EP2317613B1 - Dispositif et procédé de manipulation des extrémités de câbles - Google Patents

Dispositif et procédé de manipulation des extrémités de câbles Download PDF

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Publication number
EP2317613B1
EP2317613B1 EP09174386.4A EP09174386A EP2317613B1 EP 2317613 B1 EP2317613 B1 EP 2317613B1 EP 09174386 A EP09174386 A EP 09174386A EP 2317613 B1 EP2317613 B1 EP 2317613B1
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EP
European Patent Office
Prior art keywords
clamping jaw
movement
cable
gripper
motor
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.)
Active
Application number
EP09174386.4A
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German (de)
English (en)
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EP2317613A1 (fr
Inventor
Alfred Braun
Roberto Gasperi
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.)
Komax Holding AG
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Komax Holding AG
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 Komax Holding AG filed Critical Komax Holding AG
Priority to EP09174386.4A priority Critical patent/EP2317613B1/fr
Priority to JP2010236293A priority patent/JP5745251B2/ja
Priority to US12/913,889 priority patent/US8646822B2/en
Publication of EP2317613A1 publication Critical patent/EP2317613A1/fr
Application granted granted Critical
Publication of EP2317613B1 publication Critical patent/EP2317613B1/fr
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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve

Definitions

  • the invention relates to an apparatus and a method for handling the cable ends of cables according to the definition of the independent claims. In particular, it is about the automated loading of connector housings with equipped cable ends of cables.
  • Cable harnesses such as those used in automobiles or aircraft, consist of several cables whose cable ends are inserted into connector housings.
  • the stripped, provided with contact parts cable ends are inserted into the chambers of the connector housing.
  • the cable ends and, in certain assembly processes, additionally the contact parts are usually held and moved by means of pneumatically actuated grippers.
  • this principle is also used for the mechanical loading or assembly of individual cables.
  • Plug housing can be fitted with closely adjacent cable ends, without causing damage or mutual interference.
  • aspects of the invention relate in particular to a novel cable gripper and an improved handling method enabled by this cable gripper.
  • pressure means act on a motion converter which sets a first jaw in motion relative to a second jaw
  • a motor acts on the motion converter in a rotational motion which sets the first jaw in motion relative to the second jaw.
  • An advantage of the invention lies in a combination of high clamping forces on the jaws of the cable gripper by a hydraulically or pneumatically operating system with the possibility for continuous opening and closing of the cable gripper by means of electrically driven motor.
  • the invention enables accurate and non-destructive working even at small grid intervals in the Housing assembly by exploiting a stepless, controlled cable gripper movement.
  • the invention allows in a preferred embodiment, the loading of connector housings with cables with small cross-sections by Nachcode, the respective cable end is briefly taken and introduced into the connector housing. Thereafter, the gripper is moved backwards with the gripper jaws loosened and the cable end gripped again and completely inserted into the connector housing. This can significantly reduce the risk of incorrect assembly or the risk of buckling at the cable end.
  • hydraulic means or "pressure means” are used herein to generally refer to agents that apply pressure by means of a fluid (e.g., a gas or a liquid) to an actuator (e.g., a piston).
  • a fluid e.g., a gas or a liquid
  • an actuator e.g., a piston
  • pneumatic means are used as hydraulic means or pressure means.
  • FIG. 1 A first preferred embodiment is with respect to Fig. 1 described.
  • FIG. 1 An exploded view of a device 100 according to the invention is shown.
  • a first jaw eg, the jaw 4
  • a second fixed jaw eg, the jaw 5
  • the opening and closing takes place only by a corresponding movement of the first jaw.
  • a first jaw 4 and a second jaw 5 are synchronously moved together.
  • the device 100 according to Fig. 1 is designed for equipping a plug housing 20 with a cable end 1.1 of a cable 1. It comprises a cable gripper 50 with a first jaw 4 and a second jaw 5 for gripping the cable end 1.1.
  • Fig. 1 shows a device 100 with synchronously jointly movable jaws 4, 5 (called 2nd variant). However, the following will nevertheless be based on this Fig. 1 also a device 100 with a single-sided movable jaw 4 described (1st variant called).
  • hydraulic means 15 are used to close the cable gripper 50.
  • the device 100 further comprises a carriage device 60 with a guide element 63 (eg in the form of a guide rail, as in FIG Fig. 1 shown, or in the form of a guide groove) and a first carriage 61.
  • This first carriage 61 is associated with the first jaw 4, ie the first carriage 61 is mechanically connected to the first jaw 4.
  • the first jaw 4 together with the associated first slide 61 is slidably mounted with respect to the second jaw 5 along the guide member 63.
  • the mentioned hydraulic means 15 act on the carriage device 60 via a driver in order to be able to trigger a closing coarse movement Sh of the first clamping jaw 4 together with the associated first slide 61 in relation to the second clamping jaw 5.
  • This second jaw 5 performs in the 1st variant no opening or closing movements.
  • the device 100 further comprises a motor 3.
  • a motor 3 is an electrically operated stepping motor or servomotor.
  • a so-called motion converter is used which cooperates with the motor 3 such that a rotational movement R of the motor 3 is converted into a fine movement V2 (for example a fine opening movement and / or a closing fine movement, depending on the embodiment) of the first clamping jaw 4.
  • the motion converter comprises the following elements: motor shaft 2, gear 11 (for example in the form of a spur pinion), rack 13.
  • a rotational movement R of the motor 3 drives the motor shaft 2, at the end of which the gear 11 is seated.
  • This gear 11 engages in the toothing of the rack 13.
  • This rack 13 is movably mounted in a housing (here called pneumatic closing unit 10).
  • the gear 11 sits above the rack 13.
  • the rack 13 is moved out of the pneumatic clamping unit 10. That the rack 13 moves in the positive x-direction.
  • This translational movement of the rack 13 is converted into a corresponding translational movement of the first carriage 61.
  • the first carriage 61 is connected or coupled in terms of motion by a driver with the rack 13.
  • a groove 13.1 is provided on the rack 13. In this groove 13.1 engages a corresponding pin of the carriage 61 to provide the motion-technical connection or coupling.
  • the carriage 61 is also moved in the negative x-direction.
  • the carriage device 60 comprises not only the carriage 61 and the guide element 63 but also a mechanical movement coupling to the first clamping jaw 4.
  • the first clamping jaw 4 performs a corresponding translatory closing movement (eg the translatory closing movement) Closing coarse movement Sh) in the negative x-direction.
  • a coarse movement is distinguished from a fine movement in the following.
  • the coarse movement is caused hydraulically while the fine movement is caused by a motor.
  • the corresponding reference signs are constructed as follows: “S” stands for closing movement, “O” stands for opening movement, “h” stands for hydraulic (respectively pneumatic) and “e” stands for electric (ie motor-driven).
  • embodiment Sh Oh se Oe 1. Yes No No Yes Second Yes No Yes Yes Third Yes Yes Yes No Yes 4th Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes
  • Fig. 1 Details of the first embodiment shown in the above table are shown.
  • the closing of the clamping jaw (s) 4, 5 takes place hydraulically and opening electrically.
  • the closing coarse movement Sh is preferably carried out with greater force than the motor-induced opening fine movement Oe.
  • the cable end 1.1 a cable 1 securely between the jaws 4, 5 are clamped.
  • the cable gripper 50 comprises the two mentioned clamping jaws 4, 5.
  • the clamping jaw 4 is fixedly coupled to the movable slide 61 via a first adapter plate 7.1.
  • the second jaw 5 can be connected directly or via a second adapter plate 7.2 with a stationary housing or device part (eg with the pneumatic locking unit 10), since these jaw 5 perform no opening and closing movement in the first variant got to.
  • the guide element 63 (eg in the form of a guide rail, as in Fig. 1 shown, or in the form of a guide groove) may be fixedly connected to the pneumatic closing unit 10.
  • the electric motor 3 can be coupled, for example via an adapter plate 19 with the pneumatic closing unit 10.
  • the motor shaft 2 penetrates the pneumatic locking unit 10.
  • the mentioned gear 11 can be a first rack 13 (in the 1st variant) or two separate racks 12, 13 in the 2nd variant) a carriage 61 (in the 1st variant) or two slides 61, 62 (in the second variant) move and thus the first jaw 4 or both jaws 4, 5 move.
  • the first hydraulic means 15 also act on the first rack 13.
  • a fluid eg compressed air or hydraulic fluid
  • a piston rod 15.1 can be moved. This piston rod 15.1 presses with a punch 15.2 against the rack 13.
  • the fluid can be applied for example via a port 15.3. If the fluid is applied under pressure to the hydraulic means 15, a hydraulic closing coarse movement Sh is triggered.
  • both jaws 4, 5 are moved synchronously.
  • the second variant differs from the first variant in that second hydraulic means 14, a second rack 12 and a second slide 62 are provided.
  • the operation of these means 14, 12 and 62 is analogous to the operation of the means 15, 13, 61 already described.
  • the motor shaft 2 By driving the motor 3 (e.g., by a control signal s (t)), the motor shaft 2 can be rotated in the direction of rotation R, for example.
  • the gear 11 drives the first rack 13 in the x direction and the second rack 12 in the -x direction. That Both racks 12, 13 are moved out of the interior of the pneumatic closing unit 10.
  • the two carriages 61, 62 are moved apart. This movement leads to a synchronous opening fine movement O.e of the two clamping jaws 4, 5.
  • the clamping jaw 4 moves in the x direction and the clamping jaw 5 in the -x direction.
  • a fine opening movement O.e and a closing coarse movement S.h are used.
  • the hydraulic means 14, 15 are depressurized, so that the motor 3 does not have to do against this pressure work.
  • an opening coarse movement Oh may be superimposed or connected downstream of the opening fine movement Oe.
  • the opening coarse movement Oh is canceled by the hydraulic means 14 and 15. It can eg at the same time a negative pressure on the hydraulic means 14, 15 are given to move the racks 12, 13 apart.
  • double-acting cylinders are used, which can be pressurized from both sides in order to be able to perform alternately both opening coarse movements Oh and closing coarse movements Sh. The movement apart of the racks 12, 13 then leads to a synchronous opening coarse movement Oh of the two jaws 4, 5.
  • the closing coarse movement S.h can be superimposed or preceded by a closing fine movement S.e (see the second or fourth embodiment in the table).
  • Fig. 2 is now a perspective view of an inventive cable gripper 50 of a device 100 of the invention during insertion of a cable end 1.1 shown in a housing 20.
  • a housing 20 Preferably, it is a connector housing.
  • the housing 20 is shown in a sectional view to show that the housing 20 has at least one cable channel 22 or a chamber.
  • a closing movement eg a closing coarse movement Sh
  • a common feed movement Z1 of the first clamping jaw 4 and the second clamping jaw 5 is carried out in order to connect the cable end 1.1 of the cable 1 into the cable channel 22 or Insert chamber of the housing 20.
  • this closing movement is performed as a closing coarse movement Sh.
  • FIG. 3 is a perspective view of an inventive cable gripper 50 of a device 100 of the invention during insertion of a cable end of a 1.1 Wiring harness 51 shown in a multi-row housing 20.
  • Several cable ends 1.1 have already been introduced into the corresponding cable channels 22 or chambers of the housing 20.
  • the cable end 1.1 of another cable 1 is just inserted into an adjacent cable channel 22.
  • the clamping jaws 4, 5 taper downwards in order to take up as little installation space as possible.
  • the cable gripper 50 is designed to be able to perform small fine movements and larger coarse movements to prevent the cable gripper 50 from causing, e.g. adjacent cables damaged.
  • Fig. 4 is a perspective view of an inventive cable gripper 50 and other elements of a device 100 of the invention in the handling of a cable end 1.1 shown.
  • this representation one can see the elements of Fig. 1 recognize in assembled (assembled) form.
  • the cable 1 is in the FIGS. 1 and 4 provided with a sleeve, cap, clamp or the like.
  • This sleeve, cap, or clamp serves to make electrical contact between an electrical conductor of the cable 1 and a terminal in the interior of the housing 20.
  • These elements are therefore referred to simply as contact 21.
  • they are contacts 21, as are customary in crimping technology.
  • the invention can also be applied to contacts that are connected to the cable 1 by means of ultrasonic, resistance or laser welding.
  • the invention can also be applied in connection with the insulation displacement technique.
  • An assembly method according to the invention preferably proceeds as follows.
  • the loading is a process in which a prefabricated cable 1 is inserted into a housing chamber or a cable channel 22 of a housing 20.
  • the cable 1 is held with the cable gripper 50 and pushed into the housing chamber or in the cable channel 22.
  • the necessary cable projection L (see Fig. 4 ) must be so long that the cable end 1.1, respectively, the contact 21 at the cable end 1.1 can be fully inserted.
  • This cable projection L is or the thinner and softer a cable, the greater the risk that the cable 1 when handling and inserting kinks. But it can also lead to the kinking of a cable protrusion, if the cable is thin and soft.
  • the post-gripping procedure can reduce the risk of breakage.
  • a housing 20 typically includes a plurality of chambers or conduits 22 as in FIG Fig. 3 can be seen.
  • Each chamber or each cable channel 22 is equipped with a ready-made cable 1. This has the consequence that adjacent chambers, which already contain a cable 1, can hinder the subsequent assembly process.
  • Important is also the chamber or grid spacing.
  • a small chamber spacing obstructs the cable gripper 50 when it performs an opening movement at the end of the loading process to let the clamped cable 1. The smaller the chamber spacing, the less far the cable gripper 50 may open.
  • the "stepwise opening" method described below is used. This method is preferred.
  • a first step the cable 1 is clamped hydraulically by a corresponding closing coarse movement Sh. This step is in Fig. 5A shown.
  • the cable gripper 50 can perform a feed movement Z1 in order to insert the cable end 1.1 with the contact 21 into a housing 20. There snaps the contact 21, or the contact 21 can be soldered or glued there.
  • a 2nd step after completing the mounting process (step 1), the cable gripper 50 becomes only so wide open (level 2), that the cable 1 is no longer clamped. That is, the clamping is released by a fine opening movement Oe.
  • This opening fine movement Oe takes place as a motor-driven movement using the motor 3.
  • a third step the cable gripper 50 is moved away from the housing 20 in the cable direction (ie in the -z direction).
  • the 3rd step is in Fig. 5B shown.
  • Fig. 5B It can be seen that the clamping jaws 4, 5 were slightly moved apart and that a short translational retraction movement -Z1.1 was performed.
  • step 4 the cable gripper 50 is fully opened so that it can move vertically, as in Fig. 5C shown.
  • the opening can be done here by the motor 3 and / or hydraulically (depending on the embodiment). Preference is given to an opening fine movement Oe.
  • the vertical method is also referred to here as a common withdrawal movement -Y.
  • the common retracting movement may have a component of movement in the direction of the negative z-axis and in the direction of the negative y-axis.
  • the post-gripping method is used.
  • the cable projection L is reduced so far that kinking is prevented.
  • the cable 1 is hydraulically clamped with shortened cable projection L1 (with L1 ⁇ L) by a corresponding closing coarse movement Sh is performed.
  • the cable 1 is inserted as far as possible in the housing 20 by a feed movement Z1.
  • the cable gripper 50 is opened by a fine opening movement O.e far enough that the cable 1 is no longer clamped. That the pinching is solved.
  • the cable gripper 50 is moved a small distance away from the housing 20 in a fourth step in the cable direction (i.e., in the negative z direction).
  • a fifth step the cable 1 is hydraulically clamped again by performing a corresponding closing coarse movement S.h and the second step is repeated.
  • steps 2 to 5 are repeated several times.
  • the two jaws 4, 5 are moved synchronously (referred to here as the second variant.
  • a control means 30 e.g., an angle decoder or encoder
  • a controller S which receives information i (t) from the control means 30, controls the actuation of the motor 3, respectively the described motor-driven motion sequences O.e and / or S.e.
  • the mentioned movements in the x-, y- and z-direction can be carried out by conventional drive systems.
  • servomotors can be used as drive systems.
  • Fig. 1 is the microprocessor control symbolized by the controller S.
  • the present invention may e.g. at the end of a cable processing line, the fully automatic assembly of single- or multi-row (plug) housing 20, whether in crimping, insulation displacement, soldering, ultrasonic, resistance welding or laser welding technology run.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Manufacturing Of Electrical Connectors (AREA)
  • Manipulator (AREA)

Claims (13)

  1. Dispositif (100) de manipulation d'une extrémité (1.1) d'un câble (1), qui comprend un organe de préhension pour câble (50) avec une première mâchoire (4) et une seconde mâchoire (5) pour saisir l'extrémité de câble (1.1), étant précisé que le dispositif (100) comprend des moyens de pression (14, 15) pour actionner l'organe de préhension pour câble (50),
    caractérisé en ce que les moyens de pression (14, 15) agissent avec un mouvement linéaire sur un convertisseur de mouvement (2, 11, 12, 13) qui amène la première mâchoire (4) à se déplacer par rapport à la seconde mâchoire (5), et
    en ce qu'un moteur (3) agit avec un mouvement de rotation (R) sur le convertisseur de mouvement (2, 11, 12, 13) qui amène la première mâchoire (4) à se déplacer par rapport à la seconde mâchoire (5).
  2. Dispositif (100) selon la revendication 1, étant précisé
    - que les moyens de pression (14, 15) agissent à l'aide du convertisseur de mouvement (2, 11, 12, 13) sur l'organe de préhension pour câble (50) pour déclencher un mouvement grossier (S.h) de la première mâchoire (4) par rapport à la seconde mâchoire (5), et
    - que le moteur (3) agit à l'aide du convertisseur de mouvement (2, 11, 12, 13) sur l'organe de préhension de câble (50) pour déclencher un mouvement précis (O.e) de la première mâchoire (4) par rapport à la seconde mâchoire (5).
  3. Dispositif (100) selon la revendication 2, étant précisé que l'organe de préhension pour câble (50) comprend :
    - un dispositif à coulisseaux (60) avec un élément de guidage (63) et un premier coulisseau (61),
    • étant précisé que le premier coulisseau (61) est associé à la première mâchoire (4),
    • que la première mâchoire (4) avec le premier coulisseau (61) associé est montée pour pouvoir coulisser par rapport à la seconde mâchoire (5) le long de l'élément de guidage (63), et
    • que les moyens de pression (14, 15) agissent sur le dispositif à coulisseaux (60) pour déclencher le mouvement grossier (S.h) de la première mâchoire (4) par rapport à la seconde mâchoire (5).
  4. Dispositif (100) selon la revendication 2 ou 3, étant précisé que la seconde mâchoire (5) est immobile pendant que la première mâchoire (4) décrit un mouvement grossier (S.h) ou un mouvement précis (O.e).
  5. Dispositif (100) selon la revendication 3, étant précisé que l'organe de préhension pour câble (50) comprend en supplément un second coulisseau (62), qui est monté pour pouvoir coulisser par rapport au premier coulisseau (61), étant précisé que les première et seconde mâchoires (4, 5) s'éloignent lors de l'ouverture et se rapprochent lors de la fermeture.
  6. Dispositif (100) selon la revendication 2 ou 3, étant précisé que grâce au convertisseur de mouvement (11, 12, 13), le mouvement de rotation (R) est apte à être converti en mouvement précis, étant précisé qu'il s'agit, pour le mouvement précis, d'un mouvement précis de translation (O.e).
  7. Dispositif (100) selon l'une des revendications 1 à 6 précédentes, étant précisé que l'action des moyens de pression (14, 15) sur l'organe de préhension pour câble (50) permet de décrire un mouvement relatif grossier (S.h), et une coopération du convertisseur de mouvement (11, 12, 13) avec le moteur (3) permet un mouvement relatif précis (O.e) de la première mâchoire (4) et de la seconde mâchoire (5).
  8. Procédé de manipulation d'une extrémité (1.1) d'un câble (1), caractérisé par les étapes suivantes :
    faire agir les moyens de pression (14, 15) sur un convertisseur de mouvement (2, 12, 11, 13), qui amène une première mâchoire (4) d'un organe de préhension de câble (50) à se déplacer par rapport à une seconde mâchoire (5) dudit organe de préhension (50), et
    faire agir un moteur (3) sur le convertisseur de mouvement (2, 11, 12, 13), qui amène la première mâchoire (4) de l'organe de préhension pour câble (50) à se déplacer par rapport à la seconde mâchoire (5) de l'organe de préhension (50).
  9. Procédé selon la revendication 8, étant précisé
    que lors de l'entrée en action des moyens de pression (14, 15), une avance commune de la première mâchoire (4) et de la seconde mâchoire (5) est réalisée afin de serrer l'extrémité (1.1) du câble (1) entre la première mâchoire (4) et la seconde mâchoire (5), et qu'après un mouvement d'avance (Z1) de l'organe de préhension pour câble (50)
    lors de l'entrée en action du moteur (3) sur le convertisseur de mouvement (2, 11, 12, 13), l'extrémité de câble (1.1) serrée entre la première mâchoire (4) et la seconde mâchoire (5) est relâchée.
  10. Procédé selon la revendication 9, étant précisé que lors d'un mouvement de retrait commun (-Y) de la première mâchoire (4) et de la seconde mâchoire (5) sont décrits tout d'abord un mouvement de retrait en translation (-Z1) puis un mouvement d'ouverture supplémentaire (O.e) de la première mâchoire (4) par rapport à la seconde mâchoire (5).
  11. Procédé selon la revendication 9, étant précisé qu'après le relâchement de l'extrémité de câble (1.1), un mouvement de retrait en translation (-Z1.1) est décrit parallèlement au câble (1), pour répéter ensuite à nouveau les étapes du serrage de l'extrémité de câble (1.1) et du mouvement d'avance (Z1).
  12. Procédé selon l'une des revendications 8 à 11, étant précisé qu'un moyen de contrôle (30) est utilisé pour rechercher la position actuelle de la première mâchoire (4) et de la seconde mâchoire (5), étant précisé qu'une commande (S) règle le moteur (3) en fonction de l'information (i(t)) du moyen de contrôle (30).
  13. Procédé selon l'une des revendications 8 à 12, étant précisé qu'il est utilisé pour garnir automatiquement d'extrémités de câble (1.1) des boîtiers de prise (20).
EP09174386.4A 2009-10-28 2009-10-28 Dispositif et procédé de manipulation des extrémités de câbles Active EP2317613B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP09174386.4A EP2317613B1 (fr) 2009-10-28 2009-10-28 Dispositif et procédé de manipulation des extrémités de câbles
JP2010236293A JP5745251B2 (ja) 2009-10-28 2010-10-21 ワイヤのワイヤ端部を操作するための機器および方法
US12/913,889 US8646822B2 (en) 2009-10-28 2010-10-28 Apparatus and method for manipulating the wire-ends of wires

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09174386.4A EP2317613B1 (fr) 2009-10-28 2009-10-28 Dispositif et procédé de manipulation des extrémités de câbles

Publications (2)

Publication Number Publication Date
EP2317613A1 EP2317613A1 (fr) 2011-05-04
EP2317613B1 true EP2317613B1 (fr) 2015-08-12

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EP (1) EP2317613B1 (fr)
JP (1) JP5745251B2 (fr)

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RS62300B1 (sr) 2016-10-03 2021-09-30 Komax Holding Ag Postupak i uređaj za rotaciono ispravno poravnavanje predfabrikovanih kablovskih krajeva kablovskog provodnog sistema
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JP2011096659A (ja) 2011-05-12
EP2317613A1 (fr) 2011-05-04
JP5745251B2 (ja) 2015-07-08
US20110097185A1 (en) 2011-04-28
US8646822B2 (en) 2014-02-11

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