EP0072713B1 - Unfastening device for screw fasteners - Google Patents

Unfastening device for screw fasteners Download PDF

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Publication number
EP0072713B1
EP0072713B1 EP82401003A EP82401003A EP0072713B1 EP 0072713 B1 EP0072713 B1 EP 0072713B1 EP 82401003 A EP82401003 A EP 82401003A EP 82401003 A EP82401003 A EP 82401003A EP 0072713 B1 EP0072713 B1 EP 0072713B1
Authority
EP
European Patent Office
Prior art keywords
motor
pin
clamp
chamber
jack
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.)
Expired
Application number
EP82401003A
Other languages
German (de)
French (fr)
Other versions
EP0072713A2 (en
EP0072713A3 (en
Inventor
Jean-Pierre Gaquere
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.)
Airbus Group SAS
Original Assignee
Airbus Group SAS
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 Airbus Group SAS filed Critical Airbus Group SAS
Priority to AT82401003T priority Critical patent/ATE19366T1/en
Publication of EP0072713A2 publication Critical patent/EP0072713A2/en
Publication of EP0072713A3 publication Critical patent/EP0072713A3/en
Application granted granted Critical
Publication of EP0072713B1 publication Critical patent/EP0072713B1/en
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B31/00—Hand tools for applying fasteners
    • B25B31/005—Hand tools for applying fasteners for temporarily connecting sheets before or during assembly operations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53687—Means to assemble or disassemble by rotation of work part
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53709—Overedge assembling means
    • Y10T29/53717—Annular work
    • Y10T29/53726—Annular work with second workpiece inside annular work one workpiece moved to shape the other
    • Y10T29/5373—Annular work with second workpiece inside annular work one workpiece moved to shape the other comprising driver for snap-off-mandrel fastener; e.g., Pop [TM] riveter
    • Y10T29/53739—Pneumatic- or fluid-actuated tool
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53796—Puller or pusher means, contained force multiplying operator
    • Y10T29/5383—Puller or pusher means, contained force multiplying operator having fluid operator

Definitions

  • the present invention provides an automatic device for unscrewing and depositing a pinning screw clip, which does not have any of the aforementioned drawbacks.
  • a first advantage of the device according to the invention lies in its simplicity of implementation as a hand pneumatic unscrewer nose used in most cases in the aeronautical field.
  • a second advantage consists in that this nose is also adaptable to the arms of the robots which can be, moreover, the same as those which pierce the staple holes and which lay the rivets for final fixing.
  • a third advantage consists in that this nose is of reduced size, thus allowing access to the staples placed in the areas of high density.
  • the body of the staple could also be held and immobilized by a hexagonal conformation of the body, which meant that the nose of the screwdriver could then comprise two rotating tubes coaxially and each terminated by a hexagonal imprint; the inner tube for the nut and the outer tube for the body of said clip.
  • pneumatic screwdrivers were going to benefit from a significant improvement consisting in putting the engine in stalling by screwing or unscrewing as soon as the appearance of a predetermined torque, which had the advantage of considerably reducing air consumption without damaging the equipment.
  • a screw pinning clip essentially comprises on the one hand, a hollow body 1 which may be made of plastic and which is integral with a spacer 1 'situated between the clamps 2 'and 2 "secured to a screw 2, and on the other hand to a spring 3 and a nut 4 engaged on the screw 2 and which acts against said spring 3.
  • the usual pneumatic system moreover comprises a body 5 receiving the motor (not shown) which drives in rotation an inner tube 6 provided with a hexagon at its end while two other tubes, one of which is external marked 7 and finished in its end by a hexagon is fixed by its connection to 5 and, the other, marked 8 and which is intermediate is also terminated at its end by an imprint also hexagonal.
  • the staple is in place and is locked when the tube 8 has turned 1/12 of a turn so that the the hexagon footprint plates of 8 are located under the points of the hexagon in the hexagonal part of the clip.
  • the clip thus grasped and locked is introduced into the hole of the assembly consisting of the sheets 9 and 10 and of the interposition product 11.
  • the nut 4 is screwed to a preset torque so that the pliers 2 ' and 2 ", moving away, come to hang on the face opposite of the assembly thus producing under the effect of the spring 3 the approach of the sheets 9 and 10 towards each other.
  • the nose can then be evacuated after rotation of 1/12 of a turn of the tube 8 relative to the tube 7.
  • the nose is replaced on the clip to lead, after proper unscrewing of the nut 4, to the complete extraction of the latter.
  • FIG. 4 is well representative of the problems encountered prior to the application of the invention insofar as the excess of product 12 was lodged in the hole even as a result of the pressurization of the sheets, thereby making it extremely difficult to extract the clip from its hole.
  • the unscrewing and extraction nose comprises, as will be explained below, a part bearing on the assembly while a jack comes to evacuate the clip from its hole as soon as the unscrewing phase of the nut.
  • Such a nose essentially comprises, as can be seen from FIG. 5, a motor part, a bushing part and a piston part.
  • the motor part is known per se, and can result either from an adaptation in hand pistol conformation, or from a more advanced conformation in an automated station in robotic applications.
  • the air motor begins by driving the bush 13 in rotation via the axis 14 and the reference motor 15.
  • This socket 13 is screwed by a thread 13 'not to the left, in another socket 16 which can rotate angularly by 30 ° to lock or unlock under the effect of friction in the screw threads and by the fact of light made in part 16 as shown in detail in FIG. 6.
  • the socket 16 is moreover immobilized in translation, as shown in Figure 7, by the axis screw 17 which allows only its single rotation of 30 °.
  • Locking takes place under the effect of the rotation of the sleeve 16 in front of the lock 18 which is itself immobilized in rotation relative to the external body 19 by means of the screw 20 which also subjects it in translation relative to the socket 16.
  • the body 19 is also immobilized in rotation on the piston 21 via the axis of the stop ring 22.
  • the piston 21 is immobilized in rotation relative to the inner cylinder guide 23 by the pin screw 17.
  • the sleeve 13 advances axially in the sleeve 16 by the fact of the presence of the left-hand thread 13 'and this, until the screw 24 comes to abut at the end of the axial light 24' made in part 15 which causes the engine to stall.
  • the sleeve 13 causes in its axial displacement, the axis 14 which then pushes on the screw of the staple marked 2.
  • said socket 13 comprising a ring 13 "with internal hexagonal imprint and having a thread in the socket 16 which is not less than the pitch of the nut 4 of the clip, advances faster than recedes said nut 4 and that, as a result, the spring 25 is then compressed under the effect of said ring 13 'which ejects, during unlocking, the clip from the nose of the screwdriver.
  • the engine part comprises two conduits, one 26 communicating the pressure of the PM motor towards the differential marked 28 in FIG. 8, the other marked 27 bringing the pressure of said differential 28 to the jack by the chamber 21 '.
  • the pressure having increased on the motor side PM, and the control pressure PT being fixed, allows the differential 28 to let air pass through the duct 27 to the chamber 21 'of the O-ring cylinder 32 and 33.
  • the piston 21 thus actuated pushes on the external body 19 which consecutively moves the clip away from the surface of the assembly formed by the sheets 9 and 10.
  • the socket 16 which carries an internal hexagon at its end, can rotate 30 ° (or 1/12 of a turn) in front of the other hexagon ring or latch 18 thanks to the presence of the screw axis 20, as shown in detail in FIG. 6.
  • the sleeve 13 moves back until the axis 14 comes up against the driver 15 from which the stalling of the motor results, which means that the stapler is in the rear position and ready to extract the next clip.
  • the differential 28 according to FIG. 8 has a flexible membrane 39 defining two chambers: one 40 PM pressure inlet, by the engine return conduit by conduit 26, and returning to the cylinder by conduit 27, the other 41 receiving the pressure witness PT arriving by conduit 42 and which may possibly be adjusted by the needle screw 42 '.
  • the differential 28 can be fixed as desired, either on the lower part of the stock 36 of an air pistol of the usual type (as is more particularly shown in FIG. 9), or on a robot head known per se 43 (not shown further in this description).
  • the operator apprehends in the usual way the stick 36 provided at its end with the pressure differential 28 while this differential is itself connected to the air intakes by the conduits 26 (PM ) and 27 (PV) passing through the trigger guard 44 further constituting physical protection of the operator's hand.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Portable Nailing Machines And Staplers (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)
  • Threshing Machine Elements (AREA)
  • Screw Conveyors (AREA)
  • Surgical Instruments (AREA)
  • Hand Tools For Fitting Together And Separating, Or Other Hand Tools (AREA)
  • Automatic Assembly (AREA)
  • Fertilizers (AREA)

Abstract

Screw clamp pin extractor for clamping pins of the type having a body fastened to a spreader lying between two tongs secured to a screw, and a nut acting against a spring. The extractor comprises a pneumatic motor, a nose portion engaging the clamp pin and carrying a sleeve brought into contact with an assembly of sheets, said extractor comprising moreover an internal mechanical system. When the motor rotates for unscrewing pins the device is locked on the pin and the nut of same can be unscrewed, and thereafter, the pin is extracted through the action of a jack. The extractor can be attached as desired either to the body of the usual manual screwing machine or a robotic head known in itself.

Description

La présente invention a trait aux agrafes d'épinglage à vis qui sont mises en oeuvre de la manière ci-après, dans le domaine aéronautique en particulier:

  • 1. mise en place de l'agrafe dans le trou de perçage puis vissage de l'écrou de l'agrafe permettant l'accostage des tôles constituant l'assemblage.
  • 2. dévissage de l'écrou suivi de l'extraction de l'agrafe de son logement.
The present invention relates to screw pinning staples which are used in the following manner, in the aeronautical field in particular:
  • 1. positioning of the clip in the drilling hole then screwing in the nut of the clip allowing the sheets forming the assembly to come into contact.
  • 2. unscrewing the nut followed by extracting the clip from its housing.

Ces deux séquences s'effectuent successivement afin de permettre au produit d'interposition disposé entre les tôles de se polymériser ou bien à l'assemblage de se positionner correctement lorsque ledit assemblage ne comporte pas un tel produit d'interposition.These two sequences are carried out successively in order to allow the interposition product disposed between the sheets to polymerize or else the assembly to position itself correctly when said assembly does not include such an interposition product.

Toutefois ces deux séquences de mise en oeuvre posent un certain nombre de problèmes pratiques:

  • - le pas de pose des agrafes est parfois réduit, ce qui nécessite des nez de vissage et de dévissage de faible encombrement,
  • - le produit d'interposition entre tôles qui est de consistance caoutchouteuse, «bave» dans les trous ce qui pose des difficultés considérables d'extraction des agrafes après polymérisation.
However, these two implementation sequences pose a certain number of practical problems:
  • - the stapling pitch is sometimes reduced, which requires screwing and unscrewing noses of small bulk,
  • - the interposition product between sheets which is of rubbery consistency, "drooling" in the holes, which poses considerable difficulties in extracting the staples after polymerization.

Or si les matériels de vissage dévissage pneumatiques actuellement proposés comportent des nez de dimensions réduites convenant à la plupart des cas rencontrés, il n'en subsiste pas moins le problème d'extraction des agrafes qui n'a pas encore reçu, à la conaissance de la Demanderesse, de solution satisfaisante à ce jour. En effet, cette opération s'effectue toujours à la main, parfois dans des zones de grande densité d'agrafes, ce qui présente, outre les aléas de dépose manuelle, certains dangers de blessures pour les opérateurs.However, while the pneumatic screwing and unscrewing materials currently proposed comprise reduced-sized noses suitable for most of the cases encountered, the problem of extracting staples which has not yet received, to the knowledge of the Applicant, of satisfactory solution to date. Indeed, this operation is always carried out by hand, sometimes in areas of high density of staples, which presents, in addition to the hazards of manual removal, certain dangers of injury to operators.

De plus, cette conception manuelle ne prédispose pas à l'évolution vers le stade de la robotique où toutes les opérations devront alors s'effectuer sans intervention humaine.In addition, this manual design does not predispose to the evolution towards the robotics stage where all operations will then have to be carried out without human intervention.

Toutes les tentatives faites en ce domaine et connues de la Demanderesse ont amené des solutions conduisant à accroître notablement l'encombrement des nez ramenant, par la même, l'utilisation possible aux seules zones à faibles densités d'agrafes.All the attempts made in this area and known to the Applicant have brought solutions leading to significantly increasing the size of the noses reducing, by the same token, the possible use only to areas with low densities of staples.

La présente invention propose un dispositif automatique de dévissage et de dépose d'agrafe d'épinglage à vis, qui ne présente aucun des inconvénients précités.The present invention provides an automatic device for unscrewing and depositing a pinning screw clip, which does not have any of the aforementioned drawbacks.

Un premier avantage du dispositif selon l'invention réside en sa simplicité de mise en oeuvre en tant que nez de dévisseuse pneumatique à main utilisée dans la plupart des cas dans le domaine aéronautique.A first advantage of the device according to the invention lies in its simplicity of implementation as a hand pneumatic unscrewer nose used in most cases in the aeronautical field.

Un deuxième avantage consiste en ce que ce nez est également adaptable sur les bras des robots qui peuvent être, par ailleurs, les mêmes que ceux qui percent les trous d'agrafes et qui posent les rivets de fixation définitive.A second advantage consists in that this nose is also adaptable to the arms of the robots which can be, moreover, the same as those which pierce the staple holes and which lay the rivets for final fixing.

Un troisième avantage consiste en ce que ce nez est de dimension réduite, en permettant de la sorte l'accès aux agrafes posées dans les zones de grande densité.A third advantage consists in that this nose is of reduced size, thus allowing access to the staples placed in the areas of high density.

Historiquement, l'idée de doter les agrafes d'épinglage d'un système six pans sur l'écrou de serrage semble remonter à 1962 au travers du brevet américain US-A-3024682.Historically, the idea of equipping pinning staples with a hexagon system on the tightening nut seems to date back to 1962 through American patent US-A-3024682.

Ceci présentait, en son temps, l'avantage de permettre la pose des agrafes par les pistolets pneumatiques qui étaient déjà très répandus à cette époque dans le milieu aéronautique.This had, in its time, the advantage of allowing the installation of staples by pneumatic guns which were already very widespread at that time in the aeronautical environment.

En outre, il était enseigné dans ce brevet que le corps de l'agrafe pouvait également être tenu et immobilisé par une conformation en six pans du corps, ce qui faisait que le nez de la visseuse pouvait alors comporter deux tubes tournants coaxia- lement et terminés, chacun, par une empreinte hexagonale; le tube intérieur pour l'écrou et le tube extérieur pour le corps de ladite agrafe.In addition, it was taught in this patent that the body of the staple could also be held and immobilized by a hexagonal conformation of the body, which meant that the nose of the screwdriver could then comprise two rotating tubes coaxially and each terminated by a hexagonal imprint; the inner tube for the nut and the outer tube for the body of said clip.

L'extraction de l'agrafe n'étant pas recherchée il était toujours possible d'assurer la simple préhension de l'agrafe par mise en coïncidence des deux six pans de l'écrou et du corps d'agrafe.The extraction of the staple not being sought, it was always possible to ensure the simple gripping of the staple by bringing the two hexagon parts of the nut and the staple body into coincidence.

Le problème de l'extraction manuelle des agrafes fut résolu dans le brevet américain US-A-3331 268 de 1967 qui proposait un dispositif d'agrafeuse-désagrafeuse adaptée au dégagement vis-à-vis d'un assemblage d'une agrafe d'épinglage comprenant un corps hexagonal contenant une vis, un écrou engagé sur cette vis et un ressort interposé entre corps et écrou, du genre comportant un moteur pneumatique dans un corps de moteur et un nez comportant, dans un manchon de liaison au corps de moteur, une douille de vissage-dévissage présentant une empreinte hexagonale pour l'entraînement en rotation de l'écrou d'une agrafe, un verrou présentant une empreinte hexagonale pour le blocage en rotation du corps de l'agrafe, et une douille de verrouillage munie d'une empreinte hexagonale pour le verrouillage axial du corps d'agrafe et ate- lée en translation au verrou en admettant un débattement angulaire entre des configurations dans lesquelles les empreintes du verrou et de la douille de verrouillage sont en coïncidence ou non. Ce brevet montrait comment il était possible à l'aide d'un troisième tube extérieur à extrémité hexagonale de produire, après une rotation de 1/12 de tour, la saisie du corps de l'agrafe par appui dudit dernier tube sous les pointes des pans du six pans de l'agrafe.The problem of the manual extraction of staples was solved in American patent US-A-3331 268 of 1967 which proposed a stapler-stapler device adapted to the clearance vis-à-vis an assembly of a staple. pinning comprising a hexagonal body containing a screw, a nut engaged on this screw and a spring interposed between body and nut, of the type comprising a pneumatic motor in an engine body and a nose comprising, in a sleeve connecting to the engine body, a screw-unscrewing sleeve having a hexagonal recess for the rotary drive of the nut of a staple, a lock having a hexagonal recess for the rotational locking of the body of the staple, and a locking sleeve provided with '' a hexagonal recess for the axial locking of the staple body and brought into translation with the bolt by allowing an angular clearance between configurations in which the imprints of the bolt and of the locking sleeve are nt in coincidence or not. This patent showed how it was possible, using a third external tube with a hexagonal end, to produce, after a rotation of 1/12 of a turn, the gripping of the body of the clip by pressing said last tube under the tips of the hexagon sides of the clip.

Dès lors, l'extraction des agrafes était possible mais restait sous la dépendance à la fois de l'habileté de l'opérateur ainsi que de l'importance de l'emprisonnement de l'agrafe dans son trou, par suite de la quantité de produit d'interposition polymérisé qui avait pu s'y répandre.Consequently, the extraction of the staples was possible but remained dependent on both the skill of the operator as well as the extent of the imprisonment of the staple in its hole, due to the amount of polymerized interposition product which may have spread there.

Il doit être noté en complément que les visseuses pneumetiques allaient bénéficier d'un perfectionnement significatif consistant à mettre le moteur au calage en vissage ou dévissage dès l'apparition d'un couple prédéterminé, ce qui avait pour avantage de réduire considérablement la consommation d'air sans détériorer pour autant le matériel.It should be noted in addition that the pneumatic screwdrivers were going to benefit from a significant improvement consisting in putting the engine in stalling by screwing or unscrewing as soon as the appearance of a predetermined torque, which had the advantage of considerably reducing air consumption without damaging the equipment.

D'une manière générale, la suite du texte va montrer comment, par le fait de la mise en oeuvre de l'invention, les techniques antérieures peuvent être améliorées pour conduire vers un dispositif évolué permettant le dévissage et l'extraction des agrafes d'épinglage à vis et ce, d'une manière entièrement automatisée.In general, the rest of the text will show how, by virtue of the implementation of the invention, the prior techniques can be improved to lead to an advanced device allowing the unscrewing and the extraction of the staples. fully automatic pinning.

Le problème posé a été résolu selon l'invention grâce à un dispositif du type proposé par le brevet US-A-3 331 268 précité, mais qui s'en distingue par les caractéristiques exposées dans la partie caractérisante de la revendication 1.The problem posed has been solved according to the invention by means of a device of the type proposed by the aforementioned patent US-A-3,331,268, but which is distinguished therefrom by the characteristics set out in the characterizing part of claim 1.

De toutes manières, l'invention va être bien comprise dans la suite du texte qui va montrer comment à l'appui des dessins annexés, elle peut être mise en oeuvre, tant en ce qui concerne son application sur des machines de vissage à main que sur bras de robot. Sur les dessins:

  • la figure 1 montre schématiquement et en coupe axiale, une agrafe d'épinglage à vis en regard de son trou d'agrafage;
  • la figure 2 montre schématiquement et en coupe axiale la même agrafe dans son trou avant polymérisation du produit d'interposition;
  • la figure 3 montre l'agrafe en position après polymérisation;
  • la figure 4 montre schématiquement comment l'agrafe est extraite de son trou;
  • la figure 5 est une vue en coupe axiale d'un nez de dévissage - extraction conforme à l'invention;
  • la figure 6 est une vue montrant un détail agrandi, selon flèche A de la figure 5;
  • la figure 7 est une vue montrant un détail agrandi, selon flèche B de la figure 5;
  • la figure 8 est une vue schématique en coupe du système de pression différentielle;
  • et la figure 9 est une vue en plan d'une machine à main de dévissage et extraction d'agrafe selon l'invention.
In any case, the invention will be clearly understood in the following text which will show how, in support of the appended drawings, it can be implemented, both with regard to its application on hand-held screwing machines and on robot arm. In the drawings:
  • Figure 1 shows schematically and in axial section, a screw pinning staple opposite its stapling hole;
  • Figure 2 shows schematically and in axial section the same clip in its hole before polymerization of the interposition product;
  • Figure 3 shows the clip in position after polymerization;
  • Figure 4 shows schematically how the clip is extracted from its hole;
  • Figure 5 is an axial sectional view of a unscrewing nose - extraction according to the invention;
  • Figure 6 is a view showing an enlarged detail, along arrow A of Figure 5;
  • Figure 7 is a view showing an enlarged detail, along arrow B of Figure 5;
  • Figure 8 is a schematic sectional view of the differential pressure system;
  • and FIG. 9 is a plan view of a hand machine for unscrewing and extracting staples according to the invention.

Si l'on se reporte à la figure 1, on voit qu'une agrafe d'épinglage à vis comporte essentiellement d'une part, un corps creux 1 qui peut être en matière plastique et qui est solidaire d'un écarteur 1' situé entre les pinces 2' et 2" solidaires d'une vis 2, et d'autre part d'un ressort 3 et un écrou 4 engagé sur la vis 2 et qui agit contre ledit ressort 3.Referring to FIG. 1, it can be seen that a screw pinning clip essentially comprises on the one hand, a hollow body 1 which may be made of plastic and which is integral with a spacer 1 'situated between the clamps 2 'and 2 "secured to a screw 2, and on the other hand to a spring 3 and a nut 4 engaged on the screw 2 and which acts against said spring 3.

Le système pneumatique habituel comporte par ailleurs un corps 5 recevant le moteur (non représenté) qui entraîne en rotation un tube intérieur 6 muni d'un six pans en son extrémité tandis que deux autres tubes dont l'un externe repéré 7 et terminé en son extrémité par un six pans est fixe par sa liaison à 5 et, l'autre, repéré 8 et qui est intermédiaire est aussi terminé en son extrémité par une empreinte également hexagonale.The usual pneumatic system moreover comprises a body 5 receiving the motor (not shown) which drives in rotation an inner tube 6 provided with a hexagon at its end while two other tubes, one of which is external marked 7 and finished in its end by a hexagon is fixed by its connection to 5 and, the other, marked 8 and which is intermediate is also terminated at its end by an imprint also hexagonal.

Dès l'engagement de la partie hexagonale du corps 1 de l'agrafe dans l'empreinte correspondante du tube 7 l'agrafe est en place et se trouve verrouillée lorsque le tube 8 a tourné de 1/12 de tour de telle sorte que les plats de l'empreinte six pans de 8 se trouvent sous les pointes du six pans de la partie hexagonale de l'agrafe.As soon as the hexagonal part of the body 1 of the staple is engaged in the corresponding imprint of the tube 7, the staple is in place and is locked when the tube 8 has turned 1/12 of a turn so that the the hexagon footprint plates of 8 are located under the points of the hexagon in the hexagonal part of the clip.

L'agrafe ainsi saisie et verrouillée est introduite dans le trou de l'assemblage constitué des tôles 9 et 10 et du produit d'interposition 11.The clip thus grasped and locked is introduced into the hole of the assembly consisting of the sheets 9 and 10 and of the interposition product 11.

Selon la seconde phase de l'opération représentée sur la figure 2, l'écrou 4 est vissé jusqu'à un couple préréglé de telle sorte que les pinces 2' et 2", en s'écartant, viennent s'accrocher sur la face opposée de l'assemblage produisant ainsi sous l'effet du ressort 3 l'approche des tôles 9 et 10 l'une vers l'autre. Le nez peut être ensuite évacué après rotation de 1/12 de tour du tube 8 par rapport au tube 7.According to the second phase of the operation shown in Figure 2, the nut 4 is screwed to a preset torque so that the pliers 2 ' and 2 ", moving away, come to hang on the face opposite of the assembly thus producing under the effect of the spring 3 the approach of the sheets 9 and 10 towards each other. The nose can then be evacuated after rotation of 1/12 of a turn of the tube 8 relative to the tube 7.

Dans la troisième phase représentée sur la figure 3, l'agrafe est laissée en place pendant toute la durée de la polymérisation du produit 11 tandis que le ressort 3, restituant son énergie tend à produire le rapprochement des tôles 9 et 10 dans la zone du trou pendant ce même temps.In the third phase shown in Figure 3, the clip is left in place for the duration of the polymerization of the product 11 while the spring 3, restoring its energy tends to produce the approximation of the sheets 9 and 10 in the area of hole during this same time.

Selon la quatrième phase préfigurant tout particulièrement la mise en oeuvre de l'invention, le nez est remis en place sur l'agrafe pour conduire, après dévissage convenable de l'écrou 4, à l'extraction complète de cette dernière.According to the fourth phase very particularly foreshadowing the implementation of the invention, the nose is replaced on the clip to lead, after proper unscrewing of the nut 4, to the complete extraction of the latter.

Il est à noter que cette figure 4 est bien représentative des problèmes rencontrés antérieurement à l'application de l'invetion dans la mesure où l'excédent de produit 12 venait se loger dans le trou même par suite de la mise en pression des tôles, en rendant de ce fait extrêmement difficile l'extraction de l'agrafe de son trou.It should be noted that this FIG. 4 is well representative of the problems encountered prior to the application of the invention insofar as the excess of product 12 was lodged in the hole even as a result of the pressurization of the sheets, thereby making it extremely difficult to extract the clip from its hole.

En effet, il était nécessaire d'exercer une traction importante dans la direction F de la figure 4, sur le nez pour obtenir l'extraction de l'agrafe, cette traction entrainant corrélativement un bossellement de l'assemblage tel que cela est représenté en pointillé sur cette même figure 4.Indeed, it was necessary to exert a significant traction in the direction F of FIG. 4, on the nose to obtain the extraction of the staple, this traction causing correlatively a bossing of the assembly such as that is represented in dotted on this same figure 4.

Le nez de dévissage et d'extraction selon l'invention comporte comme cela sera exposé par la suite une partie en appui sur l'assemblage tandis qu'un vérin vient évacuer l'agrafe de son trou dès après la phase de dévissage de l'écrou.The unscrewing and extraction nose according to the invention comprises, as will be explained below, a part bearing on the assembly while a jack comes to evacuate the clip from its hole as soon as the unscrewing phase of the nut.

Un tel nez comporte essentiellement, comme cela ressort de la figure 5, une partie moteur, une partie douille et une partie piston.Such a nose essentially comprises, as can be seen from FIG. 5, a motor part, a bushing part and a piston part.

Selon l'invention, la partie moteur est connue en soi, et peut résulter soit d'une adaptation en conformation pistolet à main, soit d'une conformation plus évoluée en poste automatisée dans des aplications robotisées.According to the invention, the motor part is known per se, and can result either from an adaptation in hand pistol conformation, or from a more advanced conformation in an automated station in robotic applications.

Dans les deux cas et selon cette figure 5, le moteur à air commence par entraîner en rotation la douille 13 par l'intermédiaire de l'axe 14 et de l'entraîneur repère 15.In both cases and according to this FIG. 5, the air motor begins by driving the bush 13 in rotation via the axis 14 and the reference motor 15.

Cette douille 13 se visse par un filetage 13' pas à gauche, dans une autre douille 16 qui peut tourner angulairement de 30° pour se verrouiller ou se déverrouiller sous l'effet du frottement dans les filets de vis et par le fait de la lumière pratiquée dans la pièce 16 tel que cela est montré en détail sur la figure 6.This socket 13 is screwed by a thread 13 'not to the left, in another socket 16 which can rotate angularly by 30 ° to lock or unlock under the effect of friction in the screw threads and by the fact of light made in part 16 as shown in detail in FIG. 6.

La douille 16 est par ailleurs immobilisée en translation, comme cela ressort de la figure 7, par la vis axe 17 qui n'autorise que sa seule rotation de 30°.The socket 16 is moreover immobilized in translation, as shown in Figure 7, by the axis screw 17 which allows only its single rotation of 30 °.

Le verrouillage s'effectue sous l'effet de la rotation de la douille 16 devant le verrou 18 qui est lui-même immobilisé en rotation par rapport au corps extérieur 19 grâce à la vis 20 qui l'assujettit également en translation par rapport à la douille 16.Locking takes place under the effect of the rotation of the sleeve 16 in front of the lock 18 which is itself immobilized in rotation relative to the external body 19 by means of the screw 20 which also subjects it in translation relative to the socket 16.

Le corps 19 est également immobilisé en rotation sur le piston 21 par l'intermédiaire de l'axe de la bague d'arrêt 22.The body 19 is also immobilized in rotation on the piston 21 via the axis of the stop ring 22.

Le piston 21 est immobilisé en rotation par rapport au guide intérieur de vérin 23 par la vis axe 17.The piston 21 is immobilized in rotation relative to the inner cylinder guide 23 by the pin screw 17.

Dans la phase de dévissage, la douille 13 avance axialement dans la douille 16 par le fait de la présence du filetage pas à gauche 13' et ce, jusqu'à ce que la vis 24 vienne buter en bout de la lumière axiale 24' pratiquée dans la pièce 15 ce qui provoque le calage du moteur.In the unscrewing phase, the sleeve 13 advances axially in the sleeve 16 by the fact of the presence of the left-hand thread 13 'and this, until the screw 24 comes to abut at the end of the axial light 24' made in part 15 which causes the engine to stall.

La douille 13 entraine dans son déplacement axial, l'axe 14 qui pousse alors sur la vis de l'agrafe repérée 2.The sleeve 13 causes in its axial displacement, the axis 14 which then pushes on the screw of the staple marked 2.

Il est à noter que ladite douille 13 comportant une bague 13" à empreinte hexagonale interne et présentant un filetage dans la douille 16 qui est d'un pas inférieur au pas de l'écrou 4 de l'agrafe, avance plus vite que ne recule ledit écrou 4 et que, de ce fait, le ressort 25 se trouve alors comprimé sous l'effet de ladite bague 13' qui éjecte, lors du déverouillage, l'agrafe du nez de la visseuse.It should be noted that said socket 13 comprising a ring 13 "with internal hexagonal imprint and having a thread in the socket 16 which is not less than the pitch of the nut 4 of the clip, advances faster than recedes said nut 4 and that, as a result, the spring 25 is then compressed under the effect of said ring 13 'which ejects, during unlocking, the clip from the nose of the screwdriver.

La partie moteur comporte deux conduits l'un 26 communiquant la pression du moteur PM vers le différentiel repéré 28 sur la figure 8, l'autre repéré 27 amenant la pression dudit différentiel 28 au vérin par la chambre 21'.The engine part comprises two conduits, one 26 communicating the pressure of the PM motor towards the differential marked 28 in FIG. 8, the other marked 27 bringing the pressure of said differential 28 to the jack by the chamber 21 '.

Le calage du moteur résultant de l'avance de la vis 24 arrivant en butée au fond de la lumière 24' selon fig. 5, provoque une différence de pression sur le différentiel 28 par le conduit 26.The engine timing resulting from the advance of the screw 24 coming into abutment at the bottom of the light 24 ' according to fig. 5, causes a pressure difference on the differential 28 through the conduit 26.

La pression, ayant augmenté côté moteur PM, et la pression témoin PT étant fixe, permet au différentiel 28 de laisser passer par le conduit 27 l'air vers la chambre 21' du vérin à joints toriques 32 et 33.The pressure, having increased on the motor side PM, and the control pressure PT being fixed, allows the differential 28 to let air pass through the duct 27 to the chamber 21 'of the O-ring cylinder 32 and 33.

Le piston 21 ainsi actionné pousse sur le corps extérieur 19 qui éloigne consécutivement l'agrafe de la surface de l'assemblage constitué par les tôles 9 et 10.The piston 21 thus actuated pushes on the external body 19 which consecutively moves the clip away from the surface of the assembly formed by the sheets 9 and 10.

Ceci est obtenu par le fait que la douille 16, qui porte un six pans intérieur en son extrémité, peut tourner de 30° (ou 1/12 de tour) devant l'autre bague six pans ou verrou 18 grâce à la présence de la vis axe 20, tel que cela est représenté en détail sur la figure 6.This is obtained by the fact that the socket 16, which carries an internal hexagon at its end, can rotate 30 ° (or 1/12 of a turn) in front of the other hexagon ring or latch 18 thanks to the presence of the screw axis 20, as shown in detail in FIG. 6.

Cette rotation de 1/12 de tour est rendue possible par suite du frottement des filets du filetage 13', entre les douilles 13 et 16, comme cela a déjà été mentionné précédemment.This 1/12 turn rotation is made possible due to the friction of the threads of the thread 13 ', between the sockets 13 and 16, as has already been mentioned previously.

De la sorte, l'extraction de l'agrafe est rendue possible puisque:

  • - le corps 19 appuie sur l'assemblage 9-10 (par l'intermédiaire d'une bague 35 qui peut être en plastique);
  • - l'agrafe est maintenue en place par le verrou 18;
  • - l'appui d'extraction est assuré par le fait que la partie six pans de la douille 16 accroche les angles six pans de l'agrafe 1, après rotation de 1/12 de tour de la douille 16 par rapport à la vis axe 20;
  • - le mouvement axial de traction est assuré par le déplacement axial de la douille 16 par rapport à la bague 35 (ou le corps 19 qui lui est lié).
In this way, extraction of the clip is made possible since:
  • - The body 19 presses on the assembly 9-10 (via a ring 35 which can be made of plastic);
  • - The clip is held in place by the latch 18;
  • the extraction support is ensured by the fact that the hexagonal part of the sleeve 16 hooks the hexagonal angles of the clip 1, after 1/12 of rotation of the sleeve 16 relative to the axis screw 20;
  • - The axial traction movement is ensured by the axial displacement of the sleeve 16 relative to the ring 35 (or the body 19 which is linked to it).

Lorsque l'agrafe est extraite de son trou, il suffit de faire tourner le moteur dans le sens du vissage, ce qui a pour effet de dévérouiller la douille 16 par suite du frottement dans les filets 13' et qui, en outre, provoque l'expulsion. Pendant ce temps, le vérin n'est plus alimenté et le ressort 34 le remet en sa position initiale.When the clip is extracted from its hole, it suffices to rotate the motor in the screwing direction, which has the effect of unlocking the sleeve 16 as a result of friction in the threads 13 'and which, in addition, causes the 'expulsion. During this time, the jack is no longer supplied and the spring 34 returns it to its initial position.

En fin de cycle, la douille 13 recule jusqu'à ce que l'axe 14 vienne buter sur l'entraîneur 15 d'où résulte le calage du moteur, ce qui fait que la désagrafeuse est en position arrière et prête à extraire l'agrafe suivante.At the end of the cycle, the sleeve 13 moves back until the axis 14 comes up against the driver 15 from which the stalling of the motor results, which means that the stapler is in the rear position and ready to extract the next clip.

Le différentiel 28 selon figure 8 possède une membrane souple 39 définissant deux chambres:
l'une 40 d'arrivée de pression PM, par le conduit de retour du moteur par le conduit 26, et retournant au vérin par le conduit 27, l'autre 41 recevant la pression témoin PT arrivant par le conduit 42 et qui peut éventuellement être réglée par la vis pointeau 42'.The differential 28 according to FIG. 8 has a flexible membrane 39 defining two chambers:
one 40 PM pressure inlet, by the engine return conduit by conduit 26, and returning to the cylinder by conduit 27, the other 41 receiving the pressure witness PT arriving by conduit 42 and which may possibly be adjusted by the needle screw 42 '.

Le différentiel 28 peut être fixé au choix, soit sur la partie inférieure de la crosse 36 d'un pistolet à air de type usuel (comme cela est plus particulièrement représenté sur la figure 9), soit sur une tête de robot connue en soi 43 (non représentée plus avant dans la présente description).The differential 28 can be fixed as desired, either on the lower part of the stock 36 of an air pistol of the usual type (as is more particularly shown in FIG. 9), or on a robot head known per se 43 (not shown further in this description).

Selon la première solution représentée sur la figure 9, l'opérateur appréhende selon la manière habituelle la crosse 36 munie en son extrémité du différentiel de pression 28 tandis que ce différentiel est lui-même connecté aux prises d'air par les conduits 26 (PM) et 27 (PV) passant dans le pontet 44 constituant de surcroît une protection physique de la main de l'opérateur.According to the first solution represented in FIG. 9, the operator apprehends in the usual way the stick 36 provided at its end with the pressure differential 28 while this differential is itself connected to the air intakes by the conduits 26 (PM ) and 27 (PV) passing through the trigger guard 44 further constituting physical protection of the operator's hand.

Le rôle du différentiel de pression est multiple:

  • - lorsque le moteur tourne au dévissage:
    • la pression témoin PT réglée dans la chambre 41 par la vis pointeau 42' ;
    • la pression du moteur PM est inférieure à PT dans la chambre 40;
  • - lorsque le moteur tourne au vissage:
    • la pression du moteur PM est nulle dans la chambre 40;
    • l'air n'alimente pas le vérin et la membrane 39 est dans la position représentée en traits forts sur la figure 8.
  • - lorsque le moteur est calé au dévissage:
    • la pression témoin PT reste constante dans la chambre 41;
    • la pression du moteur PM est supérieure à PT dans la chambre 40;
    • la membrane 39 est dans la configuration représentée en pointillé sur la figure 8 et le vérin se retrouve alimenté en air par le conduit 27;
  • - lorsque le moteur est calé au vissage:
    • la pression témoin PT reste constante dans la chambre 41;
    • la pression du moteur PM est nulle dans la chambre 40;
    • l'air n'alimente pas le vérin, et la membrane 39 est dans la configuration représentée en trait plein sur la figure 8.
The role of the pressure differential is multiple:
  • - when the engine is running when unscrewed:
    • the witness pressure PT set in chamber 41 by the needle screw 42 ';
    • the pressure of the motor PM is less than PT in the chamber 40;
  • - when the engine is running when screwing:
    • the pressure of the PM motor is zero in the chamber 40;
    • the air does not supply the jack and the membrane 39 is in the position shown in strong lines in FIG. 8.
  • - when the engine is stalled when unscrewed:
    • the control pressure PT remains constant in chamber 41;
    • the pressure of the motor PM is greater than PT in the chamber 40;
    • the membrane 39 is in the configuration shown in dotted lines in FIG. 8 and the jack is supplied with air by the conduit 27;
  • - when the engine is stalled when screwing:
    • the control pressure PT remains constant in chamber 41;
    • the pressure of the PM motor is zero in the chamber 40;
    • the air does not supply the jack, and the diaphragm 39 is in the configuration shown in solid lines in FIG. 8.

De la sorte on voit que les séquences automatiques de dévissage-extraction des agrafes ou de désagrafage ce qui est identique, sont assurées en totalité par le dispositif ci-dessus décrit conformément à l'invention.In this way we see that the automatic sequences of unscrewing-extracting staples or unclipping which is identical, are provided in full by the device described above according to the invention.

En outre, on voit également que le nez 5 peut être fixé par un manchon 30, soit sur un corps 36 de visseuse usuelle à main comme cela est représenté sur les figures 5 et 9, soit sur une tête de robot connue en soi et symbolisée par le repère 43.
Il est évident que, dans ce dernier cas, le robot mis en oeuvre pour l'opération de désagrafage pourrait être le même que celui qui:

  • - perce les trous;
  • - positionne et visse les agrafes;
  • - désagrafe (conformément à l'invention);
  • - pose les rivets (ou boulons) définitifs, seules les têtes étant changées en fonction des opérations envisagées.
In addition, it can also be seen that the nose 5 can be fixed by a sleeve 30, either on a body 36 of a conventional hand-held screwdriver as shown in FIGS. 5 and 9, or on a robot head known per se and symbolized by the reference 43.
It is obvious that, in the latter case, the robot used for the stapling operation could be the same as that which:
  • - drills holes;
  • - positions and screws the staples;
  • - stapler (according to the invention);
  • - installs the final rivets (or bolts), only the heads being changed depending on the operations envisaged.

Claims (5)

1. A clamp-pin mounting-extracting device adapted to release from an assembly a clamp-pin comprising a hexagonal body (1) containing a screw (2), a nut (4) engaging the screw and a spring (3) interposed between the body and the nut, of the type comprising:
- a pneumatic motor in a motor housing (36-43) with a motion take-off (15) for a driving shaft (14) and
- a nose (5) comprising, in a sleeve (30) for connection to the motor body,
a screwing-unscrewing bushing (13) driven by the driving shaft (14) and formed with a hexagon socket thereon for receiving the body of the clamp-pin,
a lock (18) formed with a hexagon socket thereon for rotatably blocking the clamp pin body, and a locking bushing (16) provided with a hexagon socket thereon for axial locking of the clamp pin body and coupled in translation to the lock by screws-axes (20) received in radial openings to permit relative rotation of 30° between configurations in which the sockets of the lock and the locking bushing coincide or not,

such clamp-pin mounting-extracting device being characterized in that:
- the screwing-unscrewing bushing (13) cooperates with the locking bushing (16) by friction along a left-hand threading (13'), is axially slidable with its driving shaft (14) in respect to the motion take-off (15) and contains a ring (13") formed with a hexagon socket therein for receiving the clamp pin nut and mounted so as to be axially slidable against a spring (25),
the nose (5) comprises an outer body (19), to which the lock (18) is rotatably blocked by screws-axes (20), which axially slides on the locking bushing (16) under the effect of a jack or piston (21) secured to the outer body (19) by a stop ring (22), such piston upon which a return spring (34) acts being guided in translation in a chamber (21') of the sleeve by an inner guide (23) by means of screws-axes (17), such inner guide and such screws-axes also guiding in rotation the locking bushing, and such outer body also carrying a protective ring (35) for contact with the assembly (9-10),
the pneumatic motor may stall without air switching off upon axial abutting of the stop screw (24) and a pneumatic differential device is associated thereto comprising a differential which carries a membrane (39) defining a first chamber (40), into which a motor pressure conduit (26) and a jack control conduit (27) open, and a second chamber (41), into which a conduit (42) opens at a motor reference pressure, possibly adjustable by a needle screw (42') passing through means for connecting the differential to the motor body, the arrangement of the motor, the nose and the pneumatic differential device being such that, when the motor rotates for unscrewing, the screwing-unscrewing bushing (13) rotates in the locking bushing (16) while driving it into rotation by friction over 30° so as to lock the clamp-pin and moving forward therein so as to force on the pin of the clamp-pin and unscrew the nutthereof, then, after motor stall, the differential feeds the chamber (21') of the jack to cause removal of the clamp-pin whereas, when the motor rotates for screwing, the differential stops feeding the jack the piston of which is moved backward by the return spring (34) and the rotation of the screwing-unscrewing bushing (13) causes by friction along the left-hand thread (13') unlocking of the clamp-pin and return of the various components into their initial positions.
2. A clamp-pin extracting device according to claim 1, characterized in that the conduits provide for:
- supply (27) of motor steering pressure (PM) taken from the inlet of the motor (36-44) rotating for unscrewing,
- supply (27) of air to the jack taken from the differential (28),
- supply (42) of the reference pressure (PT) to the chamber (41) of the differential (28), the function of said supplies permitting:
- when the motor rotates for unscrewing: the reference pressure (PT) to be held constant in the chamber (41),

the motor pressure (PM) to be lower than (PT) in the motor pressure chamber (40), so that there is no supply to the jack (21),
- when the motor stalls for unscrewing:
the reference pressure (PT) to be constant in chamber (41),
the motor pressure (PM) to be higher than (PT) in the motor pressure chamber (40), hence supplying the jack,
- when the motor rotates for screwing,
the reference pressure (PT) to be constant in the chamber (41),
the motor pressure (PM) to be zero in the motor chamber (40), the pressure take-off being situated at the supply to the unscrewing motor so that there is no supply to the jack,
- when the motor stalls for screwing,
the reference pressure (PT) to be constant in the chamber (41),
the motor pressure (PM) to be zero, so that there is no supply to the jack.
3. A clamp-pin extracting device according to claims 1 and 2, characterized in that the motor, the nose and the pneumatic differential device constitute a portable machine with gun grip and trigger while the motor pressure and jack supply conduits are disposed in an assembly which further provides for mechanical protection of an operator's hand.
4. A clamp-pin extracting device according to claims 1 and 2, characterized in that the motor, the nose, the pneumatic differential device and the conduits constitute an assembly carried by a robot arm.
5. A clamp-pin extracting device according to claim 1, characterized in that the jack is of an annular configuration about the rotary portion of the nose.
EP82401003A 1981-08-13 1982-06-02 Unfastening device for screw fasteners Expired EP0072713B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT82401003T ATE19366T1 (en) 1981-08-13 1982-06-02 DEVICE FOR RIVETING SCREW RIVETS.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8115683 1981-08-13
FR8115683A FR2511288A1 (en) 1981-08-13 1981-08-13 SCREW LINER STAPLER CLEANER

Publications (3)

Publication Number Publication Date
EP0072713A2 EP0072713A2 (en) 1983-02-23
EP0072713A3 EP0072713A3 (en) 1983-03-09
EP0072713B1 true EP0072713B1 (en) 1986-04-23

Family

ID=9261454

Family Applications (1)

Application Number Title Priority Date Filing Date
EP82401003A Expired EP0072713B1 (en) 1981-08-13 1982-06-02 Unfastening device for screw fasteners

Country Status (8)

Country Link
US (1) US4459728A (en)
EP (1) EP0072713B1 (en)
JP (1) JPS5840275A (en)
AT (1) ATE19366T1 (en)
CA (1) CA1192027A (en)
DE (1) DE3270737D1 (en)
ES (1) ES514952A0 (en)
FR (1) FR2511288A1 (en)

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CN109138843B (en) * 2018-09-14 2020-08-04 河源富马硬质合金股份有限公司 High-strength and high-toughness hard alloy percussion drill bit

Also Published As

Publication number Publication date
EP0072713A2 (en) 1983-02-23
DE3270737D1 (en) 1986-05-28
ES8306630A1 (en) 1983-06-01
FR2511288A1 (en) 1983-02-18
JPS5840275A (en) 1983-03-09
ES514952A0 (en) 1983-06-01
ATE19366T1 (en) 1986-05-15
FR2511288B1 (en) 1983-12-16
CA1192027A (en) 1985-08-20
US4459728A (en) 1984-07-17
EP0072713A3 (en) 1983-03-09

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