried out by directly capturing a silhouette of an object to be measured.
  • quasi-indirect measurements can be carried out by directly capturing a silhouette of an object to be measured.
  • quasi-indirect measurements can be carried out by quasi-indirect measurements and to lay a measuring section 9 such that it is indirectly influenced by the object to be measured. This was explained in more detail using the exemplary embodiment shown in FIG. 4.
  • the method and the device can thus be used universally for measuring objects. They are characterized in that the detection of the object takes place without contact, that a two-dimensional measurement of the object is provided, provided a matrix camera is used, the measurement window being freely selectable by the user of the device or of the method. This allows the most diverse characteristics of an object can be detected, which was explained in more detail using the coil spring.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Spectrometry And Color Measurement (AREA)

Abstract

L'invention concerne un dispositif comprenant une caméra, une source lumineuse et une section de mesure. L'invention est caractérisée en ce que les rayons (7) de la source lumineuse (5) traversent la section de mesure (9) et sont incidents sur la caméra (3) pour créer une structure de clair-obscur. En outre, ces rayons lumineux (7), qui traversent la section de mesure (9), peuvent être influencés par l'objet (29) à mesurer.
EP01982467A 2000-12-21 2001-11-08 Dispositif et procede pour mesurer un objet Withdrawn EP1346191A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10063786 2000-12-21
DE2000163786 DE10063786A1 (de) 2000-12-21 2000-12-21 Vorrichtung und Verfahren zum Vermessen eines Gegenstandes
PCT/EP2001/012891 WO2002050494A1 (fr) 2000-12-21 2001-11-08 Dispositif et procede pour mesurer un objet

Publications (1)

Publication Number Publication Date
EP1346191A1 true EP1346191A1 (fr) 2003-09-24

Family

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Family Applications (1)

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EP01982467A Withdrawn EP1346191A1 (fr) 2000-12-21 2001-11-08 Dispositif et procede pour mesurer un objet

Country Status (4)

Country Link
EP (1) EP1346191A1 (fr)
BR (1) BR0116494A (fr)
DE (1) DE10063786A1 (fr)
WO (1) WO2002050494A1 (fr)

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DE102008004421B3 (de) * 2008-01-14 2009-04-16 Hugo Kern Und Liebers Gmbh & Co. Kg Platinen- Und Federnfabrik Verfahren und Vorrichtung zum Messen des Verformungsverhaltens einer Feder
IT1392057B1 (it) * 2008-09-19 2012-02-09 Microstudio S A S Di Calafa Giampaolo & C Apparecchiatura e metodo per caratterizzare una molla elicoidale
DE102010014386B4 (de) * 2010-04-06 2012-01-19 Wafios Ag Verfahren zur Herstellung von Schraubenfedern durch Federwinden, sowie Federwindemaschine
DE102010014385B4 (de) * 2010-04-06 2011-12-08 Wafios Ag Verfahren und Vorrichtung zur Herstellung von Schraubenfedern durch Federwinden, sowie Federwindemaschine
DE102010014384A1 (de) * 2010-04-06 2011-10-06 Wafios Ag Richt- und Abschneidemaschine
DE102011012543A1 (de) 2011-02-26 2012-08-30 Walter Schopf Vorrichtung zur Identifikation und Selektierung gebrauchter Kfz-Katalysatoren mit Einrichtungen zur Freilegung, Erkennung und Rückgewinnung ihrer Inhaltswertstoffe
DE102013206655B3 (de) * 2013-04-15 2014-06-26 Wafios Ag Verfahren und System zur Herstellung von Schraubenfedern

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Publication number Publication date
DE10063786A1 (de) 2002-07-04
BR0116494A (pt) 2004-02-03
WO2002050494A1 (fr) 2002-06-27

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