JP6448403B2 - 航空機の脚揚降用電動油圧アクチュエータシステム - Google Patents
航空機の脚揚降用電動油圧アクチュエータシステム Download PDFInfo
- Publication number
- JP6448403B2 JP6448403B2 JP2015028291A JP2015028291A JP6448403B2 JP 6448403 B2 JP6448403 B2 JP 6448403B2 JP 2015028291 A JP2015028291 A JP 2015028291A JP 2015028291 A JP2015028291 A JP 2015028291A JP 6448403 B2 JP6448403 B2 JP 6448403B2
- Authority
- JP
- Japan
- Prior art keywords
- hydraulic
- electric motor
- leg
- rotation speed
- command
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000010720 hydraulic oil Substances 0.000 claims description 52
- 239000012530 fluid Substances 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 19
- 230000007423 decrease Effects 0.000 description 9
- 230000000052 comparative effect Effects 0.000 description 8
- 239000003921 oil Substances 0.000 description 7
- 238000004088 simulation Methods 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 239000003570 air Substances 0.000 description 2
- 239000012080 ambient air Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/22—Operating mechanisms fluid
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/045—Compensating for variations in viscosity or temperature
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/26—Control or locking systems therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20538—Type of pump constant capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/25—Pressure control functions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6653—Pressure control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Description
11 脚
21 ギヤアクチュエータ(油圧アクチュエータ)
22 ドアアクチュエータ(油圧アクチュエータ)
31 電動モータ
32 油圧ポンプ
33 油圧回路
34 圧力センサ
4 EHAコントローラー
41 圧力制御ブロック
42 モータ回転速度制御ブロック
43 電流制御ブロック
Claims (1)
- 航空機の脚の格納及び展開を行うように構成された、少なくとも1つの油圧アクチュエータと、
前記油圧アクチュエータに接続されかつ、前記油圧アクチュエータに対して作動油の供給及び排出をするように構成された油圧回路と、
前記油圧回路を介して前記油圧アクチュエータに供給する前記作動油を昇圧するように構成された油圧ポンプと、
前記油圧ポンプに連結されかつ、前記油圧ポンプを駆動するように構成された電動モータと、
前記脚の格納に係る指令、又は、前記脚の展開に係る指令を受けたときに、前記電動モータの作動を制御するように構成されたコントローラーと、
前記油圧ポンプの吐出圧を検出するセンサと、を備え、
前記コントローラーは、前記脚の格納に係る指令、又は、前記脚の展開に係る指令を受けたときに、前記センサが検出した前記吐出圧をフィードバックしかつ、前記油圧ポンプの前記吐出圧が目標吐出圧となるように、前記電動モータの作動を制御し、
前記コントローラーは、
前記油圧アクチュエータに供給する作動油の圧力指令と、前記センサが検出した吐出圧のフィードバック信号とを受けて、前記油圧ポンプの吐出圧が、前記圧力指令に対応する目標吐出圧となるように、前記電動モータの回転速度指令を出力する圧力制御ブロックと、
前記圧力制御ブロックからの回転速度指令と、前記電動モータの回転速度フィードバック信号とを受けて、前記電動モータの回転速度が、前記回転速度指令に対応する目標回転速度となるように、前記電動モータの供給電流指令を出力するモータ回転速度制御ブロックと、
前記モータ回転速度制御ブロックからの供給電流指令と、前記電動モータへの供給電流フィードバック信号とを受けて、前記電動モータへの供給電流が、前記供給電流指令に対応する目標供給電流となるように、前記電動モータに電流を供給する電流制御ブロックと、を含んでいる航空機の脚揚降用電動油圧アクチュエータシステム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015028291A JP6448403B2 (ja) | 2015-02-17 | 2015-02-17 | 航空機の脚揚降用電動油圧アクチュエータシステム |
US15/547,399 US20180002000A1 (en) | 2015-02-17 | 2016-01-14 | Electro-hydrostatic actuator system for raising and lowering aircraft landing gear |
EP16752174.9A EP3241744B1 (en) | 2015-02-17 | 2016-01-14 | Electro-hydrostatic actuator system for raising and lowering aircraft landing gear |
PCT/JP2016/051041 WO2016132785A1 (ja) | 2015-02-17 | 2016-01-14 | 航空機の脚揚降用電動油圧アクチュエータシステム |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015028291A JP6448403B2 (ja) | 2015-02-17 | 2015-02-17 | 航空機の脚揚降用電動油圧アクチュエータシステム |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2016150632A JP2016150632A (ja) | 2016-08-22 |
JP2016150632A5 JP2016150632A5 (ja) | 2018-03-29 |
JP6448403B2 true JP6448403B2 (ja) | 2019-01-09 |
Family
ID=56692536
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015028291A Active JP6448403B2 (ja) | 2015-02-17 | 2015-02-17 | 航空機の脚揚降用電動油圧アクチュエータシステム |
Country Status (4)
Country | Link |
---|---|
US (1) | US20180002000A1 (ja) |
EP (1) | EP3241744B1 (ja) |
JP (1) | JP6448403B2 (ja) |
WO (1) | WO2016132785A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3311997A1 (en) * | 2016-10-18 | 2018-04-25 | Automation, Press and Tooling, A.P. & T AB | Servo hydraulic press |
JP6714499B2 (ja) * | 2016-11-17 | 2020-06-24 | 川崎重工業株式会社 | 油圧アクチュエータを含む電動油圧システム |
EP3486177B1 (en) * | 2017-11-21 | 2022-08-24 | Safran Landing Systems UK Ltd | Aircraft landing gear assembly actuation system |
FR3093322B1 (fr) | 2019-02-28 | 2021-07-09 | Airbus Helicopters | Atterrisseur motorisé et aéronef |
JP7345540B2 (ja) * | 2019-03-05 | 2023-09-15 | 住友精密工業株式会社 | 脚揚降用ehaシステム |
US11433993B2 (en) * | 2019-11-07 | 2022-09-06 | Goodrich Corporation | Electromechanical actuator pump |
CN114810697B (zh) * | 2022-06-02 | 2024-05-14 | 上海天华云应用技术有限公司 | 一种抱轮机构液压*** |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0988839A (ja) * | 1995-09-25 | 1997-03-31 | Hitachi Constr Mach Co Ltd | 電動油圧ポンプユニットおよび小口径管推進装置 |
JP2001263254A (ja) * | 2000-03-17 | 2001-09-26 | Tokimec Inc | 液圧装置 |
DE10330805B4 (de) * | 2003-07-08 | 2015-07-30 | Liebherr-Aerospace Lindenberg Gmbh | Luftfahrzeug-Fahrwerksbetätigung |
JP4356623B2 (ja) * | 2005-02-03 | 2009-11-04 | ダイキン工業株式会社 | 流体圧ユニット及び流体圧ユニットの制御方法 |
JP5064843B2 (ja) * | 2007-03-08 | 2012-10-31 | 株式会社小松製作所 | 作業機ポンプの回転制御システム |
JP5606044B2 (ja) * | 2009-11-10 | 2014-10-15 | 住友精密工業株式会社 | スナビング性に優れる電気油圧式アクチュエータ、およびそれに用いる駆動装置、並びにそれに用いる制御方法 |
US8434301B2 (en) * | 2010-04-16 | 2013-05-07 | Nabtesco Corporation | Local backup hydraulic actuator for aircraft control systems |
FR2961479B1 (fr) * | 2010-06-18 | 2014-01-17 | Sagem Defense Securite | Aeronef pourvu d'une pluralite d'actionneurs electriques, dispositif d'alimentation et de commande de tels actionneurs et ensemble d'actionnement correspondant |
CN103857927B (zh) * | 2011-10-11 | 2016-08-17 | 沃尔沃建造设备有限公司 | 建造设备的电动液压***中的执行器位移测量*** |
JP6283195B2 (ja) * | 2012-12-04 | 2018-02-21 | 住友精密工業株式会社 | 脚揚降用電動油圧アクチュエータシステム |
DE102013012812B4 (de) * | 2013-07-31 | 2023-06-29 | Liebherr-Aerospace Lindenberg Gmbh | Flugzeugfahrwerk |
US9285007B2 (en) * | 2014-03-21 | 2016-03-15 | Goodrich Corporation | Servicing monitoring system for mixed fluid-gas shock struts |
-
2015
- 2015-02-17 JP JP2015028291A patent/JP6448403B2/ja active Active
-
2016
- 2016-01-14 EP EP16752174.9A patent/EP3241744B1/en active Active
- 2016-01-14 WO PCT/JP2016/051041 patent/WO2016132785A1/ja active Application Filing
- 2016-01-14 US US15/547,399 patent/US20180002000A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
EP3241744B1 (en) | 2018-12-19 |
EP3241744A4 (en) | 2018-01-03 |
US20180002000A1 (en) | 2018-01-04 |
JP2016150632A (ja) | 2016-08-22 |
EP3241744A1 (en) | 2017-11-08 |
WO2016132785A1 (ja) | 2016-08-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6448403B2 (ja) | 航空機の脚揚降用電動油圧アクチュエータシステム | |
US8096764B2 (en) | System for rotating a wind turbine blade | |
WO2016017802A1 (ja) | 油圧駆動装置 | |
JP2014132189A (ja) | 脚揚降用電動油圧アクチュエータシステム | |
US6771032B2 (en) | Motor control system | |
KR20170021241A (ko) | 오버-센터 링키지 시스템에서의 유압 액추에이터의 속도를 제어하는 방법 | |
JP5295141B2 (ja) | 液圧式熱収縮補償装置及び方法 | |
JP2016150632A5 (ja) | ||
WO2010097596A1 (en) | Hydraulic actuator | |
JP6476996B2 (ja) | 伸縮ブームの伸縮装置 | |
BR112012029331B1 (pt) | método para recuperação de energia hidráulica de um atuador durante condições de carga parciais e aparelho para recuperação de energia hidráulica de um atuador | |
JP5097477B2 (ja) | アクチュエータシステム | |
EP3699437A1 (en) | Flow control for an actuator | |
US10443566B2 (en) | Upwind wind turbine | |
EP1172488B1 (en) | Hydraulic circuit of working machine | |
CN112648108B (zh) | 限流推力反向器致动 | |
US9874231B2 (en) | Hydraulic actuators | |
WO2018011975A1 (ja) | 電動油圧アクチュエータシステム | |
US20200164970A1 (en) | Hydraulic circuit for operating an aircraft landing gear | |
US20190315455A1 (en) | Electro-Mechanically Biased Supercritical Flight Control Surface Loading to Reduce High Pressure Actuation Cycles | |
CN114263486A (zh) | 液压支架的姿态自适应调控***及调控方法 | |
JP5326768B2 (ja) | 移動式クレーンのホースリール巻き取り装置 | |
JP2007514906A (ja) | 作動用の装置及び方法 | |
EP3257746A1 (en) | Electro hydrostatic actuators | |
JP2002364516A (ja) | 風車の可変翼装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180213 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180213 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20181120 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20181204 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6448403 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |