EP2176011A2 - Dispositif de pliage et procédé de pliage - Google Patents

Dispositif de pliage et procédé de pliage

Info

Publication number
EP2176011A2
EP2176011A2 EP08784865A EP08784865A EP2176011A2 EP 2176011 A2 EP2176011 A2 EP 2176011A2 EP 08784865 A EP08784865 A EP 08784865A EP 08784865 A EP08784865 A EP 08784865A EP 2176011 A2 EP2176011 A2 EP 2176011A2
Authority
EP
European Patent Office
Prior art keywords
folding
manipulator
drive
folding device
corner
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.)
Granted
Application number
EP08784865A
Other languages
German (de)
English (en)
Other versions
EP2176011B1 (fr
Inventor
Johann Kraus
Johann Maischberger
Moustafa Memet
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.)
KUKA Systems GmbH
Original Assignee
KUKA Systems 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 KUKA Systems GmbH filed Critical KUKA Systems GmbH
Priority to PL08784865T priority Critical patent/PL2176011T3/pl
Publication of EP2176011A2 publication Critical patent/EP2176011A2/fr
Application granted granted Critical
Publication of EP2176011B1 publication Critical patent/EP2176011B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
    • B21D39/021—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors

Definitions

  • the invention relates to a folding device and a folding method with the features in the preamble of the method and device main claim.
  • folding devices are known in stationary form with several fixedly arranged on a folding bed driven folding steels. Such folding devices are complex and flexible.
  • robotic folding devices are known from practice in which a manipulator, in particular a multi-axis articulated-arm robot, guides a roller-folding head in relation to the workpiece fixed on the folding bed.
  • Robotic folding devices offer greater flexibility, but on the other hand, they have problems at the corners of the folding path. This can e.g. Edge corners of workpieces, especially door corners, flap corners or the like. , be.
  • corner areas are also formed on so-called character lines, in which the folding path extends transversely across a bend, a bead, or the like. In these corner areas to be followed with the Rollfalzkopf rabbets has tight curves.
  • the robot In order to be able to track these paths with the roller-folding head, the robot must brake sharply, whereby the calculation effort for the determination and control of the movement path of the robot also increases greatly.
  • the combination of a Manipulatorfalzvorraum and at least one separate Eckfalzvorraum has the advantage that the folding process can be performed flexibly and with very short processing times. Along the straight or less curved folding paths, the folding operation can be carried out by the manipulator with its folding tool with high precision and speed. In the corner areas, which also include the corners or creases on character lines, the corner folding devices can work faster and more precisely.
  • These preferred stationary Eckenfalzvorraumen can also bend the folds better and more precisely in the desired shape and position by their transversely or obliquely to the folding course directed feed movements. The required process times in the corner areas can also be much shorter.
  • the manipulator can skip or omit these corner areas with lifted folding tool and then continue its folding process again. As a result, it loses little time in the corner areas, so that the manipulator folding process can take place in the shortest possible time.
  • mixed forms are possible, especially in multi-stage folding processes.
  • one or more forming and folding steps can be carried out in the said corner areas of the corner folding device, while the manipulator also carries out one or more forming and folding steps, e.g. the last folding step of the
  • This can be a forming and folding step that can be performed by the manipulator at a relatively high web speed and with little loss of time.
  • the mixed form simplifies the construction of the corner folding device, which can be designed to be correspondingly simpler and requires a smaller tool and drive expenditure.
  • optimal forming and folding qualities can be achieved in conjunction with short process times.
  • the construction cost can be kept small.
  • the flexibility can be high due to the extensive use of manipulators.
  • the corner folding device may be controlled in response to the movements and / or the folding functions of the manipulator.
  • Corner bent and something preformed which facilitates the function of the corner folding device. Furthermore, it is possible, especially in multi-stage folding processes, to control the corner folding device and the manipulator in mutual dependence. This is particularly advantageous for the aforementioned mixing operation.
  • the folding tool for the manipulator can be designed as desired.
  • Folding rollers has the advantage that multiple folding steps can be performed with a tool.
  • the roller drive can act on one or more folding rollers and can also be included in the common control.
  • the Eckenfalzvoriene can optimally to the respective due to their limited application area
  • Figure 1 a folding device with a manipulator with folding tool and a plurality of stationary
  • FIG. 2 shows an enlarged plan view of a workpiece with a plurality of corner folding devices and tensioners
  • FIG. 3 a side view of the arrangement of FIG. 2,
  • FIG. 7 shows a side view, partially cut away, of a first variant of a corner folding device
  • FIG. 8 is a plan view according to arrow VIII of FIG. 7;
  • FIGS. 12 and 13 show a variant of a corner folding device in the resting and folding position
  • FIG. 14 a door with different corner areas in side view
  • Figure 15 a broken plan view of a door with different corner areas
  • Figures 16 and 17 two flange variants with different
  • the invention relates to a folding device (1) for workpieces (7) and a folding method.
  • the folding device (1) consists according to Figure 1 of one or more Manipulatorfalz prepared with a
  • a workpiece (7) is processed, which, for example. resting on a formally adapted folding bed (9) and is fixed there with one or more tensioners (38) falzrois.
  • the workpiece (7) may be one or more parts.
  • the workpiece (7) can be of any type.
  • it is body components of body shells, such as doors, roof parts with
  • the workpieces (7) may be made of any materials, in particular steel, aluminum or other metals or composite materials.
  • Figures 1 to 3, 14 and 15 show different variants of vehicle doors.
  • the workpiece (7) has in the usual way one or more folding flanges (39) which extend along a closed or interrupted folding path (40) on
  • Workpiece (7) in particular on the outer edge and edges of cutouts, extend and which are bent and folded in one or more folding steps transversely to its longitudinal extent.
  • the folding angles can be any size and, for example, between 30 ° and 180 °.
  • an initially protruding flange (39) may possibly be bent over an inserted inner panel and pinch it.
  • an adhesive can be previously introduced and placed on the outside of a seal on the outside.
  • the workpiece (7) has straight or weakly curved sections of the flange profile or the folding path (40).
  • corner areas (8) in which the folding path (40) is strongly curved and has a small radius of curvature. These may be, for example, the edge corners (8) of a vehicle door shown in the plan view of FIGS. 2 and 15. In these corner regions (8), the fold path changes its orientation, remaining essentially within the same plane.
  • corner regions (8) on so-called character lines of a workpiece (7) there are corner regions (8) on so-called character lines of a workpiece (7).
  • This can e.g. be longitudinal buckling lines in the outer surface of a vehicle door, which express themselves at the upright door edges and the local folding path (40) as buckle or bead-shaped deformation with a narrow radius of curvature.
  • FIG. 14 shows such a bead-like character line (8) on the outside of the door.
  • the folding device (1) has one or more
  • a folding tool (5) is fastened to the robot hand (3) and is guided by the manipulator (2) along the folding path (40) on the workpiece (7).
  • the robot (2) tracks a path programmed and stored in its control (4).
  • the folding tool (5) can be designed in any suitable manner. Preferably, it is a Rollfalzkopf (6). Alternatively, other folding tools (5) are possible.
  • Rollfalzsysteme are designed for example
  • a corner folding device (10) is used for the critical corner areas (8), in which the path curvature is too small and the robot (2) is braked too much. This can take a lowered rest position under the fold edge and thereby does not hinder the robot (2) and its folding tool (5).
  • the corner folding device (10) is equipped with its own drive (26) and can thereby move independently of the robot kinematics.
  • the manipulator (2) and the Eckenfalzvoriques (10) are tax technically coupled. This can be realized in various ways, e.g. by own controls and their signal-technical coupling. In the shown
  • the manipulator (2) and the drive (26) of the Eckfalzvoriques (10) on a common control are preferably connected to the manipulator or robot controller (4) as an additional axis. If there are several corner folding devices (10), these can be used individually or together to the robot controller (4). be connected. Furthermore, the following explained roller drive (18) of the Rollfalzkopfs (6) also be connected to the robot controller (4).
  • the one or more corner folding device (s) (10) may be controlled depending on the movements of the manipulator or robot (2).
  • a start signal is issued by the robot controller (4) as soon as the manipulator (2) reaches a predetermined position on the tracked fold track.
  • the following corner region (8) following in the direction of travel of the web is folded before the seaming tool (5) reaches this area.
  • corner folding device (s) (10) may be timed and relatively independently controlled by the manipulator movements. For this purpose, e.g. all or some corner areas (8) are folded after the beginning of the folding process, while the manipulator (2) the folding tool (5) over a straight or slightly curved Falzbahnabsacrificing leads.
  • the corner folding device (s) (10) it is possible to control the corner folding device (s) (10) depending on the folding functions of the manipulator (2) and the roll folding process.
  • the roller hemming head (6) is moved from the manipulator (2) to the edge of a corner area (8) and into the vicinity or into the effective area of the corner folding device (10), e.g. in the first folding step, the flange (39) protruding transversely or obliquely from the workpiece (7) is bent and pre-bent in the edge-side effective region of the corner folding device (10).
  • the manipulator (2) lifts at the one or more said corner areas (8) and the Eckfalzvorraumen (10) his folding tool (5) from the folding path and passes over the corner region (8) without contact of the floating folding tool (5) to the flange and to the hinge. He skips or passes over the corner area (8) and can thus move at a higher line speed. Subsequently, the manipulator (2) lowers the folding tool (5) again and brings it into contact with the folding path and the flange to continue its
  • Roboterfalzreaes The robot folding process can thereby be interrupted at the corner regions (8).
  • This lifting off at one or more corner areas (8) or character lines of the workpiece (7) can take place in a multi-stage folding or folding process at each folding step.
  • the corner folding device (10) can act in the step sequence before the subsequent robot folding. Also swapping the corner folding device (10)
  • the first and optionally second folding step may be from the corner folding device (10) and the third or optionally a further or another folding step, eg finish folding, by the manipulator (2) and Folding tool (5) are performed.
  • the Eckenfalzvorraum (10) remains inoperative.
  • the Eckenfalzvortechnisch (10) and the manipulator (2) are controlled in mutual dependence.
  • Figures 4 to 6 show the folding tool (5) and the Rollfalzkopf (6) in different views. It consists of an elongated frame (11) and one or more, e.g. three folding rollers (15,16,17).
  • the frame (11) has a column (14) with the roller assembly at the lower end and a connecting plate (12) at the upper end for connection to the robot hand (3).
  • the frame (11) is guided by the robot (2) and aligned and pressed against the workpiece (7) and the folding path and pressed against.
  • the frame (11) is aligned with its longitudinal axis usually normal to the folding path and the folding flange.
  • the orientation can also be oblique.
  • the folding tool (5) is resiliently connected to the manipulator (2).
  • the folding force can be applied selectively and also acts in case of tolerance or due to other reasons existing web deviations of the folding tool (5) relative to the folding path.
  • a prestressed spring (13) is arranged between the column (14) and the connection plate (12).
  • the programmed path of the manipulator (2) runs parallel and small piece below the actual folding path on the workpiece (7), so that the spring (13) is always tensioned with attached folding tool (5) and the folding force is substantially constant accordingly.
  • the three folding rollers (15,16,17) are arranged on different sides of the column circumference.
  • the folding rollers (15,16,17) have different
  • the orientation of the folding tool (5) by the robot (2) can be adjusted accordingly.
  • the three folding rollers (15,16,17) protrude laterally over the
  • the seaming roller (17) can be used for the first folding step and for pre-bending the flange.
  • Folding roller (15) is used for folding and the folding roller (16) for Fertigfalzen and depression of the flange.
  • the folding rollers (15, 16) can be arranged coaxially and on opposite column sides.
  • the folding roller (17) can be an oblique and upward
  • a removable positioning mandrel (24) for setting up and teaching the folding tool (5) may be arranged.
  • the Rollfalzkopf (6) may have a roller drive (18) for one or more of its folding rollers (15,16,17).
  • This roller drive (18) has independent inventive significance and can also be used in other folding devices, which are e.g. are pure robotic folding means and have no Eckfalzvormaschineen (10).
  • the roller drive (18) is controllable and can be connected to the robot controller (4) in the aforementioned manner. He drives the currently engaged folding roller (15,16,17) with a matched speed to the folding process.
  • the peripheral speed of the folding roller (15, 16, 17) on the pressure parts can correspond to the guiding and path speed of the robot (2) along the traced folding path. Alternatively, speeds may vary up or down.
  • the roller drive (18) also cooperates advantageously with the spring (13).
  • the drive torque can be adapted to the spring force or spring preload.
  • This support of the forming process is given in an existing or at least approximate coincidence of the peripheral speed and the guide and orbit speed according to the embodiment.
  • the aforementioned speed deviations can have various technical effects. If the roller peripheral speed e.g. is greater than the guide and web speed, if necessary, the folding material can be pulled under the fold roller (15,16,17) stronger, which can lead to increased plastic deformation. Conversely, a relative reduction in roller peripheral speed can result in some sort of upsetting effect, which may be advantageous for some folder applications.
  • the roller drive (18) has a controllable and to the controller (4) connectable motor (19) and a drive (20) for transmitting the driving force to one or more folding rollers (15,16,17).
  • the motor (19) may be a controllable and controllable electric motor with a
  • the shoot (20) may e.g. be designed as a belt drive, rope drive or chain drive. He can e.g. be arranged on the outside of the frame (11) and adjusted if necessary and re-tensioned.
  • the shown drive (20) has a pinion (21) connected to the motor (19) and a revolving driving element (23), eg a belt, a rope, a chain or the like. which engages with a drive wheel (22) at the lower end of the column (14).
  • the pinion (21) and the drive wheel (22) may have the same or different diameters, which also different Get translations.
  • the drive wheel (22) can be arranged coaxially with the folding rollers (15,16).
  • the drive (20) can also be designed constructively in other ways, in particular as a toothed gear transmission, which, for has two bevel gear pairings and a connecting shaft as a driving element (23).
  • the drive (20) can also be arranged within the frame (11).
  • FIGS 7 to 13 illustrate various configurations of a corner folding device (10), each having a drive (26), e.g. a cylinder (27), at least one folding jaw (25) and an actuating drive (28) for generating a multi-axis feed movement of the folding jaw (s) (25) with only one drive (26).
  • a drive e.g. a cylinder (27)
  • at least one folding jaw 25)
  • an actuating drive for generating a multi-axis feed movement of the folding jaw (s) (25) with only one drive (26).
  • the folding jaws (25) and the adjusting drives (28) are designed differently in the two variants.
  • the corner folding device (10) has a slide or a head part (29) which is guided in a height-adjustable manner on a guide (31) connected to the folding bed (9). At the upper end of the guide there is a stop (32).
  • the drive (26) is arranged below the carriage (29) and pushes it with its extendible piston and possibly a connecting rod to the actuator (28) along the guide (31) up and down.
  • the one or more folding jaws (25) are displaceably guided on the top side of the carriage (29) on a jaw guide (30) transversely to the drive and guide axis and are of Actuator (28) shifted depending on the drive position.
  • the actuator (28) has a linkage (33), here e.g. a toggle mechanism, with an intermediate link (34).
  • the intermediate link (34) is pivotally connected at one end to the piston rod or a connecting rod and connected at the other end to the middle toggle joint.
  • the link mechanism (33) causes a restoring force on the folding jaw (s) (25).
  • FIGS. 9 to 11 illustrate a folding process in three steps.
  • the carriage (29) against the folding bed (9) and arranged thereon and with one or more tensioners (38) fixed workpiece (7) (not shown) is lowered.
  • the folding jaw (s) (25) is in its retracted position.
  • the drive (26) pushes the carriage (29) with the folding jaw (s) (25) at rest up to the stop (32).
  • the further carriage movement is thereby inhibited and the continued drive movement causes a swinging of the toggle mechanism (33), whereby the folding jaw (s) (25) connected to the right toggle joint in the drawings is displaced horizontally and towards the rebate bed (9) and the flange
  • the folding jaw (s) (25) may have a one-stage or multi-stage shaping for performing one or more folding steps.
  • the toggle mechanism (33) pulls the folding jaw (s) (25) back into the rest position and lowers the carriage (29) again.
  • the single or multiple folding jaw (25) performs a lifting and pivoting movement, wherein a curved pivoting lever guide (36) serves as the jaw guide (30).
  • the drive (26) is also connected here to a slide (29) which can be moved along a guide (31) on the folding bed (9) up to a stop (32).
  • the continued drive movement leads to the actuation of the actuator (28), which is designed here as a pivot lever drive (35).
  • the piston rod is pivotally connected at the upper end to a handle link (37), which in turn is connected to the folding jaw (s) (25) and moves with continued drive movement along the curved bed guide (36) curved to the folding bed (9).
  • a handle link (37) which in turn is connected to the folding jaw (s) (25) and moves with continued drive movement along the curved bed guide (36) curved to the folding bed (9).
  • the folding jaw (s) (25) is first lifted a bit to above the folding bed (9) and then swung in an arc on the workpiece (7) and the pre-bent flange.
  • the folding jaw (s) (25) can in this case have a projecting nose or pressure bar which presses from above onto the flange after an approximately 90 ° turn.
  • FIG. 15 shows a detail of a workpiece (7), in this case a door, which has corner regions (8) with different degrees of curvature of the flange profile or the folding path (40). This can also be the projecting
  • Flanges (39) have different opening angles with respect to the main plane of the one or more sheets or the underlying folding bed.
  • the folding jaw (25) of the Eckenfalzvorraum (10) in this case has a substantially vertical effective edge, which forms an angle of approximately 45 ° with the obliquely outwardly projecting flange.
  • the flange (39) is usually bent in three or more steps and brought in parallel position to the base plate.
  • two bending steps are performed, with which the flange opening angle is brought to eg 90 ° or less.
  • the Eckfalzvortechnisch (10) can cause the complete bending of the flange (39).
  • the flange (39) may pre-bend the flange (39), e.g. to the said flange opening angle of less than 90 °, wherein subsequently guided by the manipulator folding tool (5) of the flange (39) in the corner region (8) is bent and folded.
  • the upper corner portion (8) of Fig. 15 has a flange (39) with a smaller flange opening angle of e.g. 95 °.
  • the folding jaw (25) for this purpose has a corresponding obliquely inclined forward folding surface, which in turn may include an angle of approximately 45 ° with the flange (39). These angles can also vary. With this folding jaw (25), the flange (39) is bent to an opening angle of about 50 °.
  • the Eckenfalzvoriques (10) with a second folding jaw (25) or a multi-stage folding jaw (25) perform the Fertigfalzen. Alternatively, a Fertigfalzen by the manipulator (2) and its folding tool (5) is possible.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de pliage et un dispositif de pliage (1), ce dernier comportant au moins un manipulateur multiaxial (2) qui déplace un outil de pliage (5) par rapport à une pièce (7), un dispositif de pliage d'angle (10) disposant de son propre mécanisme d'entraînement (26) étant placé au niveau d'une ou de plusieurs zones d'angle (8) de la pièce (7). Ledit manipulateur (2) et le dispositif de pliage d'angle (10) sont interconnectés pour des raisons techniques de commande. Le dispositif de pliage d'angle (10) est régulé en fonction des mouvements du manipulateur (2) et plie les zones d'angle sur la pièce, les zones droites ou faiblement cintrées de la bande à plier (40) étant pliées par le manipulateur (2).
EP08784865.1A 2007-07-27 2008-07-18 Dispositif et procédé de sertissage Not-in-force EP2176011B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL08784865T PL2176011T3 (pl) 2007-07-27 2008-07-18 Urządzenie zaginające i sposób zaginania

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202007010595U DE202007010595U1 (de) 2007-07-27 2007-07-27 Falzeinrichtung
PCT/EP2008/005885 WO2009015785A2 (fr) 2007-07-27 2008-07-18 Dispositif de pliage et procédé de pliage

Publications (2)

Publication Number Publication Date
EP2176011A2 true EP2176011A2 (fr) 2010-04-21
EP2176011B1 EP2176011B1 (fr) 2013-07-17

Family

ID=40092877

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08784865.1A Not-in-force EP2176011B1 (fr) 2007-07-27 2008-07-18 Dispositif et procédé de sertissage

Country Status (5)

Country Link
EP (1) EP2176011B1 (fr)
DE (1) DE202007010595U1 (fr)
ES (1) ES2429464T3 (fr)
PL (1) PL2176011T3 (fr)
WO (1) WO2009015785A2 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202011000332U1 (de) 2011-02-14 2012-05-16 Kuka Systems Gmbh Spanneinrichtung
DE102014116485A1 (de) * 2014-11-12 2016-05-12 Thyssenkrupp Ag Verfahren und Vorrichtung zum Ausbilden eines Rollfalzes
DE102015220540A1 (de) * 2015-10-21 2017-04-27 Volkswagen Aktiengesellschaft Falzeinrichtung und Verfahren zum Falzen eines Bauteils
DE102021120387A1 (de) 2021-08-05 2023-02-09 Bayerische Motoren Werke Aktiengesellschaft Eckenschieber, Bördelvorrichtung sowie Fahrzeugteil

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2579530B2 (ja) 1988-06-24 1997-02-05 マツダ株式会社 ヘミング成形方法
JP2675347B2 (ja) * 1988-09-06 1997-11-12 マツダ株式会社 ヘミング成形装置
DE19747292C1 (de) 1997-10-25 1999-01-14 Thyssen Industrie Vorrichtung zum Falzen von Blechen, insbesondere Karosserieblechen im Automobilbau
DE29914967U1 (de) 1999-08-26 2000-10-05 KUKA Schweissanlagen GmbH, 86165 Augsburg Bördeleinrichtung mit einem mehrachsigen Manipulator
DE10016391B4 (de) 2000-04-01 2007-12-20 Bayerische Motoren Werke Ag Falzvorrichtung
DE10111374B4 (de) 2001-03-09 2005-02-03 Audi Ag Bördelvorrichtung zum Umlegen einer Bördelkante eines Werkstücks durch Rollfalzen
FR2843549B1 (fr) * 2002-08-13 2005-05-27 Process Conception Ing Sa Procede et dispositif d'assemblage de pieces par sertissage d'un bord peripherique
ITTO20030726A1 (it) * 2003-09-23 2005-03-24 Comau Spa Procedimento ed impianto per la graffatura di pezzi di lamiera
US6983633B2 (en) 2003-10-24 2006-01-10 Ford Global Technologies, Llc Apparatus for roll hemming with zero angle deflection
DE102004008821A1 (de) 2004-02-20 2005-09-08 Adam Opel Ag Bördeleinrichtung sowie Verwendung einer Bördeleinrichtung

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2009015785A2 *

Also Published As

Publication number Publication date
PL2176011T3 (pl) 2013-12-31
ES2429464T3 (es) 2013-11-14
WO2009015785A2 (fr) 2009-02-05
DE202007010595U1 (de) 2008-12-04
WO2009015785A3 (fr) 2009-04-23
EP2176011B1 (fr) 2013-07-17

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