WO2006065200A1 - Co-ordinate measuring machine - Google Patents

Co-ordinate measuring machine Download PDF

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Publication number
WO2006065200A1
WO2006065200A1 PCT/SE2005/001842 SE2005001842W WO2006065200A1 WO 2006065200 A1 WO2006065200 A1 WO 2006065200A1 SE 2005001842 W SE2005001842 W SE 2005001842W WO 2006065200 A1 WO2006065200 A1 WO 2006065200A1
Authority
WO
WIPO (PCT)
Prior art keywords
legs
measuring machine
support table
ordinate measuring
support
Prior art date
Application number
PCT/SE2005/001842
Other languages
French (fr)
Inventor
Bo Pettersson
Original Assignee
Hexagon Metrology Ab
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 Hexagon Metrology Ab filed Critical Hexagon Metrology Ab
Priority to EP05812945.3A priority Critical patent/EP1825213B1/en
Priority to US11/791,707 priority patent/US7513059B2/en
Priority to JP2007546601A priority patent/JP4960881B2/en
Publication of WO2006065200A1 publication Critical patent/WO2006065200A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G01B5/008—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/047—Accessories, e.g. for positioning, for tool-setting, for measuring probes

Definitions

  • the present invention relates to a co-ordinate measuring machine to determine the co-ordinates of a number of points on the surface of a measurement object, comprising a support beam that supports a measurement head above the surface of a support table that supports the measurement object the co-ordinates of which are to be determined.
  • the co-ordinate measuring machines that are currently available are based on Cartesian geometry, which means that they are based on three orthogonal axes that can move more or less independently of each other, the x, y and z-axes.
  • Cartesian geometry which means that they are based on three orthogonal axes that can move more or less independently of each other, the x, y and z-axes.
  • Fig. Ia One example of such a machine is shown in Fig. Ia, in the form of what is known as a "portal measuring machine".
  • One of the disadvantages of this type of machine is the design that is related to movement along the z-direction. This is normally carried out through having a xz-carriage that can be displaced along the x-axis while at the same time comprising a bearing system for the z-axis.
  • a co-ordinate measuring machine in order to determine the co-ordinates of a number of points on the surface of a measurement object, comprising a support beam that supports a measurement head over the surface of a support table that supports the measurement object, the co-ordinates of which are to be measured, where the support beam is supported above the support table by means of two legs that it is not only possible to displace together along the support table in order to displace the support beam and the measurement head forwards and backwards in a direction relative to the support table, but also it is possible to displace the legs relative to each other in order to raise and lower the support beam and the measurement head relative to the support table.
  • Fig. 1 shows a view from the front of a traditional co-ordinate measuring machine of por- tal type
  • Fig. 2 shows a view from the side of the traditional co-ordinate measuring machine shown in Fig. 1
  • Fig. 3 shows a view from the front of a co-ordinate measuring machine of portal type according to the invention in a first operating position
  • Fig. 4 shows the co-ordinate measuring machine of Fig. 3 in a second operating position
  • Fig. 5 shows a view from the front of a co-ordinate measuring machine of horizontal arm type designed according to the invention
  • Fig. 6 shows a view from the side of the co-ordinate measuring machine in Fig.
  • Fig. 7 shows a view from the side of a co-ordinate measuring machine of portal type according to the invention in an alternative design
  • Fig. 8 shows an alternative design of the attachment of the z-axis for a co-ordinate measuring machine of portal type according to the invention.
  • the co-ordinate measuring machine shown in Fig. 1 and Fig. 2 comprises a support table 1 along which one driving leg 2 and one support leg 3 can be displaced forwards and backwards in one direction, the y-direction.
  • the legs 2, 3 support in their turn at their upper ends a support beam 4, whereby the support beam is located at a distance above the surface of the support table 1, which distance is determined by the lengths of the legs 2, 3.
  • the support beam 4 supports in turn a measurement carriage 5 that can be displaced forwards and backwards along the support beam 4, along the x-direction.
  • This measurement carriage in turn supports a vertical shaft
  • a measurement probe is arranged at the lower end of the vertical shaft in a known manner, which probe can be brought into contact with the object that is to be measured in the co-ordinate measuring machine.
  • the co-ordinate measuring machine according to the invention that is shown in Fig. 3 and Fig. 4• differs from that shown in Fig. 1 and Fig. 2 principally in that the legs that support the support beam 4 at a distance above the support table are designed differently and function in a different manner.
  • the legs 7, 8 are in this case shown at one side of the support table 1, designed as separately displaceable legs that are attached to the support beam 4 in a manner that allows rotation, such that the legs 7, 8 only displace the support beam at a constant height over the support table when they are displaced in the same direction along the support table, and such that the support beam ' 4 will be displaced upwards away from or downwards towards the support table 1 when the legs
  • the legs 7 and 8 are connected to the support beam 4 by self- adjusting turning bearings 9, 10 such that the support beam 4 always takes up the same angular position relative to the horizontal plane, independently of how the legs 7, 8 are displaced.
  • the legs 7, 8 can be displaced at their lower ends along one side of the support table 1 by means of driving means 11, 12.
  • the driving means 11, 12 may be, for example, designed as linear motors, with one magnet that is common to the two driving means and that extends along one edge of the support table 1, and with individual coils and control means for the individual driving means 11, 12.
  • a particular height Hl between the support table 1 and the lower end of the vertical shaft 6 is obtained through displacement of the legs 7, 8 to the position that is shown in Fig. 3, where the distance between the legs is Dl.
  • the distance between the support table 1 and the lower end of the vertical shaft will be reduced to H2 if the legs 7, 8 are moved apart such that the distance between them at the surface of the support table 1 becomes D2, as is shown in Fig. 4.
  • the lower end of the vertical shaft 6 can be driven to any position at all not only in the y-direction but also in the z-direction by displacement of the legs 7, 8 together and relative to each other, within, of course, the external limitations that ap- ply.
  • the vertical shaft 6 can be displaced to the desired position in the x-direction with the aid of the measurement carriage that can be displaced along the support beam 4.
  • the driving means 11, 12 can, of course, be designed .in any other manner than the linear motors mentioned above that works in practice.
  • the driving means may, for example, be designed as toothed wheels that are displaced along a toothed rail that is arranged along the side of the support table 1.
  • Belt-driving or worm-screw driving may also be suitable, in this case having fully separate driving systems for the two legs.
  • Corresponding driving systems may be arranged for the legs on the opposite side of the support table.
  • the measurement carriage 5 now no longer needs to comprise means for raising and lowering the vertical shaft 6 since the vertical shaft now can be raised and lowered with the aid of the legs 7, 8 that can be displaced, and for this reason not only the measurement carriage 5 but also the support beam 4 can be made with smaller dimensions and thus lower weight.
  • the principle of two legs that can be displaced relative to each other for the raising and lowering of the support beam that is supported over the support table can be used not only for co-ordinate measuring machines of portal type but also for co-ordinate measuring machines of horizontal arm type, as is shown in Fig. 5 and Fig. 6.
  • the legs 13, 14 that support the horizontal arm 15 are arranged in this case only on one side of the support table 1.
  • the legs 13, 14 act in precisely the same manner as that described above for the legs 7, 8.
  • These legs 13, 14 support a horizontal arm holder 16, in which the horizontal arm is mounted in bearings and in which the horizontal arm can be displaced forwards and backwards in the y-direction, as is suggested by the arrow in the drawing.
  • the horizontal arm 15 and the vertical shaft that is arranged on it can then be displaced upwards and downwards, and in the ⁇
  • FIG. 7 A variant of a co-ordinate measuring machine of portal type is shown in Fig. 7 in which the legs 7, 8 are jointed in the middle with joints 17, 18 and are connected by a connector rod 19. It is appropriate that this connector rod 19 is a threaded rod or a toothed rod, interacting with rotating bushes or toothed wheels at the joints 17, 18.
  • the legs 7, 8 in this variant also may be jointed in the middle a raising or a lowering of the support beam 4 and the vertical shaft 6 being possible through displacement of the joints 17, 18 towards or away from each other. It is appropriate to use this variant when unlimited space is not available for the support table 1, and it ensures that a co-ordinate measuring machine according to the invention can be designed to be compact.
  • Fig. 8 shows a detail of the connection between the measure- ment carriage 5 and the vertical shaft 6.
  • the vertical shaft 6 can be connected to the measurement carriage 5 with the aid of turning bearings 20, such that the vertical shaft 6 can rotate around its own axis. It is in this way possible to create a fixed measurement probe for connection at the free end of the vertical shaft 6, and avoid having a mobile probe there.
  • a mobile measurement probe that can rotate requires driving means at the end of the vertical shaft 6, and this not only complicates the shaft but also increases the weight at the free end of the shaft.
  • a simple turning mechanism can instead, through the invention, be arranged at the connection between the measurement carriage and the vertical shaft, in order to rotate this shaft and thus also a measurement probe arranged at the free end of the shaft. It is obvious that such a meas- urement probe arranged at the end of the vertical shaft, which can rotate around is axis, may be designed also as a jointed measurement probe.
  • Individual position sensors are arranged at each individual leg, in order to obtain the location of the different legs, and in this way be able to calculate the position of the measurement probe, while a common measurement scale may be arranged along the support table.
  • Such a measurement scale and position sensors are, naturally, arranged also at the measurement carriage 5 in order to record its position along the support beam 4.
  • the attach- ments for the legs to the support beam fixed asymmetric, whereby it becomes possible also to turn the support beam in order to make it possible to turn the complete measurement carriage. It is in this way possible to obtain greater possibilities to measure, for example, cavities in the side of a work piece that is to be measured.
  • the vertical shaft in this case will no longer be vertical: it will rather be tilted, or it may even be parallel with the horizontal plane.
  • a measurement probe arranged at the end of this shaft, the "vertical shaft” can then be made to penetrate into cavities in the side of the work piece, and it may penetrate even to great depths into such cavities.

Abstract

A co-ordinate measuring machine to determine the co ordinates of a number of points on the surface of a measurement object, comprising a support beam (4) that supports a measurement head over the surface of a support table (1) that supports the measurement object, the co ordinates of which are to be measured. The support beam (4) is supported above the support table (1) by means of two legs (7, 8) that are not only possible to displace together along the support table (1) in order to displace the support beam (4) and the measurement head forwards and backwards in a direction relative to the support table (1), but also it is possible to displace the legs (7, 8) relative to each other in different directions along the support table (1) in order to raise and lower the support beam (4) and the measurement head relative to the support table.

Description

Co-ordinate Measuring Machine
The present invention relates to a co-ordinate measuring machine to determine the co-ordinates of a number of points on the surface of a measurement object, comprising a support beam that supports a measurement head above the surface of a support table that supports the measurement object the co-ordinates of which are to be determined.
The co-ordinate measuring machines that are currently available are based on Cartesian geometry, which means that they are based on three orthogonal axes that can move more or less independently of each other, the x, y and z-axes. One example of such a machine is shown in Fig. Ia, in the form of what is known as a "portal measuring machine". One of the disadvantages of this type of machine is the design that is related to movement along the z-direction. This is normally carried out through having a xz-carriage that can be displaced along the x-axis while at the same time comprising a bearing system for the z-axis. In order to obtain sufficient rigidity in the xz-carriage it is normally required that the bearing system is spread out as far as is possible. However, this means that the xz-carriage will become relatively large, with the associated high weight of the complete displacement system (the xz-carriage and the z-axis) . This then, in turn, leads to the requirements for rigidity on the remainder of the structure becoming relatively severe, since the weight of the moving parts is high.
It is therefore one purpose of the present invention to achieve a co-ordinate measuring machine of the type described above in which the problems described above can be reduced, such that the dimensions of the moving parts can be reduced. This purpose of the invention is achieved with a co-ordinate measuring machine in order to determine the co-ordinates of a number of points on the surface of a measurement object, comprising a support beam that supports a measurement head over the surface of a support table that supports the measurement object, the co-ordinates of which are to be measured, where the support beam is supported above the support table by means of two legs that it is not only possible to displace together along the support table in order to displace the support beam and the measurement head forwards and backwards in a direction relative to the support table, but also it is possible to displace the legs relative to each other in order to raise and lower the support beam and the measurement head relative to the support table.
The invention will now be described in more detail in the form of non-limiting embodiments, illustrated with the aid of the attached drawings, in which Fig. 1 shows a view from the front of a traditional co-ordinate measuring machine of por- tal type, Fig. 2 shows a view from the side of the traditional co-ordinate measuring machine shown in Fig. 1, Fig. 3 shows a view from the front of a co-ordinate measuring machine of portal type according to the invention in a first operating position, Fig. 4 shows the co-ordinate measuring machine of Fig. 3 in a second operating position, Fig. 5 shows a view from the front of a co-ordinate measuring machine of horizontal arm type designed according to the invention, Fig. 6 shows a view from the side of the co-ordinate measuring machine in Fig. 5, Fig. 7 shows a view from the side of a co-ordinate measuring machine of portal type according to the invention in an alternative design, and Fig. 8 shows an alternative design of the attachment of the z-axis for a co-ordinate measuring machine of portal type according to the invention. The co-ordinate measuring machine shown in Fig. 1 and Fig. 2 comprises a support table 1 along which one driving leg 2 and one support leg 3 can be displaced forwards and backwards in one direction, the y-direction. The legs 2, 3 support in their turn at their upper ends a support beam 4, whereby the support beam is located at a distance above the surface of the support table 1, which distance is determined by the lengths of the legs 2, 3. The support beam 4 supports in turn a measurement carriage 5 that can be displaced forwards and backwards along the support beam 4, along the x-direction. This measurement carriage in turn supports a vertical shaft
6, which is connected with the measurement carriage 5 such that it can be displaced upwards and downwards, along the z- direction. A measurement probe, not shown in the drawings, is arranged at the lower end of the vertical shaft in a known manner, which probe can be brought into contact with the object that is to be measured in the co-ordinate measuring machine.
The co-ordinate measuring machine according to the invention that is shown in Fig. 3 and Fig. 4• differs from that shown in Fig. 1 and Fig. 2 principally in that the legs that support the support beam 4 at a distance above the support table are designed differently and function in a different manner. The legs 7, 8 are in this case shown at one side of the support table 1, designed as separately displaceable legs that are attached to the support beam 4 in a manner that allows rotation, such that the legs 7, 8 only displace the support beam at a constant height over the support table when they are displaced in the same direction along the support table, and such that the support beam ' 4 will be displaced upwards away from or downwards towards the support table 1 when the legs
7, 8 are displaced in different directions along the support table 1. In this case, naturally, equivalent legs are arranged on the opposite side of the support table 1 in order to support the support beam 4 at its other end, and arranged such that they can be displaced in the same manner as the legs 7, 8.
The legs 7 and 8 are connected to the support beam 4 by self- adjusting turning bearings 9, 10 such that the support beam 4 always takes up the same angular position relative to the horizontal plane, independently of how the legs 7, 8 are displaced. The legs 7, 8 can be displaced at their lower ends along one side of the support table 1 by means of driving means 11, 12. The driving means 11, 12 may be, for example, designed as linear motors, with one magnet that is common to the two driving means and that extends along one edge of the support table 1, and with individual coils and control means for the individual driving means 11, 12. A particular height Hl between the support table 1 and the lower end of the vertical shaft 6 is obtained through displacement of the legs 7, 8 to the position that is shown in Fig. 3, where the distance between the legs is Dl. The distance between the support table 1 and the lower end of the vertical shaft will be reduced to H2 if the legs 7, 8 are moved apart such that the distance between them at the surface of the support table 1 becomes D2, as is shown in Fig. 4. Thus the lower end of the vertical shaft 6 can be driven to any position at all not only in the y-direction but also in the z-direction by displacement of the legs 7, 8 together and relative to each other, within, of course, the external limitations that ap- ply. The vertical shaft 6 can be displaced to the desired position in the x-direction with the aid of the measurement carriage that can be displaced along the support beam 4. The driving means 11, 12 can, of course, be designed .in any other manner than the linear motors mentioned above that works in practice. Thus, the driving means may, for example, be designed as toothed wheels that are displaced along a toothed rail that is arranged along the side of the support table 1. Belt-driving or worm-screw driving may also be suitable, in this case having fully separate driving systems for the two legs.
Corresponding driving systems may be arranged for the legs on the opposite side of the support table.
The measurement carriage 5 now no longer needs to comprise means for raising and lowering the vertical shaft 6 since the vertical shaft now can be raised and lowered with the aid of the legs 7, 8 that can be displaced, and for this reason not only the measurement carriage 5 but also the support beam 4 can be made with smaller dimensions and thus lower weight.
The principle of two legs that can be displaced relative to each other for the raising and lowering of the support beam that is supported over the support table can be used not only for co-ordinate measuring machines of portal type but also for co-ordinate measuring machines of horizontal arm type, as is shown in Fig. 5 and Fig. 6. The legs 13, 14 that support the horizontal arm 15 are arranged in this case only on one side of the support table 1. The legs 13, 14 act in precisely the same manner as that described above for the legs 7, 8. These legs 13, 14 support a horizontal arm holder 16, in which the horizontal arm is mounted in bearings and in which the horizontal arm can be displaced forwards and backwards in the y-direction, as is suggested by the arrow in the drawing. The horizontal arm 15 and the vertical shaft that is arranged on it can then be displaced upwards and downwards, and in the β
x-direction, in the manner that has been described above for a co-ordinate measuring machine of portal type.
A variant of a co-ordinate measuring machine of portal type is shown in Fig. 7 in which the legs 7, 8 are jointed in the middle with joints 17, 18 and are connected by a connector rod 19. It is appropriate that this connector rod 19 is a threaded rod or a toothed rod, interacting with rotating bushes or toothed wheels at the joints 17, 18. In that the legs 7, 8 in this variant also may be jointed in the middle a raising or a lowering of the support beam 4 and the vertical shaft 6 being possible through displacement of the joints 17, 18 towards or away from each other. It is appropriate to use this variant when unlimited space is not available for the support table 1, and it ensures that a co-ordinate measuring machine according to the invention can be designed to be compact.
Fig. 8 shows a detail of the connection between the measure- ment carriage 5 and the vertical shaft 6. According to one design of the invention, the vertical shaft 6 can be connected to the measurement carriage 5 with the aid of turning bearings 20, such that the vertical shaft 6 can rotate around its own axis. It is in this way possible to create a fixed measurement probe for connection at the free end of the vertical shaft 6, and avoid having a mobile probe there. A mobile measurement probe that can rotate requires driving means at the end of the vertical shaft 6, and this not only complicates the shaft but also increases the weight at the free end of the shaft. A simple turning mechanism can instead, through the invention, be arranged at the connection between the measurement carriage and the vertical shaft, in order to rotate this shaft and thus also a measurement probe arranged at the free end of the shaft. It is obvious that such a meas- urement probe arranged at the end of the vertical shaft, which can rotate around is axis, may be designed also as a jointed measurement probe.
Individual position sensors are arranged at each individual leg, in order to obtain the location of the different legs, and in this way be able to calculate the position of the measurement probe, while a common measurement scale may be arranged along the support table. Such a measurement scale and position sensors are, naturally, arranged also at the measurement carriage 5 in order to record its position along the support beam 4.
It is also possible with the invention to make the attach- ments for the legs to the support beam fixed asymmetric, whereby it becomes possible also to turn the support beam in order to make it possible to turn the complete measurement carriage. It is in this way possible to obtain greater possibilities to measure, for example, cavities in the side of a work piece that is to be measured. The vertical shaft in this case will no longer be vertical: it will rather be tilted, or it may even be parallel with the horizontal plane. A measurement probe arranged at the end of this shaft, the "vertical shaft", can then be made to penetrate into cavities in the side of the work piece, and it may penetrate even to great depths into such cavities.

Claims

Claims
1. A co-ordinate measuring machine to determine the co-ordinates of a number of points on the surface of a meas- urement object, comprising a support beam (4) that supports a measurement head over the surface of a support table (1) that supports the measurement object the co-ordinates of which are to be measured, cha r a ct e r i s e d in that the support beam
(4) is supported above the support table (1) by means of two legs (7, 8; 13, 14) that are not only possible to displace together along the support table (1) in order to displace the support beam (4) and the measurement head forwards and backwards in a direction relative to the support table (1) , but also it is possible to displace the legs (7, 8; 13, 14) rela- tive to each other in different directions along the support table (1) in order to raise and lower the support beam (4) and the measurement head relative to the support table.
2. The co-ordinate measuring machine according to claim 1, cha r a ct e r i s e d in that it is a portal measuring machine and in that it comprises one pair of support legs that it is possible to displace not only along the support table but also relative to each other.
3. The co-ordinate measuring machine according to claim 1 or 2, cha r a ct e r i s e d in that the legs (7, 8; 13, 14) comprise at least partially common driving means for the displacement of the legs along the support table (1) .
4. The co-ordinate measuring machine according to claim 3, cha ract e r i s e d in that the driving means (11, 12) comprise a linear motor with one magnet that is common to both legs.
5. The co-ordinate measuring machine according to claim 3, cha r a ct e r i s e d in that the driving means (11, 12) comprise a toothed rail and toothed wheel system, with one toothed rail that is common for both legs.
6. The co-ordinate measuring machine according to claim 1 or 2, chara ct e ri s ed in that the legs (7, 8; 13, 14) comprise separate driving means (11, 12) for displacement of the legs along the support table.
7. The co-ordinate measuring machine according to any one of the previous claims, chara ct e r i s e d in that the legs
(7, 8; 13, 14) comprise separate position sensors and in that the support table comprises a measurement scale that is com- mon to both legs.
8. The co-ordinate measuring machine according to any one of the previous claims, cha ra ct e ri s e d in that the support beam (4) supports a vertical shaft (6) that is arranged such that it cannot be displaced in the vertical direction relative to the support beam (4) .
9. The co-ordinate measuring machine according to claim 8, cha ra ct e r i s e d in that the vertical shaft (6) is ar- ranged such that it can rotate around its own axis.
10. The co-ordinate measuring machine according to claim 8 or 9, cha r a ct e r i s e d in that a measurement probe is arranged at the end of the vertical shaft (6) .
PCT/SE2005/001842 2004-12-15 2005-12-06 Co-ordinate measuring machine WO2006065200A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP05812945.3A EP1825213B1 (en) 2004-12-15 2005-12-06 Co-ordinate measuring machine
US11/791,707 US7513059B2 (en) 2004-12-15 2005-12-06 Co-ordinate measuring machine
JP2007546601A JP4960881B2 (en) 2004-12-15 2005-12-06 Coordinate measuring machine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0403044A SE527899C2 (en) 2004-12-15 2004-12-15 Coordinate measuring machine with mutually movable legs
SE0403044-1 2004-12-15

Publications (1)

Publication Number Publication Date
WO2006065200A1 true WO2006065200A1 (en) 2006-06-22

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US (1) US7513059B2 (en)
EP (1) EP1825213B1 (en)
JP (1) JP4960881B2 (en)
CN (1) CN100472171C (en)
SE (1) SE527899C2 (en)
WO (1) WO2006065200A1 (en)

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CN101080607A (en) 2007-11-28
CN100472171C (en) 2009-03-25
US7513059B2 (en) 2009-04-07
SE0403044D0 (en) 2004-12-15
JP2008524580A (en) 2008-07-10
SE527899C2 (en) 2006-07-04
EP1825213A1 (en) 2007-08-29
JP4960881B2 (en) 2012-06-27
EP1825213A4 (en) 2013-01-23
SE0403044L (en) 2006-06-16
US20080120860A1 (en) 2008-05-29
EP1825213B1 (en) 2019-10-09

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