EP0904467B1 - Commande de mecanisme rotatif a systeme d'alimentation - Google Patents

Commande de mecanisme rotatif a systeme d'alimentation Download PDF

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Publication number
EP0904467B1
EP0904467B1 EP97918141A EP97918141A EP0904467B1 EP 0904467 B1 EP0904467 B1 EP 0904467B1 EP 97918141 A EP97918141 A EP 97918141A EP 97918141 A EP97918141 A EP 97918141A EP 0904467 B1 EP0904467 B1 EP 0904467B1
Authority
EP
European Patent Office
Prior art keywords
pressure
control
valve
hydraulic
arrangement
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 - Lifetime
Application number
EP97918141A
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German (de)
English (en)
Other versions
EP0904467A1 (fr
Inventor
Reinhold Schniederjan
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.)
Brueninghaus Hydromatik GmbH
Original Assignee
Brueninghaus Hydromatik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Brueninghaus Hydromatik GmbH filed Critical Brueninghaus Hydromatik GmbH
Publication of EP0904467A1 publication Critical patent/EP0904467A1/fr
Application granted granted Critical
Publication of EP0904467B1 publication Critical patent/EP0904467B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/128—Braking systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/08—Regulating by delivery pressure

Definitions

  • the invention relates to a hydraulic control, in particular for controlling the Slewing gear of an excavator.
  • a hydraulic control according to the preamble of claim 1 goes e.g. from the DE 44 05 472 A1.
  • the hydraulic circuit diagram of this well-known hydraulic Control is for better understanding of the invention in Figure 2 of the drawing reproduced and is briefly described below with reference to Figure 2.
  • the known slewing gear control 1 shown in FIG. 2 comprises a drive hydraulic pump 2, the working lines 3, 4 with a drive hydraulic motor, not shown to drive the slewing gear of an excavator, also not shown connected is.
  • the hydraulic control comprises a manual control transmitter 5, which Control lines 6 and 7 are connected to a pilot control device 8.
  • the Pilot control device 8 becomes an adjusting device 9 the necessary signal pressure supplied directly from the control pressure prevailing in the control lines 6, 7 is won.
  • the adjusting device comprises one between two signal pressure chambers 10 and 11 arranged adjusting piston 12, which is based on the displacement of the working hydraulic pump 2 acts.
  • the Pilot control device 8 When the hand control transmitter 5 is reset to its neutral position, the Pilot control device 8 also in its neutral position, so that the adjusting device 9 no longer with hydraulic energy, i.e. is supplied with signal pressure.
  • the working hydraulic pump 2 is on the return springs 13 and 14 to zero displacement slowly swung back.
  • a secondary suction device 74 which consists of the Check valves 15 and the suction filter 16, pressurized fluid into that Signal pressure chamber 10 or 11 sucked, the volume of the reset process increases.
  • the object is in connection with the characterizing features of claim 1 solved with the generic features.
  • the invention is based on the knowledge that when the signal pressure is obtained for the Adjustment device from that provided by the feed device Food pressure two goals can be achieved simultaneously. First, it ensures that after resetting the manual control transmitter and thus also the pilot control device in their respective neutral position filtered pressure fluid to compensate for the volume differences during the reset process in the signal pressure chambers of the adjusting device continues to flow. There is no need for a suction device. On the other hand ensures that in the event of a failure of the feed device, e.g. by clogging the Feed filter, no signal pressure is available and thus the working hydraulic pump in swings its neutral position back. This will damage the working hydraulic pump and the working hydraulic motor safely avoided in the event of this malfunction.
  • the pilot control device can be used in a manner known per se 4/3-way valve should be designed.
  • the Pilot control device with separate valve areas for one control pressure chamber each to form the adjusting device separately. This creates a separate control of turning the slewing gear to the right and left. Unless with this arrangement nevertheless dirt particles should penetrate into the valve of the pilot control device and should block them in one of their control positions, it is ensured that at Change the direction of control by means of the manual control transmitter and the corresponding Reversal of pressurization of control lines 6 and 7 is not accidental Acceleration of the slewing gear in the opposite direction he follows.
  • the pilot control device can in this case according to claim 5 as a 6/3-way valve be trained.
  • a pressure cut valve between the Control pressure lines and the pressure fluid tank can be provided to the pressure in the Limit control lines to a predetermined maximum pressure.
  • a brake valve can be provided to a to enable slow, delayed braking of the slewing gear.
  • Figure 1 shows a first embodiment of the hydraulic according to the invention Control 1.
  • the slewing gear is driven by a hydraulic motor, not shown, which is in a hydraulic formed by the working lines 3 and 4 Working circuit is located, which is supplied by the working hydraulic pump 2.
  • the The leakage losses in the hydraulic circuit 3, 4 are replenished by means of the Feed device 19, which comprises a feed pump 20.
  • the feed pump 20 is in the Embodiment coupled to the working hydraulic pump 2 and sucks over the Feed filter 18 pressure fluid from the pressure fluid tank and feeds this into the Feed line 30 a.
  • the feed line 30 is via check and pressure control valves 31 and 32 connected to the working lines 3 and 4 to deliver the pressurized fluid into the respective feed low pressure working line 3 or 4. This ensures that in the working circuit 3, 4 pressure fluid as a working medium to a sufficient extent is available.
  • To avoid overpressure in the feed line 30 is also a pressure relief valve 33 which connects the feed line 30 to the pressure fluid tank 17, intended.
  • the working hydraulic pump 2 is controlled manually in the exemplary embodiment the operator via the manual control transmitter 5, which has a control line filter 34 with a Control pressure feed 35 is connected.
  • the hand control transmitter 5 leads in Depending on the intended direction of rotation of the slewing gear one of the two Control lines 6 or 7 to a control pressure, the amount of which is intended Torque is proportional.
  • the respective other control line 7 or 6 is via the Tank line 36 vented.
  • the control lines 6 and 7 are via throttling points 37 and 38 to the pilot chambers 39 and 40 of the pilot control device 8.
  • the pressure difference between the Pilot chambers 39 and 40 cause the valve body 41 to move Pilot control device 8 in one of the two control positions 42 or 43, depending on which of the control lines 6 and 7 is acted upon by the control pressure.
  • a pressure cut-off valve 50 is between one with the control pressure lines 6 and 7 connected shuttle valve 49 and the pressure fluid tank 17 arranged.
  • the Pressure cut-off valve 50 causes a pressure limitation in the in each case pressure-carrying control pressure line 6 or 7 prevailing control pressure, the Maximum pressure can be predetermined via the electromagnetic transmitter 51.
  • a brake valve 45 which controls controlled and sensitive braking enables.
  • the brake valve 45 is between the one with the pilot control device 8 connected tank line 44 and the pressurized fluid tank 17.
  • the brake valve 45 is on the one hand via the control pressure connecting line 52 and the shuttle valve 49 the control pressure prevailing in the control lines 6 and 7 and, on the other hand, via the Working pressure connection line 53 and the shuttle valve 54 from that in the high pressure side working line 3 or 4 prevailing working pressure.
  • the signal pressure does not become immediate from the control pressure lines 6 and 7, but indirectly via a pressure relief valve 56 obtained from the feed pressure prevailing in the feed line 30.
  • This is the Pilot control device 8 via a control pressure line 57, the pressure control valve 56 and the Throttle point 58 connected to the feed line 30.
  • the pressure control valve 56 regulates the signal pressure prevailing in the signal pressure line 57 to a pressure level that from the equilibrium of forces between that via the control pressure connecting line 52 and the changeover valve 49 brought up control pressure of the respective pressure-carrying Control pressure line 6 or 7 and the spring action by the compression spring 59 on the one hand and the signal pressure brought in via the detour line 60 on the other hand results.
  • a signal pressure is set in the signal pressure line 57 which, owing to the Spring loading by means of the compression spring 59 is slightly higher than that in the pressure-carrying control pressure line 6 or 7 prevailing control pressure.
  • the pressure difference between the signal pressure and the control pressure is preferably 1 to 2 bar and is adjustable via the adjustable compression spring 59.
  • the compression spring 59 ensures that even after sinking of the signal pressure in the signal pressure lines 6 and 7 to zero in the signal pressure line 57 low pressure of preferably 1 to 2 bar is maintained, which for the afterflow of the pressure fluid in the signal pressure chambers 10 and 11 during the reset process is sufficient.
  • the further development according to the invention ensures that filtered oil is always out the feed line 30 of the pilot control device 8 and the adjusting device 9 becomes. This reliably prevents contamination of these devices. Further can be a suction device with a relatively large suction filter are omitted, so that the hydraulic control according to the invention is structurally more compact can be designed. Furthermore, the adjustment device is continuously filled with oil provided.
  • Figure 3 shows a further embodiment of the invention with an additional Further education.
  • the elements already described with reference to FIG. 1 are included matching reference numerals, so that there is a related repetitive description is unnecessary.
  • valve body 41 of the pilot control device 8 has separate ones Valve areas 42a, 61a, 43a and 42b, 61b and 43b.
  • the valve area 42a, 61a, 43a with the control positions 42a and 43a and the neutral position 61a is used for Actuation of the signal pressure chamber 11.
  • the valve area 42b, 61b, 63b also serves the control positions 42b and 43b and the neutral position 61b for controlling the Control pressure chamber 10.
  • the two valve areas are in one Valve body 41 housed.
  • the function of this 6/3-way valve is largely that same as that of the 4/3-way valve, which in the embodiment according to FIG. 1 Is used.
  • the separation of the control for right and left swiveling has the advantage that if the pilot control device 8 is blocked as a result of the intrusion of Dirt particles no dangerous malfunction occurs. While at Embodiment according to FIG. 1 in the same way as that in FIG. 2 reproduced prior art when the pilot control device 8 is blocked one of their control positions 42 or 43 and a subsequent print page change in the control lines 7 and 6 swiveling the slewing gear without the intentional change of direction is caused, this malfunction in the The embodiment of Figure 3 avoided. If in the embodiment of Figure 3 the pilot control device 8 in one of its control positions, e.g.
  • control pressure chamber 11 is not in unintentionally acted upon by the control pressure, since the control pressure chamber 11 via the in the control position 42a pilot control device 8 blocked with the signal pressure line 57a is connected.
  • the signal pressure line 57a is essentially depressurized, however the control pressure prevailing in the control pressure line 57a via the pressure control valve 56a of the control pressure prevailing in the control line 6 is predetermined. Since after repentance In the intended direction of rotation, the control line 6 is depressurized, there is no fault Swiveling the drive hydraulic pump 2 in the unintended original Direction of conveyance. Thus, an acceleration of the slewing gear into the unintended Direction of rotation effectively prevented.
  • FIG 4 shows an embodiment of one in the context of the present invention used pressure control valves 56, 56a and 56b.
  • the signal pressure line 57 is connected to the pressure fluid tank 17 via a first control edge 70 and connected to the feed line 30 via a second control edge 71.
  • a first one Pressure chamber 72 is connected to one of the control pressure connecting line 52 Control lines 6 and 7 connected, while a second pressure chamber 73 via a Detour line 60 is connected to the signal pressure line 57.
  • a preferably adjustable compression spring 59 is provided in the First pressure chamber 72.
  • the invention is not limited to the exemplary embodiments shown. In particular can the specific configurations of the pilot control device and Adjustment device within the scope of the present invention can also be of a different type.
  • Pressure regulating valves 56, 56a and 56b can have known pressure regulating valves in any Construction are used.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

L'invention concerne une commande hydraulique, notamment pour le mécanisme rotatif d'un excavateur. Dans un circuit d'entraînement, une pompe hydraulique d'entraînement (2) et un moteur hydraulique d'entraînement sont reliés par l'intermédiaire de conduites de travail (4, 3). Cette commande hydraulique comprend un dispositif de réglage (9) pour régler un piston de régulation monté entre deux chambres de pression de régulation (10, 11) et agissant sur le volume de refoulement d'une pompe hydraulique d'entraînement (2). D'autre part, une unité de pilotage (8) applique une pression de régulation à l'une des chambres de pression de régulation (10, 11) en fonction de la différence de pression entre deux conduites de commande (6, 7). Conformément au perfectionnement selon l'invention, l'unité de pilotage (8) est reliée à une conduite d'alimentation (30) par l'intermédiaire d'une soupape de régulation de pression (56) et, dans une position de pilotage (42, 43), elle relie une des deux chambres de pression de régulation (10, 11) à la conduite d'alimentation (30) par l'intermédiaire de la soupape de régulation de pression (56) et l'autre chambre (11, 10) à un réservoir de fluide sous pression (17). Dans une position neutre (61), les deux chambres de pression de régulation (10, 11) sont reliées à la conduite d'alimentation (30) par l'intermédiaire de la soupape de régulation de pression (56).

Claims (10)

  1. Commande hydraulique, en particulier pour la commande d'un mécanisme rotatif d'un excavateur, comportant un circuit d'entraínement hydraulique (2,3,4) avec une pompe hydraulique d'entraínement (2) et un moteur hydraulique d'entraínement ainsi que deux conduites de service (3,4), raccordant la pompe hydraulique d'entraínement (2) et le moteur hydraulique d'entraínement, un dispositif d'alimentation (19) pour alimenter le fluide sous pression dans le circuit d'entraínement (2,3,4), un dispositif de réglage (9) pour régler le piston de manoeuvre (12) situé entre deux chambres de pression de commande (10,11) agissant sur le volume de déplacement de la pompe hydraulique de travail (2) et un dispositif pilote (8) qui, en fonction de la différence de pression entre deux conduites de commande (6,7) amène une pression de réglage sur les chambres de pression de réglage (10,11),
    caractérisé en ce que
    le dispositif pilote (8) est raccordé au dispositif d'alimentation (19) par l'intermédiaire d'au moins une soupape de régulation de pression (56), le dispositif pilote (8) raccordant dans une position de commande (42,43) l'une des deux chambres de pression de réglage (10;11) par l'intermédiaire de la soupape de régulation de pression (56) avec le dispositif d'alimentation (19) et l'autre chambre de pression de réglage respective (11;10) avec un réservoir de fluide sous pression (17) et dans une position neutre (41) les deux chambres de pression de réglage (10,11) par l'intermédiaire de la soupape de régulation de pression (56) avec le dispositif d'alimentation (19).
  2. Commande hydraulique selon la revendication 1, caractérisée en ce qu'il s'agit pour le dispositif pilote (8) d'une soupape à 4/3 voies.
  3. Commande hydraulique selon la revendication 1, caractérisée en ce que le dispositif pilote (8) comporte deux parties de soupape séparées (42a,61a,43a;42b,61b,43b) chaque fois pour la liaison de l'une des deux chambres de pression de réglage (10,11) par l'intermédiaire d'une soupape de régulation de pression (56a;56b) affectée chaque fois à la partie soupape (42a,61a,43a;42b,61b,43b) avec le dispositif d'alimentation (19).
  4. Commande hydraulique selon la revendication 3, caractérisée en ce que les deux parties de soupape (42a, 61a, 43a ;42b,61b,43b) du dispositif pilote (8) présentent une position neutre (61a;61b), dans laquelle la chambre de pression de commande affectée (11;10) est raccordée par l'intermédiaire de la soupape de régulation de pression affectée (56a ;56b) au dispositif d'alimentation (19).
  5. Commande hydraulique selon la revendication 3 ou 4, caractérisée en ce que pour le dispositif pilote (8) il s'agit d'une soupape à 6/3 voies.
  6. Commande hydraulique selon l'une des revendications 1 à 5, caractérisée en ce que le dispositif d'alimentation (19) comporte une pompe d'alimentation (20) qui est raccordée par des soupapes anti-retour (31,32) aux conduites de service (3,4).
  7. Commande hydraulique selon l'une des revendications 1 à 6, caractérisée en ce que la soupape de régulation de pression (56) ou les soupapes de régulation de pression (56a,56b) ajustent la pression de réglage à la pression de commande qui règne dans la conduite de commande amenant la pression (6,7).
  8. Commande hydraulique selon l'une des revendications 1 à 7, caractérisée en ce que,
    la soupape de régulation de pression (56) ou les soupapes de régulation de pression (56a, 56b) règlent la pression de réglage à une pression légèrement supérieure à la pression de commande qui règne dans la conduite de commande amenant la pression (6,7).
  9. Commande hydraulique selon l'une des revendications 1 à 8, caractérisée en ce qu'une soupape de coupure de pression (50) est prévue entre les conduites de commande (6,7) et le réservoir de fluide sous pression (17), soupape de coupure de pression qui limite la pression dans les conduites de commande (6,7) à une pression maximum préétablie.
  10. Commande hydraulique selon l'une des revendications 1 à 9, caractérisée en ce qu'il est prévu une soupape de ralentissement (47) entre le dispositif pilote (8) et le réservoir de fluide sous pression (17) qui étrangle la liaison entre les chambres de pression de réglage (10,11) et le réservoir de fluide sous pression (17) en fonction de la différence de pression entre la conduite de pression de commande (6,7) amenant la pression et la conduite de service (3,4) amenant la pression.
EP97918141A 1996-05-22 1997-04-17 Commande de mecanisme rotatif a systeme d'alimentation Expired - Lifetime EP0904467B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19620665A DE19620665C1 (de) 1996-05-22 1996-05-22 Hydraulische Steuerung, insbesondere zum Ansteuern des Drehwerks eines Baggers
DE19620665 1996-05-22
PCT/EP1997/001920 WO1997044535A1 (fr) 1996-05-22 1997-04-17 Commande de mecanisme rotatif a systeme d'alimentation

Publications (2)

Publication Number Publication Date
EP0904467A1 EP0904467A1 (fr) 1999-03-31
EP0904467B1 true EP0904467B1 (fr) 2000-03-01

Family

ID=7795054

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97918141A Expired - Lifetime EP0904467B1 (fr) 1996-05-22 1997-04-17 Commande de mecanisme rotatif a systeme d'alimentation

Country Status (5)

Country Link
US (1) US6167702B1 (fr)
EP (1) EP0904467B1 (fr)
JP (1) JP2000510933A (fr)
DE (2) DE19620665C1 (fr)
WO (1) WO1997044535A1 (fr)

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DE102004033860B4 (de) * 2004-07-13 2014-02-13 Linde Hydraulics Gmbh & Co. Kg Hydraulische Steuerung, insbesondere Drehwerkssteuerung

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DE10000110B4 (de) * 2000-01-04 2004-06-24 Sauer-Sundstrand Gmbh & Co. Hydrostatischer Fahrzeugantrieb mit Steuerungseinrichtung und Steuerungseinrichtung für hydrostatische Antriebe
US6644335B2 (en) * 2000-12-15 2003-11-11 Caterpillar S.A.R.L. Precision orificing for pilot operated control valves
DE50113501D1 (de) * 2001-01-23 2008-03-06 Brueninghaus Hydromatik Gmbh Hydraulische Steuerung, insbesondere zum Ansteuern des Drehwerks eines Baggers
DE10110935C1 (de) * 2001-01-23 2002-11-28 Brueninghaus Hydromatik Gmbh Hydraulische Steuerung, insbesondere zum Ansteuern des Drehwerks eines Baggers
DE10238614A1 (de) * 2002-08-17 2004-02-26 Claas Selbstfahrende Erntemaschinen Gmbh Ölvolumenausgleich im Ölkreislauf des hydraulischen Fahrantriebes einer selbstfahrenden Arbeitsmaschine
DE10331533B4 (de) * 2003-07-11 2005-11-03 Brueninghaus Hydromatik Gmbh Steuer- und Stellsystem für ein Hub- und Kippwerk eines Arbeitswerkzeugs in einer mobilen Arbeitsmaschine
US8661804B2 (en) 2009-12-11 2014-03-04 Caterpillar Inc. Control system for swashplate pump
DE102010001150A1 (de) * 2010-01-22 2011-07-28 Robert Bosch GmbH, 70469 Verfahren zum Steuern der Fördermenge einer Förderpumpe
DE102010020528B4 (de) * 2010-05-14 2023-05-17 Robert Bosch Gmbh Hydrostatischer Antrieb
US9611931B2 (en) * 2012-05-24 2017-04-04 GM Global Technology Operations LLC Method to detect loss of fluid or blockage in a hydraulic circuit using exponentially weighted moving average filter
WO2016025855A1 (fr) * 2014-08-15 2016-02-18 Eclipse, Inc. Brûleur à double sortie et procédé
JP2018513934A (ja) 2015-03-10 2018-05-31 ゾンデルホフ エンジニアリング ゲーエムベーハー 漏洩ロスの相殺のための方法、および、規定の量の液体を運搬するための運搬システム

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004033860B4 (de) * 2004-07-13 2014-02-13 Linde Hydraulics Gmbh & Co. Kg Hydraulische Steuerung, insbesondere Drehwerkssteuerung

Also Published As

Publication number Publication date
WO1997044535A1 (fr) 1997-11-27
DE19620665C1 (de) 1997-06-12
DE59701185D1 (de) 2000-04-06
US6167702B1 (en) 2001-01-02
EP0904467A1 (fr) 1999-03-31
JP2000510933A (ja) 2000-08-22

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