EP2922649B1 - Walzen von federtragarmen - Google Patents
Walzen von federtragarmen Download PDFInfo
- Publication number
- EP2922649B1 EP2922649B1 EP13802457.5A EP13802457A EP2922649B1 EP 2922649 B1 EP2922649 B1 EP 2922649B1 EP 13802457 A EP13802457 A EP 13802457A EP 2922649 B1 EP2922649 B1 EP 2922649B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- spring carrier
- carrier arm
- workpiece
- rolling
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005096 rolling process Methods 0.000 title claims description 50
- 238000000034 method Methods 0.000 claims description 13
- 238000004519 manufacturing process Methods 0.000 claims description 10
- 239000000725 suspension Substances 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000005242 forging Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21H—MAKING PARTICULAR METAL OBJECTS BY ROLLING, e.g. SCREWS, WHEELS, RINGS, BARRELS, BALLS
- B21H7/00—Making articles not provided for in the preceding groups, e.g. agricultural tools, dinner forks, knives, spoons
- B21H7/007—Taper rolling, e.g. leaf springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2205/00—Particular shaped rolled products
- B21B2205/02—Tailored blanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B39/02—Feeding or supporting work; Braking or tensioning arrangements, e.g. threading arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B39/20—Revolving, turning-over, or like manipulation of work, e.g. revolving in trio stands
- B21B39/24—Revolving, turning-over, or like manipulation of work, e.g. revolving in trio stands by tongs or grippers
Definitions
- the present invention relates to a method for manufacturing spring carrier arms for wheel axle suspensions of a vehicle, in particular trucks trailers and semi-trailers.
- Such spring carrier arms comprise in general at least one flexible portion (spring portion), which has a free end that in use is attached to a vehicle chassis and an axle mounting portion adjoining the flexible portion, against which in use a wheel axle is mounted.
- the flexible portion is a leading portion of the arm which has a free end which is pivotably attached to the vehicle chassis. Often said free end of the leading portion is formed as an attachment eye.
- the spring carrier arm may also comprise a trailing portion which adjoins the axle mounting portion, which in use is attached to an air spring or bellows supported by the chassis. Spring carrier arms of this type are in the specific field also referred to as “flexible arms” or “flexible trailing arms”.
- leaf springs Another type of spring carrier arms are so called “parabolic springs” or leaf springs. These leaf springs may be attached to the chassis by means of a sliding part.
- spring carrier arms are by means of a rolling process in a rolling machine.
- a rectangular steel blank having an overall size which is an approximation to the finished spring carrier arm is passed between two rotating rolls.
- each portion of the blank is passed between two rotating rolls of a rolling device, wherein a roll profile is followed, in order to form a desired thickness profile of the different portions of the spring carrier arm.
- the leading portion, the axle mounting portion and, possibly, the trailing portion of the arm are formed according to a roll profile.
- the manufacturing process is automated by the use of handling devices, in particular manipulators and industrial robots, for handling the workpieces.
- These handling devices take the unmachined workpiece, and position the workpiece between the rolls of the rolling device.
- the handling devices hold on to the workpiece while it is rolled. After the workpiece is rolled, the handling devices deposit it in a finished parts storage location.
- the process reliability of the shaping process is principally a function of the precision with which the unmachined workpiece to be machined is inserted into the rolling machine, specifically, into the working region thereof.
- the setup of the rolling machine it is necessary to adjust the handling devices precisely to the position of the working region of the tool. This is rather laborious and time-consuming, and the setup process is consequently expensive.
- an industrial robot (articulated robot) takes the workpiece and places it on a dedicated manipulator which has a stationary base and a carriage with a gripping means for gripping the workpiece.
- the carriage is linearly guided on the stationary base.
- the gripping means grips the workpiece and introduces it between the rolls of the rolling device. It holds on to the workpiece during rolling. After rolling the gripping means releases the workpiece and an industrial robot takes the workpiece from the carriage and deposits it on another location.
- a base is mounted to the robot head of an industrial robot (articulated robot) and a carriage with a gripper is linearly guided on said base.
- the robot holds the base of the slider manipulator in a fixed position, while the linearly guided carriage and the gripper of the manipulator move with the workpiece.
- GB 2 213 753 A shows another arrangement for taper rolling leaf springs for vehicle suspensions.
- This arrangement has a linearly movable carriage in which the deformable blank is clamped while it is rolled by a pair of rolls.
- the present invention has for an object to provide an alternative method for manufacturing a spring carrier arm for a wheel axle suspension of a vehicle.
- a method for manufacturing a spring carrier arm for a wheel axle suspension of a vehicle wherein the spring carrier arm comprises at least one flexible portion, which in use is attached to a vehicle chassis, and an axle mounting portion adjoining the at least one flexible portion, against which in use a wheel axle is mounted.
- the method comprises the steps of:
- the workpiece that is to be rolled is held during rolling by the gripper of the robot, which gripper is directly at the head of the robot.
- the gripper of the robot which gripper is directly at the head of the robot.
- the robot is "free floating" in one direction, i.e. the longitudinal direction of the spring carrier arm and has normal behaviour in other directions. In this way it can be prevented that the spring carrier arm sags or curves.
- the position of the robot gripper that holds the spring carrier arm to be formed is captured and is used to control the roll gap between the rolls of the rolling device while the profile of the different portions of the arm is rolled.
- the robot is used as a measurement tool which "measures” the displacement and the velocity of the workpiece.
- These "measured” parameter values are compared by a control system for the roll gap control to theoretical parameter values corresponding to the rolling profile for the spring carrier arm.
- the gap between the rolls of the rolling device can be adjusted based on deviations between the theoretical values (reference values) and the measured values of these parameters. Also the rotational velocity of the rolls can be adjusted in this manner.
- the location on the workpiece where the robot holds the workpiece in the first rolling run is used as a reference point for the rolling profile of the entire spring carrier arm.
- the robot can release the workpiece in a defined position and pick it up again at another location on the workpiece, while the initial reference point remains.
- different portions of the spring carrier arm can be rolled while the gripper holds the arm at different locations.
- the robot gripper holds the blank at a position in the mounting portion to be when the other portions of the spring carrier arm, e.g. the leading portion and/or trailing portion is rolled.
- the invention also relates to a manufacturing arrangement for manufacturing of a spring carrier arm for a wheel axle suspension of a vehicle, wherein the spring carrier arm comprises at least one flexible portion, which in use is attached to a vehicle chassis, and an axle mounting portion adjoining the at least one flexible portion, against which in use a wheel axle is mounted.
- the arrangement comprises a rolling device for rolling different portions of the spring carrier arm, which rolling device comprises rotating rolls between which in use the workpiece is passed to apply a rolling profile on said spring carrier arm portions.
- the arrangement furthermore comprises a robot having a head and a gripper mounted directly to said head, which robot gripper in use holds the spring carrier arm to be formed while it is passed between the rolls of the rolling device.
- the robot is programmed such that it allows a free movement of the spring carrier arm to be formed in a longitudinal direction of the arm.
- the robot used in the manufacturing arrangement is an articulated robot.
- Fig. 1 a spring carrier arm 1 which is held by a robot 2.
- the robot 2 is an articulated robot also referred to as an "industrial robot", which typically has rotary joints, which interact with each other.
- the robot 2 has a head 3 on which a gripper 4 is mounted.
- the gripper 4 holds the spring carrier arm 1 while a portion of the arm 1 is passed between rolls 5 of a rolling machine.
- the rolls 5 are rotating rolls and have between them a gap indicated by reference numeral 6, a so called roll gap, which determines the thickness of the portion of the arm 1 that is rolled.
- the roll gap 6 is variable and is varied over the length of the arm 1, whereby the arm 1 is given a thickness profile.
- a leading portion 1 a which has a defined thickness profile.
- the leading portion 1 a has a free end on which an attachment eye may be formed such that in use it can be pivotably attached to a vehicle chassis. Adjoining the leading portion 1 a an axle mounting portion 1 b is formed, against which in use a wheel axle is mounted.
- the movement of the workpiece 1 is determined by the rolling movement of the rolls 5.
- the robot 2 allows a free movement of the workpiece 1 in the longitudinal direction indicated by double arrow 7.
- the position of the gripper 4 in the longitudinal direction 7 of the arm 1 is captured during rolling. This position of the gripper is a reference for the rolling profile that the rolling machine is applying on the workpiece.
- the robot 2 is thus used as a measurement device which is part of the control system that controls the speed and position of the rolls 5.
- a spring carrier arm 1 with three different sections 1a - 1c with each a different profile.
- the arm shown in Fig. 2 comprises a leading portion 1 a, which has a defined thickness profile. Furthermore it has a trailing portion 1 c against which an air spring can be mounted and an axle mounting portion 1 b that is located between the trailing portion 1 c and the leading portion 1 a.
- the leading portion 1 a has a free end on which an attachment eye may be formed such that it in use can be pivotably attached to a vehicle chassis.
- the robot gripper 4 holds the arm 1 at the end of the trailing portion.
- the robot 2 will generally hold he workpiece in the first rolling run at the location where the axle mounting portion 1 b of the arm is to be formed. This location is used as a reference point for the rolling profile of the entire spring carrier arm 1. After for example the leading part 1 a and the trailing portion 1 c have been rolled, the robot 2 can release the workpiece 1 in a defined position and pick it up again at another location on the workpiece, in the case of Fig. 2 at the end of trailing portion 1 c, in order to roll the portion 1 b. The initial reference point (at the part 1 b) remains. In this way different portions of the spring carrier arm 1 can be rolled while the gripper 4 holds the arm 1 at different locations.
- Fig. 4 is shown schematically the control system of the rolls 5.
- the product 1 is rolled according to a predefined profile with two rolls 5.
- the roll gap 6 closes to its starting position.
- the rolls 5 are driven with a predefined speed profile [a] (e.g. trapezoid). Together with the planned elongation, the resulting robot gripper position and speed are calculated [b].
- This data is used for the planned robot gripper motion [c].
- Differences between the planned and actual elongation of the arm portions 1a - 1 c result in a difference between planned and actual robot gripper position.
- the actual linear speed and position [d] of the robot gripper 4 are used for the product profile generator [e]. This results in a theoretical roll gap, which is controlled by the roll gap control [f].
- a spring carrier arm may be formed which has a thickness profile and a width profile. It can be seen that the arm is first passed between a first set of rolls 5. Then the robot gripper turns the workpiece 1 over 90° and moves it to another rolling machine and passes it through a second pair of rolls 8, which is visible in Fig. 3 . It is also possible that the workpiece is passed through the same pair of rolls, but that the rolls have different portions A and B as is indicated as well in Fig. 3 , one to form the thickness profile of the arm portions 1 a-1 c and one to form the width profile of the arm portions 1a-1c.
- two pairs of rolls are placed behind each other, wherein the rolls of one pair are oriented with their central axes under an angle of 90° with respect to the central axes of the rolls of the other pair.
- One pair is used for rolling the thickness profile and the other pair for rolling the width profile of the arm 1.
- the robot does not have to move the workpiece from one rolling device to the other.
- the pairs of rolls are not located behind each other. In that case the robot moves the workpiece from one rolling machine to another rolling machine (cf. Fig. 3 ), but does not have to turn the workpiece as is described above in relation to Fig. 3 .
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Agronomy & Crop Science (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Springs (AREA)
Claims (5)
- Verfahren zur Herstellung eines Federtragarms (1) für eine Aufhängung einer Radachse eines Fahrzeugs,
wobei der Federtragarm (1) mindestens einen im Gebrauch an einem Fahrzeugchassis befestigten flexiblen Abschnitt (1a) und einen an den mindestens einen flexiblen Abschnitt angrenzenden Achsenbefestigungsabschnitt (1b) aufweist, an dem im Gebrauch eine Radachse angeordnet ist,
wobei das Verfahren die folgenden Schritte aufweist:- Aufnehmen eines Werkstücks (1), das anfänglich ein rechteckiger Stahlrohling mit einer Gesamtgröße ist, die dem fertigen Federtragarm angenähert ist;- Passieren jedes Abschnitts (1a-1c) des Werkstücks zwischen zwei rotierenden Walzen (5) einer Walzvorrichtung, wobei einem Walzprofil gefolgt wird, um ein gewünschtes Dickenprofil zumindest des einen flexiblen Abschnitts (1a) und des Achsenbefestigungsabschnitts (1b) des zu bildenden Federtragarms (1) zu formen;dadurch gekennzeichnet, dass das Werkstück von einem Gelenkroboter (2) mit einem Kopf (3) und einem direkt am Kopf angeordneten Greifer (4) ergriffen wird, wobei der Greifer (4) des Roboters das Werkstück hält, während es zwischen den Walzen (5) der Walzvorrichtung durchläuft, wobei er eine freie Bewegung des Werkstücks in Längsrichtung des zu formenden Federtragarms (1) ermöglicht. - Verfahren nach Anspruch 1, wobei die Position des das Werkstück haltenden Greifers (4) des Roboters erfasst und zur Steuerung des Walzenspalts (6) zwischen den Walzen (5) der Walzvorrichtung verwendet wird, während das Profil von unterschiedlichen Abschnitten (1a - 1c) des Federtragarms (1) gewalzt wird.
- Verfahren nach einem der vorhergehenden Ansprüche, wobei die Position, an der der Greifer (4) des Roboters das Werkstück im ersten Rollgang hält, als Bezugspunkt für das Walzprofil für den gesamten Federtragarm (1) verwendet wird.
- Verfahren nach einem der vorhergehenden Ansprüche, wobei der Greifer (4) des Roboters das Werkstück an einer Stelle im
Achsbefestigungsabschnitt (1b) hält, wenn die anderen Abschnitte (1a, 1c) des Federtragarms (1) gewalzt werden. - Fertigungsanordnung zur Herstellung eines Federtragarms (1) für eine Radaufhängung eines Fahrzeugs,
wobei der Federtragarm (1) mindestens einen im Gebrauch an einem Fahrzeugchassis befestigten flexiblen Abschnitt (1a) und einen an dem mindestens einen flexiblen Abschnitt (1a) angrenzenden Achsbefestigungsabschnitt (1b) aufweist, an dem im Gebrauch eine Radachse angeordnet ist,
wobei die Anordnung eine Walzvorrichtung zum Walzen unterschiedlicher Abschnitte des Federtragarms (1) aufweist, wobei die Walzvorrichtung drehende Walzen (5) aufweist, zwischen denen im Gebrauch das Werkstück durchläuft, um ein Walzprofil auf die Abschnitte (1a - 1c) des Federtragarms zur Anwendung zu bringen, wobei die Anordnung ferner einen Greifer (4) aufweist, der im Gebrauch den zu formenden Federtragarm (1) hält, während er zwischen den Walzen (5) der Walzvorrichtung durchläuft, dadurch gekennzeichnet, dass der Greifer (4) direkt an einem Kopf (3) eines Gelenkroboters (2) angebracht ist, und dass der Roboter (2) so programmiert ist, dass er eine freie Bewegung des Federtragarms (1) in einer Längsrichtung der Federtragarms (1) ermöglicht.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL2009873 | 2012-11-23 | ||
PCT/NL2013/050828 WO2014081288A1 (en) | 2012-11-23 | 2013-11-18 | Rolling of spring carrier arms |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2922649A1 EP2922649A1 (de) | 2015-09-30 |
EP2922649B1 true EP2922649B1 (de) | 2017-01-11 |
Family
ID=49726845
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13802457.5A Active EP2922649B1 (de) | 2012-11-23 | 2013-11-18 | Walzen von federtragarmen |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP2922649B1 (de) |
ES (1) | ES2613940T3 (de) |
WO (1) | WO2014081288A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017116570B4 (de) * | 2017-03-22 | 2019-01-17 | Sms Group Gmbh | Reckwalzverfahren und Reckwalzwerk |
AT520059B1 (de) * | 2017-05-22 | 2023-07-15 | Hendrickson Comm Vehicle Sys Europe Gmbh | Federblatt für eine Blattfeder |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58209404A (ja) * | 1982-05-31 | 1983-12-06 | Mitsubishi Steel Mfg Co Ltd | テ−パ圧延加工装置 |
US4725826A (en) * | 1987-01-16 | 1988-02-16 | Hunter Bryan D | Manipulator grip slip sensor |
GB8800791D0 (en) * | 1988-01-14 | 1988-02-17 | Wilson A I | Taper rolling apparatus |
GB8914012D0 (en) * | 1989-06-19 | 1989-08-09 | Davy Mckee Sheffield | Taper rolling-direct length measurement |
-
2013
- 2013-11-18 WO PCT/NL2013/050828 patent/WO2014081288A1/en active Application Filing
- 2013-11-18 EP EP13802457.5A patent/EP2922649B1/de active Active
- 2013-11-18 ES ES13802457.5T patent/ES2613940T3/es active Active
Non-Patent Citations (1)
Title |
---|
None * |
Also Published As
Publication number | Publication date |
---|---|
EP2922649A1 (de) | 2015-09-30 |
WO2014081288A1 (en) | 2014-05-30 |
ES2613940T3 (es) | 2017-05-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3302857B1 (de) | Verfahren und anordnung zum einbringen von bohrlöchern in eine oberfläche eines stationär gelagerten werkstückes mit einem an einem knickarmroboter angebrachten bohrwerkzeug | |
US20140283571A1 (en) | Method to Improve Geometrical Accuracy of an Incrementally Formed Workpiece | |
EP2821872B1 (de) | Roboterzelle, Anlage und Verfahren zum Entgraten von Teilen | |
EP2447013B1 (de) | Verfahren und Vorrichtung zur Bearbeitung von robotergeführten Bauteilen | |
CN103419209B (zh) | 机器人手、机器人***和用于制造工件的方法 | |
CN111470309B (zh) | 跟随机器人及作业机器人*** | |
CN109551318A (zh) | 车轮轮毂打磨*** | |
US9662785B2 (en) | Gantry robot system | |
CN107322428A (zh) | 基于复合式机器人去毛刺设备 | |
CN204566140U (zh) | 机器人以及加工*** | |
WO2014123054A1 (ja) | ロボット制御装置及びロボット制御方法 | |
CN112158587A (zh) | 工件抓取装置的调节方法及工件抓取装置 | |
EP2922649B1 (de) | Walzen von federtragarmen | |
JP2018027585A (ja) | 工作機械 | |
CN204602935U (zh) | 一种变曲率大半径钢管弯曲成形装置 | |
KR20180021099A (ko) | 롤 단조기와 그 롤 단조 방법 | |
US10895862B2 (en) | Machining system with machine tool and robot for attaching and detaching workpiece | |
US20040016723A1 (en) | Welding or joining unit | |
KR102055601B1 (ko) | 지그 로봇 | |
US20200247076A1 (en) | Tire-buffing system constituted by a robotized arm with angular interpolation movements | |
CN217577280U (zh) | 上下料复合机器人 | |
US10245630B2 (en) | Smart fixture distortion correction system | |
CN111225771A (zh) | 用于定向两个工件以用于构造接合连接的方法和操纵器 | |
WO2013158052A1 (en) | Laser processing machine with at least one sensor on a movable part of the machine | |
CN211225434U (zh) | 一种用于弯管工艺的上下料装置 |
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: 20150610 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAX | Request for extension of the european patent (deleted) | ||
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
INTG | Intention to grant announced |
Effective date: 20160729 |
|
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: AALDERINK, DERK GEERT Inventor name: VAN WILGEN, PIETER ARIE |
|
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): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: REF Ref document number: 860795 Country of ref document: AT Kind code of ref document: T Effective date: 20170115 |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 602013016569 Country of ref document: DE |
|
REG | Reference to a national code |
Ref country code: LT Ref legal event code: MG4D |
|
REG | Reference to a national code |
Ref country code: NL Ref legal event code: MP Effective date: 20170111 |
|
REG | Reference to a national code |
Ref country code: ES Ref legal event code: FG2A Ref document number: 2613940 Country of ref document: ES Kind code of ref document: T3 Effective date: 20170529 |
|
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 FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170511 Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170412 Ref country code: NO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170411 Ref country code: LT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 Ref country code: HR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 Ref country code: BG Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170411 Ref country code: RS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 Ref country code: LV Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170511 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R097 Ref document number: 602013016569 Country of ref document: DE |
|
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 FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 Ref country code: RO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 Ref country code: CZ Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 Ref country code: SK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 Ref country code: EE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 |
|
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 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 Ref country code: SM Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 |
|
26N | No opposition filed |
Effective date: 20171012 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MC Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20171118 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20171130 Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20171130 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20171118 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: ST Effective date: 20180731 Ref country code: BE Ref legal event code: MM Effective date: 20171130 |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: MM4A |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20171118 |
|
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: 20171130 Ref country code: IE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20171118 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20171130 Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20171118 |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: UEP Ref document number: 860795 Country of ref document: AT Kind code of ref document: T Effective date: 20170111 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: HU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO Effective date: 20131118 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: TR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20170111 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: ES Payment date: 20231215 Year of fee payment: 11 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20231120 Year of fee payment: 11 Ref country code: AT Payment date: 20231117 Year of fee payment: 11 |