WO2006094320A2 - Procede pour determiner la deformation elastique d'elements de construction - Google Patents

Procede pour determiner la deformation elastique d'elements de construction Download PDF

Info

Publication number
WO2006094320A2
WO2006094320A2 PCT/AT2006/000087 AT2006000087W WO2006094320A2 WO 2006094320 A2 WO2006094320 A2 WO 2006094320A2 AT 2006000087 W AT2006000087 W AT 2006000087W WO 2006094320 A2 WO2006094320 A2 WO 2006094320A2
Authority
WO
WIPO (PCT)
Prior art keywords
actuators
determined
real
platform
movable platform
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.)
Ceased
Application number
PCT/AT2006/000087
Other languages
German (de)
English (en)
Other versions
WO2006094320A3 (fr
Inventor
Franz Ehrenleitner
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to DE112006000481T priority Critical patent/DE112006000481A5/de
Priority to CN2006800074051A priority patent/CN101137942B/zh
Publication of WO2006094320A2 publication Critical patent/WO2006094320A2/fr
Publication of WO2006094320A3 publication Critical patent/WO2006094320A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1638—Program controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39176—Compensation deflection arm
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40235—Parallel robot, structure
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40524—Replace link, joint, structure by stewart platform to model flexibility

Definitions

  • the invention relates to a method for determining and optionally compensating the elastic deformation of fixed or movable components, in particular of parallel kinematic devices, under load.
  • component in this application is understood to mean the respectively considered mechanical structures. In this case, because of the multiple applicability of the invention as diverse objects as cranes, transport devices in the field or in industrial production, parts of these structures, hoists, boom, tool guides, but also structures such as bridges or in the process engineering boilers, reactors, etc., Vehicles and the like more than “component” view.
  • Determining the elastic deformation of components under static and / or dynamic load is required for a variety of applications. On the one hand so the safety of the components can be ensured, it can be the positional accuracy of the component, for example, in the automated assembly of an object to be determined, it can be determined if necessary, its trajectory and the like more.
  • EP 1 491 287 A which describes a possibility for the self-centering of a sensor.
  • This centering is a central problem of automated manufacturing, for example, when a measuring device or a working device must be placed centrally to an object.
  • the solution provides for three measuring rods to suitably be provided on the device and to use their instantaneous display for calculating the instantaneous position.
  • Such a solution makes sense and is feasible for a special, consistent review, but completely fails with changing conditions such as raising and lowering of different loads at different locations, as is always the case with cranes.
  • Parallel kinematic devices are those based on the recognition that a rigid body has six degrees of freedom in space, and therefore it is possible for the location of such a rigid body in space to be provided by six independent and variable length spacers, mostly rods
  • actuators it is also necessary to determine ropes or the like, generally called actuators, if these actuators articulate at one end firmly in space (fixed platform) and at the other end on the body to be moved (movable platform).
  • the inventor has found, in the intensive study of the practical possibilities of 3 -2-1 kinematic, that this allows an extremely fast and accurate calculation of the positions and the position changes of the points of application of the actuators, an in-time consideration of the elastic deformation allowed by the load, if a corresponding replacement kinematics is used.
  • the inventor was able to determine that the replacement kinematics allowed in this context and for this purpose, even images that have nothing to do with parallel kinematic devices or trusses and whose deformation was previously calculable, if at all, only with the resources of finite elements ,
  • a general object of the invention is, for any structures, even those that do not correspond to parallel kinematics, such as pipes, welded structures, shells, domes, crane jibs, etc. (in general: components) a replacement kinematics of the type of 3-2-1 kinematics which allows a rapid determination of global elastic deformation under load.
  • the term "global” stands for the fact that from the replacement kinematics only the deformation or position change of the movable platform the solid platform, but not the deformation of the intervening areas.
  • the specific objectives in 3 -2-1 kinematic are achieved by a) determining and storing the geometry of the articulation points on the fixed platform and the movable platform or optionally an intermediate platform, and that the substitute spring constants of the bearings in the foundation , the movable and possibly the intermediate platform (articulation points of the actuators), the equivalent spring constants of the actuators and the replacement spring constants of the bearings are determined and stored, that b) the current theoretical length of the actuators is determined by the setting of their drives, c) from this the theoretical Position of all articulation points or all actuators in the space for these values is determined that d) from this geometry and the load, which is either known or determined by sensors on the actuators and / or the movable platform, the individual actuators, Joints and bearing acting forces are determined in that e) from these forces and the substitute spring characteristics, the real, instantaneous position of the bearings and length and position of the actuators are determined, from which the real instantaneous geometric image and thus the instant
  • the individual components can be determined on the real component by corresponding real loading and measurement of the real deformation, which are then assigned to the individual members, bearings, points of attack at the replacement staff in order to obtain a matching image in the region of "
  • the deformation of the component for example by means of finite elements, bearing in mind that this calculation must be carried out only once, irrespective of the subsequent use of the component
  • movable platform is in its general meaning quite simply for the geometric area of the component whose position change is to be calculated, and is preferably on the real part of a massive, u.U. as a rigid part, such as: the end of the crane jib, the cutting edge of the tool (TCP - Tool Center Point), the suspension point of the insulator of a power pole, the tip of the measuring probe of a measuring device, the holder of a wire for EDM, etc.
  • TCP - Tool Center Point the cutting edge of the tool
  • suspension point of the insulator of a power pole the suspension point of the insulator of a power pole
  • the tip of the measuring probe of a measuring device the holder of a wire for EDM, etc.
  • fixed platform generally means a basis that is considered “fixed” in the context of the task, regardless of the actual situation in relation to the ground, and thus is a matter of purposeful definition.
  • the inventive 3 -2-1 replacement kinematics with replacement spring constant is derived, depending on the field of application with or without deformation of the (or some) bearings.
  • the real forces are applied mathematically.
  • the calculated deformations (Changes in position between fixed and mobile platforms) indicate the change in position on the real component in a direct or easily calculable manner and thus make the necessary corrections possible or provide the required knowledge.
  • FIG. 1 shows a real parallel kinematics with a movable platform consisting of a tube
  • FIG. 2 shows the 3 -2-1 replacement kinematics with a dissolved movable platform
  • FIG. 3 shows the 3 -2-1 replacement kinematics with schematically drawn Spare springs
  • Figs. 4 to 7 show the formation of a replacement kinematics in detail.
  • a parallel-kinematic device 1 is shown purely schematically in a perspective view. It consists of a fixed platform 2, which may be, for example, the foundation or a slide or a chassis on which the actual parallel kinematics 3 or the rods and actuators forming them is stored as a gift.
  • the other ends of the rods and actuators hereinafter summarized under the name actuator, carry a movable platform 4.
  • This movable platform 4 has in the illustrated embodiment, a fixedly connected to her tube 5, at the free end of a tool holder 6 is indicated schematically whose tip represents the Tool Center Point TCP 7.
  • adjustable actuators of the device 1 can bring the TCP 7 anywhere in the range, but can not affect its orientation, usually in the tool holder 6 further, not shown, adjustment mechanisms are provided which allow it, at least within limits, to align the orientation of the TCP7 with the desired orientation.
  • the actual parallel kinematics 3 is constructed according to the initially explained 3-2-1 principle, that is to say that three actuators A1, A2 and A3 have a common point of attack, the triple point TP on the movable platform 4 and two further actuators, the actuators A4 and A5, attack on the hidden in Fig. 1 from the pipe 5 colon DP, while the actuator A6 acts only on its own at the single point EP.
  • the actuators A3, A5 and A6 are shown as variable-length actuators, the actuators Al, A2 and A4 as rods of constant length.
  • actuators can be made variable in length; this can also influence the structure of the tool holder 6.
  • actuators usually only variable-length rods are referred to as actuators, but this is not so handled in the description and the claims, because it does not matter for the invention itself, for better readability, but there are generally all bars without consideration whether it is such fixed length or actuators in the strict sense, referred to as actuators.
  • the movable platform 4 is clearly defined in its position in space with respect to the fixed platform 2 by the length of the actuators Al to A6 and the position of the bases of these six bars on the fixed platform 2 and the movable platform 4, and thus also the position of the TCP 7, since he is to be regarded by means of the tube 5 as part of the movable platform 4.
  • a structure such as the movable platform 4 with the attached pipe 5 and the tool holder and tool 6 to the TCP 7 is very difficult to detect in their deformation and only slowly with modern computers. According to the invention, these difficulties can be circumvented by replacing the fixed platform 4 with the double model of a 3-2-1 parallel kinematic mechanism shown in FIG. 2, a fixed framework 14 for the actual movable platform 4 and an adjustable 3 -2-1. Truss 15 for the tube 5 together with tool holder 6 and tool to the TCP 7. The variable-length actuators El, E2 and E3 are used in the adjustable framework 15 as a substitute for the adjustment mechanisms contained in the tool holder 6. According to the invention, these trusses 3, 14, 15 according to FIG. 2 are supplemented or replaced by the substitute spring forces indicated in FIG. 3, wherein the deformations occurring in the bearings on the fixed platform 2 are also taken into account in the illustrated example by means of the schematically indicated substitute spring forces are.
  • the replacement spring forces can be determined, for example, for the bases of the parallel kinematics 3 on the fixed platform 2 by simple experiments, the replacement spring forces for the dissolved in the framework 14 and 15 movable platform 4 together with tube 5 can be determined either by a calculation by the method of finite elements or it is also determined by a trial, that is, by practical empirical measurement, the stiffness in each direction and these components are then assigned to the individual replacement bars.
  • the substitute rod 11 shown in Fig. 5 consisting of three spare bars El, E2, E3 as a model of the conical body 8 to use. It is essential that the ideal imaginary end points of the replacement bars El, E2, E3 on the side of the base surface 9 fixed, but torque-free pivotally mounted and in the top 10 also to a point, but with each other articulated converge.
  • this Optimizstabwerkes 11 The choice of the structure of this Optimizstabwerkes 11 is due to considerations that are familiar to those familiar with the strength of the art expert. If, for example, the body 8 to be replaced has a plane of symmetry or axis of symmetry, it is advantageous if the substitute rod also has these symmetries. If the expected forces in one direction are significantly greater than in other directions, then it is favorable if these forces are essentially taken up by a replacement rod or if the replacement rods are arranged so that they run symmetrically to the surface in which this maximum or most frequent force causes a deformation.
  • Fig. 6 shows how, purely schematically, the replacement bars El, E2, E3, taking into account Adjustfederkonstants Kl, K2, K3 create a substitute structure that has one with the original body 8 in common:
  • the tip 10 moves under the force F as well as the tip 10 (hence provided with the same reference numeral) of the real body 8.
  • This target can then be achieved if the known force F and the known displacement, the Editfederkonstanten Kl, K2, K3 are calculated, which in sum and taking into account the geometry of the selected Arstabwerkes 11 exactly this shift.
  • each of the foot points Fl, F2, F3 is assigned a bearing stiffness, which means that the bases Fl, F2, F3 are no longer stationary in the model, but as a function of the resultant force and resulting torque (if taken into account) are moved in the base surface and normal to it. Since the suspension of the replacement bars El, E2, E3 in the foot points Fl, F2, F3 is spherical momentless, the resulting displacement of the foot points is always in the current direction of the attacking rod and leads, also here an iterative process is possible through the Displacement of the base point to a change in the state of the Optimizstabwerkes 11 and thus possibly also to a change in the direction of the rod considered. In most cases, these changes are so small that each iteration is unnecessary.
  • the method according to the invention can equally be used for a harbor crane or a micrometre-operated machine tool.
  • the invention be used to precisely control the movement or orientation of the TCP 7, but it is of course possible to use the method according to the invention to further reduce the mass of the parallel kinematic device and the speed of movement of the TCP 7 and to correct the larger deviations of the TCP 7 from its orbit due to the softer construction and higher inertia forces.
  • intermediate forms of these two strategies can be selected, this is easily possible for the expert in the field of the respective field of application with knowledge of the invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

L'invention concerne un procédé pour déterminer la déformation élastique d'éléments de construction, en particulier de dispositifs à cinématique parallèle, sous charge. Ce procédé se caractérise en ce que 1) la géométrie des points d'articulation sur la plate-forme fixe (9) et la plate-forme mobile (10) est déterminée ; les constantes de rappel de ressorts de rechange des actionneurs (K1, K2, K3) et les constantes de rappel de ressorts de rechange des paliers sont déterminées ; m) la longueur théorique des actionneurs est déterminée ; n) la position théorique de tous les points d'articulation dans l'espace est déterminée ; o) les forces agissant sur les actionneurs individuels sont déterminées à partir de cette géométrie et de la charge (F) ; p) l'image géométrique réelle et la position réelle de la plate-forme mobile sont déterminées à partir de ces forces et des courbes caractéristiques des ressorts de rechange et cette position réelle est comparée à la position théorique calculée et éventuellement mise en conformité par l'actionnement d'actionneurs correspondants.
PCT/AT2006/000087 2005-03-09 2006-03-01 Procede pour determiner la deformation elastique d'elements de construction Ceased WO2006094320A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112006000481T DE112006000481A5 (de) 2005-03-09 2006-03-01 Verfahren zur Bestimmung der elastischen Verformung von Bauteilen
CN2006800074051A CN101137942B (zh) 2005-03-09 2006-03-01 用于确定构件的弹性形变的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA401/2005 2005-03-09
AT4012005A AT501167B1 (de) 2005-03-09 2005-03-09 Verfahren zur bestimmung der elastischen verformung von bauteilen

Publications (2)

Publication Number Publication Date
WO2006094320A2 true WO2006094320A2 (fr) 2006-09-14
WO2006094320A3 WO2006094320A3 (fr) 2007-04-12

Family

ID=36638321

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2006/000087 Ceased WO2006094320A2 (fr) 2005-03-09 2006-03-01 Procede pour determiner la deformation elastique d'elements de construction

Country Status (4)

Country Link
CN (1) CN101137942B (fr)
AT (1) AT501167B1 (fr)
DE (1) DE112006000481A5 (fr)
WO (1) WO2006094320A2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008052234A1 (fr) 2006-10-30 2008-05-08 Franz Ehrenleitner Procédé d'élimination de l'erreur de traînée du point de travail d'un dispositif

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8395016B2 (en) 2003-06-30 2013-03-12 The Procter & Gamble Company Articles containing nanofibers produced from low melt flow rate polymers
CN104867381B (zh) * 2014-12-23 2018-08-28 北京功顺达仿生机械有限公司 动态形变几何机构
CN107260188B (zh) * 2017-07-19 2020-03-31 东南大学 一种基于力传感器的多方向咬合力测量装置
CN112634735B (zh) * 2021-01-07 2021-11-09 吉林大学 装载机工作装置优化实验台
CN115972212A (zh) * 2023-01-19 2023-04-18 北京威高智慧科技有限公司 定位精度补偿方法、装置、电子设备及存储介质

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN87217516U (zh) * 1987-12-30 1988-11-30 中国科学技术大学 双向微动调心装置
JP3380327B2 (ja) * 1994-04-11 2003-02-24 新日本製鐵株式会社 パラレルリンクマニピュレータのたわみ補正制御方法
WO1999028095A1 (fr) * 1997-12-01 1999-06-10 Giddings & Lewis Systeme et procede de compensation de la compliance d'un dispositif de positionnement a six pieds
US6943519B2 (en) * 2000-04-11 2005-09-13 Siemens Aktiengesellschaft Method and device for weight compensation in a mechanism with closed kinematic chains

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008052234A1 (fr) 2006-10-30 2008-05-08 Franz Ehrenleitner Procédé d'élimination de l'erreur de traînée du point de travail d'un dispositif

Also Published As

Publication number Publication date
CN101137942A (zh) 2008-03-05
CN101137942B (zh) 2010-05-19
AT501167A4 (de) 2006-07-15
DE112006000481A5 (de) 2008-01-03
AT501167B1 (de) 2006-07-15
WO2006094320A3 (fr) 2007-04-12

Similar Documents

Publication Publication Date Title
EP2089780B1 (fr) Procédé d'élimination de l'erreur de traînée du point de travail d'un dispositif
EP3328598B1 (fr) Robot équipé d'un dispositif de mesure de force
EP2243602B1 (fr) Procédé et dispositif de commande d'un manipulateur
EP1537282B1 (fr) Manipulateur de grande taille avec un mât articulé et avec un dispositif de réglage pour commander ledit mât
EP2272637B1 (fr) Procédé et dispositif destinés au fonctionnement d'un manipulateur
DE102009018403A1 (de) Verfahren und Vorrichtung zur Regelung eines Manipulators
DE102013106819A1 (de) Verfahren zum robotergestützten Stapeln von Gegenständen
AT502864A2 (de) Parallelkinematischer roboter
DE102009014766A1 (de) Überlagerte Achsen bei einer Vorrichtung zur Bearbeitung eines Werkstücks mit einem Werkzeug
DE102021130823B4 (de) Ausgleichsmechanismus für roboterhilfsgerät
EP1302285A2 (fr) Procédé de calibrage d'un bras de robot
DE102022110140B4 (de) Konforme präsentation der nutzlast durch ein robotersystem mit koordinierten seriellen und parallelen robotern
AT17596U1 (de) Verfahren zum Steuern und/oder Regeln eines fahrzeuggebundenen Hebezeuges
EP1392471B1 (fr) Machine de production
EP1068044B1 (fr) Dispositif de support trepied et procede de compensation de torsion
EP4061586B1 (fr) Mesure de force et génération de force dans des manipulateurs robotiques redondants
DE10150225A1 (de) Verfahren zur Verringerung von Fehlern bei der Positionierung eines Roboters gegenüber einem Werkstück
WO2017174184A1 (fr) Procédé de déplacement du dernier maillon d'une chaîne cinématique ainsi que dispositif et machine de travail pour mettre en œuvre le procédé
AT501167B1 (de) Verfahren zur bestimmung der elastischen verformung von bauteilen
DE102019102453A1 (de) Verstellbares Gegengewicht für einen Robotermanipulator
DE102013206696A1 (de) Vorrichtung und ein Verfahren zur Steuerung einer Handhabungseinrichtung
DE102016123909A1 (de) Verfahren zur Minimierung von Belastungen der Gelenkverbindungen eines Manipulators
DE102012012316B4 (de) Robotersteuerung, die eine Kraftsteuerung unter Verwendung eines dreiaxialen Kraftsensors durchführt
DE112019003058T5 (de) Apparat zum Bearbeiten eines Objekts
WO2015185397A1 (fr) Dispositif et procédé de compensation de la pesanteur

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 1120060004816

Country of ref document: DE

WWE Wipo information: entry into national phase

Ref document number: 200680007405.1

Country of ref document: CN

NENP Non-entry into the national phase

Ref country code: RU

WWW Wipo information: withdrawn in national office

Country of ref document: RU

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 06704729

Country of ref document: EP

Kind code of ref document: A2

REF Corresponds to

Ref document number: 112006000481

Country of ref document: DE

Date of ref document: 20080103

Kind code of ref document: P

122 Ep: pct application non-entry in european phase

Ref document number: 06704729

Country of ref document: EP

Kind code of ref document: A2

WWW Wipo information: withdrawn in national office

Ref document number: 6704729

Country of ref document: EP