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EP0799915B2 - Procédé et appareil pour la régulation de ruban dans une machine de cardage - Google Patents

Procédé et appareil pour la régulation de ruban dans une machine de cardage Download PDF

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Publication number
EP0799915B2
EP0799915B2 EP97810174A EP97810174A EP0799915B2 EP 0799915 B2 EP0799915 B2 EP 0799915B2 EP 97810174 A EP97810174 A EP 97810174A EP 97810174 A EP97810174 A EP 97810174A EP 0799915 B2 EP0799915 B2 EP 0799915B2
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EP
European Patent Office
Prior art keywords
speed
doffer
feed roll
time
card
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.)
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Application number
EP97810174A
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German (de)
English (en)
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EP0799915A3 (fr
EP0799915A2 (fr
EP0799915B1 (fr
Inventor
Jürg Faas
Christian Müller
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.)
Maschinenfabrik Rieter AG
Original Assignee
Maschinenfabrik Rieter AG
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Classifications

    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01G—PRELIMINARY TREATMENT OF FIBRES, e.g. FOR SPINNING
    • D01G15/00—Carding machines or accessories; Card clothing; Burr-crushing or removing arrangements associated with carding or other preliminary-treatment machines
    • D01G15/02—Carding machines
    • D01G15/12—Details
    • D01G15/46—Doffing or like arrangements for removing fibres from carding elements; Web-dividing apparatus; Condensers
    • D01G15/62—Slubbing-winding apparatus
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01G—PRELIMINARY TREATMENT OF FIBRES, e.g. FOR SPINNING
    • D01G23/00—Feeding fibres to machines; Conveying fibres between machines
    • D01G23/06—Arrangements in which a machine or apparatus is regulated in response to changes in the volume or weight of fibres fed, e.g. piano motions

Definitions

  • the invention relates to a method and a device for belt regulation for a card, that is, a machine having a provided with a set drum (also called Tambour), wherein the clothing of the drum with distributed around the circumference of the drum working elements (eg Wanderdekkel ) works together to achieve a carding effect.
  • a machine also includes a supply of material, e.g. with a breeze - also called licker-in - and a speed-controllable feed roller and a so-called outlet, which comprises a pick-up, which takes over a fiber fleece from the drum and passes it on.
  • the invention relates to a method and apparatus for controlling a card during a so-called "transient" phase, i. during a period where the discharge speed changes.
  • transient phase i. during a period where the discharge speed changes.
  • Examples of such phases are the run-up phase during start-up, the braking phase when stopping and the corresponding acceleration phases (positive and negative) during can change.
  • a general device for controlling, among other things, the speeds of the feed roller and the pickup is described in US-A-4530134.
  • the document discloses a device that monitors important operating parameters of a card and continuously controls and regulates speeds, for example of feed roller and pickup, based on a fixed program. Such a possible regulation is described by document FR-A-2515695.
  • a PI controller is described in which the control time constant of the controller is set as a function of the take-off speed or the feed speed.
  • the basic object of the invention is to improve the controlled process during a transient phase such that tape breaks can be avoided.
  • a secondary object (the preferred solution) is to improve the process so that regulation can also be used during the transient phase.
  • Fig. 1 is a known Wanderdekkelkarde, eg the card C50 of the Applicant, shown schematically.
  • the fiber material is fed in the form of dissolved and purified flakes in the hopper 20, taken from a Briseur 32 (Fig. 3) (also called licker) as Wattenvorlage, a Tambour (or drum) 40 passed and by the cooperation of the drum with one Hiking lid set 52 dissolved and cleaned.
  • the covers of the traveling lid set 52 are guided by a suitable drive system of the revolving flat unit via deflection rollers along a closed path (in the same direction or in opposite directions to the direction of rotation of the spool).
  • Fibers from the web located on the spool 40 are removed by a pickup 70 and formed into a sliver 90 in a run-out section 80 consisting of different rolls.
  • This card sliver 90 is deposited by a sliver tray (not shown) in a transport can in cycloid turns.
  • Figure 2 shows schematically a computer 4 with input and output signals. Signals are input from two sensors B5 and B6, which will be explained in more detail below, as well as signals which include, among other things, the speed of the card sliver at the exit (Va) and various data, e.g. Set targets for tape weight.
  • the basic principle of conventional belt regulation is based on two measures, namely a "long-term” regulation and a regulation with "short-term addition" at the inlet, where disturbances at the time of feeding are to be compensated. According to this invention, a third measure is taken, but will be explained in more detail after an explanation of the conventional system.
  • a sensor B5 which is arranged on a feed trough 6B detects the unevenness of the weight of the incoming wadding pattern. These correspond to the deflections of the pivotally mounted feed trough with respect to the feed roller 6A (see also FIG. 3).
  • the sensor B5, as shown in Fig. 1, the computer 4 provides a cross-sectional signal dependent 6.
  • the electronics influenced by the signal 7 via a control unit 8, the drive motor (not shown) of the feed roller 6A and thus the speed of the feed roller.
  • the further sensor B6 shown in FIG. 1 scans the outgoing card sliver and delivers an electrical signal 2 dependent on the band weight to the regulation (the computer) 4.
  • the card sliver leaving the sliver draws off the clamping point of two step rollers 11, 12 out.
  • the lower roller 12 is driven, the upper roller 11 is vertically movable via a spring-loaded lever.
  • This roller is driven by the outgoing card sliver and the stroke of the roller 11 (shown from the distance L between the axes of the two rollers in Fig. 4), corresponds to the thickness of the card sliver.
  • the new band must be threaded through the funnel 13 between the rollers 11, 12 and forwarded to the tape tray again. This is done at a relatively low, constant delivery speed (in the "crawl").
  • An actual value is read in as input signal 2 to the computer 4 independently of the exit speed and compared with the previously entered the electronics band weight target value, cf. also Fig.2.
  • the speed of the feed roller is influenced accordingly by the control in order to keep the weight of the strip in the outlet constant.
  • the sensor B5 provides readings used by the computer 4 for the "short term addition", while the sensor B6 provides readings used by the computer 4 to realize “long term regulation”.
  • the "dead time” of the controlled system must be taken into account, i. the time that elapses after a change is made to the feed roller until the corresponding effect appears at the measuring point (at sensor B6). This dead time is so long in the card that the long-term regulation is used only for "number keeping" (to avoid drift).
  • the dead time from the feed roller 6A to the measuring point B6 is only of secondary importance in connection with this invention. However, there is a corresponding (somewhat shorter but nevertheless significant) dead time from the feed roller 6A to the transition point from the drum 40 to the pickup 70. The latter dead time is of central importance in connection with the invention. It will be described in the description of FIGS. 8 and 9 used.
  • the outward speed is controlled by a control loop as the setpoint changes (i.e., during a transient phase, e.g., during run-up). This serves to adjust the speed of the discharge motor 50 in Fig. 6 accordingly.
  • the initiator ( Figure 1) on the step rollers 11,12 provides the computer 4 pulses. These are converted into the speed at the outlet (Vauslauf). This speed is compared with a predetermined discharge speed, see Fig. 2.
  • the resulting control value 60 is given to the frequency converter 30 in Figure 6.
  • the known belt regulation works only after the operating state has been reached, provided that this state requires a discharge speed greater than 50 m / min. Below 50 m / min, as well as during startup and deceleration, is automatically switched to the unregulated operation, i. the short-term supplement and the long-term regulation are inactive. At this point, the invention begins. It relates to a belt regulation for use during the run-up and down-stroke phases of the exit speed. The invention will be explained below with reference to the diagrams of FIGS. 7, 8 and 9.
  • the first two sections of the plot are the same in all diagrams (i), (ii) and (iii), i. at the first acceleration (section a) to the end of the creep phase (section b), where threading takes place at constant (low) exit speed.
  • a constant ratio between the speed of the feed roller and that of the pickup has been chosen.
  • the same ratio is maintained during further acceleration from the crawl to the operating speed (Section c).
  • the said ratio is the same when operating speed is reached, since it represents an important technology parameter (the basic distortion of the machine).
  • the sections (c) can not be linear, because after the decrease at the beginning of this section the final target Z can only be achieved by a bent or a curved course.
  • Fig. 8 is a timing chart for the process of increasing the speeds of a card in the so-called pass-through phase, e.g. in the phase where the different rollers have not yet reached their operating speed after switching on the machine.
  • the curves S and A show the increasing speed of the feed roller 6A and the pickup 70, curves T and V the increasing speed of the drum 40 and the licker-in 32.
  • the above-mentioned passage phase is e.g. on the abscissa between the time values T2 and T3 for the feed roller and the customer can be seen.
  • a braking process represents a passage phase, such.
  • abscissa between time values T4 and Te for the drum and the licker-in is e.g. on the abscissa between time values T4 and Te for the drum and the licker-in.
  • Fig. 8 shows the order in which the individual rolls of a card are usually turned on.
  • the drum 40 drum
  • the pickup 70 and the feed roller 6A see curves A and S.
  • the drum 40 drum
  • Asynchromotor for the feed roller 6A another for the drum 40 (from this also Briseur and revolving lid are driven) and a separate Asynchromotor for the outlet 80 (inclusive customer 70) to provide.
  • Fig. 9 shows schematically and simplified the effect of the dead time in the formation of a card sliver from a template during a transient phase.
  • the sections of fiber flow are shown on the feed roller (6A), the licker-in and the drum (32, 40) and the spout (80).
  • warpage i.e., roll-to-roll speed differences
  • Fig. 9 has been neglected. The effects shown are only those of the speed changes during the run-up.
  • the feed roller applies to the licker-in and spool a non-woven fabric (from a cotton pad) having a thickness D at any time during start-up, eg, at time Tw (FIG. 8).
  • 9 now represents a "snapshot" of the fiber flow through the card at the same time Tw.
  • Tw dead time
  • the pickup (as shown in Figure 8) ran at such a speed that it could pick up and pass a layer of fiber corresponding to the thickness D1 from the drum.
  • Tw he is already running at a higher speed.
  • the already fast turning Buyer "tries” to take more material than it is provided. This forms at the outlet of a thin band whose weight is below the intended weight, see the course of the curve K2 in Fig. 10.
  • a similar (but reversed) problem arises in the deceleration phase, see. right side of the diagram in Fig.10, where a too thick card sliver is produced, as will be explained in more detail below.
  • a significant reason for the weakening of the band is therefore in the delay time (called control technology "dead time”), which (on average) needs a fiber to get from the feed roller to the customer.
  • FIG. 10 shows a ramp-up and -brake curve K1 for the speed of the belt and a curve K2 for the belt thickness.
  • the left-hand ordinate indicates the speed VA of the belt, on the right-hand ordinate the belt weight in ktex, on the abscissa the time of the belt Start-up procedure or the braking operation.
  • the setpoint or set value for the strip thickness is entered. As can be seen, this results for the run-up, i. from an outfeed speed of the belt in the range of 15 m / s up to the operating speed, an undesired band formation, where a below-target band is produced.
  • the right-hand side of the diagram shows that an undesired (too thick) belt is also produced during the braking process.
  • the first embodiment provides a mutual adjustment of the speeds of the rollers at the inlet and outlet.
  • the ramp-up of the speed of the pickup 70 in the outlet is shifted from the run-up of the speed of the feed roller 6A in the inlet such that the pickup 70 starts to run up at a later time.
  • the feed roller 6A will be able to deliver more material to the drum 40 in the critical period of run-up. It is thereby prevented that at any time when removing a web from the Trommeloberf kaue thereon is a layer of material with a smaller thickness than that which corresponds to the effective effective speed of the pickup at the same time. Rather, there will be a layer of material of sufficient thickness so that no thinned web is transferred to the customer.
  • Curve VE shows the increase in speed at the inlet
  • curve VA the increase in speed at the outlet.
  • the speed VE begins to increase at the time TI until it reaches its intended size (during normal operation of the machine) at the time TIII.
  • the velocity VA begins to increase at a later time TII and thus attains its intended size at a later time TIV. This results in a delay Tl, Tll on the abscissa t.
  • the adjustment of the speeds of the two rolls starts first at time TI (not at time T0), since the time period T0-TI is required for threading the flock in the hopper area.
  • a further embodiment (FIG. 12) of the invention is based on the fact that in the critical phase the speed (VE) of the feed roller 6A is accelerated more strongly than the VA of the pickup 70.
  • VE speed of the feed roller 6A
  • the influence of the speed of the two rollers at the inlet and outlet begins at the same time TG. While the speed of the feed roller is rising sharply at this time, on the other hand, the acceleration of the pickup in the time interval TG-TG1 becomes relatively slow, i.e., slower. It only starts to rise sharply at time TG1.
  • the regulation of the feed roller is carried out at an outfeed speed of the belt of about 0.15 m / min and that of the pickup at a speed in the range of about 15 m / min.
  • This process is carried out in such a way that go from the computer 4 at the same time TG signals 7 and 60 to the drive motors of the two rolls.
  • the slopes of the two driving curves are preprogrammed.
  • the processes according to FIGS. 11 and 12 can also be adapted to the deceleration phase.
  • the deceleration of the feed roll speed required for the deceleration is triggered at an earlier point in time than the corresponding step for the outlet 80 takes place.
  • the computer 4 triggers the deceleration of the pickup 70 (the spout 80) at the time when the deceleration of the feed roller begins, the slope of the "braking curve" for the feed roller is higher than the slope of the brake curve for the Spout is selected.
  • the rollers of the outlet 80 are coordinated so that the at the transition from the Drum 40 to 70 formed fiber fleece at the transition to the subsequent roll (take-off roll) practically completely removed from the customer and then forwarded as a nonwoven until this web is folded into a ribbon 90.
  • the rollers of the inlet are matched to one another in a corresponding manner, so that the fiber fleece drawn from the feed roll 6A from the original wadding is passed on as a fleece at each transition until the fibers reach the drum 40.
  • the thicker the fiber coating on the drum, the thicker the fiber coating on the pickup (given otherwise operating parameters).
  • a predetermined tape weight requires a corresponding web thickness on the picker.
  • the two mentioned parameters must be matched to one another, as was explained with reference to FIGS. 9 and 10 for the case of run-up. In that case, the over-fast taker has distorted and "thinned” the "few” fibers provided to him, which can lead to a tear. A “too slow” turning down causes a congestion in the fiber flow, which can lead to a blockage.
  • the coasting speed must first be lowered from the value for the normal operation to a lower value at a predetermined time Tk, and then increased again to the operation speed, e.g. to carry out a can change.
  • the setpoint for the exit velocity is reduced according to a predetermined "deceleration ramp", causing an immediate deceleration of the doffer 70.
  • the drum 40 continues to run at an undiminished speed (peripheral speed).
  • the drum 40 still supplies a fiber layer to the pickup 70 fed from the feeding roller 6A at a timing (Tk-Tz, see Fig. 8).
  • the speed of the feed roller is of course also discontinued at the time Tk. However, this change can cause nothing at the transition to the customer at the time because of the dead time.
  • the long-term regulation remains switched on and the change in the weight of the band is detected, it will further slow down the speed of the feed roller to reduce the supply of fiber to the drum (causing a dilution of the fiber coating on the drum). Because of the already mentioned dead time, the influence of the reduced supply only appears with a delay on the drum surface - meanwhile, however, the speed of the pickup according to the braking ramp has decreased even further. The weight of the band is still too high (despite the use of regulation).
  • the discharge speed is increased again, to bring the card back to the target production (operating state) again.
  • the ratio of the peripheral speed of the pickup as compared to the peripheral speed of the drum is increased, the pickup takes a lower proportion of the fiber web from the drum, which pulp is thinned from the mentioned reasons to the operating condition.
  • the thickness of the fiber coating on the customer decreases again.
  • the long-term control can not effectively counteract this effect because of the dead time.
  • the control algorithm of the long-term controller (realized in the software or programming of the computer 4) normally contains an integral part. So far, fiber flow changes during a transient phase have interacted with this integral part of the algorithm in such a way that the occurring error is increased for the time being before it can subsequently be corrected.
  • the long-term control has thus far been switched off during run-up and slow-down phases (i.e., during transient phases), since it does not correct the variations in the band weight, but rather makes compensation more difficult.
  • the thickness of the fiber layer on the drum is changed in time so that the subsequent influence of a (transient) change of the discharge speed on the band weight (on the removal of fibers from the drum) is at least partially compensated.
  • the exact feedforward characteristic must be determined (empirically) depending on the details of the card design, i. depending on the effective dead time feed roller ⁇ delivery point as well as on the effective change of the "collective power" of the pickup at a given change in its speed.
  • the invention makes possible a further improvement - the fiber flow can be stabilized in such a way that the long-term regulation no longer causes a disturbing effect even in the case of a transient phase, but rather improves the band uniformity.
  • the computer 4 can therefore be programmed so that the long-term regulation is already switched on during startup (after completion of the creeper) and remains switched on when braking to a corresponding discharge speed. The long-term regulation remains active during the can change.
  • An improvement in band uniformity may e.g. be achieved by the fact that the long-term regulation can be switched on from a discharge speed of about 35 m / min.
  • the present invention is by no means limited to the embodiments mentioned above only by way of example. In particular, it is not limited to the run-up from the crawlspace, the deceleration to a standstill or the can change.
  • the controller (computer) 41 may be programmed to detect an imminent transient phase (e.g., via a change in the ramp rate setpoint) and initiate a corresponding feedforward control of the fiber flow by controlling the feed roll speed.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Preliminary Treatment Of Fibers (AREA)

Claims (12)

  1. Procédé de commande d'une carde comprenant un extracteur et un rouleau d'entraînement qui comportent chacun une propulsion contrôlée, caractérisé en ce que les vitesses de rotation du rouleau d'entraînement et de l'extracteur sont contrôlées au moyen d'une procédure préprogrammée sur un ordinateur, qui entraîne une évolution non linéaire du rapport entre la vitesse de rotation du rouleau d'entraînement et celle de l'extracteur pendant au moins une phase transitoire (c) et qui tient compte de cette façon du temps mort, c'est-à-dire du retard entre une modification de la vitesse de rotation du rouleau d'entraînement et l'influence correspondante exercée au niveau du point de transfert du tambour à l'extracteur, en vue d'éviter des ruptures de bande, la phase transitoire (c) comprenant :
    a. une phase de marche de lancement depuis une marche rampante après l'enfilage de la mèche lors du démarrage de la carde ou
    b. une marche lente ainsi que la phase de marche de lancement suivante notamment en cas de changement de bidon.
  2. Carde comportant un extracteur (70), un rouleau d'entraînement (6A), respectivement une propulsion pour l'extracteur et le rouleau d'entraînement, ainsi qu'une commande (4) pour les deux propulsions, qui contrôle les vitesses de rotation du rouleau d'entraînement et de l'extracteur au moyen d'une procédure préprogrammée sur un ordinateur de manière à entraîner une évolution non linéaire du rapport entre la vitesse de rotation du rouleau d'entraînement (6A) et celle de l'extracteur (70) pendant au moins une phase transitoire (c) et qui tient compte de cette façon du temps mort, c'est-à-dire du retard entre une modification de la vitesse de rotation du rouleau d'entraînement et l'influence correspondante exercée au niveau du point de transfert du tambour à l'extracteur, en vue d'éviter des ruptures de bande, la phase transitoire (c) comprenant :
    a. une phase de marche de lancement depuis une marche rampante après l'enfilage de la mèche lors du démarrage de la carde ou
    b. une marche lente ainsi que la phase de marche de lancement suivante notamment en cas de changement de bidon.
  3. Carde selon la revendication 2, caractérisée en ce que l'évolution non linéaire entraîne un pré-contrôle du flux de fibres en vue d'une modification imminente de la vitesse de sortie pendant la phase transitoire.
  4. Carde selon une des revendications 2 à 3, caractérisée en ce qu'il est prévu un capteur (B6) pour le poids de la bande et que l'acheminement des fibres est contrôlé en fonction de valeurs de mesure de ce capteur par un régleur.
  5. Carde selon la revendication 4, caractérisée en ce que le régleur fonctionne suivant un algorithme de réglage englobant une composante intégrale.
  6. Carde selon la revendication 4 ou 5, caractérisée en ce que le régleur est désactivé en cas de vitesses de sortie inférieures à une limite prescrite par la commande (4).
  7. Carde selon la revendication 6, caractérisée en ce que le régleur est activé pendant une phase transitoire.
  8. Procédé selon la revendication 1, caractérisée en ce que la hausse de la vitesse de l'extracteur est ralentie par rapport au rouleau d'entraînement.
  9. Procédé selon la revendication 8, caractérisée en ce que la décélération a lieu à partir de la marche rampante, par exemple en cas d'une vitesse de sortie de la bande de l'ordre de 15 m/min.
  10. Carde selon la revendication 4, caractérisée en ce que des signaux adaptés sont envoyés de l'ordinateur (4) vers les moteurs de propulsion du rouleau d'entraînement (6A) et de l'extracteur (AU).
  11. Carde selon la revendication 10, caractérisée en ce que, tout d'abord, au moment TI, un signal de modification de la vitesse du rouleau d'entraînement (6A) est émis vers la propulsion du rouleau d'entraînement et qu'ensuite, au moment TII, un signal est émis vers l'extracteur (AU).
  12. Carde selon la revendication 10, caractérisée en ce qu'un signal permettant d'influer sur la vitesse du rouleau d'entraînement (6A) et de l'extracteur (AU) est émis au même moment (TG), la vitesse du rouleau d'entraînement (6A) étant fortement modifiée à ce moment et la forte accélération ou le fort ralentissement de l'extracteur étant retardé à raison de l'intervalle de temps TG-TG1.
EP97810174A 1996-04-05 1997-03-25 Procédé et appareil pour la régulation de ruban dans une machine de cardage Expired - Lifetime EP0799915B2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CH87296 1996-04-05
CH87296 1996-04-05
CH872/96 1996-04-05

Publications (4)

Publication Number Publication Date
EP0799915A2 EP0799915A2 (fr) 1997-10-08
EP0799915A3 EP0799915A3 (fr) 1998-05-13
EP0799915B1 EP0799915B1 (fr) 2002-07-17
EP0799915B2 true EP0799915B2 (fr) 2007-03-07

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EP97810174A Expired - Lifetime EP0799915B2 (fr) 1996-04-05 1997-03-25 Procédé et appareil pour la régulation de ruban dans une machine de cardage

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US (1) US5915509A (fr)
EP (1) EP0799915B2 (fr)
DE (1) DE59707702D1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2021165017A1 (fr) 2020-02-20 2021-08-26 TRüTZSCHLER GMBH & CO. KG Procédé de production d'un ruban, et carde

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Publication number Priority date Publication date Assignee Title
US6581248B1 (en) * 1997-01-23 2003-06-24 Maschinenfabrik Rieter Ag Carding machine with drawing rollers at the outlet
WO1999058749A1 (fr) * 1998-05-13 1999-11-18 Maschinenfabrik Rieter Ag Machine traitant une matiere textile et dotee d'un bac d'etirage
EP1328337B1 (fr) * 2000-09-08 2006-01-25 Commonwealth Scientific And Industrial Research Organisation Melangeur de fluides et procede de melange
CN106757553A (zh) * 2016-12-24 2017-05-31 卓郎（常州）纺织机械有限公司 一种梳理机生产中断再启动被加工材料接续不中断的方法
CN109402800A (zh) * 2018-12-24 2019-03-01 经纬纺织机械股份有限公司 一种梳棉机生条不断头的方法
CN115573059B (zh) * 2022-09-16 2025-03-28 青岛宏大纺织机械有限责任公司 一种梳棉机生产变速过程中生条重量的控制方法及系统

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021165017A1 (fr) 2020-02-20 2021-08-26 TRüTZSCHLER GMBH & CO. KG Procédé de production d'un ruban, et carde
DE102020104475A1 (de) 2020-02-20 2021-08-26 Trützschler GmbH & Co Kommanditgesellschaft Verfahren zum Erzeugen eines Faserbandes und Karde

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EP0799915A3 (fr) 1998-05-13
EP0799915A2 (fr) 1997-10-08
EP0799915B1 (fr) 2002-07-17
US5915509A (en) 1999-06-29
DE59707702D1 (de) 2002-08-22

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