EP2159334B1 - Dispositif d'attache outil - Google Patents
Dispositif d'attache outil Download PDFInfo
- Publication number
- EP2159334B1 EP2159334B1 EP08015317.4A EP08015317A EP2159334B1 EP 2159334 B1 EP2159334 B1 EP 2159334B1 EP 08015317 A EP08015317 A EP 08015317A EP 2159334 B1 EP2159334 B1 EP 2159334B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- coupling
- catch
- coupling portion
- tool
- hook
- 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.)
- Not-in-force
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/3604—Devices to connect tools to arms, booms or the like
- E02F3/3609—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat
- E02F3/3627—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat with a hook and a longitudinal locking element
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/3604—Devices to connect tools to arms, booms or the like
- E02F3/3609—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat
- E02F3/3663—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat hydraulically-operated
Definitions
- the invention relates to a coupling device for tools on a carrier device, in particular an earthworking machine, according to the preamble of claim 1.
- Such coupling devices comprise a first coupling part, which is connectable to the carrier device, a second coupling part, which is connectable to the tool, wherein the first coupling part and the second coupling part for establishing a connection between the tool and the carrier device can be brought into a coupling position, and a locking device with which the first coupling part and the second coupling part can be locked in the coupling position.
- a coupling device of this kind is for example from the US 6,154,989 known.
- a pivot pin which engages in a receiving device of the other coupling part, and a hook for guiding and holding are provided.
- both the pivot pin and the hook are engaged with each other.
- the construction of the hook must therefore be matched exactly to that of the pivot pin, whereby a simple retrofitting to any coupling device is not possible.
- Upon release of the coupling connection of the pivot pin is further held by the hook. An independent of the actual coupling elements fuse is therefore not available.
- the FR 2 676 765 describes a device for connecting two coupling parts, wherein in addition to an electrical connection and a hydraulic clutch in addition a mechanical attachment is provided. To make these connections, it is necessary to bring the two coupling parts in a well-defined position to each other. For this purpose, a guide hook is provided on a coupling part, which engages in a ring of the other coupling part.
- the GB 2 433 246 relates to a coupling device in which a bolt of a coupling part is received in a claw of another coupling part.
- a lever is provided which can close the opening of the claw.
- the WO-A1-2005 / 026454 is about a coupling device that accomplishes a connection between two coupling parts by two bolts.
- the bolt is secured by a lock, so it does not accidentally come loose.
- the WO 00/37742 describes a coupling device in which a projection engages in a hole in order to achieve a position between the parts to be coupled, in which a firm connection can be made. Subsequently, the fixed connection is accomplished by a closure.
- the US Pat. No. 6,428,265 B1 relates to a coupling device with a hook on a coupling part and an axis on another coupling part.
- the hook engages around the axis so as to facilitate the positioning of the two coupling parts to each other.
- Another coupling device is for example from the WO 2007/059721 A1 out.
- Such coupling devices are used in particular on agricultural or construction machinery. With such a coupling device different tools can be used and replaced, for example on a construction machine, such as excavator buckets, grapples, vibrators for soil compaction, vibrating plates, crane devices and other different tillage equipment.
- these coupling devices are provided with a hydraulic lock for a quick tool change. For example, a dredger driver without leaving a working position in a very short time different tools on his carrier device and disengage.
- the invention has for its object to provide a coupling device in which a very high safety is ensured and the coupling device is nevertheless simple and easy to use.
- the coupling device according to the invention is characterized in that a catching device is provided, with which the second coupling part is caught with the tool in an unintentional release from the coupling position in a catching position and held on the first coupling part.
- a basic idea of the invention is not to prevent the risk of unintentional unlocking by complex control measures or to hold the coupling device in the coupling position by additional fuses, but to provide a mechanical catching device in case of unintentional loosening. Although this does not prevent unintentional disconnection from the coupling position, but a drop of the heavy tool and the associated risk of injury to persons and damage to machines. This is prevented by the fact that the coupling part is caught with the tool without a large drop height and held on the carrier device.
- the catching position differs spatially from the coupling position, wherein the spatial distance is kept as small as possible with respect to the height of fall in order to avoid the release of a too large positional energy. In the case of a failure or unintentional release of the lock so only the second coupling part with the tool must be brought back into the coupling position.
- the catching device can basically be designed in many different ways. For example, the use of a catching chain is conceivable.
- the invention provides that the catching device has at least one catch hook on one of the coupling parts and at least one catch holder on the other coupling part.
- the arrangement of fishing hook and collecting holder is chosen in the coupling position so that they can be separated from each other and reach only with a release of the second coupling part and the case of the tool under the influence of gravity of the fishing hook and the collecting holder in engagement with each other.
- the tool is caught and kept on the carrier.
- two or more fishing hooks and associated catch brackets may be provided.
- the catcher according to the invention can be attached to the most diverse coupling devices and retrofitted, which are on the market. It is particularly expedient according to the invention that a pivot pin is arranged on one of the coupling parts, which is first brought into a pivot receptacle on the other coupling part for coupling and about which then a pivoting takes place in the coupling position, and that the catching device in the region of the pivot pin and the swivel mount are arranged. coupling systems with such a pivot pin are particularly advantageous for a quick change of tools, as even under relatively harsh working conditions with such a pivoting movement reliable coupling is achieved.
- the catching device in particular with the catch hook and the catch holder, are arranged in the region of the pivot pin on the two coupling parts.
- the pivot pin in the swivel mount, which usually takes place by a corresponding movement of a support arm or a boom on the carrier by an operator, and the catch hook and the catch holder are brought into a ready position to each other. This is preferably done by a translational movement approximately along the axis of the pivot pin.
- the at least one catch hook extends approximately along or transversely to the pivot pin and when the at least one catch holder is arranged transversely or longitudinally to the pivot pin. It can be assumed that during operation, the pivot pin is in an approximately horizontal position, so that the catch hook or the collecting holder extends approximately horizontally.
- the catch hook may initially be spaced from the catcher and only then comes into contact and engagement with the catcher holder when the tool is inadvertently released.
- At least the at least one collecting holder is loop-shaped with a passage.
- the loop shape may be approximately circular or oval-shaped or have another ring-like structure, which also allows a certain oscillating or pendulum motion when collecting the tool.
- the fishing hook extends in the coupling position through the passage of the loop-shaped collecting holder.
- the substantially horizontally extending catch hook thus reliably engages with the loop-shaped catch holder.
- the catch hook can itself bow- or be loop-shaped, so that even in certain pan or tilting plaques a reliable collection takes place.
- the collecting holder can be designed as an open annular body.
- a particularly high level of security is achieved according to the invention in that the collecting holder is designed as a closed ring. Slipping out of the catch hook from the annularly closed collecting holder is thereby practically avoided. It may also be an open ring body, which is closed by a hinged, preferably spring-loaded closure element.
- a particularly safe collection of the falling tool is inventively achieved in that the at least one fishing hook and / or the at least one collecting holder have a recessed receptacle in which the collecting holder or the fishing hook occupies a defined position in the catching position.
- the recessed receptacle is arranged so that the tool presses due to the weight of the catcher or the fishing hook on the second coupling part in the recessed receptacle and holds there in a defined position.
- the second coupling part is held with the tool centered to the first coupling part.
- the central holder relates primarily to the middle of the broad side, along which also extends the pivot pin.
- the central arrangement may alternatively or additionally also relate to the longitudinal side of the coupling device.
- the coupling device with catcher according to the invention can also be used together with manually operated locking devices to provide additional protection here.
- the locking device it is particularly preferred for the locking device to have at least one energy-actuated actuator, in particular at least one hydraulic cylinder.
- the energy is usually done via hydraulic lines.
- it is basically one too other energy operation, such as a pneumatic or electric actuation possible.
- these automatically operated locking devices as they can be used in quick-change systems, it may come due to a faulty operation or a failure in the system to an unintentional, dangerous release of the tool.
- the use of the catcher according to the invention is very useful.
- a quick-change device for hydraulic, pneumatic, electrical connections and / or data lines is provided.
- Such quick-change or Schnellkuppel foundeden for power tools are well known and can also be used without restriction to the coupling system according to the invention.
- the terminals and connectors are provided on the two coupling parts with an automatic, in particular spring-loaded covering device, so that these connections and connectors are automatically covered and protected in case of accidental loosening.
- the invention basically also includes a carrier device, in particular an earthworking machine, which is provided with the previously described coupling device.
- the carrier device may be an agricultural device, a stone processing device or, in particular, a construction machine, on which frequently different tools are used on construction sites. Such tools may in particular be an excavator bucket, a crane hook or an energy-operated gripper, a vibrating plate, etc.
- the coupling parts can be releasably attached as attachments or integrated as an integral part of the carrier or the tool.
- the invention significantly increases the occupational safety in such carrier devices. Due to the achieved increased safety, the burden on the machine operator is reduced and the coupling process can generally be faster. Adjusting the catcher when coupling requires virtually no additional effort.
- the capturing device is structurally very simple and can also be easily retrofitted to existing coupling devices. In this case, only catch hook and catch holder to be attached to suitable positions of the coupling parts, in particular to be welded, screwed or otherwise secure. Catch hook and catch holder can be arranged on the outside and / or the inside of the coupling parts.
- a first coupling device 10 according to the invention is shown, in which a first coupling part 20 is attached to a carrier device 5 only partially shown.
- the carrier device 5 has, as shown, a power-operated arm on which a base body 22 of the first coupling part 20 is pivotably articulated via two hinge pins 30.
- the main body 22 includes two side walls 24.
- On the base body 22 may be mounted a quick-change element of a quick-change device, not shown, which allows a fast coupling and decoupling of power and data connections.
- An energy supply is carried by the carrier device 5 via a power line, not shown, to the quick-change element.
- a contact area 28 and a fork-shaped pivot receiving 26 are arranged in the front region of the base body 22 on the first coupling part 20 on its underside.
- the fork-shaped pivot receptacle 26 is designed to engage with a pivot pin 46, which is attached approximately horizontally between two cheeks 44 on the second coupling part 40.
- the two lateral cheeks 44 are fixedly connected to a base plate 42 of the second coupling part 40.
- a locking plate 82 of a locking device 80 is shown approximately at right angles above schematically.
- the latch plate 82 may have a locking opening, which is engageable in the coupling position with a hydraulically actuated locking pin within the body 22 of the first coupling part 20 in engagement.
- a non-illustrated counter element is further attached by the quick-change device, which in a known manner has the mating connections for the quick-change element on the first coupling part 20.
- an approximately centrally projecting catch hooks 62 are arranged in the front region of the base body 22 of the first coupling part 20, while on the pivot pin 46 of the opposite second coupling part 40 a matching catch holder 68 is positioned.
- Catch hook 62 and catching 68 are directed transversely to the pivot pin 46.
- Fig. 2 is first used for coupling by means of the arm of the carrier 5, the first coupling member 20 with the pivot receptacle 26 in a known manner between the two lateral cheeks 44 of the second coupling part 40 and brought into engagement with the approximately horizontally arranged pivot pin 46.
- the catching hook 62 which has an elongate shaft 64 and an approximately semicircular arc 66 adjoining thereto, is moved through a passage 70 of the loop-shaped and annularly closed catching support 68, thereby bringing a catching device 60 into an operating position can be.
- the catch holder 68 has a plate-shaped base 72, which is welded to the pivot pin 46. To form the passage 70, two L-shaped flanks are arranged, starting from the base 72, which are interconnected to form the closed ring shape via an arcuate yoke 76.
- the thus-formed L-shape of the collecting holder 68 allows a pivoting movement of the fishing hook 62 on the first coupling part 20 of the in Fig. 2 illustrated intermediate position in the coupling position, which in Fig. 3 is shown.
- FIGS. 4 to 6 a second embodiment of the coupling device 10 according to the invention is shown, wherein the first coupling part 20 and the second coupling part 40 substantially as in the embodiment described above according to the FIGS. 1 to 3 are formed.
- the arrangement of the catching device 60 according to the invention is essentially different.
- the catching hook 62 is arranged on a side wall 24 of the first coupling part 20 directly above the fork-shaped pivoting receptacle 26.
- the shaft 64 of the catch hook 62 extends approximately parallel to the channel-shaped pivot receptacle 26 or to the associated pivot pin 46.
- the collecting holder 68 is attached to the outside of the lateral cheek 44 in a corresponding manner.
- the collecting holder 68 is designed as an oval-shaped annular body, including in particular a chain link can be used.
- the chain link may in particular be welded to the cheek 44 and is directed transversely to the pivot pin 46.
- FIGS. 7 to 10 is a further embodiment of a coupling device 10 according to the invention with an internal catching device 60 shown.
- the first coupling part 20 has on its two side walls 24 each have a fork-shaped pivot receiving means 26, wherein a clearance between the two pivot receivers 26 is formed. From an inner side of a pivot receptacle 26 extends inwardly parallel to the male pivot pin 46 a catch hook 62 with a straight shaft 64 and an approximately administratilnikförmigen arc 66 at the free end. The length of the collecting hook 62 is greater than half the distance between the two pivot receivers 26.
- the arcuate end of the fishing hook 62 is removed from the opposite pivot receptacle 26 at a distance 48 that is greater than a width of the receptacle 68.
- the collecting holder 68 is arranged via a base 72 approximately in the middle of the pivot pin 46 between the two lateral cheeks 44 of the second coupling part 40.
- an annular body is arranged, which surrounds the pivot pin 46, starting from the base 72.
- the counter-element of a quick-change device can be arranged, wherein the counter-element may comprise a rotatable, spring-loaded rotary cover, which covers the sensitive terminals or plug from dirt and mechanical damage in the uncoupled position.
- Fig. 8 the position is shown in which the catch hook 62 penetrates the passage 70 of the annular catch holder 68, which is arranged approximately at right angles to the pivot pin 46. In this position, the pivot receivers 26 are not yet in contact with the pivot pin 46th
- Fig. 9 the coupling position of the coupling device 10 is shown, in which the abutment portion 28 of the first coupling part 20 rests in contact on the base plate 42 of the second coupling part 40.
- the pivot receptacles 26 engage in this position, the pivot pin 46.
- the catcher 60 is also in an operational state, in this embodiment, the catch hook 62 is in contact with the collecting holder 68.
- FIG. 10 schematically illustrates a catching position in which the second coupling part 40 has unintentionally detached from the first coupling part 20 with the tool.
- the collecting holder 68 contacts the catching hook 62 with a recessed receptacle 69, so that the second coupling part 40 is still held on the first coupling part 20 despite a release and release from the coupling position. This prevents damage to persons and objects.
- a recessed receptacle which has a length approximately the width of the collecting holder 68.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Shovels (AREA)
Claims (10)
- Dispositif d'accouplement pour des outils, sur un dispositif de support (5), et notamment sur une machine à travailler le sol, avec :- un premier élément d'accouplement (20), qui peut être relié au dispositif de support (5),- un deuxième élément d'accouplement (40), qui peut être relié à l'outil,- le premier élément d'accouplement (20) et le deuxième élément d'accouplement (40) pouvant être amenés dans une position d'accouplement pour l'établissement d'une liaison entre l'outil et le dispositif de support (5),- un dispositif de verrouillage (80), avec lequel le premier élément d'accouplement (20) et le deuxième élément d'accouplement (40) peuvent être verrouillés dans la position d'accouplement, et- une sécurité, avec laquelle le deuxième élément d'accouplement (40), avec l'outil, est maintenu sur le premier élément d'accouplement (20) dans le cas d'un détachement accidentel du verrouillage,caractérisé :en ce que la sécurité consiste en un dispositif d'accrochage (60), qui comprend au moins un crochet d'arrêt (62) sur l'un des éléments d'accouplement (20, 40) et, sur l'autre élément d'accouplement (40, 20), au moins une patte d'accrochage en forme de boucle (68) avec une ouverture traversante (70),en ce que le crochet d'arrêt (62) est, dans la position d'accouplement, en place à travers l'ouverture traversante (70) de la patte d'accrochage en forme de boucle (68),en ce que, dans le cas d'un détachement accidentel du verrouillage, le deuxième élément d'accouplement (40), avec l'outil, peut, au moyen du dispositif d'accrochage (60), être accroché dans une position d'accrochage, qui est à une certaine distance spatiale par rapport à la position d'accouplement et dans laquelle le deuxième élément d'accouplement (40), avec l'outil, est détaché du premier élément d'accouplement (20), eten ce que le crochet d'arrêt (62) et la patte d'accrochage (68) sont séparés l'un de l'autre dans la position d'accouplement, le crochet d'arrêt (62) et la patte d'accrochage (68) ne venant en prise que dans le cas d'un détachement des éléments d'accouplement (20, 40) et d'une chute de l'outil sous l'effet de la pesanteur.
- Dispositif d'accouplement selon la revendication 1,
caractérisé :en ce que, sur l'un des éléments d'accouplement (20, 40), est disposé un axe de pivotement (46) qui, pour l'accouplement, peut tout d'abord être amené dans un logement de pivotement (26) sur l'autre élément d'accouplement (40, 20), et autour duquel se produit alors un pivotement dans la position d'accouplement, eten ce que le dispositif d'accrochage (60) est disposé dans la zone de l'axe de pivotement (46) et du logement de pivotement (26). - Dispositif d'accouplement selon la revendication 2,
caractérisé :en ce que le au moins un crochet d'arrêt (62) est situé sensiblement le long de l'axe de pivotement (46) ou transversalement à ce dernier, eten ce que la au moins une patte d'accrochage (68) est disposée, respectivement, transversalement ou le long de l'axe de pivotement (46). - Dispositif d'accouplement selon l'une des revendications 1 à 3,
caractérisé :en ce que la patte d'accrochage (68) est constituée sous la forme d'un anneau fermé. - Dispositif d'accouplement selon l'une des revendications 1 à 4,
caractérisé :en ce que le au moins un crochet d'arrêt (62) et/ou la au moins une patte d'accrochage (68) comprennent un logement évidé (69), dans lequel la patte d'accrochage (68) ou respectivement le crochet d'arrêt (62) vient, dans la position d'accrochage, prendre une position définie. - Dispositif d'accouplement selon la revendication 5,
caractérisé :en ce que, dans la position d'accrochage, le deuxième élément d'accouplement (40), avec l'outil, est maintenu en position centrale par rapport au premier élément d'accouplement (20). - Dispositif d'accouplement selon l'une des revendications 1 à 6,
caractérisé :en ce que le dispositif de verrouillage (80) comprend au moins un élément d'actionnement à commande de puissance, en particulier au moins un vérin hydraulique. - Dispositif d'accouplement selon l'une des revendications 1 à 7,
caractérisé :en ce qu'un dispositif de permutation rapide est prévu pour des raccordements hydrauliques, pneumatiques, électriques et/ou des lignes de données. - Dispositif d'accouplement selon l'une des revendications 1 à 8,
caractérisé :en ce que le crochet d'arrêt (62) comprend une barre allongée (64) et, venant se raccorder sur cette dernière, un élément incurvé ayant une forme sensiblement semi-circulaire (66). - Dispositif de support, et notamment machine à travailler le sol, muni d'un dispositif d'accouplement (10) selon l'une des revendications 1 à 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP08015317.4A EP2159334B1 (fr) | 2008-08-29 | 2008-08-29 | Dispositif d'attache outil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP08015317.4A EP2159334B1 (fr) | 2008-08-29 | 2008-08-29 | Dispositif d'attache outil |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP2159334A1 EP2159334A1 (fr) | 2010-03-03 |
| EP2159334B1 true EP2159334B1 (fr) | 2016-11-23 |
Family
ID=40297808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP08015317.4A Not-in-force EP2159334B1 (fr) | 2008-08-29 | 2008-08-29 | Dispositif d'attache outil |
Country Status (1)
| Country | Link |
|---|---|
| EP (1) | EP2159334B1 (fr) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT515695B1 (de) * | 2014-11-20 | 2015-11-15 | Baumaschinentechnik Ges M B H | Kupplung für Baumaschinen |
| DE102015103231B3 (de) * | 2015-03-05 | 2016-08-18 | KLaus Fautz | Wechselvorrichtung für ein an einen Traktor oder ein ähnliches Fahrzeug anzuschließendes Arbeitsgerät |
| AT15516U1 (de) | 2016-07-14 | 2017-11-15 | Baumaschinentechnik Ges M B H | Kupplung für Baumaschinen |
| DE102017000852B4 (de) * | 2017-01-31 | 2020-11-05 | Markus Riedlberger | Sicherheitsvorrichtung gegen unbeabsichtigtes Herausfallen von Werkzeugen aus einer Schnellwechselvorrichtung |
| DE102018105049A1 (de) * | 2018-03-06 | 2019-09-12 | Oilquick Deutschland Gmbh | Schnellwechsler |
| CN119288004B (zh) * | 2024-11-27 | 2025-09-26 | 柳州柳工挖掘机有限公司 | 快换装置解锁锁定控制系统、方法、挖掘机及工程机械 |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2676765B1 (fr) | 1991-05-22 | 1994-05-13 | Koehl Jean Marie | Dispositif d'accouplement mecanique, hydraulique et electrique de maniere instantanee, automatique, commandee a distance. |
| EP0664766B1 (fr) | 1992-07-27 | 2000-03-08 | Gilmore Transportation Services, Inc. | Accouplement pour machine a service severe |
| US5974706A (en) | 1997-03-10 | 1999-11-02 | Clark Equipment Company | Attachment construction for earthworking implement |
| WO2000037742A1 (fr) | 1998-12-10 | 2000-06-29 | Ove Hammarstrand | Agencement d'outil |
| US6428265B1 (en) | 2000-10-30 | 2002-08-06 | Gilmore Industries, Inc. | Power coupling mounting for a quick-disconnect coupling on a heavy-duty machine |
| IES20040194A2 (en) | 2003-09-18 | 2005-03-23 | Caroline Mccormick | An excavator tool quick attachment device |
| DE102005056505B3 (de) | 2005-11-28 | 2007-02-08 | Robert Riedlberger | Zentriervorrichtung für Schnellwechselvorrichtungen |
| GB2433246B (en) | 2005-12-13 | 2010-01-20 | Tower Street Technologies Ltd | Coupler with improved jaw configuration |
-
2008
- 2008-08-29 EP EP08015317.4A patent/EP2159334B1/fr not_active Not-in-force
Non-Patent Citations (1)
| Title |
|---|
| None * |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2159334A1 (fr) | 2010-03-03 |
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