JP2782039B2 - Rotation angle detector - Google Patents
Rotation angle detectorInfo
- Publication number
- JP2782039B2 JP2782039B2 JP6195974A JP19597494A JP2782039B2 JP 2782039 B2 JP2782039 B2 JP 2782039B2 JP 6195974 A JP6195974 A JP 6195974A JP 19597494 A JP19597494 A JP 19597494A JP 2782039 B2 JP2782039 B2 JP 2782039B2
- Authority
- JP
- Japan
- Prior art keywords
- rotation angle
- gear
- code
- code member
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
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- A Measuring Device Byusing Mechanical Method (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Optical Transform (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、各種機械の回転角位置
の絶対値を、主として機械的手段によりデジタル的に検
出する小型の回転角検出装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a small rotation angle detecting device for digitally detecting the absolute value of the rotation angle position of various machines mainly by mechanical means.
【０００２】[0002]
【従来の技術】従来、回転角位置の絶対値をデジタル的
に検出する装置には、エンコード板を用いた光学式方
法、磁力を利用した磁気式方法等の種々の方法が知られ
ている。また、絶対位置を検出する方法としては、回転
移動量を積算することにより求める積算方式と、回転角
位置そのものを検出する絶対位置検出方式とが知られて
いる。なお、簡単な構造で回転角位置を交番２進数によ
るデジタル的に検出する装置は殆ど提案されていない。2. Description of the Related Art Conventionally, as an apparatus for digitally detecting the absolute value of a rotational angle position, various methods such as an optical method using an encoding plate and a magnetic method using a magnetic force are known. Further, as a method of detecting the absolute position, there are known an integration method that is obtained by integrating the rotational movement amount and an absolute position detection method that detects the rotation angle position itself. It is to be noted that almost no device has been proposed which digitally detects the rotation angle position using an alternating binary number with a simple structure.
【０００３】[0003]
【発明が解決しようとする課題】しかし、積算方式によ
り絶対位置を検出する方法においては、原点からの回転
移動量を積算する必要があるため、測定の開始時点にお
いては一度原点に復帰し、そこから測定を始める手間が
生ずる。また、回転移動量を誤検出した場合には、その
誤差も積算されてしまうという問題がある。However, in the method of detecting an absolute position by the integration method, since it is necessary to integrate the amount of rotational movement from the origin, it is necessary to return to the origin once at the start of measurement. It takes time to start measurement from. Further, when the rotational movement amount is erroneously detected, there is a problem that the error is also integrated.
【０００４】本発明の目的は、実用的な大きさ及び構造
で、交番２進数により高い分解能が得られる絶対位置検
出方式の回転角検出装置を提供することにある。It is an object of the present invention to provide an absolute position detecting type rotation angle detecting device which has a practical size and structure and can obtain high resolution by an alternating binary number.
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するため
の本発明に係る回転角検出装置は、駆動歯車と従動歯車
を有する複数個の第１の符号部材を主軸に並列し、前記
第１の符号部材の従動歯車を隣接する前記第１の符号部
材の前記駆動歯車に対し、前記主軸と平行に設けた副軸
に配置したピニオン歯車から成る第２の符号部材を介し
て噛合し、外部から機械的に入力される回転角が前記第
１、第２の符号部材の回転として順次に上位の前記第
１、第２の符号部材に伝達されるようにし、前記駆動歯
車又は前記ピニオン歯車の少なくとも一方の歯車の適所
を欠歯歯車とすることにより隣接する上位の前記第１の
符号部材をその従動歯車を介して間欠的に回転させ、前
記各第１、第２の符号部材にはその回転角に応じて１ビ
ット信号を表す検出端をそれぞれ設けると共に、これら
の検出端の回転位置を検出するセンサをそれぞれ設け、
前記センサからの信号により、外部から入力される前記
回転角を交番２進数のデジタル信号として出力する機構
を有することを特徴とする。In order to achieve the above object, the present invention provides a rotation angle detecting device in which a plurality of first sign members having a driving gear and a driven gear are arranged in parallel on a main shaft, and The driven gear of the code member is engaged with the drive gear of the adjacent first code member via a second code member composed of a pinion gear disposed on a sub-shaft provided in parallel with the main shaft. The rotation angle mechanically input from the first and second sign members is sequentially transmitted to the upper first and second sign members as rotation of the first and second sign members, and the rotation angle of the drive gear or the pinion gear is increased. At least one of the gears is a toothless gear so that the adjacent upper first code member is intermittently rotated via the driven gear, and each of the first and second code members has Detection representing 1-bit signal according to rotation angle Provided with a respective, a sensor for detecting the rotational position of the detection end, respectively,
A mechanism is provided for outputting the rotation angle input from the outside as a digital signal of an alternating binary number in response to a signal from the sensor.
【０００６】[0006]
【作用】上述の構成を有する回転角検出装置は、複数個
の第１の符号部材を主軸に並列し、外部から入力される
回転角をピニオン歯車から成る第２の符号部材を介して
第１の符号部材に伝達し、順次に上位の第１、第２の符
号部材を間欠的に回転させ、第１、第２の符号部材に設
けた検出端とセンサとによって、回転角を第１、第２の
符号部材の回転位置を基に交番２進数でデシタル的に出
力する。In the rotation angle detecting device having the above-described structure, a plurality of first code members are arranged in parallel with the main shaft, and the rotation angle input from the outside is converted to the first through a second code member made of a pinion gear. , The upper first and second code members are sequentially rotated intermittently, and the detection angles and the sensors provided on the first and second code members are used to set the rotation angles to the first and second rotation positions. It outputs digitally in an alternating binary number based on the rotational position of the second code member.
【０００７】[0007]
【実施例】本発明を図示の実施例に基づいて詳細に説明
する。図１は実施例の構成図であり、金属板から成るフ
レーム４１の片側の側板４１ａの近傍には回転角検出用
歯車４２が設けられ、この回転角検出用歯車４２にはフ
レーム４１の外側から検出すべき回転角を伝達する入力
軸４３が連結されている。また、フレーム４１の他側の
側板４１ｂと回転角検出用歯車４２間には主軸４４が支
えられ、この主軸４４が入力軸４３と同軸に軸支されて
おり、この主軸４４には２個の第１の符号部材４５ａ、
４５ｂが並列に挿通されている。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail with reference to the illustrated embodiments. FIG. 1 is a configuration diagram of an embodiment. A rotation angle detecting gear 42 is provided near a side plate 41a on one side of a frame 41 made of a metal plate. An input shaft 43 for transmitting a rotation angle to be detected is connected. A main shaft 44 is supported between the other side plate 41 b of the frame 41 and the rotation angle detecting gear 42, and the main shaft 44 is coaxially supported with the input shaft 43. A first code member 45a,
45b are inserted in parallel.
【０００８】これらの第１の符号部材４５ａ、４５ｂに
おいては、主軸４４を挿通する貫通孔を有する円筒部４
６の片側に、従動歯車４７と駆動歯車４８が一体となっ
た歯車部４９が設けられ、円筒部４６の中央部にはカム
状のビット検出端５０がそれぞれ取り付けられている。In these first code members 45a and 45b, the cylindrical portion 4 having a through hole through which the main shaft 44 is inserted.
On one side of 6, a gear portion 49 in which a driven gear 47 and a drive gear 48 are integrated is provided, and a cam-shaped bit detection end 50 is attached to the center of the cylindrical portion 46, respectively.
【０００９】また、第１の符号部材４５ａ、４５ｂの従
動歯車４７は図２に示すように歯数が１６個の全歯歯車
とされ、第１の符号部材４５ａの駆動歯車４８は１３５
度だけ隔てて歯数が２個ずつの歯部が２個所に形成され
た欠歯歯車とされ、第１の符号部材４５ｂの駆動歯車４
８は９０度間隔で歯数が４個ずつの歯部が２個所に形成
された欠歯歯車とされている。更に、ビット検出端５０
を覆うように光電センサ５３が配置されており、この光
電センサ５３が後述するビット検出端５０の１８０度の
遮光部５１、１８０度の切欠部５２に対応して、
「０」、「１」の１ビット信号をそれぞれ出力するよう
にされている。The driven gear 47 of the first code member 45a, 45b is a fully toothed gear having 16 teeth as shown in FIG. 2, and the drive gear 48 of the first code member 45a is 135.
A toothless gear having two teeth each having two teeth separated by a degree is formed as a toothless gear, and the drive gear 4 of the first code member 45b is
Numeral 8 denotes a toothless gear having two tooth portions each having four teeth at 90-degree intervals. Further, the bit detection end 50
The photoelectric sensor 53 is disposed so as to cover the 180-degree light-shielding portion 51 and the 180-degree notch 52 of the bit detection end 50 described later.
One-bit signals “0” and “1” are output, respectively.
【００１０】一方、主軸４４と平行に副軸５４がフレー
ム４１の両側の側板４１ａ、４１ｂに軸支され、この副
軸５４には、回転角検出用歯車４２の回転を第１の符号
部材４５ａに伝達する連結歯車５５と、第１の符号部材
４５の回転を上位の第１の符号部材４５に伝達する２個
のピニオン歯車から或る第２の符号部材５６が挿通され
ている。これらの第２の符号部材５６には、第１の符号
部材４５と同様に後述する１８０度の遮光部５７と１８
０度の切欠部５８を有するビット検出端５９が一体的に
回転するように固定され、このビット検出端５９を覆う
ように、遮光部５７、切欠部５８に対応して、「０」、
「１」の１ビット信号をそれぞれ出力する光電センサ６
０が配置されている。なお、第２の符号部材５６は共に
歯数が８個の全歯歯車とされている。On the other hand, a sub shaft 54 is axially supported by the side plates 41a and 41b on both sides of the frame 41 in parallel with the main shaft 44. The sub shaft 54 controls the rotation of the rotation angle detecting gear 42 by a first sign member 45a. A second sign member 56 is inserted from a coupling gear 55 that transmits the rotation of the first sign member 45 to the upper first sign member 45, and two pinion gears that transmit the rotation of the first sign member 45 to the upper first sign member 45. Similar to the first code member 45, these second code members 56 have 180-degree light shielding portions 57 and 18 described later.
A bit detection end 59 having a 0-degree notch 58 is fixed so as to rotate integrally, and “0” corresponding to the light-shielding portion 57 and the notch 58 so as to cover the bit detection end 59.
Photoelectric sensor 6 for outputting 1-bit signal of "1"
0 is arranged. In addition, the second code member 56 is an all-tooth gear having eight teeth.
【００１１】このような構成において、外部からの機械
的な回転駆動による測定すべき回転角が入力軸４３に伝
達されると、その回転は回転角検出用歯車４２から連結
歯車５５を介して第１の符号部材４５ａに伝達され、更
に第２の符号部材５６を介して上位の第１の符号部材４
５ｂを間欠的に回転させることで、この回転は上位の第
２の符号部材５６に伝達される。In this configuration, when a rotation angle to be measured by an external mechanical rotation drive is transmitted to the input shaft 43, the rotation is transmitted from the rotation angle detecting gear 42 via the connecting gear 55 to the first shaft 43. The first code member 45a is transmitted to the first code member 45a, and further transmitted through the second code member 56.
By intermittently rotating 5b, this rotation is transmitted to the upper second code member 56.
【００１２】図３はこの実施例の機構により交番２進数
を出力する説明図であり、第１の符号部材４５は模式的
にビット検出端５０の遮光部５１を黒色、切欠部５２を
白色の円形で表し、その周辺の太線部は駆動歯車４８の
歯部を表すものとする。また、第１の符号部材４５に隣
接する第２の符号部材５６も同様に、ビット検出端５９
の遮光部５７を黒色、切欠部５８を白色の円形で表すも
のとする。FIG. 3 is an explanatory diagram for outputting an alternating binary number by the mechanism of this embodiment. The first code member 45 is a black light-shielding portion 51 of the bit detection end 50 and a white light cut-out portion 52. It is represented by a circle, and the thick line around it represents the teeth of the drive gear 48. Similarly, the second code member 56 adjacent to the first code member 45 also has a bit detection end 59.
The light shielding portion 57 is represented by a black circle, and the cutout portion 58 is represented by a white circle.
【００１３】入力軸４３の回転角が初期状態にある場合
においては、図３(a) に示すように第１の符号部材４５
ａ、４５ｂのビット検出端５０及び第２の符号部材５６
のビット検出端５９は、それぞれに設けられた計４個の
光電センサ５３、６０に対し、全て「０」である切欠部
５２、５８が位置するため、光電センサ５３、６０で得
られる信号は左から順に００００となっている。ここ
で、入力軸４３が１／４左回転し第１の符号部材４５ａ
が図３(b) に示すような状態になると、第１の符号部材
４５ａからの出力は「１」となり、結果として信号は０
００１となる。なお、このとき第１の符号部材４５ａの
駆動歯車４８は無歯部が回転したため、隣接する第２の
符号部材５６に回転が伝達されることはない。When the rotation angle of the input shaft 43 is in the initial state, as shown in FIG.
a, 45b and the second code member 56
Since the notch portions 52 and 58 that are all “0” are located with respect to a total of four photoelectric sensors 53 and 60 provided respectively, the signals obtained by the photoelectric sensors 53 and 60 are It is 0000 in order from the left. Here, the input shaft 43 is rotated by 1/4 to the left and the first code member 45a is rotated.
3B becomes the state shown in FIG. 3B, the output from the first code member 45a becomes "1", and as a result, the signal becomes 0.
001. At this time, since the toothless portion of the drive gear 48 of the first code member 45a has rotated, the rotation is not transmitted to the adjacent second code member 56.
【００１４】続いて、第１の符号部材４５ａが図３(c)
に示すように更に１／４左回転すると、駆動歯車４８の
歯部により第２の符号部材５６は１／４右回転し、これ
に伴って第１の符号部材４５ｂは１／８左回転し、信号
は００１１となる。次に、第１の符号部材４５ａが更に
１／４左回転すると、第１の符号部材４５ａの駆動歯車
４８は無歯部であるため、第２の符号部材５６には回転
は伝達されず、図３(d) に示すような状態となり信号は
００１０となる。このようにして、順次に第１の符号部
材４５ａ、４５ｂ及び第２の符号部材５６が間欠的に回
転を続け、図３(e) 、(f) 、(g) と順次に変化し、図３
(p) に示すように信号が１０００となるまで、００００
〜１０００の交番２進数が順次に得られる。更に、図３
(p) の状態から第１の符号部材４５ａを１／４左回転さ
せると、第２の符号部材５６は１／４右回転し、第１の
符号部材４５ｂは１／８左回転し、最終段の第２の符号
部材５６は１／２右回転し、図３(a) に示すような初期
状態に戻り、動作が一順する。Subsequently, the first code member 45a is shown in FIG.
As shown in (1), when the left rotation is further performed by 1/4, the second sign member 56 is rotated by 1/4 right by the teeth of the driving gear 48, and the first sign member 45b is also rotated by 1/8 left. , The signal becomes 0011. Next, when the first sign member 45a further rotates by 1/4 to the left, the rotation is not transmitted to the second sign member 56 because the drive gear 48 of the first sign member 45a has no tooth. The state is as shown in FIG. 3D, and the signal becomes 0010. In this manner, the first code members 45a and 45b and the second code member 56 continue to rotate intermittently, and change sequentially to FIGS. 3 (e), (f) and (g). 3
As shown in (p), 0000 until the signal reaches 1000.
Alternate binary numbers of ~ 1000 are obtained sequentially. Further, FIG.
When the first code member 45a is rotated by 1/4 counterclockwise from the state of (p), the second code member 56 is rotated by 1/4 clockwise, the first code member 45b is rotated by 1/8 counterclockwise. The second sign member 56 of the step is rotated to the right by half, and returns to the initial state as shown in FIG.
【００１５】この実施例の場合では、第１の符号部材４
５と第２の符号部材５６の双方のビット検出端５０、５
９から１ビット信号を得ることができるため、ピニオン
歯車を第２の符号部材５６としない場合に比較して、同
一の軸寸法において２倍の信号が得られ、同一寸法の装
置において２倍の分解能を実現することができる。In the case of this embodiment, the first code member 4
5 and the second code member 56 have both bit detection ends 50, 5
Since a 1-bit signal can be obtained from 9 bits, twice as many signals can be obtained with the same axial dimension as compared with a case where the pinion gear is not used as the second sign member 56, and twice as large with a device of the same dimension. Resolution can be achieved.
【００１６】なお、第１の符号部材４５の従動歯車、駆
動歯車の歯数や無歯部分、ビット検出端の遮光部、切欠
部等の配置、ピニオン歯車の歯数の組合わせは、上述の
実施例に挙げる他にも種々の組合わせが可能であり、回
転角検出装置の仕様等に基づいて設計されるものであ
る。The combination of the number of teeth of the driven gear and the drive gear of the first code member 45, the non-teeth portion, the light shielding portion and the notch portion of the bit detection end, and the number of teeth of the pinion gear are described above. Various combinations other than those described in the embodiments are possible, and are designed based on the specifications of the rotation angle detection device.
【００１７】また、実施例においては、計４個の第１、
第２の符号部材４５、６０を使用して４ビットの出力例
を示したが、更に多数の第１、第２の符号部材を使用す
ることで、出力のビット数を増加し分解能を高めること
ができることは勿論である。Also, in the embodiment, a total of four first,
Although an example of 4-bit output is shown using the second code members 45 and 60, it is possible to increase the number of output bits and increase the resolution by using more first and second code members. Of course you can.
【００１８】更には、センサについては実施例で用いた
光電センサの他に、静電容量式や磁気式の近接スイッチ
やリミットスイッチ等の各種のセンサを使用することが
可能である。また、入力軸における１分解能当りの検出
角については、回転角伝達用歯車と連結歯車による歯数
比等の、入力軸から第１の符号部材までの減増速機構等
によって決定することができる。Further, as the sensor, various sensors such as a capacitance type or magnetic type proximity switch and limit switch can be used in addition to the photoelectric sensor used in the embodiment. Further, the detection angle per resolution of the input shaft can be determined by a deceleration mechanism or the like from the input shaft to the first code member, such as a gear ratio of the rotation angle transmitting gear and the connecting gear. .
【００１９】[0019]
【発明の効果】以上説明したように本発明に係る回転角
検出装置は、欠歯歯車を利用した比較的簡素な機構によ
って、第１の符号部材とピニオン歯車から成る第２の符
号部材との回転位置を基に交番２進数で回転角を検出で
き、小型化が実現できる。As described above, the rotation angle detecting device according to the present invention uses a relatively simple mechanism utilizing a toothless gear to connect the first sign member and the second sign member comprising a pinion gear. The rotation angle can be detected in an alternating binary number based on the rotation position, and downsizing can be realized.
【図１】実施例の構成図である。FIG. 1 is a configuration diagram of an embodiment.
【図２】第１の符号部材の側面図である。FIG. 2 is a side view of a first code member.
【図３】交番２進数を得る動作の説明図である。FIG. 3 is an explanatory diagram of an operation for obtaining an alternating binary number.
４１ フレーム ４２ 回転角伝達用歯車 ４３ 入力軸 ４４ 主軸 ４５ 第１の符号部材 ４７ 従動歯車 ４８ 駆動歯車 ５０、５９ ビット検出端 ５３、６０ 光電センサ ５４ 副軸 ５６ 第２の符号部材 41 Frame 42 Gear for transmitting rotation angle 43 Input shaft 44 Main shaft 45 First sign member 47 Follower gear 48 Drive gear 50, 59 Bit detecting end 53, 60 Photoelectric sensor 54 Sub shaft 56 Second sign member
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.6，ＤＢ名) G01D 5/249 G01D 5/245 G01M 1/00──────────────────────────────────────────────────続 き Continued on the front page (58) Fields investigated (Int.Cl. 6 , DB name) G01D 5/249 G01D 5/245 G01M 1/00
Claims (2)
１の符号部材を主軸に並列し、前記第１の符号部材の従
動歯車を隣接する前記第１の符号部材の前記駆動歯車に
対し、前記主軸と平行に設けた副軸に配置したピニオン
歯車から成る第２の符号部材を介して噛合し、外部から
機械的に入力される回転角が前記第１、第２の符号部材
の回転として順次に上位の前記第１、第２の符号部材に
伝達されるようにし、前記駆動歯車又は前記ピニオン歯
車の少なくとも一方の歯車の適所を欠歯歯車とすること
により隣接する上位の前記第１の符号部材をその従動歯
車を介して間欠的に回転させ、前記各第１、第２の符号
部材にはその回転角に応じて１ビット信号を表す検出端
をそれぞれ設けると共に、これらの検出端の回転位置を
検出するセンサをそれぞれ設け、前記センサからの信号
により、外部から入力される前記回転角を交番２進数の
デジタル信号として出力する機構を有することを特徴と
する回転角検出装置。1. A plurality of first gears having a driving gear and a driven gear .
The first code member parallel to the main axis, relative to the drive gear of the first code member adjacent the driven gear of said first code member from a pinion gear disposed on the auxiliary shaft provided in parallel with the main shaft And the rotation angle mechanically input from the outside is sequentially transmitted to the upper first and second code members as rotation of the first and second code members. So that the adjacent upper first code member is intermittently rotated via the driven gear by setting a proper position of at least one of the drive gear and the pinion gear as a toothless gear, wherein each of the first, with the second code member provided detecting ends representing one-bit signal according to the rotation angle respectively, a sensor for detecting the rotational position of the detection end each signal from the sensor
Accordingly, the rotation angle detection apparatus and a mechanism for outputting the rotation angle input from the outside as alternating binary digital signal.
の回転位置に応じて１ビット信号を出力する近接スイッ
チ又は反射又は遮光により１ビット信号を出力する光電
センサとした請求項１に記載の回転角検出装置。2. The sensor according to claim 1, wherein the sensor is a proximity switch that outputs a 1-bit signal according to the rotational position of the first and second code members or a photoelectric sensor that outputs a 1-bit signal by reflection or light blocking. The rotation angle detecting device according to any one of the preceding claims.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6195974A JP2782039B2 (en) | 1994-07-27 | 1994-07-27 | Rotation angle detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6195974A JP2782039B2 (en) | 1994-07-27 | 1994-07-27 | Rotation angle detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0843128A JPH0843128A (en) | 1996-02-16 |
| JP2782039B2 true JP2782039B2 (en) | 1998-07-30 |
Family
ID=16350106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6195974A Expired - Fee Related JP2782039B2 (en) | 1994-07-27 | 1994-07-27 | Rotation angle detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2782039B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1279932A3 (en) * | 1997-02-14 | 2003-10-29 | Alps Electric Co., Ltd. | Rotation detecting device of multi-rotation body |
| CN102243081A (en) * | 2010-05-10 | 2011-11-16 | 上海宏曲电子科技有限公司 | Laser angular displacement sensor |
| JP6270282B2 (en) * | 2014-12-19 | 2018-01-31 | 日本ギア工業株式会社 | Rotary encoder |
| CN111256002B (en) * | 2019-12-31 | 2022-06-28 | 杭州席媒科技有限公司 | Angle detection and intelligent reset mechanism for lifting screen |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS638992Y2 (en) * | 1980-08-13 | 1988-03-17 | ||
| KR890008726Y1 (en) * | 1987-02-03 | 1989-11-30 | 최혁 | Remote indicating water meter |
| JPS6435211A (en) * | 1987-07-30 | 1989-02-06 | Asmo Co Ltd | Rotary position detector |
| JPH0292567U (en) * | 1988-12-28 | 1990-07-23 | ||
| JP3021730B2 (en) * | 1991-03-30 | 2000-03-15 | 株式会社デンソー | Integrator |
| JPH063481U (en) * | 1992-06-16 | 1994-01-18 | 石川島播磨重工業株式会社 | Volatile cleaning agent recovery device |
-
1994
- 1994-07-27 JP JP6195974A patent/JP2782039B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0843128A (en) | 1996-02-16 |
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