WO2006030536A1 - 走行車両のブレーキ操作装置 - Google Patents
走行車両のブレーキ操作装置 Download PDFInfo
- Publication number
- WO2006030536A1 WO2006030536A1 PCT/JP2004/014176 JP2004014176W WO2006030536A1 WO 2006030536 A1 WO2006030536 A1 WO 2006030536A1 JP 2004014176 W JP2004014176 W JP 2004014176W WO 2006030536 A1 WO2006030536 A1 WO 2006030536A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- brake pedal
- brake
- master
- master brake
- pedal
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
Definitions
- the present invention relates to a pair of side brakes acting on the left and right sides of a pair of left and right traveling wheels,
- the present invention also relates to a brake operating device for a traveling vehicle in which a pair of brake pedals provided close to the left and right are linked separately.
- a connecting piece is provided on one of a pair of left and right brake pedals so as to be swingable, and on the other side, an engaging portion is provided for releasably locking the connecting piece.
- the left and right traveling wheels are locked by locking either one of the brake pedals with a parking lock mechanism while both the brake pedals are operated simultaneously by the locking portion. Is also known.
- a configuration is also known in which a master brake pedal for separately operating a pair of left and right brake pedals is separately provided (see, for example, Patent Document 3).
- a pair of left and right brake pedals is known. Is operated with the left foot and the master brake pedal is operated with the right foot.
- Two rotation support shafts are arranged side by side.
- One rotation support shaft has a pair of left and right brake pedal rotation shafts, and the other rotation support shaft has a master brake pedal rotation shaft.
- the rotating shaft is linked to a link mechanism.
- Patent Document 1 JP-A-60-15282
- Patent Document 2 Japanese Patent No. 2548441
- Patent Document 3 Japanese Patent Laid-Open No. 9-207732
- Patent Document 2 is such that the connecting operation of the locking portion is interlocked with a lever operation for releasing the connection between the work machine and the traveling vehicle body, and the lever and the connecting portion are connected. Wire is required and the structure is complicated. In addition, there is a problem that it is not reliable because it may cause problems such as the simultaneous operation of the left and right brakes not occurring due to stagnation or cutting of the wire.
- the parking lock mechanism is forgotten to connect the locking portions, the parking lock mechanism is parked in a so-called one-effect state.
- the problem to be solved is to improve the responsiveness / reliability of the brake operation in the brake operation device in which the left brake pedal and the right brake pedal are separately provided, and to improve the response before and after the brake operation device. It is to propose a new configuration to make the length compact and to prevent one-sided effect.
- the traveling vehicle brake operating device includes a left brake pedal and a right brake pedal separately provided, and a traveling vehicle brake provided with a master brake pedal for simultaneously operating both the brake pedals. This is an operating device.
- the master brake pedal is
- the left brake pedal and the right brake pedal are arranged in the center, and when the master brake pedal is depressed, the left brake pedal and the right brake pedal are pressed downward, and the brake is effective.
- a rotation support shaft is provided in the left-right direction on the back side of the installation plate fixed to the vehicle frame, and a left brake is provided on the rotation support shaft.
- a left brake rotating cylinder to which the pedal is fixed, a right brake rotating cylinder to which the right brake pedal is fixed, and a master brake rotating cylinder to which the master brake pedal is fixed are rotatably supported.
- the moving cylinder is connected to a connecting body connected to the brake device for the right traveling wheel
- the right brake rotating cylinder is connected to a connecting body connected to the brake device for the left traveling wheel.
- the traveling wheels are configured to be braked independently.
- the installation plate includes a horizontal floor surface, an inclined wall surface that faces obliquely upward and forward from a front end portion of the floor surface, and an upper end portion of the inclined wall surface. And a front wall surface facing upward, and the rotation support shaft is arranged in front of the inclined wall surface.
- the master brake pedal is supported so as to be rotatable with respect to an arm extended from the master brake rotating cylinder, and the front and rear arms It is made up of a tread plate fixed to.
- the brake operating device for a traveling vehicle of the present invention includes a parking lever that is operated during parking, and a rotating arm to which a base end portion of the parking lever is fixed, and the rotating arm Is provided with an engaging portion that is engaged with the engaging member provided on the front and rear arms of the master brake pedal and is engaged with the engaging member, and the parking lever is depressed when the master brake pedal is depressed.
- a parking lock mechanism is provided that maintains the depressed state of the master brake pedal by operating the parking position and engaging the engaging portion with the engaging member.
- the rotation position of the rotation arm is detected.
- a limit switch is provided to release the engine, and the limit switch is used to detect that the master brake pedal is depressed and the engine can be started only when the master brake pedal is depressed. It is what is done.
- the brake operating device of the traveling vehicle is provided with a master brake pedal for simultaneously operating the both brake pedals,
- the left and right brake pedals can be operated at the same time by operating the master brake pedal without having to operate one of the brake pedals! As a result, one-sided effect in an emergency can be reliably prevented.
- the master brake pedal is disposed in the center of the left brake pedal and the right brake pedal, and when the master brake pedal is depressed, the left brake pedal and the right brake pedal are pressed downward, Since the brake is applied, the structure is simple, the reliability is high, and it can be manufactured at low cost.
- a rotation support shaft is provided in the left-right direction, and on the rotation support shaft, a left brake rotation cylinder to which a left brake pedal is fixed, A right brake rotating cylinder to which the right brake pedal is fixed and a master brake rotating cylinder to which the master brake pedal is fixed are rotatably supported, and the left brake rotating cylinder includes a right traveling wheel.
- a connecting body connected to the brake device is connected, and a connecting body connected to the brake device of the left traveling wheel is connected to the right brake rotating cylinder so that the left and right traveling wheels can be braked independently.
- each of the brake rotating cylinders is pivotally supported by one rotating support shaft, the number of parts can be reduced as compared with the conventional configuration in which two rotating support shafts are arranged in parallel. Figured.
- the rigidity of the operation system from the brake pedal to the brake device is increased, and the response and reliability of the brake operation are improved.
- the installation plate is composed of a horizontal floor surface, an inclined wall surface that faces obliquely upward and forward from the front end portion of the floor surface, and a front wall surface that faces upward from the upper end portion of the inclined wall surface, Since the rotation support shaft is arranged in front of the inclined wall surface, the back side of the inclined wall surface A space for laying the pivot support shaft in the left-right direction can be formed, for example, compared with the case where the installation plate is configured in a substantially L shape in a side view! The support shaft can be arranged more rearward, and the front and rear length of the brake operating device can be made compact.
- the master brake pedal includes an equalizer plate that is rotatably supported with respect to an arm that extends from the master brake rotating cylinder, and a stepping plate that is fixed to the front and rear arms.
- a parking lever that is operated at the time of parking and a rotating arm to which a base end portion of the parking lever is fixed are provided, and the rotating arm includes front and rear arms of the master brake pedal.
- An engaging portion that is engaged with the engaging member is provided, and the parking lever is operated to a parking position with the master brake pedal depressed, and the engaging portion is Since the parking lock mechanism that maintains the depressed state of the master brake pedal is provided by engaging with the engaging member, the parking operation during parking can be easily performed. There is no one-way parking.
- a limit switch for detecting the rotation position of the rotation arm is provided, and the limit switch is used to detect that the master brake pedal is depressed, and the master brake pedal is depressed. Therefore, the engine can be started only when the engine is started. Therefore, when the engine is started, the master brake pedal is depressed and the safety can be ensured. It becomes like this.
- FIG. 1 is a plan view showing an apparatus configuration from an installation plate to an HST.
- FIG. 2 is a diagram showing a device configuration on the back side of the installation plate.
- FIG. 3 is a bottom view showing the configuration of the brake device.
- FIG. 4 is a perspective view showing the configuration of the brake device.
- FIG. 5 is a side view of the same.
- FIG. 6 is a partial rear sectional view showing the configuration of the equalizer plate.
- FIG. 7 is a diagram for explaining the operating state of the limit switch.
- the forward traveling direction of the vehicle will be described as the front side, and the right direction toward the front side will be described as the right side.
- the upper side in FIG. 1 is the front side
- the right side is the right side.
- a step 2 as a foothold for an operator is laid on the vehicle frame 1, and similarly, an installation plate 3 on which various pedals are installed is laid in front of the step 2.
- HST4 is arranged at the lower rear of Step 2.
- a gear box 5 having a planetary gear mechanism is disposed behind the HST4.
- the HST6 and the planetary gear mechanism constitute an HMT6 (Hydro Mechanical Transmission).
- a brake operation device 10 is disposed on the left side of the installation plate 3.
- the brake operating device 10 is provided with a left brake pedal 11, a right brake pedal 12, and a master brake pedal 13 for operating both brake pedals 11 and 12 simultaneously.
- the brake pedals 11 and 12 are connected to a brake device (not shown) via links 15 and 16, respectively.
- a speed change operating device 20 is disposed on the right side of the installation plate 3.
- the shift operating device 20 is provided with a forward pedal 21 and a reverse pedal 22.
- the forward pedal 21 and the reverse pedal 22 are connected to a swash plate tilt angle operating mechanism 30 via a link 24.
- the swash plate tilt angle operating mechanism 30 is hydraulically connected via a pump control link 42. It is connected to the control arm 51 of the hydraulic motor 4M via the control arm 52 of the pump 4P and the motor control link 41.
- a rotation support shaft 61 having substantially the same length as the horizontal width of the installation plate 3 is provided in the left-right direction.
- the rotation support shaft 61 is installed between a stay 3v projecting from the left part on the back side of the installation plate 3 and a stay 3y projecting from the right part.
- a left brake rotation cylinder lla to which the left brake pedal 11 is fixed, a right brake rotation cylinder 12a to which the right brake pedal 12 is fixed, and a master brake pedal 13 are fixed.
- Each of the master brake rotating cylinders 13a is rotatably supported.
- a link 15 as a connecting body connected to the brake device of the right traveling wheel is connected to the right end portion of the left brake rotating cylinder 11a.
- the right brake rotating cylinder 12a is connected to a link 16 as a connecting body connected to the brake device for the left traveling wheel.
- the connecting body may be a rod-like link 15 16 or a wire.
- the number of parts can be reduced.
- the rigidity of the operation system from the brake pedal to the brake device is increased, and the responsiveness of the brake operation is improved (reliability of the brake is improved). it can).
- the left brake rotating cylinder l la, the right brake rotating cylinder 12 2a, and the master brake rotating cylinder 13 are respectively provided with arms l lm obliquely forward and downward.
- '12m' 13m is projected, and each arm llm'12m'13m is connected to the hook locking plate 3e of the installation plate 3 via a return panel lis • 12s'13s.
- the rotating cylinders lla'12a'13a are urged to rotate counterclockwise in FIG. 5 by the return panel l is'12s'13s. Le 11, 12 and 13 have been raised to prevent the brakes from working.
- the installation plate 3 includes a horizontal floor surface 3h, an inclined wall surface 3g facing forward and upward from a front end portion of the floor surface 3h, and an upper end portion of the inclined wall surface 3g. It is comprised from the front wall surface 3f which faces upwards, and the said rotation support shaft 61 is arrange
- a space for installing the rotation support shaft 61 in the left-right direction can be formed on the back side of the inclined wall surface 3g.
- the installation plate 3 is substantially L in side view.
- the rotation support shaft 61 can be arranged further rearward, and the length of the brake operating device 10 in the front-rear direction can be made compact.
- the left brake pedal 11 includes a front and rear arm l ib that extends obliquely upward and rearward from the left brake rotating cylinder 11a, and is bent downward from the front and rear arm l ib. After that, it consists of a stepping arm 11c that is bent to the left.
- the right brake pedal 12 includes a front and rear arm 12b that extends obliquely rearward and upward from the right brake rotating cylinder 12a, a downward bending from the front and rear arm 12b, and thereafter It consists of a tread arm 12c that is bent to the left.
- the master brake pedal 13 is configured by attaching a pedal plate 13d to a front and rear arm 13b extending obliquely upward and rearward from the master brake rotating cylinder 13a.
- the pedal plate 13d is disposed above the front and rear arms l ib of the left brake pedal 11 and the front and rear arms 12b of the right brake pedal 12. Further, with this configuration, the master brake pedal 13 is arranged at the center of the left brake pedal 11 and the right brake pedal 12.
- the pedal plate 13d of the master brake pedal 13 is provided with a rotating cylinder 13u with respect to the front and rear arms 13b extending rearward from the master brake rotating cylinder 13. And an equalizer plate 13p that is rotatably supported via a lever, and a stepping plate 13q that is rearward of the equalizer plate 13p and fixed to the front and rear arms 13b. Further, the equalizer plate 13p extends rearward and rearwardly from the left brake rotating cylinder 11a and the right brake rotating cylinder 12a when the pedal plate 13d is operated. The front and rear arm 12b On the other hand, the stepping plate 13q is arranged so as not to contact the front and rear arms l ib ′ 12b. That is, in plan view when the master brake pedal 13 is depressed, both sides of the equalizer plate 13p and a part of the front and rear arms l ib '12b are arranged so as to overlap each other.
- the equalizer plate 13p also presses the front and rear arms l ib '12b with the upper force, and the left and right brake pedals 11 and 12 are operated simultaneously. That's what happens.
- the equalizer plate 13p is provided in the vicinity of the stepping plate 13q as in this embodiment, and is arranged in the direction opposite to the extending direction of the front and rear arms 13b. It is good also as a structure arrange
- each rotating cylinder l la '12a' 13a is provided with an arm extending on the opposite side to the front and rear arms l i b '12b' 13b, and an equalizer plate 13p is disposed below these arms. Will be.
- the equalizer plate 13p swings around the front / rear arm 13b, so that the pressing amount of the front / rear arm l ib '12b becomes equal. As a result, the amount of operation of the left and right brakes becomes equal, and the vehicle body can be braked stably.
- the structure of the brake operating device 10 is simple, high in reliability (it is possible to improve the effectiveness of the brake), and can be manufactured at low cost.
- the left and right brake pedals 11 and 12 can be operated at the same time by the master brake pedal 13, and therefore, when parking, the master brake pedal 13 is locked in the depressed state. By doing so, the left and right brakes can be applied.
- the parking lever 81 is operated at the time of parking, and the rotating arm 82 to which the base end portion of the parking lever 81 is fixed is provided.
- 82 is provided with an engaging portion 82v that opposes the engaging member 13v provided on the front / rear arm 13b of the master brake pedal 13 and engages with the engaging member 13v, so that the master brake pedal 13 is depressed.
- the parking lock mechanism 80 that maintains the depressed state of the master brake pedal 13 is provided. It was configured to be provided.
- the pivot arm 82 is rotatably supported by a stay 3z provided on the installation plate 3, and is pulled by a return panel 82s locked to the stay 3s. It is urged to rotate counterclockwise.
- the base end portion of the parking lever 81 is connected to the rotating arm 82 and is rotated in conjunction with the operation of the parking lever 81.
- the parking lever 81 is rotated clockwise in the figure, and the rotating arm 82 is rotated clockwise by setting the urging force of the return panel 82s.
- the parking lever 81 is set to the parking release position 8 In by the urging force of the return panel 82s.
- a plate-like engagement member 13v is provided in the front-rear direction on the side of the front-rear arm 13b of the master brake pedal 13, and is disposed so as to face the engagement portion 82v provided on the rear side surface of the rotating arm 82. It has become. Further, the engaging portion 82v is configured in a saw-like shape in a side view, and the engaging member 13v is inserted into any one of the valley portions so that both are engaged. In this case, the front and rear arms 13b are urged clockwise by the urging force of the return panel 13s of the master brake pedal 13, and a force that moves the engaging member 13v upward acts. When the turning arm 82 is pulled upward, the turning of the turning arm 82 is restricted, and the force of the master brake pedal 13 being depressed is maintained.
- a limit switch 85 for detecting the rotation position of the rotation arm 82 is provided, and the master brake pedal 13 is depressed from the limit switch 85. This is configured so that the engine can be started only when the master brake pedal 13 is depressed.
- the master brake pedal 13 when starting the engine, the master brake pedal 13 is surely depressed and safety can be ensured.
- the operation state of the parking lever 81 is also detected to detect the operator's preparation state for starting the engine.
- the specific configuration will be described below. To do.
- the limit switch 85 is attached to a stay 85a projecting from the installation plate 3, and its detection part is provided below, so that the upper part of the rotating arm 82 is in contact with the upper part. Opposing the surface 82a and the engaging member 13v, the rotation position of the master brake pedal 13 and the rotation state of the rotation arm 82 can be detected.
- the limit switch 85 is connected to a controller that controls the start of the engine.
- the controller can recognize the detection state of the limit switch 85.
- the controller has the limit switch 85 shown in FIG.
- the engine can be started only when state A3 is detected. This is because the operator's intentional brake operation (operation of the master brake pedal 13 and the parking lever 81) at the start is completed and it can be determined that the engine is safe even if the engine is started.
- the engine start key is located away from the master brake pedal 13 and cannot be operated without sitting on the seat, the engine start key in state A3 in FIG. If operated, it can be determined that the operator is sitting on the seat and operating the engine start key, and the engine can be started more safely.
- the engine can be started in a safe state.
- the limit switch 85 is sufficient by checking the position of the master brake pedal 13, and the states of the left and right brake pedals 11 and 12 are detected using two limit switches. Cost reduction can be achieved compared to the configuration.
- the brake operating device for a traveling vehicle of the present invention can surely prevent the one-side effect of the brake in an emergency, and the reliability of a traveling vehicle can be improved widely.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04788243A EP1792796A4 (en) | 2004-09-13 | 2004-09-28 | BRAKE CONTROL DEVICE FROM VEHICLE |
US11/575,198 US20080023274A1 (en) | 2004-09-13 | 2004-09-28 | Brake Operating Device of Traveling Vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004265531A JP4445357B2 (ja) | 2004-09-13 | 2004-09-13 | 走行車両のブレーキ操作装置 |
JP2004-265531 | 2004-09-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006030536A1 true WO2006030536A1 (ja) | 2006-03-23 |
Family
ID=36059803
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/014176 WO2006030536A1 (ja) | 2004-09-13 | 2004-09-28 | 走行車両のブレーキ操作装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20080023274A1 (ja) |
EP (1) | EP1792796A4 (ja) |
JP (1) | JP4445357B2 (ja) |
WO (1) | WO2006030536A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11142172B2 (en) | 2019-05-06 | 2021-10-12 | GM Global Technology Operations LLC | Vehicle braking type indication systems and methods |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE602008002892D1 (de) * | 2008-02-21 | 2010-11-18 | Cnh Italia Spa | Steuer- und Bremspedalanordnung für Traktoren |
JP5274957B2 (ja) * | 2008-09-22 | 2013-08-28 | ヤンマー株式会社 | ステップステー |
JP6417161B2 (ja) * | 2014-09-12 | 2018-10-31 | 三菱マヒンドラ農機株式会社 | 作業用走行車 |
CN110497953B (zh) * | 2019-09-16 | 2024-04-02 | 山推工程机械股份有限公司 | 一种转向制动系统及推耙机 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5683455U (ja) * | 1979-11-28 | 1981-07-06 | ||
JPS582155U (ja) * | 1981-06-27 | 1983-01-08 | 三菱農機株式会社 | 作業車輛用ブレ−キ装置 |
JPS5869561U (ja) * | 1981-11-04 | 1983-05-11 | ヤンマー農機株式会社 | ブレ−キペタルニ対する駐車用ラチエツトア−ムの係止構造 |
JPH0848218A (ja) * | 1994-08-08 | 1996-02-20 | Iseki & Co Ltd | 動力車輌の旋回制御装置 |
JP2003104181A (ja) * | 2001-09-28 | 2003-04-09 | Kubota Corp | 乗用農作業機 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE835840C (de) * | 1950-11-09 | 1952-04-03 | Ruhrstahl A G | Einzelradbremsung mit je einem Pedal fuer jedes Einzelrad und einem die Pedale kuppelnden Element fuer Zweiradbremsung, insbesondere von Treckern fuer landwirtschaftliche Zwecke |
FR1122544A (fr) * | 1954-04-14 | 1956-09-10 | Fahr Ag Maschf | Dispositif d'équilibrage pour systèmes combinés de freinage sur une seule roue et de freinage des roues de roulement |
NL241633A (ja) * | 1958-07-29 | |||
US3935932A (en) * | 1974-06-17 | 1976-02-03 | David Brown Tractors Limited | Brake operating systems |
AU501032B2 (en) * | 1974-10-02 | 1979-06-07 | Y Nakanishi | One pin hinge |
US4026164A (en) * | 1976-02-26 | 1977-05-31 | J. I. Case Company | Brake pedel assembly |
US5022477A (en) * | 1986-08-27 | 1991-06-11 | Deere & Company | System and method for controlling the ground speed and enhancing the maneuverability of an off-road vehicle |
US5913950A (en) * | 1996-01-08 | 1999-06-22 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Transmission for a working vehicle |
JP3844838B2 (ja) * | 1997-03-05 | 2006-11-15 | 株式会社 神崎高級工機製作所 | 作業車の走行操作装置 |
JP4464777B2 (ja) * | 2004-09-13 | 2010-05-19 | ヤンマー株式会社 | 走行車両の変速操作装置 |
JP4928103B2 (ja) * | 2005-09-05 | 2012-05-09 | ヤンマー株式会社 | 走行車両のペダル構造 |
-
2004
- 2004-09-13 JP JP2004265531A patent/JP4445357B2/ja not_active Expired - Fee Related
- 2004-09-28 EP EP04788243A patent/EP1792796A4/en not_active Withdrawn
- 2004-09-28 WO PCT/JP2004/014176 patent/WO2006030536A1/ja active Application Filing
- 2004-09-28 US US11/575,198 patent/US20080023274A1/en not_active Abandoned
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5683455U (ja) * | 1979-11-28 | 1981-07-06 | ||
JPS582155U (ja) * | 1981-06-27 | 1983-01-08 | 三菱農機株式会社 | 作業車輛用ブレ−キ装置 |
JPS5869561U (ja) * | 1981-11-04 | 1983-05-11 | ヤンマー農機株式会社 | ブレ−キペタルニ対する駐車用ラチエツトア−ムの係止構造 |
JPH0848218A (ja) * | 1994-08-08 | 1996-02-20 | Iseki & Co Ltd | 動力車輌の旋回制御装置 |
JP2003104181A (ja) * | 2001-09-28 | 2003-04-09 | Kubota Corp | 乗用農作業機 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1792796A4 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11142172B2 (en) | 2019-05-06 | 2021-10-12 | GM Global Technology Operations LLC | Vehicle braking type indication systems and methods |
Also Published As
Publication number | Publication date |
---|---|
JP4445357B2 (ja) | 2010-04-07 |
EP1792796A4 (en) | 2008-07-09 |
JP2006076526A (ja) | 2006-03-23 |
EP1792796A1 (en) | 2007-06-06 |
US20080023274A1 (en) | 2008-01-31 |
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