EP1440211B1 - Arbeitsmaschine und verfahren zum betreiben einer arbeitsmaschine - Google Patents

Arbeitsmaschine und verfahren zum betreiben einer arbeitsmaschine Download PDF

Info

Publication number
EP1440211B1
EP1440211B1 EP02802301A EP02802301A EP1440211B1 EP 1440211 B1 EP1440211 B1 EP 1440211B1 EP 02802301 A EP02802301 A EP 02802301A EP 02802301 A EP02802301 A EP 02802301A EP 1440211 B1 EP1440211 B1 EP 1440211B1
Authority
EP
European Patent Office
Prior art keywords
undercarriage
electronics
work machine
machine according
superstructure
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 - Fee Related
Application number
EP02802301A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1440211A1 (de
Inventor
Jürgen LEGNER
Wolfgang Rebholz
Hermann Beck
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.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP1440211A1 publication Critical patent/EP1440211A1/de
Application granted granted Critical
Publication of EP1440211B1 publication Critical patent/EP1440211B1/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

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
    • 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
    • E02F9/2292—Systems with two or more pumps
    • 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
    • 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
    • E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
    • E02F9/0866—Engine compartment, e.g. heat exchangers, exhaust filters, cooling devices, silencers, mufflers, position of hydraulic pumps in the engine compartment
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • 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

Definitions

  • the present invention relates to a work machine with a hydrostatic drive, in particular a Wheeled excavator according to the preamble of claim 1 and a method of operating the work machine.
  • Such machines are used in a variety of ways e.g. as a wheeled excavator, crane etc.
  • a hydrostatic drive and have an undercarriage and one on the undercarriage rotatably mounted upper carriage on; in the undercarriage is a Drive motor for driving the wheels provided by a in the upper carriage arranged pump supplied with pressure medium is, with additional high-pressure consumers are provided can.
  • DE 19956402 A1 discloses a wheeled excavator according to the preamble of claims 1 and 26, at that to control the direction of movement and speed required control valve in the area of Uriterwagens is arranged. This reduces the number hydraulic connections for propulsion two lines, namely a delivery line and a container line. Nevertheless, the number remains through the rotary feedthrough up to leading further leads.
  • this is hydraulic Braking torque limited to small values. Usually slows down a device with such a control concept a maximum delay of about 10 - 12%. This means, that there may be situations where that Braking capacity is insufficient to ensure safe operation guarantee. This can, for example, during descent in the Overrun will be the case when the slope is steeper, as the braking power of the hydraulic motor, reducing the risk the overthrust for the entire drive train exists.
  • the present invention is based on the object indicate a working machine, in particular a wheeled excavator, which avoids the disadvantages of the prior art.
  • a working machine in particular a wheeled excavator
  • the number of lines between upper and lower chassis are reduced and safety as well as the ride comfort can be improved.
  • the should Possibility be given diagnoses of the components used perform what is known in the art not possible.
  • the functionality of the working machine be extensible without large construction costs, at a simultaneous reduction of production costs.
  • undercarriage one or to use several electronic components, the control and / or regulation of the undercarriage components serve.
  • the invention used Undercarriage electronics according to the invention via a communication link (For example, CAN or DC bus) with the On-board electronics in the superstructure by means of a rotary feedthrough connected.
  • a communication link For example, CAN or DC bus
  • the supply voltage for the undercarriage electronics also takes place via the rotary feedthrough.
  • the main working pump 1 supplies all high-pressure consumers (Cylinders, hydraulic motors) in an open hydraulic circuit. All high-pressure consumers in the undercarriage are, such as hydraulic motor, blade, Support, must be supplied by the rotary feedthrough. Partly today is the pivot function with a another pump operated in a closed circuit.
  • the pilot pump 2 delivers the oil for the entire hydraulic pilot control. Influence the pilot valves the various main control valves both in the superstructure (Tree, stalk, spoon, slewing, ...) as well as in the undercarriage (Traction motor, dozer blade, support, etc.) directly.
  • the hydraulic control functions in the undercarriage for the Transmission circuit, hydraulic motor changeover (creeper), pendulum axle lock etc. are individually through the rotary feedthrough directed.
  • Bremskompaktblock 5 are with a storage unit Bladder accumulator filled in the event of failure of the pressure supply allow a prescribed emergency operation. Of the Bremskompaktblock 5 is arranged in the upper carriage, so, that the two brake circuits from this block through the Rotary feedthrough be controlled hydraulically.
  • the hydraulic steering unit 6 is directly on the steering wheel 7 arranged in the cabin and is powered by the steering pump 4 with Supplied oil, wherein of the hydraulic steering unit 6 two Cables via the rotary feedthrough to the double-acting Steering cylinder are guided.
  • the transmission 8 is a hydraulic Downshift lock provided at high speed a downshift and thus an overkill prevents the hydraulic motor.
  • FIG. 2 is a block diagram of an inventive device Mobile excavator shown.
  • control signals for transmission circuit, accelerator pedal, hydraulic motor and pendulum axle lock by electrical switch signals (analog and digital) passed to the superstructure electronics; from there the control signals arrive via a communication connection 9 to the undercarriage electronics 10.
  • electrical switch signals analog and digital
  • the solenoid valves advantageously housed in the undercarriage become; their control is carried out by means of Undercarriage electronics 10.
  • the transmission control block 11 directly at the transmission 8 or at another, suitable place in the To arrange undercarriage.
  • an additional function "front axle deactivation" via a solenoid valve provided in the transmission control block, which of the undercarriage electronics electrically is controllable.
  • this signal is processed by the undercarriage electronics 10 so that by means of this speed information the switch-back electronically.
  • an automatic Gear shift provided.
  • the functions in the undercarriage are logically linked. This results in a significant effort reduction and in an increase in security during the Operation. For example, in a wheeled excavator with long outrigger and four - point support the outriggers extended and locked before with the boom may be worked.
  • one electrically proportional adjustable hydraulic motor with superimposed pressure control to use its proportional valve of the undercarriage electronics 10 is controllable.
  • the engine has one Brake valve, with secondary-acting pressure relief valves are provided between the engine and brake valve. At the Startup, this engine stands on maximum displacement and consequently torque, thus allowing better acceleration the machine from the state.
  • the adjustment The engine can therefore be dependent on a smaller displacement from the accelerator pedal position and the input speed be controlled by the transmission.
  • the accelerator pedal position can also be adjusted by means of a pressure sensor between "accelerator pedal” and "slide drive" are detected.
  • This concept also has the advantage that the Engine in braking mode targeted to larger displacement can be adjusted, causing an overdrive on descent is prevented. If the accelerator pedal is retracted when driving downhill, increases the braking torque due to the adjustment of the Hydromotors on larger displacement over a vorstorede Time constantly and the machine comes to a halt. One Overclocking can thus almost be ruled out. at a descent is forced so that the driver, the accelerator pedal to be able to drive. The from the hydraulic engine The oil pumped to the tank is cooled, causing overheating the units in the undercarriage is largely avoided.
  • a particularly advantageous variant of the invention provides, also the hydraulic Connections between upper and undercarriage on one Reduce connection.
  • the number is limited the line connections between the upper and lower carriage three, namely a hydraulic, an electrical and a Communication link. This makes the whole Undercarriage as a closed system.
  • the number of oil pumps in the superstructure is accordingly of four reduced to a main work pump 1 '.
  • All control commands go in the form of electrical digital or analog Signals to the on-board electronics in the superstructure and of there via the communication link to the undercarriage electronics 10, which forwards the control signals to the actuators.
  • important status and diagnostic data from the actuators and sensors from the undercarriage diagnosed in the undercarriage electronics 10 and on the Communication link 9 to the on-board electronics in the uppercarriage reported ("fault management"), wherein after the evaluation Emergency or emergency operation programs can be executed.
  • main working pump 1 is the pressure of the highest Consumer reported from the bottom to the superstructure.
  • the flow of oil to the consumers in the undercarriage is determined by the undercarriage electronics 10. This is especially important in the event that in the labor several consumers are needed at the same time (e.g. Dozer blade, etc.).
  • Another variant for the detection of the highest-highest Consumer provides, interconnected check valves use the load pressure of the highest load consumer lead via a hydraulic signaling line to the superstructure. In contrast to the first variant, this is an additional hydraulic connection between upper and lower chassis needed.
  • the hydraulic power for brake, steering, hydraulic motor and blade is from the central pressure oil supply branched off the undercarriage.
  • the control oil is preferably by a control oil from the high pressure supply the undercarriage by a pressure reduction diverted. The control of all consumers in the undercarriage thus takes place through the undercarriage electronics 10th
  • the steer-by-wire component works as follows: The steering wheel movements are in the steer-by-wire unit in the superstructure converted into electrical signals and the superstructure electronics guided. From there comes this information via the communication link 9 to the undercarriage electronics 10. This then controls the hydraulic steer-by-wire Unit 13 electrically on. In the steer-by-wire unit The electrical signals are converted into hydraulic signals and passed on to the steering cylinder.
  • the Steer-by-wire unit 13 in the undercarriage are hydraulic accumulators intended for emergency operation.
  • the Steer-by-wire unit 13 can both be directly on the axle or be mounted in a suitable place in the undercarriage.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Motor Power Transmission Devices (AREA)
  • Control Of Fluid Gearings (AREA)
  • Control Of Transmission Device (AREA)
EP02802301A 2001-10-30 2002-10-24 Arbeitsmaschine und verfahren zum betreiben einer arbeitsmaschine Expired - Fee Related EP1440211B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10153458A DE10153458A1 (de) 2001-10-30 2001-10-30 Arbeitsmaschine und Verfahren zum Betreiben einer Arbeitsmaschine
DE10153458 2001-10-30
PCT/EP2002/011872 WO2003038200A1 (de) 2001-10-30 2002-10-24 Arbeitsmaschine und verfahren zum betreiben einer arbeitsmaschine

Publications (2)

Publication Number Publication Date
EP1440211A1 EP1440211A1 (de) 2004-07-28
EP1440211B1 true EP1440211B1 (de) 2005-04-27

Family

ID=7704168

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02802301A Expired - Fee Related EP1440211B1 (de) 2001-10-30 2002-10-24 Arbeitsmaschine und verfahren zum betreiben einer arbeitsmaschine

Country Status (7)

Country Link
US (1) US20040249537A1 (ja)
EP (1) EP1440211B1 (ja)
JP (1) JP2005507471A (ja)
KR (1) KR20050039716A (ja)
CN (1) CN1276156C (ja)
DE (2) DE10153458A1 (ja)
WO (1) WO2003038200A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021040601A1 (en) * 2019-08-23 2021-03-04 Epiroc Rock Drills Aktiebolag Method and system for controlling a mining and/or construction machine

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10343844A1 (de) * 2003-09-23 2005-04-28 Zahnradfabrik Friedrichshafen Berührungslose Datenübertragung
KR100655330B1 (ko) * 2005-12-23 2006-12-08 두산인프라코어 주식회사 전동 지게차의 경사 작업시 자동 정지장치
DE202008008044U1 (de) * 2008-06-16 2009-11-05 Liebherr-Hydraulikbagger Gmbh Verfahrbares Arbeitsgerät
NL1040157C2 (nl) * 2013-04-12 2014-10-14 Hudson Bay Holding B V Mobiele inrichting met besturingssysteem.
KR101747578B1 (ko) * 2013-08-30 2017-06-14 히다찌 겐끼 가부시키가이샤 작업 기계
CN104691529A (zh) * 2014-01-23 2015-06-10 青岛科瑞特激光设备有限公司 自走式谷物联合收割机液压驱动桥行车制动电液控制装置

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4811561A (en) * 1986-04-08 1989-03-14 Vickers, Incorporated Power transmission
DE3701554A1 (de) * 1987-01-21 1988-08-04 Duerr Gmbh & Co Maschinenanlage mit mehreren aktoren
US5018384A (en) * 1989-07-21 1991-05-28 Nippon Seiko Kabushiki Kaisha Rotational speed detector
DE19538416A1 (de) * 1995-09-11 1997-03-13 Orenstein & Koppel Ag Verfahren und Einrichtung zur lastabhängigen automatischen Umschaltung von Fahrmotoren
US5884206A (en) * 1996-11-08 1999-03-16 Samsung Heavy Industries Co., Ltd. Distributed control system for heavy construction machine
US6336067B1 (en) * 1998-08-12 2002-01-01 Hitachi Construction Machinery Co., Ltd. Electronic control system and control device for construction machine
DE19850902C2 (de) * 1998-11-05 2001-07-12 Manfred Scherger Baumaschinen Schnellmontagebaugruppe für einen Turmdrehkran
US6278204B1 (en) * 1999-06-18 2001-08-21 Eugene Roland Frenette Method of converting internal combustion engine into electrically driven engine
DE19956402A1 (de) * 1999-11-24 2001-05-31 Linde Ag Fahrzeug, insbesondere Mobilbagger
US6424900B2 (en) * 2000-02-01 2002-07-23 Delphi Technologies, Inc. Multi-module control-by-wire architecture
DE10037676C1 (de) * 2000-07-26 2002-05-23 Jungheinrich Ag Vorrichtung zur Regelung eines Antriebssystems für ein Flurförderzeug
EP1313636A1 (de) * 2000-08-22 2003-05-28 Continental Teves AG & Co. oHG Verfahren zum betreiben eines kraftfahrzeugregelungssystems und vorrichtung zur durchführung des verfahrens
US6695748B2 (en) * 2000-09-08 2004-02-24 Borgwarner Inc. Transmission control apparatus
DE10128209A1 (de) * 2001-06-11 2003-01-09 Brueninghaus Hydromatik Gmbh Hydrostatische Kolbenmaschine und Übertragungssystem

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021040601A1 (en) * 2019-08-23 2021-03-04 Epiroc Rock Drills Aktiebolag Method and system for controlling a mining and/or construction machine

Also Published As

Publication number Publication date
EP1440211A1 (de) 2004-07-28
DE50202947D1 (de) 2005-06-02
WO2003038200A1 (de) 2003-05-08
US20040249537A1 (en) 2004-12-09
JP2005507471A (ja) 2005-03-17
DE10153458A1 (de) 2003-05-15
CN1556888A (zh) 2004-12-22
KR20050039716A (ko) 2005-04-29
CN1276156C (zh) 2006-09-20

Similar Documents

Publication Publication Date Title
DE102006000784B4 (de) Arbeitsmaschinen-Hydrauliksteuersystem
EP1574626B1 (de) Hydraulisches passives Federungssystem
DE112006002605B4 (de) Massenkraftsteuerung in elektrisch angetriebener Arbeitsmaschine
EP2269880A1 (de) Abbremsung einer Zugfahrzeug-Anhänger-Kombination
EP2368059A1 (de) Hydrostatisches antriebssystem
EP1818245A1 (de) Radantriebsvorrichtung und Verfahren für eine Radantriebsvorrichtung
WO2004007234A1 (de) Verfahren und vorrichtung zur steuerung von funktionen eines arbeitsfahrzeuges
EP2463179B1 (de) Ventilanordnung zur Steuerung eines Zusatz-Lenksystems bei mehrachsigen Fahrzeugen, insbesondere Mobilkranen
DE10154650C1 (de) Kettenfahrzeug
EP1440211B1 (de) Arbeitsmaschine und verfahren zum betreiben einer arbeitsmaschine
DE10324723B4 (de) Federspeicher-Feststellbremse für Fahrzeuge mit Fremdkraftbremsanlage
DE60126406T2 (de) Elektrische hilfsaggregate für einen vierradantrieb
DE112019003034T5 (de) Hydraulikkreis
DE10197080T5 (de) Baumaschine mit Traktionssteuerung
EP2070863B1 (de) Verfahren zur Stillstandregelung eines Nutzfahrzeuges
DE102013113206A1 (de) Batterie-elektrisch betriebenes Flurförderzeug
EP3512732B1 (de) Hydrauliksystem
DE102018127544A1 (de) Arbeitsfahrzeug mit geschwindigkeitsabhängiger Lenkung
EP3461707A1 (de) Steuersystem einer hydraulisch betätigten bremseinrichtung
DE102012020821B4 (de) Notantrieb für ein Baugerät und Verfahren zum Betrieb des Notantriebs
EP1527981B1 (de) Notfall-Lenksystem für ein Gleis- oder Raupenfahrzeug
DE10135862A1 (de) Fahrzeuglenkung
EP2341190B1 (de) Mobiles Arbeitsgerät mit hydraulische Anordnung
DE3704452C2 (ja)
DE102006051549A1 (de) Arbeitsfahrzeug mit einem Vorschubaggregat und einem Stellaggregat sowie Verfahren zum Betrieb desselben

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20040123

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LI LU MC NL PT SE SK TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE FR GB IT NL SE

RBV Designated contracting states (corrected)

Designated state(s): DE FR GB IT NL SE

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20050427

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REF Corresponds to:

Ref document number: 50202947

Country of ref document: DE

Date of ref document: 20050602

Kind code of ref document: P

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

ET Fr: translation filed
PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20060130

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20061003

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20061004

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20061018

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20061031

Year of fee payment: 5

EUG Se: european patent has lapsed
GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20071024

NLV4 Nl: lapsed or anulled due to non-payment of the annual fee

Effective date: 20080501

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20080630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20080501

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20071025

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20061010

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20071024

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20071031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20071024

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20181009

Year of fee payment: 17

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 50202947

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200501